From 01adf7ca9265affef5faad4b908387f54f883210 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Fri, 24 Oct 2025 13:49:48 +0800 Subject: [PATCH 1/6] =?UTF-8?q?refactor:=20=E5=B0=86=20BIOYOND=5FPolymerSt?= =?UTF-8?q?ation=5F=20=E5=89=8D=E7=BC=80=E7=BB=9F=E4=B8=80=E6=94=B9?= =?UTF-8?q?=E4=B8=BA=20YB=5F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 重命名 bottles.py 中所有工厂函数：BIOYOND_PolymerStation_* -> YB_* - 重命名 bottle_carriers.py 中所有载具工厂函数和导入 - 更新 registry YAML 文件中的 module 引用 - 更新 MATERIAL_TYPE_MAPPINGS 配置中的类型字符串 - 更新测试文件和样例 JSON 中的类型引用 - 添加 YB_* 别名条目到 registry 以支持双键访问 --- .../experiments/reaction_station_bioyond.json | 14 +- .../reaction_station_bioyond_test.json | 6 +- test/resources/test_bottle_carrier.py | 8 +- test/resources/test_converter_bioyond.py | 14 +- test/resources/test_resourcetreeset.py | 14 +- .../workstation/bioyond_studio/config.py | 31 +++- .../resources/bioyond/bottle_carriers.yaml | 22 +-- .../registry/resources/bioyond/bottles.yaml | 169 ++++++++++++++++-- unilabos/resources/bioyond/bottle_carriers.py | 70 ++++---- unilabos/resources/bioyond/bottles.py | 28 +-- 10 files changed, 266 insertions(+), 110 deletions(-) diff --git a/test/experiments/reaction_station_bioyond.json b/test/experiments/reaction_station_bioyond.json index 013855ed..ca8bd683 100644 --- a/test/experiments/reaction_station_bioyond.json +++ b/test/experiments/reaction_station_bioyond.json @@ -24,13 +24,13 @@ "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a" }, "material_type_mappings": { - "烧杯": ["BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"], - "试剂瓶": ["BIOYOND_PolymerStation_1BottleCarrier", ""], - "样品板": ["BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"], - "分装板": ["BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"], - "样品瓶": ["BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"], - "90%分装小瓶": ["BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"], - "10%分装小瓶": ["BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"] + "烧杯": ["YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"], + "试剂瓶": ["YB_1BottleCarrier", ""], + "样品板": ["YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"], + "分装板": ["YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"], + "样品瓶": ["YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"], + "90%分装小瓶": ["YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"], + "10%分装小瓶": ["YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"] } }, "deck": { diff --git a/test/experiments/reaction_station_bioyond_test.json b/test/experiments/reaction_station_bioyond_test.json index 8446373a..67a0d468 100644 --- a/test/experiments/reaction_station_bioyond_test.json +++ b/test/experiments/reaction_station_bioyond_test.json @@ -24,9 +24,9 @@ "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a" }, "material_type_mappings": { - "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier", - "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier", - "样品板": "BIOYOND_PolymerStation_6VialCarrier" + "烧杯": "YB_1FlaskCarrier", + "试剂瓶": "YB_1BottleCarrier", + "样品板": "YB_6VialCarrier" } }, "deck": { diff --git a/test/resources/test_bottle_carrier.py b/test/resources/test_bottle_carrier.py index c981eeeb..f0a2749f 100644 --- a/test/resources/test_bottle_carrier.py +++ b/test/resources/test_bottle_carrier.py @@ -1,7 +1,7 @@ import pytest from unilabos.resources.bioyond.bottle_carriers import BIOYOND_Electrolyte_6VialCarrier, BIOYOND_Electrolyte_1BottleCarrier -from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle +from unilabos.resources.bioyond.bottles import YB_Solid_Vial, YB_Solution_Beaker, YB_Reagent_Bottle def test_bottle_carrier() -> "BottleCarrier": @@ -16,9 +16,9 @@ def test_bottle_carrier() -> "BottleCarrier": print(f"1烧杯载架: {beaker_carrier.name}, 位置数: {len(beaker_carrier.sites)}") # 创建瓶子和烧杯 - powder_bottle = BIOYOND_PolymerStation_Solid_Vial("powder_bottle_01") - solution_beaker = BIOYOND_PolymerStation_Solution_Beaker("solution_beaker_01") - reagent_bottle = BIOYOND_PolymerStation_Reagent_Bottle("reagent_bottle_01") + powder_bottle = YB_Solid_Vial("powder_bottle_01") + solution_beaker = YB_Solution_Beaker("solution_beaker_01") + reagent_bottle = YB_Reagent_Bottle("reagent_bottle_01") print(f"\n创建的物料:") print(f"粉末瓶: {powder_bottle.name} - {powder_bottle.diameter}mm x {powder_bottle.height}mm, {powder_bottle.max_volume}μL") diff --git a/test/resources/test_converter_bioyond.py b/test/resources/test_converter_bioyond.py index 068a0530..d87415b9 100644 --- a/test/resources/test_converter_bioyond.py +++ b/test/resources/test_converter_bioyond.py @@ -12,13 +12,13 @@ lab_registry.setup() type_mapping = { - "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), - "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""), - "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), - "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), - "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), - "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), - "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), + "烧杯": ("YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), + "试剂瓶": ("YB_1BottleCarrier", ""), + "样品板": ("YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), + "分装板": ("YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), + "样品瓶": ("YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), + "90%分装小瓶": ("YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), + "10%分装小瓶": ("YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), } diff --git a/test/resources/test_resourcetreeset.py b/test/resources/test_resourcetreeset.py index 1ba9ab20..ff5cfd06 100644 --- a/test/resources/test_resourcetreeset.py +++ b/test/resources/test_resourcetreeset.py @@ -13,13 +13,13 @@ lab_registry.setup() type_mapping = { - "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), - "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""), - "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), - "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), - "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), - "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), - "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), + "烧杯": ("YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), + "试剂瓶": ("YB_1BottleCarrier", ""), + "样品板": ("YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), + "分装板": ("YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), + "样品瓶": ("YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), + "90%分装小瓶": ("YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), + "10%分装小瓶": ("YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), } diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 92943005..9a27320d 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -26,7 +26,6 @@ BIOYOND_FULL_CONFIG = { "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"), # HTTP服务监听地址（0.0.0.0 表示监听所有网络接口） "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.172"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） - # 调试模式 "debug_mode": os.getenv("BIOYOND_DEBUG_MODE", "False").lower() == "true", } @@ -142,13 +141,29 @@ WAREHOUSE_MAPPING = { # 物料类型配置 MATERIAL_TYPE_MAPPINGS = { - "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), - "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""), - "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), - "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), - "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), - "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), - "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), + "烧杯": ("YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), + "试剂瓶": ("YB_1BottleCarrier", ""), + "样品板": ("YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), + "分装板": ("YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), + "样品瓶": ("YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), + "90%分装小瓶": ("YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), + "10%分装小瓶": ("YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), + "20ml分液瓶": ("YB_20ml_Dispensing_Vial", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"), + "100ml液体": ("YB_100ml_Liquid_Bottle", "d37166b3-ecaa-481e-bd84-3032b795ba07"), + "液": ("YB_Liquid_Bottle", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), + "高粘液": ("YB_High_Viscosity_Liquid_Bottle", "abe8df30-563d-43d2-85e0-cabec59ddc16"), + "加样头(大)": ("YB_Large_Dispense_Head", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), + "5ml分液瓶": ("YB_5ml_Dispensing_Vial", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), + "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"), + "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"), + "配液瓶(小)": ("YB_Small_Solution_Bottle", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), + "配液瓶(大)板": ("YB_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"), + "配液瓶(大)": ("YB_Large_Solution_Bottle", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"), + "加样头(大)板": ("YB_6x_LargeDispenseHeadCarrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), + "适配器块": ("YB_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"), + "枪头盒": ("YB_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"), + "枪头": ("YB_Pipette_Tip", "b6196971-1050-46da-9927-333e8dea062d"), } # 步骤参数配置（各工作流的步骤UUID） diff --git a/unilabos/registry/resources/bioyond/bottle_carriers.yaml b/unilabos/registry/resources/bioyond/bottle_carriers.yaml index 5889bccc..0e40c9c8 100644 --- a/unilabos/registry/resources/bioyond/bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/bottle_carriers.yaml @@ -2,7 +2,7 @@ category: - bottle_carriers class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1BottleCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_1BottleCarrier type: pylabrobot description: 1BottleCarrier handles: [] @@ -14,7 +14,7 @@ category: - bottle_carriers class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1FlaskCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_1FlaskCarrier type: pylabrobot description: 1FlaskCarrier handles: [] @@ -26,7 +26,7 @@ category: - bottle_carriers class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6StockCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_6StockCarrier type: pylabrobot description: 6StockCarrier handles: [] @@ -38,7 +38,7 @@ category: - bottle_carriers class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6VialCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_6VialCarrier type: pylabrobot description: 6VialCarrier handles: [] @@ -50,7 +50,7 @@ category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_6x5ml_DispensingVialCarrier type: pylabrobot description: 6x5ml_DispensingVialCarrier handles: [] @@ -62,7 +62,7 @@ category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_6x20ml_DispensingVialCarrier type: pylabrobot description: 6x20ml_DispensingVialCarrier handles: [] @@ -74,7 +74,7 @@ category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_6x_SmallSolutionBottleCarrier type: pylabrobot description: 6x_SmallSolutionBottleCarrier handles: [] @@ -86,7 +86,7 @@ category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_4x_LargeSolutionBottleCarrier type: pylabrobot description: 4x_LargeSolutionBottleCarrier handles: [] @@ -98,7 +98,7 @@ category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_6x_LargeDispenseHeadCarrier type: pylabrobot description: 6x_LargeDispenseHeadCarrier handles: [] @@ -110,7 +110,7 @@ AdapterBlock: category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_AdapterBlock + module: unilabos.resources.bioyond.bottle_carriers:YB_AdapterBlock type: pylabrobot description: AdapterBlock handles: [] @@ -122,7 +122,7 @@ TipBox: category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_TipBox + module: unilabos.resources.bioyond.bottle_carriers:YB_TipBox type: pylabrobot description: TipBox handles: [] diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml index 8d71f287..af6718ab 100644 --- a/unilabos/registry/resources/bioyond/bottles.yaml +++ b/unilabos/registry/resources/bioyond/bottles.yaml @@ -2,7 +2,7 @@ Liquid_Vial: category: - bottles class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Vial + module: unilabos.resources.bioyond.bottles:YB_Liquid_Vial type: pylabrobot handles: [] icon: '' @@ -12,7 +12,7 @@ Reagent_Bottle: category: - bottles class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reagent_Bottle + module: unilabos.resources.bioyond.bottles:YB_Reagent_Bottle type: pylabrobot handles: [] icon: '' @@ -22,7 +22,7 @@ Solid_Stock: category: - bottles class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Stock + module: unilabos.resources.bioyond.bottles:YB_Solid_Stock type: pylabrobot handles: [] icon: '' @@ -32,7 +32,7 @@ Solid_Vial: category: - bottles class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Vial + module: unilabos.resources.bioyond.bottles:YB_Solid_Vial type: pylabrobot handles: [] icon: '' @@ -42,7 +42,7 @@ Solution_Beaker: category: - bottles class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solution_Beaker + module: unilabos.resources.bioyond.bottles:YB_Solution_Beaker type: pylabrobot handles: [] icon: '' @@ -52,7 +52,7 @@ Solution_Beaker: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_100ml_Liquid_Bottle + module: unilabos.resources.bioyond.bottles:YB_100ml_Liquid_Bottle type: pylabrobot handles: [] icon: '' @@ -62,7 +62,7 @@ Liquid_Bottle: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Bottle + module: unilabos.resources.bioyond.bottles:YB_Liquid_Bottle type: pylabrobot handles: [] icon: '' @@ -72,7 +72,7 @@ High_Viscosity_Liquid_Bottle: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle + module: unilabos.resources.bioyond.bottles:YB_High_Viscosity_Liquid_Bottle type: pylabrobot handles: [] icon: '' @@ -82,7 +82,7 @@ Large_Dispense_Head: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Large_Dispense_Head + module: unilabos.resources.bioyond.bottles:YB_Large_Dispense_Head type: pylabrobot handles: [] icon: '' @@ -92,7 +92,7 @@ Large_Dispense_Head: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_5ml_Dispensing_Vial + module: unilabos.resources.bioyond.bottles:YB_5ml_Dispensing_Vial type: pylabrobot handles: [] icon: '' @@ -102,7 +102,7 @@ Large_Dispense_Head: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_20ml_Dispensing_Vial + module: unilabos.resources.bioyond.bottles:YB_20ml_Dispensing_Vial type: pylabrobot handles: [] icon: '' @@ -112,7 +112,7 @@ Small_Solution_Bottle: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Small_Solution_Bottle + module: unilabos.resources.bioyond.bottles:YB_Small_Solution_Bottle type: pylabrobot handles: [] icon: '' @@ -122,7 +122,7 @@ Large_Solution_Bottle: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Large_Solution_Bottle + module: unilabos.resources.bioyond.bottles:YB_Large_Solution_Bottle type: pylabrobot handles: [] icon: '' @@ -132,9 +132,150 @@ Pipette_Tip: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Pipette_Tip + module: unilabos.resources.bioyond.bottles:YB_Pipette_Tip type: pylabrobot handles: [] icon: '' init_param_schema: {} version: 1.0.0 + +YB_Liquid_Vial: + category: + - bottles + class: + module: unilabos.resources.bioyond.bottles:YB_Liquid_Vial + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Reagent_Bottle: + category: + - bottles + class: + module: unilabos.resources.bioyond.bottles:YB_Reagent_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Solid_Stock: + category: + - bottles + class: + module: unilabos.resources.bioyond.bottles:YB_Solid_Stock + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Solid_Vial: + category: + - bottles + class: + module: unilabos.resources.bioyond.bottles:YB_Solid_Vial + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Solution_Beaker: + category: + - bottles + class: + module: unilabos.resources.bioyond.bottles:YB_Solution_Beaker + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_100ml_Liquid_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_100ml_Liquid_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Liquid_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_Liquid_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_High_Viscosity_Liquid_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_High_Viscosity_Liquid_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Large_Dispense_Head: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_Large_Dispense_Head + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_5ml_Dispensing_Vial: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_5ml_Dispensing_Vial + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_20ml_Dispensing_Vial: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_20ml_Dispensing_Vial + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Small_Solution_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_Small_Solution_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Large_Solution_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_Large_Solution_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Pipette_Tip: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_Pipette_Tip + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 diff --git a/unilabos/resources/bioyond/bottle_carriers.py b/unilabos/resources/bioyond/bottle_carriers.py index ab0b6560..76e3a935 100644 --- a/unilabos/resources/bioyond/bottle_carriers.py +++ b/unilabos/resources/bioyond/bottle_carriers.py @@ -2,17 +2,17 @@ from pylabrobot.resources import create_homogeneous_resources, Coordinate, Resou from unilabos.resources.itemized_carrier import Bottle, BottleCarrier from unilabos.resources.bioyond.bottles import ( - BIOYOND_PolymerStation_Solid_Stock, - BIOYOND_PolymerStation_Solid_Vial, - BIOYOND_PolymerStation_Liquid_Vial, - BIOYOND_PolymerStation_Solution_Beaker, - BIOYOND_PolymerStation_Reagent_Bottle, - BIOYOND_PolymerStation_5ml_Dispensing_Vial, - BIOYOND_PolymerStation_20ml_Dispensing_Vial, - BIOYOND_PolymerStation_Small_Solution_Bottle, - BIOYOND_PolymerStation_Large_Solution_Bottle, - BIOYOND_PolymerStation_Large_Dispense_Head, - BIOYOND_PolymerStation_Pipette_Tip + YB_Solid_Stock, + YB_Solid_Vial, + YB_Liquid_Vial, + YB_Solution_Beaker, + YB_Reagent_Bottle, + YB_5ml_Dispensing_Vial, + YB_20ml_Dispensing_Vial, + YB_Small_Solution_Bottle, + YB_Large_Solution_Bottle, + YB_Large_Dispense_Head, + YB_Pipette_Tip ) # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial @@ -63,7 +63,7 @@ def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier: carrier.num_items_y = 2 carrier.num_items_z = 1 for i in range(6): - carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{i+1}") + carrier[i] = YB_Solid_Vial(f"{name}_vial_{i+1}") return carrier @@ -100,11 +100,11 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1") + carrier[0] = YB_Solution_Beaker(f"{name}_beaker_1") return carrier -def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier: +def YB_6StockCarrier(name: str) -> BottleCarrier: """6瓶载架 - 2x3布局""" # 载架尺寸 (mm) @@ -151,11 +151,11 @@ def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 for i in range(6): - carrier[i] = BIOYOND_PolymerStation_Solid_Stock(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_Solid_Stock(f"{name}_vial_{ordering[i]}") return carrier -def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier: +def YB_6VialCarrier(name: str) -> BottleCarrier: """6瓶载架 - 2x3布局""" # 载架尺寸 (mm) @@ -202,13 +202,13 @@ def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 for i in range(3): - carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_solidvial_{ordering[i]}") + carrier[i] = YB_Solid_Vial(f"{name}_solidvial_{ordering[i]}") for i in range(3, 6): - carrier[i] = BIOYOND_PolymerStation_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}") + carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}") return carrier -def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier: +def YB_1BottleCarrier(name: str) -> BottleCarrier: """1瓶载架 - 单个中央位置""" # 载架尺寸 (mm) @@ -241,11 +241,11 @@ def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_flask_1") + carrier[0] = YB_Reagent_Bottle(f"{name}_flask_1") return carrier -def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier: +def YB_1FlaskCarrier(name: str) -> BottleCarrier: """1瓶载架 - 单个中央位置""" # 载架尺寸 (mm) @@ -278,11 +278,11 @@ def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_bottle_1") + carrier[0] = YB_Reagent_Bottle(f"{name}_bottle_1") return carrier -def BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: +def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: """5ml分液瓶板 - 4x2布局，8个位置""" # 载架尺寸 (mm) @@ -328,11 +328,11 @@ def BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier(name: str) -> BottleCarri carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = BIOYOND_PolymerStation_5ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_5ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") return carrier -def BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: +def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: """20ml分液瓶板 - 4x2布局，8个位置""" # 载架尺寸 (mm) @@ -378,11 +378,11 @@ def BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier(name: str) -> BottleCarr carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = BIOYOND_PolymerStation_20ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_20ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") return carrier -def BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: +def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: """配液瓶(小)板 - 4x2布局，8个位置""" # 载架尺寸 (mm) @@ -428,11 +428,11 @@ def BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier(name: str) -> BottleCar carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = BIOYOND_PolymerStation_Small_Solution_Bottle(f"{name}_bottle_{ordering[i]}") + carrier[i] = YB_Small_Solution_Bottle(f"{name}_bottle_{ordering[i]}") return carrier -def BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: +def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: """配液瓶(大)板 - 2x2布局，4个位置""" # 载架尺寸 (mm) @@ -478,11 +478,11 @@ def BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier(name: str) -> BottleCar carrier.num_items_z = 1 ordering = ["A1", "A2", "B1", "B2"] for i in range(4): - carrier[i] = BIOYOND_PolymerStation_Large_Solution_Bottle(f"{name}_bottle_{ordering[i]}") + carrier[i] = YB_Large_Solution_Bottle(f"{name}_bottle_{ordering[i]}") return carrier -def BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarrier: +def YB_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarrier: """加样头(大)板 - 1x1布局，1个位置""" # 载架尺寸 (mm) @@ -526,11 +526,11 @@ def BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarri carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = BIOYOND_PolymerStation_Large_Dispense_Head(f"{name}_head_1") + carrier[0] = YB_Large_Dispense_Head(f"{name}_head_1") return carrier -def BIOYOND_PolymerStation_AdapterBlock(name: str) -> BottleCarrier: +def YB_AdapterBlock(name: str) -> BottleCarrier: """适配器块 - 单个中央位置""" # 载架尺寸 (mm) @@ -567,7 +567,7 @@ def BIOYOND_PolymerStation_AdapterBlock(name: str) -> BottleCarrier: return carrier -def BIOYOND_PolymerStation_TipBox(name: str) -> BottleCarrier: +def YB_TipBox(name: str) -> BottleCarrier: """枪头盒 - 8x12布局，96个位置""" # 载架尺寸 (mm) @@ -615,6 +615,6 @@ def BIOYOND_PolymerStation_TipBox(name: str) -> BottleCarrier: for i in range(96): row = chr(65 + i // 12) # A-H col = (i % 12) + 1 # 1-12 - carrier[i] = BIOYOND_PolymerStation_Pipette_Tip(f"{name}_tip_{row}{col}") + carrier[i] = YB_Pipette_Tip(f"{name}_tip_{row}{col}") return carrier diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py index b5fb087d..efabea25 100644 --- a/unilabos/resources/bioyond/bottles.py +++ b/unilabos/resources/bioyond/bottles.py @@ -2,7 +2,7 @@ from unilabos.resources.itemized_carrier import Bottle, BottleCarrier # 工厂函数 -def BIOYOND_PolymerStation_Solid_Stock( +def YB_Solid_Stock( name: str, diameter: float = 20.0, height: float = 100.0, @@ -20,7 +20,7 @@ def BIOYOND_PolymerStation_Solid_Stock( ) -def BIOYOND_PolymerStation_Solid_Vial( +def YB_Solid_Vial( name: str, diameter: float = 25.0, height: float = 60.0, @@ -38,7 +38,7 @@ def BIOYOND_PolymerStation_Solid_Vial( ) -def BIOYOND_PolymerStation_Liquid_Vial( +def YB_Liquid_Vial( name: str, diameter: float = 25.0, height: float = 60.0, @@ -56,7 +56,7 @@ def BIOYOND_PolymerStation_Liquid_Vial( ) -def BIOYOND_PolymerStation_Solution_Beaker( +def YB_Solution_Beaker( name: str, diameter: float = 60.0, height: float = 70.0, @@ -74,7 +74,7 @@ def BIOYOND_PolymerStation_Solution_Beaker( ) -def BIOYOND_PolymerStation_Reagent_Bottle( +def YB_Reagent_Bottle( name: str, diameter: float = 70.0, height: float = 120.0, @@ -92,7 +92,7 @@ def BIOYOND_PolymerStation_Reagent_Bottle( ) -def BIOYOND_PolymerStation_100ml_Liquid_Bottle( +def YB_100ml_Liquid_Bottle( name: str, diameter: float = 50.0, height: float = 80.0, @@ -110,7 +110,7 @@ def BIOYOND_PolymerStation_100ml_Liquid_Bottle( ) -def BIOYOND_PolymerStation_Liquid_Bottle( +def YB_Liquid_Bottle( name: str, diameter: float = 40.0, height: float = 70.0, @@ -128,7 +128,7 @@ def BIOYOND_PolymerStation_Liquid_Bottle( ) -def BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle( +def YB_High_Viscosity_Liquid_Bottle( name: str, diameter: float = 45.0, height: float = 75.0, @@ -146,7 +146,7 @@ def BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle( ) -def BIOYOND_PolymerStation_Large_Dispense_Head( +def YB_Large_Dispense_Head( name: str, diameter: float = 35.0, height: float = 90.0, @@ -164,7 +164,7 @@ def BIOYOND_PolymerStation_Large_Dispense_Head( ) -def BIOYOND_PolymerStation_5ml_Dispensing_Vial( +def YB_5ml_Dispensing_Vial( name: str, diameter: float = 15.0, height: float = 45.0, @@ -182,7 +182,7 @@ def BIOYOND_PolymerStation_5ml_Dispensing_Vial( ) -def BIOYOND_PolymerStation_20ml_Dispensing_Vial( +def YB_20ml_Dispensing_Vial( name: str, diameter: float = 20.0, height: float = 65.0, @@ -200,7 +200,7 @@ def BIOYOND_PolymerStation_20ml_Dispensing_Vial( ) -def BIOYOND_PolymerStation_Small_Solution_Bottle( +def YB_Small_Solution_Bottle( name: str, diameter: float = 35.0, height: float = 60.0, @@ -218,7 +218,7 @@ def BIOYOND_PolymerStation_Small_Solution_Bottle( ) -def BIOYOND_PolymerStation_Large_Solution_Bottle( +def YB_Large_Solution_Bottle( name: str, diameter: float = 55.0, height: float = 90.0, @@ -236,7 +236,7 @@ def BIOYOND_PolymerStation_Large_Solution_Bottle( ) -def BIOYOND_PolymerStation_Pipette_Tip( +def YB_Pipette_Tip( name: str, diameter: float = 10.0, height: float = 50.0, From 55b678cd37cc287a9f2b1ee1a89883155c1131bf Mon Sep 17 00:00:00 2001 From: calvincao Date: Fri, 24 Oct 2025 14:22:39 +0800 Subject: [PATCH 2/6] fix: update report IP address in configuration and clean up parameters in SOLID_LIQUID_MAPPINGS --- .../devices/workstation/bioyond_studio/config.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 90e22bc5..fb8ef922 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -21,7 +21,7 @@ API_CONFIG = { # HTTP 服务配置 "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"), # HTTP服务监听地址（0.0.0.0 表示监听所有网络接口） "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), - "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.172"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） + "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.22"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） # 调试模式 "debug_mode": False, } @@ -112,10 +112,10 @@ SOLID_LIQUID_MAPPINGS = { # "barCode": "", # "name": "LiFSI", # "unit": "g", - # "parameters": {"Density": "1.533"}, + # "parameters": "", # "quantity": 2, # "warningQuantity": 1, - # "details": [{}] + # "details": [] # }, # "DTC": { # "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469", @@ -123,10 +123,10 @@ SOLID_LIQUID_MAPPINGS = { # "barCode": "", # "name": "DTC", # "unit": "g", - # "parameters": {"Density": "1.533"}, + # "parameters": "", # "quantity": 2, # "warningQuantity": 1, - # "details": [{}] + # "details": [] # }, # "LiPO2F2": { # "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469", @@ -134,10 +134,10 @@ SOLID_LIQUID_MAPPINGS = { # "barCode": "", # "name": "LiPO2F2", # "unit": "g", - # "parameters": {"Density": "1.533"}, + # "parameters": "", # "quantity": 2, # "warningQuantity": 1, - # "details": [{}] + # "details": [] # }, # 液体 # "SA": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), From 6ad0157b50af933f5588612679bc3f2af25ec7b6 Mon Sep 17 00:00:00 2001 From: calvincao Date: Fri, 24 Oct 2025 16:37:11 +0800 Subject: [PATCH 3/6] feat: add new warehouse configurations and update site UUIDs in bioyond_studio config --- .../workstation/bioyond_studio/config.py | 86 ++++++++++++++++++- 1 file changed, 84 insertions(+), 2 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index fb8ef922..4e2fdddf 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -31,7 +31,7 @@ WAREHOUSE_MAPPING = { "粉末加样头堆栈": { "uuid": "", "site_uuids": { - "A01": "3a19da56-1379-20c8-5886-f7c4fbcb5733", + "A01": "3a19da56-1379-ff7c-1745-07e200b44ce2", "B01": "3a19da56-1379-2424-d751-fe6e94cef938", "C01": "3a19da56-1379-271c-03e3-6bdb590e395e", "D01": "3a19da56-1379-277f-2b1b-0d11f7cf92c6", @@ -52,7 +52,89 @@ WAREHOUSE_MAPPING = { "S01": "3a19da56-1379-f924-7f68-df1fa51489f4", "T01": "3a19da56-1379-ff7c-1745-07e200b44ce2" } - } + }, + "配液站内试剂仓库": { + "uuid": "", + "site_uuids": { + "A01": "3a19da43-57b5-294f-d663-154a1cc32270", + "B01": "3a19da43-57b5-7394-5f49-54efe2c9bef2", + "C01": "3a19da43-57b5-5e75-552f-8dbd0ad1075f", + "A02": "3a19da43-57b5-8441-db94-b4d3875a4b6c", + "B02": "3a19da43-57b5-3e41-c181-5119dddaf50c", + "C02": "3a19da43-57b5-269b-282d-fba61fe8ce96", + "A03": "3a19da43-57b5-7c1e-d02e-c40e8c33f8a1", + "B03": "3a19da43-57b5-659f-621f-1dcf3f640363", + "C03": "3a19da43-57b5-855a-6e71-f398e376dee1", + } + }, + "试剂替换仓库": { + "uuid": "", + "site_uuids": { + "A01": "3a19da51-8f4e-30f3-ea08-4f8498e9b097", + "B01": "3a19da51-8f4e-1da7-beb0-80a4a01e67a8", + "C01": "3a19da51-8f4e-337d-2675-bfac46880b06", + "D01": "3a19da51-8f4e-e514-b92c-9c44dc5e489d", + "E01": "3a19da51-8f4e-22d1-dd5b-9774ddc80402", + "F01": "3a19da51-8f4e-273a-4871-dff41c29bfd9", + "G01": "3a19da51-8f4e-b32f-454f-74bc1a665653", + "H01": "3a19da51-8f4e-8c93-68c9-0b4382320f59", + "I01": "3a19da51-8f4e-360c-0149-291b47c6089b", + "J01": "3a19da51-8f4e-4152-9bca-8d64df8c1af0" + } + }, + "自动堆栈-左": { + "uuid": "", + "site_uuids": { + "A01": "3a19debc-84b5-4c1c-d3a1-26830cf273ff", + "A02": "3a19debc-84b5-033b-b31f-6b87f7c2bf52", + "B01": "3a19debc-84b5-3924-172f-719ab01b125c", + "B02": "3a19debc-84b5-aad8-70c6-b8c6bb2d8750" + } + }, + "自动堆栈-右": { + "uuid": "", + "site_uuids": { + "A01": "3a19debe-5200-7df2-1dd9-7d202f158864", + "A02": "3a19debe-5200-573b-6120-8b51f50e1e50", + "B01": "3a19debe-5200-7cd8-7666-851b0a97e309", + "B02": "3a19debe-5200-e6d3-96a3-baa6e3d5e484" + } + }, + "手动堆栈": { + "uuid": "", + "site_uuids": { + "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea", + "A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe", + "A03": "3a19deae-2c7a-5876-c454-6b7e224ca927", + "B01": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", + "B02": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", + "B03": "3a19deae-2c7a-b9eb-f4e3-e308e0cf839a", + "C01": "3a19deae-2c7a-32bc-768e-556647e292f3", + "C02": "3a19deae-2c7a-e97a-8484-f5a4599447c4", + "C03": "3a19deae-2c7a-3056-6504-10dc73fbc276", + "D01": "3a19deae-2c7a-ffad-875e-8c4cda61d440", + "D02": "3a19deae-2c7a-61be-601c-b6fb5610499a", + "D03": "3a19deae-2c7a-c0f7-05a7-e3fe2491e560", + "E01": "3a19deae-2c7a-a6f4-edd1-b436a7576363", + "E02": "3a19deae-2c7a-4367-96dd-1ca2186f4910", + "E03": "3a19deae-2c7a-b163-2219-23df15200311", + "F01": "3a19deae-2c7a-d594-fd6a-0d20de3c7c4a", + "F02": "3a19deae-2c7a-a194-ea63-8b342b8d8679", + "F03": "3a19deae-2c7a-f7c4-12bd-425799425698", + "G01": "3a19deae-2c7a-0b56-72f1-8ab86e53b955", + "G02": "3a19deae-2c7a-204e-95ed-1f1950f28343", + "G03": "3a19deae-2c7a-392b-62f1-4907c66343f8", + "H01": "3a19deae-2c7a-5602-e876-d27aca4e3201", + "H02": "3a19deae-2c7a-f15c-70e0-25b58a8c9702", + "H03": "3a19deae-2c7a-780b-8965-2e1345f7e834", + "I01": "3a19deae-2c7a-8849-e172-07de14ede928", + "I02": "3a19deae-2c7a-4772-a37f-ff99270bafc0", + "I03": "3a19deae-2c7a-cce7-6e4a-25ea4a2068c4", + "J01": "3a19deae-2c7a-1848-de92-b5d5ed054cc6", + "J02": "3a19deae-2c7a-1d45-b4f8-6f866530e205", + "J03": "3a19deae-2c7a-f237-89d9-8fe19025dee9" + } + }, } # 物料类型配置 From 2901d72b4b730a7c4f0dd030a8d9d62d4dbc63f2 Mon Sep 17 00:00:00 2001 From: calvincao Date: Sat, 25 Oct 2025 13:50:41 +0800 Subject: [PATCH 4/6] feat: add button battery assembly station resources and configuration files - Introduced new Python modules for button battery assembly, including resource classes and configurations. - Added JSON and CSV files for resource definitions and device configurations. - Created initial setup for the coin cell assembly workstation, including material handling and resource management. --- .../coin_cell_assembly/__init__.py | 0 .../button_battery_station.py | 1006 ++ .../button_battery_station_big.py | 1412 ++ ..._battery_station_resources_unilab_big.json | 1895 ++ .../coin_cell_assembly/cellconfig.py | 114 + .../coin_cell_assembly/celljson.json | 1332 ++ .../coin_cell_assembly/coin_cell_assembly.py | 1163 ++ .../coin_cell_assembly_0910.csv | 44 + .../coin_cell_assembly_a.csv | 46 + .../coin_cell_assembly_old.py | 1149 ++ .../coin_cell_assembly_system_wuliao.py | 135 + .../coin_cell_assembly/new_cellconfig.json | 1925 ++ .../coin_cell_assembly/new_cellconfig2.json | 1925 ++ .../coin_cell_assembly/new_cellconfig3.json | 1925 ++ .../coin_cell_assembly/new_cellconfig3a.json | 1956 +++ .../coin_cell_assembly/new_cellconfig3b.json | 2589 +++ .../coin_cell_assembly/new_cellconfig3c.json | 691 + .../coin_cell_assembly/new_cellconfig4.json | 14472 ++++++++++++++++ .../workstation/coin_cell_assembly/test.ipynb | 750 + .../coin_cell_assembly/work_station.yaml | 6674 +++++++ 20 files changed, 41203 insertions(+) create mode 100644 unilabos/devices/workstation/coin_cell_assembly/__init__.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/cellconfig.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/celljson.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig2.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3a.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3b.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/test.ipynb create mode 100644 unilabos/devices/workstation/coin_cell_assembly/work_station.yaml diff --git a/unilabos/devices/workstation/coin_cell_assembly/__init__.py b/unilabos/devices/workstation/coin_cell_assembly/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py new file mode 100644 index 00000000..eae09b84 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py @@ -0,0 +1,1006 @@ +""" +纽扣电池组装工作站物料类定义 +Button Battery Assembly Station Resource Classes +""" + +from __future__ import annotations + +from collections import OrderedDict +from typing import Any, Dict, List, Optional, TypedDict, Union, cast + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources.container import Container +from pylabrobot.resources.deck import Deck +from pylabrobot.resources.itemized_resource import ItemizedResource +from pylabrobot.resources.resource import Resource +from pylabrobot.resources.resource_stack import ResourceStack +from pylabrobot.resources.tip_rack import TipRack, TipSpot +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.utils import create_ordered_items_2d + + +class ElectrodeSheetState(TypedDict): + diameter: float # 直径 (mm) + thickness: float # 厚度 (mm) + mass: float # 质量 (g) + material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） + height: float + electrolyte_name: str + data_electrolyte_code: str + open_circuit_voltage: float + assembly_pressure: float + electrolyte_volume: float + + info: Optional[str] # 附加信息 + +class ElectrodeSheet(Resource): + """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" + + def __init__( + self, + name: str = "极片", + size_x=10, + size_y=10, + size_z=10, + category: str = "electrode_sheet", + model: Optional[str] = None, + ): + """初始化极片 + + Args: + name: 极片名称 + 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: ElectrodeSheetState = ElectrodeSheetState( + diameter=14, + thickness=0.1, + mass=0.5, + material_type="copper", + info=None + ) + + # TODO: 这个还要不要？给self._unilabos_state赋值的？ + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# TODO: 这个应该只能放一个极片 +class MaterialHoleState(TypedDict): + diameter: int + depth: int + max_sheets: int + info: Optional[str] # 附加信息 + +class MaterialHole(Resource): + """料板洞位类""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "material_hole", + **kwargs + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + ) + self._unilabos_state: MaterialHoleState = MaterialHoleState( + diameter=20, + depth=10, + max_sheets=1, + info=None + ) + + def get_all_sheet_info(self): + info_list = [] + for sheet in self.children: + info_list.append(sheet._unilabos_state["info"]) + return info_list + + #这个函数函数好像没用，一般不会集中赋值质量 + def set_all_sheet_mass(self): + for sheet in self.children: + sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g + + 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 + #移动极片前先取出对象 + def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: + for sheet in self.children: + if sheet.name == name: + return sheet + return None + + def has_electrode_sheet(self) -> bool: + """检查洞位是否有极片""" + return len(self.children) > 0 + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 + #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: + # raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") + #if len(self.children) >= self._unilabos_state["max_sheets"]: + # raise ValueError(f"洞位已满，无法放置更多极片") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: + return self.children[index] + + + +class MaterialPlateState(TypedDict): + hole_spacing_x: float + hole_spacing_y: float + hole_diameter: float + info: Optional[str] # 附加信息 + +class MaterialPlate(ItemizedResource[MaterialHole]): + """料板类 - 4x4个洞位，每个洞位放1个极片""" + + children: List[MaterialHole] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, MaterialHole]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + category: str = "material_plate", + model: Optional[str] = None, + fill: bool = False + ): + """初始化料板 + + Args: + name: 料板名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing_x: X方向洞位间距 (mm) + hole_spacing_y: Y方向洞位间距 (mm) + number: 编号 + category: 类别 + model: 型号 + """ + self._unilabos_state: MaterialPlateState = MaterialPlateState( + hole_spacing_x=24.0, + hole_spacing_y=24.0, + hole_diameter=20.0, + info="", + ) + # 创建4x4的洞位 + # TODO: 这里要改，对应不同形状 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 16, + size_y = 16, + size_z = 16, + ) + if fill: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + else: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + def update_locations(self): + # TODO:调多次相加 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=self._size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 1, + size_y = 1, + size_z = 1, + ) + for item, original_item in zip(holes.items(), self.children): + original_item.location = item[1].location + + +class PlateSlot(ResourceStack): + """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""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + max_plates: int = 8, + category: str = "plate_slot", + model: Optional[str] = None + ): + """初始化板槽位 + + Args: + name: 槽位名称 + max_plates: 最大板数量 + category: 类别 + """ + super().__init__( + name=name, + direction="z", # Z方向堆叠 + resources=[], + ) + self.max_plates = max_plates + self.category = category + + def can_add_plate(self) -> bool: + """检查是否可以添加板""" + return len(self.children) < self.max_plates + + def add_plate(self, plate: MaterialPlate) -> None: + """添加料板""" + if not self.can_add_plate(): + raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") + self.assign_child_resource(plate) + + def get_top_plate(self) -> MaterialPlate: + """获取最上方的板""" + if len(self.children) == 0: + raise ValueError(f"槽位 {self.name} 为空") + return cast(MaterialPlate, self.get_top_item()) + + def take_top_plate(self) -> MaterialPlate: + """取出最上方的板""" + top_plate = self.get_top_plate() + self.unassign_child_resource(top_plate) + return top_plate + + def can_access_for_picking(self) -> bool: + """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）""" + return len(self.children) > 0 + + def serialize(self) -> dict: + return { + **super().serialize(), + "max_plates": self.max_plates, + } + + +class ClipMagazineHole(Container): + """子弹夹洞位类""" + + def __init__( + self, + name: str, + diameter: float, + depth: float, + max_sheets: int = 100, + category: str = "clip_magazine_hole", + ): + """初始化子弹夹洞位 + + Args: + name: 洞位名称 + diameter: 洞直径 (mm) + depth: 洞深度 (mm) + max_sheets: 最大极片数量 + category: 类别 + """ + super().__init__( + name=name, + size_x=diameter, + size_y=diameter, + size_z=depth, + category=category, + ) + self.diameter = diameter + self.depth = depth + self.max_sheets = max_sheets + self._sheets: List[ElectrodeSheet] = [] + + def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: + """检查是否可以添加极片""" + return (len(self._sheets) < self.max_sheets and + sheet.diameter <= self.diameter) + + def add_sheet(self, sheet: ElectrodeSheet) -> None: + """添加极片""" + if not self.can_add_sheet(sheet): + raise ValueError(f"无法向洞位 {self.name} 添加极片") + self._sheets.append(sheet) + + def take_sheet(self) -> ElectrodeSheet: + """取出极片""" + if len(self._sheets) == 0: + raise ValueError(f"洞位 {self.name} 没有极片") + return self._sheets.pop() + + def get_sheet_count(self) -> int: + """获取极片数量""" + return len(self._sheets) + + def serialize_state(self) -> Dict[str, Any]: + return { + "sheet_count": len(self._sheets), + "sheets": [sheet.serialize() for sheet in self._sheets], + } + +# TODO: 这个要改 +class ClipMagazine(Resource): + """子弹夹类 - 有6个洞位，每个洞位放多个极片""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建6个洞位，排成2x3布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=3, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=0, + depth=0, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +#是一种类型注解，不用self +class BatteryState(TypedDict): + """电池状态字典""" + diameter: float + height: float + assembly_pressure: float + electrolyte_volume: float + electrolyte_name: str + +class Battery(Resource): + """电池类 - 可容纳极片""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x=1, + size_y=1, + size_z=1, + category: str = "battery", + ): + """初始化电池 + + Args: + name: 电池名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大容量 (μL) + barcode: 二维码编号 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BatteryState = BatteryState( + diameter = 1.0, + height = 1.0, + assembly_pressure = 1.0, + electrolyte_volume = 1.0, + electrolyte_name = "DP001" + ) + + def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: + to_add_name = bottle._unilabos_state["electrolyte_name"] + if bottle.aspirate_electrolyte(10): + if self.add_electrolyte(to_add_name, 10): + pass + else: + bottle._unilabos_state["electrolyte_volume"] += 10 + + def set_electrolyte(self, name: str, volume: float) -> None: + """设置电解液信息""" + self._unilabos_state["electrolyte_name"] = name + self._unilabos_state["electrolyte_volume"] = volume + #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: + """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] + +# TODO:这个移液枪架子看一下从哪继承 +class TipBox64State(TypedDict): + """电池状态字典""" + tip_diameter: float = 5.0 + tip_length: float = 50.0 + with_tips: bool = True + +class TipBox64(TipRack): + """64孔枪头盒类""" + + children: List[TipSpot] = [] + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "tip_box_64", + model: Optional[str] = None, + ): + """初始化64孔枪头盒 + + Args: + name: 枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + tip_diameter: 枪头直径 (mm) + tip_length: 枪头长度 (mm) + category: 类别 + model: 型号 + with_tips: 是否带枪头 + """ + from pylabrobot.resources.tip import Tip + + # 创建8x8=64个枪头位 + def make_tip(): + return Tip( + has_filter=False, + total_tip_length=20.0, + maximal_volume=1000, # 1mL + fitting_depth=8.0, + ) + + tip_spots = create_ordered_items_2d( + klass=TipSpot, + num_items_x=8, + num_items_y=8, + dx=8.0, + dy=8.0, + dz=0.0, + item_dx=9.0, + item_dy=9.0, + size_x=10, + size_y=10, + size_z=0.0, + make_tip=make_tip, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=tip_spots, + category=category, + model=model, + with_tips=True, + ) + + + +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, + category: str = "waste_tip_box", + model: Optional[str] = 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 BottleRackState(TypedDict): + """ bottle_diameter: 瓶子直径 (mm) + bottle_height: 瓶子高度 (mm) + position_spacing: 位置间距 (mm)""" + bottle_diameter: float + bottle_height: float + name_to_index: dict + + + +class BottleRack(Resource): + """瓶架类 - 12个待配位置+12个已配位置""" + children: List[Bottle] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "bottle_rack", + model: Optional[str] = None, + ): + """初始化瓶架 + + Args: + name: 瓶架名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + # TODO: 添加瓶位坐标映射 + self.index_to_pos = { + 0: Coordinate.zero(), + 1: Coordinate(x=1, y=2, z=3) # 添加 + } + self.name_to_index = {} + self.name_to_pos = {} + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + # TODO: 这里有些问题要重新写一下 + def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True): + assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子" + index = len(self.children) + location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0) + self.name_to_pos[resource.name] = location + self.name_to_index[resource.name] = index + return super().assign_child_resource(resource, location, reassign) + + def assign_child_resource_by_index(self, resource: Bottle, index: int): + assert 0 <= index < 12, "无效的瓶子索引" + self.name_to_index[resource.name] = index + location = self.index_to_pos[index] + return super().assign_child_resource(resource, location) + + def unassign_child_resource(self, resource: Bottle): + super().unassign_child_resource(resource) + self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) + + # def serialize(self): + # self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0)) + # return super().serialize() + + +class BottleState(TypedDict): + diameter: float + height: float + electrolyte_name: str + electrolyte_volume: float + max_volume: float + +class Bottle(Resource): + """瓶子类 - 容纳电解液""" + + def __init__( + self, + name: str, + category: str = "bottle", + ): + """初始化瓶子 + + Args: + name: 瓶子名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大体积 (μL) + barcode: 二维码 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BottleState = BottleState() + + def aspirate_electrolyte(self, volume: float) -> bool: + current_volume = self._unilabos_state["electrolyte_volume"] + assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." + self._unilabos_state["electrolyte_volume"] -= volume + return True + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +class 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 = 1620.0, # 3.66m + size_y: float = 1270.0, # 1.23m + size_z: float = 500.0, + origin: Coordinate = Coordinate(0, 0, 0), + category: str = "coin_cell_deck", + ): + """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) - 3.66m + size_y: 宽度 (mm) - 1.23m + size_z: 高度 (mm) + origin: 原点坐标 + category: 类别 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + origin=origin, + category=category, + ) + +#if __name__ == "__main__": +# # 转移极片的测试代码 +# deck = CoincellDeck("coin_cell_deck") +# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) +# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) +# +# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) +# for i, hole in enumerate(plate_1.children): +# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") +# sheet._unilabos_state = { +# "diameter": 14, +# "info": "NMC", +# "mass": 5.0, +# "material_type": "positive_electrode", +# "thickness": 0.1 +# } +# hole._unilabos_state = { +# "depth": 1.0, +# "diameter": 14, +# "info": "", +# "max_sheets": 1 +# } +# hole.assign_child_resource(sheet, Coordinate.zero()) +# plate_1._unilabos_state = { +# "hole_spacing_x": 20.0, +# "hole_spacing_y": 20.0, +# "hole_diameter": 5, +# "info": "这是第一块料板" +# } +# plate_1.update_locations() +# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) +# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) +# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) +# +# from unilabos.resources.graphio import * +# A = tree_to_list([resource_plr_to_ulab(deck)]) +# with open("test.json", "w") as f: +# json.dump(A, f) +# +# +#def get_plate_with_14mm_hole(name=""): +# plate = MaterialPlate(name=name) +# for i in range(4): +# for j in range(4): +# hole = MaterialHole(f"{i+1}x{j+1}") +# hole._unilabos_state["diameter"] = 14 +# hole._unilabos_state["max_sheets"] = 1 +# plate.assign_child_resource(hole) +# return plate + +import json + +if __name__ == "__main__": + #electrode1 = BatteryPressSlot() + #print(electrode1.get_size_x()) + #print(electrode1.get_size_y()) + #print(electrode1.get_size_z()) + #jipian = ElectrodeSheet() + #jipian._unilabos_state["diameter"] = 18 + #print(jipian.serialize()) + #print(jipian.serialize_state()) + + deck = CoincellDeck(size_x=1000, + size_y=1000, + size_z=900) + + #liaopan = TipBox64(name="liaopan") + + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) + #创建一个极片 + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian1_{i}", size_x= 12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) +# + #创建一个4*4的物料板 + liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) + + #创建一个4*4的物料板 + liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0)) + + + + #liaopan.children[3].assign_child_resource(jipian, location=None) + print(deck) + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "4d5ce6ae-7234-4639-834e-93899b9caf94" + BasicConfig.sk = "505d3b0a-620e-459a-9905-1efcffce382a" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py new file mode 100644 index 00000000..765328f2 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py @@ -0,0 +1,1412 @@ +""" +纽扣电池组装工作站物料类定义 +Button Battery Assembly Station Resource Classes +""" + +from __future__ import annotations + +from collections import OrderedDict +from typing import Any, Dict, List, Optional, TypedDict, Union, cast + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources.container import Container +from pylabrobot.resources.deck import Deck +from pylabrobot.resources.itemized_resource import ItemizedResource +from pylabrobot.resources.resource import Resource +from pylabrobot.resources.resource_stack import ResourceStack +from pylabrobot.resources.tip_rack import TipRack, TipSpot +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.utils import create_ordered_items_2d + + +class ElectrodeSheetState(TypedDict): + diameter: float # 直径 (mm) + thickness: float # 厚度 (mm) + mass: float # 质量 (g) + material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） + info: Optional[str] # 附加信息 + +class ElectrodeSheet(Resource): + """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" + + def __init__( + self, + name: str = "极片", + size_x=10, + size_y=10, + size_z=10, + category: str = "electrode_sheet", + model: Optional[str] = None, + ): + """初始化极片 + + Args: + name: 极片名称 + 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: ElectrodeSheetState = ElectrodeSheetState( + diameter=14, + thickness=0.1, + mass=0.5, + material_type="copper", + info=None + ) + + # TODO: 这个还要不要？给self._unilabos_state赋值的？ + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# TODO: 这个应该只能放一个极片 +class MaterialHoleState(TypedDict): + diameter: int + depth: int + max_sheets: int + info: Optional[str] # 附加信息 + +class MaterialHole(Resource): + """料板洞位类""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "material_hole", + **kwargs + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + ) + self._unilabos_state: MaterialHoleState = MaterialHoleState( + diameter=20, + depth=10, + max_sheets=1, + info=None + ) + + def get_all_sheet_info(self): + info_list = [] + for sheet in self.children: + info_list.append(sheet._unilabos_state["info"]) + return info_list + + #这个函数函数好像没用，一般不会集中赋值质量 + def set_all_sheet_mass(self): + for sheet in self.children: + sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g + + 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 + #移动极片前先取出对象 + def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: + for sheet in self.children: + if sheet.name == name: + return sheet + return None + + def has_electrode_sheet(self) -> bool: + """检查洞位是否有极片""" + return len(self.children) > 0 + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 + if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: + raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") + if len(self.children) >= self._unilabos_state["max_sheets"]: + raise ValueError(f"洞位已满，无法放置更多极片") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: + return self.children[index] + + + +class MaterialPlateState(TypedDict): + hole_spacing_x: float + hole_spacing_y: float + hole_diameter: float + info: Optional[str] # 附加信息 + + + +class MaterialPlate(ItemizedResource[MaterialHole]): + """料板类 - 4x4个洞位，每个洞位放1个极片""" + + children: List[MaterialHole] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, MaterialHole]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + category: str = "material_plate", + model: Optional[str] = None, + fill: bool = False + ): + """初始化料板 + + Args: + name: 料板名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing_x: X方向洞位间距 (mm) + hole_spacing_y: Y方向洞位间距 (mm) + number: 编号 + category: 类别 + model: 型号 + """ + self._unilabos_state: MaterialPlateState = MaterialPlateState( + hole_spacing_x=24.0, + hole_spacing_y=24.0, + hole_diameter=20.0, + info="", + ) + # 创建4x4的洞位 + # TODO: 这里要改，对应不同形状 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 16, + size_y = 16, + size_z = 16, + ) + if fill: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + else: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + def update_locations(self): + # TODO:调多次相加 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=self._size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 1, + size_y = 1, + size_z = 1, + ) + for item, original_item in zip(holes.items(), self.children): + original_item.location = item[1].location + + +class PlateSlot(ResourceStack): + """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""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + max_plates: int = 8, + category: str = "plate_slot", + model: Optional[str] = None + ): + """初始化板槽位 + + Args: + name: 槽位名称 + max_plates: 最大板数量 + category: 类别 + """ + super().__init__( + name=name, + direction="z", # Z方向堆叠 + resources=[], + ) + self.max_plates = max_plates + self.category = category + + def can_add_plate(self) -> bool: + """检查是否可以添加板""" + return len(self.children) < self.max_plates + + def add_plate(self, plate: MaterialPlate) -> None: + """添加料板""" + if not self.can_add_plate(): + raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") + self.assign_child_resource(plate) + + def get_top_plate(self) -> MaterialPlate: + """获取最上方的板""" + if len(self.children) == 0: + raise ValueError(f"槽位 {self.name} 为空") + return cast(MaterialPlate, self.get_top_item()) + + def take_top_plate(self) -> MaterialPlate: + """取出最上方的板""" + top_plate = self.get_top_plate() + self.unassign_child_resource(top_plate) + return top_plate + + def can_access_for_picking(self) -> bool: + """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）""" + return len(self.children) > 0 + + def serialize(self) -> dict: + return { + **super().serialize(), + "max_plates": self.max_plates, + } + + +class ClipMagazineHole(Container): + """子弹夹洞位类""" + children: List[ElectrodeSheet] = [] + def __init__( + self, + name: str, + diameter: float, + depth: float, + category: str = "clip_magazine_hole", + ): + """初始化子弹夹洞位 + + Args: + name: 洞位名称 + diameter: 洞直径 (mm) + depth: 洞深度 (mm) + category: 类别 + """ + super().__init__( + name=name, + size_x=diameter, + size_y=diameter, + size_z=depth, + category=category, + ) + self.diameter = diameter + self.depth = depth + + def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: + """检查是否可以添加极片 + + 根据洞的深度和极片的厚度来判断是否可以添加极片 + """ + # 检查极片直径是否适合洞的直径 + if sheet._unilabos_state["diameter"] > self.diameter: + return False + + # 计算当前已添加极片的总厚度 + current_thickness = sum(s._unilabos_state["thickness"] for s in self.children) + + # 检查添加新极片后总厚度是否超过洞的深度 + if current_thickness + sheet._unilabos_state["thickness"] > self.depth: + return False + + return True + + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate] = None, + reassign: bool = True, + ): + """放置极片到洞位中 + + Args: + resource: 要放置的极片 + location: 极片在洞位中的位置（对于洞位，通常为None） + reassign: 是否允许重新分配 + """ + # 检查是否可以添加极片 + if not self.can_add_sheet(resource): + raise ValueError(f"无法向洞位 {self.name} 添加极片：直径或厚度不匹配") + + # 调用父类方法实际执行分配 + super().assign_child_resource(resource, location, reassign) + + def unassign_child_resource(self, resource: ElectrodeSheet): + """从洞位中移除极片 + + Args: + resource: 要移除的极片 + """ + if resource not in self.children: + raise ValueError(f"极片 {resource.name} 不在洞位 {self.name} 中") + + # 调用父类方法实际执行移除 + super().unassign_child_resource(resource) + + + + def serialize_state(self) -> Dict[str, Any]: + return { + "sheet_count": len(self.children), + "sheets": [sheet.serialize() for sheet in self.children], + } +class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): + """子弹夹类 - 有4个洞位，每个洞位放多个极片""" + children: List[ClipMagazineHole] + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine_four", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建4个洞位，排成2x2布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=2, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=hole_diameter, + depth=hole_depth, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + # 保存洞位的直径和深度 + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +# TODO: 这个要改 +class ClipMagazine(ItemizedResource[ClipMagazineHole]): + """子弹夹类 - 有6个洞位，每个洞位放多个极片""" + children: List[ClipMagazineHole] + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建6个洞位，排成2x3布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=3, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=hole_diameter, + depth=hole_depth, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + # 保存洞位的直径和深度 + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +#是一种类型注解，不用self +class BatteryState(TypedDict): + """电池状态字典""" + diameter: float + height: float + + electrolyte_name: str + electrolyte_volume: float + +class Battery(Resource): + """电池类 - 可容纳极片""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + category: str = "battery", + ): + """初始化电池 + + Args: + name: 电池名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大容量 (μL) + barcode: 二维码编号 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BatteryState = BatteryState() + + def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: + to_add_name = bottle._unilabos_state["electrolyte_name"] + if bottle.aspirate_electrolyte(10): + if self.add_electrolyte(to_add_name, 10): + pass + else: + bottle._unilabos_state["electrolyte_volume"] += 10 + + def set_electrolyte(self, name: str, volume: float) -> None: + """设置电解液信息""" + self._unilabos_state["electrolyte_name"] = name + self._unilabos_state["electrolyte_volume"] = volume + #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: + """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] + +# TODO:这个移液枪架子看一下从哪继承 +class TipBox64State(TypedDict): + """电池状态字典""" + tip_diameter: float = 5.0 + tip_length: float = 50.0 + with_tips: bool = True + +class TipBox64(TipRack): + """64孔枪头盒类""" + + children: List[TipSpot] = [] + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "tip_box_64", + model: Optional[str] = None, + ): + """初始化64孔枪头盒 + + Args: + name: 枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + tip_diameter: 枪头直径 (mm) + tip_length: 枪头长度 (mm) + category: 类别 + model: 型号 + with_tips: 是否带枪头 + """ + from pylabrobot.resources.tip import Tip + + # 创建8x8=64个枪头位 + def make_tip(): + return Tip( + has_filter=False, + total_tip_length=20.0, + maximal_volume=1000, # 1mL + fitting_depth=8.0, + ) + + tip_spots = create_ordered_items_2d( + klass=TipSpot, + num_items_x=8, + num_items_y=8, + dx=8.0, + dy=8.0, + dz=0.0, + item_dx=9.0, + item_dy=9.0, + size_x=10, + size_y=10, + size_z=0.0, + make_tip=make_tip, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + # 记录网格参数用于前端渲染 + self._grid_params = { + "num_items_x": 8, + "num_items_y": 8, + "dx": 8.0, + "dy": 8.0, + "item_dx": 9.0, + "item_dy": 9.0, + } + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=tip_spots, + category=category, + model=model, + with_tips=True, + ) + + def serialize(self) -> dict: + return { + **super().serialize(), + **self._grid_params, + } + + + +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, + category: str = "waste_tip_box", + model: Optional[str] = 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 BottleRackState(TypedDict): + """ bottle_diameter: 瓶子直径 (mm) + bottle_height: 瓶子高度 (mm) + position_spacing: 位置间距 (mm)""" + bottle_diameter: float + bottle_height: float + position_spacing: float + name_to_index: dict + + +class BottleRack(Resource): + """瓶架类 - 12个待配位置+12个已配位置""" + children: List[Resource] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "bottle_rack", + model: Optional[str] = None, + num_items_x: int = 3, + num_items_y: int = 4, + position_spacing: float = 35.0, + orientation: str = "horizontal", + padding_x: float = 20.0, + padding_y: float = 20.0, + ): + """初始化瓶架 + + Args: + name: 瓶架名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + # 初始化状态 + self._unilabos_state: BottleRackState = BottleRackState( + bottle_diameter=30.0, + bottle_height=100.0, + position_spacing=position_spacing, + name_to_index={}, + ) + # 基于网格生成瓶位坐标映射（居中摆放） + # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥） + origin_x = padding_x + origin_y = padding_y + self.index_to_pos = {} + for j in range(num_items_y): + for i in range(num_items_x): + idx = j * num_items_x + i + if orientation == "vertical": + # 纵向：沿 y 方向优先排列 + self.index_to_pos[idx] = Coordinate( + x=origin_x + j * position_spacing, + y=origin_y + i * position_spacing, + z=0, + ) + else: + # 横向（默认）：沿 x 方向优先排列 + self.index_to_pos[idx] = Coordinate( + x=origin_x + i * position_spacing, + y=origin_y + j * position_spacing, + z=0, + ) + self.name_to_index = {} + self.name_to_pos = {} + self.num_items_x = num_items_x + self.num_items_y = num_items_y + self.orientation = orientation + self.padding_x = padding_x + self.padding_y = padding_y + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update( + self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + # TODO: 这里有些问题要重新写一下 + def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True): + capacity = self.num_items_x * self.num_items_y + assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子" + index = len(self.children) + location = self.index_to_pos.get(index, Coordinate.zero()) + self.name_to_pos[resource.name] = location + self.name_to_index[resource.name] = index + return super().assign_child_resource(resource, location, reassign) + + def assign_child_resource(self, resource: Resource, index: int): + capacity = self.num_items_x * self.num_items_y + assert 0 <= index < capacity, "无效的瓶子索引" + self.name_to_index[resource.name] = index + location = self.index_to_pos[index] + return super().assign_child_resource(resource, location) + + def unassign_child_resource(self, resource: Bottle): + super().unassign_child_resource(resource) + self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) + + def serialize(self) -> dict: + return { + **super().serialize(), + "num_items_x": self.num_items_x, + "num_items_y": self.num_items_y, + "position_spacing": self._unilabos_state.get("position_spacing", 35.0), + "orientation": self.orientation, + "padding_x": self.padding_x, + "padding_y": self.padding_y, + } + + +class BottleState(TypedDict): + diameter: float + height: float + electrolyte_name: str + electrolyte_volume: float + max_volume: float + +class Bottle(Resource): + """瓶子类 - 容纳电解液""" + + def __init__( + self, + name: str, + category: str = "bottle", + ): + """初始化瓶子 + + Args: + name: 瓶子名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大体积 (μL) + barcode: 二维码 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BottleState = BottleState() + + def aspirate_electrolyte(self, volume: float) -> bool: + current_volume = self._unilabos_state["electrolyte_volume"] + assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." + self._unilabos_state["electrolyte_volume"] -= volume + return True + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +class 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 = 1620.0, # 3.66m + size_y: float = 1270.0, # 1.23m + size_z: float = 500.0, + origin: Coordinate = Coordinate(0, 0, 0), + category: str = "coin_cell_deck", + ): + """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) - 3.66m + size_y: 宽度 (mm) - 1.23m + size_z: 高度 (mm) + origin: 原点坐标 + category: 类别 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + origin=origin, + category=category, + ) + +#if __name__ == "__main__": +# # 转移极片的测试代码 +# deck = CoincellDeck("coin_cell_deck") +# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) +# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) +# +# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) +# for i, hole in enumerate(plate_1.children): +# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") +# sheet._unilabos_state = { +# "diameter": 14, +# "info": "NMC", +# "mass": 5.0, +# "material_type": "positive_electrode", +# "thickness": 0.1 +# } +# hole._unilabos_state = { +# "depth": 1.0, +# "diameter": 14, +# "info": "", +# "max_sheets": 1 +# } +# hole.assign_child_resource(sheet, Coordinate.zero()) +# plate_1._unilabos_state = { +# "hole_spacing_x": 20.0, +# "hole_spacing_y": 20.0, +# "hole_diameter": 5, +# "info": "这是第一块料板" +# } +# plate_1.update_locations() +# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) +# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) +# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) +# +# from unilabos.resources.graphio import * +# A = tree_to_list([resource_plr_to_ulab(deck)]) +# with open("test.json", "w") as f: +# json.dump(A, f) +# +# +#def get_plate_with_14mm_hole(name=""): +# plate = MaterialPlate(name=name) +# for i in range(4): +# for j in range(4): +# hole = MaterialHole(f"{i+1}x{j+1}") +# hole._unilabos_state["diameter"] = 14 +# hole._unilabos_state["max_sheets"] = 1 +# plate.assign_child_resource(hole) +# return plate + +def create_a_liaopan(): + liaopan = MaterialPlate(name="liaopan", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) + return liaopan + +def create_a_coin_cell_deck(): + deck = Deck(size_x=1200, + size_y=800, + size_z=900) + + #liaopan = TipBox64(name="liaopan") + + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) + #创建一个极片 + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) + #创建一个4*4的物料板 + liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) + + #创建一个4*4的物料板 + liaopan3 = MaterialPlate(name="liaopan3", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan3, Coordinate(x=1000, y=0, z=0)) + + print(deck) + + return deck + + +def create_a_full_coin_cell_deck(): + deck = CoincellDeck() + """======================================子弹夹============================================""" + zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) + zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) + zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) + zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) + zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) + zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) + zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) + zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) + for i in range(4): + jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) + for i in range(4): + jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) + for i in range(6): + jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) + for i in range(6): + jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) + for i in range(6): + jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) + for i in range(6): + jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) + for i in range(6): + jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) + for i in range(6): + jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) + """======================================子弹夹============================================""" + #liaopan = TipBox64(name="liaopan") + """======================================物料板============================================""" + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) + for i in range(16): + jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian_1, location=None) + + liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) + + liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) + + liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) + for i in range(16): + jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan4.children[i].assign_child_resource(jipian_4, location=None) + liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) + liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) + #liaopan.children[3].assign_child_resource(jipian, location=None) + """======================================物料板============================================""" + """======================================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 + bottle_rack_3x4 = BottleRack( + name="bottle_rack_3x4", + size_x=210.0, + size_y=140.0, + size_z=100.0, + num_items_x=3, + num_items_y=4, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) + + bottle_rack_6x2 = BottleRack( + name="bottle_rack_6x2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) + + bottle_rack_6x2_2 = BottleRack( + name="bottle_rack_6x2_2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) + + + # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 + for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_3x4.assign_child_resource(sheet, index=idx) + + for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_6x2.assign_child_resource(sheet, index=idx) + + tip_box = TipBox64(name="tip_box_64") + deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) + + waste_tip_box = WasteTipBox(name="waste_tip_box") + deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) + """======================================瓶架，移液枪============================================""" + print(deck) + return deck + + + + +import json + +if __name__ == "__main__": + electrode1 = BatteryPressSlot() + #print(electrode1.get_size_x()) + #print(electrode1.get_size_y()) + #print(electrode1.get_size_z()) + #jipian = ElectrodeSheet() + #jipian._unilabos_state["diameter"] = 18 + #print(jipian.serialize()) + #print(jipian.serialize_state()) + + deck = CoincellDeck() + """======================================子弹夹============================================""" + zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) + zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) + zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) + zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) + zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) + zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) + zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) + zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) + for i in range(4): + jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) + for i in range(4): + jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) + for i in range(6): + jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) + for i in range(6): + jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) + for i in range(6): + jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) + for i in range(6): + jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) + for i in range(6): + jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) + for i in range(6): + jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) + """======================================子弹夹============================================""" + #liaopan = TipBox64(name="liaopan") + """======================================物料板============================================""" + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) + for i in range(16): + jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian_1, location=None) + + liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) + + liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) + + liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) + for i in range(16): + jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan4.children[i].assign_child_resource(jipian_4, location=None) + liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) + liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) + #liaopan.children[3].assign_child_resource(jipian, location=None) + """======================================物料板============================================""" + """======================================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 + bottle_rack_3x4 = BottleRack( + name="bottle_rack_3x4", + size_x=210.0, + size_y=140.0, + size_z=100.0, + num_items_x=3, + num_items_y=4, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) + + bottle_rack_6x2 = BottleRack( + name="bottle_rack_6x2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) + + bottle_rack_6x2_2 = BottleRack( + name="bottle_rack_6x2_2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) + + + # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 + for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_3x4.assign_child_resource(sheet, index=idx) + + for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_6x2.assign_child_resource(sheet, index=idx) + + tip_box = TipBox64(name="tip_box_64") + deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) + + waste_tip_box = WasteTipBox(name="waste_tip_box") + deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) + """======================================瓶架，移液枪============================================""" + print(deck) + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" + BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + + # 检查序列化后的资源 + + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json new file mode 100644 index 00000000..9468817f --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json @@ -0,0 +1,1895 @@ +{ + "nodes": [ + { + "id": "coin_cell_deck", + "name": "coin_cell_deck", + "sample_id": null, + "children": [ + "liaopan1", + "liaopan2" + ], + "parent": null, + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "CoincellDeck", + "size_x": 1620.0, + "size_y": 1270.0, + "size_z": 500.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "coin_cell_deck", + "barcode": null + }, + "data": {} + }, + { + "id": "liaopan1", + "name": "liaopan1", + "sample_id": null, + "children": [ + "liaopan1_materialhole_0_0", + "liaopan1_materialhole_0_1", + "liaopan1_materialhole_0_2", + "liaopan1_materialhole_0_3", + "liaopan1_materialhole_1_0", + "liaopan1_materialhole_1_1", + "liaopan1_materialhole_1_2", + "liaopan1_materialhole_1_3", + "liaopan1_materialhole_2_0", + "liaopan1_materialhole_2_1", + "liaopan1_materialhole_2_2", + "liaopan1_materialhole_2_3", + "liaopan1_materialhole_3_0", + "liaopan1_materialhole_3_1", + "liaopan1_materialhole_3_2", + "liaopan1_materialhole_3_3" + ], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "MaterialPlate", + "size_x": 120.8, + "size_y": 120.5, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_plate", + "model": null, + "barcode": null, + "ordering": { + "A1": "liaopan1_materialhole_0_0", + "B1": "liaopan1_materialhole_0_1", + "C1": "liaopan1_materialhole_0_2", + "D1": "liaopan1_materialhole_0_3", + "A2": "liaopan1_materialhole_1_0", + "B2": "liaopan1_materialhole_1_1", + "C2": "liaopan1_materialhole_1_2", + "D2": "liaopan1_materialhole_1_3", + "A3": "liaopan1_materialhole_2_0", + "B3": "liaopan1_materialhole_2_1", + "C3": "liaopan1_materialhole_2_2", + "D3": "liaopan1_materialhole_2_3", + "A4": "liaopan1_materialhole_3_0", + "B4": "liaopan1_materialhole_3_1", + "C4": "liaopan1_materialhole_3_2", + "D4": "liaopan1_materialhole_3_3" + } + }, + "data": {} + }, + { + "id": "liaopan1_materialhole_0_0", + "name": "liaopan1_materialhole_0_0", + "sample_id": null, + "children": [ + "jipian_0" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 84.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_0", + "name": "jipian_0", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_0_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_0_1", + "name": "liaopan1_materialhole_0_1", + "sample_id": null, + "children": [], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 60.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "liaopan1_materialhole_0_2", + "name": "liaopan1_materialhole_0_2", + "sample_id": null, + "children": [ + "jipian_2" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 36.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_2", + "name": "jipian_2", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_0_2", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_0_3", + "name": "liaopan1_materialhole_0_3", + "sample_id": null, + "children": [ + "jipian_3" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 12.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_3", + "name": "jipian_3", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_0_3", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_1_0", + "name": "liaopan1_materialhole_1_0", + "sample_id": null, + "children": [ + "jipian_4" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 36.4, + "y": 84.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_4", + "name": "jipian_4", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_1_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_1_1", + "name": "liaopan1_materialhole_1_1", + "sample_id": null, + "children": [ + "jipian_5" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 36.4, + "y": 60.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_5", + "name": "jipian_5", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_1_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + 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"parent": "liaopan2", + "type": "container", + "class": "", + "position": { + "x": 60.4, + "y": 60.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "liaopan2_materialhole_2_2", + "name": "liaopan2_materialhole_2_2", + "sample_id": null, + "children": [], + "parent": "liaopan2", + "type": "container", + "class": "", + "position": { + "x": 60.4, + "y": 36.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "liaopan2_materialhole_2_3", + "name": "liaopan2_materialhole_2_3", + "sample_id": null, + "children": [], + "parent": "liaopan2", + "type": "container", + "class": "", + "position": { + "x": 60.4, + "y": 12.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "liaopan2_materialhole_3_0", + "name": "liaopan2_materialhole_3_0", + "sample_id": null, + "children": [], + "parent": "liaopan2", + "type": "container", + "class": "", + "position": { + "x": 84.4, + "y": 84.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "liaopan2_materialhole_3_1", + "name": "liaopan2_materialhole_3_1", + "sample_id": null, + "children": [], + "parent": "liaopan2", + "type": "container", + "class": "", + "position": { + "x": 84.4, + "y": 60.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "liaopan2_materialhole_3_2", + "name": "liaopan2_materialhole_3_2", + "sample_id": null, + "children": [], + "parent": "liaopan2", + "type": "container", + "class": "", + "position": { + "x": 84.4, + "y": 36.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "liaopan2_materialhole_3_3", + "name": "liaopan2_materialhole_3_3", + "sample_id": null, + "children": [], + "parent": "liaopan2", + "type": "container", + "class": "", + "position": { + "x": 84.4, + "y": 12.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/cellconfig.py b/unilabos/devices/workstation/coin_cell_assembly/cellconfig.py new file mode 100644 index 00000000..957f62dd --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/cellconfig.py @@ -0,0 +1,114 @@ +#!/usr/bin/env python +#coding=utf-8 + +ENV = 'pro'#'test' +class MQConfig: + """MQTT 配置类""" + lab_id: str = '9F05593C' + instance_id: str = 'mqtt-cn-dsr48m6jy02' + + group_id: str = 'GID_prod' + broker_url: str = 'mqtt-cn-dsr48m6jy02.mqtt.aliyuncs.com' + port: int = 8883 + ca_content: str = '''-----BEGIN CERTIFICATE----- +MIID3jCCAsagAwIBAgIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDQYJKoZIhvcNAQEL +BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G +A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA1MDYxNTE0Mjda +Fw0zNTA1MDQxNTE0MjdaMEsxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG +A1UEBwwCQkoxEDAOBgNVBAoMB2RwLnRlY2gxEDAOBgNVBAsMB3VuaS1sYWIwggEi +MA0GCSqGSIb3DQEBAQUAA4IBDwAwggEKAoIBAQDnTBywX+6DJ2n+prNKvylBBJF6 +NHQrCt2cztZfswHsW4QhAbDddp4PRzNVzKtIfHX5ZrXGbxNT1/TqQYXKiFjKbfPC +VHTrS6+95LP3MxNTlBWHP6d2uI45KwrGgQ7D1uPDG1wZsfuJxvOkfAIxZRCDUMJr +erYYK/p2/GVMAO5YKE7wENUMN+iLfVQRqQJRgte9z0B35DxUeOUblJDun0Dpl/6L +0km/YRrjUKA/5+u/h+Ko9+36L1DAi+9rm3eyp+BQHBy5aiVhAG6uAJeMjbZMxwxz +ixg9cWNxP1BW+aQQzixbEQ+YlO9+w/soJkLstiK7jF8uIg2QvmNUKNlqab0pAgMB +AAGjgbkwgbYwHQYDVR0OBBYEFAqg0r7f6ngWODyVxVWHWM06b8wDMIGGBgNVHSME +fzB9gBQKoNK+3+p4Fjg8lcVVh1jNOm/MA6FPpE0wSzELMAkGA1UEBhMCQ04xCzAJ +BgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4GA1UECgwHZHAudGVjaDEQMA4GA1UE +CwwHdW5pLWxhYoIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDAYDVR0TBAUwAwEB/zAN +BgkqhkiG9w0BAQsFAAOCAQEAMylGHHhRCI8JLTizxqk2HaOFkF/WfnYC3XyNx3bK +9KqwVcvaqES+C058lits5nCV1qjjSnKt6xU11S8C6E28Kazh+wMqnSw63fz4UOY5 +4cekPCPy8XcWlOY6UW2N27GR0c9JDo9ovruOn1Y4KjATpAQI4W2tPAQ2gCVSNpu1 +bw5uw35yJSRzdQIHlsVbslvj2wcugK3GZHmmxJK+q9ww7G6xXtE2Y0+vl6AZRj+I +lcTy5TNNDZiiboIlAt+K3m4hxzSgGPbmFPJX3Lw3i+YMR/0PrWfXqxZgicO/V6/d +SgGBqq/tH1caiaEjCFudSZcOiZvHIlb09O4qL7mCtWEiEQ== +-----END CERTIFICATE----- +''' + cert_content: str = '''-----BEGIN CERTIFICATE----- +MIIDlTCCAn2gAwIBAgIUa/ce6dpJ8K7XNvT0LknVmLgfJMIwDQYJKoZIhvcNAQEL +BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G +A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA4MTMwNDQ0MDVa +Fw0yNjEyMjYwNDQ0MDVaMHoxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG +A1UEBwwCQkoxDDAKBgNVBAoMA0RQVDENMAsGA1UECwwETVFUVDEhMB8GCSqGSIb3 +DQEJARYSaHVhaGFpbWluZ0BkcC50ZWNoMREwDwYDVQQDDAg0NzJBMjZBQzCCASIw +DQYJKoZIhvcNAQEBBQADggEPADCCAQoCggEBAPc4NHXcwaFX3jSN6DnDYoY7ON6c +AeVIlcQp3CMHnulh4t3I3Fnsyelpc809s7l5vEpAjMIuZ40DJKZQmV9ckmeylMiY +bAk851+i8YcRQPeYYY7Ggt0sfkY3TWIIqptZtlIhXtkTCWw6xpHAPkYxqNTiUN/0 +vwQWwiBS7WqD8NVjNhhHootYLsMjnQYc162L8nUwzG2pjB3UYqOldC3FkHXvBkG2 +Oeex8VM8Urblv0huCmoFRyuMmNol0QWqp+6nwAgdvf89Z38NJByPI9VHaBB/VV1F +HiAZe3H8Ph7wzgUSXBuVHJ4BaeJbg4+ax6BccpaQn26jgpJGUEj+YR+NwdMCAwEA +AaNCMEAwDAYDVR0TAQH/BAIwADAOBgNVHQ8BAf8EBAMCAvQwIAYDVR0lAQH/BBYw +FAYIKwYBBQUHAwIGCCsGAQUFBwMBMA0GCSqGSIb3DQEBCwUAA4IBAQAZaF8puP0/ +OcRM7Gcd4LrF8H/WG0Q7WM0T9BWGvee6A+Fcd4ajBC0S0tIfdsfYat0+g4U57jrr +vaQeZGFKc4YKVui8vSuth82fcsFk5fpyhz4JJRggzeoby+0gNx9eYDJwLIvbVy4Y +2LKGq+rsO07QF54jtwB4WpDNFnEIadXyjPBsMy/0Ssbetp827WYZygXYyAcUlCfN +Wns7K0phfZJwIMQgPs3d4mGwCC+xaRIB3GGjUGFXV1sFItjkTUHCvm+phw/MTpRp +pauplyDcWYux7z1dKhbuHElzCEqxZNwyI0nGJlRFP13Oo+jnuDO7gQh2lyz/AFyX +KyTA3xFZduHO +-----END CERTIFICATE----- +-----BEGIN CERTIFICATE----- +MIID3jCCAsagAwIBAgIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDQYJKoZIhvcNAQEL +BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G +A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA1MDYxNTE0Mjda +Fw0zNTA1MDQxNTE0MjdaMEsxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG +A1UEBwwCQkoxEDAOBgNVBAoMB2RwLnRlY2gxEDAOBgNVBAsMB3VuaS1sYWIwggEi +MA0GCSqGSIb3DQEBAQUAA4IBDwAwggEKAoIBAQDnTBywX+6DJ2n+prNKvylBBJF6 +NHQrCt2cztZfswHsW4QhAbDddp4PRzNVzKtIfHX5ZrXGbxNT1/TqQYXKiFjKbfPC +VHTrS6+95LP3MxNTlBWHP6d2uI45KwrGgQ7D1uPDG1wZsfuJxvOkfAIxZRCDUMJr +erYYK/p2/GVMAO5YKE7wENUMN+iLfVQRqQJRgte9z0B35DxUeOUblJDun0Dpl/6L +0km/YRrjUKA/5+u/h+Ko9+36L1DAi+9rm3eyp+BQHBy5aiVhAG6uAJeMjbZMxwxz +ixg9cWNxP1BW+aQQzixbEQ+YlO9+w/soJkLstiK7jF8uIg2QvmNUKNlqab0pAgMB +AAGjgbkwgbYwHQYDVR0OBBYEFAqg0r7f6ngWODyVxVWHWM06b8wDMIGGBgNVHSME +fzB9gBQKoNK+3+p4Fjg8lcVVh1jNOm/MA6FPpE0wSzELMAkGA1UEBhMCQ04xCzAJ +BgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4GA1UECgwHZHAudGVjaDEQMA4GA1UE +CwwHdW5pLWxhYoIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDAYDVR0TBAUwAwEB/zAN +BgkqhkiG9w0BAQsFAAOCAQEAMylGHHhRCI8JLTizxqk2HaOFkF/WfnYC3XyNx3bK +9KqwVcvaqES+C058lits5nCV1qjjSnKt6xU11S8C6E28Kazh+wMqnSw63fz4UOY5 +4cekPCPy8XcWlOY6UW2N27GR0c9JDo9ovruOn1Y4KjATpAQI4W2tPAQ2gCVSNpu1 +bw5uw35yJSRzdQIHlsVbslvj2wcugK3GZHmmxJK+q9ww7G6xXtE2Y0+vl6AZRj+I +lcTy5TNNDZiiboIlAt+K3m4hxzSgGPbmFPJX3Lw3i+YMR/0PrWfXqxZgicO/V6/d +SgGBqq/tH1caiaEjCFudSZcOiZvHIlb09O4qL7mCtWEiEQ== +-----END CERTIFICATE----- +''' + key_content: str = '''-----BEGIN RSA PRIVATE KEY----- +MIIEpAIBAAKCAQEA9zg0ddzBoVfeNI3oOcNihjs43pwB5UiVxCncIwee6WHi3cjc +WezJ6WlzzT2zuXm8SkCMwi5njQMkplCZX1ySZ7KUyJhsCTznX6LxhxFA95hhjsaC +3Sx+RjdNYgiqm1m2UiFe2RMJbDrGkcA+RjGo1OJQ3/S/BBbCIFLtaoPw1WM2GEei +i1guwyOdBhzXrYvydTDMbamMHdRio6V0LcWQde8GQbY557HxUzxStuW/SG4KagVH +K4yY2iXRBaqn7qfACB29/z1nfw0kHI8j1UdoEH9VXUUeIBl7cfw+HvDOBRJcG5Uc +ngFp4luDj5rHoFxylpCfbqOCkkZQSP5hH43B0wIDAQABAoIBAAPzz0ZUcqmR1Eva +5PH98gQzp2wB9snLY86HY3Z/JVAPf5Ht9sbAUWHhT8PVoWpIasSmFbuJxz6DRk3S +M8VVVipxxgcTWqo/JOD4HZiCNfcRru6+5dHxZ4p2B/n4EWfoy+KyEZkgd5jQFONj +jIX+rDR3qZzFqoBRhQSHLuD+i66eZ7l1LOqsnk51r3nTCnGmdyV8fll56MMB5D6+ +8LN2rwbmSYX/UIBBqHUthgEt2onFNaetTLgSa3RSNGZ3xEZt4N32vw1SARxItuso +npAAY77POMUwWe3666fETI+yr/gJuppvTF4sQUXy7I4iz7I18n2SYivHabdgnk6H +7y1TcGECgYEA/NbBLFz1YPOQiT6TsuitIlfWcFWXYI4yHh/Mwwm/heHV683HrUti +RSHWbFxggW70BYJbGAQprEe9UIRVdP9YNi3aPeN5WNfnTFHlN2HRiKenlETM1tw9 +yaSWjNbAyc2ka+l1EblMJy92xoCkErS8riEPW83o+3+LqJwnjsJ8tVECgYEA+k93 +AyNpXuOZldAoqSHF3wHgzgd2jhfVdQcNlz9sLfT8TAdoR01mdBtdytcYAH+FHplW +wlkCfpT1RPf3fEd0Asy727pJnL9v/QfY/BB+vfgWKUQg9CWNIevwItCaTNOSekis +lKl5dxNGOyouU7rPbTj9BC26OHA50Z3vLMKmi+MCgYEAy0Sb6N6TJ26pNK1qcNs+ +1e1oKMem+6lWAYHvTJ35q9jz8q9taJTCXHHnwRZDP8vDwuoZ8iTmm+rQ+HprebQP +Zv9WBYtrc1GgUmtErFGn8wVWZI0rYVGPGx2HK5M7SwJYvajixW0DHD28b7ncLm2/ +gv5xKo1QUWEpFlT0OIGDYQECgYEA8WRlH6+s1Iel++ZM8B7T1ibXh5mG6a1ue3eb +0bqmNwPFtASIugqYvWwO3ajlSsWvuTyjgLWaRDye9C42i7HU3UZX/KUAjJvKAjjp +Nt0pfUadCJrdNNZp7sa8RLbrtx9qaWdgl9WAgCckWbZqCvFjTK/iwX7f0cHY4J/w +ojftqYUCgYARM6YaEJuBJEBmZV1I0rweiguqWssZz2j1awSlsfYxckwnci4VtSMI +D/sp0Wp0yn2N4cgqp49BFD0rCQCTsASVICEf9HWdMQXsUhzWsz4SjVEhjWWC1VAk +sEL+BOcbsHy3qMbV2uKBHrhuZShDdy5KtCm9TB+7zTWyDVHwE24nig== +-----END RSA PRIVATE KEY----- +''' + +# HTTP配置 +class HTTPConfig: + remote_addr = "https://uni-lab.test.bohrium.com/api/v1" diff --git a/unilabos/devices/workstation/coin_cell_assembly/celljson.json b/unilabos/devices/workstation/coin_cell_assembly/celljson.json new file mode 100644 index 00000000..ad904175 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/celljson.json @@ -0,0 +1,1332 @@ +{ + "nodes": [ + { + "id": "BatteryStation", + "name": "扣电工作站", + "children": [ + "coin_cell_deck" + ], + "parent": null, + "type": "device", + "class": "bettery_station_registry", + "position": { + 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"Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_3_2", + "name": "plate_1_materialhole_3_2", + "sample_id": null, + "children": [ + "hole_14_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 30.5, + "y": -9.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_14_sheet_1", + "name": "hole_14_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_3_2", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_3_3", + "name": "plate_1_materialhole_3_3", + "sample_id": null, + "children": [ + "hole_15_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 30.5, + "y": -29.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_15_sheet_1", + "name": "hole_15_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_3_3", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py new file mode 100644 index 00000000..eb23be55 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -0,0 +1,1163 @@ +import csv +import json +import os +import threading +import time +from datetime import datetime +from typing import Any, Dict, Optional +from pylabrobot.resources import 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.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode + +#构建物料系统 + +class CoinCellAssemblyWorkstation(WorkstationBase): + def __init__( + self, + station_resource: CoincellDeck, + address: str = "192.168.1.20", + port: str = "502", + debug_mode: bool = True, + *args, + **kwargs, + ): + super().__init__( + #桌子 + station_resource=station_resource, + *args, + **kwargs, + ) + self.debug_mode = debug_mode + self.station_resource = station_resource + """ 连接初始化 """ + modbus_client = TCPClient(addr=address, port=port) + print("modbus_client", modbus_client) + if not debug_mode: + modbus_client.client.connect() + count = 100 + while count >0: + count -=1 + if modbus_client.client.is_socket_open(): + break + time.sleep(2) + if not modbus_client.client.is_socket_open(): + raise ValueError('modbus tcp connection failed') + else: + print("测试模式，跳过连接") + + """ 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 + self.coin_num_N = 0 #已组装电池数量 + #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] + #}) + + + def post_init(self, ros_node: ROS2WorkstationNode): + self._ros_node = ros_node + #self.deck = create_a_coin_cell_deck() + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + # 批量操作在这里写 + async def change_hole_sheet_to_2(self, hole: MaterialHole): + hole._unilabos_state["max_sheets"] = 2 + return await self._ros_node.update_resource(hole) + + + async def fill_plate(self): + plate_1: MaterialPlate = self.station_resource.children[0].children[0] + #plate_1 + return await self._ros_node.update_resource(plate_1) + + #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): + # """启动工作流""" + # self.current_workflow_status = WorkflowStatus.RUNNING + # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") +# + # # TODO: 实现工作流逻辑 +# + # anode_sheet = self.deck.get_resource("anode_sheet") + + """ Action逻辑代码 """ + def _sys_start_cmd(self, cmd=None): + """设备启动命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_START_CMD') + ret = node.write(cmd) + print(ret) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) + return cmd_feedback[0] + + def _sys_stop_cmd(self, cmd=None): + """设备停止命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_STOP_CMD') + node.write(cmd) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) + return cmd_feedback[0] + + def _sys_reset_cmd(self, cmd=None): + """设备复位命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) + return cmd_feedback[0] + + def _sys_hand_cmd(self, cmd=None): + """手动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) + self.success = True + print("步骤0") + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) + return cmd_feedback[0] + + def _sys_auto_cmd(self, cmd=None): + """自动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) + return cmd_feedback[0] + + def _sys_init_cmd(self, cmd=None): + """初始化命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_succ_cmd(self, cmd=None): + """UNILAB发送配方完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rec_msg_succ_cmd(self, cmd=None): + """UNILAB接收测试电池数据完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) + return cmd_feedback + + + # ====================== 命令类指令（REG_x_） ====================== + def _unilab_send_msg_electrolyte_num(self, num=None): + """UNILAB写电解液使用瓶数(可读写)""" + if num is not None: + self.success = False + ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + print(ret) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_use_num(self, use_num=None): + """UNILAB写单次电解液使用瓶数(可读写)""" + if use_num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) + self.success = True + return self.success + else: + return False + + def _unilab_send_msg_assembly_type(self, num=None): + """UNILAB写组装参数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_vol(self, vol=None): + """UNILAB写电解液吸取量参数""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + def _unilab_send_msg_assembly_pressure(self, vol=None): + """UNILAB写电池压制力""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + # ==================== 0905新增内容（COIL_x_STATUS） ==================== + def _unilab_send_electrolyte_bottle_num(self, num=None): + """UNILAB发送电解液瓶数完毕""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_rece_electrolyte_bottle_num(self, num=None): + """设备请求接受电解液瓶数""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _reg_msg_electrolyte_num(self, num=None): + """电解液已使用瓶数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _reg_data_electrolyte_use_num(self, num=None): + """单瓶电解液完成组装数""" + if num is not None: + self.success = False + self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_finished_cmd(self, num=None): + """Unilab发送已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rece_finished_cmd(self, num=None): + """Unilab接收已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) + return cmd_feedback[0] + + + + # ==================== 状态类属性（COIL_x_STATUS） ==================== + def _sys_start_status(self) -> bool: + """设备启动中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) + return status[0] + + def _sys_stop_status(self) -> bool: + """设备停止中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) + return status[0] + + def _sys_reset_status(self) -> bool: + """设备复位中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) + return status[0] + + def _sys_init_status(self) -> bool: + """设备初始化完成( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) + return status[0] + + # 查找资源 + def modify_deck_name(self, resource_name: str): + # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) + # print(f"!!! figure_res: {type(figure_res)}") + self.station_resource.children[1] + return + + @property + def sys_status(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_start_status(): + return "设备启动中" + elif self._sys_stop_status(): + return "设备停止中" + elif self._sys_reset_status(): + return "设备复位中" + elif self._sys_init_status(): + return "设备初始化中" + else: + return "未知状态" + + def _sys_hand_status(self) -> bool: + """设备手动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) + return status[0] + + def _sys_auto_status(self) -> bool: + """设备自动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) + return status[0] + + @property + def sys_mode(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_hand_status(): + return "设备手动模式" + elif self._sys_auto_status(): + return "设备自动模式" + else: + return "未知模式" + + @property + def request_rec_msg_status(self) -> bool: + """设备请求接受配方( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) + return status[0] + + @property + def request_send_msg_status(self) -> bool: + """设备请求发送测试数据( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) + return status[0] + + # ======================= 其他属性（特殊功能） ======================== + ''' + @property + def warning_1(self) -> bool: + status, read_err = self.client.use_node('COIL_WARNING_1').read(1) + return status[0] + ''' + # ===================== 生产数据区 ====================== + + @property + def data_assembly_coin_cell_num(self) -> int: + """已完成电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) + return num + + @property + def data_assembly_time(self) -> float: + """单颗电池组装时间 (秒, REAL/FLOAT32)""" + if self.debug_mode: + return 0 + time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) + return time + + @property + def data_open_circuit_voltage(self) -> float: + """开路电压值 (FLOAT32)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) + return vol + + @property + def data_axis_x_pos(self) -> float: + """分液X轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_y_pos(self) -> float: + """分液Y轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_z_pos(self) -> float: + """分液Z轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_pole_weight(self) -> float: + """当前电池正极片称重数据 (FLOAT32)""" + if self.debug_mode: + return 0 + weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) + return weight + + @property + def data_assembly_pressure(self) -> int: + """当前电池压制力 (INT16)""" + if self.debug_mode: + return 0 + pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) + return pressure + + @property + def data_electrolyte_volume(self) -> int: + """当前电解液加注量 (INT16)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) + return vol + + @property + def data_coin_num(self) -> int: + """当前电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) + return num + + @property + def data_coin_cell_code(self) -> str: + """电池二维码序列号 (STRING)""" + 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) + 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}") + return "N/A" + + + @property + def data_electrolyte_code(self) -> str: + 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) + 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}") + return "N/A" + + # ===================== 环境监控区 ====================== + @property + def data_glove_box_pressure(self) -> float: + """手套箱压力 (bar, FLOAT32)""" + if self.debug_mode: + return 0 + status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return status + + @property + def data_glove_box_o2_content(self) -> float: + """手套箱氧含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + + @property + def data_glove_box_water_content(self) -> float: + """手套箱水含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + +# @property +# def data_stack_vision_code(self) -> int: +# """物料堆叠复检图片编码 (INT16)""" +# if self.debug_mode: +# return 0 +# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) +# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type +# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) +# #print(code.type) +# # print(read_err) +# return int(code) + + def func_pack_device_init(self): + #切换手动模式 + print("切换手动模式") + self._sys_hand_cmd(True) + time.sleep(1) + while (self._sys_hand_status()) == False: + print("waiting for hand_cmd") + time.sleep(1) + #设备初始化 + self._sys_init_cmd(True) + time.sleep(1) + #sys_init_status为bool值，不加括号 + while (self._sys_init_status())== False: + print("waiting for init_cmd") + time.sleep(1) + #手动按钮置回False + self._sys_hand_cmd(False) + time.sleep(1) + while (self._sys_hand_cmd()) == True: + print("waiting for hand_cmd to False") + time.sleep(1) + #初始化命令置回False + self._sys_init_cmd(False) + time.sleep(1) + while (self._sys_init_cmd()) == True: + print("waiting for init_cmd to False") + time.sleep(1) + + def func_pack_device_auto(self): + #切换自动 + print("切换自动模式") + self._sys_auto_cmd(True) + time.sleep(1) + while (self._sys_auto_status()) == False: + print("waiting for auto_status") + time.sleep(1) + #自动按钮置False + self._sys_auto_cmd(False) + time.sleep(1) + while (self._sys_auto_cmd()) == True: + print("waiting for auto_cmd") + time.sleep(1) + + def func_pack_device_start(self): + #切换自动 + print("启动") + self._sys_start_cmd(True) + time.sleep(1) + while (self._sys_start_status()) == False: + print("waiting for start_status") + time.sleep(1) + #自动按钮置False + self._sys_start_cmd(False) + time.sleep(1) + while (self._sys_start_cmd()) == True: + print("waiting for start_cmd") + time.sleep(1) + + 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: + print("waiting for rece_electrolyte_bottle_num to True") + # self.client.use_node('8520').write(True) + time.sleep(1) + #发送电解液瓶数为2 + self._reg_msg_electrolyte_num(bottle_num) + time.sleep(1) + #完成信号置True + self._unilab_send_electrolyte_bottle_num(True) + time.sleep(1) + #检测到依华已接收 + while (self._unilab_rece_electrolyte_bottle_num()) == True: + print("waiting for rece_electrolyte_bottle_num to False") + time.sleep(1) + #完成信号置False + self._unilab_send_electrolyte_bottle_num(False) + time.sleep(1) + #自动按钮置False + + + # 下发参数 + #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: + # """UNILAB写参数""" + # while (self.request_rec_msg_status) == False: + # print("wait for res_msg") + # time.sleep(1) + # self.success = False + # self._unilab_send_msg_electrolyte_num(elec_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_use_num(elec_use_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_vol(elec_vol) + # time.sleep(1) + # self._unilab_send_msg_assembly_type(assembly_type) + # time.sleep(1) + # self._unilab_send_msg_assembly_pressure(assembly_pressure) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(True) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(False) + # #将允许读取标志位置True + # self.allow_data_read = True + # self.success = True + # return self.success + + def func_pack_send_msg_cmd(self, elec_use_num) -> 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) + self._unilab_send_msg_electrolyte_use_num(elec_use_num) + time.sleep(1) + self._unilab_send_msg_succ_cmd(True) + time.sleep(1) + while (self.request_rec_msg_status) == True: + print("wait for request_rec_msg_status to False") + time.sleep(1) + self._unilab_send_msg_succ_cmd(False) + #将允许读取标志位置True + self.allow_data_read = True + self.success = True + return self.success + + def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: + """UNILAB读参数""" + while self.request_send_msg_status == False: + print("waiting for send_read_msg_status to True") + time.sleep(1) + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + 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) + #接收完信息后，读取完毕标志位置True + liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") + #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.station_resource] + }) + + + self._unilab_rec_msg_succ_cmd(True) + time.sleep(1) + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd(False) + time.sleep(1) + #将允许读取标志位置True + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + #将数据存入csv文件 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + self.success = True + return self.success + + + + def func_pack_send_finished_cmd(self) -> bool: + """UNILAB写参数""" + while (self._unilab_rece_finished_cmd()) == False: + print("wait for rece_finished_cmd to True") + time.sleep(1) + self.success = False + self._unilab_send_finished_cmd(True) + time.sleep(1) + while (self._unilab_rece_finished_cmd()) == True: + print("wait for rece_finished_cmd to False") + time.sleep(1) + self._unilab_send_finished_cmd(False) + #将允许读取标志位置True + self.success = True + return self.success + + + + def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool: + elec_num, elec_use_num = int(elec_num), int(elec_use_num) + 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: + reader = csv.reader(csvfile) + header = next(reader) # 跳过标题行 + data_row = next(reader) # 读取数据行 + if len(data_row) >= 2: + elec_num_r = int(data_row[0]) + elec_use_num_r = int(data_row[1]) + elec_num_N = int(data_row[2]) + elec_use_num_N = int(data_row[3]) + coin_num_N = int(data_row[4]) + if elec_num_r == elec_num and elec_use_num_r == elec_use_num: + print("断点文件与当前任务匹配，继续") + else: + print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") + return False + print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") + + else: + read_status_flag = False + print("未找到断点文件，从头开始") + elec_num_N = 0 + elec_use_num_N = 0 + coin_num_N = 0 + 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() + #切换自动 + #self.func_pack_device_auto() + #启动，小车收回 + #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) + 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) + + 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) + # 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 + + + + # 生成断点文件 + # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) + 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 + + #循环正常结束，则删除断点文件 + os.remove(summary_csv_file) + #全部完成后等待依华发送完成信号 + self.func_pack_send_finished_cmd() + + + def func_pack_device_stop(self) -> bool: + """打包指令：设备停止""" + for i in range(3): + time.sleep(2) + print(f"输出{i}") + #print("_sys_hand_cmd", self._sys_hand_cmd()) + #time.sleep(1) + #print("_sys_hand_status", self._sys_hand_status()) + #time.sleep(1) + #print("_sys_init_cmd", self._sys_init_cmd()) + #time.sleep(1) + #print("_sys_init_status", self._sys_init_status()) + #time.sleep(1) + #print("_sys_auto_status", self._sys_auto_status()) + #time.sleep(1) + #print("data_axis_y_pos", self.data_axis_y_pos) + #time.sleep(1) + #self.success = False + #with open('action_device_stop.json', 'r', encoding='utf-8') as f: + # action_json = json.load(f) + #self.client.execute_procedure_from_json(action_json) + #self.success = True + #return self.success + + def fun_wuliao_test(self) -> bool: + #找到data_init中构建的2个物料盘 + liaopan3 = self.station_resource.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.station_resource] + }) + time.sleep(4) + # 数据读取与输出 + def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): + # 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" + + #若不存在该目录则创建 + if not os.path.exists(file_path): + os.makedirs(file_path) + print(f"创建目录: {file_path}") + + # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 + while self.allow_data_read: + + #函数运行标志位，确保只同时启动一个导出函数 + self.csv_export_running = True + + #等待接收结果标志位置True + while self.request_send_msg_status == False: + print("waiting for send_msg_status to True") + time.sleep(1) + #日期时间戳用于按天存放csv文件 + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + + #接收信息 + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + # 电解液瓶位置 + elec_bottle_site = 2 + # 极片夹取位置(应当通过寄存器读光标) + Pos_elec_site = 0 + Al_elec_site = 0 + Gasket_site = 0 + + #接收完信息后，读取完毕标志位置True + self._unilab_rec_msg_succ_cmd()# = True + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd()# = False + + #此处操作物料信息（如果中途报错停止，如何） + #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） + #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） + + #物料读取操作写在这里 + #在这里进行物料调取 + #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） + # transfer_bottle(deck, elec_bottle_site) + # #找到电解液瓶的对象 + # electrolyte_rack = deck.get_resource("electrolyte_rack") + # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] + # # TODO: 瓶子取液体操作需要加入 +# +# + # #找到压制工站对应的对象 + # battery_press_slot = deck.get_resource("battery_press_1") + # #创建一个新电池 + # test_battery = Battery( + # name=f"test_battery_{data_coin_num}", + # diameter=20.0, # 与压制槽直径匹配 + # height=3.0, # 电池高度 + # max_volume=100.0, # 100μL容量 + # barcode=data_coin_cell_code, # 电池条码 + # ) + # if battery_press_slot.has_battery(): + # return False, "压制工站已有电池，无法放置新电池" + # #在压制位放置电池 + # battery_press_slot.place_battery(test_battery) + # #从第一个子弹夹中取料 + # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) + # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) + # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) + # + # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") + # + # # 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(): + # battery = battery_site.take_battery() #从压制槽取出电池 + # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 +# +# +# +# + # # 保存配置到文件 + # self.deck.save("button_battery_station_layout.json", indent=2) + # print("\n台面配置已保存到: button_battery_station_layout.json") + # + # # 保存状态到文件 + # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) + # print("台面状态已保存到: button_battery_station_state.json") + + + + + + + #将数据写入csv中 + #如当前目录下无同名文件则新建一个csv用于存放数据 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + + # 只要不在自动模式运行中，就将允许标志位置False + if self.sys_auto_status == False or self.sys_start_status == False: + self.allow_data_read = False + self.csv_export_running = False + time.sleep(1) + + def func_stop_read_data(self): + """停止CSV导出""" + if not self.csv_export_running: + return False, "read data未在运行" + + self.csv_export_running = False + self.allow_data_read = False + + if self.csv_export_thread and self.csv_export_thread.is_alive(): + self.csv_export_thread.join(timeout=5) + + def func_get_csv_export_status(self): + """获取CSV导出状态""" + return { + 'allow_read': self.allow_data_read, + 'running': self.csv_export_running, + 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False + } + + + ''' + # ===================== 物料管理区 ====================== + @property + def data_material_inventory(self) -> int: + """主物料库存 (数量, INT16)""" + inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) + return inventory + + @property + def data_tips_inventory(self) -> int: + """移液枪头库存 (数量, INT16)""" + inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) + return inventory + + ''' + + +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() + #deck = create_a_full_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) + + liaopan1 = deck.get_resource("liaopan1") + liaopan2 = deck.get_resource("liaopan2") + for i in range(16): + #找到liaopan1上每一个jipian + jipian_linshi = liaopan1.children[i].children[0] + #把物料解绑后放到另一盘上 + print("极片:", jipian_linshi) + jipian_linshi.parent.unassign_child_resource(jipian_linshi) + liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) + + + from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type + #with open("./button_battery_station_resources_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) + + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" + BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv new file mode 100644 index 00000000..e8407159 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv @@ -0,0 +1,44 @@ +Name,DataType,InitValue,Comment,Attribute,DeviceType,Address +COIL_SYS_START_CMD,BOOL,,豸,,coil,8010 +COIL_SYS_STOP_CMD,BOOL,,豸ֹͣ,,coil,8020 +COIL_SYS_RESET_CMD,BOOL,,豸λ,,coil,8030 +COIL_SYS_HAND_CMD,BOOL,,豸ֶģʽ,,coil,8040 +COIL_SYS_AUTO_CMD,BOOL,,豸Զģʽ,,coil,8050 +COIL_SYS_INIT_CMD,BOOL,,豸ʼģʽ,,coil,8060 +COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,UNILAB䷽,,coil,8700 +COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,UNILABܲ,,coil,8710 +COIL_SYS_START_STATUS,BOOL,,豸,,coil,8210 +COIL_SYS_STOP_STATUS,BOOL,,豸ֹͣ,,coil,8220 +COIL_SYS_RESET_STATUS,BOOL,,豸λ,,coil,8230 +COIL_SYS_HAND_STATUS,BOOL,,豸ֶģʽ,,coil,8240 +COIL_SYS_AUTO_STATUS,BOOL,,豸Զģʽ,,coil,8250 +COIL_SYS_INIT_STATUS,BOOL,,豸ʼ,,coil,8260 +COIL_REQUEST_REC_MSG_STATUS,BOOL,,豸䷽,,coil,8510 +COIL_REQUEST_SEND_MSG_STATUS,BOOL,,豸Ͳ,,coil,8500 +REG_MSG_ELECTROLYTE_USE_NUM,INT16,,ƿҺʹô,,hold_register,11000 +REG_MSG_ELECTROLYTE_NUM,INT16,,Һʹƿ,,hold_register,11002 +REG_MSG_ELECTROLYTE_VOLUME,INT16,,Һȡ,,hold_register,11004 +REG_MSG_ASSEMBLY_TYPE,INT16,,װƬѵʽ,,hold_register,11006 +REG_MSG_ASSEMBLY_PRESSURE,INT16,,װѹ,,hold_register,11008 +REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,ǰװ,,hold_register,10000 +REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,ǰصѹ,,hold_register,10002 +REG_DATA_AXIS_X_POS,FLOAT32,,ҺXᵱǰλ,,hold_register,10004 +REG_DATA_AXIS_Y_POS,FLOAT32,,ҺZᵱǰλ,,hold_register,10006 +REG_DATA_AXIS_Z_POS,FLOAT32,,ҺYᵱǰλ,,hold_register,10008 +REG_DATA_POLE_WEIGHT,FLOAT32,,ǰƬ,,hold_register,10010 +REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,ǰŵװʱ,,hold_register,10012 +REG_DATA_ASSEMBLY_PRESSURE,INT16,,ǰװѹ,,hold_register,10014 +REG_DATA_ELECTROLYTE_VOLUME,INT16,,ǰҺע,,hold_register,10016 +REG_DATA_COIN_NUM,INT16,,ǰ,,hold_register,10018 +REG_DATA_ELECTROLYTE_CODE,STRING,,Һάк,,hold_register,10020 +REG_DATA_COIN_CELL_CODE,STRING,,ضάк,,hold_register,10030 +REG_DATA_STACK_VISON_CODE,STRING,,϶ѵͼƬ,,hold_register,12004 +REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,ѹ,,hold_register,10050 +REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,ˮ,,hold_register,10052 +REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054 +UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,Unilabȷѷ͵Һƿź,,coil,8720 +UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,UnilabɽܵҺƿ,,coil,8520 +REG_MSG_ELECTROLYTE_NUM_USED,INT16,,Һװƽ,,hold_register,496 +REG_DATA_ELECTROLYTE_USE_NUM,INT16,,ǰװƽ,,hold_register,10000 +UNILAB_SEND_FINISHED_CMD,BOOL,,Unilabյź,,coil,8730 +UNILAB_RECE_FINISHED_CMD,BOOL,,֪unilabź,,coil,8530 diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv new file mode 100644 index 00000000..149a6833 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv @@ -0,0 +1,46 @@ +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,,,,coil,8340, diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py new file mode 100644 index 00000000..ac619486 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py @@ -0,0 +1,1149 @@ +import csv +import json +import os +import threading +import time +from datetime import datetime +from typing import Any, Dict, Optional +from pylabrobot.resources import 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.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode + +#构建物料系统 + +class CoinCellAssemblyWorkstation(WorkstationBase): + def __init__( + self, + station_resource: CoincellDeck, + address: str = "192.168.1.20", + port: str = "502", + debug_mode: bool = True, + *args, + **kwargs, + ): + super().__init__( + #桌子 + station_resource=station_resource, + *args, + **kwargs, + ) + self.debug_mode = debug_mode + self.station_resource = station_resource + """ 连接初始化 """ + modbus_client = TCPClient(addr=address, port=port) + print("modbus_client", modbus_client) + if not debug_mode: + modbus_client.client.connect() + count = 100 + while count >0: + count -=1 + if modbus_client.client.is_socket_open(): + break + time.sleep(2) + if not modbus_client.client.is_socket_open(): + raise ValueError('modbus tcp connection failed') + else: + print("测试模式，跳过连接") + + """ 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] + #}) + + + def post_init(self, ros_node: ROS2WorkstationNode): + self._ros_node = ros_node + #self.deck = create_a_coin_cell_deck() + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + # 批量操作在这里写 + async def change_hole_sheet_to_2(self, hole: MaterialHole): + hole._unilabos_state["max_sheets"] = 2 + return await self._ros_node.update_resource(hole) + + + async def fill_plate(self): + plate_1: MaterialPlate = self.station_resource.children[0].children[0] + #plate_1 + return await self._ros_node.update_resource(plate_1) + + #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): + # """启动工作流""" + # self.current_workflow_status = WorkflowStatus.RUNNING + # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") +# + # # TODO: 实现工作流逻辑 +# + # anode_sheet = self.deck.get_resource("anode_sheet") + + """ Action逻辑代码 """ + def _sys_start_cmd(self, cmd=None): + """设备启动命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_START_CMD') + ret = node.write(cmd) + print(ret) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) + return cmd_feedback[0] + + def _sys_stop_cmd(self, cmd=None): + """设备停止命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_STOP_CMD') + node.write(cmd) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) + return cmd_feedback[0] + + def _sys_reset_cmd(self, cmd=None): + """设备复位命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) + return cmd_feedback[0] + + def _sys_hand_cmd(self, cmd=None): + """手动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) + self.success = True + print("步骤0") + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) + return cmd_feedback[0] + + def _sys_auto_cmd(self, cmd=None): + """自动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) + return cmd_feedback[0] + + def _sys_init_cmd(self, cmd=None): + """初始化命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_succ_cmd(self, cmd=None): + """UNILAB发送配方完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rec_msg_succ_cmd(self, cmd=None): + """UNILAB接收测试电池数据完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) + return cmd_feedback + + + # ====================== 命令类指令（REG_x_） ====================== + def _unilab_send_msg_electrolyte_num(self, num=None): + """UNILAB写电解液使用瓶数(可读写)""" + if num is not None: + self.success = False + ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + print(ret) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_use_num(self, use_num=None): + """UNILAB写单次电解液使用瓶数(可读写)""" + if use_num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) + self.success = True + return self.success + else: + return False + + def _unilab_send_msg_assembly_type(self, num=None): + """UNILAB写组装参数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_vol(self, vol=None): + """UNILAB写电解液吸取量参数""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + def _unilab_send_msg_assembly_pressure(self, vol=None): + """UNILAB写电池压制力""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + # ==================== 0905新增内容（COIL_x_STATUS） ==================== + def _unilab_send_electrolyte_bottle_num(self, num=None): + """UNILAB发送电解液瓶数完毕""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_rece_electrolyte_bottle_num(self, num=None): + """设备请求接受电解液瓶数""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _reg_msg_electrolyte_num(self, num=None): + """电解液已使用瓶数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _reg_data_electrolyte_use_num(self, num=None): + """单瓶电解液完成组装数""" + if num is not None: + self.success = False + self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_finished_cmd(self, num=None): + """Unilab发送已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rece_finished_cmd(self, num=None): + """Unilab接收已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) + return cmd_feedback[0] + + + + # ==================== 状态类属性（COIL_x_STATUS） ==================== + def _sys_start_status(self) -> bool: + """设备启动中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) + return status[0] + + def _sys_stop_status(self) -> bool: + """设备停止中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) + return status[0] + + def _sys_reset_status(self) -> bool: + """设备复位中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) + return status[0] + + def _sys_init_status(self) -> bool: + """设备初始化完成( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) + return status[0] + + # 查找资源 + def modify_deck_name(self, resource_name: str): + # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) + # print(f"!!! figure_res: {type(figure_res)}") + self.station_resource.children[1] + return + + @property + def sys_status(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_start_status(): + return "设备启动中" + elif self._sys_stop_status(): + return "设备停止中" + elif self._sys_reset_status(): + return "设备复位中" + elif self._sys_init_status(): + return "设备初始化中" + else: + return "未知状态" + + def _sys_hand_status(self) -> bool: + """设备手动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) + return status[0] + + def _sys_auto_status(self) -> bool: + """设备自动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) + return status[0] + + @property + def sys_mode(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_hand_status(): + return "设备手动模式" + elif self._sys_auto_status(): + return "设备自动模式" + else: + return "未知模式" + + @property + def request_rec_msg_status(self) -> bool: + """设备请求接受配方( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) + return status[0] + + @property + def request_send_msg_status(self) -> bool: + """设备请求发送测试数据( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) + return status[0] + + # ======================= 其他属性（特殊功能） ======================== + ''' + @property + def warning_1(self) -> bool: + status, read_err = self.client.use_node('COIL_WARNING_1').read(1) + return status[0] + ''' + # ===================== 生产数据区 ====================== + + @property + def data_assembly_coin_cell_num(self) -> int: + """已完成电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) + return num + + @property + def data_assembly_time(self) -> float: + """单颗电池组装时间 (秒, REAL/FLOAT32)""" + if self.debug_mode: + return 0 + time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) + return time + + @property + def data_open_circuit_voltage(self) -> float: + """开路电压值 (FLOAT32)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) + return vol + + @property + def data_axis_x_pos(self) -> float: + """分液X轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_y_pos(self) -> float: + """分液Y轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_z_pos(self) -> float: + """分液Z轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_pole_weight(self) -> float: + """当前电池正极片称重数据 (FLOAT32)""" + if self.debug_mode: + return 0 + weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) + return weight + + @property + def data_assembly_pressure(self) -> int: + """当前电池压制力 (INT16)""" + if self.debug_mode: + return 0 + pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) + return pressure + + @property + def data_electrolyte_volume(self) -> int: + """当前电解液加注量 (INT16)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) + return vol + + @property + def data_coin_num(self) -> int: + """当前电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) + return num + + @property + def data_coin_cell_code(self) -> str: + """电池二维码序列号 (STRING)""" + 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) + 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}") + return "N/A" + + + @property + def data_electrolyte_code(self) -> str: + 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) + 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}") + return "N/A" + + # ===================== 环境监控区 ====================== + @property + def data_glove_box_pressure(self) -> float: + """手套箱压力 (bar, FLOAT32)""" + if self.debug_mode: + return 0 + status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return status + + @property + def data_glove_box_o2_content(self) -> float: + """手套箱氧含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + + @property + def data_glove_box_water_content(self) -> float: + """手套箱水含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + +# @property +# def data_stack_vision_code(self) -> int: +# """物料堆叠复检图片编码 (INT16)""" +# if self.debug_mode: +# return 0 +# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) +# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type +# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) +# #print(code.type) +# # print(read_err) +# return int(code) + + def func_pack_device_init(self): + #切换手动模式 + print("切换手动模式") + self._sys_hand_cmd(True) + time.sleep(1) + while (self._sys_hand_status()) == False: + print("waiting for hand_cmd") + time.sleep(1) + #设备初始化 + self._sys_init_cmd(True) + time.sleep(1) + #sys_init_status为bool值，不加括号 + while (self._sys_init_status())== False: + print("waiting for init_cmd") + time.sleep(1) + #手动按钮置回False + self._sys_hand_cmd(False) + time.sleep(1) + while (self._sys_hand_cmd()) == True: + print("waiting for hand_cmd to False") + time.sleep(1) + #初始化命令置回False + self._sys_init_cmd(False) + time.sleep(1) + while (self._sys_init_cmd()) == True: + print("waiting for init_cmd to False") + time.sleep(1) + + def func_pack_device_auto(self): + #切换自动 + print("切换自动模式") + self._sys_auto_cmd(True) + time.sleep(1) + while (self._sys_auto_status()) == False: + print("waiting for auto_status") + time.sleep(1) + #自动按钮置False + self._sys_auto_cmd(False) + time.sleep(1) + while (self._sys_auto_cmd()) == True: + print("waiting for auto_cmd") + time.sleep(1) + + def func_pack_device_start(self): + #切换自动 + print("启动") + self._sys_start_cmd(True) + time.sleep(1) + while (self._sys_start_status()) == False: + print("waiting for start_status") + time.sleep(1) + #自动按钮置False + self._sys_start_cmd(False) + time.sleep(1) + while (self._sys_start_cmd()) == True: + print("waiting for start_cmd") + time.sleep(1) + + def func_pack_send_bottle_num(self, bottle_num: int): + #发送电解液平台数 + print("启动") + while (self._unilab_rece_electrolyte_bottle_num()) == False: + print("waiting for rece_electrolyte_bottle_num to True") + # self.client.use_node('8520').write(True) + time.sleep(1) + #发送电解液瓶数为2 + self._reg_msg_electrolyte_num(bottle_num) + time.sleep(1) + #完成信号置True + self._unilab_send_electrolyte_bottle_num(True) + time.sleep(1) + #检测到依华已接收 + while (self._unilab_rece_electrolyte_bottle_num()) == True: + print("waiting for rece_electrolyte_bottle_num to False") + time.sleep(1) + #完成信号置False + self._unilab_send_electrolyte_bottle_num(False) + time.sleep(1) + #自动按钮置False + + + # 下发参数 + #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: + # """UNILAB写参数""" + # while (self.request_rec_msg_status) == False: + # print("wait for res_msg") + # time.sleep(1) + # self.success = False + # self._unilab_send_msg_electrolyte_num(elec_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_use_num(elec_use_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_vol(elec_vol) + # time.sleep(1) + # self._unilab_send_msg_assembly_type(assembly_type) + # time.sleep(1) + # self._unilab_send_msg_assembly_pressure(assembly_pressure) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(True) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(False) + # #将允许读取标志位置True + # self.allow_data_read = True + # self.success = True + # return self.success + + def func_pack_send_msg_cmd(self, elec_use_num) -> 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) + self._unilab_send_msg_electrolyte_use_num(elec_use_num) + time.sleep(1) + self._unilab_send_msg_succ_cmd(True) + time.sleep(1) + while (self.request_rec_msg_status) == True: + print("wait for request_rec_msg_status to False") + time.sleep(1) + self._unilab_send_msg_succ_cmd(False) + #将允许读取标志位置True + self.allow_data_read = True + self.success = True + return self.success + + def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: + """UNILAB读参数""" + while self.request_send_msg_status == False: + print("waiting for send_read_msg_status to True") + time.sleep(1) + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + 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) + #接收完信息后，读取完毕标志位置True + self._unilab_rec_msg_succ_cmd(True) + time.sleep(1) + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd(False) + time.sleep(1) + #将允许读取标志位置True + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + #将数据存入csv文件 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + self.success = True + return self.success + + + + def func_pack_send_finished_cmd(self) -> bool: + """UNILAB写参数""" + while (self._unilab_rece_finished_cmd()) == False: + print("wait for rece_finished_cmd to True") + time.sleep(1) + self.success = False + self._unilab_send_finished_cmd(True) + time.sleep(1) + while (self._unilab_rece_finished_cmd()) == True: + print("wait for rece_finished_cmd to False") + time.sleep(1) + self._unilab_send_finished_cmd(False) + #将允许读取标志位置True + self.success = True + return self.success + + + + def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool: + elec_num, elec_use_num = int(elec_num), int(elec_use_num) + 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: + reader = csv.reader(csvfile) + header = next(reader) # 跳过标题行 + data_row = next(reader) # 读取数据行 + if len(data_row) >= 2: + elec_num_r = int(data_row[0]) + elec_use_num_r = int(data_row[1]) + elec_num_N = int(data_row[2]) + elec_use_num_N = int(data_row[3]) + coin_num_N = int(data_row[4]) + if elec_num_r == elec_num and elec_use_num_r == elec_use_num: + print("断点文件与当前任务匹配，继续") + else: + print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") + return False + print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") + + else: + read_status_flag = False + print("未找到断点文件，从头开始") + elec_num_N = 0 + elec_use_num_N = 0 + coin_num_N = 0 + 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: + #初始化 + self.func_pack_device_init() + #切换自动 + self.func_pack_device_auto() + #启动，小车收回 + 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) + 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) + + 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) + # 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.station_resource.get_resource("liaopan1") + liaopan2 = self.station_resource.get_resource("liaopan2") + jipian1 = liaopan1.children[coin_num_N].children[0] + + #print(jipian1) + #把物料解绑后放到另一盘上 + jipian1.parent.unassign_child_resource(jipian1) + liaopan2.children[coin_num_N].assign_child_resource(jipian1, location=None) + #print(jipian2.parent) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + # 生成断点文件 + # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) + writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) + csvfile.flush() + coin_num_N += 1 + elec_use_num_N += 1 + elec_num_N += 1 + elec_use_num_N = 0 + + #循环正常结束，则删除断点文件 + os.remove(summary_csv_file) + #全部完成后等待依华发送完成信号 + self.func_pack_send_finished_cmd() + + + def func_pack_device_stop(self) -> bool: + """打包指令：设备停止""" + for i in range(3): + time.sleep(2) + print(f"输出{i}") + #print("_sys_hand_cmd", self._sys_hand_cmd()) + #time.sleep(1) + #print("_sys_hand_status", self._sys_hand_status()) + #time.sleep(1) + #print("_sys_init_cmd", self._sys_init_cmd()) + #time.sleep(1) + #print("_sys_init_status", self._sys_init_status()) + #time.sleep(1) + #print("_sys_auto_status", self._sys_auto_status()) + #time.sleep(1) + #print("data_axis_y_pos", self.data_axis_y_pos) + #time.sleep(1) + #self.success = False + #with open('action_device_stop.json', 'r', encoding='utf-8') as f: + # action_json = json.load(f) + #self.client.execute_procedure_from_json(action_json) + #self.success = True + #return self.success + + def fun_wuliao_test(self) -> bool: + #找到data_init中构建的2个物料盘 + liaopan1 = self.station_resource.get_resource("liaopan1") + liaopan2 = self.station_resource.get_resource("liaopan2") + for i in range(16): + #找到liaopan1上每一个jipian + jipian_linshi = liaopan1.children[i].children[0] + #把物料解绑后放到另一盘上 + print("极片:", jipian_linshi) + jipian_linshi.parent.unassign_child_resource(jipian_linshi) + liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + time.sleep(10) + # 数据读取与输出 + def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): + # 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" + + #若不存在该目录则创建 + if not os.path.exists(file_path): + os.makedirs(file_path) + print(f"创建目录: {file_path}") + + # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 + while self.allow_data_read: + + #函数运行标志位，确保只同时启动一个导出函数 + self.csv_export_running = True + + #等待接收结果标志位置True + while self.request_send_msg_status == False: + print("waiting for send_msg_status to True") + time.sleep(1) + #日期时间戳用于按天存放csv文件 + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + + #接收信息 + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + # 电解液瓶位置 + elec_bottle_site = 2 + # 极片夹取位置(应当通过寄存器读光标) + Pos_elec_site = 0 + Al_elec_site = 0 + Gasket_site = 0 + + #接收完信息后，读取完毕标志位置True + self._unilab_rec_msg_succ_cmd()# = True + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd()# = False + + #此处操作物料信息（如果中途报错停止，如何） + #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） + #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） + + #物料读取操作写在这里 + #在这里进行物料调取 + #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） + # transfer_bottle(deck, elec_bottle_site) + # #找到电解液瓶的对象 + # electrolyte_rack = deck.get_resource("electrolyte_rack") + # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] + # # TODO: 瓶子取液体操作需要加入 +# +# + # #找到压制工站对应的对象 + # battery_press_slot = deck.get_resource("battery_press_1") + # #创建一个新电池 + # test_battery = Battery( + # name=f"test_battery_{data_coin_num}", + # diameter=20.0, # 与压制槽直径匹配 + # height=3.0, # 电池高度 + # max_volume=100.0, # 100μL容量 + # barcode=data_coin_cell_code, # 电池条码 + # ) + # if battery_press_slot.has_battery(): + # return False, "压制工站已有电池，无法放置新电池" + # #在压制位放置电池 + # battery_press_slot.place_battery(test_battery) + # #从第一个子弹夹中取料 + # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) + # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) + # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) + # + # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") + # + # # 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(): + # battery = battery_site.take_battery() #从压制槽取出电池 + # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 +# +# +# +# + # # 保存配置到文件 + # self.deck.save("button_battery_station_layout.json", indent=2) + # print("\n台面配置已保存到: button_battery_station_layout.json") + # + # # 保存状态到文件 + # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) + # print("台面状态已保存到: button_battery_station_state.json") + + + + + + + #将数据写入csv中 + #如当前目录下无同名文件则新建一个csv用于存放数据 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + + # 只要不在自动模式运行中，就将允许标志位置False + if self.sys_auto_status == False or self.sys_start_status == False: + self.allow_data_read = False + self.csv_export_running = False + time.sleep(1) + + def func_stop_read_data(self): + """停止CSV导出""" + if not self.csv_export_running: + return False, "read data未在运行" + + self.csv_export_running = False + self.allow_data_read = False + + if self.csv_export_thread and self.csv_export_thread.is_alive(): + self.csv_export_thread.join(timeout=5) + + def func_get_csv_export_status(self): + """获取CSV导出状态""" + return { + 'allow_read': self.allow_data_read, + 'running': self.csv_export_running, + 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False + } + + + ''' + # ===================== 物料管理区 ====================== + @property + def data_material_inventory(self) -> int: + """主物料库存 (数量, INT16)""" + inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) + return inventory + + @property + def data_tips_inventory(self) -> int: + """移液枪头库存 (数量, INT16)""" + inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) + return inventory + + ''' + + +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() + deck = create_a_full_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) + + liaopan1 = deck.get_resource("liaopan1") + liaopan2 = deck.get_resource("liaopan2") + for i in range(16): + #找到liaopan1上每一个jipian + jipian_linshi = liaopan1.children[i].children[0] + #把物料解绑后放到另一盘上 + print("极片:", jipian_linshi) + jipian_linshi.parent.unassign_child_resource(jipian_linshi) + liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) + + + from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type + #with open("./button_battery_station_resources_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) + + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" + BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py new file mode 100644 index 00000000..6abdc38b --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py @@ -0,0 +1,135 @@ +import json +import re +from pymodbus.client import ModbusTcpClient +from unilabos.device_comms.modbus_plc.modbus import WorderOrder, Coil, DiscreteInputs, HoldRegister, InputRegister, DataType +from pymodbus.constants import Endian +import time +import threading +import csv +import os +from datetime import datetime +from typing import Callable +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 + +class Coin_Cell_Assembly: + + +if __name__ == '__main__': + coin_cell_assmbly = Coin_Cell_Assembly(address="192.168.1.20", port="502") + + #params = { + # "elec_num": 32 + #} + #str_data = json.dumps(params, ensure_ascii=False) + #print('param:', coin_cell_assmbly.func_pack_device_write_batch_elec_param(params)) + #time.sleep(1) + + print(coin_cell_assmbly.func_pack_device_write_per_elec_param( + elec_use_num=4, + elec_num=5, + elec_vol=55, + assembly_type=25, + assembly_pressure=550)) + time.sleep(1) + + +''' + print('start:', coin_cell_assmbly.func_pack_device_start()) + time.sleep(1) + + + + + + + + + print('start:', coin_cell_assmbly.func_pack_device_start()) + time.sleep(1) + + print('stop:', coin_cell_assmbly.func_pack_device_stop()) + time.sleep(1) + + while True: + # cmd coil + print('start cmd:', coin_cell_assmbly.sys_start_cmd(True)) + time.sleep(1) + print('stop cmd:', coin_cell_assmbly.sys_stop_cmd(False)) + time.sleep(1) + print('reset cmd:', coin_cell_assmbly.sys_reset_cmd(True)) + time.sleep(1) + print('hand cmd:', coin_cell_assmbly.sys_hand_cmd(False)) + time.sleep(1) + print('auto cmd:', coin_cell_assmbly.sys_auto_cmd(True)) + time.sleep(1) + print('init cmd:', coin_cell_assmbly.sys_init_cmd(False)) + time.sleep(1) + print('send msg succ cmd:', coin_cell_assmbly.unilab_send_msg_succ_cmd(False)) + time.sleep(1) + print('rec msg succ cmd:', coin_cell_assmbly.unilab_rec_msg_succ_cmd(True)) + time.sleep(1) + + # cmd reg + print('elec use num msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_use_num(8)) + time.sleep(1) + print('elec num msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_num(4)) + time.sleep(1) + print('elec vol msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_vol(3.3)) + time.sleep(1) + print('assembly type msg:', coin_cell_assmbly.unilab_send_msg_assembly_type(1)) + time.sleep(1) + print('assembly pressure msg:', coin_cell_assmbly.unilab_send_msg_assembly_pressure(1)) + time.sleep(1) + + # status coil + print('start status:',coin_cell_assmbly.sys_start_status) + time.sleep(1) + print('stop status:',coin_cell_assmbly.sys_stop_status) + time.sleep(1) + print('reset status:',coin_cell_assmbly.sys_reset_status) + time.sleep(1) + print('hand status:',coin_cell_assmbly.sys_hand_status) + time.sleep(1) + print('auto status:', coin_cell_assmbly.sys_auto_status) + time.sleep(1) + print('init ok:', coin_cell_assmbly.sys_init_status) + time.sleep(1) + print('request rec msg:', coin_cell_assmbly.request_rec_msg_status) + time.sleep(1) + print('request send msg:', coin_cell_assmbly.request_send_msg_status) + time.sleep(1) + + # status reg + print('assembly coin cell num:', coin_cell_assmbly.data_assembly_coin_cell_num) + time.sleep(1) + print('assembly coin assembly per time:', coin_cell_assmbly.data_assembly_time) + time.sleep(1) + print('open circuit vol:', coin_cell_assmbly.data_open_circuit_voltage) + time.sleep(1) + print('axis x pos:', coin_cell_assmbly.data_axis_x_pos) + time.sleep(1) + print('axis y pos:', coin_cell_assmbly.data_axis_y_pos) + time.sleep(1) + print('axis z pos:', coin_cell_assmbly.data_axis_z_pos) + time.sleep(1) + print('pole weight:', coin_cell_assmbly.data_pole_weight) + time.sleep(1) + print('assembly pressure:', coin_cell_assmbly.data_assembly_coin_cell_num) + time.sleep(1) + print('assembly electrolyte vol:', coin_cell_assmbly.data_electrolyte_volume) + time.sleep(1) + print('assembly coin num:', coin_cell_assmbly.data_coin_num) + time.sleep(1) + print('coin cell code:', coin_cell_assmbly.data_coin_cell_code) + time.sleep(1) + print('elec code:', coin_cell_assmbly.data_electrolyte_code) + time.sleep(1) + print('glove box pressure:', coin_cell_assmbly.data_glove_box_pressure) + time.sleep(1) + print('glove box o2:', coin_cell_assmbly.data_glove_box_o2_content) + time.sleep(1) + print('glove box water:', coin_cell_assmbly.data_glove_box_water_content) + time.sleep(1) + +''' \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json new file mode 100644 index 00000000..31fb0033 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json @@ -0,0 +1,1925 @@ +{ + "nodes": [ + { + "id": "BatteryStation", + "name": "扣电工作站", + "children": [ + "deck" + ], + "parent": null, + "type": "device", + "class": "bettery_station_registry", + "position": { + "x": 600, + "y": 400, + "z": 0 + }, + "config": { + "debug_mode": false, + "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定", + "protocol_type": [], + "station_resource": { + "data": { + "_resource_child_name": "deck", + "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" + } + }, + + "address": "192.168.1.20", + "port": 502 + }, + "data": {} + }, + { + "id": "deck", + "name": "deck", + "sample_id": null, + "children": [ + "liaopan1", + "liaopan2" + ], + "parent": null, + "type": "deck", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "Deck", + "size_x": 1200, + "size_y": 800, + "size_z": 900, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "deck", + "barcode": null + }, + "data": {} + }, + { + "id": "liaopan1", + "name": "liaopan1", + "sample_id": null, + "children": [ + "liaopan1_materialhole_0_0", + "liaopan1_materialhole_0_1", + "liaopan1_materialhole_0_2", + "liaopan1_materialhole_0_3", + "liaopan1_materialhole_1_0", + "liaopan1_materialhole_1_1", + "liaopan1_materialhole_1_2", + "liaopan1_materialhole_1_3", + "liaopan1_materialhole_2_0", + "liaopan1_materialhole_2_1", + "liaopan1_materialhole_2_2", + "liaopan1_materialhole_2_3", + "liaopan1_materialhole_3_0", + "liaopan1_materialhole_3_1", + "liaopan1_materialhole_3_2", + "liaopan1_materialhole_3_3" + ], + "parent": "deck", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "MaterialPlate", + "size_x": 120.8, + "size_y": 120.5, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_plate", + "model": null, + "barcode": null, + "ordering": { + "A1": "liaopan1_materialhole_0_0", + "B1": "liaopan1_materialhole_0_1", + "C1": "liaopan1_materialhole_0_2", + "D1": "liaopan1_materialhole_0_3", + "A2": "liaopan1_materialhole_1_0", + "B2": "liaopan1_materialhole_1_1", + "C2": "liaopan1_materialhole_1_2", + "D2": "liaopan1_materialhole_1_3", + "A3": "liaopan1_materialhole_2_0", + "B3": "liaopan1_materialhole_2_1", + "C3": "liaopan1_materialhole_2_2", + "D3": "liaopan1_materialhole_2_3", + "A4": "liaopan1_materialhole_3_0", + "B4": "liaopan1_materialhole_3_1", + "C4": "liaopan1_materialhole_3_2", + "D4": "liaopan1_materialhole_3_3" + } + }, + "data": {} + }, + { + "id": "liaopan1_materialhole_0_0", + "name": "liaopan1_materialhole_0_0", + "sample_id": null, + "children": [ + "jipian_0" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 84.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_0", + "name": "jipian_0", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_0_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_0_1", + "name": "liaopan1_materialhole_0_1", + "sample_id": null, + "children": [ + "jipian_1" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 60.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_1", + "name": "jipian_1", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_0_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_0_2", + "name": "liaopan1_materialhole_0_2", + "sample_id": null, + "children": [], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 36.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "liaopan1_materialhole_0_3", + "name": "liaopan1_materialhole_0_3", + "sample_id": null, + "children": [ + "jipian_3" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 12.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_3", + "name": "jipian_3", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_0_3", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_1_0", + "name": "liaopan1_materialhole_1_0", + "sample_id": null, + "children": [ + "jipian_4" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 36.4, + "y": 84.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_4", + "name": "jipian_4", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_1_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_1_1", + "name": "liaopan1_materialhole_1_1", + "sample_id": null, + "children": [ + "jipian_5" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 36.4, + "y": 60.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_5", + "name": "jipian_5", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_1_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_1_2", + "name": "liaopan1_materialhole_1_2", + "sample_id": null, + "children": [ + "jipian_6" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 36.4, + "y": 36.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_6", + "name": "jipian_6", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_1_2", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_1_3", + "name": "liaopan1_materialhole_1_3", + "sample_id": null, + "children": [ + "jipian_7" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 36.4, + "y": 12.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_7", + "name": "jipian_7", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_1_3", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_2_0", + "name": "liaopan1_materialhole_2_0", + "sample_id": null, + "children": [ + "jipian_8" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 60.4, + "y": 84.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_8", + "name": "jipian_8", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_2_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_2_1", + "name": "liaopan1_materialhole_2_1", + "sample_id": null, + "children": [ + "jipian_9" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 60.4, + "y": 60.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian_9", + "name": "jipian_9", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_2_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + 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"name": "waste_tip_box", + "sample_id": null, + "children": [], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 300, + "y": 200, + "z": 0 + }, + "config": { + "type": "WasteTipBox", + "size_x": 127.8, + "size_y": 85.5, + "size_z": 60.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "waste_tip_box", + "model": null, + "barcode": null, + "max_volume": "Infinity", + "material_z_thickness": 0, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/test.ipynb b/unilabos/devices/workstation/coin_cell_assembly/test.ipynb new file mode 100644 index 00000000..76c07d74 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/test.ipynb @@ -0,0 +1,750 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 22, + "id": "80bc9500", + "metadata": {}, + "outputs": [], + "source": [ + "from __future__ import annotations\n", + "\n", + "from collections import OrderedDict\n", + "from typing import Any, Dict, List, Optional, TypedDict, Union, cast\n", + "\n", + "from pylabrobot.resources.coordinate import Coordinate\n", + "from pylabrobot.resources.container import Container\n", + "from pylabrobot.resources.deck import Deck\n", + "from pylabrobot.resources.itemized_resource import ItemizedResource\n", + "from pylabrobot.resources.resource import Resource\n", + "from pylabrobot.resources.resource_stack import ResourceStack\n", + "from pylabrobot.resources.tip_rack import TipRack, TipSpot\n", + "from pylabrobot.resources.trash import Trash\n", + "from pylabrobot.resources.utils import create_ordered_items_2d" + ] + }, + { + "cell_type": "markdown", + "id": "498a9159", + "metadata": {}, + "source": [ + "物料类型构建" + ] + }, + { + "cell_type": "code", + "execution_count": 23, + "id": "f4a27241", + "metadata": {}, + "outputs": [], + "source": [ + "\n", + "class ElectrodeSheetState(TypedDict):\n", + " diameter: float # 直径 (mm)\n", + " thickness: float # 厚度 (mm)\n", + " mass: float # 质量 (g)\n", + " material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等）\n", + " info: Optional[str] # 附加信息\n", + "\n", + "class ElectrodeSheet(Resource):\n", + " \"\"\"极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料\"\"\"\n", + "\n", + " def __init__(\n", + " self,\n", + " name: str = \"极片\",\n", + " size_x=10,\n", + " size_y=10,\n", + " size_z=10,\n", + " category: str = \"electrode_sheet\",\n", + " model: Optional[str] = None,\n", + " ):\n", + " \"\"\"初始化极片\n", + "\n", + " Args:\n", + " name: 极片名称\n", + " category: 类别\n", + " model: 型号\n", + " \"\"\"\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " category=category,\n", + " model=model,\n", + " )\n", + " self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(\n", + " diameter=14,\n", + " thickness=0.1,\n", + " mass=0.5,\n", + " material_type=\"copper\",\n", + " info=None\n", + " )\n", + "\n", + " # TODO: 这个还要不要？给self._unilabos_state赋值的？\n", + " def load_state(self, state: Dict[str, Any]) -> None:\n", + " \"\"\"格式不变\"\"\"\n", + " super().load_state(state)\n", + " self._unilabos_state = state\n", + " #序列化\n", + " def serialize_state(self) -> Dict[str, Dict[str, Any]]:\n", + " \"\"\"格式不变\"\"\"\n", + " data = super().serialize_state()\n", + " 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）\n", + " return data\n" + ] + }, + { + "cell_type": "code", + "execution_count": 24, + "id": "830f052e", + "metadata": {}, + "outputs": [], + "source": [ + "# TODO: 这个应该只能放一个极片\n", + "class MaterialHoleState(TypedDict):\n", + " diameter: int\n", + " depth: int\n", + " max_sheets: int\n", + " info: Optional[str] # 附加信息\n", + "\n", + "class MaterialHole(Resource):\n", + " \"\"\"料板洞位类\"\"\"\n", + " children: List[ElectrodeSheet] = []\n", + "\n", + " def __init__(\n", + " self,\n", + " name: str,\n", + " size_x: float,\n", + " size_y: float,\n", + " size_z: float,\n", + " category: str = \"material_hole\",\n", + " **kwargs\n", + " ):\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " category=category,\n", + " )\n", + " self._unilabos_state: MaterialHoleState = MaterialHoleState(\n", + " diameter=20,\n", + " depth=10,\n", + " max_sheets=1,\n", + " info=None\n", + " )\n", + "\n", + " def get_all_sheet_info(self):\n", + " info_list = []\n", + " for sheet in self.children:\n", + " info_list.append(sheet._unilabos_state[\"info\"])\n", + " return info_list\n", + " \n", + " #这个函数函数好像没用，一般不会集中赋值质量\n", + " def set_all_sheet_mass(self):\n", + " for sheet in self.children:\n", + " sheet._unilabos_state[\"mass\"] = 0.5 # 示例：设置质量为0.5g\n", + "\n", + " def load_state(self, state: Dict[str, Any]) -> None:\n", + " \"\"\"格式不变\"\"\"\n", + " super().load_state(state)\n", + " self._unilabos_state = state\n", + "\n", + " def serialize_state(self) -> Dict[str, Dict[str, Any]]:\n", + " \"\"\"格式不变\"\"\"\n", + " data = super().serialize_state()\n", + " 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）\n", + " return data\n", + " #移动极片前先取出对象\n", + " def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:\n", + " for sheet in self.children:\n", + " if sheet.name == name:\n", + " return sheet\n", + " return None\n", + "\n", + " def has_electrode_sheet(self) -> bool:\n", + " \"\"\"检查洞位是否有极片\"\"\"\n", + " return len(self.children) > 0\n", + "\n", + " def assign_child_resource(\n", + " self,\n", + " resource: ElectrodeSheet,\n", + " location: Optional[Coordinate],\n", + " reassign: bool = True,\n", + " ):\n", + " \"\"\"放置极片\"\"\"\n", + " # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题\n", + " if resource._unilabos_state[\"diameter\"] > self._unilabos_state[\"diameter\"]:\n", + " raise ValueError(f\"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}\")\n", + " if len(self.children) >= self._unilabos_state[\"max_sheets\"]:\n", + " raise ValueError(f\"洞位已满，无法放置更多极片\")\n", + " super().assign_child_resource(resource, location, reassign)\n", + "\n", + " # 根据children的编号取物料对象。\n", + " def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:\n", + " return self.children[index]\n", + "\n", + "\n", + "#料板\n", + "class MaterialPlateState(TypedDict):\n", + " hole_spacing_x: float\n", + " hole_spacing_y: float\n", + " hole_diameter: float\n", + " info: Optional[str] # 附加信息\n", + "\n", + "class MaterialPlate(ItemizedResource[MaterialHole]):\n", + " \"\"\"料板类 - 4x4个洞位，每个洞位放1个极片\"\"\"\n", + " \n", + " children: List[MaterialHole]\n", + "\n", + " def __init__(\n", + " self,\n", + " name: str,\n", + " size_x: float,\n", + " size_y: float,\n", + " size_z: float,\n", + " ordered_items: Optional[Dict[str, MaterialHole]] = None,\n", + " ordering: Optional[OrderedDict[str, str]] = None,\n", + " category: str = \"material_plate\",\n", + " model: Optional[str] = None,\n", + " fill: bool = False\n", + " ):\n", + " \"\"\"初始化料板\n", + "\n", + " Args:\n", + " name: 料板名称\n", + " size_x: 长度 (mm)\n", + " size_y: 宽度 (mm)\n", + " size_z: 高度 (mm)\n", + " hole_diameter: 洞直径 (mm)\n", + " hole_depth: 洞深度 (mm)\n", + " hole_spacing_x: X方向洞位间距 (mm)\n", + " hole_spacing_y: Y方向洞位间距 (mm)\n", + " number: 编号\n", + " category: 类别\n", + " model: 型号\n", + " \"\"\"\n", + " self._unilabos_state: MaterialPlateState = MaterialPlateState(\n", + " hole_spacing_x=24.0,\n", + " hole_spacing_y=24.0,\n", + " hole_diameter=20.0,\n", + " info=\"\",\n", + " )\n", + " # 创建4x4的洞位\n", + " # TODO: 这里要改，对应不同形状\n", + " holes = create_ordered_items_2d(\n", + " klass=MaterialHole,\n", + " num_items_x=4,\n", + " num_items_y=4,\n", + " dx=(size_x - 4 * self._unilabos_state[\"hole_spacing_x\"]) / 2, # 居中\n", + " dy=(size_y - 4 * self._unilabos_state[\"hole_spacing_y\"]) / 2, # 居中\n", + " dz=size_z,\n", + " item_dx=self._unilabos_state[\"hole_spacing_x\"],\n", + " item_dy=self._unilabos_state[\"hole_spacing_y\"],\n", + " size_x = 16,\n", + " size_y = 16,\n", + " size_z = 16,\n", + " )\n", + " if fill:\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " ordered_items=holes,\n", + " category=category,\n", + " model=model,\n", + " )\n", + " else:\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " ordered_items=ordered_items,\n", + " ordering=ordering,\n", + " category=category,\n", + " model=model,\n", + " )\n", + "\n", + " def update_locations(self):\n", + " # TODO:调多次相加\n", + " holes = create_ordered_items_2d(\n", + " klass=MaterialHole,\n", + " num_items_x=4,\n", + " num_items_y=4,\n", + " dx=(self._size_x - 3 * self._unilabos_state[\"hole_spacing_x\"]) / 2, # 居中\n", + " dy=(self._size_y - 3 * self._unilabos_state[\"hole_spacing_y\"]) / 2, # 居中\n", + " dz=self._size_z,\n", + " item_dx=self._unilabos_state[\"hole_spacing_x\"],\n", + " item_dy=self._unilabos_state[\"hole_spacing_y\"],\n", + " size_x = 1,\n", + " size_y = 1,\n", + " size_z = 1,\n", + " )\n", + " for item, original_item in zip(holes.items(), self.children):\n", + " original_item.location = item[1].location" + ] + }, + { + "cell_type": "code", + "execution_count": 25, + "id": "8318ccca", + "metadata": {}, + "outputs": [], + "source": [ + "class CoincellDeck(Deck):\n", + " \"\"\"纽扣电池组装工作站台面类\"\"\"\n", + "\n", + " def __init__(\n", + " self,\n", + " name: str = \"coin_cell_deck\",\n", + " size_x: float = 1620.0, # 3.66m\n", + " size_y: float = 1270.0, # 1.23m\n", + " size_z: float = 500.0,\n", + " origin: Coordinate = Coordinate(0, 0, 0),\n", + " category: str = \"coin_cell_deck\",\n", + " ):\n", + " \"\"\"初始化纽扣电池组装工作站台面\n", + "\n", + " Args:\n", + " name: 台面名称\n", + " size_x: 长度 (mm) - 3.66m\n", + " size_y: 宽度 (mm) - 1.23m\n", + " size_z: 高度 (mm)\n", + " origin: 原点坐标\n", + " category: 类别\n", + " \"\"\"\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " origin=origin,\n", + " category=category,\n", + " )" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "id": "c73bae21", + "metadata": {}, + "outputs": [], + "source": [ + "import json" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "id": "3369a1dd", + "metadata": {}, + "outputs": [], + "source": [ + "def upload_resources_to_unilab(wuliao: List[Resource]):\n", + " from unilabos.resources.graphio import convert_resources_from_type\n", + " from unilabos.config.config import BasicConfig \n", + " BasicConfig.ak = \"beb0c15f-2279-46a1-aba5-00eaf89aef55\"\n", + " BasicConfig.sk = \"15d4f25e-3512-4f9c-9bfb-43ab85e7b561\"\n", + " from unilabos.app.web.client import http_client\n", + " resources = convert_resources_from_type(wuliao, [Resource])\n", + " json.dump({\"nodes\": resources, \"links\": []}, open(\"button_battery_station_resources_unilab.json\", \"w\"), indent=2)\n", + " \n", + " #print(resources)\n", + " http_client.remote_addr = \"https://uni-lab.test.bohrium.com/api/v1\"\n", + " \n", + " http_client.resource_add(resources)" + ] + }, + { + "cell_type": "code", + "execution_count": 29, + "id": "1543ddab", + "metadata": {}, + "outputs": [], + "source": [ + "liaopan1 = MaterialPlate(name=\"liaopan1\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)" + ] + }, + { + "cell_type": "code", + "execution_count": 30, + "id": "b732754a", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "MaterialPlate(name=liaopan1, size_x=120.8, size_y=120.5, size_z=10.0, location=None)\n" + ] + } + ], + "source": [ + "print(liaopan1)" + ] + }, + { + "cell_type": "code", + "execution_count": 31, + "id": "7e6e7252", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[MaterialHole(name=liaopan1_materialhole_0_0, location=Coordinate(012.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_1, location=Coordinate(012.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_2, location=Coordinate(012.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_3, location=Coordinate(012.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_0, location=Coordinate(036.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_1, location=Coordinate(036.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_2, location=Coordinate(036.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_3, location=Coordinate(036.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_0, location=Coordinate(060.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_1, location=Coordinate(060.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_2, location=Coordinate(060.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_3, location=Coordinate(060.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_0, location=Coordinate(084.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_1, location=Coordinate(084.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_2, location=Coordinate(084.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_3, location=Coordinate(084.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole)]\n" + ] + } + ], + "source": [ + "print(liaopan1.children)" + ] + }, + { + "cell_type": "code", + "execution_count": 26, + "id": "836ff68d", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [15:15:08,950]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "CoincellDeck(name=coin_cell_deck, location=Coordinate(000.000, 000.000, 000.000), size_x=1620.0, size_y=1270.0, size_z=500.0, category=coin_cell_deck)\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [15:15:09,218]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + } + ], + "source": [ + "deck = CoincellDeck()\n", + "#创建一个4*4的物料板\n", + "liaopan1 = MaterialPlate(name=\"liaopan1\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)\n", + "#把物料板放到桌子上\n", + "deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0))\n", + "#创建一个极片\n", + "for i in range(16):\n", + " jipian = ElectrodeSheet(name=f\"jipian_{i}\", size_x= 12, size_y=12, size_z=0.1)\n", + " liaopan1.children[i].assign_child_resource(jipian, location=None)\n", + "#创建一个4*4的物料板\n", + "liaopan2 = MaterialPlate(name=\"liaopan2\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)\n", + "#把物料板放到桌子上\n", + "deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0))\n", + "#liaopan.children[3].assign_child_resource(jipian, location=None)\n", + "print(deck)\n", + "\n", + "upload_resources_to_unilab([deck])" + ] + }, + { + "cell_type": "code", + "execution_count": 20, + "id": "00aab9cf", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "MaterialPlate(name=liaopan1, size_x=120.8, size_y=120.5, size_z=10.0, location=Coordinate(000.000, 000.000, 000.000))\n" + ] + } + ], + "source": [ + "liaopan1 = deck.get_resource(\"liaopan1\")\n", + "print(liaopan1)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "7409969c", + "metadata": {}, + "outputs": [], + "source": [ + "liaopan1 = deck.get_resource(\"liaopan1\")\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "096dde04", + "metadata": {}, + "outputs": [], + "source": [ + "print()" + ] + }, + { + "cell_type": "code", + "execution_count": 27, + "id": "5528df96", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [15:17:44,322]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "ElectrodeSheet(name=jipian_1, location=None, size_x=12, size_y=12, size_z=0.1, category=electrode_sheet)\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [15:17:44,599]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + } + ], + "source": [ + "#在台面上找到料盘和极片\n", + "liaopan1 = deck.get_resource(\"liaopan1\")\n", + "liaopan2 = deck.get_resource(\"liaopan2\")\n", + "jipian1 = liaopan1.children[1].children[0]\n", + "#\n", + "print(jipian1)\n", + "#把物料解绑后放到另一盘上\n", + "jipian1.parent.unassign_child_resource(jipian1)\n", + "liaopan2.children[1].assign_child_resource(jipian1, location=None)\n", + "#print(jipian2.parent)\n", + "upload_resources_to_unilab([deck])" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "43736700", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [14:31:50,027]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [14:31:50,358]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + }, + { + "data": { + "text/plain": [ + "" + ] + }, + "execution_count": 16, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "unilab", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.11" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml b/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml new file mode 100644 index 00000000..29e84374 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml @@ -0,0 +1,6674 @@ +bettery_station_registry: + category: + - work_station + class: + action_value_mappings: + auto-change_hole_sheet_to_2: + feedback: {} + goal: {} + goal_default: + hole: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + hole: + type: object + required: + - hole + type: object + result: {} + required: + - goal + title: change_hole_sheet_to_2参数 + type: object + type: UniLabJsonCommandAsync + auto-fill_plate: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fill_plate参数 + type: object + type: UniLabJsonCommandAsync + auto-fun_wuliao_test: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fun_wuliao_test参数 + type: object + type: UniLabJsonCommand + auto-func_allpack_cmd: + feedback: {} + goal: {} + goal_default: + elec_num: null + elec_use_num: null + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + elec_num: + type: string + elec_use_num: + type: string + file_path: + default: D:\coin_cell_data + type: string + required: + - elec_num + - elec_use_num + type: object + result: {} + required: + - goal + title: func_allpack_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_get_csv_export_status: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_get_csv_export_status参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_auto: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_auto参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_init: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_init参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_start参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_stop: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_stop参数 + type: object + type: UniLabJsonCommand + auto-func_pack_get_msg_cmd: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_pack_get_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_bottle_num: + feedback: {} + goal: {} + goal_default: + bottle_num: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + bottle_num: + type: integer + required: + - bottle_num + type: object + result: {} + required: + - goal + title: func_pack_send_bottle_num参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_finished_cmd: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_send_finished_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_msg_cmd: + feedback: {} + goal: {} + goal_default: + elec_use_num: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + elec_use_num: + type: string + required: + - elec_use_num + type: object + result: {} + required: + - goal + title: func_pack_send_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_read_data_and_output: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_read_data_and_output参数 + type: object + type: UniLabJsonCommand + auto-func_stop_read_data: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_stop_read_data参数 + type: object + type: UniLabJsonCommand + auto-modify_deck_name: + feedback: {} + goal: {} + goal_default: + resource_name: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + resource_name: + type: string + required: + - resource_name + type: object + result: {} + required: + - goal + title: modify_deck_name参数 + type: object + type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation + status_types: + data_assembly_coin_cell_num: int + data_assembly_pressure: int + data_assembly_time: float + data_axis_x_pos: float + data_axis_y_pos: float + data_axis_z_pos: float + data_coin_cell_code: str + data_coin_num: int + data_electrolyte_code: str + data_electrolyte_volume: int + data_glove_box_o2_content: float + data_glove_box_pressure: float + data_glove_box_water_content: float + data_open_circuit_voltage: float + data_pole_weight: float + request_rec_msg_status: bool + request_send_msg_status: bool + sys_mode: str + sys_status: str + type: python + config_info: [] + description: '' + handles: [] + icon: '' + init_param_schema: + config: + properties: + address: + default: 192.168.1.20 + type: string + debug_mode: + default: true + type: boolean + port: + default: '502' + type: string + station_resource: + type: object + required: + - station_resource + type: object + data: + properties: + data_assembly_coin_cell_num: + type: integer + data_assembly_pressure: + type: integer + data_assembly_time: + type: number + data_axis_x_pos: + type: number + data_axis_y_pos: + type: number + data_axis_z_pos: + type: number + data_coin_cell_code: + type: string + data_coin_num: + type: integer + data_electrolyte_code: + type: string + data_electrolyte_volume: + type: integer + data_glove_box_o2_content: + type: number + data_glove_box_pressure: + type: number + data_glove_box_water_content: + type: number + data_open_circuit_voltage: + type: number + data_pole_weight: + type: number + request_rec_msg_status: + type: boolean + request_send_msg_status: + type: boolean + sys_mode: + type: string + sys_status: + type: string + required: + - sys_status + - sys_mode + - request_rec_msg_status + - request_send_msg_status + - data_assembly_coin_cell_num + - data_assembly_time + - data_open_circuit_voltage + - data_axis_x_pos + - data_axis_y_pos + - data_axis_z_pos + - data_pole_weight + - data_assembly_pressure + - data_electrolyte_volume + - data_coin_num + - data_coin_cell_code + - data_electrolyte_code + - data_glove_box_pressure + - data_glove_box_o2_content + - data_glove_box_water_content + type: object + version: 1.0.0 +workstation: + category: + - work_station + class: + action_value_mappings: + AGVTransferProtocol: + feedback: {} + goal: + from_repo: from_repo + from_repo_position: from_repo_position + to_repo: to_repo + to_repo_position: to_repo_position + goal_default: + from_repo: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + from_repo_position: '' + to_repo: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + to_repo_position: '' + handles: {} + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: AGVTransfer_Feedback + type: object + goal: + properties: + from_repo: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_repo + type: object + from_repo_position: + type: string + to_repo: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_repo + type: object + to_repo_position: + type: string + required: + - from_repo + - from_repo_position + - to_repo + - to_repo_position + title: AGVTransfer_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: AGVTransfer_Result + type: object + required: + - goal + title: AGVTransfer + type: object + type: AGVTransfer + AddProtocol: + feedback: {} + goal: + amount: amount + equiv: equiv + event: event + mass: mass + mol: mol + purpose: purpose + rate_spec: rate_spec + ratio: ratio + reagent: reagent + stir: stir + stir_speed: stir_speed + time: time + vessel: vessel + viscous: viscous + volume: volume + goal_default: + amount: '' + equiv: '' + event: '' + mass: '' + mol: '' + purpose: '' + rate_spec: '' + ratio: '' + reagent: '' + stir: false + stir_speed: 0.0 + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + viscous: false + volume: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: reagent + data_source: handle + data_type: resource + handler_key: reagent + label: Reagent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + required: + - progress + - current_status + title: Add_Feedback + type: object + goal: + properties: + amount: + type: string + equiv: + type: string + event: + type: string + mass: + type: string + mol: + type: string + purpose: + type: string + rate_spec: + type: string + ratio: + type: string + reagent: + type: string + stir: + type: boolean + stir_speed: + type: number + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + viscous: + type: boolean + volume: + type: string + required: + - vessel + - reagent + - volume + - mass + - amount + - time + - stir + - stir_speed + - viscous + - purpose + - event + - mol + - rate_spec + - equiv + - ratio + title: Add_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Add_Result + type: object + required: + - goal + title: Add + type: object + type: Add + AdjustPHProtocol: + feedback: {} + goal: + ph_value: ph_value + reagent: reagent + settling_time: settling_time + stir: stir + stir_speed: stir_speed + stir_time: stir_time + vessel: vessel + volume: volume + goal_default: + ph_value: 0.0 + reagent: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: reagent + data_source: handle + data_type: resource + handler_key: reagent + label: Reagent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: AdjustPH_Feedback + type: object + goal: + properties: + ph_value: + type: number + reagent: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - ph_value + - reagent + title: AdjustPH_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: AdjustPH_Result + type: object + required: + - goal + title: AdjustPH + type: object + type: AdjustPH + CentrifugeProtocol: + feedback: {} + goal: + speed: speed + temp: temp + time: time + vessel: vessel + goal_default: + speed: 0.0 + temp: 0.0 + time: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_speed: + type: number + current_status: + type: string + current_temp: + type: number + progress: + type: number + required: + - progress + - current_speed + - current_temp + - current_status + title: Centrifuge_Feedback + type: object + goal: + properties: + speed: + type: number + temp: + type: number + time: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - speed + - time + - temp + title: Centrifuge_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Centrifuge_Result + type: object + required: + - goal + title: Centrifuge + type: object + type: Centrifuge + CleanProtocol: + feedback: {} + goal: + repeats: repeats + solvent: solvent + temp: temp + vessel: vessel + volume: volume + goal_default: + repeats: 0 + solvent: '' + temp: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_device: + type: string + status: + type: string + time_remaining: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: Clean_Feedback + type: object + goal: + properties: + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + solvent: + type: string + temp: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: number + required: + - vessel + - solvent + - volume + - temp + - repeats + title: Clean_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: Clean_Result + type: object + required: + - goal + title: Clean + type: object + type: Clean + CleanVesselProtocol: + feedback: {} + goal: + repeats: repeats + solvent: solvent + temp: temp + vessel: vessel + volume: volume + goal_default: + repeats: 0 + solvent: '' + temp: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: CleanVessel_Feedback + type: object + goal: + properties: + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + solvent: + type: string + temp: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: number + required: + - vessel + - solvent + - volume + - temp + - repeats + title: CleanVessel_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: CleanVessel_Result + type: object + required: + - goal + title: CleanVessel + type: object + type: CleanVessel + DissolveProtocol: + feedback: {} + goal: + amount: amount + event: event + mass: mass + mol: mol + reagent: reagent + solvent: solvent + stir_speed: stir_speed + temp: temp + time: time + vessel: vessel + volume: volume + goal_default: + amount: '' + event: '' + mass: '' + mol: '' + reagent: '' + solvent: '' + stir_speed: 0.0 + temp: '' + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + - data_key: reagent + data_source: handle + data_type: resource + handler_key: reagent + label: Reagent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Dissolve_Feedback + type: object + goal: + properties: + amount: + type: string + event: + type: string + mass: + type: string + mol: + type: string + reagent: + type: string + solvent: + type: string + stir_speed: + type: number + temp: + type: string + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: string + required: + - vessel + - solvent + - volume + - amount + - temp + - time + - stir_speed + - mass + - mol + - reagent + - event + title: Dissolve_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Dissolve_Result + type: object + required: + - goal + title: Dissolve + type: object + type: Dissolve + DryProtocol: + feedback: {} + goal: + compound: compound + vessel: vessel + goal_default: + compound: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Dry_Feedback + type: object + goal: + properties: + compound: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - compound + - vessel + title: Dry_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Dry_Result + type: object + required: + - goal + title: Dry + type: object + type: Dry + EvacuateAndRefillProtocol: + feedback: {} + goal: + gas: gas + vessel: vessel + goal_default: + gas: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_device: + type: string + status: + type: string + time_remaining: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: EvacuateAndRefill_Feedback + type: object + goal: + properties: + gas: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - gas + title: EvacuateAndRefill_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: EvacuateAndRefill_Result + type: object + required: + - goal + title: EvacuateAndRefill + type: object + type: EvacuateAndRefill + EvaporateProtocol: + feedback: {} + goal: + pressure: pressure + solvent: solvent + stir_speed: stir_speed + temp: temp + time: time + vessel: vessel + goal_default: + pressure: 0.0 + solvent: '' + stir_speed: 0.0 + temp: 0.0 + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Evaporation Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Eluting Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: VesselOut + label: Evaporation Vessel + placeholder_keys: + vessel: unilabos_nodes + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_device: + type: string + status: + type: string + time_remaining: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: Evaporate_Feedback + type: object + goal: + properties: + pressure: + type: number + solvent: + type: string + stir_speed: + type: number + temp: + type: number + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - pressure + - temp + - time + - stir_speed + - solvent + title: Evaporate_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: Evaporate_Result + type: object + required: + - goal + title: Evaporate + type: object + type: Evaporate + FilterProtocol: + feedback: {} + goal: + continue_heatchill: continue_heatchill + filtrate_vessel: filtrate_vessel + stir: stir + stir_speed: stir_speed + temp: temp + vessel: vessel + volume: volume + goal_default: + continue_heatchill: false + filtrate_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + stir: false + stir_speed: 0.0 + temp: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: filtrate_vessel + data_source: handle + data_type: resource + handler_key: FiltrateVessel + label: Filtrate Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + - data_key: filtrate_vessel + data_source: executor + data_type: resource + handler_key: FiltrateOut + label: Filtrate Vessel + placeholder_keys: + filtrate_vessel: unilabos_resources + vessel: unilabos_nodes + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + current_temp: + type: number + filtered_volume: + type: number + progress: + type: number + required: + - progress + - current_temp + - filtered_volume + - current_status + title: Filter_Feedback + type: object + goal: + properties: + continue_heatchill: + type: boolean + filtrate_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: filtrate_vessel + type: object + stir: + type: boolean + stir_speed: + type: number + temp: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: number + required: + - vessel + - filtrate_vessel + - stir + - stir_speed + - temp + - continue_heatchill + - volume + title: Filter_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Filter_Result + type: object + required: + - goal + title: Filter + type: object + type: Filter + FilterThroughProtocol: + feedback: {} + goal: + eluting_repeats: eluting_repeats + eluting_solvent: eluting_solvent + eluting_volume: eluting_volume + filter_through: filter_through + from_vessel: from_vessel + residence_time: residence_time + to_vessel: to_vessel + goal_default: + eluting_repeats: 0 + eluting_solvent: '' + eluting_volume: 0.0 + filter_through: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + from_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + residence_time: 0.0 + to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Eluting Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + from_vessel: unilabos_resources + to_vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: FilterThrough_Feedback + type: object + goal: + properties: + eluting_repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + eluting_solvent: + type: string + eluting_volume: + type: number + filter_through: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: filter_through + type: object + from_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_vessel + type: object + residence_time: + type: number + to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_vessel + type: object + required: + - from_vessel + - to_vessel + - filter_through + - eluting_solvent + - eluting_volume + - eluting_repeats + - residence_time + title: FilterThrough_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: FilterThrough_Result + type: object + required: + - goal + title: FilterThrough + type: object + type: FilterThrough + HeatChillProtocol: + feedback: {} + goal: + pressure: pressure + purpose: purpose + reflux_solvent: reflux_solvent + stir: stir + stir_speed: stir_speed + temp: temp + temp_spec: temp_spec + time: time + time_spec: time_spec + vessel: vessel + goal_default: + pressure: '' + purpose: '' + reflux_solvent: '' + stir: false + stir_speed: 0.0 + temp: 0.0 + temp_spec: '' + time: '' + time_spec: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: HeatChill_Feedback + type: object + goal: + properties: + pressure: + type: string + purpose: + type: string + reflux_solvent: + type: string + stir: + type: boolean + stir_speed: + type: number + temp: + type: number + temp_spec: + type: string + time: + type: string + time_spec: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - temp + - time + - temp_spec + - time_spec + - pressure + - reflux_solvent + - stir + - stir_speed + - purpose + title: HeatChill_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: HeatChill_Result + type: object + required: + - goal + title: HeatChill + type: object + type: HeatChill + HeatChillStartProtocol: + feedback: {} + goal: + purpose: purpose + temp: temp + vessel: vessel + goal_default: + purpose: '' + temp: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: HeatChillStart_Feedback + type: object + goal: + properties: + purpose: + type: string + temp: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - temp + - purpose + title: HeatChillStart_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: HeatChillStart_Result + type: object + required: + - goal + title: HeatChillStart + type: object + type: HeatChillStart + HeatChillStopProtocol: + feedback: {} + goal: + vessel: vessel + goal_default: + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: HeatChillStop_Feedback + type: object + goal: + properties: + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + title: HeatChillStop_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: HeatChillStop_Result + type: object + required: + - goal + title: HeatChillStop + type: object + type: HeatChillStop + HydrogenateProtocol: + feedback: {} + goal: + temp: temp + time: time + vessel: vessel + goal_default: + temp: '' + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Hydrogenate_Feedback + type: object + goal: + properties: + temp: + type: string + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - temp + - time + - vessel + title: Hydrogenate_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Hydrogenate_Result + type: object + required: + - goal + title: Hydrogenate + type: object + type: Hydrogenate + PumpTransferProtocol: + feedback: {} + goal: + amount: amount + event: event + flowrate: flowrate + from_vessel: from_vessel + rate_spec: rate_spec + rinsing_repeats: rinsing_repeats + rinsing_solvent: rinsing_solvent + rinsing_volume: rinsing_volume + solid: solid + through: through + time: time + to_vessel: to_vessel + transfer_flowrate: transfer_flowrate + viscous: viscous + volume: volume + goal_default: + amount: '' + event: '' + flowrate: 0.0 + from_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + rate_spec: '' + rinsing_repeats: 0 + rinsing_solvent: '' + rinsing_volume: 0.0 + solid: false + through: '' + time: 0.0 + to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + transfer_flowrate: 0.0 + viscous: false + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Rinsing Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + from_vessel: unilabos_nodes + to_vessel: unilabos_nodes + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_device: + type: string + status: + type: string + time_remaining: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: PumpTransfer_Feedback + type: object + goal: + properties: + amount: + type: string + event: + type: string + flowrate: + type: number + from_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_vessel + type: object + rate_spec: + type: string + rinsing_repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + rinsing_solvent: + type: string + rinsing_volume: + type: number + solid: + type: boolean + through: + type: string + time: + type: number + to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_vessel + type: object + transfer_flowrate: + type: number + viscous: + type: boolean + volume: + type: number + required: + - from_vessel + - to_vessel + - volume + - amount + - time + - viscous + - rinsing_solvent + - rinsing_volume + - rinsing_repeats + - solid + - flowrate + - transfer_flowrate + - rate_spec + - event + - through + title: PumpTransfer_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: PumpTransfer_Result + type: object + required: + - goal + title: PumpTransfer + type: object + type: PumpTransfer + RecrystallizeProtocol: + feedback: {} + goal: + ratio: ratio + solvent1: solvent1 + solvent2: solvent2 + vessel: vessel + volume: volume + goal_default: + ratio: '' + solvent1: '' + solvent2: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent1 + data_source: handle + data_type: resource + handler_key: solvent1 + label: Solvent 1 + - data_key: solvent2 + data_source: handle + data_type: resource + handler_key: solvent2 + label: Solvent 2 + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Recrystallize_Feedback + type: object + goal: + properties: + ratio: + type: string + solvent1: + type: string + solvent2: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: string + required: + - ratio + - solvent1 + - solvent2 + - vessel + - volume + title: Recrystallize_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Recrystallize_Result + type: object + required: + - goal + title: Recrystallize + type: object + type: Recrystallize + ResetHandlingProtocol: + feedback: {} + goal: + solvent: solvent + goal_default: + solvent: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + output: [] + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: ResetHandling_Feedback + type: object + goal: + properties: + solvent: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - solvent + - vessel + title: ResetHandling_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: ResetHandling_Result + type: object + required: + - goal + title: ResetHandling + type: object + type: ResetHandling + RunColumnProtocol: + feedback: {} + goal: + column: column + from_vessel: from_vessel + to_vessel: to_vessel + goal_default: + column: '' + from_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + pct1: '' + pct2: '' + ratio: '' + rf: '' + solvent1: '' + solvent2: '' + to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + column: unilabos_devices + from_vessel: unilabos_resources + to_vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: RunColumn_Feedback + type: object + goal: + properties: + column: + type: string + from_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_vessel + type: object + pct1: + type: string + pct2: + type: string + ratio: + type: string + rf: + type: string + solvent1: + type: string + solvent2: + type: string + to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_vessel + type: object + required: + - from_vessel + - to_vessel + - column + - rf + - pct1 + - pct2 + - solvent1 + - solvent2 + - ratio + title: RunColumn_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: RunColumn_Result + type: object + required: + - goal + title: RunColumn + type: object + type: RunColumn + SeparateProtocol: + feedback: {} + goal: + from_vessel: from_vessel + product_phase: product_phase + purpose: purpose + repeats: repeats + separation_vessel: separation_vessel + settling_time: settling_time + solvent: solvent + solvent_volume: solvent_volume + stir_speed: stir_speed + stir_time: stir_time + through: through + to_vessel: to_vessel + waste_phase_to_vessel: waste_phase_to_vessel + goal_default: + from_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + product_phase: '' + product_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + purpose: '' + repeats: 0 + separation_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + settling_time: 0.0 + solvent: '' + solvent_volume: '' + stir_speed: 0.0 + stir_time: 0.0 + through: '' + to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: '' + waste_phase_to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + waste_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + from_vessel: unilabos_resources + to_vessel: unilabos_resources + waste_phase_to_vessel: unilabos_resources + waste_vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Separate_Feedback + type: object + goal: + properties: + from_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_vessel + type: object + product_phase: + type: string + product_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: product_vessel + type: object + purpose: + type: string + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + separation_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: separation_vessel + type: object + settling_time: + type: number + solvent: + type: string + solvent_volume: + type: string + stir_speed: + type: number + stir_time: + type: number + through: + type: string + to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_vessel + type: object + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: string + waste_phase_to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: waste_phase_to_vessel + type: object + waste_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: waste_vessel + type: object + required: + - vessel + - purpose + - product_phase + - from_vessel + - separation_vessel + - to_vessel + - waste_phase_to_vessel + - product_vessel + - waste_vessel + - solvent + - solvent_volume + - volume + - through + - repeats + - stir_time + - stir_speed + - settling_time + title: Separate_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Separate_Result + type: object + required: + - goal + title: Separate + type: object + type: Separate + StartStirProtocol: + feedback: {} + goal: + purpose: purpose + stir_speed: stir_speed + vessel: vessel + goal_default: + purpose: '' + stir_speed: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_speed: + type: number + current_status: + type: string + progress: + type: number + required: + - progress + - current_speed + - current_status + title: StartStir_Feedback + type: object + goal: + properties: + purpose: + type: string + stir_speed: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - stir_speed + - purpose + title: StartStir_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: StartStir_Result + type: object + required: + - goal + title: StartStir + type: object + type: StartStir + StirProtocol: + feedback: {} + goal: + event: event + settling_time: settling_time + stir_speed: stir_speed + stir_time: stir_time + time: time + time_spec: time_spec + vessel: vessel + goal_default: + event: '' + settling_time: '' + stir_speed: 0.0 + stir_time: 0.0 + time: '' + time_spec: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: Stir_Feedback + type: object + goal: + properties: + event: + type: string + settling_time: + type: string + stir_speed: + type: number + stir_time: + type: number + time: + type: string + time_spec: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - time + - event + - time_spec + - stir_time + - stir_speed + - settling_time + title: Stir_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Stir_Result + type: object + required: + - goal + title: Stir + type: object + type: Stir + StopStirProtocol: + feedback: {} + goal: + vessel: vessel + goal_default: + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + required: + - progress + - current_status + title: StopStir_Feedback + type: object + goal: + properties: + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + title: StopStir_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: StopStir_Result + type: object + required: + - goal + title: StopStir + type: object + type: StopStir + TransferProtocol: + feedback: {} + goal: + amount: amount + from_vessel: from_vessel + rinsing_repeats: rinsing_repeats + rinsing_solvent: rinsing_solvent + rinsing_volume: rinsing_volume + solid: solid + time: time + to_vessel: to_vessel + viscous: viscous + volume: volume + goal_default: + amount: '' + from_vessel: '' + rinsing_repeats: 0 + rinsing_solvent: '' + rinsing_volume: 0.0 + solid: false + time: 0.0 + to_vessel: '' + viscous: false + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Rinsing Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + from_vessel: unilabos_nodes + to_vessel: unilabos_nodes + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + transferred_volume: + type: number + required: + - progress + - transferred_volume + - current_status + title: Transfer_Feedback + type: object + goal: + properties: + amount: + type: string + from_vessel: + type: string + rinsing_repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + rinsing_solvent: + type: string + rinsing_volume: + type: number + solid: + type: boolean + time: + type: number + to_vessel: + type: string + viscous: + type: boolean + volume: + type: number + required: + - from_vessel + - to_vessel + - volume + - amount + - time + - viscous + - rinsing_solvent + - rinsing_volume + - rinsing_repeats + - solid + title: Transfer_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Transfer_Result + type: object + required: + - goal + title: Transfer + type: object + type: Transfer + WashSolidProtocol: + feedback: {} + goal: + filtrate_vessel: filtrate_vessel + repeats: repeats + solvent: solvent + stir: stir + stir_speed: stir_speed + temp: temp + time: time + vessel: vessel + volume: volume + goal_default: + event: '' + filtrate_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + mass: '' + repeats: 0 + repeats_spec: '' + solvent: '' + stir: false + stir_speed: 0.0 + temp: 0.0 + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: '' + volume_spec: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + - data_key: filtrate_vessel + data_source: handle + data_type: resource + handler_key: filtrate_vessel + label: Filtrate Vessel + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: VesselOut + label: Vessel Out + - data_key: filtrate_vessel + data_source: executor + data_type: resource + handler_key: filtrate_vessel_out + label: Filtrate Vessel + placeholder_keys: + filtrate_vessel: unilabos_resources + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: WashSolid_Feedback + type: object + goal: + properties: + event: + type: string + filtrate_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: filtrate_vessel + type: object + mass: + type: string + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + repeats_spec: + type: string + solvent: + type: string + stir: + type: boolean + stir_speed: + type: number + temp: + type: number + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: string + volume_spec: + type: string + required: + - vessel + - solvent + - volume + - filtrate_vessel + - temp + - stir + - stir_speed + - time + - repeats + - volume_spec + - repeats_spec + - mass + - event + title: WashSolid_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: WashSolid_Result + type: object + required: + - goal + title: WashSolid + type: object + type: WashSolid + auto-create_ros_action_server: + feedback: {} + goal: {} + goal_default: + action_name: null + action_value_mapping: null + handles: {} + result: {} + schema: + description: create_ros_action_server的参数schema + properties: + feedback: {} + goal: + properties: + action_name: + type: string + action_value_mapping: + type: string + required: + - action_name + - action_value_mapping + type: object + result: {} + required: + - goal + title: create_ros_action_server参数 + type: object + type: UniLabJsonCommand + auto-execute_single_action: + feedback: {} + goal: {} + goal_default: + action_kwargs: null + action_name: null + device_id: null + handles: {} + result: {} + schema: + description: execute_single_action的参数schema + properties: + feedback: {} + goal: + properties: + action_kwargs: + type: string + action_name: + type: string + device_id: + type: string + required: + - device_id + - action_name + - action_kwargs + type: object + result: {} + required: + - goal + title: execute_single_action参数 + type: object + type: UniLabJsonCommandAsync + auto-initialize_device: + feedback: {} + goal: {} + goal_default: + device_config: null + device_id: null + handles: {} + result: {} + schema: + description: initialize_device的参数schema + properties: + feedback: {} + goal: + properties: + device_config: + type: string + device_id: + type: string + required: + - device_id + - device_config + type: object + result: {} + required: + - goal + title: initialize_device参数 + type: object + type: UniLabJsonCommand + module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode + status_types: {} + type: ros2 + config_info: [] + description: Workstation + handles: [] + icon: '' + init_param_schema: + config: + properties: + action_value_mappings: + type: object + children: + type: object + device_id: + type: string + driver_instance: + type: string + hardware_interface: + type: object + print_publish: + default: true + type: string + protocol_type: + items: + type: string + type: array + resource_tracker: + type: string + status_types: + type: object + required: + - protocol_type + - children + - driver_instance + - device_id + - status_types + - action_value_mappings + - hardware_interface + type: object + data: + properties: {} + required: [] + type: object + version: 1.0.0 +workstation.example: + category: + - work_station + class: + action_value_mappings: {} + module: unilabos.devices.workstation.workstation_base:WorkstationExample + status_types: {} + type: python + config_info: [] + description: '' + handles: [] + icon: '' + init_param_schema: + config: + properties: + station_resource: + type: object + required: + - station_resource + type: object + data: + properties: {} + required: [] + type: object + version: 1.0.0 From 190b2d251837fdef5a26b17cae865edee8fb7469 Mon Sep 17 00:00:00 2001 From: calvincao Date: Mon, 27 Oct 2025 11:43:03 +0800 Subject: [PATCH 5/6] =?UTF-8?q?=E6=B8=85=E7=90=86=E6=89=A3=E7=94=B5?= =?UTF-8?q?=E4=B8=8D=E5=BF=85=E8=A6=81=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../coin_cell_assembly/__init__.py | 0 .../button_battery_station.py | 1006 -- .../button_battery_station_big.py | 1412 -- ..._battery_station_resources_unilab_big.json | 1895 -- .../coin_cell_assembly/cellconfig.py | 114 - .../coin_cell_assembly/celljson.json | 1332 -- .../coin_cell_assembly/coin_cell_assembly.py | 1163 -- .../coin_cell_assembly_0910.csv | 44 - .../coin_cell_assembly_a.csv | 46 - .../coin_cell_assembly_old.py | 1149 -- .../coin_cell_assembly_system_wuliao.py | 135 - .../coin_cell_assembly/new_cellconfig.json | 1925 -- .../coin_cell_assembly/new_cellconfig2.json | 1925 -- .../coin_cell_assembly/new_cellconfig3.json | 1925 -- .../coin_cell_assembly/new_cellconfig3a.json | 1956 --- .../coin_cell_assembly/new_cellconfig3b.json | 2589 --- .../coin_cell_assembly/new_cellconfig3c.json | 691 - .../coin_cell_assembly/new_cellconfig4.json | 14472 ---------------- .../workstation/coin_cell_assembly/test.ipynb | 750 - .../coin_cell_assembly/work_station.yaml | 6674 ------- 20 files changed, 41203 deletions(-) delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/__init__.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/cellconfig.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/celljson.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig2.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3a.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3b.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/test.ipynb delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/work_station.yaml diff --git a/unilabos/devices/workstation/coin_cell_assembly/__init__.py b/unilabos/devices/workstation/coin_cell_assembly/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py deleted file mode 100644 index eae09b84..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py +++ /dev/null @@ -1,1006 +0,0 @@ -""" -纽扣电池组装工作站物料类定义 -Button Battery Assembly Station Resource Classes -""" - -from __future__ import annotations - -from collections import OrderedDict -from typing import Any, Dict, List, Optional, TypedDict, Union, cast - -from pylabrobot.resources.coordinate import Coordinate -from pylabrobot.resources.container import Container -from pylabrobot.resources.deck import Deck -from pylabrobot.resources.itemized_resource import ItemizedResource -from pylabrobot.resources.resource import Resource -from pylabrobot.resources.resource_stack import ResourceStack -from pylabrobot.resources.tip_rack import TipRack, TipSpot -from pylabrobot.resources.trash import Trash -from pylabrobot.resources.utils import create_ordered_items_2d - - -class ElectrodeSheetState(TypedDict): - diameter: float # 直径 (mm) - thickness: float # 厚度 (mm) - mass: float # 质量 (g) - material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） - height: float - electrolyte_name: str - data_electrolyte_code: str - open_circuit_voltage: float - assembly_pressure: float - electrolyte_volume: float - - info: Optional[str] # 附加信息 - -class ElectrodeSheet(Resource): - """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" - - def __init__( - self, - name: str = "极片", - size_x=10, - size_y=10, - size_z=10, - category: str = "electrode_sheet", - model: Optional[str] = None, - ): - """初始化极片 - - Args: - name: 极片名称 - 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: ElectrodeSheetState = ElectrodeSheetState( - diameter=14, - thickness=0.1, - mass=0.5, - material_type="copper", - info=None - ) - - # TODO: 这个还要不要？给self._unilabos_state赋值的？ - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - #序列化 - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -# TODO: 这个应该只能放一个极片 -class MaterialHoleState(TypedDict): - diameter: int - depth: int - max_sheets: int - info: Optional[str] # 附加信息 - -class MaterialHole(Resource): - """料板洞位类""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "material_hole", - **kwargs - ): - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - ) - self._unilabos_state: MaterialHoleState = MaterialHoleState( - diameter=20, - depth=10, - max_sheets=1, - info=None - ) - - def get_all_sheet_info(self): - info_list = [] - for sheet in self.children: - info_list.append(sheet._unilabos_state["info"]) - return info_list - - #这个函数函数好像没用，一般不会集中赋值质量 - def set_all_sheet_mass(self): - for sheet in self.children: - sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g - - 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 - #移动极片前先取出对象 - def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: - for sheet in self.children: - if sheet.name == name: - return sheet - return None - - def has_electrode_sheet(self) -> bool: - """检查洞位是否有极片""" - return len(self.children) > 0 - - def assign_child_resource( - self, - resource: ElectrodeSheet, - location: Optional[Coordinate], - reassign: bool = True, - ): - """放置极片""" - # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 - #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: - # raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") - #if len(self.children) >= self._unilabos_state["max_sheets"]: - # raise ValueError(f"洞位已满，无法放置更多极片") - super().assign_child_resource(resource, location, reassign) - - # 根据children的编号取物料对象。 - def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: - return self.children[index] - - - -class MaterialPlateState(TypedDict): - hole_spacing_x: float - hole_spacing_y: float - hole_diameter: float - info: Optional[str] # 附加信息 - -class MaterialPlate(ItemizedResource[MaterialHole]): - """料板类 - 4x4个洞位，每个洞位放1个极片""" - - children: List[MaterialHole] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - ordered_items: Optional[Dict[str, MaterialHole]] = None, - ordering: Optional[OrderedDict[str, str]] = None, - category: str = "material_plate", - model: Optional[str] = None, - fill: bool = False - ): - """初始化料板 - - Args: - name: 料板名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing_x: X方向洞位间距 (mm) - hole_spacing_y: Y方向洞位间距 (mm) - number: 编号 - category: 类别 - model: 型号 - """ - self._unilabos_state: MaterialPlateState = MaterialPlateState( - hole_spacing_x=24.0, - hole_spacing_y=24.0, - hole_diameter=20.0, - info="", - ) - # 创建4x4的洞位 - # TODO: 这里要改，对应不同形状 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 16, - size_y = 16, - size_z = 16, - ) - if fill: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - else: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=ordered_items, - ordering=ordering, - category=category, - model=model, - ) - - def update_locations(self): - # TODO:调多次相加 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=self._size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 1, - size_y = 1, - size_z = 1, - ) - for item, original_item in zip(holes.items(), self.children): - original_item.location = item[1].location - - -class PlateSlot(ResourceStack): - """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""" - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - max_plates: int = 8, - category: str = "plate_slot", - model: Optional[str] = None - ): - """初始化板槽位 - - Args: - name: 槽位名称 - max_plates: 最大板数量 - category: 类别 - """ - super().__init__( - name=name, - direction="z", # Z方向堆叠 - resources=[], - ) - self.max_plates = max_plates - self.category = category - - def can_add_plate(self) -> bool: - """检查是否可以添加板""" - return len(self.children) < self.max_plates - - def add_plate(self, plate: MaterialPlate) -> None: - """添加料板""" - if not self.can_add_plate(): - raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") - self.assign_child_resource(plate) - - def get_top_plate(self) -> MaterialPlate: - """获取最上方的板""" - if len(self.children) == 0: - raise ValueError(f"槽位 {self.name} 为空") - return cast(MaterialPlate, self.get_top_item()) - - def take_top_plate(self) -> MaterialPlate: - """取出最上方的板""" - top_plate = self.get_top_plate() - self.unassign_child_resource(top_plate) - return top_plate - - def can_access_for_picking(self) -> bool: - """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）""" - return len(self.children) > 0 - - def serialize(self) -> dict: - return { - **super().serialize(), - "max_plates": self.max_plates, - } - - -class ClipMagazineHole(Container): - """子弹夹洞位类""" - - def __init__( - self, - name: str, - diameter: float, - depth: float, - max_sheets: int = 100, - category: str = "clip_magazine_hole", - ): - """初始化子弹夹洞位 - - Args: - name: 洞位名称 - diameter: 洞直径 (mm) - depth: 洞深度 (mm) - max_sheets: 最大极片数量 - category: 类别 - """ - super().__init__( - name=name, - size_x=diameter, - size_y=diameter, - size_z=depth, - category=category, - ) - self.diameter = diameter - self.depth = depth - self.max_sheets = max_sheets - self._sheets: List[ElectrodeSheet] = [] - - def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: - """检查是否可以添加极片""" - return (len(self._sheets) < self.max_sheets and - sheet.diameter <= self.diameter) - - def add_sheet(self, sheet: ElectrodeSheet) -> None: - """添加极片""" - if not self.can_add_sheet(sheet): - raise ValueError(f"无法向洞位 {self.name} 添加极片") - self._sheets.append(sheet) - - def take_sheet(self) -> ElectrodeSheet: - """取出极片""" - if len(self._sheets) == 0: - raise ValueError(f"洞位 {self.name} 没有极片") - return self._sheets.pop() - - def get_sheet_count(self) -> int: - """获取极片数量""" - return len(self._sheets) - - def serialize_state(self) -> Dict[str, Any]: - return { - "sheet_count": len(self._sheets), - "sheets": [sheet.serialize() for sheet in self._sheets], - } - -# TODO: 这个要改 -class ClipMagazine(Resource): - """子弹夹类 - 有6个洞位，每个洞位放多个极片""" - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建6个洞位，排成2x3布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=3, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=0, - depth=0, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -#是一种类型注解，不用self -class BatteryState(TypedDict): - """电池状态字典""" - diameter: float - height: float - assembly_pressure: float - electrolyte_volume: float - electrolyte_name: str - -class Battery(Resource): - """电池类 - 可容纳极片""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - size_x=1, - size_y=1, - size_z=1, - category: str = "battery", - ): - """初始化电池 - - Args: - name: 电池名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大容量 (μL) - barcode: 二维码编号 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BatteryState = BatteryState( - diameter = 1.0, - height = 1.0, - assembly_pressure = 1.0, - electrolyte_volume = 1.0, - electrolyte_name = "DP001" - ) - - def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: - to_add_name = bottle._unilabos_state["electrolyte_name"] - if bottle.aspirate_electrolyte(10): - if self.add_electrolyte(to_add_name, 10): - pass - else: - bottle._unilabos_state["electrolyte_volume"] += 10 - - def set_electrolyte(self, name: str, volume: float) -> None: - """设置电解液信息""" - self._unilabos_state["electrolyte_name"] = name - self._unilabos_state["electrolyte_volume"] = volume - #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: - """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] - -# TODO:这个移液枪架子看一下从哪继承 -class TipBox64State(TypedDict): - """电池状态字典""" - tip_diameter: float = 5.0 - tip_length: float = 50.0 - with_tips: bool = True - -class TipBox64(TipRack): - """64孔枪头盒类""" - - children: List[TipSpot] = [] - def __init__( - self, - name: str, - size_x: float = 127.8, - size_y: float = 85.5, - size_z: float = 60.0, - category: str = "tip_box_64", - model: Optional[str] = None, - ): - """初始化64孔枪头盒 - - Args: - name: 枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - tip_diameter: 枪头直径 (mm) - tip_length: 枪头长度 (mm) - category: 类别 - model: 型号 - with_tips: 是否带枪头 - """ - from pylabrobot.resources.tip import Tip - - # 创建8x8=64个枪头位 - def make_tip(): - return Tip( - has_filter=False, - total_tip_length=20.0, - maximal_volume=1000, # 1mL - fitting_depth=8.0, - ) - - tip_spots = create_ordered_items_2d( - klass=TipSpot, - num_items_x=8, - num_items_y=8, - dx=8.0, - dy=8.0, - dz=0.0, - item_dx=9.0, - item_dy=9.0, - size_x=10, - size_y=10, - size_z=0.0, - make_tip=make_tip, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=tip_spots, - category=category, - model=model, - with_tips=True, - ) - - - -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, - category: str = "waste_tip_box", - model: Optional[str] = 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 BottleRackState(TypedDict): - """ bottle_diameter: 瓶子直径 (mm) - bottle_height: 瓶子高度 (mm) - position_spacing: 位置间距 (mm)""" - bottle_diameter: float - bottle_height: float - name_to_index: dict - - - -class BottleRack(Resource): - """瓶架类 - 12个待配位置+12个已配位置""" - children: List[Bottle] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "bottle_rack", - model: Optional[str] = None, - ): - """初始化瓶架 - - Args: - name: 瓶架名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - # TODO: 添加瓶位坐标映射 - self.index_to_pos = { - 0: Coordinate.zero(), - 1: Coordinate(x=1, y=2, z=3) # 添加 - } - self.name_to_index = {} - self.name_to_pos = {} - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - # TODO: 这里有些问题要重新写一下 - def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True): - assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子" - index = len(self.children) - location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0) - self.name_to_pos[resource.name] = location - self.name_to_index[resource.name] = index - return super().assign_child_resource(resource, location, reassign) - - def assign_child_resource_by_index(self, resource: Bottle, index: int): - assert 0 <= index < 12, "无效的瓶子索引" - self.name_to_index[resource.name] = index - location = self.index_to_pos[index] - return super().assign_child_resource(resource, location) - - def unassign_child_resource(self, resource: Bottle): - super().unassign_child_resource(resource) - self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) - - # def serialize(self): - # self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0)) - # return super().serialize() - - -class BottleState(TypedDict): - diameter: float - height: float - electrolyte_name: str - electrolyte_volume: float - max_volume: float - -class Bottle(Resource): - """瓶子类 - 容纳电解液""" - - def __init__( - self, - name: str, - category: str = "bottle", - ): - """初始化瓶子 - - Args: - name: 瓶子名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大体积 (μL) - barcode: 二维码 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BottleState = BottleState() - - def aspirate_electrolyte(self, volume: float) -> bool: - current_volume = self._unilabos_state["electrolyte_volume"] - assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." - self._unilabos_state["electrolyte_volume"] -= volume - return True - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -class 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 = 1620.0, # 3.66m - size_y: float = 1270.0, # 1.23m - size_z: float = 500.0, - origin: Coordinate = Coordinate(0, 0, 0), - category: str = "coin_cell_deck", - ): - """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) - 3.66m - size_y: 宽度 (mm) - 1.23m - size_z: 高度 (mm) - origin: 原点坐标 - category: 类别 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - origin=origin, - category=category, - ) - -#if __name__ == "__main__": -# # 转移极片的测试代码 -# deck = CoincellDeck("coin_cell_deck") -# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) -# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) -# -# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) -# for i, hole in enumerate(plate_1.children): -# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") -# sheet._unilabos_state = { -# "diameter": 14, -# "info": "NMC", -# "mass": 5.0, -# "material_type": "positive_electrode", -# "thickness": 0.1 -# } -# hole._unilabos_state = { -# "depth": 1.0, -# "diameter": 14, -# "info": "", -# "max_sheets": 1 -# } -# hole.assign_child_resource(sheet, Coordinate.zero()) -# plate_1._unilabos_state = { -# "hole_spacing_x": 20.0, -# "hole_spacing_y": 20.0, -# "hole_diameter": 5, -# "info": "这是第一块料板" -# } -# plate_1.update_locations() -# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) -# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) -# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) -# -# from unilabos.resources.graphio import * -# A = tree_to_list([resource_plr_to_ulab(deck)]) -# with open("test.json", "w") as f: -# json.dump(A, f) -# -# -#def get_plate_with_14mm_hole(name=""): -# plate = MaterialPlate(name=name) -# for i in range(4): -# for j in range(4): -# hole = MaterialHole(f"{i+1}x{j+1}") -# hole._unilabos_state["diameter"] = 14 -# hole._unilabos_state["max_sheets"] = 1 -# plate.assign_child_resource(hole) -# return plate - -import json - -if __name__ == "__main__": - #electrode1 = BatteryPressSlot() - #print(electrode1.get_size_x()) - #print(electrode1.get_size_y()) - #print(electrode1.get_size_z()) - #jipian = ElectrodeSheet() - #jipian._unilabos_state["diameter"] = 18 - #print(jipian.serialize()) - #print(jipian.serialize_state()) - - deck = CoincellDeck(size_x=1000, - size_y=1000, - size_z=900) - - #liaopan = TipBox64(name="liaopan") - - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) - #创建一个极片 - for i in range(16): - jipian = ElectrodeSheet(name=f"jipian1_{i}", size_x= 12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian, location=None) -# - #创建一个4*4的物料板 - liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) - - #创建一个4*4的物料板 - liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0)) - - - - #liaopan.children[3].assign_child_resource(jipian, location=None) - print(deck) - - - from unilabos.resources.graphio import convert_resources_from_type - from unilabos.config.config import BasicConfig - BasicConfig.ak = "4d5ce6ae-7234-4639-834e-93899b9caf94" - BasicConfig.sk = "505d3b0a-620e-459a-9905-1efcffce382a" - from unilabos.app.web.client import http_client - - resources = convert_resources_from_type([deck], [Resource]) - json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) - - - #print(resources) - http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - - http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py deleted file mode 100644 index 765328f2..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py +++ /dev/null @@ -1,1412 +0,0 @@ -""" -纽扣电池组装工作站物料类定义 -Button Battery Assembly Station Resource Classes -""" - -from __future__ import annotations - -from collections import OrderedDict -from typing import Any, Dict, List, Optional, TypedDict, Union, cast - -from pylabrobot.resources.coordinate import Coordinate -from pylabrobot.resources.container import Container -from pylabrobot.resources.deck import Deck -from pylabrobot.resources.itemized_resource import ItemizedResource -from pylabrobot.resources.resource import Resource -from pylabrobot.resources.resource_stack import ResourceStack -from pylabrobot.resources.tip_rack import TipRack, TipSpot -from pylabrobot.resources.trash import Trash -from pylabrobot.resources.utils import create_ordered_items_2d - - -class ElectrodeSheetState(TypedDict): - diameter: float # 直径 (mm) - thickness: float # 厚度 (mm) - mass: float # 质量 (g) - material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） - info: Optional[str] # 附加信息 - -class ElectrodeSheet(Resource): - """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" - - def __init__( - self, - name: str = "极片", - size_x=10, - size_y=10, - size_z=10, - category: str = "electrode_sheet", - model: Optional[str] = None, - ): - """初始化极片 - - Args: - name: 极片名称 - 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: ElectrodeSheetState = ElectrodeSheetState( - diameter=14, - thickness=0.1, - mass=0.5, - material_type="copper", - info=None - ) - - # TODO: 这个还要不要？给self._unilabos_state赋值的？ - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - #序列化 - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -# TODO: 这个应该只能放一个极片 -class MaterialHoleState(TypedDict): - diameter: int - depth: int - max_sheets: int - info: Optional[str] # 附加信息 - -class MaterialHole(Resource): - """料板洞位类""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "material_hole", - **kwargs - ): - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - ) - self._unilabos_state: MaterialHoleState = MaterialHoleState( - diameter=20, - depth=10, - max_sheets=1, - info=None - ) - - def get_all_sheet_info(self): - info_list = [] - for sheet in self.children: - info_list.append(sheet._unilabos_state["info"]) - return info_list - - #这个函数函数好像没用，一般不会集中赋值质量 - def set_all_sheet_mass(self): - for sheet in self.children: - sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g - - 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 - #移动极片前先取出对象 - def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: - for sheet in self.children: - if sheet.name == name: - return sheet - return None - - def has_electrode_sheet(self) -> bool: - """检查洞位是否有极片""" - return len(self.children) > 0 - - def assign_child_resource( - self, - resource: ElectrodeSheet, - location: Optional[Coordinate], - reassign: bool = True, - ): - """放置极片""" - # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 - if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: - raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") - if len(self.children) >= self._unilabos_state["max_sheets"]: - raise ValueError(f"洞位已满，无法放置更多极片") - super().assign_child_resource(resource, location, reassign) - - # 根据children的编号取物料对象。 - def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: - return self.children[index] - - - -class MaterialPlateState(TypedDict): - hole_spacing_x: float - hole_spacing_y: float - hole_diameter: float - info: Optional[str] # 附加信息 - - - -class MaterialPlate(ItemizedResource[MaterialHole]): - """料板类 - 4x4个洞位，每个洞位放1个极片""" - - children: List[MaterialHole] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - ordered_items: Optional[Dict[str, MaterialHole]] = None, - ordering: Optional[OrderedDict[str, str]] = None, - category: str = "material_plate", - model: Optional[str] = None, - fill: bool = False - ): - """初始化料板 - - Args: - name: 料板名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing_x: X方向洞位间距 (mm) - hole_spacing_y: Y方向洞位间距 (mm) - number: 编号 - category: 类别 - model: 型号 - """ - self._unilabos_state: MaterialPlateState = MaterialPlateState( - hole_spacing_x=24.0, - hole_spacing_y=24.0, - hole_diameter=20.0, - info="", - ) - # 创建4x4的洞位 - # TODO: 这里要改，对应不同形状 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 16, - size_y = 16, - size_z = 16, - ) - if fill: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - else: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=ordered_items, - ordering=ordering, - category=category, - model=model, - ) - - def update_locations(self): - # TODO:调多次相加 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=self._size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 1, - size_y = 1, - size_z = 1, - ) - for item, original_item in zip(holes.items(), self.children): - original_item.location = item[1].location - - -class PlateSlot(ResourceStack): - """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""" - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - max_plates: int = 8, - category: str = "plate_slot", - model: Optional[str] = None - ): - """初始化板槽位 - - Args: - name: 槽位名称 - max_plates: 最大板数量 - category: 类别 - """ - super().__init__( - name=name, - direction="z", # Z方向堆叠 - resources=[], - ) - self.max_plates = max_plates - self.category = category - - def can_add_plate(self) -> bool: - """检查是否可以添加板""" - return len(self.children) < self.max_plates - - def add_plate(self, plate: MaterialPlate) -> None: - """添加料板""" - if not self.can_add_plate(): - raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") - self.assign_child_resource(plate) - - def get_top_plate(self) -> MaterialPlate: - """获取最上方的板""" - if len(self.children) == 0: - raise ValueError(f"槽位 {self.name} 为空") - return cast(MaterialPlate, self.get_top_item()) - - def take_top_plate(self) -> MaterialPlate: - """取出最上方的板""" - top_plate = self.get_top_plate() - self.unassign_child_resource(top_plate) - return top_plate - - def can_access_for_picking(self) -> bool: - """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）""" - return len(self.children) > 0 - - def serialize(self) -> dict: - return { - **super().serialize(), - "max_plates": self.max_plates, - } - - -class ClipMagazineHole(Container): - """子弹夹洞位类""" - children: List[ElectrodeSheet] = [] - def __init__( - self, - name: str, - diameter: float, - depth: float, - category: str = "clip_magazine_hole", - ): - """初始化子弹夹洞位 - - Args: - name: 洞位名称 - diameter: 洞直径 (mm) - depth: 洞深度 (mm) - category: 类别 - """ - super().__init__( - name=name, - size_x=diameter, - size_y=diameter, - size_z=depth, - category=category, - ) - self.diameter = diameter - self.depth = depth - - def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: - """检查是否可以添加极片 - - 根据洞的深度和极片的厚度来判断是否可以添加极片 - """ - # 检查极片直径是否适合洞的直径 - if sheet._unilabos_state["diameter"] > self.diameter: - return False - - # 计算当前已添加极片的总厚度 - current_thickness = sum(s._unilabos_state["thickness"] for s in self.children) - - # 检查添加新极片后总厚度是否超过洞的深度 - if current_thickness + sheet._unilabos_state["thickness"] > self.depth: - return False - - return True - - - def assign_child_resource( - self, - resource: ElectrodeSheet, - location: Optional[Coordinate] = None, - reassign: bool = True, - ): - """放置极片到洞位中 - - Args: - resource: 要放置的极片 - location: 极片在洞位中的位置（对于洞位，通常为None） - reassign: 是否允许重新分配 - """ - # 检查是否可以添加极片 - if not self.can_add_sheet(resource): - raise ValueError(f"无法向洞位 {self.name} 添加极片：直径或厚度不匹配") - - # 调用父类方法实际执行分配 - super().assign_child_resource(resource, location, reassign) - - def unassign_child_resource(self, resource: ElectrodeSheet): - """从洞位中移除极片 - - Args: - resource: 要移除的极片 - """ - if resource not in self.children: - raise ValueError(f"极片 {resource.name} 不在洞位 {self.name} 中") - - # 调用父类方法实际执行移除 - super().unassign_child_resource(resource) - - - - def serialize_state(self) -> Dict[str, Any]: - return { - "sheet_count": len(self.children), - "sheets": [sheet.serialize() for sheet in self.children], - } -class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有4个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine_four", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建4个洞位，排成2x2布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=2, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -# TODO: 这个要改 -class ClipMagazine(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有6个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建6个洞位，排成2x3布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=3, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -#是一种类型注解，不用self -class BatteryState(TypedDict): - """电池状态字典""" - diameter: float - height: float - - electrolyte_name: str - electrolyte_volume: float - -class Battery(Resource): - """电池类 - 可容纳极片""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - category: str = "battery", - ): - """初始化电池 - - Args: - name: 电池名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大容量 (μL) - barcode: 二维码编号 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BatteryState = BatteryState() - - def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: - to_add_name = bottle._unilabos_state["electrolyte_name"] - if bottle.aspirate_electrolyte(10): - if self.add_electrolyte(to_add_name, 10): - pass - else: - bottle._unilabos_state["electrolyte_volume"] += 10 - - def set_electrolyte(self, name: str, volume: float) -> None: - """设置电解液信息""" - self._unilabos_state["electrolyte_name"] = name - self._unilabos_state["electrolyte_volume"] = volume - #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: - """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] - -# TODO:这个移液枪架子看一下从哪继承 -class TipBox64State(TypedDict): - """电池状态字典""" - tip_diameter: float = 5.0 - tip_length: float = 50.0 - with_tips: bool = True - -class TipBox64(TipRack): - """64孔枪头盒类""" - - children: List[TipSpot] = [] - def __init__( - self, - name: str, - size_x: float = 127.8, - size_y: float = 85.5, - size_z: float = 60.0, - category: str = "tip_box_64", - model: Optional[str] = None, - ): - """初始化64孔枪头盒 - - Args: - name: 枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - tip_diameter: 枪头直径 (mm) - tip_length: 枪头长度 (mm) - category: 类别 - model: 型号 - with_tips: 是否带枪头 - """ - from pylabrobot.resources.tip import Tip - - # 创建8x8=64个枪头位 - def make_tip(): - return Tip( - has_filter=False, - total_tip_length=20.0, - maximal_volume=1000, # 1mL - fitting_depth=8.0, - ) - - tip_spots = create_ordered_items_2d( - klass=TipSpot, - num_items_x=8, - num_items_y=8, - dx=8.0, - dy=8.0, - dz=0.0, - item_dx=9.0, - item_dy=9.0, - size_x=10, - size_y=10, - size_z=0.0, - make_tip=make_tip, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - # 记录网格参数用于前端渲染 - self._grid_params = { - "num_items_x": 8, - "num_items_y": 8, - "dx": 8.0, - "dy": 8.0, - "item_dx": 9.0, - "item_dy": 9.0, - } - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=tip_spots, - category=category, - model=model, - with_tips=True, - ) - - def serialize(self) -> dict: - return { - **super().serialize(), - **self._grid_params, - } - - - -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, - category: str = "waste_tip_box", - model: Optional[str] = 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 BottleRackState(TypedDict): - """ bottle_diameter: 瓶子直径 (mm) - bottle_height: 瓶子高度 (mm) - position_spacing: 位置间距 (mm)""" - bottle_diameter: float - bottle_height: float - position_spacing: float - name_to_index: dict - - -class BottleRack(Resource): - """瓶架类 - 12个待配位置+12个已配位置""" - children: List[Resource] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "bottle_rack", - model: Optional[str] = None, - num_items_x: int = 3, - num_items_y: int = 4, - position_spacing: float = 35.0, - orientation: str = "horizontal", - padding_x: float = 20.0, - padding_y: float = 20.0, - ): - """初始化瓶架 - - Args: - name: 瓶架名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - # 初始化状态 - self._unilabos_state: BottleRackState = BottleRackState( - bottle_diameter=30.0, - bottle_height=100.0, - position_spacing=position_spacing, - name_to_index={}, - ) - # 基于网格生成瓶位坐标映射（居中摆放） - # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥） - origin_x = padding_x - origin_y = padding_y - self.index_to_pos = {} - for j in range(num_items_y): - for i in range(num_items_x): - idx = j * num_items_x + i - if orientation == "vertical": - # 纵向：沿 y 方向优先排列 - self.index_to_pos[idx] = Coordinate( - x=origin_x + j * position_spacing, - y=origin_y + i * position_spacing, - z=0, - ) - else: - # 横向（默认）：沿 x 方向优先排列 - self.index_to_pos[idx] = Coordinate( - x=origin_x + i * position_spacing, - y=origin_y + j * position_spacing, - z=0, - ) - self.name_to_index = {} - self.name_to_pos = {} - self.num_items_x = num_items_x - self.num_items_y = num_items_y - self.orientation = orientation - self.padding_x = padding_x - self.padding_y = padding_y - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update( - self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - # TODO: 这里有些问题要重新写一下 - def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True): - capacity = self.num_items_x * self.num_items_y - assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子" - index = len(self.children) - location = self.index_to_pos.get(index, Coordinate.zero()) - self.name_to_pos[resource.name] = location - self.name_to_index[resource.name] = index - return super().assign_child_resource(resource, location, reassign) - - def assign_child_resource(self, resource: Resource, index: int): - capacity = self.num_items_x * self.num_items_y - assert 0 <= index < capacity, "无效的瓶子索引" - self.name_to_index[resource.name] = index - location = self.index_to_pos[index] - return super().assign_child_resource(resource, location) - - def unassign_child_resource(self, resource: Bottle): - super().unassign_child_resource(resource) - self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) - - def serialize(self) -> dict: - return { - **super().serialize(), - "num_items_x": self.num_items_x, - "num_items_y": self.num_items_y, - "position_spacing": self._unilabos_state.get("position_spacing", 35.0), - "orientation": self.orientation, - "padding_x": self.padding_x, - "padding_y": self.padding_y, - } - - -class BottleState(TypedDict): - diameter: float - height: float - electrolyte_name: str - electrolyte_volume: float - max_volume: float - -class Bottle(Resource): - """瓶子类 - 容纳电解液""" - - def __init__( - self, - name: str, - category: str = "bottle", - ): - """初始化瓶子 - - Args: - name: 瓶子名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大体积 (μL) - barcode: 二维码 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BottleState = BottleState() - - def aspirate_electrolyte(self, volume: float) -> bool: - current_volume = self._unilabos_state["electrolyte_volume"] - assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." - self._unilabos_state["electrolyte_volume"] -= volume - return True - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -class 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 = 1620.0, # 3.66m - size_y: float = 1270.0, # 1.23m - size_z: float = 500.0, - origin: Coordinate = Coordinate(0, 0, 0), - category: str = "coin_cell_deck", - ): - """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) - 3.66m - size_y: 宽度 (mm) - 1.23m - size_z: 高度 (mm) - origin: 原点坐标 - category: 类别 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - origin=origin, - category=category, - ) - -#if __name__ == "__main__": -# # 转移极片的测试代码 -# deck = CoincellDeck("coin_cell_deck") -# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) -# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) -# -# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) -# for i, hole in enumerate(plate_1.children): -# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") -# sheet._unilabos_state = { -# "diameter": 14, -# "info": "NMC", -# "mass": 5.0, -# "material_type": "positive_electrode", -# "thickness": 0.1 -# } -# hole._unilabos_state = { -# "depth": 1.0, -# "diameter": 14, -# "info": "", -# "max_sheets": 1 -# } -# hole.assign_child_resource(sheet, Coordinate.zero()) -# plate_1._unilabos_state = { -# "hole_spacing_x": 20.0, -# "hole_spacing_y": 20.0, -# "hole_diameter": 5, -# "info": "这是第一块料板" -# } -# plate_1.update_locations() -# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) -# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) -# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) -# -# from unilabos.resources.graphio import * -# A = tree_to_list([resource_plr_to_ulab(deck)]) -# with open("test.json", "w") as f: -# json.dump(A, f) -# -# -#def get_plate_with_14mm_hole(name=""): -# plate = MaterialPlate(name=name) -# for i in range(4): -# for j in range(4): -# hole = MaterialHole(f"{i+1}x{j+1}") -# hole._unilabos_state["diameter"] = 14 -# hole._unilabos_state["max_sheets"] = 1 -# plate.assign_child_resource(hole) -# return plate - -def create_a_liaopan(): - liaopan = MaterialPlate(name="liaopan", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - for i in range(16): - jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian, location=None) - return liaopan - -def create_a_coin_cell_deck(): - deck = Deck(size_x=1200, - size_y=800, - size_z=900) - - #liaopan = TipBox64(name="liaopan") - - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) - #创建一个极片 - for i in range(16): - jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian, location=None) - #创建一个4*4的物料板 - liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) - - #创建一个4*4的物料板 - liaopan3 = MaterialPlate(name="liaopan3", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan3, Coordinate(x=1000, y=0, z=0)) - - print(deck) - - return deck - - -def create_a_full_coin_cell_deck(): - deck = CoincellDeck() - """======================================子弹夹============================================""" - zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) - zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) - zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) - zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) - zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) - zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) - zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) - zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) - for i in range(4): - jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) - for i in range(4): - jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) - for i in range(6): - jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) - for i in range(6): - jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) - for i in range(6): - jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) - for i in range(6): - jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) - for i in range(6): - jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) - for i in range(6): - jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) - """======================================子弹夹============================================""" - #liaopan = TipBox64(name="liaopan") - """======================================物料板============================================""" - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) - for i in range(16): - jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian_1, location=None) - - liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) - - liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) - - liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) - for i in range(16): - jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan4.children[i].assign_child_resource(jipian_4, location=None) - liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) - liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) - #liaopan.children[3].assign_child_resource(jipian, location=None) - """======================================物料板============================================""" - """======================================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 - bottle_rack_3x4 = BottleRack( - name="bottle_rack_3x4", - size_x=210.0, - size_y=140.0, - size_z=100.0, - num_items_x=3, - num_items_y=4, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) - - bottle_rack_6x2 = BottleRack( - name="bottle_rack_6x2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) - - bottle_rack_6x2_2 = BottleRack( - name="bottle_rack_6x2_2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) - - - # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 - for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_3x4.assign_child_resource(sheet, index=idx) - - for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_6x2.assign_child_resource(sheet, index=idx) - - tip_box = TipBox64(name="tip_box_64") - deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) - - waste_tip_box = WasteTipBox(name="waste_tip_box") - deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) - """======================================瓶架，移液枪============================================""" - print(deck) - return deck - - - - -import json - -if __name__ == "__main__": - electrode1 = BatteryPressSlot() - #print(electrode1.get_size_x()) - #print(electrode1.get_size_y()) - #print(electrode1.get_size_z()) - #jipian = ElectrodeSheet() - #jipian._unilabos_state["diameter"] = 18 - #print(jipian.serialize()) - #print(jipian.serialize_state()) - - deck = CoincellDeck() - """======================================子弹夹============================================""" - zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) - zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) - zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) - zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) - zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) - zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) - zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) - zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) - for i in range(4): - jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) - for i in range(4): - jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) - for i in range(6): - jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) - for i in range(6): - jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) - for i in range(6): - jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) - for i in range(6): - jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) - for i in range(6): - jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) - for i in range(6): - jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) - """======================================子弹夹============================================""" - #liaopan = TipBox64(name="liaopan") - """======================================物料板============================================""" - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) - for i in range(16): - jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian_1, location=None) - - liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) - - liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) - - liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) - for i in range(16): - jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan4.children[i].assign_child_resource(jipian_4, location=None) - liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) - liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) - #liaopan.children[3].assign_child_resource(jipian, location=None) - """======================================物料板============================================""" - """======================================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 - bottle_rack_3x4 = BottleRack( - name="bottle_rack_3x4", - size_x=210.0, - size_y=140.0, - size_z=100.0, - num_items_x=3, - num_items_y=4, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) - - bottle_rack_6x2 = BottleRack( - name="bottle_rack_6x2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) - - bottle_rack_6x2_2 = BottleRack( - name="bottle_rack_6x2_2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) - - - # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 - for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_3x4.assign_child_resource(sheet, index=idx) - - for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_6x2.assign_child_resource(sheet, index=idx) - - tip_box = TipBox64(name="tip_box_64") - deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) - - waste_tip_box = WasteTipBox(name="waste_tip_box") - deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) - """======================================瓶架，移液枪============================================""" - print(deck) - - - from unilabos.resources.graphio import convert_resources_from_type - from unilabos.config.config import BasicConfig - BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" - BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" - from unilabos.app.web.client import http_client - - resources = convert_resources_from_type([deck], [Resource]) - - # 检查序列化后的资源 - - json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) - - - #print(resources) - http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - - http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json deleted file mode 100644 index 9468817f..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json +++ /dev/null @@ -1,1895 +0,0 @@ -{ - "nodes": [ - { - "id": "coin_cell_deck", - "name": "coin_cell_deck", - "sample_id": null, - "children": [ - "liaopan1", - "liaopan2" - ], - "parent": null, - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "CoincellDeck", - "size_x": 1620.0, - "size_y": 1270.0, - "size_z": 500.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "coin_cell_deck", - "barcode": null - }, - "data": {} - }, - { - "id": "liaopan1", - "name": "liaopan1", - "sample_id": null, - "children": [ - "liaopan1_materialhole_0_0", - "liaopan1_materialhole_0_1", - "liaopan1_materialhole_0_2", - "liaopan1_materialhole_0_3", - "liaopan1_materialhole_1_0", - "liaopan1_materialhole_1_1", - "liaopan1_materialhole_1_2", - "liaopan1_materialhole_1_3", - "liaopan1_materialhole_2_0", - "liaopan1_materialhole_2_1", - "liaopan1_materialhole_2_2", - "liaopan1_materialhole_2_3", - "liaopan1_materialhole_3_0", - "liaopan1_materialhole_3_1", - "liaopan1_materialhole_3_2", - "liaopan1_materialhole_3_3" - ], - "parent": "coin_cell_deck", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "MaterialPlate", - "size_x": 120.8, - "size_y": 120.5, - "size_z": 10.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_plate", - "model": null, - "barcode": null, - "ordering": { - "A1": "liaopan1_materialhole_0_0", - "B1": "liaopan1_materialhole_0_1", - "C1": "liaopan1_materialhole_0_2", - "D1": "liaopan1_materialhole_0_3", - "A2": "liaopan1_materialhole_1_0", - "B2": "liaopan1_materialhole_1_1", - "C2": "liaopan1_materialhole_1_2", - "D2": "liaopan1_materialhole_1_3", - "A3": "liaopan1_materialhole_2_0", - "B3": "liaopan1_materialhole_2_1", - "C3": "liaopan1_materialhole_2_2", - "D3": "liaopan1_materialhole_2_3", - "A4": "liaopan1_materialhole_3_0", - "B4": "liaopan1_materialhole_3_1", - "C4": "liaopan1_materialhole_3_2", - "D4": "liaopan1_materialhole_3_3" - } - }, - "data": {} - }, - { - "id": "liaopan1_materialhole_0_0", - "name": "liaopan1_materialhole_0_0", - "sample_id": null, - "children": [ - "jipian_0" - ], - "parent": "liaopan1", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 84.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, 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{ - "id": "liaopan2_materialhole_3_3", - "name": "liaopan2_materialhole_3_3", - "sample_id": null, - "children": [], - "parent": "liaopan2", - "type": "container", - "class": "", - "position": { - "x": 84.4, - "y": 12.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - } - ], - "links": [] -} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/cellconfig.py b/unilabos/devices/workstation/coin_cell_assembly/cellconfig.py deleted file mode 100644 index 957f62dd..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/cellconfig.py +++ /dev/null @@ -1,114 +0,0 @@ -#!/usr/bin/env python -#coding=utf-8 - -ENV = 'pro'#'test' -class MQConfig: - """MQTT 配置类""" - lab_id: str = '9F05593C' - instance_id: str = 'mqtt-cn-dsr48m6jy02' - - group_id: str = 'GID_prod' - broker_url: str = 'mqtt-cn-dsr48m6jy02.mqtt.aliyuncs.com' - port: int = 8883 - ca_content: str = '''-----BEGIN CERTIFICATE----- -MIID3jCCAsagAwIBAgIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDQYJKoZIhvcNAQEL -BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G -A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA1MDYxNTE0Mjda -Fw0zNTA1MDQxNTE0MjdaMEsxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG -A1UEBwwCQkoxEDAOBgNVBAoMB2RwLnRlY2gxEDAOBgNVBAsMB3VuaS1sYWIwggEi -MA0GCSqGSIb3DQEBAQUAA4IBDwAwggEKAoIBAQDnTBywX+6DJ2n+prNKvylBBJF6 -NHQrCt2cztZfswHsW4QhAbDddp4PRzNVzKtIfHX5ZrXGbxNT1/TqQYXKiFjKbfPC -VHTrS6+95LP3MxNTlBWHP6d2uI45KwrGgQ7D1uPDG1wZsfuJxvOkfAIxZRCDUMJr -erYYK/p2/GVMAO5YKE7wENUMN+iLfVQRqQJRgte9z0B35DxUeOUblJDun0Dpl/6L -0km/YRrjUKA/5+u/h+Ko9+36L1DAi+9rm3eyp+BQHBy5aiVhAG6uAJeMjbZMxwxz -ixg9cWNxP1BW+aQQzixbEQ+YlO9+w/soJkLstiK7jF8uIg2QvmNUKNlqab0pAgMB 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-ojftqYUCgYARM6YaEJuBJEBmZV1I0rweiguqWssZz2j1awSlsfYxckwnci4VtSMI -D/sp0Wp0yn2N4cgqp49BFD0rCQCTsASVICEf9HWdMQXsUhzWsz4SjVEhjWWC1VAk -sEL+BOcbsHy3qMbV2uKBHrhuZShDdy5KtCm9TB+7zTWyDVHwE24nig== ------END RSA PRIVATE KEY----- -''' - -# HTTP配置 -class HTTPConfig: - remote_addr = "https://uni-lab.test.bohrium.com/api/v1" diff --git a/unilabos/devices/workstation/coin_cell_assembly/celljson.json b/unilabos/devices/workstation/coin_cell_assembly/celljson.json deleted file mode 100644 index ad904175..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/celljson.json +++ /dev/null @@ -1,1332 +0,0 @@ -{ - "nodes": [ - { - "id": "BatteryStation", - "name": "扣电工作站", - "children": [ - "coin_cell_deck" - ], - "parent": null, - "type": "device", - "class": "bettery_station_registry", - "position": { - "x": 600, - "y": 400, - "z": 0 - }, - "config": { - "debug_mode": false, - "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定", - "protocol_type": [], - "station_resource": { - "data": { - "_resource_child_name": "coin_cell_deck", - "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" - } - }, - - "address": "192.168.1.20", - "port": 502 - }, - "data": {} - }, - { - "id": "coin_cell_deck", - "name": "coin_cell_deck", - "sample_id": null, - "children": [ - "ban_cao_wei" - ], - "parent": "BatteryStation", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "CoincellDeck", - "size_x": 1620.0, - "size_y": 1270.0, - "size_z": 500.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "coin_cell_deck", - "barcode": null - }, - "data": {} - }, - { - "id": "ban_cao_wei", - "name": "ban_cao_wei", - "sample_id": null, - "children": [ - "plate_1" - ], - "parent": "coin_cell_deck", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "PlateSlot", - "size_x": 0, - "size_y": 0, - "size_z": 0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate_slot", - "model": null, - "barcode": null, - "max_plates": 8 - }, - "data": {} - }, - { - "id": "plate_1", - "name": "plate_1", - "sample_id": null, - "children": [ - "plate_1_materialhole_0_0", - "plate_1_materialhole_0_1", - "plate_1_materialhole_0_2", - "plate_1_materialhole_0_3", - "plate_1_materialhole_1_0", - "plate_1_materialhole_1_1", - "plate_1_materialhole_1_2", - "plate_1_materialhole_1_3", - "plate_1_materialhole_2_0", - "plate_1_materialhole_2_1", - "plate_1_materialhole_2_2", - "plate_1_materialhole_2_3", - "plate_1_materialhole_3_0", - "plate_1_materialhole_3_1", - "plate_1_materialhole_3_2", - "plate_1_materialhole_3_3" - ], - "parent": "ban_cao_wei", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "MaterialPlate", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_plate", - "model": null, - "barcode": null, - "ordering": { - "A1": "plate_1_materialhole_0_0", - "B1": "plate_1_materialhole_0_1", - "C1": "plate_1_materialhole_0_2", - "D1": "plate_1_materialhole_0_3", - "A2": "plate_1_materialhole_1_0", - "B2": "plate_1_materialhole_1_1", - "C2": "plate_1_materialhole_1_2", - "D2": "plate_1_materialhole_1_3", - "A3": "plate_1_materialhole_2_0", - "B3": "plate_1_materialhole_2_1", - "C3": "plate_1_materialhole_2_2", - "D3": "plate_1_materialhole_2_3", - "A4": "plate_1_materialhole_3_0", - "B4": "plate_1_materialhole_3_1", - "C4": "plate_1_materialhole_3_2", - "D4": "plate_1_materialhole_3_3" - } - }, - "data": {} - }, - { - "id": "plate_1_materialhole_0_0", - "name": "plate_1_materialhole_0_0", - "sample_id": null, - "children": [ - "hole_0_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": -29.5, - "y": 30.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_0_sheet_1", - "name": "hole_0_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_0_0", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_0_1", - "name": "plate_1_materialhole_0_1", - "sample_id": null, - "children": [ - "hole_1_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": -29.5, - "y": 10.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_1_sheet_1", - "name": "hole_1_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_0_1", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_0_2", - "name": "plate_1_materialhole_0_2", - "sample_id": null, - "children": [ - "hole_2_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": -29.5, - "y": -9.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_2_sheet_1", - "name": "hole_2_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_0_2", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_0_3", - "name": "plate_1_materialhole_0_3", - "sample_id": null, - "children": [ - "hole_3_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": -29.5, - "y": -29.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_3_sheet_1", - "name": "hole_3_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_0_3", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_1_0", - "name": "plate_1_materialhole_1_0", - "sample_id": null, - "children": [ - "hole_4_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": -9.5, - "y": 30.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_4_sheet_1", - "name": 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"model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_5_sheet_1", - "name": "hole_5_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_1_1", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_1_2", - "name": "plate_1_materialhole_1_2", - "sample_id": null, - "children": [ - "hole_6_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": -9.5, - "y": -9.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_6_sheet_1", - "name": "hole_6_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_1_2", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_1_3", - "name": "plate_1_materialhole_1_3", - "sample_id": null, - "children": [ - "hole_7_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": -9.5, - "y": -29.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_7_sheet_1", - "name": "hole_7_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_1_3", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_2_0", - "name": "plate_1_materialhole_2_0", - "sample_id": null, - "children": [ - "hole_8_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": 10.5, - "y": 30.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_8_sheet_1", - "name": "hole_8_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_2_0", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_2_1", - "name": "plate_1_materialhole_2_1", - "sample_id": null, - "children": [ - "hole_9_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": 10.5, - "y": 10.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_9_sheet_1", - "name": "hole_9_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_2_1", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_2_2", - "name": "plate_1_materialhole_2_2", - "sample_id": null, - "children": [ - "hole_10_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": 10.5, - "y": -9.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_10_sheet_1", - "name": "hole_10_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_2_2", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_2_3", - "name": "plate_1_materialhole_2_3", - "sample_id": null, - "children": [ - "hole_11_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": 10.5, - "y": -29.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_11_sheet_1", - "name": "hole_11_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_2_3", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_3_0", - "name": "plate_1_materialhole_3_0", - "sample_id": null, - "children": [ - "hole_12_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": 30.5, - "y": 30.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_12_sheet_1", - "name": "hole_12_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_3_0", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_3_1", - "name": "plate_1_materialhole_3_1", - "sample_id": null, - "children": [ - "hole_13_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": 30.5, - "y": 10.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_13_sheet_1", - "name": "hole_13_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_3_1", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_3_2", - "name": "plate_1_materialhole_3_2", - "sample_id": null, - "children": [ - "hole_14_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": 30.5, - "y": -9.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_14_sheet_1", - "name": "hole_14_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_3_2", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_3_3", - "name": "plate_1_materialhole_3_3", - "sample_id": null, - "children": [ - "hole_15_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": 30.5, - "y": -29.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_15_sheet_1", - "name": "hole_15_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_3_3", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - } - ], - "links": [] -} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py deleted file mode 100644 index eb23be55..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ /dev/null @@ -1,1163 +0,0 @@ -import csv -import json -import os -import threading -import time -from datetime import datetime -from typing import Any, Dict, Optional -from pylabrobot.resources import 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.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode -from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode - -#构建物料系统 - -class CoinCellAssemblyWorkstation(WorkstationBase): - def __init__( - self, - station_resource: CoincellDeck, - address: str = "192.168.1.20", - port: str = "502", - debug_mode: bool = True, - *args, - **kwargs, - ): - super().__init__( - #桌子 - station_resource=station_resource, - *args, - **kwargs, - ) - self.debug_mode = debug_mode - self.station_resource = station_resource - """ 连接初始化 """ - modbus_client = TCPClient(addr=address, port=port) - print("modbus_client", modbus_client) - if not debug_mode: - modbus_client.client.connect() - count = 100 - while count >0: - count -=1 - if modbus_client.client.is_socket_open(): - break - time.sleep(2) - if not modbus_client.client.is_socket_open(): - raise ValueError('modbus tcp connection failed') - else: - print("测试模式，跳过连接") - - """ 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 - self.coin_num_N = 0 #已组装电池数量 - #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] - #}) - - - def post_init(self, ros_node: ROS2WorkstationNode): - self._ros_node = ros_node - #self.deck = create_a_coin_cell_deck() - ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] - }) - - # 批量操作在这里写 - async def change_hole_sheet_to_2(self, hole: MaterialHole): - hole._unilabos_state["max_sheets"] = 2 - return await self._ros_node.update_resource(hole) - - - async def fill_plate(self): - plate_1: MaterialPlate = self.station_resource.children[0].children[0] - #plate_1 - return await self._ros_node.update_resource(plate_1) - - #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): - # """启动工作流""" - # self.current_workflow_status = WorkflowStatus.RUNNING - # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") -# - # # TODO: 实现工作流逻辑 -# - # anode_sheet = self.deck.get_resource("anode_sheet") - - """ Action逻辑代码 """ - def _sys_start_cmd(self, cmd=None): - """设备启动命令 (可读写)""" - if cmd is not None: # 写入模式 - self.success = False - node = self.client.use_node('COIL_SYS_START_CMD') - ret = node.write(cmd) - print(ret) - self.success = True - return self.success - else: # 读取模式 - cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) - return cmd_feedback[0] - - def _sys_stop_cmd(self, cmd=None): - """设备停止命令 (可读写)""" - if cmd is not None: # 写入模式 - self.success = False - node = self.client.use_node('COIL_SYS_STOP_CMD') - node.write(cmd) - self.success = True - return self.success - else: # 读取模式 - cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) - return cmd_feedback[0] - - def _sys_reset_cmd(self, cmd=None): - """设备复位命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) - return cmd_feedback[0] - - def _sys_hand_cmd(self, cmd=None): - """手动模式命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) - self.success = True - print("步骤0") - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) - return cmd_feedback[0] - - def _sys_auto_cmd(self, cmd=None): - """自动模式命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) - return cmd_feedback[0] - - def _sys_init_cmd(self, cmd=None): - """初始化命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_succ_cmd(self, cmd=None): - """UNILAB发送配方完毕 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) - return cmd_feedback[0] - - def _unilab_rec_msg_succ_cmd(self, cmd=None): - """UNILAB接收测试电池数据完毕 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) - return cmd_feedback - - - # ====================== 命令类指令（REG_x_） ====================== - def _unilab_send_msg_electrolyte_num(self, num=None): - """UNILAB写电解液使用瓶数(可读写)""" - if num is not None: - self.success = False - ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) - print(ret) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_electrolyte_use_num(self, use_num=None): - """UNILAB写单次电解液使用瓶数(可读写)""" - if use_num is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) - self.success = True - return self.success - else: - return False - - def _unilab_send_msg_assembly_type(self, num=None): - """UNILAB写组装参数""" - if num is not None: - self.success = False - self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_electrolyte_vol(self, vol=None): - """UNILAB写电解液吸取量参数""" - if vol is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) - return cmd_feedback[0] - - def _unilab_send_msg_assembly_pressure(self, vol=None): - """UNILAB写电池压制力""" - if vol is not None: - self.success = False - self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) - return cmd_feedback[0] - - # ==================== 0905新增内容（COIL_x_STATUS） ==================== - def _unilab_send_electrolyte_bottle_num(self, num=None): - """UNILAB发送电解液瓶数完毕""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_rece_electrolyte_bottle_num(self, num=None): - """设备请求接受电解液瓶数""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) - return cmd_feedback[0] - - def _reg_msg_electrolyte_num(self, num=None): - """电解液已使用瓶数""" - if num is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) - return cmd_feedback[0] - - def _reg_data_electrolyte_use_num(self, num=None): - """单瓶电解液完成组装数""" - if num is not None: - self.success = False - self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_send_finished_cmd(self, num=None): - """Unilab发送已知一组组装完成信号""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) - return cmd_feedback[0] - - def _unilab_rece_finished_cmd(self, num=None): - """Unilab接收已知一组组装完成信号""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) - return cmd_feedback[0] - - - - # ==================== 状态类属性（COIL_x_STATUS） ==================== - def _sys_start_status(self) -> bool: - """设备启动中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) - return status[0] - - def _sys_stop_status(self) -> bool: - """设备停止中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) - return status[0] - - def _sys_reset_status(self) -> bool: - """设备复位中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) - return status[0] - - def _sys_init_status(self) -> bool: - """设备初始化完成( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) - return status[0] - - # 查找资源 - def modify_deck_name(self, resource_name: str): - # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) - # print(f"!!! figure_res: {type(figure_res)}") - self.station_resource.children[1] - return - - @property - def sys_status(self) -> str: - if self.debug_mode: - return "设备调试模式" - if self._sys_start_status(): - return "设备启动中" - elif self._sys_stop_status(): - return "设备停止中" - elif self._sys_reset_status(): - return "设备复位中" - elif self._sys_init_status(): - return "设备初始化中" - else: - return "未知状态" - - def _sys_hand_status(self) -> bool: - """设备手动模式( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) - return status[0] - - def _sys_auto_status(self) -> bool: - """设备自动模式( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) - return status[0] - - @property - def sys_mode(self) -> str: - if self.debug_mode: - return "设备调试模式" - if self._sys_hand_status(): - return "设备手动模式" - elif self._sys_auto_status(): - return "设备自动模式" - else: - return "未知模式" - - @property - def request_rec_msg_status(self) -> bool: - """设备请求接受配方( BOOL)""" - if self.debug_mode: - return True - status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) - return status[0] - - @property - def request_send_msg_status(self) -> bool: - """设备请求发送测试数据( BOOL)""" - if self.debug_mode: - return True - status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) - return status[0] - - # ======================= 其他属性（特殊功能） ======================== - ''' - @property - def warning_1(self) -> bool: - status, read_err = self.client.use_node('COIL_WARNING_1').read(1) - return status[0] - ''' - # ===================== 生产数据区 ====================== - - @property - def data_assembly_coin_cell_num(self) -> int: - """已完成电池数量 (INT16)""" - if self.debug_mode: - return 0 - num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) - return num - - @property - def data_assembly_time(self) -> float: - """单颗电池组装时间 (秒, REAL/FLOAT32)""" - if self.debug_mode: - return 0 - time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) - return time - - @property - def data_open_circuit_voltage(self) -> float: - """开路电压值 (FLOAT32)""" - if self.debug_mode: - return 0 - vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) - return vol - - @property - def data_axis_x_pos(self) -> float: - """分液X轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_axis_y_pos(self) -> float: - """分液Y轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_axis_z_pos(self) -> float: - """分液Z轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_pole_weight(self) -> float: - """当前电池正极片称重数据 (FLOAT32)""" - if self.debug_mode: - return 0 - weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) - return weight - - @property - def data_assembly_pressure(self) -> int: - """当前电池压制力 (INT16)""" - if self.debug_mode: - return 0 - pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) - return pressure - - @property - def data_electrolyte_volume(self) -> int: - """当前电解液加注量 (INT16)""" - if self.debug_mode: - return 0 - vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) - return vol - - @property - def data_coin_num(self) -> int: - """当前电池数量 (INT16)""" - if self.debug_mode: - return 0 - num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) - return num - - @property - def data_coin_cell_code(self) -> str: - """电池二维码序列号 (STRING)""" - 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) - 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}") - return "N/A" - - - @property - def data_electrolyte_code(self) -> str: - 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) - 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}") - return "N/A" - - # ===================== 环境监控区 ====================== - @property - def data_glove_box_pressure(self) -> float: - """手套箱压力 (bar, FLOAT32)""" - if self.debug_mode: - return 0 - status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) - return status - - @property - def data_glove_box_o2_content(self) -> float: - """手套箱氧含量 (ppm, FLOAT32)""" - if self.debug_mode: - return 0 - value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) - return value - - @property - def data_glove_box_water_content(self) -> float: - """手套箱水含量 (ppm, FLOAT32)""" - if self.debug_mode: - return 0 - value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) - return value - -# @property -# def data_stack_vision_code(self) -> int: -# """物料堆叠复检图片编码 (INT16)""" -# if self.debug_mode: -# return 0 -# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) -# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type -# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) -# #print(code.type) -# # print(read_err) -# return int(code) - - def func_pack_device_init(self): - #切换手动模式 - print("切换手动模式") - self._sys_hand_cmd(True) - time.sleep(1) - while (self._sys_hand_status()) == False: - print("waiting for hand_cmd") - time.sleep(1) - #设备初始化 - self._sys_init_cmd(True) - time.sleep(1) - #sys_init_status为bool值，不加括号 - while (self._sys_init_status())== False: - print("waiting for init_cmd") - time.sleep(1) - #手动按钮置回False - self._sys_hand_cmd(False) - time.sleep(1) - while (self._sys_hand_cmd()) == True: - print("waiting for hand_cmd to False") - time.sleep(1) - #初始化命令置回False - self._sys_init_cmd(False) - time.sleep(1) - while (self._sys_init_cmd()) == True: - print("waiting for init_cmd to False") - time.sleep(1) - - def func_pack_device_auto(self): - #切换自动 - print("切换自动模式") - self._sys_auto_cmd(True) - time.sleep(1) - while (self._sys_auto_status()) == False: - print("waiting for auto_status") - time.sleep(1) - #自动按钮置False - self._sys_auto_cmd(False) - time.sleep(1) - while (self._sys_auto_cmd()) == True: - print("waiting for auto_cmd") - time.sleep(1) - - def func_pack_device_start(self): - #切换自动 - print("启动") - self._sys_start_cmd(True) - time.sleep(1) - while (self._sys_start_status()) == False: - print("waiting for start_status") - time.sleep(1) - #自动按钮置False - self._sys_start_cmd(False) - time.sleep(1) - while (self._sys_start_cmd()) == True: - print("waiting for start_cmd") - time.sleep(1) - - 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: - print("waiting for rece_electrolyte_bottle_num to True") - # self.client.use_node('8520').write(True) - time.sleep(1) - #发送电解液瓶数为2 - self._reg_msg_electrolyte_num(bottle_num) - time.sleep(1) - #完成信号置True - self._unilab_send_electrolyte_bottle_num(True) - time.sleep(1) - #检测到依华已接收 - while (self._unilab_rece_electrolyte_bottle_num()) == True: - print("waiting for rece_electrolyte_bottle_num to False") - time.sleep(1) - #完成信号置False - self._unilab_send_electrolyte_bottle_num(False) - time.sleep(1) - #自动按钮置False - - - # 下发参数 - #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: - # """UNILAB写参数""" - # while (self.request_rec_msg_status) == False: - # print("wait for res_msg") - # time.sleep(1) - # self.success = False - # self._unilab_send_msg_electrolyte_num(elec_num) - # time.sleep(1) - # self._unilab_send_msg_electrolyte_use_num(elec_use_num) - # time.sleep(1) - # self._unilab_send_msg_electrolyte_vol(elec_vol) - # time.sleep(1) - # self._unilab_send_msg_assembly_type(assembly_type) - # time.sleep(1) - # self._unilab_send_msg_assembly_pressure(assembly_pressure) - # time.sleep(1) - # self._unilab_send_msg_succ_cmd(True) - # time.sleep(1) - # self._unilab_send_msg_succ_cmd(False) - # #将允许读取标志位置True - # self.allow_data_read = True - # self.success = True - # return self.success - - def func_pack_send_msg_cmd(self, elec_use_num) -> 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) - self._unilab_send_msg_electrolyte_use_num(elec_use_num) - time.sleep(1) - self._unilab_send_msg_succ_cmd(True) - time.sleep(1) - while (self.request_rec_msg_status) == True: - print("wait for request_rec_msg_status to False") - time.sleep(1) - self._unilab_send_msg_succ_cmd(False) - #将允许读取标志位置True - self.allow_data_read = True - self.success = True - return self.success - - def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: - """UNILAB读参数""" - while self.request_send_msg_status == False: - print("waiting for send_read_msg_status to True") - time.sleep(1) - data_open_circuit_voltage = self.data_open_circuit_voltage - data_pole_weight = self.data_pole_weight - data_assembly_time = self.data_assembly_time - data_assembly_pressure = self.data_assembly_pressure - data_electrolyte_volume = self.data_electrolyte_volume - 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) - #接收完信息后，读取完毕标志位置True - liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") - #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.station_resource] - }) - - - self._unilab_rec_msg_succ_cmd(True) - time.sleep(1) - #等待允许读取标志位置False - while self.request_send_msg_status == True: - print("waiting for send_msg_status to False") - time.sleep(1) - self._unilab_rec_msg_succ_cmd(False) - time.sleep(1) - #将允许读取标志位置True - time_date = datetime.now().strftime("%Y%m%d") - #秒级时间戳用于标记每一行电池数据 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - #生成输出文件的变量 - self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") - #将数据存入csv文件 - if not os.path.exists(self.csv_export_file): - #创建一个表头 - with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - 'Time', 'open_circuit_voltage', 'pole_weight', - 'assembly_time', 'assembly_pressure', 'electrolyte_volume', - 'coin_num', 'electrolyte_code', 'coin_cell_code' - ]) - #立刻写入磁盘 - csvfile.flush() - #开始追加电池信息 - with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - timestamp, data_open_circuit_voltage, data_pole_weight, - data_assembly_time, data_assembly_pressure, data_electrolyte_volume, - data_coin_num, data_electrolyte_code, data_coin_cell_code - ]) - #立刻写入磁盘 - csvfile.flush() - self.success = True - return self.success - - - - def func_pack_send_finished_cmd(self) -> bool: - """UNILAB写参数""" - while (self._unilab_rece_finished_cmd()) == False: - print("wait for rece_finished_cmd to True") - time.sleep(1) - self.success = False - self._unilab_send_finished_cmd(True) - time.sleep(1) - while (self._unilab_rece_finished_cmd()) == True: - print("wait for rece_finished_cmd to False") - time.sleep(1) - self._unilab_send_finished_cmd(False) - #将允许读取标志位置True - self.success = True - return self.success - - - - def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool: - elec_num, elec_use_num = int(elec_num), int(elec_use_num) - 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: - reader = csv.reader(csvfile) - header = next(reader) # 跳过标题行 - data_row = next(reader) # 读取数据行 - if len(data_row) >= 2: - elec_num_r = int(data_row[0]) - elec_use_num_r = int(data_row[1]) - elec_num_N = int(data_row[2]) - elec_use_num_N = int(data_row[3]) - coin_num_N = int(data_row[4]) - if elec_num_r == elec_num and elec_use_num_r == elec_use_num: - print("断点文件与当前任务匹配，继续") - else: - print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") - return False - print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") - - else: - read_status_flag = False - print("未找到断点文件，从头开始") - elec_num_N = 0 - elec_use_num_N = 0 - coin_num_N = 0 - 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() - #切换自动 - #self.func_pack_device_auto() - #启动，小车收回 - #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) - 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) - - 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) - # 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 - - - - # 生成断点文件 - # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) - 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 - - #循环正常结束，则删除断点文件 - os.remove(summary_csv_file) - #全部完成后等待依华发送完成信号 - self.func_pack_send_finished_cmd() - - - def func_pack_device_stop(self) -> bool: - """打包指令：设备停止""" - for i in range(3): - time.sleep(2) - print(f"输出{i}") - #print("_sys_hand_cmd", self._sys_hand_cmd()) - #time.sleep(1) - #print("_sys_hand_status", self._sys_hand_status()) - #time.sleep(1) - #print("_sys_init_cmd", self._sys_init_cmd()) - #time.sleep(1) - #print("_sys_init_status", self._sys_init_status()) - #time.sleep(1) - #print("_sys_auto_status", self._sys_auto_status()) - #time.sleep(1) - #print("data_axis_y_pos", self.data_axis_y_pos) - #time.sleep(1) - #self.success = False - #with open('action_device_stop.json', 'r', encoding='utf-8') as f: - # action_json = json.load(f) - #self.client.execute_procedure_from_json(action_json) - #self.success = True - #return self.success - - def fun_wuliao_test(self) -> bool: - #找到data_init中构建的2个物料盘 - liaopan3 = self.station_resource.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.station_resource] - }) - time.sleep(4) - # 数据读取与输出 - def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): - # 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" - - #若不存在该目录则创建 - if not os.path.exists(file_path): - os.makedirs(file_path) - print(f"创建目录: {file_path}") - - # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 - while self.allow_data_read: - - #函数运行标志位，确保只同时启动一个导出函数 - self.csv_export_running = True - - #等待接收结果标志位置True - while self.request_send_msg_status == False: - print("waiting for send_msg_status to True") - time.sleep(1) - #日期时间戳用于按天存放csv文件 - time_date = datetime.now().strftime("%Y%m%d") - #秒级时间戳用于标记每一行电池数据 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - #生成输出文件的变量 - self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") - - #接收信息 - data_open_circuit_voltage = self.data_open_circuit_voltage - data_pole_weight = self.data_pole_weight - data_assembly_time = self.data_assembly_time - data_assembly_pressure = self.data_assembly_pressure - data_electrolyte_volume = self.data_electrolyte_volume - data_coin_num = self.data_coin_num - data_electrolyte_code = self.data_electrolyte_code - data_coin_cell_code = self.data_coin_cell_code - # 电解液瓶位置 - elec_bottle_site = 2 - # 极片夹取位置(应当通过寄存器读光标) - Pos_elec_site = 0 - Al_elec_site = 0 - Gasket_site = 0 - - #接收完信息后，读取完毕标志位置True - self._unilab_rec_msg_succ_cmd()# = True - #等待允许读取标志位置False - while self.request_send_msg_status == True: - print("waiting for send_msg_status to False") - time.sleep(1) - self._unilab_rec_msg_succ_cmd()# = False - - #此处操作物料信息（如果中途报错停止，如何） - #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） - #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） - - #物料读取操作写在这里 - #在这里进行物料调取 - #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） - # transfer_bottle(deck, elec_bottle_site) - # #找到电解液瓶的对象 - # electrolyte_rack = deck.get_resource("electrolyte_rack") - # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] - # # TODO: 瓶子取液体操作需要加入 -# -# - # #找到压制工站对应的对象 - # battery_press_slot = deck.get_resource("battery_press_1") - # #创建一个新电池 - # test_battery = Battery( - # name=f"test_battery_{data_coin_num}", - # diameter=20.0, # 与压制槽直径匹配 - # height=3.0, # 电池高度 - # max_volume=100.0, # 100μL容量 - # barcode=data_coin_cell_code, # 电池条码 - # ) - # if battery_press_slot.has_battery(): - # return False, "压制工站已有电池，无法放置新电池" - # #在压制位放置电池 - # battery_press_slot.place_battery(test_battery) - # #从第一个子弹夹中取料 - # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) - # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) - # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) - # - # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") -# - # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") -# - # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") - # - # # 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(): - # battery = battery_site.take_battery() #从压制槽取出电池 - # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 -# -# -# -# - # # 保存配置到文件 - # self.deck.save("button_battery_station_layout.json", indent=2) - # print("\n台面配置已保存到: button_battery_station_layout.json") - # - # # 保存状态到文件 - # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) - # print("台面状态已保存到: button_battery_station_state.json") - - - - - - - #将数据写入csv中 - #如当前目录下无同名文件则新建一个csv用于存放数据 - if not os.path.exists(self.csv_export_file): - #创建一个表头 - with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - 'Time', 'open_circuit_voltage', 'pole_weight', - 'assembly_time', 'assembly_pressure', 'electrolyte_volume', - 'coin_num', 'electrolyte_code', 'coin_cell_code' - ]) - #立刻写入磁盘 - csvfile.flush() - #开始追加电池信息 - with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - timestamp, data_open_circuit_voltage, data_pole_weight, - data_assembly_time, data_assembly_pressure, data_electrolyte_volume, - data_coin_num, data_electrolyte_code, data_coin_cell_code - ]) - #立刻写入磁盘 - csvfile.flush() - - # 只要不在自动模式运行中，就将允许标志位置False - if self.sys_auto_status == False or self.sys_start_status == False: - self.allow_data_read = False - self.csv_export_running = False - time.sleep(1) - - def func_stop_read_data(self): - """停止CSV导出""" - if not self.csv_export_running: - return False, "read data未在运行" - - self.csv_export_running = False - self.allow_data_read = False - - if self.csv_export_thread and self.csv_export_thread.is_alive(): - self.csv_export_thread.join(timeout=5) - - def func_get_csv_export_status(self): - """获取CSV导出状态""" - return { - 'allow_read': self.allow_data_read, - 'running': self.csv_export_running, - 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False - } - - - ''' - # ===================== 物料管理区 ====================== - @property - def data_material_inventory(self) -> int: - """主物料库存 (数量, INT16)""" - inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) - return inventory - - @property - def data_tips_inventory(self) -> int: - """移液枪头库存 (数量, INT16)""" - inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) - return inventory - - ''' - - -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() - #deck = create_a_full_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) - - liaopan1 = deck.get_resource("liaopan1") - liaopan2 = deck.get_resource("liaopan2") - for i in range(16): - #找到liaopan1上每一个jipian - jipian_linshi = liaopan1.children[i].children[0] - #把物料解绑后放到另一盘上 - print("极片:", jipian_linshi) - jipian_linshi.parent.unassign_child_resource(jipian_linshi) - liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) - - - from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type - #with open("./button_battery_station_resources_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) - - - - from unilabos.resources.graphio import convert_resources_from_type - from unilabos.config.config import BasicConfig - BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" - BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" - from unilabos.app.web.client import http_client - - resources = convert_resources_from_type([deck], [Resource]) - json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) - - #print(resources) - http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - - http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv deleted file mode 100644 index e8407159..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv +++ /dev/null @@ -1,44 +0,0 @@ -Name,DataType,InitValue,Comment,Attribute,DeviceType,Address -COIL_SYS_START_CMD,BOOL,,豸,,coil,8010 -COIL_SYS_STOP_CMD,BOOL,,豸ֹͣ,,coil,8020 -COIL_SYS_RESET_CMD,BOOL,,豸λ,,coil,8030 -COIL_SYS_HAND_CMD,BOOL,,豸ֶģʽ,,coil,8040 -COIL_SYS_AUTO_CMD,BOOL,,豸Զģʽ,,coil,8050 -COIL_SYS_INIT_CMD,BOOL,,豸ʼģʽ,,coil,8060 -COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,UNILAB䷽,,coil,8700 -COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,UNILABܲ,,coil,8710 -COIL_SYS_START_STATUS,BOOL,,豸,,coil,8210 -COIL_SYS_STOP_STATUS,BOOL,,豸ֹͣ,,coil,8220 -COIL_SYS_RESET_STATUS,BOOL,,豸λ,,coil,8230 -COIL_SYS_HAND_STATUS,BOOL,,豸ֶģʽ,,coil,8240 -COIL_SYS_AUTO_STATUS,BOOL,,豸Զģʽ,,coil,8250 -COIL_SYS_INIT_STATUS,BOOL,,豸ʼ,,coil,8260 -COIL_REQUEST_REC_MSG_STATUS,BOOL,,豸䷽,,coil,8510 -COIL_REQUEST_SEND_MSG_STATUS,BOOL,,豸Ͳ,,coil,8500 -REG_MSG_ELECTROLYTE_USE_NUM,INT16,,ƿҺʹô,,hold_register,11000 -REG_MSG_ELECTROLYTE_NUM,INT16,,Һʹƿ,,hold_register,11002 -REG_MSG_ELECTROLYTE_VOLUME,INT16,,Һȡ,,hold_register,11004 -REG_MSG_ASSEMBLY_TYPE,INT16,,װƬѵʽ,,hold_register,11006 -REG_MSG_ASSEMBLY_PRESSURE,INT16,,װѹ,,hold_register,11008 -REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,ǰװ,,hold_register,10000 -REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,ǰصѹ,,hold_register,10002 -REG_DATA_AXIS_X_POS,FLOAT32,,ҺXᵱǰλ,,hold_register,10004 -REG_DATA_AXIS_Y_POS,FLOAT32,,ҺZᵱǰλ,,hold_register,10006 -REG_DATA_AXIS_Z_POS,FLOAT32,,ҺYᵱǰλ,,hold_register,10008 -REG_DATA_POLE_WEIGHT,FLOAT32,,ǰƬ,,hold_register,10010 -REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,ǰŵװʱ,,hold_register,10012 -REG_DATA_ASSEMBLY_PRESSURE,INT16,,ǰװѹ,,hold_register,10014 -REG_DATA_ELECTROLYTE_VOLUME,INT16,,ǰҺע,,hold_register,10016 -REG_DATA_COIN_NUM,INT16,,ǰ,,hold_register,10018 -REG_DATA_ELECTROLYTE_CODE,STRING,,Һάк,,hold_register,10020 -REG_DATA_COIN_CELL_CODE,STRING,,ضάк,,hold_register,10030 -REG_DATA_STACK_VISON_CODE,STRING,,϶ѵͼƬ,,hold_register,12004 -REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,ѹ,,hold_register,10050 -REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,ˮ,,hold_register,10052 -REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054 -UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,Unilabȷѷ͵Һƿź,,coil,8720 -UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,UnilabɽܵҺƿ,,coil,8520 -REG_MSG_ELECTROLYTE_NUM_USED,INT16,,Һװƽ,,hold_register,496 -REG_DATA_ELECTROLYTE_USE_NUM,INT16,,ǰװƽ,,hold_register,10000 -UNILAB_SEND_FINISHED_CMD,BOOL,,Unilabյź,,coil,8730 -UNILAB_RECE_FINISHED_CMD,BOOL,,֪unilabź,,coil,8530 diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv deleted file mode 100644 index 149a6833..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv +++ /dev/null @@ -1,46 +0,0 @@ -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,,,,coil,8340, diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py deleted file mode 100644 index ac619486..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py +++ /dev/null @@ -1,1149 +0,0 @@ -import csv -import json -import os -import threading -import time -from datetime import datetime -from typing import Any, Dict, Optional -from pylabrobot.resources import 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.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode -from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode - -#构建物料系统 - -class CoinCellAssemblyWorkstation(WorkstationBase): - def __init__( - self, - station_resource: CoincellDeck, - address: str = "192.168.1.20", - port: str = "502", - debug_mode: bool = True, - *args, - **kwargs, - ): - super().__init__( - #桌子 - station_resource=station_resource, - *args, - **kwargs, - ) - self.debug_mode = debug_mode - self.station_resource = station_resource - """ 连接初始化 """ - modbus_client = TCPClient(addr=address, port=port) - print("modbus_client", modbus_client) - if not debug_mode: - modbus_client.client.connect() - count = 100 - while count >0: - count -=1 - if modbus_client.client.is_socket_open(): - break - time.sleep(2) - if not modbus_client.client.is_socket_open(): - raise ValueError('modbus tcp connection failed') - else: - print("测试模式，跳过连接") - - """ 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] - #}) - - - def post_init(self, ros_node: ROS2WorkstationNode): - self._ros_node = ros_node - #self.deck = create_a_coin_cell_deck() - ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] - }) - - # 批量操作在这里写 - async def change_hole_sheet_to_2(self, hole: MaterialHole): - hole._unilabos_state["max_sheets"] = 2 - return await self._ros_node.update_resource(hole) - - - async def fill_plate(self): - plate_1: MaterialPlate = self.station_resource.children[0].children[0] - #plate_1 - return await self._ros_node.update_resource(plate_1) - - #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): - # """启动工作流""" - # self.current_workflow_status = WorkflowStatus.RUNNING - # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") -# - # # TODO: 实现工作流逻辑 -# - # anode_sheet = self.deck.get_resource("anode_sheet") - - """ Action逻辑代码 """ - def _sys_start_cmd(self, cmd=None): - """设备启动命令 (可读写)""" - if cmd is not None: # 写入模式 - self.success = False - node = self.client.use_node('COIL_SYS_START_CMD') - ret = node.write(cmd) - print(ret) - self.success = True - return self.success - else: # 读取模式 - cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) - return cmd_feedback[0] - - def _sys_stop_cmd(self, cmd=None): - """设备停止命令 (可读写)""" - if cmd is not None: # 写入模式 - self.success = False - node = self.client.use_node('COIL_SYS_STOP_CMD') - node.write(cmd) - self.success = True - return self.success - else: # 读取模式 - cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) - return cmd_feedback[0] - - def _sys_reset_cmd(self, cmd=None): - """设备复位命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) - return cmd_feedback[0] - - def _sys_hand_cmd(self, cmd=None): - """手动模式命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) - self.success = True - print("步骤0") - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) - return cmd_feedback[0] - - def _sys_auto_cmd(self, cmd=None): - """自动模式命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) - return cmd_feedback[0] - - def _sys_init_cmd(self, cmd=None): - """初始化命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_succ_cmd(self, cmd=None): - """UNILAB发送配方完毕 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) - return cmd_feedback[0] - - def _unilab_rec_msg_succ_cmd(self, cmd=None): - """UNILAB接收测试电池数据完毕 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) - return cmd_feedback - - - # ====================== 命令类指令（REG_x_） ====================== - def _unilab_send_msg_electrolyte_num(self, num=None): - """UNILAB写电解液使用瓶数(可读写)""" - if num is not None: - self.success = False - ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) - print(ret) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_electrolyte_use_num(self, use_num=None): - """UNILAB写单次电解液使用瓶数(可读写)""" - if use_num is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) - self.success = True - return self.success - else: - return False - - def _unilab_send_msg_assembly_type(self, num=None): - """UNILAB写组装参数""" - if num is not None: - self.success = False - self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_electrolyte_vol(self, vol=None): - """UNILAB写电解液吸取量参数""" - if vol is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) - return cmd_feedback[0] - - def _unilab_send_msg_assembly_pressure(self, vol=None): - """UNILAB写电池压制力""" - if vol is not None: - self.success = False - self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) - return cmd_feedback[0] - - # ==================== 0905新增内容（COIL_x_STATUS） ==================== - def _unilab_send_electrolyte_bottle_num(self, num=None): - """UNILAB发送电解液瓶数完毕""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_rece_electrolyte_bottle_num(self, num=None): - """设备请求接受电解液瓶数""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) - return cmd_feedback[0] - - def _reg_msg_electrolyte_num(self, num=None): - """电解液已使用瓶数""" - if num is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) - return cmd_feedback[0] - - def _reg_data_electrolyte_use_num(self, num=None): - """单瓶电解液完成组装数""" - if num is not None: - self.success = False - self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_send_finished_cmd(self, num=None): - """Unilab发送已知一组组装完成信号""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) - return cmd_feedback[0] - - def _unilab_rece_finished_cmd(self, num=None): - """Unilab接收已知一组组装完成信号""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) - return cmd_feedback[0] - - - - # ==================== 状态类属性（COIL_x_STATUS） ==================== - def _sys_start_status(self) -> bool: - """设备启动中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) - return status[0] - - def _sys_stop_status(self) -> bool: - """设备停止中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) - return status[0] - - def _sys_reset_status(self) -> bool: - """设备复位中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) - return status[0] - - def _sys_init_status(self) -> bool: - """设备初始化完成( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) - return status[0] - - # 查找资源 - def modify_deck_name(self, resource_name: str): - # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) - # print(f"!!! figure_res: {type(figure_res)}") - self.station_resource.children[1] - return - - @property - def sys_status(self) -> str: - if self.debug_mode: - return "设备调试模式" - if self._sys_start_status(): - return "设备启动中" - elif self._sys_stop_status(): - return "设备停止中" - elif self._sys_reset_status(): - return "设备复位中" - elif self._sys_init_status(): - return "设备初始化中" - else: - return "未知状态" - - def _sys_hand_status(self) -> bool: - """设备手动模式( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) - return status[0] - - def _sys_auto_status(self) -> bool: - """设备自动模式( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) - return status[0] - - @property - def sys_mode(self) -> str: - if self.debug_mode: - return "设备调试模式" - if self._sys_hand_status(): - return "设备手动模式" - elif self._sys_auto_status(): - return "设备自动模式" - else: - return "未知模式" - - @property - def request_rec_msg_status(self) -> bool: - """设备请求接受配方( BOOL)""" - if self.debug_mode: - return True - status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) - return status[0] - - @property - def request_send_msg_status(self) -> bool: - """设备请求发送测试数据( BOOL)""" - if self.debug_mode: - return True - status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) - return status[0] - - # ======================= 其他属性（特殊功能） ======================== - ''' - @property - def warning_1(self) -> bool: - status, read_err = self.client.use_node('COIL_WARNING_1').read(1) - return status[0] - ''' - # ===================== 生产数据区 ====================== - - @property - def data_assembly_coin_cell_num(self) -> int: - """已完成电池数量 (INT16)""" - if self.debug_mode: - return 0 - num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) - return num - - @property - def data_assembly_time(self) -> float: - """单颗电池组装时间 (秒, REAL/FLOAT32)""" - if self.debug_mode: - return 0 - time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) - return time - - @property - def data_open_circuit_voltage(self) -> float: - """开路电压值 (FLOAT32)""" - if self.debug_mode: - return 0 - vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) - return vol - - @property - def data_axis_x_pos(self) -> float: - """分液X轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_axis_y_pos(self) -> float: - """分液Y轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_axis_z_pos(self) -> float: - """分液Z轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_pole_weight(self) -> float: - """当前电池正极片称重数据 (FLOAT32)""" - if self.debug_mode: - return 0 - weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) - return weight - - @property - def data_assembly_pressure(self) -> int: - """当前电池压制力 (INT16)""" - if self.debug_mode: - return 0 - pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) - return pressure - - @property - def data_electrolyte_volume(self) -> int: - """当前电解液加注量 (INT16)""" - if self.debug_mode: - return 0 - vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) - return vol - - @property - def data_coin_num(self) -> int: - """当前电池数量 (INT16)""" - if self.debug_mode: - return 0 - num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) - return num - - @property - def data_coin_cell_code(self) -> str: - """电池二维码序列号 (STRING)""" - 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) - 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}") - return "N/A" - - - @property - def data_electrolyte_code(self) -> str: - 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) - 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}") - return "N/A" - - # ===================== 环境监控区 ====================== - @property - def data_glove_box_pressure(self) -> float: - """手套箱压力 (bar, FLOAT32)""" - if self.debug_mode: - return 0 - status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) - return status - - @property - def data_glove_box_o2_content(self) -> float: - """手套箱氧含量 (ppm, FLOAT32)""" - if self.debug_mode: - return 0 - value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) - return value - - @property - def data_glove_box_water_content(self) -> float: - """手套箱水含量 (ppm, FLOAT32)""" - if self.debug_mode: - return 0 - value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) - return value - -# @property -# def data_stack_vision_code(self) -> int: -# """物料堆叠复检图片编码 (INT16)""" -# if self.debug_mode: -# return 0 -# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) -# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type -# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) -# #print(code.type) -# # print(read_err) -# return int(code) - - def func_pack_device_init(self): - #切换手动模式 - print("切换手动模式") - self._sys_hand_cmd(True) - time.sleep(1) - while (self._sys_hand_status()) == False: - print("waiting for hand_cmd") - time.sleep(1) - #设备初始化 - self._sys_init_cmd(True) - time.sleep(1) - #sys_init_status为bool值，不加括号 - while (self._sys_init_status())== False: - print("waiting for init_cmd") - time.sleep(1) - #手动按钮置回False - self._sys_hand_cmd(False) - time.sleep(1) - while (self._sys_hand_cmd()) == True: - print("waiting for hand_cmd to False") - time.sleep(1) - #初始化命令置回False - self._sys_init_cmd(False) - time.sleep(1) - while (self._sys_init_cmd()) == True: - print("waiting for init_cmd to False") - time.sleep(1) - - def func_pack_device_auto(self): - #切换自动 - print("切换自动模式") - self._sys_auto_cmd(True) - time.sleep(1) - while (self._sys_auto_status()) == False: - print("waiting for auto_status") - time.sleep(1) - #自动按钮置False - self._sys_auto_cmd(False) - time.sleep(1) - while (self._sys_auto_cmd()) == True: - print("waiting for auto_cmd") - time.sleep(1) - - def func_pack_device_start(self): - #切换自动 - print("启动") - self._sys_start_cmd(True) - time.sleep(1) - while (self._sys_start_status()) == False: - print("waiting for start_status") - time.sleep(1) - #自动按钮置False - self._sys_start_cmd(False) - time.sleep(1) - while (self._sys_start_cmd()) == True: - print("waiting for start_cmd") - time.sleep(1) - - def func_pack_send_bottle_num(self, bottle_num: int): - #发送电解液平台数 - print("启动") - while (self._unilab_rece_electrolyte_bottle_num()) == False: - print("waiting for rece_electrolyte_bottle_num to True") - # self.client.use_node('8520').write(True) - time.sleep(1) - #发送电解液瓶数为2 - self._reg_msg_electrolyte_num(bottle_num) - time.sleep(1) - #完成信号置True - self._unilab_send_electrolyte_bottle_num(True) - time.sleep(1) - #检测到依华已接收 - while (self._unilab_rece_electrolyte_bottle_num()) == True: - print("waiting for rece_electrolyte_bottle_num to False") - time.sleep(1) - #完成信号置False - self._unilab_send_electrolyte_bottle_num(False) - time.sleep(1) - #自动按钮置False - - - # 下发参数 - #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: - # """UNILAB写参数""" - # while (self.request_rec_msg_status) == False: - # print("wait for res_msg") - # time.sleep(1) - # self.success = False - # self._unilab_send_msg_electrolyte_num(elec_num) - # time.sleep(1) - # self._unilab_send_msg_electrolyte_use_num(elec_use_num) - # time.sleep(1) - # self._unilab_send_msg_electrolyte_vol(elec_vol) - # time.sleep(1) - # self._unilab_send_msg_assembly_type(assembly_type) - # time.sleep(1) - # self._unilab_send_msg_assembly_pressure(assembly_pressure) - # time.sleep(1) - # self._unilab_send_msg_succ_cmd(True) - # time.sleep(1) - # self._unilab_send_msg_succ_cmd(False) - # #将允许读取标志位置True - # self.allow_data_read = True - # self.success = True - # return self.success - - def func_pack_send_msg_cmd(self, elec_use_num) -> 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) - self._unilab_send_msg_electrolyte_use_num(elec_use_num) - time.sleep(1) - self._unilab_send_msg_succ_cmd(True) - time.sleep(1) - while (self.request_rec_msg_status) == True: - print("wait for request_rec_msg_status to False") - time.sleep(1) - self._unilab_send_msg_succ_cmd(False) - #将允许读取标志位置True - self.allow_data_read = True - self.success = True - return self.success - - def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: - """UNILAB读参数""" - while self.request_send_msg_status == False: - print("waiting for send_read_msg_status to True") - time.sleep(1) - data_open_circuit_voltage = self.data_open_circuit_voltage - data_pole_weight = self.data_pole_weight - data_assembly_time = self.data_assembly_time - data_assembly_pressure = self.data_assembly_pressure - data_electrolyte_volume = self.data_electrolyte_volume - 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) - #接收完信息后，读取完毕标志位置True - self._unilab_rec_msg_succ_cmd(True) - time.sleep(1) - #等待允许读取标志位置False - while self.request_send_msg_status == True: - print("waiting for send_msg_status to False") - time.sleep(1) - self._unilab_rec_msg_succ_cmd(False) - time.sleep(1) - #将允许读取标志位置True - time_date = datetime.now().strftime("%Y%m%d") - #秒级时间戳用于标记每一行电池数据 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - #生成输出文件的变量 - self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") - #将数据存入csv文件 - if not os.path.exists(self.csv_export_file): - #创建一个表头 - with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - 'Time', 'open_circuit_voltage', 'pole_weight', - 'assembly_time', 'assembly_pressure', 'electrolyte_volume', - 'coin_num', 'electrolyte_code', 'coin_cell_code' - ]) - #立刻写入磁盘 - csvfile.flush() - #开始追加电池信息 - with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - timestamp, data_open_circuit_voltage, data_pole_weight, - data_assembly_time, data_assembly_pressure, data_electrolyte_volume, - data_coin_num, data_electrolyte_code, data_coin_cell_code - ]) - #立刻写入磁盘 - csvfile.flush() - self.success = True - return self.success - - - - def func_pack_send_finished_cmd(self) -> bool: - """UNILAB写参数""" - while (self._unilab_rece_finished_cmd()) == False: - print("wait for rece_finished_cmd to True") - time.sleep(1) - self.success = False - self._unilab_send_finished_cmd(True) - time.sleep(1) - while (self._unilab_rece_finished_cmd()) == True: - print("wait for rece_finished_cmd to False") - time.sleep(1) - self._unilab_send_finished_cmd(False) - #将允许读取标志位置True - self.success = True - return self.success - - - - def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool: - elec_num, elec_use_num = int(elec_num), int(elec_use_num) - 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: - reader = csv.reader(csvfile) - header = next(reader) # 跳过标题行 - data_row = next(reader) # 读取数据行 - if len(data_row) >= 2: - elec_num_r = int(data_row[0]) - elec_use_num_r = int(data_row[1]) - elec_num_N = int(data_row[2]) - elec_use_num_N = int(data_row[3]) - coin_num_N = int(data_row[4]) - if elec_num_r == elec_num and elec_use_num_r == elec_use_num: - print("断点文件与当前任务匹配，继续") - else: - print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") - return False - print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") - - else: - read_status_flag = False - print("未找到断点文件，从头开始") - elec_num_N = 0 - elec_use_num_N = 0 - coin_num_N = 0 - 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: - #初始化 - self.func_pack_device_init() - #切换自动 - self.func_pack_device_auto() - #启动，小车收回 - 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) - 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) - - 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) - # 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.station_resource.get_resource("liaopan1") - liaopan2 = self.station_resource.get_resource("liaopan2") - jipian1 = liaopan1.children[coin_num_N].children[0] - - #print(jipian1) - #把物料解绑后放到另一盘上 - jipian1.parent.unassign_child_resource(jipian1) - liaopan2.children[coin_num_N].assign_child_resource(jipian1, location=None) - #print(jipian2.parent) - ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] - }) - - # 生成断点文件 - # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) - writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) - csvfile.flush() - coin_num_N += 1 - elec_use_num_N += 1 - elec_num_N += 1 - elec_use_num_N = 0 - - #循环正常结束，则删除断点文件 - os.remove(summary_csv_file) - #全部完成后等待依华发送完成信号 - self.func_pack_send_finished_cmd() - - - def func_pack_device_stop(self) -> bool: - """打包指令：设备停止""" - for i in range(3): - time.sleep(2) - print(f"输出{i}") - #print("_sys_hand_cmd", self._sys_hand_cmd()) - #time.sleep(1) - #print("_sys_hand_status", self._sys_hand_status()) - #time.sleep(1) - #print("_sys_init_cmd", self._sys_init_cmd()) - #time.sleep(1) - #print("_sys_init_status", self._sys_init_status()) - #time.sleep(1) - #print("_sys_auto_status", self._sys_auto_status()) - #time.sleep(1) - #print("data_axis_y_pos", self.data_axis_y_pos) - #time.sleep(1) - #self.success = False - #with open('action_device_stop.json', 'r', encoding='utf-8') as f: - # action_json = json.load(f) - #self.client.execute_procedure_from_json(action_json) - #self.success = True - #return self.success - - def fun_wuliao_test(self) -> bool: - #找到data_init中构建的2个物料盘 - liaopan1 = self.station_resource.get_resource("liaopan1") - liaopan2 = self.station_resource.get_resource("liaopan2") - for i in range(16): - #找到liaopan1上每一个jipian - jipian_linshi = liaopan1.children[i].children[0] - #把物料解绑后放到另一盘上 - print("极片:", jipian_linshi) - jipian_linshi.parent.unassign_child_resource(jipian_linshi) - liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) - ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] - }) - time.sleep(10) - # 数据读取与输出 - def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): - # 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" - - #若不存在该目录则创建 - if not os.path.exists(file_path): - os.makedirs(file_path) - print(f"创建目录: {file_path}") - - # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 - while self.allow_data_read: - - #函数运行标志位，确保只同时启动一个导出函数 - self.csv_export_running = True - - #等待接收结果标志位置True - while self.request_send_msg_status == False: - print("waiting for send_msg_status to True") - time.sleep(1) - #日期时间戳用于按天存放csv文件 - time_date = datetime.now().strftime("%Y%m%d") - #秒级时间戳用于标记每一行电池数据 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - #生成输出文件的变量 - self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") - - #接收信息 - data_open_circuit_voltage = self.data_open_circuit_voltage - data_pole_weight = self.data_pole_weight - data_assembly_time = self.data_assembly_time - data_assembly_pressure = self.data_assembly_pressure - data_electrolyte_volume = self.data_electrolyte_volume - data_coin_num = self.data_coin_num - data_electrolyte_code = self.data_electrolyte_code - data_coin_cell_code = self.data_coin_cell_code - # 电解液瓶位置 - elec_bottle_site = 2 - # 极片夹取位置(应当通过寄存器读光标) - Pos_elec_site = 0 - Al_elec_site = 0 - Gasket_site = 0 - - #接收完信息后，读取完毕标志位置True - self._unilab_rec_msg_succ_cmd()# = True - #等待允许读取标志位置False - while self.request_send_msg_status == True: - print("waiting for send_msg_status to False") - time.sleep(1) - self._unilab_rec_msg_succ_cmd()# = False - - #此处操作物料信息（如果中途报错停止，如何） - #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） - #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） - - #物料读取操作写在这里 - #在这里进行物料调取 - #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） - # transfer_bottle(deck, elec_bottle_site) - # #找到电解液瓶的对象 - # electrolyte_rack = deck.get_resource("electrolyte_rack") - # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] - # # TODO: 瓶子取液体操作需要加入 -# -# - # #找到压制工站对应的对象 - # battery_press_slot = deck.get_resource("battery_press_1") - # #创建一个新电池 - # test_battery = Battery( - # name=f"test_battery_{data_coin_num}", - # diameter=20.0, # 与压制槽直径匹配 - # height=3.0, # 电池高度 - # max_volume=100.0, # 100μL容量 - # barcode=data_coin_cell_code, # 电池条码 - # ) - # if battery_press_slot.has_battery(): - # return False, "压制工站已有电池，无法放置新电池" - # #在压制位放置电池 - # battery_press_slot.place_battery(test_battery) - # #从第一个子弹夹中取料 - # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) - # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) - # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) - # - # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") -# - # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") -# - # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") - # - # # 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(): - # battery = battery_site.take_battery() #从压制槽取出电池 - # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 -# -# -# -# - # # 保存配置到文件 - # self.deck.save("button_battery_station_layout.json", indent=2) - # print("\n台面配置已保存到: button_battery_station_layout.json") - # - # # 保存状态到文件 - # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) - # print("台面状态已保存到: button_battery_station_state.json") - - - - - - - #将数据写入csv中 - #如当前目录下无同名文件则新建一个csv用于存放数据 - if not os.path.exists(self.csv_export_file): - #创建一个表头 - with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - 'Time', 'open_circuit_voltage', 'pole_weight', - 'assembly_time', 'assembly_pressure', 'electrolyte_volume', - 'coin_num', 'electrolyte_code', 'coin_cell_code' - ]) - #立刻写入磁盘 - csvfile.flush() - #开始追加电池信息 - with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - timestamp, data_open_circuit_voltage, data_pole_weight, - data_assembly_time, data_assembly_pressure, data_electrolyte_volume, - data_coin_num, data_electrolyte_code, data_coin_cell_code - ]) - #立刻写入磁盘 - csvfile.flush() - - # 只要不在自动模式运行中，就将允许标志位置False - if self.sys_auto_status == False or self.sys_start_status == False: - self.allow_data_read = False - self.csv_export_running = False - time.sleep(1) - - def func_stop_read_data(self): - """停止CSV导出""" - if not self.csv_export_running: - return False, "read data未在运行" - - self.csv_export_running = False - self.allow_data_read = False - - if self.csv_export_thread and self.csv_export_thread.is_alive(): - self.csv_export_thread.join(timeout=5) - - def func_get_csv_export_status(self): - """获取CSV导出状态""" - return { - 'allow_read': self.allow_data_read, - 'running': self.csv_export_running, - 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False - } - - - ''' - # ===================== 物料管理区 ====================== - @property - def data_material_inventory(self) -> int: - """主物料库存 (数量, INT16)""" - inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) - return inventory - - @property - def data_tips_inventory(self) -> int: - """移液枪头库存 (数量, INT16)""" - inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) - return inventory - - ''' - - -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() - deck = create_a_full_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) - - liaopan1 = deck.get_resource("liaopan1") - liaopan2 = deck.get_resource("liaopan2") - for i in range(16): - #找到liaopan1上每一个jipian - jipian_linshi = liaopan1.children[i].children[0] - #把物料解绑后放到另一盘上 - print("极片:", jipian_linshi) - jipian_linshi.parent.unassign_child_resource(jipian_linshi) - liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) - - - from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type - #with open("./button_battery_station_resources_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) - - - - from unilabos.resources.graphio import convert_resources_from_type - from unilabos.config.config import BasicConfig - BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" - BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" - from unilabos.app.web.client import http_client - - resources = convert_resources_from_type([deck], [Resource]) - json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) - - #print(resources) - http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - - http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py deleted file mode 100644 index 6abdc38b..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py +++ /dev/null @@ -1,135 +0,0 @@ -import json -import re -from pymodbus.client import ModbusTcpClient -from unilabos.device_comms.modbus_plc.modbus import WorderOrder, Coil, DiscreteInputs, HoldRegister, InputRegister, DataType -from pymodbus.constants import Endian -import time -import threading -import csv -import os -from datetime import datetime -from typing import Callable -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 - -class Coin_Cell_Assembly: - - -if __name__ == '__main__': - coin_cell_assmbly = Coin_Cell_Assembly(address="192.168.1.20", port="502") - - #params = { - # "elec_num": 32 - #} - #str_data = json.dumps(params, ensure_ascii=False) - #print('param:', coin_cell_assmbly.func_pack_device_write_batch_elec_param(params)) - #time.sleep(1) - - print(coin_cell_assmbly.func_pack_device_write_per_elec_param( - elec_use_num=4, - elec_num=5, - elec_vol=55, - assembly_type=25, - assembly_pressure=550)) - time.sleep(1) - - -''' - print('start:', coin_cell_assmbly.func_pack_device_start()) - time.sleep(1) - - - - - - - - - print('start:', coin_cell_assmbly.func_pack_device_start()) - time.sleep(1) - - print('stop:', coin_cell_assmbly.func_pack_device_stop()) - time.sleep(1) - - while True: - # cmd coil - print('start cmd:', coin_cell_assmbly.sys_start_cmd(True)) - time.sleep(1) - print('stop cmd:', coin_cell_assmbly.sys_stop_cmd(False)) - time.sleep(1) - print('reset cmd:', coin_cell_assmbly.sys_reset_cmd(True)) - time.sleep(1) - print('hand cmd:', coin_cell_assmbly.sys_hand_cmd(False)) - time.sleep(1) - print('auto cmd:', coin_cell_assmbly.sys_auto_cmd(True)) - time.sleep(1) - print('init cmd:', coin_cell_assmbly.sys_init_cmd(False)) - time.sleep(1) - print('send msg succ cmd:', coin_cell_assmbly.unilab_send_msg_succ_cmd(False)) - time.sleep(1) - print('rec msg succ cmd:', coin_cell_assmbly.unilab_rec_msg_succ_cmd(True)) - time.sleep(1) - - # cmd reg - print('elec use num msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_use_num(8)) - time.sleep(1) - print('elec num msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_num(4)) - time.sleep(1) - print('elec vol msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_vol(3.3)) - time.sleep(1) - print('assembly type msg:', coin_cell_assmbly.unilab_send_msg_assembly_type(1)) - time.sleep(1) - print('assembly pressure msg:', coin_cell_assmbly.unilab_send_msg_assembly_pressure(1)) - time.sleep(1) - - # status coil - print('start status:',coin_cell_assmbly.sys_start_status) - time.sleep(1) - print('stop status:',coin_cell_assmbly.sys_stop_status) - time.sleep(1) - print('reset status:',coin_cell_assmbly.sys_reset_status) - time.sleep(1) - print('hand status:',coin_cell_assmbly.sys_hand_status) - time.sleep(1) - print('auto status:', coin_cell_assmbly.sys_auto_status) - time.sleep(1) - print('init ok:', coin_cell_assmbly.sys_init_status) - time.sleep(1) - print('request rec msg:', coin_cell_assmbly.request_rec_msg_status) - time.sleep(1) - print('request send msg:', coin_cell_assmbly.request_send_msg_status) - time.sleep(1) - - # status reg - print('assembly coin cell num:', coin_cell_assmbly.data_assembly_coin_cell_num) - time.sleep(1) - print('assembly coin assembly per time:', coin_cell_assmbly.data_assembly_time) - time.sleep(1) - print('open circuit vol:', coin_cell_assmbly.data_open_circuit_voltage) - time.sleep(1) - print('axis x pos:', coin_cell_assmbly.data_axis_x_pos) - time.sleep(1) - print('axis y pos:', coin_cell_assmbly.data_axis_y_pos) - time.sleep(1) - print('axis z pos:', coin_cell_assmbly.data_axis_z_pos) - time.sleep(1) - print('pole weight:', coin_cell_assmbly.data_pole_weight) - time.sleep(1) - print('assembly pressure:', coin_cell_assmbly.data_assembly_coin_cell_num) - time.sleep(1) - print('assembly electrolyte vol:', coin_cell_assmbly.data_electrolyte_volume) - time.sleep(1) - print('assembly coin num:', coin_cell_assmbly.data_coin_num) - time.sleep(1) - print('coin cell code:', coin_cell_assmbly.data_coin_cell_code) - time.sleep(1) - print('elec code:', coin_cell_assmbly.data_electrolyte_code) - time.sleep(1) - print('glove box pressure:', coin_cell_assmbly.data_glove_box_pressure) - time.sleep(1) - print('glove box o2:', coin_cell_assmbly.data_glove_box_o2_content) - time.sleep(1) - print('glove box water:', coin_cell_assmbly.data_glove_box_water_content) - time.sleep(1) - -''' \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json deleted file mode 100644 index 31fb0033..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json +++ /dev/null @@ -1,1925 +0,0 @@ -{ - "nodes": [ - { - "id": "BatteryStation", - "name": "扣电工作站", - "children": [ - "deck" - ], - "parent": null, - "type": "device", - "class": "bettery_station_registry", - "position": { - "x": 600, - "y": 400, - "z": 0 - }, - "config": { - "debug_mode": false, - "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定", - "protocol_type": [], - "station_resource": { - "data": { - "_resource_child_name": "deck", - "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" - } - }, - - "address": "192.168.1.20", - "port": 502 - }, - "data": {} - }, - { - "id": "deck", - "name": "deck", - "sample_id": null, - "children": [ - "liaopan1", - "liaopan2" - ], - "parent": null, - "type": "deck", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "Deck", - "size_x": 1200, - "size_y": 800, - "size_z": 900, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "deck", - "barcode": null - }, - "data": {} - }, - { - "id": "liaopan1", - "name": "liaopan1", - "sample_id": null, - "children": [ - "liaopan1_materialhole_0_0", - "liaopan1_materialhole_0_1", - "liaopan1_materialhole_0_2", - "liaopan1_materialhole_0_3", - "liaopan1_materialhole_1_0", - "liaopan1_materialhole_1_1", - "liaopan1_materialhole_1_2", - "liaopan1_materialhole_1_3", - "liaopan1_materialhole_2_0", - "liaopan1_materialhole_2_1", - "liaopan1_materialhole_2_2", - "liaopan1_materialhole_2_3", - "liaopan1_materialhole_3_0", - "liaopan1_materialhole_3_1", - "liaopan1_materialhole_3_2", - "liaopan1_materialhole_3_3" - ], - "parent": "deck", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "MaterialPlate", - "size_x": 120.8, - "size_y": 120.5, - "size_z": 10.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_plate", - "model": null, - "barcode": null, - "ordering": { - "A1": "liaopan1_materialhole_0_0", - "B1": "liaopan1_materialhole_0_1", - "C1": "liaopan1_materialhole_0_2", - "D1": "liaopan1_materialhole_0_3", - "A2": "liaopan1_materialhole_1_0", - "B2": "liaopan1_materialhole_1_1", - "C2": "liaopan1_materialhole_1_2", - "D2": "liaopan1_materialhole_1_3", - "A3": "liaopan1_materialhole_2_0", - "B3": "liaopan1_materialhole_2_1", - "C3": "liaopan1_materialhole_2_2", - "D3": "liaopan1_materialhole_2_3", - "A4": "liaopan1_materialhole_3_0", - "B4": "liaopan1_materialhole_3_1", - "C4": "liaopan1_materialhole_3_2", - "D4": "liaopan1_materialhole_3_3" - } - }, - "data": {} - }, - { - "id": "liaopan1_materialhole_0_0", - "name": "liaopan1_materialhole_0_0", - "sample_id": null, - "children": [ - "jipian_0" - ], - "parent": "liaopan1", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 84.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "jipian_0", - "name": "jipian_0", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_0_0", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, - { - "id": "liaopan1_materialhole_0_1", - "name": "liaopan1_materialhole_0_1", - "sample_id": null, - "children": [ - "jipian_1" - ], - "parent": "liaopan1", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 60.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, 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"tip_box_64_tipspot_7_3", - "name": "tip_box_64_tipspot_7_3", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 44.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_7_4", - "name": "tip_box_64_tipspot_7_4", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 35.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_7_5", - "name": "tip_box_64_tipspot_7_5", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 26.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_7_6", - "name": "tip_box_64_tipspot_7_6", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 17.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_7_7", - "name": "tip_box_64_tipspot_7_7", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 8.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "waste_tip_box", - "name": "waste_tip_box", - "sample_id": null, - "children": [], - "parent": "coin_cell_deck", - "type": "container", - "class": "", - "position": { - "x": 300, - "y": 200, - "z": 0 - }, - "config": { - "type": "WasteTipBox", - "size_x": 127.8, - "size_y": 85.5, - "size_z": 60.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "waste_tip_box", - "model": null, - "barcode": null, - "max_volume": "Infinity", - "material_z_thickness": 0, - "compute_volume_from_height": null, - "compute_height_from_volume": null - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - } - ], - "links": [] -} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/test.ipynb b/unilabos/devices/workstation/coin_cell_assembly/test.ipynb deleted file mode 100644 index 76c07d74..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/test.ipynb +++ /dev/null @@ -1,750 +0,0 @@ -{ - "cells": [ - { - "cell_type": "code", - "execution_count": 22, - "id": "80bc9500", - "metadata": {}, - "outputs": [], - "source": [ - "from __future__ import annotations\n", - "\n", - "from collections import OrderedDict\n", - "from typing import Any, Dict, List, Optional, TypedDict, Union, cast\n", - "\n", - "from pylabrobot.resources.coordinate import Coordinate\n", - "from pylabrobot.resources.container import Container\n", - "from pylabrobot.resources.deck import Deck\n", - "from pylabrobot.resources.itemized_resource import ItemizedResource\n", - "from pylabrobot.resources.resource import Resource\n", - "from pylabrobot.resources.resource_stack import ResourceStack\n", - "from pylabrobot.resources.tip_rack import TipRack, TipSpot\n", - "from pylabrobot.resources.trash import Trash\n", - "from pylabrobot.resources.utils import create_ordered_items_2d" - ] - }, - { - "cell_type": "markdown", - "id": "498a9159", - "metadata": {}, - "source": [ - "物料类型构建" - ] - }, - { - "cell_type": "code", - "execution_count": 23, - "id": "f4a27241", - "metadata": {}, - "outputs": [], - "source": [ - "\n", - "class ElectrodeSheetState(TypedDict):\n", - " diameter: float # 直径 (mm)\n", - " thickness: float # 厚度 (mm)\n", - " mass: float # 质量 (g)\n", - " material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等）\n", - " info: Optional[str] # 附加信息\n", - "\n", - "class ElectrodeSheet(Resource):\n", - " \"\"\"极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料\"\"\"\n", - "\n", - " def __init__(\n", - " self,\n", - " name: str = \"极片\",\n", - " size_x=10,\n", - " size_y=10,\n", - " size_z=10,\n", - " category: str = \"electrode_sheet\",\n", - " model: Optional[str] = None,\n", - " ):\n", - " \"\"\"初始化极片\n", - "\n", - " Args:\n", - " name: 极片名称\n", - " category: 类别\n", - " model: 型号\n", - " \"\"\"\n", - " super().__init__(\n", - " name=name,\n", - " size_x=size_x,\n", - " size_y=size_y,\n", - " size_z=size_z,\n", - " category=category,\n", - " model=model,\n", - " )\n", - " self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(\n", - " diameter=14,\n", - " thickness=0.1,\n", - " mass=0.5,\n", - " material_type=\"copper\",\n", - " info=None\n", - " )\n", - "\n", - " # TODO: 这个还要不要？给self._unilabos_state赋值的？\n", - " def load_state(self, state: Dict[str, Any]) -> None:\n", - " \"\"\"格式不变\"\"\"\n", - " super().load_state(state)\n", - " self._unilabos_state = state\n", - " #序列化\n", - " def serialize_state(self) -> Dict[str, Dict[str, Any]]:\n", - " \"\"\"格式不变\"\"\"\n", - " data = super().serialize_state()\n", - " 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）\n", - " return data\n" - ] - }, - { - "cell_type": "code", - "execution_count": 24, - "id": "830f052e", - "metadata": {}, - "outputs": [], - "source": [ - "# TODO: 这个应该只能放一个极片\n", - "class MaterialHoleState(TypedDict):\n", - " diameter: int\n", - " depth: int\n", - " max_sheets: int\n", - " info: Optional[str] # 附加信息\n", - "\n", - "class MaterialHole(Resource):\n", - " \"\"\"料板洞位类\"\"\"\n", - " children: List[ElectrodeSheet] = []\n", - "\n", - " def __init__(\n", - " self,\n", - " name: str,\n", - " size_x: float,\n", - " size_y: float,\n", - " size_z: float,\n", - " category: str = \"material_hole\",\n", - " **kwargs\n", - " ):\n", - " super().__init__(\n", - " name=name,\n", - " size_x=size_x,\n", - " size_y=size_y,\n", - " size_z=size_z,\n", - " category=category,\n", - " )\n", - " self._unilabos_state: MaterialHoleState = MaterialHoleState(\n", - " diameter=20,\n", - " depth=10,\n", - " max_sheets=1,\n", - " info=None\n", - " )\n", - "\n", - " def get_all_sheet_info(self):\n", - " info_list = []\n", - " for sheet in self.children:\n", - " info_list.append(sheet._unilabos_state[\"info\"])\n", - " return info_list\n", - " \n", - " #这个函数函数好像没用，一般不会集中赋值质量\n", - " def set_all_sheet_mass(self):\n", - " for sheet in self.children:\n", - " sheet._unilabos_state[\"mass\"] = 0.5 # 示例：设置质量为0.5g\n", - "\n", - " def load_state(self, state: Dict[str, Any]) -> None:\n", - " \"\"\"格式不变\"\"\"\n", - " super().load_state(state)\n", - " self._unilabos_state = state\n", - "\n", - " def serialize_state(self) -> Dict[str, Dict[str, Any]]:\n", - " \"\"\"格式不变\"\"\"\n", - " data = super().serialize_state()\n", - " 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）\n", - " return data\n", - " #移动极片前先取出对象\n", - " def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:\n", - " for sheet in self.children:\n", - " if sheet.name == name:\n", - " return sheet\n", - " return None\n", - "\n", - " def has_electrode_sheet(self) -> bool:\n", - " \"\"\"检查洞位是否有极片\"\"\"\n", - " return len(self.children) > 0\n", - "\n", - " def assign_child_resource(\n", - " self,\n", - " resource: ElectrodeSheet,\n", - " location: Optional[Coordinate],\n", - " reassign: bool = True,\n", - " ):\n", - " \"\"\"放置极片\"\"\"\n", - " # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题\n", - " if resource._unilabos_state[\"diameter\"] > self._unilabos_state[\"diameter\"]:\n", - " raise ValueError(f\"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}\")\n", - " if len(self.children) >= self._unilabos_state[\"max_sheets\"]:\n", - " raise ValueError(f\"洞位已满，无法放置更多极片\")\n", - " super().assign_child_resource(resource, location, reassign)\n", - "\n", - " # 根据children的编号取物料对象。\n", - " def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:\n", - " return self.children[index]\n", - "\n", - "\n", - "#料板\n", - "class MaterialPlateState(TypedDict):\n", - " hole_spacing_x: float\n", - " hole_spacing_y: float\n", - " hole_diameter: float\n", - " info: Optional[str] # 附加信息\n", - "\n", - "class MaterialPlate(ItemizedResource[MaterialHole]):\n", - " \"\"\"料板类 - 4x4个洞位，每个洞位放1个极片\"\"\"\n", - " \n", - " children: List[MaterialHole]\n", - "\n", - " def __init__(\n", - " self,\n", - " name: str,\n", - " size_x: float,\n", - " size_y: float,\n", - " size_z: float,\n", - " ordered_items: Optional[Dict[str, MaterialHole]] = None,\n", - " ordering: Optional[OrderedDict[str, str]] = None,\n", - " category: str = \"material_plate\",\n", - " model: Optional[str] = None,\n", - " fill: bool = False\n", - " ):\n", - " \"\"\"初始化料板\n", - "\n", - " Args:\n", - " name: 料板名称\n", - " size_x: 长度 (mm)\n", - " size_y: 宽度 (mm)\n", - " size_z: 高度 (mm)\n", - " hole_diameter: 洞直径 (mm)\n", - " hole_depth: 洞深度 (mm)\n", - " hole_spacing_x: X方向洞位间距 (mm)\n", - " hole_spacing_y: Y方向洞位间距 (mm)\n", - " number: 编号\n", - " category: 类别\n", - " model: 型号\n", - " \"\"\"\n", - " self._unilabos_state: MaterialPlateState = MaterialPlateState(\n", - " hole_spacing_x=24.0,\n", - " hole_spacing_y=24.0,\n", - " hole_diameter=20.0,\n", - " info=\"\",\n", - " )\n", - " # 创建4x4的洞位\n", - " # TODO: 这里要改，对应不同形状\n", - " holes = create_ordered_items_2d(\n", - " klass=MaterialHole,\n", - " num_items_x=4,\n", - " num_items_y=4,\n", - " dx=(size_x - 4 * self._unilabos_state[\"hole_spacing_x\"]) / 2, # 居中\n", - " dy=(size_y - 4 * self._unilabos_state[\"hole_spacing_y\"]) / 2, # 居中\n", - " dz=size_z,\n", - " item_dx=self._unilabos_state[\"hole_spacing_x\"],\n", - " item_dy=self._unilabos_state[\"hole_spacing_y\"],\n", - " size_x = 16,\n", - " size_y = 16,\n", - " size_z = 16,\n", - " )\n", - " if fill:\n", - " super().__init__(\n", - " name=name,\n", - " size_x=size_x,\n", - " size_y=size_y,\n", - " size_z=size_z,\n", - " ordered_items=holes,\n", - " category=category,\n", - " model=model,\n", - " )\n", - " else:\n", - " super().__init__(\n", - " name=name,\n", - " size_x=size_x,\n", - " size_y=size_y,\n", - " size_z=size_z,\n", - " ordered_items=ordered_items,\n", - " ordering=ordering,\n", - " category=category,\n", - " model=model,\n", - " )\n", - "\n", - " def update_locations(self):\n", - " # TODO:调多次相加\n", - " holes = create_ordered_items_2d(\n", - " klass=MaterialHole,\n", - " num_items_x=4,\n", - " num_items_y=4,\n", - " dx=(self._size_x - 3 * self._unilabos_state[\"hole_spacing_x\"]) / 2, # 居中\n", - " dy=(self._size_y - 3 * self._unilabos_state[\"hole_spacing_y\"]) / 2, # 居中\n", - " dz=self._size_z,\n", - " item_dx=self._unilabos_state[\"hole_spacing_x\"],\n", - " item_dy=self._unilabos_state[\"hole_spacing_y\"],\n", - " size_x = 1,\n", - " size_y = 1,\n", - " size_z = 1,\n", - " )\n", - " for item, original_item in zip(holes.items(), self.children):\n", - " original_item.location = item[1].location" - ] - }, - { - "cell_type": "code", - "execution_count": 25, - "id": "8318ccca", - "metadata": {}, - "outputs": [], - "source": [ - "class CoincellDeck(Deck):\n", - " \"\"\"纽扣电池组装工作站台面类\"\"\"\n", - "\n", - " def __init__(\n", - " self,\n", - " name: str = \"coin_cell_deck\",\n", - " size_x: float = 1620.0, # 3.66m\n", - " size_y: float = 1270.0, # 1.23m\n", - " size_z: float = 500.0,\n", - " origin: Coordinate = Coordinate(0, 0, 0),\n", - " category: str = \"coin_cell_deck\",\n", - " ):\n", - " \"\"\"初始化纽扣电池组装工作站台面\n", - "\n", - " Args:\n", - " name: 台面名称\n", - " size_x: 长度 (mm) - 3.66m\n", - " size_y: 宽度 (mm) - 1.23m\n", - " size_z: 高度 (mm)\n", - " origin: 原点坐标\n", - " category: 类别\n", - " \"\"\"\n", - " super().__init__(\n", - " name=name,\n", - " size_x=size_x,\n", - " size_y=size_y,\n", - " size_z=size_z,\n", - " origin=origin,\n", - " category=category,\n", - " )" - ] - }, - { - "cell_type": "code", - "execution_count": 7, - "id": "c73bae21", - "metadata": {}, - "outputs": [], - "source": [ - "import json" - ] - }, - { - "cell_type": "code", - "execution_count": 17, - "id": "3369a1dd", - "metadata": {}, - "outputs": [], - "source": [ - "def upload_resources_to_unilab(wuliao: List[Resource]):\n", - " from unilabos.resources.graphio import convert_resources_from_type\n", - " from unilabos.config.config import BasicConfig \n", - " BasicConfig.ak = \"beb0c15f-2279-46a1-aba5-00eaf89aef55\"\n", - " BasicConfig.sk = \"15d4f25e-3512-4f9c-9bfb-43ab85e7b561\"\n", - " from unilabos.app.web.client import http_client\n", - " resources = convert_resources_from_type(wuliao, [Resource])\n", - " json.dump({\"nodes\": resources, \"links\": []}, open(\"button_battery_station_resources_unilab.json\", \"w\"), indent=2)\n", - " \n", - " #print(resources)\n", - " http_client.remote_addr = \"https://uni-lab.test.bohrium.com/api/v1\"\n", - " \n", - " http_client.resource_add(resources)" - ] - }, - { - "cell_type": "code", - "execution_count": 29, - "id": "1543ddab", - "metadata": {}, - "outputs": [], - "source": [ - "liaopan1 = MaterialPlate(name=\"liaopan1\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)" - ] - }, - { - "cell_type": "code", - "execution_count": 30, - "id": "b732754a", - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "MaterialPlate(name=liaopan1, size_x=120.8, size_y=120.5, size_z=10.0, location=None)\n" - ] - } - ], - "source": [ - "print(liaopan1)" - ] - }, - { - "cell_type": "code", - "execution_count": 31, - "id": "7e6e7252", - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "[MaterialHole(name=liaopan1_materialhole_0_0, location=Coordinate(012.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_1, location=Coordinate(012.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_2, location=Coordinate(012.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_3, location=Coordinate(012.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_0, location=Coordinate(036.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_1, location=Coordinate(036.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_2, location=Coordinate(036.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_3, location=Coordinate(036.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_0, location=Coordinate(060.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_1, location=Coordinate(060.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_2, location=Coordinate(060.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_3, location=Coordinate(060.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_0, location=Coordinate(084.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_1, location=Coordinate(084.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_2, location=Coordinate(084.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_3, location=Coordinate(084.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole)]\n" - ] - } - ], - "source": [ - "print(liaopan1.children)" - ] - }, - { - "cell_type": "code", - "execution_count": 26, - "id": "836ff68d", - "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[37m25-09-22 [15:15:08,950]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ - "CoincellDeck(name=coin_cell_deck, location=Coordinate(000.000, 000.000, 000.000), size_x=1620.0, size_y=1270.0, size_z=500.0, category=coin_cell_deck)\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_plate\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_plate\n", - "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[37m25-09-22 [15:15:09,218]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" - ] - } - ], - "source": [ - "deck = CoincellDeck()\n", - "#创建一个4*4的物料板\n", - "liaopan1 = MaterialPlate(name=\"liaopan1\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)\n", - "#把物料板放到桌子上\n", - "deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0))\n", - "#创建一个极片\n", - "for i in range(16):\n", - " jipian = ElectrodeSheet(name=f\"jipian_{i}\", size_x= 12, size_y=12, size_z=0.1)\n", - " liaopan1.children[i].assign_child_resource(jipian, location=None)\n", - "#创建一个4*4的物料板\n", - "liaopan2 = MaterialPlate(name=\"liaopan2\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)\n", - "#把物料板放到桌子上\n", - "deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0))\n", - "#liaopan.children[3].assign_child_resource(jipian, location=None)\n", - "print(deck)\n", - "\n", - "upload_resources_to_unilab([deck])" - ] - }, - { - "cell_type": "code", - "execution_count": 20, - "id": "00aab9cf", - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "MaterialPlate(name=liaopan1, size_x=120.8, size_y=120.5, size_z=10.0, location=Coordinate(000.000, 000.000, 000.000))\n" - ] - } - ], - "source": [ - "liaopan1 = deck.get_resource(\"liaopan1\")\n", - "print(liaopan1)" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "id": "7409969c", - "metadata": {}, - "outputs": [], - "source": [ - "liaopan1 = deck.get_resource(\"liaopan1\")\n" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "id": "096dde04", - "metadata": {}, - "outputs": [], - "source": [ - "print()" - ] - }, - { - "cell_type": "code", - "execution_count": 27, - "id": "5528df96", - "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[37m25-09-22 [15:17:44,322]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ - "ElectrodeSheet(name=jipian_1, location=None, size_x=12, size_y=12, size_z=0.1, category=electrode_sheet)\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_plate\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_plate\n", - "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[37m25-09-22 [15:17:44,599]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" - ] - } - ], - "source": [ - "#在台面上找到料盘和极片\n", - "liaopan1 = deck.get_resource(\"liaopan1\")\n", - "liaopan2 = deck.get_resource(\"liaopan2\")\n", - "jipian1 = liaopan1.children[1].children[0]\n", - "#\n", - "print(jipian1)\n", - "#把物料解绑后放到另一盘上\n", - "jipian1.parent.unassign_child_resource(jipian1)\n", - "liaopan2.children[1].assign_child_resource(jipian1, location=None)\n", - "#print(jipian2.parent)\n", - "upload_resources_to_unilab([deck])" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "id": "43736700", - "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[37m25-09-22 [14:31:50,027]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_plate\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_plate\n", - "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[37m25-09-22 [14:31:50,358]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" - ] - }, - { - "data": { - "text/plain": [ - "" - ] - }, - "execution_count": 16, - "metadata": {}, - "output_type": "execute_result" - } - ], - "source": [] - } - ], - "metadata": { - "kernelspec": { - "display_name": "unilab", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.11.11" - } - }, - "nbformat": 4, - "nbformat_minor": 5 -} diff --git a/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml b/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml deleted file mode 100644 index 29e84374..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml +++ /dev/null @@ -1,6674 +0,0 @@ -bettery_station_registry: - category: - - work_station - class: - action_value_mappings: - auto-change_hole_sheet_to_2: - feedback: {} - goal: {} - goal_default: - hole: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - hole: - type: object - required: - - hole - type: object - result: {} - required: - - goal - title: change_hole_sheet_to_2参数 - type: object - type: UniLabJsonCommandAsync - auto-fill_plate: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: fill_plate参数 - type: object - type: UniLabJsonCommandAsync - auto-fun_wuliao_test: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: fun_wuliao_test参数 - type: object - type: UniLabJsonCommand - auto-func_allpack_cmd: - feedback: {} - goal: {} - goal_default: - elec_num: null - elec_use_num: null - file_path: D:\coin_cell_data - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - elec_num: - type: string - elec_use_num: - type: string - file_path: - default: D:\coin_cell_data - type: string - required: - - elec_num - - elec_use_num - type: object - result: {} - required: - - goal - title: func_allpack_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_get_csv_export_status: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_get_csv_export_status参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_auto: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_auto参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_init: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_init参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_start: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_start参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_stop: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_stop参数 - type: object - type: UniLabJsonCommand - auto-func_pack_get_msg_cmd: - feedback: {} - goal: {} - goal_default: - file_path: D:\coin_cell_data - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - file_path: - default: D:\coin_cell_data - type: string - required: [] - type: object - result: {} - required: - - goal - title: func_pack_get_msg_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_pack_send_bottle_num: - feedback: {} - goal: {} - goal_default: - bottle_num: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - bottle_num: - type: integer - required: - - bottle_num - type: object - result: {} - required: - - goal - title: func_pack_send_bottle_num参数 - type: object - type: UniLabJsonCommand - auto-func_pack_send_finished_cmd: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_send_finished_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_pack_send_msg_cmd: - feedback: {} - goal: {} - goal_default: - elec_use_num: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - elec_use_num: - type: string - required: - - elec_use_num - type: object - result: {} - required: - - goal - title: func_pack_send_msg_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_read_data_and_output: - feedback: {} - goal: {} - goal_default: - file_path: D:\coin_cell_data - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - file_path: - default: D:\coin_cell_data - type: string - required: [] - type: object - result: {} - required: - - goal - title: func_read_data_and_output参数 - type: object - type: UniLabJsonCommand - auto-func_stop_read_data: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_stop_read_data参数 - type: object - type: UniLabJsonCommand - auto-modify_deck_name: - feedback: {} - goal: {} - goal_default: - resource_name: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - resource_name: - type: string - required: - - resource_name - type: object - result: {} - required: - - goal - title: modify_deck_name参数 - type: object - type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand - module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation - status_types: - data_assembly_coin_cell_num: int - data_assembly_pressure: int - data_assembly_time: float - data_axis_x_pos: float - data_axis_y_pos: float - data_axis_z_pos: float - data_coin_cell_code: str - data_coin_num: int - data_electrolyte_code: str - data_electrolyte_volume: int - data_glove_box_o2_content: float - data_glove_box_pressure: float - data_glove_box_water_content: float - data_open_circuit_voltage: float - data_pole_weight: float - request_rec_msg_status: bool - request_send_msg_status: bool - sys_mode: str - sys_status: str - type: python - config_info: [] - description: '' - handles: [] - icon: '' - init_param_schema: - config: - properties: - address: - default: 192.168.1.20 - type: string - debug_mode: - default: true - type: boolean - port: - default: '502' - type: string - station_resource: - type: object - required: - - station_resource - type: object - data: - properties: - data_assembly_coin_cell_num: - type: integer - data_assembly_pressure: - type: integer - data_assembly_time: - type: number - data_axis_x_pos: - type: number - data_axis_y_pos: - type: number - data_axis_z_pos: - type: number - data_coin_cell_code: - type: string - data_coin_num: - type: integer - data_electrolyte_code: - type: string - data_electrolyte_volume: - type: integer - data_glove_box_o2_content: - type: number - data_glove_box_pressure: - type: number - data_glove_box_water_content: - type: number - data_open_circuit_voltage: - type: number - data_pole_weight: - type: number - request_rec_msg_status: - type: boolean - request_send_msg_status: - type: boolean - sys_mode: - type: string - sys_status: - type: string - required: - - sys_status - - sys_mode - - request_rec_msg_status - - request_send_msg_status - - data_assembly_coin_cell_num - - data_assembly_time - - data_open_circuit_voltage - - data_axis_x_pos - - data_axis_y_pos - - data_axis_z_pos - - data_pole_weight - - data_assembly_pressure - - data_electrolyte_volume - - data_coin_num - - data_coin_cell_code - - data_electrolyte_code - - data_glove_box_pressure - - data_glove_box_o2_content - - data_glove_box_water_content - type: object - version: 1.0.0 -workstation: - category: - - work_station - class: - action_value_mappings: - AGVTransferProtocol: - feedback: {} - goal: - from_repo: from_repo - from_repo_position: from_repo_position - to_repo: to_repo - to_repo_position: to_repo_position - goal_default: - from_repo: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - from_repo_position: '' - to_repo: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - to_repo_position: '' - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: AGVTransfer_Feedback - type: object - goal: - properties: - from_repo: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_repo - type: object - from_repo_position: - type: string - to_repo: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_repo - type: object - to_repo_position: - type: string - required: - - from_repo - - from_repo_position - - to_repo - - to_repo_position - title: AGVTransfer_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: AGVTransfer_Result - type: object - required: - - goal - title: AGVTransfer - type: object - type: AGVTransfer - AddProtocol: - feedback: {} - goal: - amount: amount - equiv: equiv - event: event - mass: mass - mol: mol - purpose: purpose - rate_spec: rate_spec - ratio: ratio - reagent: reagent - stir: stir - stir_speed: stir_speed - time: time - vessel: vessel - viscous: viscous - volume: volume - goal_default: - amount: '' - equiv: '' - event: '' - mass: '' - mol: '' - purpose: '' - rate_spec: '' - ratio: '' - reagent: '' - stir: false - stir_speed: 0.0 - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - viscous: false - volume: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - required: - - progress - - current_status - title: Add_Feedback - type: object - goal: - properties: - amount: - type: string - equiv: - type: string - event: - type: string - mass: - type: string - mol: - type: string - purpose: - type: string - rate_spec: - type: string - ratio: - type: string - reagent: - type: string - stir: - type: boolean - stir_speed: - type: number - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - viscous: - type: boolean - volume: - type: string - required: - - vessel - - reagent - - volume - - mass - - amount - - time - - stir - - stir_speed - - viscous - - purpose - - event - - mol - - rate_spec - - equiv - - ratio - title: Add_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Add_Result - type: object - required: - - goal - title: Add - type: object - type: Add - AdjustPHProtocol: - feedback: {} - goal: - ph_value: ph_value - reagent: reagent - settling_time: settling_time - stir: stir - stir_speed: stir_speed - stir_time: stir_time - vessel: vessel - volume: volume - goal_default: - ph_value: 0.0 - reagent: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: AdjustPH_Feedback - type: object - goal: - properties: - ph_value: - type: number - reagent: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - ph_value - - reagent - title: AdjustPH_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: AdjustPH_Result - type: object - required: - - goal - title: AdjustPH - type: object - type: AdjustPH - CentrifugeProtocol: - feedback: {} - goal: - speed: speed - temp: temp - time: time - vessel: vessel - goal_default: - speed: 0.0 - temp: 0.0 - time: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_speed: - type: number - current_status: - type: string - current_temp: - type: number - progress: - type: number - required: - - progress - - current_speed - - current_temp - - current_status - title: Centrifuge_Feedback - type: object - goal: - properties: - speed: - type: number - temp: - type: number - time: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - speed - - time - - temp - title: Centrifuge_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Centrifuge_Result - type: object - required: - - goal - title: Centrifuge - type: object - type: Centrifuge - CleanProtocol: - feedback: {} - goal: - repeats: repeats - solvent: solvent - temp: temp - vessel: vessel - volume: volume - goal_default: - repeats: 0 - solvent: '' - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: Clean_Feedback - type: object - goal: - properties: - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - solvent: - type: string - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: number - required: - - vessel - - solvent - - volume - - temp - - repeats - title: Clean_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: Clean_Result - type: object - required: - - goal - title: Clean - type: object - type: Clean - CleanVesselProtocol: - feedback: {} - goal: - repeats: repeats - solvent: solvent - temp: temp - vessel: vessel - volume: volume - goal_default: - repeats: 0 - solvent: '' - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: CleanVessel_Feedback - type: object - goal: - properties: - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - solvent: - type: string - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: number - required: - - vessel - - solvent - - volume - - temp - - repeats - title: CleanVessel_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: CleanVessel_Result - type: object - required: - - goal - title: CleanVessel - type: object - type: CleanVessel - DissolveProtocol: - feedback: {} - goal: - amount: amount - event: event - mass: mass - mol: mol - reagent: reagent - solvent: solvent - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - volume: volume - goal_default: - amount: '' - event: '' - mass: '' - mol: '' - reagent: '' - solvent: '' - stir_speed: 0.0 - temp: '' - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Dissolve_Feedback - type: object - goal: - properties: - amount: - type: string - event: - type: string - mass: - type: string - mol: - type: string - reagent: - type: string - solvent: - type: string - stir_speed: - type: number - temp: - type: string - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - required: - - vessel - - solvent - - volume - - amount - - temp - - time - - stir_speed - - mass - - mol - - reagent - - event - title: Dissolve_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Dissolve_Result - type: object - required: - - goal - title: Dissolve - type: object - type: Dissolve - DryProtocol: - feedback: {} - goal: - compound: compound - vessel: vessel - goal_default: - compound: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Dry_Feedback - type: object - goal: - properties: - compound: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - compound - - vessel - title: Dry_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Dry_Result - type: object - required: - - goal - title: Dry - type: object - type: Dry - EvacuateAndRefillProtocol: - feedback: {} - goal: - gas: gas - vessel: vessel - goal_default: - gas: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: EvacuateAndRefill_Feedback - type: object - goal: - properties: - gas: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - gas - title: EvacuateAndRefill_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: EvacuateAndRefill_Result - type: object - required: - - goal - title: EvacuateAndRefill - type: object - type: EvacuateAndRefill - EvaporateProtocol: - feedback: {} - goal: - pressure: pressure - solvent: solvent - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - goal_default: - pressure: 0.0 - solvent: '' - stir_speed: 0.0 - temp: 0.0 - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Evaporation Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Eluting Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: VesselOut - label: Evaporation Vessel - placeholder_keys: - vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: Evaporate_Feedback - type: object - goal: - properties: - pressure: - type: number - solvent: - type: string - stir_speed: - type: number - temp: - type: number - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - pressure - - temp - - time - - stir_speed - - solvent - title: Evaporate_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: Evaporate_Result - type: object - required: - - goal - title: Evaporate - type: object - type: Evaporate - FilterProtocol: - feedback: {} - goal: - continue_heatchill: continue_heatchill - filtrate_vessel: filtrate_vessel - stir: stir - stir_speed: stir_speed - temp: temp - vessel: vessel - volume: volume - goal_default: - continue_heatchill: false - filtrate_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: filtrate_vessel - data_source: handle - data_type: resource - handler_key: FiltrateVessel - label: Filtrate Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - - data_key: filtrate_vessel - data_source: executor - data_type: resource - handler_key: FiltrateOut - label: Filtrate Vessel - placeholder_keys: - filtrate_vessel: unilabos_resources - vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - current_temp: - type: number - filtered_volume: - type: number - progress: - type: number - required: - - progress - - current_temp - - filtered_volume - - current_status - title: Filter_Feedback - type: object - goal: - properties: - continue_heatchill: - type: boolean - filtrate_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: filtrate_vessel - type: object - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: number - required: - - vessel - - filtrate_vessel - - stir - - stir_speed - - temp - - continue_heatchill - - volume - title: Filter_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Filter_Result - type: object - required: - - goal - title: Filter - type: object - type: Filter - FilterThroughProtocol: - feedback: {} - goal: - eluting_repeats: eluting_repeats - eluting_solvent: eluting_solvent - eluting_volume: eluting_volume - filter_through: filter_through - from_vessel: from_vessel - residence_time: residence_time - to_vessel: to_vessel - goal_default: - eluting_repeats: 0 - eluting_solvent: '' - eluting_volume: 0.0 - filter_through: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - residence_time: 0.0 - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Eluting Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_resources - to_vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: FilterThrough_Feedback - type: object - goal: - properties: - eluting_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - eluting_solvent: - type: string - eluting_volume: - type: number - filter_through: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: filter_through - type: object - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - residence_time: - type: number - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - required: - - from_vessel - - to_vessel - - filter_through - - eluting_solvent - - eluting_volume - - eluting_repeats - - residence_time - title: FilterThrough_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: FilterThrough_Result - type: object - required: - - goal - title: FilterThrough - type: object - type: FilterThrough - HeatChillProtocol: - feedback: {} - goal: - pressure: pressure - purpose: purpose - reflux_solvent: reflux_solvent - stir: stir - stir_speed: stir_speed - temp: temp - temp_spec: temp_spec - time: time - time_spec: time_spec - vessel: vessel - goal_default: - pressure: '' - purpose: '' - reflux_solvent: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - temp_spec: '' - time: '' - time_spec: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChill_Feedback - type: object - goal: - properties: - pressure: - type: string - purpose: - type: string - reflux_solvent: - type: string - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - temp_spec: - type: string - time: - type: string - time_spec: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - temp - - time - - temp_spec - - time_spec - - pressure - - reflux_solvent - - stir - - stir_speed - - purpose - title: HeatChill_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: HeatChill_Result - type: object - required: - - goal - title: HeatChill - type: object - type: HeatChill - HeatChillStartProtocol: - feedback: {} - goal: - purpose: purpose - temp: temp - vessel: vessel - goal_default: - purpose: '' - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChillStart_Feedback - type: object - goal: - properties: - purpose: - type: string - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - temp - - purpose - title: HeatChillStart_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: HeatChillStart_Result - type: object - required: - - goal - title: HeatChillStart - type: object - type: HeatChillStart - HeatChillStopProtocol: - feedback: {} - goal: - vessel: vessel - goal_default: - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChillStop_Feedback - type: object - goal: - properties: - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - title: HeatChillStop_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: HeatChillStop_Result - type: object - required: - - goal - title: HeatChillStop - type: object - type: HeatChillStop - HydrogenateProtocol: - feedback: {} - goal: - temp: temp - time: time - vessel: vessel - goal_default: - temp: '' - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Hydrogenate_Feedback - type: object - goal: - properties: - temp: - type: string - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - temp - - time - - vessel - title: Hydrogenate_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Hydrogenate_Result - type: object - required: - - goal - title: Hydrogenate - type: object - type: Hydrogenate - PumpTransferProtocol: - feedback: {} - goal: - amount: amount - event: event - flowrate: flowrate - from_vessel: from_vessel - rate_spec: rate_spec - rinsing_repeats: rinsing_repeats - rinsing_solvent: rinsing_solvent - rinsing_volume: rinsing_volume - solid: solid - through: through - time: time - to_vessel: to_vessel - transfer_flowrate: transfer_flowrate - viscous: viscous - volume: volume - goal_default: - amount: '' - event: '' - flowrate: 0.0 - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - rate_spec: '' - rinsing_repeats: 0 - rinsing_solvent: '' - rinsing_volume: 0.0 - solid: false - through: '' - time: 0.0 - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - transfer_flowrate: 0.0 - viscous: false - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Rinsing Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_nodes - to_vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: PumpTransfer_Feedback - type: object - goal: - properties: - amount: - type: string - event: - type: string - flowrate: - type: number - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - rate_spec: - type: string - rinsing_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - rinsing_solvent: - type: string - rinsing_volume: - type: number - solid: - type: boolean - through: - type: string - time: - type: number - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - transfer_flowrate: - type: number - viscous: - type: boolean - volume: - type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid - - flowrate - - transfer_flowrate - - rate_spec - - event - - through - title: PumpTransfer_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: PumpTransfer_Result - type: object - required: - - goal - title: PumpTransfer - type: object - type: PumpTransfer - RecrystallizeProtocol: - feedback: {} - goal: - ratio: ratio - solvent1: solvent1 - solvent2: solvent2 - vessel: vessel - volume: volume - goal_default: - ratio: '' - solvent1: '' - solvent2: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent1 - data_source: handle - data_type: resource - handler_key: solvent1 - label: Solvent 1 - - data_key: solvent2 - data_source: handle - data_type: resource - handler_key: solvent2 - label: Solvent 2 - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Recrystallize_Feedback - type: object - goal: - properties: - ratio: - type: string - solvent1: - type: string - solvent2: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - required: - - ratio - - solvent1 - - solvent2 - - vessel - - volume - title: Recrystallize_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Recrystallize_Result - type: object - required: - - goal - title: Recrystallize - type: object - type: Recrystallize - ResetHandlingProtocol: - feedback: {} - goal: - solvent: solvent - goal_default: - solvent: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: [] - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: ResetHandling_Feedback - type: object - goal: - properties: - solvent: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - solvent - - vessel - title: ResetHandling_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: ResetHandling_Result - type: object - required: - - goal - title: ResetHandling - type: object - type: ResetHandling - RunColumnProtocol: - feedback: {} - goal: - column: column - from_vessel: from_vessel - to_vessel: to_vessel - goal_default: - column: '' - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - pct1: '' - pct2: '' - ratio: '' - rf: '' - solvent1: '' - solvent2: '' - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - column: unilabos_devices - from_vessel: unilabos_resources - to_vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: RunColumn_Feedback - type: object - goal: - properties: - column: - type: string - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - pct1: - type: string - pct2: - type: string - ratio: - type: string - rf: - type: string - solvent1: - type: string - solvent2: - type: string - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - required: - - from_vessel - - to_vessel - - column - - rf - - pct1 - - pct2 - - solvent1 - - solvent2 - - ratio - title: RunColumn_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: RunColumn_Result - type: object - required: - - goal - title: RunColumn - type: object - type: RunColumn - SeparateProtocol: - feedback: {} - goal: - from_vessel: from_vessel - product_phase: product_phase - purpose: purpose - repeats: repeats - separation_vessel: separation_vessel - settling_time: settling_time - solvent: solvent - solvent_volume: solvent_volume - stir_speed: stir_speed - stir_time: stir_time - through: through - to_vessel: to_vessel - waste_phase_to_vessel: waste_phase_to_vessel - goal_default: - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - product_phase: '' - product_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - purpose: '' - repeats: 0 - separation_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - settling_time: 0.0 - solvent: '' - solvent_volume: '' - stir_speed: 0.0 - stir_time: 0.0 - through: '' - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - waste_phase_to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - waste_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_resources - to_vessel: unilabos_resources - waste_phase_to_vessel: unilabos_resources - waste_vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Separate_Feedback - type: object - goal: - properties: - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - product_phase: - type: string - product_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: product_vessel - type: object - purpose: - type: string - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - separation_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: separation_vessel - type: object - settling_time: - type: number - solvent: - type: string - solvent_volume: - type: string - stir_speed: - type: number - stir_time: - type: number - through: - type: string - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - waste_phase_to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: waste_phase_to_vessel - type: object - waste_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: waste_vessel - type: object - required: - - vessel - - purpose - - product_phase - - from_vessel - - separation_vessel - - to_vessel - - waste_phase_to_vessel - - product_vessel - - waste_vessel - - solvent - - solvent_volume - - volume - - through - - repeats - - stir_time - - stir_speed - - settling_time - title: Separate_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Separate_Result - type: object - required: - - goal - title: Separate - type: object - type: Separate - StartStirProtocol: - feedback: {} - goal: - purpose: purpose - stir_speed: stir_speed - vessel: vessel - goal_default: - purpose: '' - stir_speed: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_speed: - type: number - current_status: - type: string - progress: - type: number - required: - - progress - - current_speed - - current_status - title: StartStir_Feedback - type: object - goal: - properties: - purpose: - type: string - stir_speed: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - stir_speed - - purpose - title: StartStir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: StartStir_Result - type: object - required: - - goal - title: StartStir - type: object - type: StartStir - StirProtocol: - feedback: {} - goal: - event: event - settling_time: settling_time - stir_speed: stir_speed - stir_time: stir_time - time: time - time_spec: time_spec - vessel: vessel - goal_default: - event: '' - settling_time: '' - stir_speed: 0.0 - stir_time: 0.0 - time: '' - time_spec: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: Stir_Feedback - type: object - goal: - properties: - event: - type: string - settling_time: - type: string - stir_speed: - type: number - stir_time: - type: number - time: - type: string - time_spec: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - time - - event - - time_spec - - stir_time - - stir_speed - - settling_time - title: Stir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Stir_Result - type: object - required: - - goal - title: Stir - type: object - type: Stir - StopStirProtocol: - feedback: {} - goal: - vessel: vessel - goal_default: - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - required: - - progress - - current_status - title: StopStir_Feedback - type: object - goal: - properties: - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - title: StopStir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: StopStir_Result - type: object - required: - - goal - title: StopStir - type: object - type: StopStir - TransferProtocol: - feedback: {} - goal: - amount: amount - from_vessel: from_vessel - rinsing_repeats: rinsing_repeats - rinsing_solvent: rinsing_solvent - rinsing_volume: rinsing_volume - solid: solid - time: time - to_vessel: to_vessel - viscous: viscous - volume: volume - goal_default: - amount: '' - from_vessel: '' - rinsing_repeats: 0 - rinsing_solvent: '' - rinsing_volume: 0.0 - solid: false - time: 0.0 - to_vessel: '' - viscous: false - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Rinsing Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_nodes - to_vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - transferred_volume: - type: number - required: - - progress - - transferred_volume - - current_status - title: Transfer_Feedback - type: object - goal: - properties: - amount: - type: string - from_vessel: - type: string - rinsing_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - rinsing_solvent: - type: string - rinsing_volume: - type: number - solid: - type: boolean - time: - type: number - to_vessel: - type: string - viscous: - type: boolean - volume: - type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid - title: Transfer_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Transfer_Result - type: object - required: - - goal - title: Transfer - type: object - type: Transfer - WashSolidProtocol: - feedback: {} - goal: - filtrate_vessel: filtrate_vessel - repeats: repeats - solvent: solvent - stir: stir - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - volume: volume - goal_default: - event: '' - filtrate_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - mass: '' - repeats: 0 - repeats_spec: '' - solvent: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - volume_spec: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - - data_key: filtrate_vessel - data_source: handle - data_type: resource - handler_key: filtrate_vessel - label: Filtrate Vessel - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: VesselOut - label: Vessel Out - - data_key: filtrate_vessel - data_source: executor - data_type: resource - handler_key: filtrate_vessel_out - label: Filtrate Vessel - placeholder_keys: - filtrate_vessel: unilabos_resources - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: WashSolid_Feedback - type: object - goal: - properties: - event: - type: string - filtrate_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: filtrate_vessel - type: object - mass: - type: string - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - repeats_spec: - type: string - solvent: - type: string - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - volume_spec: - type: string - required: - - vessel - - solvent - - volume - - filtrate_vessel - - temp - - stir - - stir_speed - - time - - repeats - - volume_spec - - repeats_spec - - mass - - event - title: WashSolid_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: WashSolid_Result - type: object - required: - - goal - title: WashSolid - type: object - type: WashSolid - auto-create_ros_action_server: - feedback: {} - goal: {} - goal_default: - action_name: null - action_value_mapping: null - handles: {} - result: {} - schema: - description: create_ros_action_server的参数schema - properties: - feedback: {} - goal: - properties: - action_name: - type: string - action_value_mapping: - type: string - required: - - action_name - - action_value_mapping - type: object - result: {} - required: - - goal - title: create_ros_action_server参数 - type: object - type: UniLabJsonCommand - auto-execute_single_action: - feedback: {} - goal: {} - goal_default: - action_kwargs: null - action_name: null - device_id: null - handles: {} - result: {} - schema: - description: execute_single_action的参数schema - properties: - feedback: {} - goal: - properties: - action_kwargs: - type: string - action_name: - type: string - device_id: - type: string - required: - - device_id - - action_name - - action_kwargs - type: object - result: {} - required: - - goal - title: execute_single_action参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize_device: - feedback: {} - goal: {} - goal_default: - device_config: null - device_id: null - handles: {} - result: {} - schema: - description: initialize_device的参数schema - properties: - feedback: {} - goal: - properties: - device_config: - type: string - device_id: - type: string - required: - - device_id - - device_config - type: object - result: {} - required: - - goal - title: initialize_device参数 - type: object - type: UniLabJsonCommand - module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode - status_types: {} - type: ros2 - config_info: [] - description: Workstation - handles: [] - icon: '' - init_param_schema: - config: - properties: - action_value_mappings: - type: object - children: - type: object - device_id: - type: string - driver_instance: - type: string - hardware_interface: - type: object - print_publish: - default: true - type: string - protocol_type: - items: - type: string - type: array - resource_tracker: - type: string - status_types: - type: object - required: - - protocol_type - - children - - driver_instance - - device_id - - status_types - - action_value_mappings - - hardware_interface - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 -workstation.example: - category: - - work_station - class: - action_value_mappings: {} - module: unilabos.devices.workstation.workstation_base:WorkstationExample - status_types: {} - type: python - config_info: [] - description: '' - handles: [] - icon: '' - init_param_schema: - config: - properties: - station_resource: - type: object - required: - - station_resource - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 From 42f7010134998e78f6a1f692905068fe823a11c0 Mon Sep 17 00:00:00 2001 From: h840473807 <47357934+h840473807@users.noreply.github.com> Date: Mon, 27 Oct 2025 11:57:57 +0800 Subject: [PATCH 6/6] =?UTF-8?q?=E6=8F=90=E4=BA=A4=E6=89=A3=E7=94=B5?= =?UTF-8?q?=E5=B7=A5=E7=AB=99=E6=9C=80=E6=96=B0=E4=BB=A3=E7=A0=81=E5=88=B0?= =?UTF-8?q?YB3=E5=88=86=E6=94=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 提交扣电工站最新代码到YB3分支，更新注册表 --- .../coin_cell_assembly/__init__.py | 0 .../button_battery_station.py | 1006 ++++++++++++++ .../coin_cell_assembly/coin_cell_assembly.py | 1172 +++++++++++++++++ .../coin_cell_assembly_a.csv | 63 + .../coin_cell_assembly/new_cellconfig3c.json | 691 ++++++++++ .../coin_cell_assembly/workstation_base.py | 489 +++++++ unilabos/registry/devices/work_station.yaml | 1056 +++++++++------ 7 files changed, 4063 insertions(+), 414 deletions(-) create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/__init__.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/button_battery_station.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly_a.csv create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/new_cellconfig3c.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/workstation_base.py diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/__init__.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/button_battery_station.py new file mode 100644 index 00000000..eae09b84 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/button_battery_station.py @@ -0,0 +1,1006 @@ +""" +纽扣电池组装工作站物料类定义 +Button Battery Assembly Station Resource Classes +""" + +from __future__ import annotations + +from collections import OrderedDict +from typing import Any, Dict, List, Optional, TypedDict, Union, cast + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources.container import Container +from pylabrobot.resources.deck import Deck +from pylabrobot.resources.itemized_resource import ItemizedResource +from pylabrobot.resources.resource import Resource +from pylabrobot.resources.resource_stack import ResourceStack +from pylabrobot.resources.tip_rack import TipRack, TipSpot +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.utils import create_ordered_items_2d + + +class ElectrodeSheetState(TypedDict): + diameter: float # 直径 (mm) + thickness: float # 厚度 (mm) + mass: float # 质量 (g) + material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） + height: float + electrolyte_name: str + data_electrolyte_code: str + open_circuit_voltage: float + assembly_pressure: float + electrolyte_volume: float + + info: Optional[str] # 附加信息 + +class ElectrodeSheet(Resource): + """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" + + def __init__( + self, + name: str = "极片", + size_x=10, + size_y=10, + size_z=10, + category: str = "electrode_sheet", + model: Optional[str] = None, + ): + """初始化极片 + + Args: + name: 极片名称 + 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: ElectrodeSheetState = ElectrodeSheetState( + diameter=14, + thickness=0.1, + mass=0.5, + material_type="copper", + info=None + ) + + # TODO: 这个还要不要？给self._unilabos_state赋值的？ + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# TODO: 这个应该只能放一个极片 +class MaterialHoleState(TypedDict): + diameter: int + depth: int + max_sheets: int + info: Optional[str] # 附加信息 + +class MaterialHole(Resource): + """料板洞位类""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "material_hole", + **kwargs + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + ) + self._unilabos_state: MaterialHoleState = MaterialHoleState( + diameter=20, + depth=10, + max_sheets=1, + info=None + ) + + def get_all_sheet_info(self): + info_list = [] + for sheet in self.children: + info_list.append(sheet._unilabos_state["info"]) + return info_list + + #这个函数函数好像没用，一般不会集中赋值质量 + def set_all_sheet_mass(self): + for sheet in self.children: + sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g + + 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 + #移动极片前先取出对象 + def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: + for sheet in self.children: + if sheet.name == name: + return sheet + return None + + def has_electrode_sheet(self) -> bool: + """检查洞位是否有极片""" + return len(self.children) > 0 + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 + #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: + # raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") + #if len(self.children) >= self._unilabos_state["max_sheets"]: + # raise ValueError(f"洞位已满，无法放置更多极片") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: + return self.children[index] + + + +class MaterialPlateState(TypedDict): + hole_spacing_x: float + hole_spacing_y: float + hole_diameter: float + info: Optional[str] # 附加信息 + +class MaterialPlate(ItemizedResource[MaterialHole]): + """料板类 - 4x4个洞位，每个洞位放1个极片""" + + children: List[MaterialHole] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, MaterialHole]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + category: str = "material_plate", + model: Optional[str] = None, + fill: bool = False + ): + """初始化料板 + + Args: + name: 料板名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing_x: X方向洞位间距 (mm) + hole_spacing_y: Y方向洞位间距 (mm) + number: 编号 + category: 类别 + model: 型号 + """ + self._unilabos_state: MaterialPlateState = MaterialPlateState( + hole_spacing_x=24.0, + hole_spacing_y=24.0, + hole_diameter=20.0, + info="", + ) + # 创建4x4的洞位 + # TODO: 这里要改，对应不同形状 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 16, + size_y = 16, + size_z = 16, + ) + if fill: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + else: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + def update_locations(self): + # TODO:调多次相加 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=self._size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 1, + size_y = 1, + size_z = 1, + ) + for item, original_item in zip(holes.items(), self.children): + original_item.location = item[1].location + + +class PlateSlot(ResourceStack): + """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""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + max_plates: int = 8, + category: str = "plate_slot", + model: Optional[str] = None + ): + """初始化板槽位 + + Args: + name: 槽位名称 + max_plates: 最大板数量 + category: 类别 + """ + super().__init__( + name=name, + direction="z", # Z方向堆叠 + resources=[], + ) + self.max_plates = max_plates + self.category = category + + def can_add_plate(self) -> bool: + """检查是否可以添加板""" + return len(self.children) < self.max_plates + + def add_plate(self, plate: MaterialPlate) -> None: + """添加料板""" + if not self.can_add_plate(): + raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") + self.assign_child_resource(plate) + + def get_top_plate(self) -> MaterialPlate: + """获取最上方的板""" + if len(self.children) == 0: + raise ValueError(f"槽位 {self.name} 为空") + return cast(MaterialPlate, self.get_top_item()) + + def take_top_plate(self) -> MaterialPlate: + """取出最上方的板""" + top_plate = self.get_top_plate() + self.unassign_child_resource(top_plate) + return top_plate + + def can_access_for_picking(self) -> bool: + """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）""" + return len(self.children) > 0 + + def serialize(self) -> dict: + return { + **super().serialize(), + "max_plates": self.max_plates, + } + + +class ClipMagazineHole(Container): + """子弹夹洞位类""" + + def __init__( + self, + name: str, + diameter: float, + depth: float, + max_sheets: int = 100, + category: str = "clip_magazine_hole", + ): + """初始化子弹夹洞位 + + Args: + name: 洞位名称 + diameter: 洞直径 (mm) + depth: 洞深度 (mm) + max_sheets: 最大极片数量 + category: 类别 + """ + super().__init__( + name=name, + size_x=diameter, + size_y=diameter, + size_z=depth, + category=category, + ) + self.diameter = diameter + self.depth = depth + self.max_sheets = max_sheets + self._sheets: List[ElectrodeSheet] = [] + + def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: + """检查是否可以添加极片""" + return (len(self._sheets) < self.max_sheets and + sheet.diameter <= self.diameter) + + def add_sheet(self, sheet: ElectrodeSheet) -> None: + """添加极片""" + if not self.can_add_sheet(sheet): + raise ValueError(f"无法向洞位 {self.name} 添加极片") + self._sheets.append(sheet) + + def take_sheet(self) -> ElectrodeSheet: + """取出极片""" + if len(self._sheets) == 0: + raise ValueError(f"洞位 {self.name} 没有极片") + return self._sheets.pop() + + def get_sheet_count(self) -> int: + """获取极片数量""" + return len(self._sheets) + + def serialize_state(self) -> Dict[str, Any]: + return { + "sheet_count": len(self._sheets), + "sheets": [sheet.serialize() for sheet in self._sheets], + } + +# TODO: 这个要改 +class ClipMagazine(Resource): + """子弹夹类 - 有6个洞位，每个洞位放多个极片""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建6个洞位，排成2x3布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=3, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=0, + depth=0, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +#是一种类型注解，不用self +class BatteryState(TypedDict): + """电池状态字典""" + diameter: float + height: float + assembly_pressure: float + electrolyte_volume: float + electrolyte_name: str + +class Battery(Resource): + """电池类 - 可容纳极片""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x=1, + size_y=1, + size_z=1, + category: str = "battery", + ): + """初始化电池 + + Args: + name: 电池名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大容量 (μL) + barcode: 二维码编号 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BatteryState = BatteryState( + diameter = 1.0, + height = 1.0, + assembly_pressure = 1.0, + electrolyte_volume = 1.0, + electrolyte_name = "DP001" + ) + + def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: + to_add_name = bottle._unilabos_state["electrolyte_name"] + if bottle.aspirate_electrolyte(10): + if self.add_electrolyte(to_add_name, 10): + pass + else: + bottle._unilabos_state["electrolyte_volume"] += 10 + + def set_electrolyte(self, name: str, volume: float) -> None: + """设置电解液信息""" + self._unilabos_state["electrolyte_name"] = name + self._unilabos_state["electrolyte_volume"] = volume + #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: + """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] + +# TODO:这个移液枪架子看一下从哪继承 +class TipBox64State(TypedDict): + """电池状态字典""" + tip_diameter: float = 5.0 + tip_length: float = 50.0 + with_tips: bool = True + +class TipBox64(TipRack): + """64孔枪头盒类""" + + children: List[TipSpot] = [] + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "tip_box_64", + model: Optional[str] = None, + ): + """初始化64孔枪头盒 + + Args: + name: 枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + tip_diameter: 枪头直径 (mm) + tip_length: 枪头长度 (mm) + category: 类别 + model: 型号 + with_tips: 是否带枪头 + """ + from pylabrobot.resources.tip import Tip + + # 创建8x8=64个枪头位 + def make_tip(): + return Tip( + has_filter=False, + total_tip_length=20.0, + maximal_volume=1000, # 1mL + fitting_depth=8.0, + ) + + tip_spots = create_ordered_items_2d( + klass=TipSpot, + num_items_x=8, + num_items_y=8, + dx=8.0, + dy=8.0, + dz=0.0, + item_dx=9.0, + item_dy=9.0, + size_x=10, + size_y=10, + size_z=0.0, + make_tip=make_tip, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=tip_spots, + category=category, + model=model, + with_tips=True, + ) + + + +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, + category: str = "waste_tip_box", + model: Optional[str] = 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 BottleRackState(TypedDict): + """ bottle_diameter: 瓶子直径 (mm) + bottle_height: 瓶子高度 (mm) + position_spacing: 位置间距 (mm)""" + bottle_diameter: float + bottle_height: float + name_to_index: dict + + + +class BottleRack(Resource): + """瓶架类 - 12个待配位置+12个已配位置""" + children: List[Bottle] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "bottle_rack", + model: Optional[str] = None, + ): + """初始化瓶架 + + Args: + name: 瓶架名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + # TODO: 添加瓶位坐标映射 + self.index_to_pos = { + 0: Coordinate.zero(), + 1: Coordinate(x=1, y=2, z=3) # 添加 + } + self.name_to_index = {} + self.name_to_pos = {} + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + # TODO: 这里有些问题要重新写一下 + def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True): + assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子" + index = len(self.children) + location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0) + self.name_to_pos[resource.name] = location + self.name_to_index[resource.name] = index + return super().assign_child_resource(resource, location, reassign) + + def assign_child_resource_by_index(self, resource: Bottle, index: int): + assert 0 <= index < 12, "无效的瓶子索引" + self.name_to_index[resource.name] = index + location = self.index_to_pos[index] + return super().assign_child_resource(resource, location) + + def unassign_child_resource(self, resource: Bottle): + super().unassign_child_resource(resource) + self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) + + # def serialize(self): + # self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0)) + # return super().serialize() + + +class BottleState(TypedDict): + diameter: float + height: float + electrolyte_name: str + electrolyte_volume: float + max_volume: float + +class Bottle(Resource): + """瓶子类 - 容纳电解液""" + + def __init__( + self, + name: str, + category: str = "bottle", + ): + """初始化瓶子 + + Args: + name: 瓶子名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大体积 (μL) + barcode: 二维码 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BottleState = BottleState() + + def aspirate_electrolyte(self, volume: float) -> bool: + current_volume = self._unilabos_state["electrolyte_volume"] + assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." + self._unilabos_state["electrolyte_volume"] -= volume + return True + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +class 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 = 1620.0, # 3.66m + size_y: float = 1270.0, # 1.23m + size_z: float = 500.0, + origin: Coordinate = Coordinate(0, 0, 0), + category: str = "coin_cell_deck", + ): + """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) - 3.66m + size_y: 宽度 (mm) - 1.23m + size_z: 高度 (mm) + origin: 原点坐标 + category: 类别 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + origin=origin, + category=category, + ) + +#if __name__ == "__main__": +# # 转移极片的测试代码 +# deck = CoincellDeck("coin_cell_deck") +# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) +# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) +# +# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) +# for i, hole in enumerate(plate_1.children): +# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") +# sheet._unilabos_state = { +# "diameter": 14, +# "info": "NMC", +# "mass": 5.0, +# "material_type": "positive_electrode", +# "thickness": 0.1 +# } +# hole._unilabos_state = { +# "depth": 1.0, +# "diameter": 14, +# "info": "", +# "max_sheets": 1 +# } +# hole.assign_child_resource(sheet, Coordinate.zero()) +# plate_1._unilabos_state = { +# "hole_spacing_x": 20.0, +# "hole_spacing_y": 20.0, +# "hole_diameter": 5, +# "info": "这是第一块料板" +# } +# plate_1.update_locations() +# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) +# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) +# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) +# +# from unilabos.resources.graphio import * +# A = tree_to_list([resource_plr_to_ulab(deck)]) +# with open("test.json", "w") as f: +# json.dump(A, f) +# +# +#def get_plate_with_14mm_hole(name=""): +# plate = MaterialPlate(name=name) +# for i in range(4): +# for j in range(4): +# hole = MaterialHole(f"{i+1}x{j+1}") +# hole._unilabos_state["diameter"] = 14 +# hole._unilabos_state["max_sheets"] = 1 +# plate.assign_child_resource(hole) +# return plate + +import json + +if __name__ == "__main__": + #electrode1 = BatteryPressSlot() + #print(electrode1.get_size_x()) + #print(electrode1.get_size_y()) + #print(electrode1.get_size_z()) + #jipian = ElectrodeSheet() + #jipian._unilabos_state["diameter"] = 18 + #print(jipian.serialize()) + #print(jipian.serialize_state()) + + deck = CoincellDeck(size_x=1000, + size_y=1000, + size_z=900) + + #liaopan = TipBox64(name="liaopan") + + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) + #创建一个极片 + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian1_{i}", size_x= 12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) +# + #创建一个4*4的物料板 + liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) + + #创建一个4*4的物料板 + liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0)) + + + + #liaopan.children[3].assign_child_resource(jipian, location=None) + print(deck) + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "4d5ce6ae-7234-4639-834e-93899b9caf94" + BasicConfig.sk = "505d3b0a-620e-459a-9905-1efcffce382a" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly.py new file mode 100644 index 00000000..750a34fb --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly.py @@ -0,0 +1,1172 @@ +import csv +import json +import os +import threading +import time +from datetime import datetime +from typing import Any, Dict, Optional +from pylabrobot.resources import 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.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode + +#构建物料系统 + +class CoinCellAssemblyWorkstation(WorkstationBase): + def __init__( + self, + station_resource: CoincellDeck, + address: str = "192.168.1.20", + port: str = "502", + debug_mode: bool = True, + *args, + **kwargs, + ): + super().__init__( + #桌子 + station_resource=station_resource, + *args, + **kwargs, + ) + self.debug_mode = debug_mode + self.station_resource = station_resource + """ 连接初始化 """ + modbus_client = TCPClient(addr=address, port=port) + print("modbus_client", modbus_client) + if not debug_mode: + modbus_client.client.connect() + count = 100 + while count >0: + count -=1 + if modbus_client.client.is_socket_open(): + break + time.sleep(2) + if not modbus_client.client.is_socket_open(): + raise ValueError('modbus tcp connection failed') + else: + print("测试模式，跳过连接") + + """ 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 + self.coin_num_N = 0 #已组装电池数量 + #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] + #}) + + + def post_init(self, ros_node: ROS2WorkstationNode): + self._ros_node = ros_node + #self.deck = create_a_coin_cell_deck() + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + # 批量操作在这里写 + async def change_hole_sheet_to_2(self, hole: MaterialHole): + hole._unilabos_state["max_sheets"] = 2 + return await self._ros_node.update_resource(hole) + + + async def fill_plate(self): + plate_1: MaterialPlate = self.station_resource.children[0].children[0] + #plate_1 + return await self._ros_node.update_resource(plate_1) + + #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): + # """启动工作流""" + # self.current_workflow_status = WorkflowStatus.RUNNING + # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") +# + # # TODO: 实现工作流逻辑 +# + # anode_sheet = self.deck.get_resource("anode_sheet") + + """ Action逻辑代码 """ + def _sys_start_cmd(self, cmd=None): + """设备启动命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_START_CMD') + ret = node.write(cmd) + print(ret) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) + return cmd_feedback[0] + + def _sys_stop_cmd(self, cmd=None): + """设备停止命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_STOP_CMD') + node.write(cmd) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) + return cmd_feedback[0] + + def _sys_reset_cmd(self, cmd=None): + """设备复位命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) + return cmd_feedback[0] + + def _sys_hand_cmd(self, cmd=None): + """手动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) + self.success = True + print("步骤0") + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) + return cmd_feedback[0] + + def _sys_auto_cmd(self, cmd=None): + """自动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) + return cmd_feedback[0] + + def _sys_init_cmd(self, cmd=None): + """初始化命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_succ_cmd(self, cmd=None): + """UNILAB发送配方完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rec_msg_succ_cmd(self, cmd=None): + """UNILAB接收测试电池数据完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) + return cmd_feedback + + + # ====================== 命令类指令（REG_x_） ====================== + def _unilab_send_msg_electrolyte_num(self, num=None): + """UNILAB写电解液使用瓶数(可读写)""" + if num is not None: + self.success = False + ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + print(ret) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_use_num(self, use_num=None): + """UNILAB写单次电解液使用瓶数(可读写)""" + if use_num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) + self.success = True + return self.success + else: + return False + + def _unilab_send_msg_assembly_type(self, num=None): + """UNILAB写组装参数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_vol(self, vol=None): + """UNILAB写电解液吸取量参数""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + def _unilab_send_msg_assembly_pressure(self, vol=None): + """UNILAB写电池压制力""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + # ==================== 0905新增内容（COIL_x_STATUS） ==================== + def _unilab_send_electrolyte_bottle_num(self, num=None): + """UNILAB发送电解液瓶数完毕""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_rece_electrolyte_bottle_num(self, num=None): + """设备请求接受电解液瓶数""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _reg_msg_electrolyte_num(self, num=None): + """电解液已使用瓶数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _reg_data_electrolyte_use_num(self, num=None): + """单瓶电解液完成组装数""" + if num is not None: + self.success = False + self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_finished_cmd(self, num=None): + """Unilab发送已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rece_finished_cmd(self, num=None): + """Unilab接收已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) + return cmd_feedback[0] + + + + # ==================== 状态类属性（COIL_x_STATUS） ==================== + def _sys_start_status(self) -> bool: + """设备启动中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) + return status[0] + + def _sys_stop_status(self) -> bool: + """设备停止中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) + return status[0] + + def _sys_reset_status(self) -> bool: + """设备复位中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) + return status[0] + + def _sys_init_status(self) -> bool: + """设备初始化完成( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) + return status[0] + + # 查找资源 + def modify_deck_name(self, resource_name: str): + # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) + # print(f"!!! figure_res: {type(figure_res)}") + self.station_resource.children[1] + return + + @property + def sys_status(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_start_status(): + return "设备启动中" + elif self._sys_stop_status(): + return "设备停止中" + elif self._sys_reset_status(): + return "设备复位中" + elif self._sys_init_status(): + return "设备初始化中" + else: + return "未知状态" + + def _sys_hand_status(self) -> bool: + """设备手动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) + return status[0] + + def _sys_auto_status(self) -> bool: + """设备自动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) + return status[0] + + @property + def sys_mode(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_hand_status(): + return "设备手动模式" + elif self._sys_auto_status(): + return "设备自动模式" + else: + return "未知模式" + + @property + def request_rec_msg_status(self) -> bool: + """设备请求接受配方( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) + return status[0] + + @property + def request_send_msg_status(self) -> bool: + """设备请求发送测试数据( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) + return status[0] + + # ======================= 其他属性（特殊功能） ======================== + ''' + @property + def warning_1(self) -> bool: + status, read_err = self.client.use_node('COIL_WARNING_1').read(1) + return status[0] + ''' + # ===================== 生产数据区 ====================== + + @property + def data_assembly_coin_cell_num(self) -> int: + """已完成电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) + return num + + @property + def data_assembly_time(self) -> float: + """单颗电池组装时间 (秒, REAL/FLOAT32)""" + if self.debug_mode: + return 0 + time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) + return time + + @property + def data_open_circuit_voltage(self) -> float: + """开路电压值 (FLOAT32)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) + return vol + + @property + def data_axis_x_pos(self) -> float: + """分液X轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_y_pos(self) -> float: + """分液Y轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_z_pos(self) -> float: + """分液Z轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_pole_weight(self) -> float: + """当前电池正极片称重数据 (FLOAT32)""" + if self.debug_mode: + return 0 + weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) + return weight + + @property + def data_assembly_pressure(self) -> int: + """当前电池压制力 (INT16)""" + if self.debug_mode: + return 0 + pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) + return pressure + + @property + def data_electrolyte_volume(self) -> int: + """当前电解液加注量 (INT16)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) + return vol + + @property + def data_coin_num(self) -> int: + """当前电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) + return num + + @property + def data_coin_cell_code(self) -> str: + """电池二维码序列号 (STRING)""" + 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) + 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}") + return "N/A" + + + @property + def data_electrolyte_code(self) -> str: + 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) + 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}") + return "N/A" + + # ===================== 环境监控区 ====================== + @property + def data_glove_box_pressure(self) -> float: + """手套箱压力 (bar, FLOAT32)""" + if self.debug_mode: + return 0 + status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return status + + @property + def data_glove_box_o2_content(self) -> float: + """手套箱氧含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + + @property + def data_glove_box_water_content(self) -> float: + """手套箱水含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + +# @property +# def data_stack_vision_code(self) -> int: +# """物料堆叠复检图片编码 (INT16)""" +# if self.debug_mode: +# return 0 +# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) +# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type +# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) +# #print(code.type) +# # print(read_err) +# return int(code) + + def func_pack_device_init(self): + #切换手动模式 + print("切换手动模式") + self._sys_hand_cmd(True) + time.sleep(1) + while (self._sys_hand_status()) == False: + print("waiting for hand_cmd") + time.sleep(1) + #设备初始化 + self._sys_init_cmd(True) + time.sleep(1) + #sys_init_status为bool值，不加括号 + while (self._sys_init_status())== False: + print("waiting for init_cmd") + time.sleep(1) + #手动按钮置回False + self._sys_hand_cmd(False) + time.sleep(1) + while (self._sys_hand_cmd()) == True: + print("waiting for hand_cmd to False") + time.sleep(1) + #初始化命令置回False + self._sys_init_cmd(False) + time.sleep(1) + while (self._sys_init_cmd()) == True: + print("waiting for init_cmd to False") + time.sleep(1) + + def func_pack_device_auto(self): + #切换自动 + print("切换自动模式") + self._sys_auto_cmd(True) + time.sleep(1) + while (self._sys_auto_status()) == False: + print("waiting for auto_status") + time.sleep(1) + #自动按钮置False + self._sys_auto_cmd(False) + time.sleep(1) + while (self._sys_auto_cmd()) == True: + print("waiting for auto_cmd") + time.sleep(1) + + def func_pack_device_start(self): + #切换自动 + print("启动") + self._sys_start_cmd(True) + time.sleep(1) + while (self._sys_start_status()) == False: + print("waiting for start_status") + time.sleep(1) + #自动按钮置False + self._sys_start_cmd(False) + time.sleep(1) + while (self._sys_start_cmd()) == True: + print("waiting for start_cmd") + time.sleep(1) + + 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: + print("waiting for rece_electrolyte_bottle_num to True") + # self.client.use_node('8520').write(True) + time.sleep(1) + #发送电解液瓶数为2 + self._reg_msg_electrolyte_num(bottle_num) + time.sleep(1) + #完成信号置True + self._unilab_send_electrolyte_bottle_num(True) + time.sleep(1) + #检测到依华已接收 + while (self._unilab_rece_electrolyte_bottle_num()) == True: + print("waiting for rece_electrolyte_bottle_num to False") + time.sleep(1) + #完成信号置False + self._unilab_send_electrolyte_bottle_num(False) + time.sleep(1) + #自动按钮置False + + + # 下发参数 + #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: + # """UNILAB写参数""" + # while (self.request_rec_msg_status) == False: + # print("wait for res_msg") + # time.sleep(1) + # self.success = False + # self._unilab_send_msg_electrolyte_num(elec_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_use_num(elec_use_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_vol(elec_vol) + # time.sleep(1) + # self._unilab_send_msg_assembly_type(assembly_type) + # time.sleep(1) + # self._unilab_send_msg_assembly_pressure(assembly_pressure) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(True) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(False) + # #将允许读取标志位置True + # self.allow_data_read = True + # self.success = True + # return self.success + + 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) + #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: + print("wait for request_rec_msg_status to False") + time.sleep(1) + self._unilab_send_msg_succ_cmd(False) + #将允许读取标志位置True + self.allow_data_read = True + self.success = True + return self.success + + def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: + """UNILAB读参数""" + while self.request_send_msg_status == False: + print("waiting for send_read_msg_status to True") + time.sleep(1) + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + 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) + #接收完信息后，读取完毕标志位置True + liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") + #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.station_resource] + }) + + + self._unilab_rec_msg_succ_cmd(True) + time.sleep(1) + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd(False) + time.sleep(1) + #将允许读取标志位置True + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + #将数据存入csv文件 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + self.success = True + return self.success + + + + def func_pack_send_finished_cmd(self) -> bool: + """UNILAB写参数""" + while (self._unilab_rece_finished_cmd()) == False: + print("wait for rece_finished_cmd to True") + time.sleep(1) + self.success = False + self._unilab_send_finished_cmd(True) + time.sleep(1) + while (self._unilab_rece_finished_cmd()) == True: + print("wait for rece_finished_cmd to False") + time.sleep(1) + self._unilab_send_finished_cmd(False) + #将允许读取标志位置True + self.success = True + return self.success + + + + 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="D:\\coin_cell_data") -> 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: + reader = csv.reader(csvfile) + header = next(reader) # 跳过标题行 + data_row = next(reader) # 读取数据行 + if len(data_row) >= 2: + elec_num_r = int(data_row[0]) + elec_use_num_r = int(data_row[1]) + elec_num_N = int(data_row[2]) + elec_use_num_N = int(data_row[3]) + coin_num_N = int(data_row[4]) + if elec_num_r == elec_num and elec_use_num_r == elec_use_num: + print("断点文件与当前任务匹配，继续") + else: + print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") + return False + print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") + + else: + read_status_flag = False + print("未找到断点文件，从头开始") + elec_num_N = 0 + elec_use_num_N = 0 + coin_num_N = 0 + 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() + #切换自动 + #self.func_pack_device_auto() + #启动，小车收回 + #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) + 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, 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) + # 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 + + + + # 生成断点文件 + # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) + 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 + + #循环正常结束，则删除断点文件 + os.remove(summary_csv_file) + #全部完成后等待依华发送完成信号 + self.func_pack_send_finished_cmd() + + + def func_pack_device_stop(self) -> bool: + """打包指令：设备停止""" + for i in range(3): + time.sleep(2) + print(f"输出{i}") + #print("_sys_hand_cmd", self._sys_hand_cmd()) + #time.sleep(1) + #print("_sys_hand_status", self._sys_hand_status()) + #time.sleep(1) + #print("_sys_init_cmd", self._sys_init_cmd()) + #time.sleep(1) + #print("_sys_init_status", self._sys_init_status()) + #time.sleep(1) + #print("_sys_auto_status", self._sys_auto_status()) + #time.sleep(1) + #print("data_axis_y_pos", self.data_axis_y_pos) + #time.sleep(1) + #self.success = False + #with open('action_device_stop.json', 'r', encoding='utf-8') as f: + # action_json = json.load(f) + #self.client.execute_procedure_from_json(action_json) + #self.success = True + #return self.success + + def fun_wuliao_test(self) -> bool: + #找到data_init中构建的2个物料盘 + liaopan3 = self.station_resource.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.station_resource] + }) + time.sleep(4) + # 数据读取与输出 + def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): + # 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" + + #若不存在该目录则创建 + if not os.path.exists(file_path): + os.makedirs(file_path) + print(f"创建目录: {file_path}") + + # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 + while self.allow_data_read: + + #函数运行标志位，确保只同时启动一个导出函数 + self.csv_export_running = True + + #等待接收结果标志位置True + while self.request_send_msg_status == False: + print("waiting for send_msg_status to True") + time.sleep(1) + #日期时间戳用于按天存放csv文件 + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + + #接收信息 + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + # 电解液瓶位置 + elec_bottle_site = 2 + # 极片夹取位置(应当通过寄存器读光标) + Pos_elec_site = 0 + Al_elec_site = 0 + Gasket_site = 0 + + #接收完信息后，读取完毕标志位置True + self._unilab_rec_msg_succ_cmd()# = True + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd()# = False + + #此处操作物料信息（如果中途报错停止，如何） + #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） + #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） + + #物料读取操作写在这里 + #在这里进行物料调取 + #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） + # transfer_bottle(deck, elec_bottle_site) + # #找到电解液瓶的对象 + # electrolyte_rack = deck.get_resource("electrolyte_rack") + # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] + # # TODO: 瓶子取液体操作需要加入 +# +# + # #找到压制工站对应的对象 + # battery_press_slot = deck.get_resource("battery_press_1") + # #创建一个新电池 + # test_battery = Battery( + # name=f"test_battery_{data_coin_num}", + # diameter=20.0, # 与压制槽直径匹配 + # height=3.0, # 电池高度 + # max_volume=100.0, # 100μL容量 + # barcode=data_coin_cell_code, # 电池条码 + # ) + # if battery_press_slot.has_battery(): + # return False, "压制工站已有电池，无法放置新电池" + # #在压制位放置电池 + # battery_press_slot.place_battery(test_battery) + # #从第一个子弹夹中取料 + # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) + # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) + # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) + # + # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") + # + # # 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(): + # battery = battery_site.take_battery() #从压制槽取出电池 + # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 +# +# +# +# + # # 保存配置到文件 + # self.deck.save("button_battery_station_layout.json", indent=2) + # print("\n台面配置已保存到: button_battery_station_layout.json") + # + # # 保存状态到文件 + # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) + # print("台面状态已保存到: button_battery_station_state.json") + + + + + + + #将数据写入csv中 + #如当前目录下无同名文件则新建一个csv用于存放数据 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + + # 只要不在自动模式运行中，就将允许标志位置False + if self.sys_auto_status == False or self.sys_start_status == False: + self.allow_data_read = False + self.csv_export_running = False + time.sleep(1) + + def func_stop_read_data(self): + """停止CSV导出""" + if not self.csv_export_running: + return False, "read data未在运行" + + self.csv_export_running = False + self.allow_data_read = False + + if self.csv_export_thread and self.csv_export_thread.is_alive(): + self.csv_export_thread.join(timeout=5) + + def func_get_csv_export_status(self): + """获取CSV导出状态""" + return { + 'allow_read': self.allow_data_read, + 'running': self.csv_export_running, + 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False + } + + + ''' + # ===================== 物料管理区 ====================== + @property + def data_material_inventory(self) -> int: + """主物料库存 (数量, INT16)""" + inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) + return inventory + + @property + def data_tips_inventory(self) -> int: + """移液枪头库存 (数量, INT16)""" + inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) + return inventory + + ''' + + +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() + #deck = create_a_full_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) + + liaopan1 = deck.get_resource("liaopan1") + liaopan2 = deck.get_resource("liaopan2") + for i in range(16): + #找到liaopan1上每一个jipian + jipian_linshi = liaopan1.children[i].children[0] + #把物料解绑后放到另一盘上 + print("极片:", jipian_linshi) + jipian_linshi.parent.unassign_child_resource(jipian_linshi) + liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) + + + from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type + #with open("./button_battery_station_resources_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) + + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" + BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly_a.csv new file mode 100644 index 00000000..836fb712 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly_a.csv @@ -0,0 +1,63 @@ +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,,ʹ,,coil,8340, +REG_MSG_NE_PLATE_MATRIX,INT16,,Ƭλ,,hold_register,440, +REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,Ĥλ,,hold_register,450, +REG_MSG_TIP_BOX_MATRIX,INT16,,Һǹͷλ,,hold_register,480, +REG_MSG_NE_PLATE_NUM,INT16,,Ƭ,,hold_register,443, 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a/unilabos/devices/workstation/coin_cell_assembly/workstation_base.py b/unilabos/devices/workstation/coin_cell_assembly/workstation_base.py new file mode 100644 index 00000000..65b34a93 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/workstation_base.py @@ -0,0 +1,489 @@ +""" +工作站基类 +Workstation Base Class - 简化版 + +基于PLR Deck的简化工作站架构 +专注于核心物料系统和工作流管理 +""" + +import collections +import time +from typing import Dict, Any, List, Optional, Union +from abc import ABC, abstractmethod +from dataclasses import dataclass +from enum import Enum +from pylabrobot.resources import Deck, Plate, Resource as PLRResource + +from pylabrobot.resources.coordinate import Coordinate +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode + +from unilabos.utils.log import logger + + +class WorkflowStatus(Enum): + """工作流状态""" + + IDLE = "idle" + INITIALIZING = "initializing" + RUNNING = "running" + PAUSED = "paused" + STOPPING = "stopping" + STOPPED = "stopped" + ERROR = "error" + COMPLETED = "completed" + + +@dataclass +class WorkflowInfo: + """工作流信息""" + + name: str + description: str + estimated_duration: float # 预估持续时间（秒） + required_materials: List[str] # 所需物料类型 + output_product: str # 输出产品类型 + parameters_schema: Dict[str, Any] # 参数架构 + + +class WorkStationContainer(Plate): + """ + WorkStation 专用 Container 类，继承自 Plate和TipRack + 注意这个物料必须通过plr_additional_res_reg.py注册到edge，才能正常序列化 + """ + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str, + ordering: collections.OrderedDict, + model: Optional[str] = None, + ): + """ + 这里的初始化入参要和plr的保持一致 + """ + super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model) + self._unilabos_state = {} # 必须有此行，自己的类描述的是物料的 + + def load_state(self, state: Dict[str, Any]) -> None: + """从给定的状态加载工作台信息。""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + 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 get_workstation_plate_resource(name: str) -> PLRResource: # 要给定一个返回plr的方法 + """ + 用于获取一些模板，例如返回一个带有特定信息/子物料的 Plate，这里需要到注册表注册，例如unilabos/registry/resources/organic/workstation.yaml + 可以直接运行该函数或者利用注册表补全机制，来检查是否资源出错 + :param name: 资源名称 + :return: Resource对象 + """ + plate = WorkStationContainer( + name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict() + ) + tip_rack = WorkStationContainer( + "tip_rack_inside_plate", + size_x=50, + size_y=50, + size_z=10, + category="tip_rack", + ordering=collections.OrderedDict(), + ) + plate.assign_child_resource(tip_rack, Coordinate.zero()) + return plate + + +class ResourceSynchronizer(ABC): + """资源同步器基类 + + 负责与外部物料系统的同步，并对 self.deck 做修改 + """ + + def __init__(self, workstation: "WorkstationBase"): + self.workstation = workstation + + @abstractmethod + async def sync_from_external(self) -> bool: + """从外部系统同步物料到本地deck""" + pass + + @abstractmethod + async def sync_to_external(self, plr_resource: PLRResource) -> bool: + """将本地物料同步到外部系统""" + pass + + @abstractmethod + async def handle_external_change(self, change_info: Dict[str, Any]) -> bool: + """处理外部系统的变更通知""" + pass + + +class WorkstationBase(ABC): + """工作站基类 - 简化版 + + 核心功能： + 1. 基于 PLR Deck 的物料系统，支持格式转换 + 2. 可选的资源同步器支持外部物料系统 + 3. 简化的工作流管理 + """ + + _ros_node: ROS2WorkstationNode + + @property + def _children(self) -> Dict[str, Any]: # 不要删除这个下划线，不然会自动导入注册表，后面改成装饰器识别 + return self._ros_node.children + + async def update_resource_example(self): + return await self._ros_node.update_resource([get_workstation_plate_resource("test")]) + + def __init__( + self, + station_resource: PLRResource, + *args, + **kwargs, # 必须有kwargs + ): + # 基本配置 + print(station_resource) + self.deck_config = station_resource + + # PLR 物料系统 + self.deck: Optional[Deck] = None + self.plr_resources: Dict[str, PLRResource] = {} + + # 资源同步器（可选） + # self.resource_synchronizer = ResourceSynchronizer(self) # 要在driver中自行初始化，只有workstation用 + + # 硬件接口 + self.hardware_interface: Union[Any, str] = None + + # 工作流状态 + self.current_workflow_status = WorkflowStatus.IDLE + self.current_workflow_info = None + self.workflow_start_time = None + self.workflow_parameters = {} + + # 支持的工作流（静态预定义） + self.supported_workflows: Dict[str, WorkflowInfo] = {} + + # 初始化物料系统 + self._initialize_material_system() + + # 注册支持的工作流 + # self._register_supported_workflows() + + # logger.info(f"工作站 {device_id} 初始化完成（简化版）") + + def _initialize_material_system(self): + """初始化物料系统 - 使用 graphio 转换""" + try: + from unilabos.resources.graphio import resource_ulab_to_plr + + # # 1. 合并 deck_config 和 children 创建完整的资源树 + # complete_resource_config = self._create_complete_resource_config() + + # # 2. 使用 graphio 转换为 PLR 资源 + # self.deck = resource_ulab_to_plr(complete_resource_config, plr_model=True) + + # # 3. 建立资源映射 + # self._build_resource_mappings(self.deck) + + # # 4. 如果有资源同步器，执行初始同步 + # if self.resource_synchronizer: + # # 这里可以异步执行，暂时跳过 + # pass + + # logger.info(f"工作站 {self.device_id} 物料系统初始化成功，创建了 {len(self.plr_resources)} 个资源") + pass + except Exception as e: + # logger.error(f"工作站 {self.device_id} 物料系统初始化失败: {e}") + raise + + def _create_complete_resource_config(self) -> Dict[str, Any]: + """创建完整的资源配置 - 合并 deck_config 和 children""" + # 创建主 deck 配置 + deck_resource = { + "id": f"{self.device_id}_deck", + "name": f"{self.device_id}_deck", + "type": "deck", + "position": {"x": 0, "y": 0, "z": 0}, + "config": { + "size_x": self.deck_config.get("size_x", 1000.0), + "size_y": self.deck_config.get("size_y", 1000.0), + "size_z": self.deck_config.get("size_z", 100.0), + **{k: v for k, v in self.deck_config.items() if k not in ["size_x", "size_y", "size_z"]}, + }, + "data": {}, + "children": [], + "parent": None, + } + + # 添加子资源 + if self._children: + children_list = [] + for child_id, child_config in self._children.items(): + child_resource = self._normalize_child_resource(child_id, child_config, deck_resource["id"]) + children_list.append(child_resource) + deck_resource["children"] = children_list + + return deck_resource + + def _normalize_child_resource(self, resource_id: str, config: Dict[str, Any], parent_id: str) -> Dict[str, Any]: + """标准化子资源配置""" + return { + "id": resource_id, + "name": config.get("name", resource_id), + "type": config.get("type", "container"), + "position": self._normalize_position(config.get("position", {})), + "config": config.get("config", {}), + "data": config.get("data", {}), + "children": [], # 简化版本：只支持一层子资源 + "parent": parent_id, + } + + def _normalize_position(self, position: Any) -> Dict[str, float]: + """标准化位置信息""" + if isinstance(position, dict): + return { + "x": float(position.get("x", 0)), + "y": float(position.get("y", 0)), + "z": float(position.get("z", 0)), + } + elif isinstance(position, (list, tuple)) and len(position) >= 2: + return { + "x": float(position[0]), + "y": float(position[1]), + "z": float(position[2]) if len(position) > 2 else 0.0, + } + else: + return {"x": 0.0, "y": 0.0, "z": 0.0} + + def _build_resource_mappings(self, deck: Deck): + """递归构建资源映射""" + + def add_resource_recursive(resource: PLRResource): + if hasattr(resource, "name"): + self.plr_resources[resource.name] = resource + + if hasattr(resource, "children"): + for child in resource.children: + add_resource_recursive(child) + + add_resource_recursive(deck) + + # ============ 硬件接口管理 ============ + + def set_hardware_interface(self, hardware_interface: Union[Any, str]): + """设置硬件接口""" + self.hardware_interface = hardware_interface + logger.info(f"工作站 {self.device_id} 硬件接口设置: {type(hardware_interface).__name__}") + + def set_workstation_node(self, workstation_node: "ROS2WorkstationNode"): + """设置协议节点引用（用于代理模式）""" + self._ros_node = workstation_node + logger.info(f"工作站 {self.device_id} 关联协议节点") + + # ============ 设备操作接口 ============ + + def call_device_method(self, method: str, *args, **kwargs) -> Any: + """调用设备方法的统一接口""" + # 1. 代理模式：通过协议节点转发 + if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"): + if not self._ros_node: + raise RuntimeError("代理模式需要设置workstation_node") + + device_id = self.hardware_interface[6:] # 移除 "proxy:" 前缀 + return self._ros_node.call_device_method(device_id, method, *args, **kwargs) + + # 2. 直接模式：直接调用硬件接口方法 + elif self.hardware_interface and hasattr(self.hardware_interface, method): + return getattr(self.hardware_interface, method)(*args, **kwargs) + + else: + raise AttributeError(f"硬件接口不支持方法: {method}") + + def get_device_status(self) -> Dict[str, Any]: + """获取设备状态""" + try: + return self.call_device_method("get_status") + except AttributeError: + # 如果设备不支持get_status方法，返回基础状态 + return { + "status": "unknown", + "interface_type": type(self.hardware_interface).__name__, + "timestamp": time.time(), + } + + def is_device_available(self) -> bool: + """检查设备是否可用""" + try: + self.get_device_status() + return True + except: + return False + + # ============ 物料系统接口 ============ + + def get_deck(self) -> Deck: + """获取主 Deck""" + return self.deck + + def get_all_resources(self) -> Dict[str, PLRResource]: + """获取所有 PLR 资源""" + return self.plr_resources.copy() + + def find_resource_by_name(self, name: str) -> Optional[PLRResource]: + """按名称查找资源""" + return self.plr_resources.get(name) + + def find_resources_by_type(self, resource_type: type) -> List[PLRResource]: + """按类型查找资源""" + return [res for res in self.plr_resources.values() if isinstance(res, resource_type)] + + async def sync_with_external_system(self) -> bool: + """与外部物料系统同步""" + if not self.resource_synchronizer: + logger.info(f"工作站 {self.device_id} 没有配置资源同步器") + return True + + try: + success = await self.resource_synchronizer.sync_from_external() + if success: + logger.info(f"工作站 {self.device_id} 外部同步成功") + else: + logger.warning(f"工作站 {self.device_id} 外部同步失败") + return success + except Exception as e: + logger.error(f"工作站 {self.device_id} 外部同步异常: {e}") + return False + + # ============ 简化的工作流控制 ============ + + def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: + """执行工作流""" + try: + # 设置工作流状态 + self.current_workflow_status = WorkflowStatus.INITIALIZING + self.workflow_parameters = parameters + self.workflow_start_time = time.time() + + # 委托给子类实现 + success = self._execute_workflow_impl(workflow_name, parameters) + + if success: + self.current_workflow_status = WorkflowStatus.RUNNING + logger.info(f"工作站 {self.device_id} 工作流 {workflow_name} 启动成功") + else: + self.current_workflow_status = WorkflowStatus.ERROR + logger.error(f"工作站 {self.device_id} 工作流 {workflow_name} 启动失败") + + return success + + except Exception as e: + self.current_workflow_status = WorkflowStatus.ERROR + logger.error(f"工作站 {self.device_id} 执行工作流失败: {e}") + return False + + def stop_workflow(self, emergency: bool = False) -> bool: + """停止工作流""" + try: + if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]: + logger.warning(f"工作站 {self.device_id} 没有正在运行的工作流") + return True + + self.current_workflow_status = WorkflowStatus.STOPPING + + # 委托给子类实现 + success = self._stop_workflow_impl(emergency) + + if success: + self.current_workflow_status = WorkflowStatus.STOPPED + logger.info(f"工作站 {self.device_id} 工作流停止成功 (紧急: {emergency})") + else: + self.current_workflow_status = WorkflowStatus.ERROR + logger.error(f"工作站 {self.device_id} 工作流停止失败") + + return success + + except Exception as e: + self.current_workflow_status = WorkflowStatus.ERROR + logger.error(f"工作站 {self.device_id} 停止工作流失败: {e}") + return False + + # ============ 状态属性 ============ + + @property + def workflow_status(self) -> WorkflowStatus: + """获取当前工作流状态""" + return self.current_workflow_status + + @property + def is_busy(self) -> bool: + """检查工作站是否忙碌""" + return self.current_workflow_status in [ + WorkflowStatus.INITIALIZING, + WorkflowStatus.RUNNING, + WorkflowStatus.STOPPING, + ] + + @property + def workflow_runtime(self) -> float: + """获取工作流运行时间（秒）""" + if self.workflow_start_time is None: + return 0.0 + return time.time() - self.workflow_start_time + + # ============ 抽象方法 - 子类必须实现 ============ + + # @abstractmethod + # def _register_supported_workflows(self): + # """注册支持的工作流 - 子类必须实现""" + # pass + + # @abstractmethod + # def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: + # """执行工作流的具体实现 - 子类必须实现""" + # pass + + # @abstractmethod + # def _stop_workflow_impl(self, emergency: bool = False) -> bool: + # """停止工作流的具体实现 - 子类必须实现""" + # pass + +class WorkstationExample(WorkstationBase): + """工作站示例实现""" + + def _register_supported_workflows(self): + """注册支持的工作流""" + self.supported_workflows["example_workflow"] = WorkflowInfo( + name="example_workflow", + description="这是一个示例工作流", + estimated_duration=300.0, + required_materials=["sample_plate"], + output_product="processed_plate", + parameters_schema={"param1": "string", "param2": "integer"}, + ) + + def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: + """执行工作流的具体实现""" + if workflow_name not in self.supported_workflows: + logger.error(f"工作站 {self.device_id} 不支持工作流: {workflow_name}") + return False + + # 这里添加实际的工作流逻辑 + logger.info(f"工作站 {self.device_id} 正在执行工作流: {workflow_name} with parameters {parameters}") + return True + + def _stop_workflow_impl(self, emergency: bool = False) -> bool: + """停止工作流的具体实现""" + # 这里添加实际的停止逻辑 + logger.info(f"工作站 {self.device_id} 正在停止工作流 (紧急: {emergency})") + return True \ No newline at end of file diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml index 380c3f64..ba076917 100644 --- a/unilabos/registry/devices/work_station.yaml +++ b/unilabos/registry/devices/work_station.yaml @@ -1,3 +1,517 @@ +bettery_station_registry: + category: + - work_station + class: + action_value_mappings: + auto-change_hole_sheet_to_2: + feedback: {} + goal: {} + goal_default: + hole: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + hole: + type: object + required: + - hole + type: object + result: {} + required: + - goal + title: change_hole_sheet_to_2参数 + type: object + type: UniLabJsonCommandAsync + auto-fill_plate: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fill_plate参数 + type: object + type: UniLabJsonCommandAsync + auto-fun_wuliao_test: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fun_wuliao_test参数 + type: object + type: UniLabJsonCommand + auto-func_allpack_cmd: + feedback: {} + goal: {} + goal_default: + assembly_pressure: 4200 + assembly_type: 7 + elec_num: null + elec_use_num: null + elec_vol: 50 + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + assembly_pressure: + default: 4200 + type: integer + assembly_type: + default: 7 + type: integer + elec_num: + type: string + elec_use_num: + type: string + elec_vol: + default: 50 + type: integer + file_path: + default: D:\coin_cell_data + type: string + required: + - elec_num + - elec_use_num + type: object + result: {} + required: + - goal + title: func_allpack_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_get_csv_export_status: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_get_csv_export_status参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_auto: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_auto参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_init: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_init参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_start参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_stop: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_stop参数 + type: object + type: UniLabJsonCommand + auto-func_pack_get_msg_cmd: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_pack_get_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_bottle_num: + feedback: {} + goal: {} + goal_default: + bottle_num: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + bottle_num: + type: string + required: + - bottle_num + type: object + result: {} + required: + - goal + title: func_pack_send_bottle_num参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_finished_cmd: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_send_finished_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_msg_cmd: + feedback: {} + goal: {} + goal_default: + assembly_pressure: null + assembly_type: null + elec_use_num: null + elec_vol: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + assembly_pressure: + type: string + assembly_type: + type: string + elec_use_num: + type: string + elec_vol: + type: string + required: + - elec_use_num + - elec_vol + - assembly_type + - assembly_pressure + type: object + result: {} + required: + - goal + title: func_pack_send_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_read_data_and_output: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_read_data_and_output参数 + type: object + type: UniLabJsonCommand + auto-func_stop_read_data: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_stop_read_data参数 + type: object + type: UniLabJsonCommand + auto-modify_deck_name: + feedback: {} + goal: {} + goal_default: + resource_name: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + resource_name: + type: string + required: + - resource_name + type: object + result: {} + required: + - goal + title: modify_deck_name参数 + type: object + type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation + status_types: + data_assembly_coin_cell_num: int + data_assembly_pressure: int + data_assembly_time: float + data_axis_x_pos: float + data_axis_y_pos: float + data_axis_z_pos: float + data_coin_cell_code: str + data_coin_num: int + data_electrolyte_code: str + data_electrolyte_volume: int + data_glove_box_o2_content: float + data_glove_box_pressure: float + data_glove_box_water_content: float + data_open_circuit_voltage: float + data_pole_weight: float + request_rec_msg_status: bool + request_send_msg_status: bool + sys_mode: str + sys_status: str + type: python + config_info: [] + description: '' + handles: [] + icon: '' + init_param_schema: + config: + properties: + address: + default: 192.168.1.20 + type: string + debug_mode: + default: true + type: boolean + port: + default: '502' + type: string + station_resource: + type: object + required: + - station_resource + type: object + data: + properties: + data_assembly_coin_cell_num: + type: integer + data_assembly_pressure: + type: integer + data_assembly_time: + type: number + data_axis_x_pos: + type: number + data_axis_y_pos: + type: number + data_axis_z_pos: + type: number + data_coin_cell_code: + type: string + data_coin_num: + type: integer + data_electrolyte_code: + type: string + data_electrolyte_volume: + type: integer + data_glove_box_o2_content: + type: number + data_glove_box_pressure: + type: number + data_glove_box_water_content: + type: number + data_open_circuit_voltage: + type: number + data_pole_weight: + type: number + request_rec_msg_status: + type: boolean + request_send_msg_status: + type: boolean + sys_mode: + type: string + sys_status: + type: string + required: + - sys_status + - sys_mode + - request_rec_msg_status + - request_send_msg_status + - data_assembly_coin_cell_num + - data_assembly_time + - data_open_circuit_voltage + - data_axis_x_pos + - data_axis_y_pos + - data_axis_z_pos + - data_pole_weight + - data_assembly_pressure + - data_electrolyte_volume + - data_coin_num + - data_coin_cell_code + - data_electrolyte_code + - data_glove_box_pressure + - data_glove_box_o2_content + - data_glove_box_water_content + type: object + version: 1.0.0 workstation: category: - work_station @@ -6024,9 +6538,97 @@ workstation: title: WashSolid type: object type: WashSolid - module: unilabos.devices.workstation.workstation_base:ProtocolNode + auto-create_ros_action_server: + feedback: {} + goal: {} + goal_default: + action_name: null + action_value_mapping: null + handles: {} + result: {} + schema: + description: create_ros_action_server的参数schema + properties: + feedback: {} + goal: + properties: + action_name: + type: string + action_value_mapping: + type: string + required: + - action_name + - action_value_mapping + type: object + result: {} + required: + - goal + title: create_ros_action_server参数 + type: object + type: UniLabJsonCommand + auto-execute_single_action: + feedback: {} + goal: {} + goal_default: + action_kwargs: null + action_name: null + device_id: null + handles: {} + result: {} + schema: + description: execute_single_action的参数schema + properties: + feedback: {} + goal: + properties: + action_kwargs: + type: string + action_name: + type: string + device_id: + type: string + required: + - device_id + - action_name + - action_kwargs + type: object + result: {} + required: + - goal + title: execute_single_action参数 + type: object + type: UniLabJsonCommandAsync + auto-initialize_device: + feedback: {} + goal: {} + goal_default: + device_config: null + device_id: null + handles: {} + result: {} + schema: + description: initialize_device的参数schema + properties: + feedback: {} + goal: + properties: + device_config: + type: string + device_id: + type: string + required: + - device_id + - device_config + type: object + result: {} + required: + - goal + title: initialize_device参数 + type: object + type: UniLabJsonCommand + module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode status_types: {} - type: python + type: ros2 config_info: [] description: Workstation handles: [] @@ -6034,437 +6636,63 @@ workstation: init_param_schema: config: properties: - deck: + action_value_mappings: + type: object + children: + type: object + device_id: type: string + driver_instance: + type: string + hardware_interface: + type: object + print_publish: + default: true + type: string + protocol_type: + items: + type: string + type: array + resource_tracker: + type: string + status_types: + type: object required: - - deck + - protocol_type + - children + - driver_instance + - device_id + - status_types + - action_value_mappings + - hardware_interface type: object data: properties: {} required: [] type: object version: 1.0.0 -workstation.bioyond: +workstation.example: category: - work_station class: - action_value_mappings: - auto-append_to_workflow_sequence: - feedback: {} - goal: {} - goal_default: - web_workflow_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - web_workflow_name: - type: string - required: - - web_workflow_name - type: object - result: {} - required: - - goal - title: append_to_workflow_sequence参数 - type: object - type: UniLabJsonCommand - auto-clear_workflows: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: clear_workflows参数 - type: object - type: UniLabJsonCommand - auto-load_bioyond_data_from_file: - feedback: {} - goal: {} - goal_default: - file_path: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - file_path: - type: string - required: - - file_path - type: object - result: {} - required: - - goal - title: load_bioyond_data_from_file参数 - type: object - type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand - auto-process_web_workflows: - feedback: {} - goal: {} - goal_default: - json_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - json_str: - type: string - required: - - json_str - type: object - result: {} - required: - - goal - title: process_web_workflows参数 - type: object - type: UniLabJsonCommand - auto-reset_workstation: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: reset_workstation参数 - type: object - type: UniLabJsonCommand - auto-resource_tree_add: - feedback: {} - goal: {} - goal_default: - resources: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - resources: - items: - type: object - type: array - required: - - resources - type: object - result: {} - required: - - goal - title: resource_tree_add参数 - type: object - type: UniLabJsonCommand - auto-set_workflow_sequence: - feedback: {} - goal: {} - goal_default: - json_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - json_str: - type: string - required: - - json_str - type: object - result: {} - required: - - goal - title: set_workflow_sequence参数 - type: object - type: UniLabJsonCommand - auto-transfer_resource_to_another: - feedback: {} - goal: {} - goal_default: - mount_device_id: null - mount_resource: null - resource: null - sites: null - handles: {} - placeholder_keys: - mount_device_id: unilabos_devices - mount_resource: unilabos_resources - resource: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - mount_device_id: - type: object - mount_resource: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: mount_resource - type: object - type: array - resource: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: resource - type: object - type: array - sites: - items: - type: string - type: array - required: - - resource - - mount_resource - - sites - - mount_device_id - type: object - result: {} - required: - - goal - title: transfer_resource_to_another参数 - type: object - type: UniLabJsonCommand - module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation - status_types: - all_workflows: dict - bioyond_status: dict - station_info: dict - workstation_status: dict + action_value_mappings: {} + module: unilabos.devices.workstation.workstation_base:WorkstationExample + status_types: {} type: python config_info: [] description: '' handles: [] - icon: 反应站.webp + icon: '' init_param_schema: config: properties: - bioyond_config: - type: string - deck: - type: string - required: [] - type: object - data: - properties: - all_workflows: - type: object - bioyond_status: - type: object - station_info: - type: object - workstation_status: + station_resource: type: object required: - - bioyond_status - - all_workflows - - station_info - - workstation_status + - station_resource + type: object + data: + properties: {} + required: [] type: object version: 1.0.0