From d2352cc51487b86c385b6d40f75b5d89748c1351 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Mon, 20 Oct 2025 12:48:19 +0800 Subject: [PATCH] =?UTF-8?q?1020=5FYB=E5=A5=94=E8=80=80=E4=BB=BF=E7=9C=9F?= =?UTF-8?q?=E6=9C=BA=E5=90=8C=E6=AD=A5=E5=AF=B9=E9=BD=90dev=5Funilab?= =?UTF-8?q?=E5=8F=AF=E6=8E=A7?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 待修改unilab的http服务 --- ..._cellconfig4.json => bioyond_yihua_YB.json | 18 +- .../bioyond_cell/2025092701.xlsx | Bin 0 -> 9287 bytes .../bioyond_cell/bioyond_cell_workstation.py | 681 + .../bioyond_material_management.py | 374 + .../bioyond_cell/bioyond_workstation copy.py | 715 + .../bioyond_cell/bioyond_yihua_YB.json | 14492 ++++++++++++++++ .../bioyond_cell/样品导入模板.xlsx | Bin 0 -> 22007 bytes .../coin_cell_assembly/__init__.py | 0 .../button_battery_station.py | 1289 -- .../coin_cell_assembly/coin_cell_assembly.py | 1142 -- unilabos/registry/devices/bioyond.yaml | 3 + unilabos/registry/devices/bioyond_cell.yaml | 834 + .../devices/characterization_chromatic.yaml | 228 - .../devices/characterization_optic.yaml | 195 +- .../devices/reaction_station_bioyond.yaml | 31 +- .../registry/devices/robot_linear_motion.yaml | 171 - unilabos/registry/devices/work_station.yaml | 31 +- unilabos/registry/resources/bioyond/deck.yaml | 12 + unilabos/resources/bioyond/decks.py | 60 +- unilabos/resources/bioyond/warehouses.py | 116 +- 20 files changed, 17306 insertions(+), 3086 deletions(-) rename unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json => bioyond_yihua_YB.json (99%) create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_material_management.py create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx 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/coin_cell_assembly.py create mode 100644 unilabos/registry/devices/bioyond_cell.yaml diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json b/bioyond_yihua_YB.json similarity index 99% rename from unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json rename to bioyond_yihua_YB.json index 7e371327..1cd7f00f 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json +++ b/bioyond_yihua_YB.json @@ -1,8 +1,22 @@ { "nodes": [ + { + "id": "bioyond_cell_workstation", + "name": "配液分液工站", + "children": [ + ], + "parent": null, + "type": "device", + "class": "bioyond_cell", + "config": { + "protocol_type": [], + "station_resource": {} + }, + "data": {} + }, { "id": "BatteryStation", - "name": "扣电工作站", + "name": "扣电组装工作站", "children": [ "coin_cell_deck" ], @@ -15,7 +29,7 @@ "z": 0 }, "config": { - "debug_mode": false, + "debug_mode": true, "_comment": "protocol_type接外部工站固定写法字段，一般为空，deck写法也固定", "protocol_type": [], "deck": { diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx new file mode 100644 index 0000000000000000000000000000000000000000..3ce894f1e5033c9a9bbfc0b61024bce1ce3fbf49 GIT binary patch literal 9287 zcmeHtg;yNe_I2Z~jXMOF-~k%f1b2eFGz1IonxG*#1P$&D!3pk8fDj-!1lPuc1%5r5 znQvw?@B0hhyS@6})vIcsRb6%V+2@{9YKjPm1OQ|JDgXeW1(+XYfsNq+fH*_|00=;Z 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typing import Dict, Any, List, Optional +import requests +from pathlib import Path +import pandas as pd +import time +from datetime import datetime, timedelta +import re +import threading + +from urllib3 import response +from unilabos.devices.workstation.workstation_base import WorkstationBase +from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService +from unilabos.utils.log import logger +from pylabrobot.resources.deck import Deck + +def _iso_local_now_ms() -> str: + # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z + dt = datetime.now() + # print(dt) + return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z" + + +class BioyondCellWorkstation(WorkstationBase): + """ + 集成 Bioyond LIMS 的工作站示例， + 覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) → + 运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) → + 查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28) + """ + + def __init__( + self, + bioyond_config: Optional[Dict[str, Any]] = None, + station_resource: Optional[Dict[str, Any]] = None, + *args, **kwargs, + ): + + self.bioyond_config = bioyond_config or { + "base_url": "http://172.16.11.219:44388", + "api_key": "8A819E5C", + "timeout": 30, + "report_token": "CHANGE_ME_TOKEN", + "HTTP_host": "192.168.1.104", + "HTTP_port": 8080, + "debug_mode": False + } # report_token ：unilab自己的令牌report_token（0928未启用） + self.debug_mode = self.bioyond_config["debug_mode"] + self.http_service_started = False + super().__init__(station_resource=station_resource, *args, **kwargs) + logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})") + + # 实例化并在后台线程启动 HTTP 报送服务 + self.order_status = {} # 记录任务完成情况，用于接受bioyond post信息和反馈信息，尤其用于硬件查询和物料信息变化 + try: + logger.info("准备开始unilab_HTTP后台线程") + t = threading.Thread(target=self._start_http_service, daemon=True, name="unilab_http") + t.start() + except Exception as e: + logger.error(f"unilab-HTTP后台线程启动失败: {e}") + + def _start_http_service(self, host: Optional[str] = None, port: Optional[int] = None) -> None: + host = host or self.bioyond_config.get("HTTP_host", "") + port = port or self.bioyond_config.get("HTTP_port", ) + + logger.info("准备开始unilab_HTTP服务") + try: + self.service = WorkstationHTTPService(self, host=host, port=port) + logger.info("WorkstationHTTPService 实例化完成") + self.service.start() + self.http_service_started = True + logger.info(f"WorkstationHTTPService成功启动: {host}:{port}") + #一直挂着，直到进程退出 + while True: + time.sleep(1) + except Exception as e: + self.http_service_started = False # 调试用 + logger.error(f"启动WorkstationHTTPService失败: {e}", exc_info=True) + + # -------------------- 基础HTTP封装 -------------------- + def _url(self, path: str) -> str: + + return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}" + + def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]: + """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装""" + payload = { + "apiKey": self.bioyond_config["api_key"], + "requestTime": _iso_local_now_ms() + } + if data is not None: + payload["data"] = data + + if self.debug_mode: + # 模拟返回，不发真实请求 + logger.info(f"[DEBUG] POST {path} with payload={payload}") + return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"} + + try: + response = requests.post( + self._url(path), + json=payload, + timeout=self.bioyond_config.get("timeout", 30), + headers={"Content-Type": "application/json"} + ) # 拼接网址+post bioyond接口 + response.raise_for_status() + return response.json() + except Exception as e: + logger.info(f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}") + logger.error(f"POST {path} 失败: {e}") + return {"error": str(e)} + + # -------------------- 单点接口封装 -------------------- + # 2.17 入库物料（单个） + def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]: + return self._post_lims("/api/lims/storage/inbound", { + "materialId": material_id, + "locationId": location_id + }) + + # 2.18 批量入库（多个） + def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]: + """ + items = [{"materialId": "...", "locationId": "..."}, ...] + """ + return self._post_lims("/api/lims/storage/batch-inbound", items) + + + + def auto_feeding4to3( + self, + # ★ 修改点：默认模板路径 + xlsx_path: Optional[str] = "unilabos/devices/workstation/bioyond_cell/样品导入模板.xlsx", + + # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- + WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, + WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, + WH4_x3_y1_z1_3_materialName: str = "", WH4_x3_y1_z1_3_quantity: float = 0.0, + WH4_x4_y1_z1_4_materialName: str = "", WH4_x4_y1_z1_4_quantity: float = 0.0, + WH4_x5_y1_z1_5_materialName: str = "", WH4_x5_y1_z1_5_quantity: float = 0.0, + WH4_x1_y2_z1_6_materialName: str = "", WH4_x1_y2_z1_6_quantity: float = 0.0, + WH4_x2_y2_z1_7_materialName: str = "", WH4_x2_y2_z1_7_quantity: float = 0.0, + WH4_x3_y2_z1_8_materialName: str = "", WH4_x3_y2_z1_8_quantity: float = 0.0, + WH4_x4_y2_z1_9_materialName: str = "", WH4_x4_y2_z1_9_quantity: float = 0.0, + WH4_x5_y2_z1_10_materialName: str = "", WH4_x5_y2_z1_10_quantity: float = 0.0, + WH4_x1_y3_z1_11_materialName: str = "", WH4_x1_y3_z1_11_quantity: float = 0.0, + WH4_x2_y3_z1_12_materialName: str = "", WH4_x2_y3_z1_12_quantity: float = 0.0, + + # ---------------- WH4 - 原液瓶面 (Z=2, 9个点位) ---------------- + WH4_x1_y1_z2_1_materialName: str = "", WH4_x1_y1_z2_1_quantity: float = 0.0, WH4_x1_y1_z2_1_materialType: str = "", WH4_x1_y1_z2_1_targetWH: str = "", + WH4_x2_y1_z2_2_materialName: str = "", WH4_x2_y1_z2_2_quantity: float = 0.0, WH4_x2_y1_z2_2_materialType: str = "", WH4_x2_y1_z2_2_targetWH: str = "", + WH4_x3_y1_z2_3_materialName: str = "", WH4_x3_y1_z2_3_quantity: float = 0.0, WH4_x3_y1_z2_3_materialType: str = "", WH4_x3_y1_z2_3_targetWH: str = "", + WH4_x1_y2_z2_4_materialName: str = "", WH4_x1_y2_z2_4_quantity: float = 0.0, WH4_x1_y2_z2_4_materialType: str = "", WH4_x1_y2_z2_4_targetWH: str = "", + WH4_x2_y2_z2_5_materialName: str = "", WH4_x2_y2_z2_5_quantity: float = 0.0, WH4_x2_y2_z2_5_materialType: str = "", WH4_x2_y2_z2_5_targetWH: str = "", + WH4_x3_y2_z2_6_materialName: str = "", WH4_x3_y2_z2_6_quantity: float = 0.0, WH4_x3_y2_z2_6_materialType: str = "", WH4_x3_y2_z2_6_targetWH: str = "", + WH4_x1_y3_z2_7_materialName: str = "", WH4_x1_y3_z2_7_quantity: float = 0.0, WH4_x1_y3_z2_7_materialType: str = "", WH4_x1_y3_z2_7_targetWH: str = "", + WH4_x2_y3_z2_8_materialName: str = "", WH4_x2_y3_z2_8_quantity: float = 0.0, WH4_x2_y3_z2_8_materialType: str = "", WH4_x2_y3_z2_8_targetWH: str = "", + WH4_x3_y3_z2_9_materialName: str = "", WH4_x3_y3_z2_9_quantity: float = 0.0, WH4_x3_y3_z2_9_materialType: str = "", WH4_x3_y3_z2_9_targetWH: str = "", + + # ---------------- WH3 - 人工堆栈 (Z=3, 15个点位) ---------------- + WH3_x1_y1_z3_1_materialType: str = "", WH3_x1_y1_z3_1_materialId: str = "", WH3_x1_y1_z3_1_quantity: float = 0, + WH3_x2_y1_z3_2_materialType: str = "", WH3_x2_y1_z3_2_materialId: str = "", WH3_x2_y1_z3_2_quantity: float = 0, + WH3_x3_y1_z3_3_materialType: str = "", WH3_x3_y1_z3_3_materialId: str = "", WH3_x3_y1_z3_3_quantity: float = 0, + WH3_x1_y2_z3_4_materialType: str = "", WH3_x1_y2_z3_4_materialId: str = "", WH3_x1_y2_z3_4_quantity: float = 0, + WH3_x2_y2_z3_5_materialType: str = "", WH3_x2_y2_z3_5_materialId: str = "", WH3_x2_y2_z3_5_quantity: float = 0, + WH3_x3_y2_z3_6_materialType: str = "", WH3_x3_y2_z3_6_materialId: str = "", WH3_x3_y2_z3_6_quantity: float = 0, + WH3_x1_y3_z3_7_materialType: str = "", WH3_x1_y3_z3_7_materialId: str = "", WH3_x1_y3_z3_7_quantity: float = 0, + WH3_x2_y3_z3_8_materialType: str = "", WH3_x2_y3_z3_8_materialId: str = "", WH3_x2_y3_z3_8_quantity: float = 0, + WH3_x3_y3_z3_9_materialType: str = "", WH3_x3_y3_z3_9_materialId: str = "", WH3_x3_y3_z3_9_quantity: float = 0, + WH3_x1_y4_z3_10_materialType: str = "", WH3_x1_y4_z3_10_materialId: str = "", WH3_x1_y4_z3_10_quantity: float = 0, + WH3_x2_y4_z3_11_materialType: str = "", WH3_x2_y4_z3_11_materialId: str = "", WH3_x2_y4_z3_11_quantity: float = 0, + WH3_x3_y4_z3_12_materialType: str = "", WH3_x3_y4_z3_12_materialId: str = "", WH3_x3_y4_z3_12_quantity: float = 0, + WH3_x1_y5_z3_13_materialType: str = "", WH3_x1_y5_z3_13_materialId: str = "", WH3_x1_y5_z3_13_quantity: float = 0, + WH3_x2_y5_z3_14_materialType: str = "", WH3_x2_y5_z3_14_materialId: str = "", WH3_x2_y5_z3_14_quantity: float = 0, + WH3_x3_y5_z3_15_materialType: str = "", WH3_x3_y5_z3_15_materialId: str = "", WH3_x3_y5_z3_15_quantity: float = 0, + ): + """ + 自动化上料（支持两种模式） + - Excel 路径存在 → 从 Excel 模板解析 + - Excel 路径不存在 → 使用手动参数 + """ + items: List[Dict[str, Any]] = [] + + # ---------- 模式 1: Excel 导入 ---------- + if xlsx_path: + path = Path(xlsx_path) + if path.exists(): # ★ 修改点：路径存在才加载 + try: + df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + # 四号手套箱加样头面 + for _, row in df.iloc[1:13, 2:7].iterrows(): + if pd.notna(row[5]): + items.append({ + "sourceWHName": "WH4", + "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), + "materialName": str(row[5]).strip(), + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + }) + # 四号手套箱原液瓶面 + for _, row in df.iloc[14:23, 2:9].iterrows(): + if pd.notna(row[5]): + items.append({ + "sourceWHName": "WH4", + "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), + "materialName": str(row[5]).strip(), + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + "materialType": str(row[7]).strip() if pd.notna(row[7]) else "", + "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "", + }) + # 三号手套箱人工堆栈 + for _, row in df.iloc[25:40, 2:7].iterrows(): + if pd.notna(row[5]) or pd.notna(row[6]): + items.append({ + "sourceWHName": "WH3", + "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), + "materialType": str(row[5]).strip() if pd.notna(row[5]) else "", + "materialId": str(row[6]).strip() if pd.notna(row[6]) else "", + "quantity": 1 + }) + else: + logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。") + + # ---------- 模式 2: 手动填写 ---------- + if not items: + params = locals() + for name, value in params.items(): + if name.startswith("WH4") and "materialName" in name and value: + idx = name.split("_") + items.append({ + "sourceWHName": "WH4", + "posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]), + "materialName": value, + "quantity": float(params.get(name.replace("materialName", "quantity"), 0.0)) + }) + elif name.startswith("WH4") and "materialType" in name and (value or params.get(name.replace("materialType", "materialName"), "")): + idx = name.split("_") + items.append({ + "sourceWHName": "WH4", + "posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]), + "materialName": params.get(name.replace("materialType", "materialName"), ""), + "quantity": float(params.get(name.replace("materialType", "quantity"), 0.0)), + "materialType": value, + "targetWH": params.get(name.replace("materialType", "targetWH"), ""), + }) + elif name.startswith("WH3") and "materialType" in name and (value or params.get(name.replace("materialType", "materialId"), "")): + idx = name.split("_") + items.append({ + "sourceWHName": "WH3", + "posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]), + "materialType": value, + "materialId": params.get(name.replace("materialType", "materialId"), ""), + "quantity": int(params.get(name.replace("materialType", "quantity"), 1)), + }) + + if not items: + logger.warning("没有有效的上料条目，已跳过提交。") + return {"code": 0, "message": "no valid items", "data": []} + + return self._post_lims("/api/lims/order/auto-feeding4to3", items) + + + + + # 3.30 自动化上料(老版本) + def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: + """ + 根据固定模板解析 Excel： + - 四号手套箱加样头面 (2-13行, 3-7列) + - 四号手套箱原液瓶面 (15-23行, 3-9列) + - 三号手套箱人工堆栈 (26-40行, 3-7列) + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + items: List[Dict[str, Any]] = [] + + # 四号手套箱 - 加样头面（2-13行, 3-7列） + for _, row in df.iloc[1:13, 2:7].iterrows(): + item = { + "sourceWHName": "四号手套箱堆栈", + "posX": int(row[2]), + "posY": int(row[3]), + "posZ": int(row[4]), + "materialName": str(row[5]).strip() if pd.notna(row[5]) else "", + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + } + if item["materialName"]: + items.append(item) + + # 四号手套箱 - 原液瓶面（15-23行, 3-9列） + for _, row in df.iloc[14:23, 2:9].iterrows(): + item = { + "sourceWHName": "四号手套箱堆栈", + "posX": int(row[2]), + "posY": int(row[3]), + "posZ": int(row[4]), + "materialName": str(row[5]).strip() if pd.notna(row[5]) else "", + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + "materialType": str(row[7]).strip() if pd.notna(row[7]) else "", + "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "", + } + if item["materialName"]: + items.append(item) + + # 三号手套箱人工堆栈（26-40行, 3-7列） + for _, row in df.iloc[25:40, 2:7].iterrows(): + item = { + "sourceWHName": "三号手套箱人工堆栈", + "posX": int(row[2]), + "posY": int(row[3]), + "posZ": int(row[4]), + "materialType": str(row[5]).strip() if pd.notna(row[5]) else "", + "materialId": str(row[6]).strip() if pd.notna(row[6]) else "", + "quantity": 1 # 默认数量1 + } + if item["materialId"] or item["materialType"]: + items.append(item) + + return self._post_lims("/api/lims/order/auto-feeding4to3", items) + + def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: + """ + 3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound） + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + def pick(names: List[str]) -> Optional[str]: + for n in names: + if n in df.columns: + return n + return None + + c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"]) + c_wh = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"]) + c_qty = pick(["数量", "quantity"]) + c_x = pick(["x", "X", "posX", "坐标X"]) + c_y = pick(["y", "Y", "posY", "坐标Y"]) + c_z = pick(["z", "Z", "posZ", "坐标Z"]) + + required = [c_loc, c_wh, c_qty, c_x, c_y, c_z] + if any(c is None for c in required): + raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。") + + def as_int(v, d=0): + try: + if pd.isna(v): return d + return int(v) + except Exception: + try: + return int(float(v)) + except Exception: + return d + + def as_float(v, d=0.0): + try: + if pd.isna(v): return d + return float(v) + except Exception: + return d + + def as_str(v, d=""): + if v is None or (isinstance(v, float) and pd.isna(v)): return d + s = str(v).strip() + return s if s else d + + items: List[Dict[str, Any]] = [] + for _, row in df.iterrows(): + items.append({ + "locationId": as_str(row[c_loc]), + "warehouseId": as_str(row[c_wh]), + "quantity": as_float(row[c_qty]), + "x": as_int(row[c_x]), + "y": as_int(row[c_y]), + "z": as_int(row[c_z]), + }) + + return self._post_lims("/api/lims/storage/auto-batch-out-bound", items) + + # 2.14 新建实验 + def create_orders(self, xlsx_path: str) -> Dict[str, Any]: + """ + 从 Excel 解析并创建实验（2.14） + 约定： + - batchId = Excel 文件名（不含扩展名） + - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列） + - totalMass 自动计算为所有物料质量之和 + - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D） + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + # 列名容错：返回可选列名，找不到则返回 None + def _pick(col_names: List[str]) -> Optional[str]: + for c in col_names: + if c in df.columns: + return c + return None + + col_order_name = _pick(["配方ID", "orderName", "订单编号"]) + col_create_time = _pick(["创建日期", "createTime"]) + col_bottle_type = _pick(["配液瓶类型", "bottleType"]) + col_mix_time = _pick(["混匀时间(s)", "mixTime"]) + col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"]) + col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"]) + col_cond = _pick(["电导测试分液体积", "conductivityInfo"]) + col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"]) + + # 物料列：所有以 (g) 结尾 + material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")] + if not material_cols: + raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。") + + batch_id = path.stem + + def _to_ymd_slash(v) -> str: + # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期 + if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "": + ts = datetime.now() + else: + try: + ts = pd.to_datetime(v) + except Exception: + ts = datetime.now() + return f"{ts.year}/{ts.month}/{ts.day}" + + def _as_int(val, default=0) -> int: + try: + if pd.isna(val): + return default + return int(val) + except Exception: + return default + + def _as_str(val, default="") -> str: + if val is None or (isinstance(val, float) and pd.isna(val)): + return default + s = str(val).strip() + return s if s else default + + orders: List[Dict[str, Any]] = [] + + for idx, row in df.iterrows(): + mats: List[Dict[str, Any]] = [] + total_mass = 0.0 + + for mcol in material_cols: + val = row.get(mcol, None) + if val is None or (isinstance(val, float) and pd.isna(val)): + continue + try: + mass = float(val) + except Exception: + continue + if mass > 0: + mats.append({"name": mcol.replace("(g)", ""), "mass": mass}) + total_mass += mass + + order_data = { + "batchId": batch_id, + "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}", + "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None), + "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶", + "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0, + "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0, + "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0, + "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0, + "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0, + "materialInfos": mats, + "totalMass": round(total_mass, 4) # 自动汇总 + } + orders.append(order_data) + + # print(orders) + while True: + time.sleep(5) + response = self._post_lims("/api/lims/order/orders", orders) + if response.get("data", []): + break + logger.info(f"等待配液实验创建完成") + + + + # self.order_status[response["data"]["orderCode"]] = "running" + + # while True: + # time.sleep(5) + # if self.order_status.get(response["data"]["orderCode"], None) == "finished": + # logger.info(f"配液实验已完成 ，即将执行 3-2-1 转运") + # break + # logger.info(f"等待配液实验完成") + + # self.transfer_3_to_2_to_1() + # self.wait_for_transfer_task() + # logger.info(f"3-2-1 转运完成，返回结果") + # return r321 + return response + + # 2.7 启动调度 + def scheduler_start(self) -> Dict[str, Any]: + return self._post_lims("/api/lims/scheduler/start") + # 3.10 停止调度 + def scheduler_stop(self) -> Dict[str, Any]: + + """ + 停止调度 (3.10) + 请求体只包含 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/scheduler/stop") + # 2.9 继续调度 + # 2.9 继续调度 + def scheduler_continue(self) -> Dict[str, Any]: + """ + 继续调度 (2.9) + 请求体只包含 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/scheduler/continue") + + # 2.24 物料变更推送 + def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]: + """ + material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等） + """ + return self._post_report_raw("/report/material_change", material_obj) + + # 2.32 3-2-1 物料转运 + def transfer_3_to_2_to_1(self, + # source_wh_id: Optional[str] = None, + source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b', + source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]: + payload: Dict[str, Any] = { + "sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z + } + if source_wh_id: + payload["sourceWHID"] = source_wh_id + return self._post_lims("/api/lims/order/transfer-task3To2To1", payload) + + # 3.35 1→2 物料转运 + def transfer_1_to_2(self) -> Dict[str, Any]: + """ + 1→2 物料转运 + URL: /api/lims/order/transfer-task1To2 + 只需要 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/order/transfer-task1To2") + + # 2.5 批量查询实验报告(post过滤关键字查询) + def order_list_v2(self, + timeType: str = "", + beginTime: str = "", + endTime: str = "", + status: str = "", # 60表示正在运行,80表示完成，90表示失败 + filter: str = "", + skipCount: int = 0, + pageCount: int = 1, # 显示多少页数据 + sorting: str = "") -> Dict[str, Any]: + """ + 批量查询实验报告的详细信息 (2.5) + URL: /api/lims/order/order-list + 参数默认值和接口文档保持一致 + """ + data: Dict[str, Any] = { + "timeType": timeType, + "beginTime": beginTime, + "endTime": endTime, + "status": status, + "filter": filter, + "skipCount": skipCount, + "pageCount": pageCount, + "sorting": sorting + } + return self._post_lims("/api/lims/order/order-list", data) + + # 一直post执行bioyond接口查询任务状态 + def wait_for_transfer_task(self, timeout: int = 3000, interval: int = 5, filter_text: Optional[str] = None) -> bool: + """ + 轮询查询物料转移任务是否成功完成 (status=80) + - timeout: 最大等待秒数 (默认600秒) + - interval: 轮询间隔秒数 (默认3秒) + 返回 True 表示找到并成功完成，False 表示超时未找到 + """ + now = datetime.now() + beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ") + endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ") + print(beginTime, endTime) + + deadline = time.time() + timeout + + while time.time() < deadline: + result = self.order_list_v2( + timeType="", + beginTime=beginTime, + endTime=endTime, + status="", + filter=filter_text, + skipCount=0, + pageCount=1, + sorting="" + ) + print(result) + + items = result.get("data", {}).get("items", []) + for item in items: + name = item.get("name", "") + status = item.get("status") + # 改成用 filter_text 判断 + if (not filter_text or filter_text in name) and status == 80: + logger.info(f"硬件转移动作完成: {name}, status={status}") + return True + + logger.info(f"等待中: {name}, status={status}") + time.sleep(interval) + + logger.warning("超时未找到成功的物料转移任务") + return False + + +# -------------------------------- +if __name__ == "__main__": + ws = BioyondCellWorkstation() + ws.scheduler_stop() + # re=ws.scheduler_start() + print(re) + # logger.info("调度启动完成") + + # ws.scheduler_continue() + # 3.30 上料：读取模板 Excel 自动解析并 POST + # r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板.xlsx") + # ws.wait_for_transfer_task(filter_text="物料转移任务") + # logger.info("4号箱向3号箱转运物料转移任务已完成") + + # ws.scheduler_start() + # print(r1["payload"]["data"]) # 调试模式下可直接看到要发的 JSON items + + # # 新建实验 + # response = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092701.xlsx") + # logger.info(response) + # data_list = response.get("data", []) + # order_name = data_list[0].get("orderName", "") + + # ws.wait_for_transfer_task(filter_text=order_name) + # ws.wait_for_transfer_task(filter_text='DP20250927001') + # logger.info("3号站内实验完成") + # # ws.scheduler_start() + # # print(res) + # ws.transfer_3_to_2_to_1() + # ws.wait_for_transfer_task(filter_text="物料转移任务") + # logger.info("3号站向2号站向1号站转移任务完成") + # r321 = self.wait_for_transfer_task() + #1号站启动 + # ws.transfer_1_to_2() + # ws.wait_for_transfer_task(filter_text="物料转移任务") + # logger.info("1号站向2号站转移任务完成") + # logger.info("全流程结束") + + # 3.31 下料：同理 + # r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx") + # print(r2["payload"]["data"]) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_material_management.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_material_management.py new file mode 100644 index 00000000..245da15c --- /dev/null +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_material_management.py @@ -0,0 +1,374 @@ +""" +Bioyond物料管理实现 +Bioyond Material Management Implementation + +基于Bioyond系统的物料管理，支持从Bioyond系统同步物料到UniLab工作站 +""" +from typing import Dict, Any, List, Optional, Union +import json +import asyncio +from abc import ABC, abstractmethod + +from pylabrobot.resources import ( + Resource as PLRResource, + Container, + Deck, + Coordinate as PLRCoordinate, +) + +from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker +from unilabos.utils.log import logger +from unilabos.resources.graphio import ( + resource_plr_to_ulab, + resource_ulab_to_plr, + resource_bioyond_to_ulab, + resource_bioyond_container_to_ulab, + resource_ulab_to_bioyond +) +from .workstation_material_management import MaterialManagementBase + + +class BioyondMaterialManagement(MaterialManagementBase): + """Bioyond物料管理类 + + 实现从Bioyond系统同步物料到UniLab工作站的功能： + 1. 从Bioyond系统获取物料数据 + 2. 转换为UniLab格式 + 3. 同步到PyLabRobot Deck + 4. 支持双向同步 + """ + + def __init__( + self, + device_id: str, + deck_config: Dict[str, Any], + resource_tracker: DeviceNodeResourceTracker, + children_config: Dict[str, Dict[str, Any]] = None, + bioyond_config: Dict[str, Any] = None + ): + self.bioyond_config = bioyond_config or {} + self.bioyond_api_client = None + self.sync_interval = self.bioyond_config.get("sync_interval", 30) # 同步间隔（秒） + + # 初始化父类 + super().__init__(device_id, deck_config, resource_tracker, children_config) + + # 初始化Bioyond API客户端 + self._initialize_bioyond_client() + + # 启动同步任务 + self._start_sync_task() + + def _initialize_bioyond_client(self): + """初始化Bioyond API客户端""" + try: + # 这里应该根据实际的Bioyond API实现 + # 暂时使用模拟客户端 + self.bioyond_api_client = BioyondAPIClient(self.bioyond_config) + logger.info(f"Bioyond API客户端初始化成功") + except Exception as e: + logger.error(f"Bioyond API客户端初始化失败: {e}") + self.bioyond_api_client = None + + def _start_sync_task(self): + """启动同步任务""" + if self.bioyond_api_client: + # 创建异步同步任务 + asyncio.create_task(self._periodic_sync()) + logger.info(f"Bioyond同步任务已启动，间隔: {self.sync_interval}秒") + + async def _periodic_sync(self): + """定期同步任务""" + while True: + try: + await self.sync_from_bioyond() + await asyncio.sleep(self.sync_interval) + except Exception as e: + logger.error(f"Bioyond同步任务出错: {e}") + await asyncio.sleep(self.sync_interval) + + async def sync_from_bioyond(self) -> bool: + """从Bioyond系统同步物料""" + try: + if not self.bioyond_api_client: + logger.warning("Bioyond API客户端未初始化") + return False + + # 1. 从Bioyond获取物料数据 + bioyond_data = await self.bioyond_api_client.get_materials() + if not bioyond_data: + logger.warning("从Bioyond获取物料数据为空") + return False + + # 2. 转换为UniLab格式 + if isinstance(bioyond_data, dict) and "data" in bioyond_data: + # 容器格式数据 + unilab_resources = resource_bioyond_container_to_ulab(bioyond_data) + else: + # 物料列表格式数据 + unilab_resources = resource_bioyond_to_ulab(bioyond_data) + + # 3. 转换为PLR格式并分配到Deck + await self._assign_resources_to_deck(unilab_resources) + + logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源") + return True + + except Exception as e: + logger.error(f"从Bioyond同步物料失败: {e}") + return False + + async def sync_to_bioyond(self, plr_resource: PLRResource) -> bool: + """将本地物料变更同步到Bioyond系统""" + try: + if not self.bioyond_api_client: + logger.warning("Bioyond API客户端未初始化") + return False + + # 1. 转换为UniLab格式 + unilab_resource = resource_plr_to_ulab(plr_resource) + + # 2. 转换为Bioyond格式 + bioyond_materials = resource_ulab_to_bioyond([unilab_resource]) + + # 3. 发送到Bioyond系统 + success = await self.bioyond_api_client.update_materials(bioyond_materials) + + if success: + logger.info(f"成功同步物料 {plr_resource.name} 到Bioyond") + else: + logger.warning(f"同步物料 {plr_resource.name} 到Bioyond失败") + + return success + + except Exception as e: + logger.error(f"同步物料到Bioyond失败: {e}") + return False + + async def _assign_resources_to_deck(self, unilab_resources: List[Dict[str, Any]]): + """将UniLab资源分配到Deck""" + try: + # 转换为PLR格式 + from unilabos.resources.graphio import list_to_nested_dict + nested_resources = list_to_nested_dict(unilab_resources) + plr_resources = resource_ulab_to_plr(nested_resources) + + # 分配资源到Deck + if hasattr(plr_resources, 'children'): + resources_to_assign = plr_resources.children + elif isinstance(plr_resources, list): + resources_to_assign = plr_resources + else: + resources_to_assign = [plr_resources] + + for resource in resources_to_assign: + try: + # 获取资源位置 + if hasattr(resource, 'location') and resource.location: + location = PLRCoordinate(resource.location.x, resource.location.y, resource.location.z) + else: + location = PLRCoordinate(0, 0, 0) + + # 分配资源到Deck + self.plr_deck.assign_child_resource(resource, location) + + # 注册到resource tracker + self.resource_tracker.add_resource(resource) + + # 保存资源引用 + self.plr_resources[resource.name] = resource + + except Exception as e: + logger.error(f"分配资源 {resource.name} 到Deck失败: {e}") + + logger.info(f"成功分配了 {len(resources_to_assign)} 个资源到Deck") + + except Exception as e: + logger.error(f"分配资源到Deck失败: {e}") + + def _create_resource_by_type( + self, + resource_id: str, + resource_type: str, + config: Dict[str, Any], + data: Dict[str, Any], + location: PLRCoordinate + ) -> Optional[PLRResource]: + """根据类型创建Bioyond相关资源""" + try: + # 这里可以根据需要实现特定的Bioyond资源类型 + # 目前使用通用的容器类型 + if resource_type in ["container", "plate", "well"]: + return self._create_generic_container(resource_id, resource_type, config, data, location) + else: + logger.warning(f"未知的Bioyond资源类型: {resource_type}") + return None + + except Exception as e: + logger.error(f"创建Bioyond资源失败 {resource_id} ({resource_type}): {e}") + return None + + def _create_generic_container( + self, + resource_id: str, + resource_type: str, + config: Dict[str, Any], + data: Dict[str, Any], + location: PLRCoordinate + ) -> Optional[PLRResource]: + """创建通用容器资源""" + try: + from pylabrobot.resources import Plate, Well + + if resource_type == "plate": + return Plate( + name=resource_id, + size_x=config.get("size_x", 127.76), + size_y=config.get("size_y", 85.48), + size_z=config.get("size_z", 14.35), + location=location, + category="plate" + ) + elif resource_type == "well": + return Well( + name=resource_id, + size_x=config.get("size_x", 9.0), + size_y=config.get("size_y", 9.0), + size_z=config.get("size_z", 10.0), + location=location, + category="well" + ) + else: + return Container( + name=resource_id, + size_x=config.get("size_x", 50.0), + size_y=config.get("size_y", 50.0), + size_z=config.get("size_z", 10.0), + location=location, + category="container" + ) + + except Exception as e: + logger.error(f"创建通用容器失败 {resource_id}: {e}") + return None + + def get_bioyond_materials(self) -> List[Dict[str, Any]]: + """获取当前Bioyond物料列表""" + try: + # 将当前PLR资源转换为Bioyond格式 + bioyond_materials = [] + for resource in self.plr_resources.values(): + unilab_resource = resource_plr_to_ulab(resource) + bioyond_materials.extend(resource_ulab_to_bioyond([unilab_resource])) + return bioyond_materials + except Exception as e: + logger.error(f"获取Bioyond物料列表失败: {e}") + return [] + + def update_material_from_bioyond(self, material_id: str, bioyond_data: Dict[str, Any]) -> bool: + """从Bioyond数据更新指定物料""" + try: + # 查找现有物料 + material = self.find_material_by_id(material_id) + if not material: + logger.warning(f"未找到物料: {material_id}") + return False + + # 转换Bioyond数据为UniLab格式 + unilab_resources = resource_bioyond_to_ulab([bioyond_data]) + if not unilab_resources: + logger.warning(f"转换Bioyond数据失败: {material_id}") + return False + + # 更新物料属性 + unilab_resource = unilab_resources[0] + material.name = unilab_resource.get("name", material.name) + + # 更新位置 + position = unilab_resource.get("position", {}) + if position: + material.location = PLRCoordinate( + position.get("x", 0), + position.get("y", 0), + position.get("z", 0) + ) + + logger.info(f"成功更新物料: {material_id}") + return True + + except Exception as e: + logger.error(f"更新物料失败 {material_id}: {e}") + return False + + +class BioyondAPIClient: + """Bioyond API客户端（模拟实现） + + 实际使用时需要根据Bioyond系统的API接口实现 + """ + + def __init__(self, config: Dict[str, Any]): + self.config = config + self.base_url = config.get("base_url", "http://localhost:8080") + self.api_key = config.get("api_key", "") + self.timeout = config.get("timeout", 30) + + async def get_materials(self) -> Optional[Union[Dict[str, Any], List[Dict[str, Any]]]]: + """从Bioyond系统获取物料数据""" + try: + # 这里应该实现实际的API调用 + # 暂时返回模拟数据 + logger.info("从Bioyond API获取物料数据") + + # 模拟API调用延迟 + await asyncio.sleep(0.1) + + # 返回模拟数据（实际应该从API获取） + return { + "data": [], + "code": 1, + "message": "success", + "timestamp": 1234567890 + } + + except Exception as e: + logger.error(f"Bioyond API调用失败: {e}") + return None + + async def update_materials(self, materials: List[Dict[str, Any]]) -> bool: + """更新Bioyond系统中的物料数据""" + try: + # 这里应该实现实际的API调用 + logger.info(f"更新Bioyond系统中的 {len(materials)} 个物料") + + # 模拟API调用延迟 + await asyncio.sleep(0.1) + + # 模拟成功响应 + return True + + except Exception as e: + logger.error(f"更新Bioyond物料失败: {e}") + return False + + async def get_material_by_id(self, material_id: str) -> Optional[Dict[str, Any]]: + """根据ID获取单个物料""" + try: + # 这里应该实现实际的API调用 + logger.info(f"从Bioyond API获取物料: {material_id}") + + # 模拟API调用延迟 + await asyncio.sleep(0.1) + + # 返回模拟数据 + return { + "id": material_id, + "name": f"material_{material_id}", + "type": "container", + "quantity": 1.0, + "unit": "个" + } + + except Exception as e: + logger.error(f"获取Bioyond物料失败 {material_id}: {e}") + return None diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py new file mode 100644 index 00000000..864a9ddd --- /dev/null +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py @@ -0,0 +1,715 @@ +# -*- coding: utf-8 -*- +from typing import Dict, Any, List, Optional +from datetime import datetime, timezone +import requests +from pathlib import Path +import pandas as pd +import time +from datetime import datetime, timezone, timedelta +import re +import threading +from unilabos.devices.workstation.workstation_base import WorkstationBase +from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService +from unilabos.utils.log import logger +from pylabrobot.resources.deck import Deck + + +def _iso_utc_now_ms() -> str: + # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z + dt = datetime.now(timezone.utc) + return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z" + + +class BioyondWorkstation(WorkstationBase): + """ + 集成 Bioyond LIMS 的工作站示例， + 覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) → + 运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) → + 查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28) + """ + + def __init__( + self, + bioyond_config: Optional[Dict[str, Any]] = None, + station_resource: Optional[Dict[str, Any]] = None, + debug_mode: bool = False, # 增加调试模式开关 + *args, **kwargs, + ): + self.bioyond_config = bioyond_config or { + "base_url": "http://192.168.1.200:44386", + "api_key": "8A819E5C", + "timeout": 30, + "report_token": "CHANGE_ME_TOKEN" + } + + self.http_service_started = False + self.debug_mode = debug_mode + super().__init__(deck=Deck, station_resource=station_resource, *args, **kwargs) + logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})") + + # 实例化并在后台线程启动 HTTP 报送服务 + self.order_status = {} + try: + t = threading.Thread(target=self._start_http_service_bg, daemon=True, name="unilab_http") + t.start() + + except Exception as e: + logger.error(f"unilab-server后台启动报送服务失败: {e}") + + @property + def device_id(self) -> str: + try: + return getattr(self, "_ros_node").device_id # 兼容 ROS 场景 + except Exception: + return "bioyond_workstation" + + def _start_http_service_bg(self, host: str = "192.168.1.104", port: int = 8080) -> None: + logger.info("进入 _start_http_service_bg 函数") + try: + self.service = WorkstationHTTPService(self, host=host, port=port) + logger.info("WorkstationHTTPService 实例化完成") + self.service.start() + self.http_service_started = True + logger.info(f"unilab_HTTP 服务成功启动: {host}:{port}") + + #一直挂着，直到进程退出 + while True: + time.sleep(1) + + except Exception as e: + self.http_service_started = False + logger.error(f"启动unilab_HTTP服务失败: {e}", exc_info=True) + + # -------------------- 基础HTTP封装 -------------------- + def _url(self, path: str) -> str: + return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}" + + def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]: + """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装""" + payload = { + "apiKey": self.bioyond_config["api_key"], + "requestTime": _iso_utc_now_ms() + } + if data is not None: + payload["data"] = data + + if self.debug_mode: + # 模拟返回，不发真实请求 + logger.info(f"[DEBUG] POST {path} with payload={payload}") + return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"} + + try: + r = requests.post( + self._url(path), + json=payload, + timeout=self.bioyond_config.get("timeout", 30), + headers={"Content-Type": "application/json"} + ) + r.raise_for_status() + return r.json() + except Exception as e: + logger.error(f"POST {path} 失败: {e}") + return {"error": str(e)} + + # --- 修正：_post_report / _post_report_raw 同样走 debug_mode --- + def _post_report(self, path: str, data: Dict[str, Any]) -> Dict[str, Any]: + payload = { + "token": self.bioyond_config.get("report_token", ""), + "request_time": _iso_utc_now_ms(), + "data": data + } + if self.debug_mode: + logger.info(f"[DEBUG] POST {path} with payload={payload}") + return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"} + try: + r = requests.post(self._url(path), json=payload, + timeout=self.bioyond_config.get("timeout", 30), + headers={"Content-Type": "application/json"}) + r.raise_for_status() + return r.json() + except Exception as e: + logger.error(f"POST {path} 失败: {e}") + return {"error": str(e)} + + def _post_report_raw(self, path: str, body: Dict[str, Any]) -> Dict[str, Any]: + if self.debug_mode: + logger.info(f"[DEBUG] POST {path} with body={body}") + return {"debug": True, "url": self._url(path), "payload": body, "status": "ok"} + try: + r = requests.post(self._url(path), json=body, + timeout=self.bioyond_config.get("timeout", 30), + headers={"Content-Type": "application/json"}) + r.raise_for_status() + return r.json() + except Exception as e: + logger.error(f"POST {path} 失败: {e}") + return {"error": str(e)} + + + # -------------------- 单点接口封装 -------------------- + # 2.17 入库物料（单个） + def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]: + return self._post_lims("/api/lims/storage/inbound", { + "materialId": material_id, + "locationId": location_id + }) + + # 2.18 批量入库（多个） + def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]: + """ + items = [{"materialId": "...", "locationId": "..."}, ...] + """ + return self._post_lims("/api/lims/storage/batch-inbound", items) + + # 3.30 自动化上料（Excel -> JSON -> POST /api/lims/order/auto-feeding4to3） + def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: + """ + 根据固定模板解析 Excel： + - 四号手套箱加样头面 (2-13行, 3-7列) + - 四号手套箱原液瓶面 (15-23行, 3-9列) + - 三号手套箱人工堆栈 (26-40行, 3-7列) + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + items: List[Dict[str, Any]] = [] + + # 四号手套箱 - 加样头面（2-13行, 3-7列） + for _, row in df.iloc[1:13, 2:7].iterrows(): + item = { + "sourceWHName": "四号手套箱堆栈", + "posX": int(row[2]), + "posY": int(row[3]), + "posZ": int(row[4]), + "materialName": str(row[5]).strip() if pd.notna(row[5]) else "", + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + } + if item["materialName"]: + items.append(item) + + # 四号手套箱 - 原液瓶面（15-23行, 3-9列） + for _, row in df.iloc[14:23, 2:9].iterrows(): + item = { + "sourceWHName": "四号手套箱堆栈", + "posX": int(row[2]), + "posY": int(row[3]), + "posZ": int(row[4]), + "materialName": str(row[5]).strip() if pd.notna(row[5]) else "", + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + "materialType": str(row[7]).strip() if pd.notna(row[7]) else "", + "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "", + } + if item["materialName"]: + items.append(item) + + # 三号手套箱人工堆栈（26-40行, 3-7列） + for _, row in df.iloc[25:40, 2:7].iterrows(): + item = { + "sourceWHName": "三号手套箱人工堆栈", + "posX": int(row[2]), + "posY": int(row[3]), + "posZ": int(row[4]), + "materialType": str(row[5]).strip() if pd.notna(row[5]) else "", + "materialId": str(row[6]).strip() if pd.notna(row[6]) else "", + "quantity": 1 # 默认数量1 + } + if item["materialId"] or item["materialType"]: + items.append(item) + + return self._post_lims("/api/lims/order/auto-feeding4to3", items) + + + + def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: + """ + 3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound） + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + def pick(names: List[str]) -> Optional[str]: + for n in names: + if n in df.columns: + return n + return None + + c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"]) + c_wh = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"]) + c_qty = pick(["数量", "quantity"]) + c_x = pick(["x", "X", "posX", "坐标X"]) + c_y = pick(["y", "Y", "posY", "坐标Y"]) + c_z = pick(["z", "Z", "posZ", "坐标Z"]) + + required = [c_loc, c_wh, c_qty, c_x, c_y, c_z] + if any(c is None for c in required): + raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。") + + def as_int(v, d=0): + try: + if pd.isna(v): return d + return int(v) + except Exception: + try: + return int(float(v)) + except Exception: + return d + + def as_float(v, d=0.0): + try: + if pd.isna(v): return d + return float(v) + except Exception: + return d + + def as_str(v, d=""): + if v is None or (isinstance(v, float) and pd.isna(v)): return d + s = str(v).strip() + return s if s else d + + items: List[Dict[str, Any]] = [] + for _, row in df.iterrows(): + items.append({ + "locationId": as_str(row[c_loc]), + "warehouseId": as_str(row[c_wh]), + "quantity": as_float(row[c_qty]), + "x": as_int(row[c_x]), + "y": as_int(row[c_y]), + "z": as_int(row[c_z]), + }) + + return self._post_lims("/api/lims/storage/auto-batch-out-bound", items) + + # 2.14 新建实验 + def create_orders(self, xlsx_path: str) -> Dict[str, Any]: + """ + 从 Excel 解析并创建实验（2.14） + 约定： + - batchId = Excel 文件名（不含扩展名） + - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列） + - totalMass 自动计算为所有物料质量之和 + - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D） + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + # 列名容错：返回可选列名，找不到则返回 None + def _pick(col_names: List[str]) -> Optional[str]: + for c in col_names: + if c in df.columns: + return c + return None + + col_order_name = _pick(["配方ID", "orderName", "订单编号"]) + col_create_time = _pick(["创建日期", "createTime"]) + col_bottle_type = _pick(["配液瓶类型", "bottleType"]) + col_mix_time = _pick(["混匀时间(s)", "mixTime"]) + col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"]) + col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"]) + col_cond = _pick(["电导测试分液体积", "conductivityInfo"]) + col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"]) + + # 物料列：所有以 (g) 结尾 + material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")] + if not material_cols: + raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。") + + batch_id = path.stem + + def _to_ymd_slash(v) -> str: + # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期 + if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "": + ts = datetime.now() + else: + try: + ts = pd.to_datetime(v) + except Exception: + ts = datetime.now() + return f"{ts.year}/{ts.month}/{ts.day}" + + def _as_int(val, default=0) -> int: + try: + if pd.isna(val): + return default + return int(val) + except Exception: + return default + + def _as_str(val, default="") -> str: + if val is None or (isinstance(val, float) and pd.isna(val)): + return default + s = str(val).strip() + return s if s else default + + orders: List[Dict[str, Any]] = [] + + for idx, row in df.iterrows(): + mats: List[Dict[str, Any]] = [] + total_mass = 0.0 + + for mcol in material_cols: + val = row.get(mcol, None) + if val is None or (isinstance(val, float) and pd.isna(val)): + continue + try: + mass = float(val) + except Exception: + continue + if mass > 0: + mats.append({"name": mcol.replace("(g)", ""), "mass": mass}) + total_mass += mass + + order_data = { + "batchId": batch_id, + "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}", + "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None), + "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶", + "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0, + "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0, + "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0, + "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0, + "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0, + "materialInfos": mats, + "totalMass": round(total_mass, 4) # 自动汇总 + } + orders.append(order_data) + + # print(orders) + + response = self._post_lims("/api/lims/order/orders", orders) + self.order_status[response["data"]["orderCode"]] = "running" + + while True: + time.sleep(5) + if self.order_status.get(response["data"]["orderCode"], None) == "finished": + logger.info(f"配液实验已完成 ，即将执行 3-2-1 转运") + break + logger.info(f"等待配液实验完成") + + self.transfer_3_to_2_to_1() + r321 = self.wait_for_transfer_task() + logger.info(f"3-2-1 转运完成，返回结果") + return r321 + + + # 2.7 启动调度 + def scheduler_start(self) -> Dict[str, Any]: + return self._post_lims("/api/lims/scheduler/start") + # 3.10 停止调度 + def scheduler_stop(self) -> Dict[str, Any]: + """ + 停止调度 (3.10) + 请求体只包含 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/scheduler/stop") + # 2.9 继续调度 + def scheduler_continue(self) -> Dict[str, Any]: + """ + 继续调度 (2.9) + 请求体只包含 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/scheduler/continue") + + + + # 2.24 物料变更推送 + def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]: + """ + material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等） + """ + return self._post_report_raw("/report/material_change", material_obj) + + # 2.21 步骤完成推送（BS → LIMS） + def report_step_finish(self, + order_code: str, + order_name: str, + step_name: str, + step_id: str, + sample_id: str, + start_time: str, + end_time: str, + execution_status: str = "completed") -> Dict[str, Any]: + data = { + "orderCode": order_code, + "orderName": order_name, + "stepName": step_name, + "stepId": step_id, + "sampleId": sample_id, + "startTime": start_time, + "endTime": end_time, + "executionStatus": execution_status + } + return self._post_report("/report/step_finish", data) + + # 2.23 订单完成推送（BS → LIMS） + def report_order_finish(self, + order_code: str, + order_name: str, + start_time: str, + end_time: str, + status: str = "30", # 30 完成 / -11 异常停止 / -12 人工停止 + workflow_status: str = "Finished", + completion_time: Optional[str] = None, + used_materials: Optional[List[Dict[str, Any]]] = None) -> Dict[str, Any]: + data = { + "orderCode": order_code, + "orderName": order_name, + "startTime": start_time, + "endTime": end_time, + "status": status, + "workflowStatus": workflow_status, + "completionTime": completion_time or end_time, + "usedMaterials": used_materials or [] + } + return self._post_report("/report/order_finish", data) + + # 2.5 批量查询实验报告（用于轮询是否完成） + def order_list(self, + status: Optional[str] = None, + begin_time: Optional[str] = None, + end_time: Optional[str] = None, + filter_text: Optional[str] = None, + skip: int = 0, page: int = 10) -> Dict[str, Any]: + data: Dict[str, Any] = {"skipCount": skip, "pageCount": page} + if status is not None: # 80 成功 / 90 失败 / 100 执行中 + data["status"] = status + if begin_time: + data["timeType"] = "CreationTime" + data["beginTime"] = begin_time + if end_time: + data["endTime"] = end_time + if filter_text: + data["filter"] = filter_text + return self._post_lims("/api/lims/order/order-list", data) + + # 2.6 实验报告查询（根据任务ID拿详情） + def order_report(self, order_id: str) -> Dict[str, Any]: + return self._post_lims("/api/lims/order/order-report", order_id) + + # 2.32 3-2-1 物料转运 + def transfer_3_to_2_to_1(self, + # source_wh_id: Optional[str] = None, + source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b', + source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]: + payload: Dict[str, Any] = { + "sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z + } + if source_wh_id: + payload["sourceWHID"] = source_wh_id + return self._post_lims("/api/lims/order/transfer-task3To2To1", payload) + + # 2.28 样品/废料取出 + def take_out(self, + order_id: str, + preintake_ids: Optional[List[str]] = None, + material_ids: Optional[List[str]] = None) -> Dict[str, Any]: + data = { + "orderId": order_id, + "preintakeIds": preintake_ids or [], + "materialIds": material_ids or [] + } + return self._post_lims("/api/lims/order/take-out", data) + + # --------（可选）占位方法：文档未定义的“1号站内部流程 / 1-2转运”-------- + def start_station1_internal_flow(self, **kwargs) -> None: + logger.info("启动1号站内部流程（占位，按现场系统填充具体指令）") + + + # 3.x 1→2 物料转运 + def transfer_1_to_2(self) -> Dict[str, Any]: + """ + 1→2 物料转运 + URL: /api/lims/order/transfer-task1To2 + 只需要 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/order/transfer-task1To2") + + + # -------------------- 整体编排 -------------------- + def run_full_workflow(self, + inbound_items: List[Dict[str, str]], + orders: List[Dict[str, Any]], + poll_filter_code: Optional[str] = None, + poll_timeout_s: int = 600, + poll_interval_s: int = 5, + transfer_source: Optional[Dict[str, Any]] = None, + takeout_order_id: Optional[str] = None) -> None: + """ + 一键串联： + 1) 入库 3-4 个物料 → 2) 新建实验 → 3) 启动调度 + 运行中（如需）：4) 物料变更推送 5) 步骤完成推送 6) 订单完成推送 + 完成后：查询实验（2.5/2.6）→ 7) 3-2-1 转运 → 8) 1号站内部流程 + → 9) 1-2 转运 → 10) 样品/废料取出 + """ + # 1. 入库（多于1个就用批量接口 2.18） + if len(inbound_items) == 1: + r = self.storage_inbound(inbound_items[0]["materialId"], inbound_items[0]["locationId"]) + logger.info(f"单个入库结果: {r}") + else: + r = self.storage_batch_inbound(inbound_items) + logger.info(f"批量入库结果: {r}") + + # 2. 新建实验（2.14） + r = self.create_orders(orders) + logger.info(f"新建实验结果: {r}") + + # 3. 启动调度（2.7） + r = self.scheduler_start() + logger.info(f"启动调度结果: {r}") + + # —— 运行中各类推送（2.24 / 2.21 / 2.23），通常由实际任务驱动，这里提供调用方式 —— # + # self.report_material_change({...}) + # self.report_step_finish(order_code="BSO...", order_name="配液分液", step_name="xxx", step_id="...", sample_id="...", + # start_time=_iso_utc_now_ms(), end_time=_iso_utc_now_ms(), execution_status="completed") + # self.report_order_finish(order_code="BSO...", order_name="配液分液", start_time="...", end_time=_iso_utc_now_ms()) + + # 完成后才能转运：用 2.5 批量查询配合 filter=任务编码 轮询到 status=80（成功） + if poll_filter_code: + import time + deadline = time.time() + poll_timeout_s + while time.time() < deadline: + res = self.order_list(status="80", filter_text=poll_filter_code, page=5) + if isinstance(res, dict) and res.get("data", {}).get("items"): + logger.info(f"实验 {poll_filter_code} 已完成：{res['data']['items'][0]}") + break + time.sleep(poll_interval_s) + else: + logger.warning(f"等待实验 {poll_filter_code} 完成超时（未到 status=80）") + + # 7. 启动 3-2-1 转运（2.32） + if transfer_source: + r = self.transfer_3_to_2_to_1( + source_wh_id=transfer_source.get("sourceWHID"), + source_x=transfer_source.get("sourcePosX", 1), + source_y=transfer_source.get("sourcePosY", 1), + source_z=transfer_source.get("sourcePosZ", 1), + ) + logger.info(f"3-2-1 转运结果: {r}") + + # 8. 1号站内部流程（占位） + self.start_station1_internal_flow() + + # 9. 1→2 转运（占位） + self.transfer_1_to_2() + + # 10. 样品/废料取出（2.28） + if takeout_order_id: + r = self.take_out(order_id=takeout_order_id) + logger.info(f"样品/废料取出结果: {r}") + + # 2.5 批量查询实验报告 + def order_list_v2(self, + timeType: str = "string", + beginTime: str = "", + endTime: str = "", + status: str = "", + filter: str = "物料转移任务", + skipCount: int = 0, + pageCount: int = 1, + sorting: str = "") -> Dict[str, Any]: + """ + 批量查询实验报告的详细信息 (2.5) + URL: /api/lims/order/order-list + 参数默认值和接口文档保持一致 + """ + data: Dict[str, Any] = { + "timeType": timeType, + "beginTime": beginTime, + "endTime": endTime, + "status": status, + "filter": filter, + "skipCount": skipCount, + "pageCount": pageCount, + "sorting": sorting + } + return self._post_lims("/api/lims/order/order-list", data) + + + def wait_for_transfer_task(self, timeout: int = 600, interval: int = 3) -> bool: + """ + 轮询查询物料转移任务是否成功完成 (status=80) + - timeout: 最大等待秒数 (默认600秒) + - interval: 轮询间隔秒数 (默认3秒) + 返回 True 表示找到并成功完成，False 表示超时未找到 + """ + now = datetime.now() + beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ") + endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ") + print(beginTime, endTime) + + deadline = time.time() + timeout + + while time.time() < deadline: + result = self.order_list_v2( + timeType="string", + beginTime=beginTime, + endTime=endTime, + status="", + filter="物料转移任务", + skipCount=0, + pageCount=1, + sorting="" + ) + print(result) + + items = result.get("data", {}).get("items", []) + for item in items: + name = item.get("name", "") + status = item.get("status") + if name.startswith("物料转移任务") and status == 80: + logger.info(f"硬件转移动作完成: {name}") + return True + + time.sleep(interval) + + logger.warning("超时未找到成功的物料转移任务") + return False + + +# -------------------------------- +if __name__ == "__main__": + ws = BioyondWorkstation() + # ws.scheduler_stop() + ws.scheduler_start() + logger.info("调度启动完成") + + # ws.scheduler_continue() + # 3.30 上料：读取模板 Excel 自动解析并 POST + r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板 (8).xlsx") + ws.wait_for_transfer_task() + logger.info("4号箱向3号箱转运物料转移任务已完成") + + # ws.scheduler_start() + # print(r1["payload"]["data"]) # 调试模式下可直接看到要发的 JSON items + + # 新建实验 + res = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092501.xlsx") + # ws.scheduler_start() + # print(res) + + #1号站启动 + ws.transfer_1_to_2() + ws.wait_for_transfer_task() + logger.info("1号站向2号站转移任务完成") + logger.info("全流程结束") + + # 3.31 下料：同理 + # r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx") + # print(r2["payload"]["data"]) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json new file mode 100644 index 00000000..29f62547 --- /dev/null +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json @@ -0,0 +1,14492 @@ +{ + "nodes": [ + { + "id": "bioyond_cell_workstation", + "name": "配液分液工站", + "children": [ + ], + "parent": null, + "type": "device", + "class": "bioyond_cell", + "config": { + "protocol_type": [], + "station_resource": {}, + + "bioyond_config": { + "api_key": "8A819E5C", + "api_host": "http://192.168.1.200:44388", + "debug_mode": false + } + }, + "data": {} + }, + { + "id": "BatteryStation", + "name": "扣电组装工作站", + "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，deck写法也固定", + "protocol_type": [], + "deck": { + "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": [ + "zi_dan_jia", + "zi_dan_jia2", + "zi_dan_jia3", + "zi_dan_jia4", + "zi_dan_jia5", + "zi_dan_jia6", + "zi_dan_jia7", + "zi_dan_jia8", + "liaopan1", + "liaopan2", + "liaopan3", + "liaopan4", + "liaopan5", + "liaopan6", + "bottle_rack_3x4", + "bottle_rack_6x2", + "bottle_rack_6x2_2", + "tip_box_64", + "waste_tip_box" + ], + "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": "zi_dan_jia", + "name": "zi_dan_jia", + "sample_id": null, + "children": [ + "zi_dan_jia_clipmagazinehole_0_0", + "zi_dan_jia_clipmagazinehole_0_1", + "zi_dan_jia_clipmagazinehole_1_0", + "zi_dan_jia_clipmagazinehole_1_1" + ], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 1400, + "y": 50, + "z": 0 + }, + "config": { + "type": "ClipMagazine_four", + "size_x": 80, + "size_y": 80, + "size_z": 10, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "clip_magazine_four", + "model": null, + "barcode": null, + "ordering": { + "A1": "zi_dan_jia_clipmagazinehole_0_0", + "B1": "zi_dan_jia_clipmagazinehole_0_1", + "A2": "zi_dan_jia_clipmagazinehole_1_0", + "B2": "zi_dan_jia_clipmagazinehole_1_1" + }, + "hole_diameter": 14.0, + "hole_depth": 10.0, + "max_sheets_per_hole": 100 + }, + "data": {} + }, + { + "id": "zi_dan_jia_clipmagazinehole_0_0", + "name": "zi_dan_jia_clipmagazinehole_0_0", + "sample_id": null, + "children": [ + "zi_dan_jia2_jipian_0" + ], + "parent": "zi_dan_jia", + "type": "container", + "class": "", + "position": { + "x": 15.0, + "y": 52.5, + "z": 10 + }, + "config": { + "type": "ClipMagazineHole", + "size_x": 14.0, + "size_y": 14.0, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "clip_magazine_hole", + "model": null, + "barcode": null, + "max_volume": 1960.0, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "sheet_count": 1, + "sheets": [ + { + "name": "zi_dan_jia2_jipian_0", + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "location": null, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null, + "children": [], + "parent_name": "zi_dan_jia_clipmagazinehole_0_0" + } + ] + } + }, + { + "id": "zi_dan_jia2_jipian_0", + "name": "zi_dan_jia2_jipian_0", + "sample_id": null, + "children": [], + "parent": "zi_dan_jia_clipmagazinehole_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": "zi_dan_jia_clipmagazinehole_0_1", + "name": "zi_dan_jia_clipmagazinehole_0_1", + "sample_id": null, + "children": [ + "zi_dan_jia2_jipian_1" + ], + "parent": "zi_dan_jia", + "type": "container", + "class": "", + "position": { + "x": 15.0, + "y": 27.5, + "z": 10 + }, + "config": { + "type": "ClipMagazineHole", + "size_x": 14.0, + "size_y": 14.0, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "clip_magazine_hole", + "model": null, + "barcode": null, + "max_volume": 1960.0, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "sheet_count": 1, + "sheets": [ + { + "name": "zi_dan_jia2_jipian_1", + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "location": null, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null, + "children": [], + "parent_name": "zi_dan_jia_clipmagazinehole_0_1" + } + ] + } + }, + { + "id": "zi_dan_jia2_jipian_1", + "name": "zi_dan_jia2_jipian_1", + "sample_id": null, + "children": [], + "parent": "zi_dan_jia_clipmagazinehole_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": "zi_dan_jia_clipmagazinehole_1_0", + "name": "zi_dan_jia_clipmagazinehole_1_0", + "sample_id": null, + "children": [ + "zi_dan_jia2_jipian_2" + ], + "parent": "zi_dan_jia", + "type": "container", + "class": "", + "position": { + "x": 40.0, + "y": 52.5, + "z": 10 + }, + "config": { + "type": "ClipMagazineHole", + "size_x": 14.0, + "size_y": 14.0, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "clip_magazine_hole", + "model": null, + "barcode": null, + "max_volume": 1960.0, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "sheet_count": 1, + "sheets": [ + { + "name": "zi_dan_jia2_jipian_2", + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "location": null, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null, + "children": [], + "parent_name": "zi_dan_jia_clipmagazinehole_1_0" + } + ] + } + }, + { + "id": "zi_dan_jia2_jipian_2", + "name": "zi_dan_jia2_jipian_2", + "sample_id": null, + "children": [], + "parent": "zi_dan_jia_clipmagazinehole_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": "zi_dan_jia_clipmagazinehole_1_1", + "name": "zi_dan_jia_clipmagazinehole_1_1", + "sample_id": null, + "children": [ + "zi_dan_jia2_jipian_3" + ], + "parent": "zi_dan_jia", + "type": "container", + "class": "", + "position": { + "x": 40.0, + "y": 27.5, + "z": 10 + }, + "config": { + "type": "ClipMagazineHole", + "size_x": 14.0, + "size_y": 14.0, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "clip_magazine_hole", + "model": null, + "barcode": null, + "max_volume": 1960.0, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "sheet_count": 1, + "sheets": [ + { + "name": "zi_dan_jia2_jipian_3", + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "location": null, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null, + "children": [], + "parent_name": "zi_dan_jia_clipmagazinehole_1_1" + } + ] + } + }, + { + "id": "zi_dan_jia2_jipian_3", + "name": "zi_dan_jia2_jipian_3", + "sample_id": null, + "children": [], + "parent": "zi_dan_jia_clipmagazinehole_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": "zi_dan_jia2", + "name": "zi_dan_jia2", + "sample_id": null, + "children": [ + "zi_dan_jia2_clipmagazinehole_0_0", + "zi_dan_jia2_clipmagazinehole_0_1", + "zi_dan_jia2_clipmagazinehole_1_0", + "zi_dan_jia2_clipmagazinehole_1_1" + ], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 1600, + "y": 200, + "z": 0 + }, + "config": { + "type": "ClipMagazine_four", + "size_x": 80, + "size_y": 80, + "size_z": 10, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "clip_magazine_four", + "model": null, + "barcode": null, + "ordering": { + "A1": "zi_dan_jia2_clipmagazinehole_0_0", + "B1": "zi_dan_jia2_clipmagazinehole_0_1", + "A2": "zi_dan_jia2_clipmagazinehole_1_0", + "B2": "zi_dan_jia2_clipmagazinehole_1_1" + }, + "hole_diameter": 14.0, + "hole_depth": 10.0, + "max_sheets_per_hole": 100 + }, + "data": {} + }, + { + "id": "zi_dan_jia2_clipmagazinehole_0_0", + "name": "zi_dan_jia2_clipmagazinehole_0_0", + "sample_id": null, + "children": [ + "zi_dan_jia_jipian_0" + ], + "parent": "zi_dan_jia2", + "type": "container", + "class": "", + "position": { + "x": 15.0, + "y": 52.5, + "z": 10 + }, + "config": { + "type": "ClipMagazineHole", + "size_x": 14.0, + "size_y": 14.0, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "clip_magazine_hole", + "model": null, + "barcode": null, + "max_volume": 1960.0, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "sheet_count": 1, + "sheets": [ + { + "name": "zi_dan_jia_jipian_0", + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "location": null, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null, + "children": [], + "parent_name": "zi_dan_jia2_clipmagazinehole_0_0" + } + ] + } + }, + { + "id": "zi_dan_jia_jipian_0", + "name": "zi_dan_jia_jipian_0", + "sample_id": null, + "children": [], + "parent": "zi_dan_jia2_clipmagazinehole_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": 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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 - ) - - 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""" - 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] - -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 - name_to_index: dict - - -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 - - -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 = "56bbed5b-6e30-438c-b06d-f69eaa63bb45" - BasicConfig.sk = "238222fe-0bf7-4350-a426-e5ced8011dcf" - 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_decks_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.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py deleted file mode 100644 index 4758bdda..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ /dev/null @@ -1,1142 +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, - deck: CoincellDeck, - address: str = "192.168.1.20", - port: str = "502", - debug_mode: bool = True, - *args, - **kwargs, - ): - super().__init__( - #桌子 - deck=deck, - *args, - **kwargs, - ) - self.debug_mode = debug_mode - self.deck = deck - """ 连接初始化 """ - modbus_client = TCPClient(addr=address, port=port) - print("modbus_client", modbus_client) - 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.deck] - }) - - # 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.deck.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.deck.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: - 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 - - print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {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) - - #这里定义物料系统 - # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑 - liaopan1 = self.deck.get_resource("liaopan1") - liaopan4 = self.deck.get_resource("liaopan4") - jipian1 = liaopan1.children[coin_num_N].children[0] - jipian4 = liaopan4.children[coin_num_N].children[0] - #print(jipian1) - #从料盘上去物料解绑后放到另一盘上 - jipian1.parent.unassign_child_resource(jipian1) - jipian4.parent.unassign_child_resource(jipian4) - - #print(jipian2.parent) - battery = Battery(name = f"battery_{coin_num_N}") - battery.assign_child_resource(jipian1, location=None) - battery.assign_child_resource(jipian4, location=None) - - zidanjia6 = self.deck.get_resource("zi_dan_jia6") - - zidanjia6.children[0].assign_child_resource(battery, location=None) - - - # 生成断点文件 - # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 - 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.deck.get_resource("liaopan1") - #liaopan4 = self.deck.get_resource("liaopan4") - #for coin_num_N in range(16): - # liaopan1 = self.deck.get_resource("liaopan1") - # liaopan4 = self.deck.get_resource("liaopan4") - # jipian1 = liaopan1.children[coin_num_N].children[0] - # jipian4 = liaopan4.children[coin_num_N].children[0] - # #print(jipian1) - # #从料盘上去物料解绑后放到另一盘上 - # jipian1.parent.unassign_child_resource(jipian1) - # jipian4.parent.unassign_child_resource(jipian4) - # - # #print(jipian2.parent) - # battery = Battery(name = f"battery_{coin_num_N}") - # battery.assign_child_resource(jipian1, location=None) - # battery.assign_child_resource(jipian4, location=None) - # - # zidanjia6 = self.deck.get_resource("zi_dan_jia6") - # zidanjia6.children[0].assign_child_resource(battery, location=None) - # ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - # "resources": [self.deck] - # }) - # time.sleep(2) - for i in range(20): - print(f"输出{i}") - time.sleep(2) - - - # 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") - # - # #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() - - ##在台面上找到料盘和极片 - #liaopan1 = deck.get_resource("liaopan1") - #liaopan2 = deck.get_resource("liaopan2") - #jipian1 = liaopan1.children[1].children[0] -# - ##print(jipian1) - ##把物料解绑后放到另一盘上 - #jipian1.parent.unassign_child_resource(jipian1) - #liaopan2.children[1].assign_child_resource(jipian1, location=None) - ##print(jipian2.parent) - from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type - - with open("./button_battery_decks_unilab.json", "r", encoding="utf-8") as f: - bioyond_resources_unilab = json.load(f) - print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源") - ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource]) - print(f"转换结果类型: {type(ulab_resources)}") - print(ulab_resources) - diff --git a/unilabos/registry/devices/bioyond.yaml b/unilabos/registry/devices/bioyond.yaml index 9c647952..fe6f0907 100644 --- a/unilabos/registry/devices/bioyond.yaml +++ b/unilabos/registry/devices/bioyond.yaml @@ -242,8 +242,11 @@ workstation.bioyond_dispensing_station: properties: config: type: string + deck: + type: string required: - config + - deck type: object data: properties: {} diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml new file mode 100644 index 00000000..c50a1a80 --- /dev/null +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -0,0 +1,834 @@ +bioyond_cell: + category: + - bioyond_cell + class: + action_value_mappings: + auto-auto_batch_outbound_from_xlsx: + feedback: {} + goal: {} + goal_default: + xlsx_path: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + xlsx_path: + type: string + required: + - xlsx_path + type: object + result: {} 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type: string + WH3_x1_y2_z3_4_materialType: + default: '' + type: string + WH3_x1_y2_z3_4_quantity: + default: 0 + type: number + WH3_x1_y3_z3_7_materialId: + default: '' + type: string + WH3_x1_y3_z3_7_materialType: + default: '' + type: string + WH3_x1_y3_z3_7_quantity: + default: 0 + type: number + WH3_x1_y4_z3_10_materialId: + default: '' + type: string + WH3_x1_y4_z3_10_materialType: + default: '' + type: string + WH3_x1_y4_z3_10_quantity: + default: 0 + type: number + WH3_x1_y5_z3_13_materialId: + default: '' + type: string + WH3_x1_y5_z3_13_materialType: + default: '' + type: string + WH3_x1_y5_z3_13_quantity: + default: 0 + type: number + WH3_x2_y1_z3_2_materialId: + default: '' + type: string + WH3_x2_y1_z3_2_materialType: + default: '' + type: string + WH3_x2_y1_z3_2_quantity: + default: 0 + type: number + WH3_x2_y2_z3_5_materialId: + default: '' + type: string + WH3_x2_y2_z3_5_materialType: + default: '' + type: string + WH3_x2_y2_z3_5_quantity: + default: 0 + type: number + WH3_x2_y3_z3_8_materialId: + default: '' + type: string + WH3_x2_y3_z3_8_materialType: + default: '' + type: string + WH3_x2_y3_z3_8_quantity: + default: 0 + type: number + WH3_x2_y4_z3_11_materialId: + default: '' + type: string + WH3_x2_y4_z3_11_materialType: + default: '' + type: string + WH3_x2_y4_z3_11_quantity: + default: 0 + type: number + WH3_x2_y5_z3_14_materialId: + default: '' + type: string + WH3_x2_y5_z3_14_materialType: + default: '' + type: string + WH3_x2_y5_z3_14_quantity: + default: 0 + type: number + WH3_x3_y1_z3_3_materialId: + default: '' + type: string + WH3_x3_y1_z3_3_materialType: + default: '' + type: string + WH3_x3_y1_z3_3_quantity: + default: 0 + type: number + WH3_x3_y2_z3_6_materialId: + default: '' + type: string + WH3_x3_y2_z3_6_materialType: + default: '' + type: string + WH3_x3_y2_z3_6_quantity: + default: 0 + type: number + WH3_x3_y3_z3_9_materialId: + default: '' + type: string + WH3_x3_y3_z3_9_materialType: + default: '' + type: string + WH3_x3_y3_z3_9_quantity: + default: 0 + type: number + WH3_x3_y4_z3_12_materialId: + default: '' + type: string + WH3_x3_y4_z3_12_materialType: + default: '' + type: string + WH3_x3_y4_z3_12_quantity: + default: 0 + type: number + WH3_x3_y5_z3_15_materialId: + default: '' + type: string + WH3_x3_y5_z3_15_materialType: + default: '' + type: string + WH3_x3_y5_z3_15_quantity: + default: 0 + type: number + WH4_x1_y1_z1_1_materialName: + default: '' + type: string + WH4_x1_y1_z1_1_quantity: + default: 0.0 + type: number + WH4_x1_y1_z2_1_materialName: + default: '' + type: string + WH4_x1_y1_z2_1_materialType: + default: '' + type: string + WH4_x1_y1_z2_1_quantity: + default: 0.0 + type: number + WH4_x1_y1_z2_1_targetWH: + default: '' + type: string + WH4_x1_y2_z1_6_materialName: + default: '' + type: string + WH4_x1_y2_z1_6_quantity: + default: 0.0 + type: number + WH4_x1_y2_z2_4_materialName: + default: '' + type: string + WH4_x1_y2_z2_4_materialType: + default: '' + type: string + WH4_x1_y2_z2_4_quantity: + default: 0.0 + type: number + WH4_x1_y2_z2_4_targetWH: + default: '' + type: string + WH4_x1_y3_z1_11_materialName: + default: '' + type: string + WH4_x1_y3_z1_11_quantity: + default: 0.0 + type: number + WH4_x1_y3_z2_7_materialName: + default: '' + type: string + WH4_x1_y3_z2_7_materialType: + default: '' + type: string + WH4_x1_y3_z2_7_quantity: + default: 0.0 + type: number + WH4_x1_y3_z2_7_targetWH: + default: '' + type: string + WH4_x2_y1_z1_2_materialName: + default: '' + type: string + WH4_x2_y1_z1_2_quantity: + default: 0.0 + type: number + WH4_x2_y1_z2_2_materialName: + default: '' + type: string + WH4_x2_y1_z2_2_materialType: + default: '' + type: string + WH4_x2_y1_z2_2_quantity: + default: 0.0 + type: number + WH4_x2_y1_z2_2_targetWH: + default: '' + type: string + WH4_x2_y2_z1_7_materialName: + default: '' + type: string + WH4_x2_y2_z1_7_quantity: + default: 0.0 + type: number + WH4_x2_y2_z2_5_materialName: + default: '' + type: string + WH4_x2_y2_z2_5_materialType: + default: '' + type: string + WH4_x2_y2_z2_5_quantity: + default: 0.0 + type: number + WH4_x2_y2_z2_5_targetWH: + default: '' + type: string + WH4_x2_y3_z1_12_materialName: + default: '' + type: string + WH4_x2_y3_z1_12_quantity: + default: 0.0 + type: number + WH4_x2_y3_z2_8_materialName: + default: '' + type: string + WH4_x2_y3_z2_8_materialType: + default: '' + type: string + WH4_x2_y3_z2_8_quantity: + default: 0.0 + type: number + WH4_x2_y3_z2_8_targetWH: + default: '' + type: string + WH4_x3_y1_z1_3_materialName: + default: '' + type: string + WH4_x3_y1_z1_3_quantity: + default: 0.0 + type: number + WH4_x3_y1_z2_3_materialName: + default: '' + type: string + WH4_x3_y1_z2_3_materialType: + default: '' + type: string + WH4_x3_y1_z2_3_quantity: + default: 0.0 + type: number + WH4_x3_y1_z2_3_targetWH: + default: '' + type: string + WH4_x3_y2_z1_8_materialName: + default: '' + type: string + WH4_x3_y2_z1_8_quantity: + default: 0.0 + type: number + WH4_x3_y2_z2_6_materialName: + default: '' + type: string + WH4_x3_y2_z2_6_materialType: + default: '' + type: string + WH4_x3_y2_z2_6_quantity: + default: 0.0 + type: number + WH4_x3_y2_z2_6_targetWH: + default: '' + type: string + WH4_x3_y3_z2_9_materialName: + default: '' + type: string + WH4_x3_y3_z2_9_materialType: + default: '' + type: string + WH4_x3_y3_z2_9_quantity: + default: 0.0 + type: number + WH4_x3_y3_z2_9_targetWH: + default: '' + type: string + WH4_x4_y1_z1_4_materialName: + default: '' + type: string + WH4_x4_y1_z1_4_quantity: + default: 0.0 + type: number + WH4_x4_y2_z1_9_materialName: + default: '' + type: string + WH4_x4_y2_z1_9_quantity: + default: 0.0 + type: number + WH4_x5_y1_z1_5_materialName: + default: '' + type: string + WH4_x5_y1_z1_5_quantity: + default: 0.0 + type: number + WH4_x5_y2_z1_10_materialName: + default: '' + type: string + WH4_x5_y2_z1_10_quantity: + default: 0.0 + type: number + xlsx_path: + default: unilabos/devices/workstation/bioyond_cell/样品导入模板.xlsx + type: string + required: [] + type: object + result: {} + required: + - goal + title: auto_feeding4to3参数 + type: object + type: UniLabJsonCommand + auto-auto_feeding4to3_from_xlsx: + feedback: {} + goal: {} + goal_default: + xlsx_path: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + xlsx_path: + type: string + required: + - xlsx_path + type: object + result: {} + required: + - goal + title: auto_feeding4to3_from_xlsx参数 + type: object + type: UniLabJsonCommand + auto-create_orders: + feedback: {} + goal: {} + goal_default: + xlsx_path: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + xlsx_path: + type: string + required: + - xlsx_path + type: object + result: {} + required: + - goal + title: create_orders参数 + type: object + type: UniLabJsonCommand + auto-order_list_v2: + feedback: {} + goal: {} + goal_default: + beginTime: '' + endTime: '' + filter: '' + pageCount: 1 + skipCount: 0 + sorting: '' + status: '' + timeType: '' + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + beginTime: + default: '' + type: string + endTime: + default: '' + type: string + filter: + default: '' + type: string + pageCount: + default: 1 + type: integer + skipCount: + default: 0 + type: integer + sorting: + default: '' + type: string + status: + default: '' + type: string + timeType: + default: '' + type: string + required: [] + type: object + result: {} + required: + - goal + title: order_list_v2参数 + type: object + type: UniLabJsonCommand + auto-report_material_change: + feedback: {} + goal: {} + goal_default: + material_obj: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + material_obj: + type: object + required: + - material_obj + type: object + result: {} + required: + - goal + title: report_material_change参数 + type: object + type: UniLabJsonCommand + auto-scheduler_continue: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: scheduler_continue参数 + type: object + type: UniLabJsonCommand + auto-scheduler_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: scheduler_start参数 + type: object + type: UniLabJsonCommand + auto-scheduler_stop: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: scheduler_stop参数 + type: object + type: UniLabJsonCommand + auto-storage_batch_inbound: + feedback: {} + goal: {} + goal_default: + items: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + items: + items: + type: object + type: array + required: + - items + type: object + result: {} + required: + - goal + title: storage_batch_inbound参数 + type: object + type: UniLabJsonCommand + auto-storage_inbound: + feedback: {} + goal: {} + goal_default: + location_id: null + material_id: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + location_id: + type: string + material_id: + type: string + required: + - material_id + - location_id + type: object + result: {} + required: + - goal + title: storage_inbound参数 + type: object + type: UniLabJsonCommand + auto-transfer_1_to_2: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: transfer_1_to_2参数 + type: object + type: UniLabJsonCommand + auto-transfer_3_to_2_to_1: + feedback: {} + goal: {} + goal_default: + source_wh_id: 3a19debc-84b4-0359-e2d4-b3beea49348b + source_x: 1 + source_y: 1 + source_z: 1 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + source_wh_id: + default: 3a19debc-84b4-0359-e2d4-b3beea49348b + type: string + source_x: + default: 1 + type: integer + source_y: + default: 1 + type: integer + source_z: + default: 1 + type: integer + required: [] + type: object + result: {} + required: + - goal + title: transfer_3_to_2_to_1参数 + type: object + type: UniLabJsonCommand + auto-wait_for_transfer_task: + feedback: {} + goal: {} + goal_default: + filter_text: null + interval: 5 + timeout: 3000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + filter_text: + type: string + interval: + default: 5 + type: integer + timeout: + default: 3000 + type: integer + required: [] + type: object + result: {} + required: + - goal + title: wait_for_transfer_task参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation + status_types: {} + type: python + config_info: [] + description: '' + handles: [] + icon: '' + init_param_schema: + config: + properties: + bioyond_config: + type: string + station_resource: + type: string + required: [] + type: object + data: + properties: {} + required: [] + type: object + registry_type: device + version: 1.0.0 diff --git a/unilabos/registry/devices/characterization_chromatic.yaml b/unilabos/registry/devices/characterization_chromatic.yaml index f3059b58..37446bc3 100644 --- a/unilabos/registry/devices/characterization_chromatic.yaml +++ b/unilabos/registry/devices/characterization_chromatic.yaml @@ -1,231 +1,3 @@ -hplc.agilent: - category: - - characterization_chromatic - class: - action_value_mappings: - auto-check_status: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。 - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: check_status参数 - type: object - type: UniLabJsonCommand - auto-extract_data_from_txt: - feedback: {} - goal: {} - goal_default: - file_path: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。 - properties: - feedback: {} - goal: - properties: - file_path: - type: string - required: - - file_path - type: object - result: {} - required: - - goal - title: extract_data_from_txt参数 - type: object - type: UniLabJsonCommand - auto-start_sequence: - feedback: {} - goal: {} - goal_default: - params: null - resource: null - wf_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。 - properties: - feedback: {} - goal: - properties: - params: - type: string - resource: - type: object - wf_name: - type: string - required: - - wf_name - type: object - result: {} - required: - - goal - title: start_sequence参数 - type: object - type: UniLabJsonCommand - auto-try_close_sub_device: - feedback: {} - goal: {} - goal_default: - device_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。 - properties: - feedback: {} - goal: - properties: - device_name: - type: string - required: [] - type: object - result: {} - required: - - goal - title: try_close_sub_device参数 - type: object - type: UniLabJsonCommand - auto-try_open_sub_device: - feedback: {} - goal: {} - goal_default: - device_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。 - properties: - feedback: {} - goal: - properties: - device_name: - type: string - required: [] - type: object - result: {} - required: - - goal - title: try_open_sub_device参数 - type: object - type: UniLabJsonCommand - execute_command_from_outer: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver - status_types: - could_run: bool - data_file: String - device_status: str - driver_init_ok: bool - finish_status: str - is_running: bool - status_text: str - success: bool - type: python - config_info: [] - description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。 - handles: [] - icon: '' - init_param_schema: - config: - properties: - driver_debug: - default: false - type: string - required: [] - type: object - data: - properties: - could_run: - type: boolean - data_file: - items: - type: string - type: array - device_status: - type: string - driver_init_ok: - type: boolean - finish_status: - type: string - is_running: - type: boolean - status_text: - type: string - success: - type: boolean - required: - - status_text - - device_status - - could_run - - driver_init_ok - - is_running - - success - - finish_status - - data_file - type: object - version: 1.0.0 hplc.agilent-zhida: category: - characterization_chromatic diff --git a/unilabos/registry/devices/characterization_optic.yaml b/unilabos/registry/devices/characterization_optic.yaml index 80dcf93d..0967ef42 100644 --- a/unilabos/registry/devices/characterization_optic.yaml +++ b/unilabos/registry/devices/characterization_optic.yaml @@ -1,194 +1 @@ -raman.home_made: - category: - - characterization_optic - class: - action_value_mappings: - auto-ccd_time: - feedback: {} - goal: {} - goal_default: - int_time: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 设置CCD检测器积分时间的函数。用于配置拉曼光谱仪的信号采集时间，控制光谱数据的质量和信噪比。较长的积分时间可获得更高的信号强度和更好的光谱质量，但会增加测量时间。该函数允许根据样品特性和测量要求动态调整检测参数，优化测量效果。 - properties: - feedback: {} - goal: - properties: - int_time: - type: string - required: - - int_time - type: object - result: {} - required: - - goal - title: ccd_time参数 - type: object - type: UniLabJsonCommand - auto-laser_on_power: - feedback: {} - goal: {} - goal_default: - output_voltage_laser: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 设置激光器输出功率的函数。用于控制拉曼光谱仪激光器的功率输出，调节激光强度以适应不同样品的测量需求。适当的激光功率能够获得良好的拉曼信号同时避免样品损伤。该函数支持精确的功率控制，确保测量结果的稳定性和重现性。 - properties: - feedback: {} - goal: - properties: - output_voltage_laser: - type: string - required: - - output_voltage_laser - type: object - result: {} - required: - - goal - title: laser_on_power参数 - type: object - type: UniLabJsonCommand - auto-raman_without_background: - feedback: {} - goal: {} - goal_default: - int_time: null - laser_power: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 执行无背景扣除的拉曼光谱测量函数。用于直接采集样品的拉曼光谱信号，不进行背景校正处理。该函数配置积分时间和激光功率参数，获取原始光谱数据用于后续的数据处理分析。适用于对光谱数据质量要求较高或需要自定义背景处理流程的测量场景。 - properties: - feedback: {} - goal: - properties: - int_time: - type: string - laser_power: - type: string - required: - - int_time - - laser_power - type: object - result: {} - required: - - goal - title: raman_without_background参数 - type: object - type: UniLabJsonCommand - auto-raman_without_background_average: - feedback: {} - goal: {} - goal_default: - average: null - int_time: null - laser_power: null - sample_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 执行多次平均的无背景拉曼光谱测量函数。通过多次测量取平均值来提高光谱数据的信噪比和测量精度，减少随机噪声影响。该函数支持自定义平均次数、积分时间、激光功率等参数，并可为样品指定名称便于数据管理。适用于对测量精度要求较高的定量分析和研究应用。 - properties: - feedback: {} - goal: - properties: - average: - type: string - int_time: - type: string - laser_power: - type: string - sample_name: - type: string - required: - - sample_name - - int_time - - laser_power - - average - type: object - result: {} - required: - - goal - title: raman_without_background_average参数 - type: object - type: UniLabJsonCommand - raman_cmd: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - module: unilabos.devices.raman_uv.home_made_raman:RamanObj - status_types: {} - type: python - config_info: [] - description: 拉曼光谱分析设备，用于物质的分子结构和化学成分表征。该设备集成激光器和CCD检测器，通过串口通信控制激光功率和光谱采集。具备背景扣除、多次平均、自动数据处理等功能，支持高精度的拉曼光谱测量。适用于材料表征、化学分析、质量控制、研究开发等需要分子指纹识别和结构分析的实验应用。 - handles: [] - icon: '' - init_param_schema: - config: - properties: - baudrate_ccd: - default: 921600 - type: string - baudrate_laser: - default: 9600 - type: string - port_ccd: - type: string - port_laser: - type: string - required: - - port_laser - - port_ccd - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 +{} diff --git a/unilabos/registry/devices/reaction_station_bioyond.yaml b/unilabos/registry/devices/reaction_station_bioyond.yaml index 0a4090ea..875de078 100644 --- a/unilabos/registry/devices/reaction_station_bioyond.yaml +++ b/unilabos/registry/devices/reaction_station_bioyond.yaml @@ -75,31 +75,6 @@ reaction_station.bioyond: title: load_bioyond_data_from_file参数 type: object type: UniLabJsonCommand - auto-merge_workflow_with_parameters: - 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: merge_workflow_with_parameters参数 - type: object - type: UniLabJsonCommand auto-post_init: feedback: {} goal: {} @@ -729,6 +704,7 @@ reaction_station.bioyond: status_types: all_workflows: dict bioyond_status: dict + station_info: dict workstation_status: dict type: python config_info: [] @@ -742,8 +718,6 @@ reaction_station.bioyond: type: string deck: type: string - station_config: - type: string required: [] type: object data: @@ -752,11 +726,14 @@ reaction_station.bioyond: type: object bioyond_status: type: object + station_info: + type: object workstation_status: type: object required: - bioyond_status - all_workflows + - station_info - workstation_status type: object version: 1.0.0 diff --git a/unilabos/registry/devices/robot_linear_motion.yaml b/unilabos/registry/devices/robot_linear_motion.yaml index 0f8506e9..7d9de362 100644 --- a/unilabos/registry/devices/robot_linear_motion.yaml +++ b/unilabos/registry/devices/robot_linear_motion.yaml @@ -834,174 +834,3 @@ linear_motion.toyo_xyz.sim: mesh: toyo_xyz type: device version: 1.0.0 -motor.iCL42: - category: - - robot_linear_motion - class: - action_value_mappings: - auto-execute_run_motor: - feedback: {} - goal: {} - goal_default: - mode: null - position: null - velocity: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 步进电机执行运动函数。直接执行电机运动命令，包括位置设定、速度控制和路径规划。该函数处理底层的电机控制协议，消除警告信息，设置运动参数并启动电机运行。适用于需要直接控制电机运动的应用场景。 - properties: - feedback: {} - goal: - properties: - mode: - type: string - position: - type: number - velocity: - type: integer - required: - - mode - - position - - velocity - type: object - result: {} - required: - - goal - title: execute_run_motor参数 - type: object - type: UniLabJsonCommand - auto-init_device: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: iCL42电机设备初始化函数。建立与iCL42步进电机驱动器的串口通信连接，配置通信参数包括波特率、数据位、校验位等。该函数是电机使用前的必要步骤，确保驱动器处于可控状态并准备接收运动指令。 - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: init_device参数 - type: object - type: UniLabJsonCommand - auto-run_motor: - feedback: {} - goal: {} - goal_default: - mode: null - position: null - velocity: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 步进电机运动控制函数。根据指定的运动模式、目标位置和速度参数控制电机运动。支持多种运动模式和精确的位置控制，自动处理运动轨迹规划和执行。该函数提供异步执行和状态反馈，确保运动的准确性和可靠性。 - properties: - feedback: {} - goal: - properties: - mode: - type: string - position: - type: number - velocity: - type: integer - required: - - mode - - position - - velocity - type: object - result: {} - required: - - goal - title: run_motor参数 - type: object - type: UniLabJsonCommand - execute_command_from_outer: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - module: unilabos.devices.motor.iCL42:iCL42Driver - status_types: - is_executing_run: bool - motor_position: int - success: bool - type: python - config_info: [] - description: iCL42步进电机驱动器，用于实验室设备的精密线性运动控制。该设备通过串口通信控制iCL42型步进电机驱动器，支持多种运动模式和精确的位置、速度控制。具备位置反馈、运行状态监控和故障检测功能。适用于自动进样器、样品传送、精密定位平台等需要准确线性运动控制的实验室自动化设备。 - handles: [] - icon: '' - init_param_schema: - config: - properties: - device_address: - default: 1 - type: integer - device_com: - default: COM9 - type: string - required: [] - type: object - data: - properties: - is_executing_run: - type: boolean - motor_position: - type: integer - success: - type: boolean - required: - - motor_position - - is_executing_run - - success - type: object - version: 1.0.0 diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml index 7efdfd22..380c3f64 100644 --- a/unilabos/registry/devices/work_station.yaml +++ b/unilabos/registry/devices/work_station.yaml @@ -6120,31 +6120,6 @@ workstation.bioyond: title: load_bioyond_data_from_file参数 type: object type: UniLabJsonCommand - auto-merge_workflow_with_parameters: - 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: merge_workflow_with_parameters参数 - type: object - type: UniLabJsonCommand auto-post_init: feedback: {} goal: {} @@ -6460,6 +6435,7 @@ workstation.bioyond: status_types: all_workflows: dict bioyond_status: dict + station_info: dict workstation_status: dict type: python config_info: [] @@ -6473,8 +6449,6 @@ workstation.bioyond: type: string deck: type: string - station_config: - type: string required: [] type: object data: @@ -6483,11 +6457,14 @@ workstation.bioyond: type: object bioyond_status: type: object + station_info: + type: object workstation_status: type: object required: - bioyond_status - all_workflows + - station_info - workstation_status type: object version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml index d5a49b84..dd424ea1 100644 --- a/unilabos/registry/resources/bioyond/deck.yaml +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -22,3 +22,15 @@ BIOYOND_PolymerReactionStation_Deck: init_param_schema: {} registry_type: resource version: 1.0.0 +YB_Deck14: + category: + - deck + class: + module: unilabos.resources.bioyond.decks:YB_Deck + type: pylabrobot + description: BIOYOND PolymerReactionStation Deck + handles: [] + icon: 配液站.webp + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index e8c021fd..fa242c3d 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -1,6 +1,7 @@ +from os import name from pylabrobot.resources import Deck, Coordinate, Rotation -from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling +from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1 class BIOYOND_PolymerReactionStation_Deck(Deck): @@ -66,3 +67,60 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck): for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) + +class BIOYOND_YB_Deck(Deck): + def __init__( + self, + name: str = "YB_Deck", + size_x: float = 4150, + size_y: float = 1400.0, + size_z: float = 2670.0, + category: str = "deck", + setup: bool = False + ) -> None: + super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0) + if setup: + self.setup() + + def setup(self) -> None: + # 添加仓库 + self.warehouses = { + "321窗口": bioyond_warehouse_1x2x2("321窗口"), + "43窗口": bioyond_warehouse_1x2x2("43窗口"), + "手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"), + "手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"), + "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"), + "加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"), + + "15ml配液堆栈左": bioyond_warehouse_3x3x1("15ml配液堆栈左"), + "母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"), + "大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"), + "大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"), + } + # warehouse 的位置 + self.warehouse_locations = { + "321窗口": Coordinate(-150.0, 158.0, 0.0), + "43窗口": Coordinate(4160.0, 158.0, 0.0), + "手动传递窗左": Coordinate(-150.0, 877.0, 0.0), + "手动传递窗右": Coordinate(4160.0, 877.0, 0.0), + "加样头堆栈左": Coordinate(385.0, 1300.0, 0.0), + "加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0), + + "15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0), + "母液加样右": Coordinate(2152.0, 333.0, 0.0), + "大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0), + "大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0), + } + + for warehouse_name, warehouse in self.warehouses.items(): + self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) + +def YB_Deck(name: str) -> Deck: + by=BIOYOND_YB_Deck(name=name) + by.setup() + return by + + + + + diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py index 266a3666..477e8aee 100644 --- a/unilabos/resources/bioyond/warehouses.py +++ b/unilabos/resources/bioyond/warehouses.py @@ -5,15 +5,15 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" return warehouse_factory( name=name, - num_items_x=4, + num_items_x=1, num_items_y=4, - num_items_z=1, + num_items_z=4, dx=10.0, dy=10.0, dz=10.0, - item_dx=147.0, - item_dy=106.0, - item_dz=130.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, category="warehouse", ) @@ -34,7 +34,113 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse: category="warehouse", removed_positions=None ) + # 定义benyond的堆栈 +def bioyond_warehouse_1x2x2(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=1, + num_items_y=2, + num_items_z=2, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_10x1x1(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=10, + num_items_y=1, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_1x3x3(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=1, + num_items_y=3, + num_items_z=3, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_2x1x3(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=2, + num_items_y=1, + num_items_z=3, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_3x3x1(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=3, + num_items_y=3, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_5x1x1(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=5, + num_items_y=1, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=3, + num_items_y=3, + num_items_z=1, + dx=12.0, + dy=12.0, + dz=12.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse: """创建BioYond开关盖加液模块台面"""