封膜仪、撕膜仪、耗材站接口

unilabos/devices/cytomat/cytomat.py

@@ -0,0 +1,61 @@
+import serial
+import time
+
+ser = serial.Serial(
+    port="COM18",         
+    baudrate=9600,
+    bytesize=serial.EIGHTBITS,
+    parity=serial.PARITY_NONE,
+    stopbits=serial.STOPBITS_ONE,
+    timeout=15,
+
+def send_cmd(cmd: str, wait: float = 1.0) -> str:
+    """向 Cytomat 发送一行命令并打印/返回响应。"""
+    print(f">>> {cmd}")
+    ser.write((cmd + "\r").encode("ascii"))
+    time.sleep(wait)
+    resp = ser.read_all().decode("ascii", errors="ignore").strip()
+    print(f"<<< {resp or '<no response>'}")
+    return resp
+
+def initialize():
+    """设备初始化 (ll:in)。"""
+    return send_cmd("ll:in")
+
+def wp_to_storage(pos: int):
+    """WP → 库位。pos: 1–9999 绝对地址。"""
+    return send_cmd(f"mv:ws {pos:04d}")
+
+def storage_to_tfs(stacker: int, level: int):
+    """库位 → TFS1。"""
+    return send_cmd(f"mv:st {stacker:02d} {level:02d}")
+
+def get_basic_state():
+    """查询 Basic State Register。"""
+    return send_cmd("ch:bs")
+
+def set_pitch(stacker: int, pitch_mm: int):
+    """设置单个 stacker 的层间距（mm）。"""
+    return send_cmd(f"se:cs {stacker:02d} {pitch_mm}")
+
+def tfs_to_storage(stacker: int, level: int):
+    """TFS1 → 库位。"""
+    return send_cmd(f"mv:ts {stacker:02d} {level:02d}")
+
+# ---------- 示例工作流 ----------
+if __name__ == "__main__":
+    try:
+        if not ser.is_open:
+            ser.open()
+        initialize()
+        wp_to_storage(10)
+        storage_to_tfs(17, 3)
+        get_basic_state()
+        tfs_to_storage(7, 5)
+
+    except Exception as exc:
+        print("Error:", exc)
+    finally:
+        ser.close()
+        print("Done.")
+