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Merge pull request #134 from sun7151887/fix/yb3-material-names-and-model
feat: 添加扣电工作站 setup() 方法并修复显示问题
This commit is contained in:
Calvin Cao
GitHub
@@ -396,6 +396,8 @@ class ClipMagazine(Resource):
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size_x: float,
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size_x: float,
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size_y: float,
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size_y: float,
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size_z: float,
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size_z: float,
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hole_diameter: float = 20.0,
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hole_depth: float = 50.0,
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hole_spacing: float = 25.0,
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hole_spacing: float = 25.0,
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max_sheets_per_hole: int = 100,
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max_sheets_per_hole: int = 100,
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category: str = "clip_magazine",
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category: str = "clip_magazine",
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@@ -425,8 +427,8 @@ class ClipMagazine(Resource):
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dz=size_z - 0,
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dz=size_z - 0,
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item_dx=hole_spacing,
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item_dx=hole_spacing,
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item_dy=hole_spacing,
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item_dy=hole_spacing,
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diameter=0,
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diameter=hole_diameter,
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depth=0,
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depth=hole_depth,
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)
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)
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super().__init__(
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super().__init__(
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@@ -872,21 +874,23 @@ class CoincellDeck(Deck):
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def __init__(
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def __init__(
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self,
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self,
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name: str = "coin_cell_deck",
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name: str = "coin_cell_deck",
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size_x: float = 1620.0, # 3.66m
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size_x: float = 1000.0, # 1m
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size_y: float = 1270.0, # 1.23m
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size_y: float = 1000.0, # 1m
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size_z: float = 500.0,
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size_z: float = 900.0, # 0.9m
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origin: Coordinate = Coordinate(0, 0, 0),
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origin: Coordinate = Coordinate(0, 0, 0),
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category: str = "coin_cell_deck",
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category: str = "coin_cell_deck",
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setup: bool = False, # 是否自动执行 setup
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):
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):
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"""初始化纽扣电池组装工作站台面
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"""初始化纽扣电池组装工作站台面
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Args:
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Args:
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name: 台面名称
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name: 台面名称
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size_x: 长度 (mm) - 3.66m
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size_x: 长度 (mm) - 1m
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size_y: 宽度 (mm) - 1.23m
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size_y: 宽度 (mm) - 1m
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size_z: 高度 (mm)
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size_z: 高度 (mm) - 0.9m
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origin: 原点坐标
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origin: 原点坐标
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category: 类别
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category: 类别
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setup: 是否自动执行 setup 配置标准布局
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"""
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"""
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super().__init__(
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super().__init__(
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name=name,
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name=name,
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@@ -896,111 +900,77 @@ class CoincellDeck(Deck):
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origin=origin,
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origin=origin,
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category=category,
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category=category,
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)
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)
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if setup:
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self.setup()
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#if __name__ == "__main__":
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def setup(self) -> None:
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# # 转移极片的测试代码
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"""设置工作站的标准布局 - 包含3个料盘"""
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# deck = CoincellDeck("coin_cell_deck")
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# 步骤 1: 创建所有料盘
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# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8)
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self.plates = {
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# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0))
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"liaopan1": MaterialPlate(
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#
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name="liaopan1",
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# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True)
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size_x=120.8,
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# for i, hole in enumerate(plate_1.children):
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size_y=120.5,
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# sheet = ElectrodeSheet(f"hole_{i}_sheet_1")
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size_z=10.0,
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# sheet._unilabos_state = {
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fill=True
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# "diameter": 14,
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),
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# "info": "NMC",
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"liaopan2": MaterialPlate(
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# "mass": 5.0,
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name="liaopan2",
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# "material_type": "positive_electrode",
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size_x=120.8,
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# "thickness": 0.1
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size_y=120.5,
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# }
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size_z=10.0,
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# hole._unilabos_state = {
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fill=True
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# "depth": 1.0,
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),
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# "diameter": 14,
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"电池料盘": MaterialPlate(
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# "info": "",
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name="电池料盘",
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# "max_sheets": 1
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size_x=120.8,
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# }
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size_y=160.5,
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# hole.assign_child_resource(sheet, Coordinate.zero())
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size_z=10.0,
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# plate_1._unilabos_state = {
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fill=True
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# "hole_spacing_x": 20.0,
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),
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# "hole_spacing_y": 20.0,
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}
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# "hole_diameter": 5,
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# "info": "这是第一块料板"
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# 步骤 2: 定义料盘在 deck 上的位置
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# }
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# Deck 尺寸: 1000×1000mm，料盘尺寸: 120.8×120.5mm 或 120.8×160.5mm
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# plate_1.update_locations()
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self.plate_locations = {
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# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero())
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"liaopan1": Coordinate(x=50, y=50, z=0), # 左上角，留 50mm 边距
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# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1)
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"liaopan2": Coordinate(x=250, y=50, z=0), # 中间，liaopan1 右侧
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# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0))
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"电池料盘": Coordinate(x=450, y=50, z=0), # 右侧
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#
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}
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# from unilabos.resources.graphio import *
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# A = tree_to_list([resource_plr_to_ulab(deck)])
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# 步骤 3: 将料盘分配到 deck 上
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# with open("test.json", "w") as f:
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for plate_name, plate in self.plates.items():
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# json.dump(A, f)
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self.assign_child_resource(
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#
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plate,
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#
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location=self.plate_locations[plate_name]
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#def get_plate_with_14mm_hole(name=""):
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)
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# plate = MaterialPlate(name=name)
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# for i in range(4):
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# 步骤 4: 为 liaopan1 添加初始极片
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# for j in range(4):
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for i in range(16):
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# hole = MaterialHole(f"{i+1}x{j+1}")
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jipian = ElectrodeSheet(
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# hole._unilabos_state["diameter"] = 14
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name=f"jipian1_{i}",
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# hole._unilabos_state["max_sheets"] = 1
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size_x=12,
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# plate.assign_child_resource(hole)
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size_y=12,
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# return plate
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size_z=0.1
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)
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import json
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self.plates["liaopan1"].children[i].assign_child_resource(
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jipian,
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if __name__ == "__main__":
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location=None
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#electrode1 = BatteryPressSlot()
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)
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#print(electrode1.get_size_x())
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#print(electrode1.get_size_y())
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#print(electrode1.get_size_z())
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#jipian = ElectrodeSheet()
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#jipian._unilabos_state["diameter"] = 18
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#print(jipian.serialize())
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#print(jipian.serialize_state())
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deck = CoincellDeck(size_x=1000,
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size_y=1000,
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size_z=900)
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#liaopan = TipBox64(name="liaopan")
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#创建一个4*4的物料板
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liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)
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#把物料板放到桌子上
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deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0))
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#创建一个极片
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for i in range(16):
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jipian = ElectrodeSheet(name=f"jipian1_{i}", size_x= 12, size_y=12, size_z=0.1)
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liaopan1.children[i].assign_child_resource(jipian, location=None)
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#
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#创建一个4*4的物料板
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liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)
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#把物料板放到桌子上
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deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0))
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#创建一个4*4的物料板
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liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True)
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#把物料板放到桌子上
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deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0))
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def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0, size_y: float = 1000.0, size_z: float = 900.0) -> CoincellDeck:
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#liaopan.children[3].assign_child_resource(jipian, location=None)
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"""创建并配置标准的纽扣电池组装工作站台面
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print(deck)
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Args:
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name: 台面名称
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from unilabos.resources.graphio import convert_resources_from_type
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size_x: 长度 (mm)
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from unilabos.config.config import BasicConfig
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size_y: 宽度 (mm)
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BasicConfig.ak = "4d5ce6ae-7234-4639-834e-93899b9caf94"
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size_z: 高度 (mm)
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BasicConfig.sk = "505d3b0a-620e-459a-9905-1efcffce382a"
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from unilabos.app.web.client import http_client
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Returns:
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已配置好的 CoincellDeck 对象
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resources = convert_resources_from_type([deck], [Resource])
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"""
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json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2)
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deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
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deck.setup()
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return deck
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#print(resources)
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http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
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http_client.resource_add(resources)
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@@ -136,27 +136,16 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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)
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)
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self.debug_mode = debug_mode
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self.debug_mode = debug_mode
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self.deck = None
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# 如果没有传入 deck，则创建标准配置的 deck
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if self.deck is None:
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if self.deck is None:
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self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900)
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self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, setup=True)
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# 创建料盘1并添加极片
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liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)
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self.deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0))
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for i in range(16):
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jipian = ElectrodeSheet(name=f"jipian1_{i}", size_x=12, size_y=12, size_z=0.1)
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liaopan1.children[i].assign_child_resource(jipian, location=None)
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# 创建料盘2
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liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)
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self.deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0))
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# 创建电池料盘
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liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True)
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self.deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0))
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else:
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else:
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if self.deck is None:
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# 如果传入了 deck 但还没有 setup，可以选择是否 setup
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self.deck = self.deck
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if self.deck is not None and len(self.deck.children) == 0:
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elif self.deck is not self.deck:
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# deck 为空，执行 setup
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self.deck = self.deck
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self.deck.setup()
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# 否则使用传入的 deck（可能已经配置好了）
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self.deck = self.deck
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""" 连接初始化 """
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""" 连接初始化 """
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modbus_client = TCPClient(addr=address, port=port)
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modbus_client = TCPClient(addr=address, port=port)
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@@ -1229,84 +1218,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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if __name__ == "__main__":
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if __name__ == "__main__":
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# modbus_client = TCPClient(addr="172.21.32.20", port="502")
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# 简单测试
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# # modbus_client.client.connect()
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workstation = CoinCellAssemblyWorkstation()
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# nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))
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print(f"工作站创建成功: {workstation.deck.name}")
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# client = modbus_client.register_node_list(nodes)
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print(f"料盘数量: {len(workstation.deck.children)}")
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# # print("modbus_client", modbus_client)
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# while True:
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# time.sleep(1)
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# cmd_feedback, read_err = modbus_client.use_node('COIL_SYS_AUTO_CMD').read(1)
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# print("modbus_client", cmd_feedback)
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Coin_Cell = CoinCellAssemblyWorkstation()
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print(Coin_Cell.deck)
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#Coin_Cell.func_pack_device_init()
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#Coin_Cell.func_pack_device_auto()
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#Coin_Cell.func_pack_device_start()
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#Coin_Cell.func_pack_send_bottle_num(2)
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#Coin_Cell.func_pack_send_msg_cmd(2)
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#Coin_Cell.func_pack_get_msg_cmd()
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#Coin_Cell.func_pack_get_msg_cmd()
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#Coin_Cell.func_pack_send_finished_cmd()
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#
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#Coin_Cell.func_allpack_cmd(3, 2)
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#print(Coin_Cell.data_stack_vision_code)
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#print("success")
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#创建一个物料台面
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# deck = create_a_coin_cell_deck()
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#deck = create_a_full_coin_cell_deck()
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##在台面上找到料盘和极片
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#liaopan1 = deck.get_resource("liaopan1")
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#liaopan2 = deck.get_resource("liaopan2")
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#jipian1 = liaopan1.children[1].children[0]
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##
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#print(jipian1)
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##把物料解绑后放到另一盘上
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#jipian1.parent.unassign_child_resource(jipian1)
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#liaopan2.children[1].assign_child_resource(jipian1, location=None)
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##print(jipian2.parent)
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# 使用 Coin_Cell 对象的 deck 属性
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deck = Coin_Cell.deck
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liaopan1 = Coin_Cell.deck.get_resource("liaopan1")
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liaopan2 = Coin_Cell.deck.get_resource("liaopan2")
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for i in range(16):
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#找到liaopan1上每一个jipian
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jipian_linshi = liaopan1.children[i].children[0]
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#把物料解绑后放到另一盘上
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print("极片:", jipian_linshi)
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jipian_linshi.parent.unassign_child_resource(jipian_linshi)
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liaopan2.children[i].assign_child_resource(jipian_linshi, location=None)
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from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type
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#with open("./button_battery_decks_unilab.json", "r", encoding="utf-8") as f:
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# bioyond_resources_unilab = json.load(f)
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#print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源")
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#ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource])
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#print(f"转换结果类型: {type(ulab_resources)}")
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#print(ulab_resources)
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from unilabos.resources.graphio import convert_resources_from_type
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from unilabos.config.config import BasicConfig
|
|
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BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55"
|
|
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BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561"
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from unilabos.app.web.client import http_client
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|
||||||
resources = convert_resources_from_type([Coin_Cell.deck], [Resource])
|
|
||||||
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)
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
Reference in New Issue
Block a user