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https://github.com/dptech-corp/Uni-Lab-OS.git
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feat: Enhance CoincellDeck setup with new ClipMagazine and BottleRack configurations
- Refactored ClipMagazine class to inherit from ItemizedResource and updated hole dimensions. - Introduced ClipMagazine_four class for a new 2x2 hole layout. - Expanded CoincellDeck setup to include multiple ClipMagazines and MaterialPlates with ElectrodeSheets. - Improved BottleRack initialization with dynamic item positioning and resource assignment. - Added serialization methods for new classes to maintain state consistency.
This commit is contained in:
calvincao
@@ -387,17 +387,17 @@ class ClipMagazineHole(Container):
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}
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# TODO: 这个要改
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class ClipMagazine(Resource):
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class ClipMagazine(ItemizedResource[ClipMagazineHole]):
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"""子弹夹类 - 有6个洞位，每个洞位放多个极片"""
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children: List[ClipMagazineHole]
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def __init__(
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self,
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name: str,
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size_x: float,
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size_y: 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_diameter: float = 14.0,
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hole_depth: float = 10.0,
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hole_spacing: float = 25.0,
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max_sheets_per_hole: int = 100,
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category: str = "clip_magazine",
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@@ -441,6 +441,7 @@ class ClipMagazine(Resource):
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model=model,
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)
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# 保存洞位的直径和深度
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self.hole_diameter = hole_diameter
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self.hole_depth = hole_depth
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self.max_sheets_per_hole = max_sheets_per_hole
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@@ -744,16 +745,22 @@ class BottleRackState(TypedDict):
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class BottleRack(Resource):
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"""瓶架类 - 12个待配位置+12个已配位置"""
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children: List[Bottle] = []
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children: List[Resource] = []
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def __init__(
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self,
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name: str,
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size_x: float,
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size_y: float,
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size_z: float,
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category: str = "bottle_rack",
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model: Optional[str] = None,
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self,
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name: str,
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size_x: float,
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size_y: float,
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size_z: float,
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category: str = "bottle_rack",
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model: Optional[str] = None,
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num_items_x: int = 3,
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num_items_y: int = 4,
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position_spacing: float = 35.0,
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orientation: str = "horizontal",
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padding_x: float = 20.0,
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padding_y: float = 20.0,
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):
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"""初始化瓶架
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@@ -773,13 +780,42 @@ class BottleRack(Resource):
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category=category,
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model=model,
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)
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# TODO: 添加瓶位坐标映射
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self.index_to_pos = {
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0: Coordinate.zero(),
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1: Coordinate(x=1, y=2, z=3) # 添加
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}
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# 初始化状态
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self._unilabos_state: BottleRackState = BottleRackState(
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bottle_diameter=30.0,
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bottle_height=100.0,
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position_spacing=position_spacing,
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name_to_index={},
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)
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# 基于网格生成瓶位坐标映射（居中摆放）
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# 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）
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origin_x = padding_x
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origin_y = padding_y
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self.index_to_pos = {}
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for j in range(num_items_y):
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for i in range(num_items_x):
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idx = j * num_items_x + i
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if orientation == "vertical":
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# 纵向：沿 y 方向优先排列
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self.index_to_pos[idx] = Coordinate(
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x=origin_x + j * position_spacing,
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y=origin_y + i * position_spacing,
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z=0,
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)
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else:
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# 横向（默认）：沿 x 方向优先排列
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self.index_to_pos[idx] = Coordinate(
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x=origin_x + i * position_spacing,
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y=origin_y + j * position_spacing,
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z=0,
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)
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self.name_to_index = {}
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self.name_to_pos = {}
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self.num_items_x = num_items_x
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self.num_items_y = num_items_y
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self.orientation = orientation
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self.padding_x = padding_x
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self.padding_y = padding_y
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def load_state(self, state: Dict[str, Any]) -> None:
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"""格式不变"""
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@@ -789,20 +825,23 @@ class BottleRack(Resource):
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def serialize_state(self) -> Dict[str, Dict[str, Any]]:
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"""格式不变"""
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data = super().serialize_state()
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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）
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data.update(
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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）
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return data
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# TODO: 这里有些问题要重新写一下
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def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True):
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assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子"
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def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True):
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capacity = self.num_items_x * self.num_items_y
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assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子"
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index = len(self.children)
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location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0)
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location = self.index_to_pos.get(index, Coordinate.zero())
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self.name_to_pos[resource.name] = location
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self.name_to_index[resource.name] = index
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return super().assign_child_resource(resource, location, reassign)
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def assign_child_resource_by_index(self, resource: Bottle, index: int):
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assert 0 <= index < 12, "无效的瓶子索引"
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def assign_child_resource(self, resource: Resource, index: int):
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capacity = self.num_items_x * self.num_items_y
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assert 0 <= index < capacity, "无效的瓶子索引"
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self.name_to_index[resource.name] = index
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location = self.index_to_pos[index]
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return super().assign_child_resource(resource, location)
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@@ -811,10 +850,16 @@ class BottleRack(Resource):
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super().unassign_child_resource(resource)
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self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None)
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# def serialize(self):
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# self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0))
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# return super().serialize()
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def serialize(self) -> dict:
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return {
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**super().serialize(),
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"num_items_x": self.num_items_x,
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"num_items_y": self.num_items_y,
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"position_spacing": self._unilabos_state.get("position_spacing", 35.0),
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"orientation": self.orientation,
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"padding_x": self.padding_x,
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"padding_y": self.padding_y,
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}
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class BottleState(TypedDict):
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diameter: float
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@@ -868,6 +913,73 @@ class Bottle(Resource):
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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）
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return data
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class ClipMagazine_four(ItemizedResource[ClipMagazineHole]):
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"""子弹夹类 - 有4个洞位，每个洞位放多个极片"""
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children: List[ClipMagazineHole]
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def __init__(
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self,
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name: str,
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size_x: float,
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size_y: float,
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size_z: float,
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hole_diameter: float = 14.0,
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hole_depth: float = 10.0,
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hole_spacing: float = 25.0,
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max_sheets_per_hole: int = 100,
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category: str = "clip_magazine_four",
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model: Optional[str] = None,
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):
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"""初始化子弹夹
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Args:
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name: 子弹夹名称
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size_x: 长度 (mm)
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size_y: 宽度 (mm)
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size_z: 高度 (mm)
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hole_diameter: 洞直径 (mm)
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hole_depth: 洞深度 (mm)
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hole_spacing: 洞位间距 (mm)
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max_sheets_per_hole: 每个洞位最大极片数量
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category: 类别
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model: 型号
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"""
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# 创建4个洞位，排成2x2布局
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holes = create_ordered_items_2d(
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klass=ClipMagazineHole,
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num_items_x=2,
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num_items_y=2,
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dx=(size_x - 2 * hole_spacing) / 2, # 居中
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dy=(size_y - hole_spacing) / 2, # 居中
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dz=size_z - 0,
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item_dx=hole_spacing,
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item_dy=hole_spacing,
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diameter=hole_diameter,
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depth=hole_depth,
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)
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super().__init__(
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name=name,
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size_x=size_x,
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size_y=size_y,
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size_z=size_z,
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ordered_items=holes,
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category=category,
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model=model,
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)
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# 保存洞位的直径和深度
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self.hole_diameter = hole_diameter
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self.hole_depth = hole_depth
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self.max_sheets_per_hole = max_sheets_per_hole
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def serialize(self) -> dict:
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return {
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**super().serialize(),
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"hole_diameter": self.hole_diameter,
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"hole_depth": self.hole_depth,
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"max_sheets_per_hole": self.max_sheets_per_hole,
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}
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class CoincellDeck(Deck):
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"""纽扣电池组装工作站台面类"""
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@@ -904,59 +1016,131 @@ class CoincellDeck(Deck):
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self.setup()
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def setup(self) -> None:
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"""设置工作站的标准布局 - 包含3个料盘"""
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# 步骤 1: 创建所有料盘
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self.plates = {
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"liaopan1": MaterialPlate(
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name="liaopan1",
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size_x=120.8,
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size_y=120.5,
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size_z=10.0,
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fill=True
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),
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"liaopan2": MaterialPlate(
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name="liaopan2",
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size_x=120.8,
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size_y=120.5,
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size_z=10.0,
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fill=True
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),
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"电池料盘": MaterialPlate(
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name="电池料盘",
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size_x=120.8,
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size_y=160.5,
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size_z=10.0,
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fill=True
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),
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}
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"""设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置"""
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# ====================================== 子弹夹 ============================================
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zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10)
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self.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0))
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zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10)
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self.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0))
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zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10)
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self.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0))
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zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10)
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self.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0))
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zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10)
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self.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0))
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zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10)
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self.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0))
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zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10)
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self.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0))
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zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10)
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self.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0))
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# 步骤 2: 定义料盘在 deck 上的位置
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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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self.plate_locations = {
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"liaopan1": Coordinate(x=50, y=50, z=0), # 左上角，留 50mm 边距
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"liaopan2": Coordinate(x=250, y=50, z=0), # 中间，liaopan1 右侧
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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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# 为子弹夹添加极片
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for i in range(4):
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jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
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zip_dan_jia2.children[i].assign_child_resource(jipian, location=None)
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for i in range(4):
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jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
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zip_dan_jia.children[i].assign_child_resource(jipian2, location=None)
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for i in range(6):
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jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
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zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None)
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for i in range(6):
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jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
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zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None)
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for i in range(6):
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jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
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zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None)
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for i in range(6):
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jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
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zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None)
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for i in range(6):
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jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
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zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None)
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for i in range(6):
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jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
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zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None)
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# 步骤 3: 将料盘分配到 deck 上
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for plate_name, plate in self.plates.items():
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self.assign_child_resource(
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plate,
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location=self.plate_locations[plate_name]
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)
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# 步骤 4: 为 liaopan1 添加初始极片
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# ====================================== 物料板 ============================================
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# 创建6个4*4的物料板
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liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True)
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self.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0))
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for i in range(16):
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jipian = ElectrodeSheet(
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name=f"jipian1_{i}",
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size_x=12,
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size_y=12,
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size_z=0.1
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)
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self.plates["liaopan1"].children[i].assign_child_resource(
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jipian,
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location=None
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)
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jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
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liaopan1.children[i].assign_child_resource(jipian_1, location=None)
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liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True)
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self.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0))
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liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True)
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self.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0))
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liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True)
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self.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0))
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for i in range(16):
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jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
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liaopan4.children[i].assign_child_resource(jipian_4, location=None)
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liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True)
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self.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0))
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|
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liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
self.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0))
|
||||
|
||||
# ====================================== 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",
|
||||
)
|
||||
self.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",
|
||||
)
|
||||
self.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",
|
||||
)
|
||||
self.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")
|
||||
self.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0))
|
||||
|
||||
waste_tip_box = WasteTipBox(name="waste_tip_box")
|
||||
self.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0))
|
||||
|
||||
print(self)
|
||||
|
||||
|
||||
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:
|
||||
@@ -971,6 +1155,11 @@ def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0,
|
||||
Returns:
|
||||
已配置好的 CoincellDeck 对象
|
||||
"""
|
||||
deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
|
||||
deck.setup()
|
||||
# 创建 CoincellDeck 实例并自动执行 setup 配置
|
||||
deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z, setup=True)
|
||||
return deck
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
deck = create_coin_cell_deck()
|
||||
print(deck)
|
||||
Reference in New Issue
Block a user