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https://github.com/dptech-corp/Uni-Lab-OS.git
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feat: 添加扣电工作站 setup() 方法并修复显示问题
主要改动: - ✅ 在 CoincellDeck 实现 setup() 方法（模仿 decks.py 三步配置模式） - ✅ 统一 Deck 默认尺寸为 1000x1000x900mm - ✅ 优化料盘布局：横向排列，留50mm边距 - ✅ 简化工作站 deck 创建逻辑（从30行减至1行） - ✅ 新增 create_coin_cell_deck() 便捷函数 - ✅ 修复 ClipMagazine 参数错误 - ✅ 删除约200行冗余代码 - ✅ 修复底座不显示问题 技术细节: - MaterialPlate 位置: liaopan1(50,50), liaopan2(250,50), 电池料盘(450,50) - 自动为 liaopan1 添加16个初始极片 - 支持3种 deck 创建方式 - 智能判断是否需要 setup
This commit is contained in:
dijkstra402
@@ -0,0 +1,976 @@
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"""
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纽扣电池组装工作站物料类定义
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Button Battery Assembly Station Resource Classes
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"""
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from __future__ import annotations
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from collections import OrderedDict
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from typing import Any, Dict, List, Optional, TypedDict, Union, cast
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from pylabrobot.resources.coordinate import Coordinate
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from pylabrobot.resources.container import Container
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from pylabrobot.resources.deck import Deck
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from pylabrobot.resources.itemized_resource import ItemizedResource
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from pylabrobot.resources.resource import Resource
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from pylabrobot.resources.resource_stack import ResourceStack
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from pylabrobot.resources.tip_rack import TipRack, TipSpot
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from pylabrobot.resources.trash import Trash
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from pylabrobot.resources.utils import create_ordered_items_2d
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class ElectrodeSheetState(TypedDict):
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diameter: float # 直径 (mm)
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thickness: float # 厚度 (mm)
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mass: float # 质量 (g)
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material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等）
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height: float
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electrolyte_name: str
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data_electrolyte_code: str
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open_circuit_voltage: float
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assembly_pressure: float
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electrolyte_volume: float
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info: Optional[str] # 附加信息
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class ElectrodeSheet(Resource):
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"""极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料"""
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def __init__(
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self,
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name: str = "极片",
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size_x=10,
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size_y=10,
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size_z=10,
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category: str = "electrode_sheet",
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model: Optional[str] = None,
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):
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"""初始化极片
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Args:
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name: 极片名称
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category: 类别
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model: 型号
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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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category=category,
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model=model,
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)
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self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(
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diameter=14,
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thickness=0.1,
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mass=0.5,
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material_type="copper",
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info=None
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)
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# TODO: 这个还要不要？给self._unilabos_state赋值的？
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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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super().load_state(state)
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self._unilabos_state = state
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#序列化
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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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return data
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# TODO: 这个应该只能放一个极片
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class MaterialHoleState(TypedDict):
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diameter: int
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depth: int
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max_sheets: int
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info: Optional[str] # 附加信息
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class MaterialHole(Resource):
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"""料板洞位类"""
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children: List[ElectrodeSheet] = []
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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 = "material_hole",
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**kwargs
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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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category=category,
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)
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self._unilabos_state: MaterialHoleState = MaterialHoleState(
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diameter=20,
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depth=10,
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max_sheets=1,
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info=None
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)
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def get_all_sheet_info(self):
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info_list = []
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for sheet in self.children:
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info_list.append(sheet._unilabos_state["info"])
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return info_list
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#这个函数函数好像没用，一般不会集中赋值质量
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def set_all_sheet_mass(self):
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for sheet in self.children:
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sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g
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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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super().load_state(state)
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self._unilabos_state = state
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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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return data
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#移动极片前先取出对象
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def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:
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for sheet in self.children:
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if sheet.name == name:
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return sheet
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return None
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def has_electrode_sheet(self) -> bool:
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"""检查洞位是否有极片"""
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return len(self.children) > 0
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def assign_child_resource(
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self,
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resource: ElectrodeSheet,
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location: Optional[Coordinate],
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reassign: bool = True,
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):
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"""放置极片"""
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# TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题
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#if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]:
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# raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}")
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#if len(self.children) >= self._unilabos_state["max_sheets"]:
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# raise ValueError(f"洞位已满，无法放置更多极片")
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super().assign_child_resource(resource, location, reassign)
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# 根据children的编号取物料对象。
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def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:
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return self.children[index]
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class MaterialPlateState(TypedDict):
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hole_spacing_x: float
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hole_spacing_y: float
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hole_diameter: float
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info: Optional[str] # 附加信息
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class MaterialPlate(ItemizedResource[MaterialHole]):
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"""料板类 - 4x4个洞位，每个洞位放1个极片"""
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children: List[MaterialHole]
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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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ordered_items: Optional[Dict[str, MaterialHole]] = None,
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ordering: Optional[OrderedDict[str, str]] = None,
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category: str = "material_plate",
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model: Optional[str] = None,
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fill: bool = False
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):
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"""初始化料板
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Args:
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name: 料板名称
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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_x: X方向洞位间距 (mm)
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hole_spacing_y: Y方向洞位间距 (mm)
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number: 编号
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category: 类别
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model: 型号
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"""
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self._unilabos_state: MaterialPlateState = MaterialPlateState(
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hole_spacing_x=24.0,
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hole_spacing_y=24.0,
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hole_diameter=20.0,
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info="",
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)
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# 创建4x4的洞位
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# TODO: 这里要改，对应不同形状
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holes = create_ordered_items_2d(
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klass=MaterialHole,
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num_items_x=4,
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num_items_y=4,
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dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中
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dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中
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dz=size_z,
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item_dx=self._unilabos_state["hole_spacing_x"],
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item_dy=self._unilabos_state["hole_spacing_y"],
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size_x = 16,
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size_y = 16,
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size_z = 16,
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)
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if fill:
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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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else:
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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=ordered_items,
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ordering=ordering,
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category=category,
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model=model,
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)
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def update_locations(self):
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# TODO:调多次相加
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holes = create_ordered_items_2d(
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klass=MaterialHole,
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num_items_x=4,
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num_items_y=4,
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dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中
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dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中
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dz=self._size_z,
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item_dx=self._unilabos_state["hole_spacing_x"],
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item_dy=self._unilabos_state["hole_spacing_y"],
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size_x = 1,
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size_y = 1,
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size_z = 1,
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)
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for item, original_item in zip(holes.items(), self.children):
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original_item.location = item[1].location
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class PlateSlot(ResourceStack):
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"""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"""
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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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max_plates: int = 8,
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category: str = "plate_slot",
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model: Optional[str] = None
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):
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"""初始化板槽位
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Args:
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name: 槽位名称
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max_plates: 最大板数量
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category: 类别
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"""
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super().__init__(
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name=name,
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direction="z", # Z方向堆叠
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resources=[],
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)
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self.max_plates = max_plates
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self.category = category
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def can_add_plate(self) -> bool:
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"""检查是否可以添加板"""
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return len(self.children) < self.max_plates
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def add_plate(self, plate: MaterialPlate) -> None:
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"""添加料板"""
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if not self.can_add_plate():
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raise ValueError(f"槽位 {self.name} 已满，无法添加更多板")
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self.assign_child_resource(plate)
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def get_top_plate(self) -> MaterialPlate:
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"""获取最上方的板"""
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if len(self.children) == 0:
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raise ValueError(f"槽位 {self.name} 为空")
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return cast(MaterialPlate, self.get_top_item())
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def take_top_plate(self) -> MaterialPlate:
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"""取出最上方的板"""
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top_plate = self.get_top_plate()
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self.unassign_child_resource(top_plate)
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return top_plate
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def can_access_for_picking(self) -> bool:
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"""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）"""
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return len(self.children) > 0
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def serialize(self) -> dict:
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return {
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**super().serialize(),
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"max_plates": self.max_plates,
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}
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class ClipMagazineHole(Container):
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"""子弹夹洞位类"""
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def __init__(
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self,
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name: str,
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diameter: float,
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depth: float,
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max_sheets: int = 100,
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category: str = "clip_magazine_hole",
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):
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"""初始化子弹夹洞位
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Args:
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name: 洞位名称
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diameter: 洞直径 (mm)
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depth: 洞深度 (mm)
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max_sheets: 最大极片数量
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category: 类别
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"""
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super().__init__(
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name=name,
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size_x=diameter,
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size_y=diameter,
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size_z=depth,
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category=category,
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)
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self.diameter = diameter
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self.depth = depth
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self.max_sheets = max_sheets
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self._sheets: List[ElectrodeSheet] = []
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def can_add_sheet(self, sheet: ElectrodeSheet) -> bool:
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"""检查是否可以添加极片"""
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return (len(self._sheets) < self.max_sheets and
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sheet.diameter <= self.diameter)
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def add_sheet(self, sheet: ElectrodeSheet) -> None:
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"""添加极片"""
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if not self.can_add_sheet(sheet):
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raise ValueError(f"无法向洞位 {self.name} 添加极片")
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self._sheets.append(sheet)
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def take_sheet(self) -> ElectrodeSheet:
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"""取出极片"""
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if len(self._sheets) == 0:
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raise ValueError(f"洞位 {self.name} 没有极片")
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return self._sheets.pop()
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def get_sheet_count(self) -> int:
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"""获取极片数量"""
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return len(self._sheets)
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def serialize_state(self) -> Dict[str, Any]:
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return {
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"sheet_count": len(self._sheets),
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"sheets": [sheet.serialize() for sheet in self._sheets],
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}
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# TODO: 这个要改
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class ClipMagazine(Resource):
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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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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_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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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6个洞位，排成2x3布局
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||||
holes = create_ordered_items_2d(
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klass=ClipMagazineHole,
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||||
num_items_x=3,
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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,
|
||||
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,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
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||||
ordered_items=holes,
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||||
category=category,
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||||
model=model,
|
||||
)
|
||||
|
||||
self.hole_diameter = hole_diameter
|
||||
self.hole_depth = hole_depth
|
||||
self.max_sheets_per_hole = max_sheets_per_hole
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {
|
||||
**super().serialize(),
|
||||
"hole_diameter": self.hole_diameter,
|
||||
"hole_depth": self.hole_depth,
|
||||
"max_sheets_per_hole": self.max_sheets_per_hole,
|
||||
}
|
||||
#是一种类型注解，不用self
|
||||
class BatteryState(TypedDict):
|
||||
"""电池状态字典"""
|
||||
diameter: float
|
||||
height: float
|
||||
assembly_pressure: float
|
||||
electrolyte_volume: float
|
||||
electrolyte_name: str
|
||||
|
||||
class Battery(Resource):
|
||||
"""电池类 - 可容纳极片"""
|
||||
children: List[ElectrodeSheet] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x=1,
|
||||
size_y=1,
|
||||
size_z=1,
|
||||
category: str = "battery",
|
||||
):
|
||||
"""初始化电池
|
||||
|
||||
Args:
|
||||
name: 电池名称
|
||||
diameter: 直径 (mm)
|
||||
height: 高度 (mm)
|
||||
max_volume: 最大容量 (μL)
|
||||
barcode: 二维码编号
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=1,
|
||||
size_y=1,
|
||||
size_z=1,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: BatteryState = BatteryState(
|
||||
diameter = 1.0,
|
||||
height = 1.0,
|
||||
assembly_pressure = 1.0,
|
||||
electrolyte_volume = 1.0,
|
||||
electrolyte_name = "DP001"
|
||||
)
|
||||
|
||||
def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool:
|
||||
to_add_name = bottle._unilabos_state["electrolyte_name"]
|
||||
if bottle.aspirate_electrolyte(10):
|
||||
if self.add_electrolyte(to_add_name, 10):
|
||||
pass
|
||||
else:
|
||||
bottle._unilabos_state["electrolyte_volume"] += 10
|
||||
|
||||
def set_electrolyte(self, name: str, volume: float) -> None:
|
||||
"""设置电解液信息"""
|
||||
self._unilabos_state["electrolyte_name"] = name
|
||||
self._unilabos_state["electrolyte_volume"] = volume
|
||||
#这个应该没用，不会有加了后再加的事情
|
||||
def add_electrolyte(self, name: str, volume: float) -> bool:
|
||||
"""添加电解液信息"""
|
||||
if name != self._unilabos_state["electrolyte_name"]:
|
||||
return False
|
||||
self._unilabos_state["electrolyte_volume"] += volume
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
# 电解液作为属性放进去
|
||||
|
||||
class BatteryPressSlotState(TypedDict):
|
||||
"""电池状态字典"""
|
||||
diameter: float =20.0
|
||||
depth: float = 4.0
|
||||
|
||||
class BatteryPressSlot(Resource):
|
||||
"""电池压制槽类 - 设备，可容纳一个电池"""
|
||||
children: List[Battery] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "BatteryPressSlot",
|
||||
category: str = "battery_press_slot",
|
||||
):
|
||||
"""初始化电池压制槽
|
||||
|
||||
Args:
|
||||
name: 压制槽名称
|
||||
diameter: 直径 (mm)
|
||||
depth: 深度 (mm)
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=10,
|
||||
size_y=12,
|
||||
size_z=13,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState()
|
||||
|
||||
def has_battery(self) -> bool:
|
||||
"""检查是否有电池"""
|
||||
return len(self.children) > 0
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
def assign_child_resource(
|
||||
self,
|
||||
resource: Battery,
|
||||
location: Optional[Coordinate],
|
||||
reassign: bool = True,
|
||||
):
|
||||
"""放置极片"""
|
||||
# TODO: 让高京看下槽位只有一个电池时是否这么写。
|
||||
if self.has_battery():
|
||||
raise ValueError(f"槽位已含有一个电池，无法再放置其他电池")
|
||||
super().assign_child_resource(resource, location, reassign)
|
||||
|
||||
# 根据children的编号取物料对象。
|
||||
def get_battery_info(self, index: int) -> Battery:
|
||||
return self.children[0]
|
||||
|
||||
# TODO:这个移液枪架子看一下从哪继承
|
||||
class TipBox64State(TypedDict):
|
||||
"""电池状态字典"""
|
||||
tip_diameter: float = 5.0
|
||||
tip_length: float = 50.0
|
||||
with_tips: bool = True
|
||||
|
||||
class TipBox64(TipRack):
|
||||
"""64孔枪头盒类"""
|
||||
|
||||
children: List[TipSpot] = []
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
category: str = "tip_box_64",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化64孔枪头盒
|
||||
|
||||
Args:
|
||||
name: 枪头盒名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
tip_diameter: 枪头直径 (mm)
|
||||
tip_length: 枪头长度 (mm)
|
||||
category: 类别
|
||||
model: 型号
|
||||
with_tips: 是否带枪头
|
||||
"""
|
||||
from pylabrobot.resources.tip import Tip
|
||||
|
||||
# 创建8x8=64个枪头位
|
||||
def make_tip():
|
||||
return Tip(
|
||||
has_filter=False,
|
||||
total_tip_length=20.0,
|
||||
maximal_volume=1000, # 1mL
|
||||
fitting_depth=8.0,
|
||||
)
|
||||
|
||||
tip_spots = create_ordered_items_2d(
|
||||
klass=TipSpot,
|
||||
num_items_x=8,
|
||||
num_items_y=8,
|
||||
dx=8.0,
|
||||
dy=8.0,
|
||||
dz=0.0,
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
size_x=10,
|
||||
size_y=10,
|
||||
size_z=0.0,
|
||||
make_tip=make_tip,
|
||||
)
|
||||
self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=tip_spots,
|
||||
category=category,
|
||||
model=model,
|
||||
with_tips=True,
|
||||
)
|
||||
|
||||
|
||||
|
||||
class WasteTipBoxstate(TypedDict):
|
||||
""""废枪头盒状态字典"""
|
||||
max_tips: int = 100
|
||||
tip_count: int = 0
|
||||
|
||||
#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断
|
||||
class WasteTipBox(Trash):
|
||||
"""废枪头盒类 - 100个枪头容量"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
category: str = "waste_tip_box",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化废枪头盒
|
||||
|
||||
Args:
|
||||
name: 废枪头盒名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
max_tips: 最大枪头容量
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
|
||||
|
||||
def add_tip(self) -> None:
|
||||
"""添加废枪头"""
|
||||
if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]:
|
||||
raise ValueError(f"废枪头盒 {self.name} 已满")
|
||||
self._unilabos_state["tip_count"] += 1
|
||||
|
||||
def get_tip_count(self) -> int:
|
||||
"""获取枪头数量"""
|
||||
return self._unilabos_state["tip_count"]
|
||||
|
||||
def empty(self) -> None:
|
||||
"""清空废枪头盒"""
|
||||
self._unilabos_state["tip_count"] = 0
|
||||
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
|
||||
class BottleRackState(TypedDict):
|
||||
""" bottle_diameter: 瓶子直径 (mm)
|
||||
bottle_height: 瓶子高度 (mm)
|
||||
position_spacing: 位置间距 (mm)"""
|
||||
bottle_diameter: float
|
||||
bottle_height: float
|
||||
name_to_index: dict
|
||||
|
||||
|
||||
|
||||
class BottleRack(Resource):
|
||||
"""瓶架类 - 12个待配位置+12个已配位置"""
|
||||
children: List[Bottle] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "bottle_rack",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化瓶架
|
||||
|
||||
Args:
|
||||
name: 瓶架名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
# TODO: 添加瓶位坐标映射
|
||||
self.index_to_pos = {
|
||||
0: Coordinate.zero(),
|
||||
1: Coordinate(x=1, y=2, z=3) # 添加
|
||||
}
|
||||
self.name_to_index = {}
|
||||
self.name_to_pos = {}
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
# TODO: 这里有些问题要重新写一下
|
||||
def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True):
|
||||
assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子"
|
||||
index = len(self.children)
|
||||
location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0)
|
||||
self.name_to_pos[resource.name] = location
|
||||
self.name_to_index[resource.name] = index
|
||||
return super().assign_child_resource(resource, location, reassign)
|
||||
|
||||
def assign_child_resource_by_index(self, resource: Bottle, index: int):
|
||||
assert 0 <= index < 12, "无效的瓶子索引"
|
||||
self.name_to_index[resource.name] = index
|
||||
location = self.index_to_pos[index]
|
||||
return super().assign_child_resource(resource, location)
|
||||
|
||||
def unassign_child_resource(self, resource: Bottle):
|
||||
super().unassign_child_resource(resource)
|
||||
self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None)
|
||||
|
||||
# def serialize(self):
|
||||
# self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0))
|
||||
# return super().serialize()
|
||||
|
||||
|
||||
class BottleState(TypedDict):
|
||||
diameter: float
|
||||
height: float
|
||||
electrolyte_name: str
|
||||
electrolyte_volume: float
|
||||
max_volume: float
|
||||
|
||||
class Bottle(Resource):
|
||||
"""瓶子类 - 容纳电解液"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
category: str = "bottle",
|
||||
):
|
||||
"""初始化瓶子
|
||||
|
||||
Args:
|
||||
name: 瓶子名称
|
||||
diameter: 直径 (mm)
|
||||
height: 高度 (mm)
|
||||
max_volume: 最大体积 (μL)
|
||||
barcode: 二维码
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=1,
|
||||
size_y=1,
|
||||
size_z=1,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: BottleState = BottleState()
|
||||
|
||||
def aspirate_electrolyte(self, volume: float) -> bool:
|
||||
current_volume = self._unilabos_state["electrolyte_volume"]
|
||||
assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available."
|
||||
self._unilabos_state["electrolyte_volume"] -= volume
|
||||
return True
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
class CoincellDeck(Deck):
|
||||
"""纽扣电池组装工作站台面类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "coin_cell_deck",
|
||||
size_x: float = 1000.0, # 1m
|
||||
size_y: float = 1000.0, # 1m
|
||||
size_z: float = 900.0, # 0.9m
|
||||
origin: Coordinate = Coordinate(0, 0, 0),
|
||||
category: str = "coin_cell_deck",
|
||||
setup: bool = False, # 是否自动执行 setup
|
||||
):
|
||||
"""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) - 1m
|
||||
size_y: 宽度 (mm) - 1m
|
||||
size_z: 高度 (mm) - 0.9m
|
||||
origin: 原点坐标
|
||||
category: 类别
|
||||
setup: 是否自动执行 setup 配置标准布局
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
origin=origin,
|
||||
category=category,
|
||||
)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
"""设置工作站的标准布局 - 包含3个料盘"""
|
||||
# 步骤 1: 创建所有料盘
|
||||
self.plates = {
|
||||
"liaopan1": MaterialPlate(
|
||||
name="liaopan1",
|
||||
size_x=120.8,
|
||||
size_y=120.5,
|
||||
size_z=10.0,
|
||||
fill=True
|
||||
),
|
||||
"liaopan2": MaterialPlate(
|
||||
name="liaopan2",
|
||||
size_x=120.8,
|
||||
size_y=120.5,
|
||||
size_z=10.0,
|
||||
fill=True
|
||||
),
|
||||
"电池料盘": MaterialPlate(
|
||||
name="电池料盘",
|
||||
size_x=120.8,
|
||||
size_y=160.5,
|
||||
size_z=10.0,
|
||||
fill=True
|
||||
),
|
||||
}
|
||||
|
||||
# 步骤 2: 定义料盘在 deck 上的位置
|
||||
# Deck 尺寸: 1000×1000mm，料盘尺寸: 120.8×120.5mm 或 120.8×160.5mm
|
||||
self.plate_locations = {
|
||||
"liaopan1": Coordinate(x=50, y=50, z=0), # 左上角，留 50mm 边距
|
||||
"liaopan2": Coordinate(x=250, y=50, z=0), # 中间，liaopan1 右侧
|
||||
"电池料盘": Coordinate(x=450, y=50, z=0), # 右侧
|
||||
}
|
||||
|
||||
# 步骤 3: 将料盘分配到 deck 上
|
||||
for plate_name, plate in self.plates.items():
|
||||
self.assign_child_resource(
|
||||
plate,
|
||||
location=self.plate_locations[plate_name]
|
||||
)
|
||||
|
||||
# 步骤 4: 为 liaopan1 添加初始极片
|
||||
for i in range(16):
|
||||
jipian = ElectrodeSheet(
|
||||
name=f"jipian1_{i}",
|
||||
size_x=12,
|
||||
size_y=12,
|
||||
size_z=0.1
|
||||
)
|
||||
self.plates["liaopan1"].children[i].assign_child_resource(
|
||||
jipian,
|
||||
location=None
|
||||
)
|
||||
|
||||
|
||||
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:
|
||||
"""创建并配置标准的纽扣电池组装工作站台面
|
||||
|
||||
Args:
|
||||
name: 台面名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
|
||||
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()
|
||||
return deck
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user