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https://github.com/dptech-corp/Uni-Lab-OS.git
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23 Commits
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16ad4bbecc |
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@@ -330,7 +330,7 @@
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@@ -564,7 +564,7 @@
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@@ -849,7 +849,7 @@
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@@ -949,7 +949,7 @@
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"size_z": 10,
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@@ -992,7 +992,7 @@
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"z": 10
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"type": "ClipMagazineHole",
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@@ -1990,7 +1990,7 @@
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"type": "ClipMagazineHole",
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@@ -2185,7 +2185,7 @@
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@@ -2228,7 +2228,7 @@
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@@ -2418,7 +2418,7 @@
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"z": 10
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"type": "Magazine",
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@@ -2703,7 +2703,7 @@
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"size_z": 10,
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"z": 10
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"config": {
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"type": "ClipMagazineHole",
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"z": 10
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"z": 10
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"z": 10
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"z": 10
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@@ -3421,7 +3421,7 @@
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"z": 10
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"z": 10
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@@ -4039,7 +4039,7 @@
|
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"z": 0
|
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"config": {
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"type": "ClipMagazine",
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"type": "MagazineHolder_6",
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"size_x": 80,
|
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|
||||
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|
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@@ -4082,7 +4082,7 @@
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"config": {
|
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@@ -4177,7 +4177,7 @@
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|
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|
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|
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|
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|
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@@ -4557,7 +4557,7 @@
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||||
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||||
54
new_cellconfig.json
Normal file
54
new_cellconfig.json
Normal file
@@ -0,0 +1,54 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "BatteryStation",
|
||||
"name": "扣电工作站",
|
||||
"parent": null,
|
||||
"children": [
|
||||
"coin_cell_deck"
|
||||
],
|
||||
"type": "device",
|
||||
"class":"coincellassemblyworkstation_device",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "YB_YH_Deck",
|
||||
"_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
|
||||
}
|
||||
},
|
||||
"debug_mode": true,
|
||||
"protocol_type": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "YB_YH_Deck",
|
||||
"name": "YB_YH_Deck",
|
||||
"children": [],
|
||||
"parent": "BatteryStation",
|
||||
"type": "deck",
|
||||
"class": "CoincellDeck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "CoincellDeck",
|
||||
"setup": true,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -47,21 +47,50 @@
|
||||
{
|
||||
"id": "BatteryStation",
|
||||
"name": "扣电工作站",
|
||||
"parent": null,
|
||||
"children": [
|
||||
"coin_cell_deck"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "coincellassemblyworkstation_device",
|
||||
"class":"coincellassemblyworkstation_device",
|
||||
"position": {
|
||||
"x": 600,
|
||||
"y": 400,
|
||||
"x": -600,
|
||||
"y": -400,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"debug_mode": false,
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "YB_YH_Deck",
|
||||
"_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
|
||||
}
|
||||
},
|
||||
"protocol_type": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "YB_YH_Deck",
|
||||
"name": "YB_YH_Deck",
|
||||
"children": [],
|
||||
"parent": "BatteryStation",
|
||||
"type": "deck",
|
||||
"class": "CoincellDeck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "CoincellDeck",
|
||||
"setup": true,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
|
||||
Binary file not shown.
@@ -17,6 +17,7 @@ from unilabos.devices.workstation.bioyond_studio.config import (
|
||||
API_CONFIG, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, SOLID_LIQUID_MAPPINGS
|
||||
)
|
||||
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
|
||||
from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
|
||||
from unilabos.utils.log import logger
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
@@ -594,7 +595,8 @@ class BioyondCellWorkstation(BioyondWorkstation):
|
||||
print(f"[create_orders] ⚠️ 第 {idx+1} 行未找到有效物料")
|
||||
|
||||
orders.append(order_data)
|
||||
|
||||
print("================================================")
|
||||
print("orders:", orders)
|
||||
|
||||
print(f"[create_orders] 即将提交订单数量: {len(orders)}")
|
||||
response = self._post_lims("/api/lims/order/orders", orders)
|
||||
@@ -1075,7 +1077,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
|
||||
if bottle_moudle == moudle_name:
|
||||
bottle_type = key
|
||||
break
|
||||
self.create_sample(plr_resource.name, board_type,bottle_type,site)
|
||||
|
||||
# 从 parent_resource 获取仓库名称
|
||||
warehouse_name = parent_resource.name if parent_resource else "手动堆栈"
|
||||
logger.info(f"拖拽上料: {plr_resource.name} -> {warehouse_name} / {site}")
|
||||
|
||||
self.create_sample(plr_resource.name, board_type, bottle_type, site, warehouse_name)
|
||||
return
|
||||
self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}")
|
||||
|
||||
@@ -1084,17 +1091,31 @@ class BioyondCellWorkstation(BioyondWorkstation):
|
||||
name: str,
|
||||
board_type: str,
|
||||
bottle_type: str,
|
||||
location_code: str
|
||||
location_code: str,
|
||||
warehouse_name: str = "手动堆栈"
|
||||
) -> Dict[str, Any]:
|
||||
"""创建配液板物料并自动入库。
|
||||
Args:
|
||||
material_name: 物料名称，支持 "5ml分液瓶板"/"5ml分液瓶"、"配液瓶(小)板"/"配液瓶(小)"。
|
||||
quantity: 主物料与明细的数量，默认 1。
|
||||
location_code: 库位编号，例如 "A01"，将自动映射为 "手动堆栈" 下的 UUID。
|
||||
name: 物料名称
|
||||
board_type: 板类型，如 "5ml分液瓶板"、"配液瓶(小)板"
|
||||
bottle_type: 瓶类型，如 "5ml分液瓶"、"配液瓶(小)"
|
||||
location_code: 库位编号，例如 "A01"
|
||||
warehouse_name: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等
|
||||
"""
|
||||
carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
|
||||
bottle_type_id = MATERIAL_TYPE_MAPPINGS[bottle_type][1]
|
||||
location_id = WAREHOUSE_MAPPING["手动堆栈"]["site_uuids"][location_code]
|
||||
|
||||
# 从指定仓库获取库位UUID
|
||||
if warehouse_name not in WAREHOUSE_MAPPING:
|
||||
logger.error(f"未找到仓库: {warehouse_name}，回退到手动堆栈")
|
||||
warehouse_name = "手动堆栈"
|
||||
|
||||
if location_code not in WAREHOUSE_MAPPING[warehouse_name]["site_uuids"]:
|
||||
logger.error(f"仓库 {warehouse_name} 中未找到库位 {location_code}")
|
||||
raise ValueError(f"库位 {location_code} 在仓库 {warehouse_name} 中不存在")
|
||||
|
||||
location_id = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"][location_code]
|
||||
logger.info(f"创建样品入库: {name} -> {warehouse_name}/{location_code} (UUID: {location_id})")
|
||||
|
||||
# 新建小瓶
|
||||
details = []
|
||||
@@ -1137,17 +1158,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
|
||||
|
||||
if __name__ == "__main__":
|
||||
lab_registry.setup()
|
||||
ws = BioyondCellWorkstation()
|
||||
deck = BIOYOND_YB_Deck(setup=True)
|
||||
ws = BioyondCellWorkstation(deck=deck)
|
||||
# ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01")
|
||||
# logger.info(ws.scheduler_stop())
|
||||
# logger.info(ws.scheduler_start())
|
||||
|
||||
# results = ws.create_materials(SOLID_LIQUID_MAPPINGS)
|
||||
# for r in results:
|
||||
# logger.info(r)
|
||||
# 从CSV文件读取物料列表并批量创建入库
|
||||
# result = ws.create_and_inbound_materials()
|
||||
|
||||
# 继续后续流程
|
||||
# logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱
|
||||
# # # 使用正斜杠或 Path 对象来指定文件路径
|
||||
|
||||
@@ -113,7 +113,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazine_four",
|
||||
"type": "MagazineHolder_4",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -154,7 +154,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -249,7 +249,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -344,7 +344,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -439,7 +439,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -537,7 +537,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazine_four",
|
||||
"type": "MagazineHolder_4",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -578,7 +578,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -673,7 +673,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -768,7 +768,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -863,7 +863,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -963,7 +963,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazine",
|
||||
"type": "MagazineHolder_6",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -1006,7 +1006,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1101,7 +1101,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1196,7 +1196,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1291,7 +1291,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1386,7 +1386,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1481,7 +1481,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1581,7 +1581,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazine",
|
||||
"type": "MagazineHolder_6",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -1624,7 +1624,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1719,7 +1719,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1814,7 +1814,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1909,7 +1909,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2004,7 +2004,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2099,7 +2099,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2199,7 +2199,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazine",
|
||||
"type": "MagazineHolder_6",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -2242,7 +2242,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2337,7 +2337,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2432,7 +2432,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2527,7 +2527,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2622,7 +2622,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2717,7 +2717,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2817,7 +2817,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazine",
|
||||
"type": "MagazineHolder_6",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -2860,7 +2860,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2955,7 +2955,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3050,7 +3050,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3145,7 +3145,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3240,7 +3240,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3335,7 +3335,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3435,7 +3435,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazine",
|
||||
"type": "MagazineHolder_6",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -3478,7 +3478,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3573,7 +3573,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3668,7 +3668,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3763,7 +3763,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3858,7 +3858,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3953,7 +3953,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -4053,7 +4053,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazine",
|
||||
"type": "MagazineHolder_6",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -4096,7 +4096,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -4191,7 +4191,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -4286,7 +4286,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -4381,7 +4381,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -4476,7 +4476,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -4571,7 +4571,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "ClipMagazineHole",
|
||||
"type": "Magazine",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
|
||||
@@ -8,8 +8,8 @@ import os
|
||||
# BioyondCellWorkstation 默认配置（包含所有必需参数）
|
||||
API_CONFIG = {
|
||||
# API 连接配置
|
||||
# "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
|
||||
"api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 仿真机
|
||||
"api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
|
||||
# "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 仿真机
|
||||
"api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"),
|
||||
"timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")),
|
||||
|
||||
@@ -237,7 +237,7 @@ MATERIAL_TYPE_MAPPINGS = {
|
||||
"100ml液体": ("YB_100ml_yeti", "d37166b3-ecaa-481e-bd84-3032b795ba07"),
|
||||
"液": ("YB_ye", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
|
||||
"高粘液": ("YB_gaonianye", "abe8df30-563d-43d2-85e0-cabec59ddc16"),
|
||||
"加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
"加样头(大)": ("YB_jia_yang_tou_da_Carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "加样头(大)板": ("YB_jia_yang_tou_da", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"),
|
||||
"5ml分液瓶板": ("YB_5ml_fenyepingban", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"),
|
||||
"5ml分液瓶": ("YB_5ml_fenyeping", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"),
|
||||
|
||||
@@ -18,67 +18,11 @@ from pylabrobot.resources.tip_rack import TipRack, TipSpot
|
||||
from pylabrobot.resources.trash import Trash
|
||||
from pylabrobot.resources.utils import create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.battery.magazine import MagazineHolder_4_Cathode, MagazineHolder_6_Cathode, MagazineHolder_6_Anode, MagazineHolder_6_Battery
|
||||
from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier
|
||||
|
||||
class ElectrodeSheetState(TypedDict):
|
||||
diameter: float # 直径 (mm)
|
||||
thickness: float # 厚度 (mm)
|
||||
mass: float # 质量 (g)
|
||||
material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等）
|
||||
height: float
|
||||
electrolyte_name: str
|
||||
data_electrolyte_code: str
|
||||
open_circuit_voltage: float
|
||||
assembly_pressure: float
|
||||
electrolyte_volume: float
|
||||
|
||||
info: Optional[str] # 附加信息
|
||||
|
||||
class ElectrodeSheet(Resource):
|
||||
"""极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "极片",
|
||||
size_x=10,
|
||||
size_y=10,
|
||||
size_z=10,
|
||||
category: str = "electrode_sheet",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化极片
|
||||
|
||||
Args:
|
||||
name: 极片名称
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(
|
||||
diameter=14,
|
||||
thickness=0.1,
|
||||
mass=0.5,
|
||||
material_type="copper",
|
||||
info=None
|
||||
)
|
||||
|
||||
# TODO: 这个还要不要？给self._unilabos_state赋值的？
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
#序列化
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
# TODO: 这个应该只能放一个极片
|
||||
class MaterialHoleState(TypedDict):
|
||||
@@ -165,7 +109,6 @@ class MaterialHole(Resource):
|
||||
return self.children[index]
|
||||
|
||||
|
||||
|
||||
class MaterialPlateState(TypedDict):
|
||||
hole_spacing_x: float
|
||||
hole_spacing_y: float
|
||||
@@ -327,132 +270,6 @@ class PlateSlot(ResourceStack):
|
||||
}
|
||||
|
||||
|
||||
class ClipMagazineHole(Container):
|
||||
"""子弹夹洞位类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
diameter: float,
|
||||
depth: float,
|
||||
max_sheets: int = 100,
|
||||
category: str = "clip_magazine_hole",
|
||||
):
|
||||
"""初始化子弹夹洞位
|
||||
|
||||
Args:
|
||||
name: 洞位名称
|
||||
diameter: 洞直径 (mm)
|
||||
depth: 洞深度 (mm)
|
||||
max_sheets: 最大极片数量
|
||||
category: 类别
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=diameter,
|
||||
size_y=diameter,
|
||||
size_z=depth,
|
||||
category=category,
|
||||
)
|
||||
self.diameter = diameter
|
||||
self.depth = depth
|
||||
self.max_sheets = max_sheets
|
||||
self._sheets: List[ElectrodeSheet] = []
|
||||
|
||||
def can_add_sheet(self, sheet: ElectrodeSheet) -> bool:
|
||||
"""检查是否可以添加极片"""
|
||||
return (len(self._sheets) < self.max_sheets and
|
||||
sheet.diameter <= self.diameter)
|
||||
|
||||
def add_sheet(self, sheet: ElectrodeSheet) -> None:
|
||||
"""添加极片"""
|
||||
if not self.can_add_sheet(sheet):
|
||||
raise ValueError(f"无法向洞位 {self.name} 添加极片")
|
||||
self._sheets.append(sheet)
|
||||
|
||||
def take_sheet(self) -> ElectrodeSheet:
|
||||
"""取出极片"""
|
||||
if len(self._sheets) == 0:
|
||||
raise ValueError(f"洞位 {self.name} 没有极片")
|
||||
return self._sheets.pop()
|
||||
|
||||
def get_sheet_count(self) -> int:
|
||||
"""获取极片数量"""
|
||||
return len(self._sheets)
|
||||
|
||||
def serialize_state(self) -> Dict[str, Any]:
|
||||
return {
|
||||
"sheet_count": len(self._sheets),
|
||||
"sheets": [sheet.serialize() for sheet in self._sheets],
|
||||
}
|
||||
|
||||
# TODO: 这个要改
|
||||
class ClipMagazine(ItemizedResource[ClipMagazineHole]):
|
||||
"""子弹夹类 - 有6个洞位，每个洞位放多个极片"""
|
||||
children: List[ClipMagazineHole]
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
hole_diameter: float = 14.0,
|
||||
hole_depth: float = 10.0,
|
||||
hole_spacing: float = 25.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
category: str = "clip_magazine",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化子弹夹
|
||||
|
||||
Args:
|
||||
name: 子弹夹名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
hole_diameter: 洞直径 (mm)
|
||||
hole_depth: 洞深度 (mm)
|
||||
hole_spacing: 洞位间距 (mm)
|
||||
max_sheets_per_hole: 每个洞位最大极片数量
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
# 创建6个洞位，排成2x3布局
|
||||
holes = create_ordered_items_2d(
|
||||
klass=ClipMagazineHole,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
dx=(size_x - 2 * hole_spacing) / 2, # 居中
|
||||
dy=(size_y - hole_spacing) / 2, # 居中
|
||||
dz=size_z - 0,
|
||||
item_dx=hole_spacing,
|
||||
item_dy=hole_spacing,
|
||||
diameter=hole_diameter,
|
||||
depth=hole_depth,
|
||||
)
|
||||
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=holes,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
|
||||
# 保存洞位的直径和深度
|
||||
self.hole_diameter = hole_diameter
|
||||
self.hole_depth = hole_depth
|
||||
self.max_sheets_per_hole = max_sheets_per_hole
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {
|
||||
**super().serialize(),
|
||||
"hole_diameter": self.hole_diameter,
|
||||
"hole_depth": self.hole_depth,
|
||||
"max_sheets_per_hole": self.max_sheets_per_hole,
|
||||
}
|
||||
#是一种类型注解，不用self
|
||||
class BatteryState(TypedDict):
|
||||
"""电池状态字典"""
|
||||
@@ -595,76 +412,56 @@ class BatteryPressSlot(Resource):
|
||||
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,
|
||||
def TipBox64(
|
||||
name: str,
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
category: str = "tip_box_64",
|
||||
category: str = "tip_rack",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化64孔枪头盒
|
||||
):
|
||||
"""64孔枪头盒类"""
|
||||
from pylabrobot.resources.tip import Tip
|
||||
|
||||
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,
|
||||
# 创建12x8=96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=12,
|
||||
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,
|
||||
)
|
||||
idx_available = list(range(0, 32)) + list(range(64, 96))
|
||||
tip_spots_available = {k: v for i, (k, v) in enumerate(tip_spots.items()) if i in idx_available}
|
||||
tip_rack = TipRack(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
# ordered_items=tip_spots_available,
|
||||
ordered_items=tip_spots,
|
||||
category=category,
|
||||
model=model,
|
||||
with_tips=False,
|
||||
)
|
||||
tip_rack.set_tip_state([True]*32 + [False]*32 + [True]*32) # 前32和后32个有枪头，中间32个无枪头
|
||||
return tip_rack
|
||||
|
||||
|
||||
class WasteTipBoxstate(TypedDict):
|
||||
@@ -682,8 +479,12 @@ class WasteTipBox(Trash):
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
category: str = "waste_tip_box",
|
||||
model: Optional[str] = None,
|
||||
material_z_thickness=0,
|
||||
max_volume=float("inf"),
|
||||
category="trash",
|
||||
model=None,
|
||||
compute_volume_from_height=None,
|
||||
compute_height_from_volume=None,
|
||||
):
|
||||
"""初始化废枪头盒
|
||||
|
||||
@@ -733,253 +534,6 @@ class WasteTipBox(Trash):
|
||||
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[Resource] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "bottle_rack",
|
||||
model: Optional[str] = None,
|
||||
num_items_x: int = 3,
|
||||
num_items_y: int = 4,
|
||||
position_spacing: float = 35.0,
|
||||
orientation: str = "horizontal",
|
||||
padding_x: float = 20.0,
|
||||
padding_y: float = 20.0,
|
||||
):
|
||||
"""初始化瓶架
|
||||
|
||||
Args:
|
||||
name: 瓶架名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
# 初始化状态
|
||||
self._unilabos_state: BottleRackState = BottleRackState(
|
||||
bottle_diameter=30.0,
|
||||
bottle_height=100.0,
|
||||
position_spacing=position_spacing,
|
||||
name_to_index={},
|
||||
)
|
||||
# 基于网格生成瓶位坐标映射（居中摆放）
|
||||
# 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥）
|
||||
origin_x = padding_x
|
||||
origin_y = padding_y
|
||||
self.index_to_pos = {}
|
||||
for j in range(num_items_y):
|
||||
for i in range(num_items_x):
|
||||
idx = j * num_items_x + i
|
||||
if orientation == "vertical":
|
||||
# 纵向：沿 y 方向优先排列
|
||||
self.index_to_pos[idx] = Coordinate(
|
||||
x=origin_x + j * position_spacing,
|
||||
y=origin_y + i * position_spacing,
|
||||
z=0,
|
||||
)
|
||||
else:
|
||||
# 横向（默认）：沿 x 方向优先排列
|
||||
self.index_to_pos[idx] = Coordinate(
|
||||
x=origin_x + i * position_spacing,
|
||||
y=origin_y + j * position_spacing,
|
||||
z=0,
|
||||
)
|
||||
self.name_to_index = {}
|
||||
self.name_to_pos = {}
|
||||
self.num_items_x = num_items_x
|
||||
self.num_items_y = num_items_y
|
||||
self.orientation = orientation
|
||||
self.padding_x = padding_x
|
||||
self.padding_y = padding_y
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(
|
||||
self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
# TODO: 这里有些问题要重新写一下
|
||||
def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True):
|
||||
capacity = self.num_items_x * self.num_items_y
|
||||
assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子"
|
||||
index = len(self.children)
|
||||
location = self.index_to_pos.get(index, Coordinate.zero())
|
||||
self.name_to_pos[resource.name] = location
|
||||
self.name_to_index[resource.name] = index
|
||||
return super().assign_child_resource(resource, location, reassign)
|
||||
|
||||
def assign_child_resource(self, resource: Resource, index: int):
|
||||
capacity = self.num_items_x * self.num_items_y
|
||||
assert 0 <= index < capacity, "无效的瓶子索引"
|
||||
self.name_to_index[resource.name] = index
|
||||
location = self.index_to_pos[index]
|
||||
return super().assign_child_resource(resource, location)
|
||||
|
||||
def unassign_child_resource(self, resource: Bottle):
|
||||
super().unassign_child_resource(resource)
|
||||
self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None)
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {
|
||||
**super().serialize(),
|
||||
"num_items_x": self.num_items_x,
|
||||
"num_items_y": self.num_items_y,
|
||||
"position_spacing": self._unilabos_state.get("position_spacing", 35.0),
|
||||
"orientation": self.orientation,
|
||||
"padding_x": self.padding_x,
|
||||
"padding_y": self.padding_y,
|
||||
}
|
||||
|
||||
class BottleState(TypedDict):
|
||||
diameter: float
|
||||
height: float
|
||||
electrolyte_name: str
|
||||
electrolyte_volume: float
|
||||
max_volume: float
|
||||
|
||||
class Bottle(Resource):
|
||||
"""瓶子类 - 容纳电解液"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
category: str = "bottle",
|
||||
):
|
||||
"""初始化瓶子
|
||||
|
||||
Args:
|
||||
name: 瓶子名称
|
||||
diameter: 直径 (mm)
|
||||
height: 高度 (mm)
|
||||
max_volume: 最大体积 (μL)
|
||||
barcode: 二维码
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=1,
|
||||
size_y=1,
|
||||
size_z=1,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: BottleState = BottleState()
|
||||
|
||||
def aspirate_electrolyte(self, volume: float) -> bool:
|
||||
current_volume = self._unilabos_state["electrolyte_volume"]
|
||||
assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available."
|
||||
self._unilabos_state["electrolyte_volume"] -= volume
|
||||
return True
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
class ClipMagazine_four(ItemizedResource[ClipMagazineHole]):
|
||||
"""子弹夹类 - 有4个洞位，每个洞位放多个极片"""
|
||||
children: List[ClipMagazineHole]
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
hole_diameter: float = 14.0,
|
||||
hole_depth: float = 10.0,
|
||||
hole_spacing: float = 25.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
category: str = "clip_magazine_four",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化子弹夹
|
||||
|
||||
Args:
|
||||
name: 子弹夹名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
hole_diameter: 洞直径 (mm)
|
||||
hole_depth: 洞深度 (mm)
|
||||
hole_spacing: 洞位间距 (mm)
|
||||
max_sheets_per_hole: 每个洞位最大极片数量
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
# 创建4个洞位，排成2x2布局
|
||||
holes = create_ordered_items_2d(
|
||||
klass=ClipMagazineHole,
|
||||
num_items_x=2,
|
||||
num_items_y=2,
|
||||
dx=(size_x - 2 * hole_spacing) / 2, # 居中
|
||||
dy=(size_y - hole_spacing) / 2, # 居中
|
||||
dz=size_z - 0,
|
||||
item_dx=hole_spacing,
|
||||
item_dy=hole_spacing,
|
||||
diameter=hole_diameter,
|
||||
depth=hole_depth,
|
||||
)
|
||||
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=holes,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
|
||||
# 保存洞位的直径和深度
|
||||
self.hole_diameter = hole_diameter
|
||||
self.hole_depth = hole_depth
|
||||
self.max_sheets_per_hole = max_sheets_per_hole
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {
|
||||
**super().serialize(),
|
||||
"hole_diameter": self.hole_diameter,
|
||||
"hole_depth": self.hole_depth,
|
||||
"max_sheets_per_hole": self.max_sheets_per_hole,
|
||||
}
|
||||
|
||||
class CoincellDeck(Deck):
|
||||
"""纽扣电池组装工作站台面类"""
|
||||
|
||||
@@ -1018,146 +572,67 @@ class CoincellDeck(Deck):
|
||||
def setup(self) -> None:
|
||||
"""设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置"""
|
||||
# ====================================== 子弹夹 ============================================
|
||||
zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10)
|
||||
self.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0))
|
||||
zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10)
|
||||
self.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0))
|
||||
zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10)
|
||||
self.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0))
|
||||
zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10)
|
||||
self.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0))
|
||||
zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10)
|
||||
self.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0))
|
||||
zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10)
|
||||
self.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0))
|
||||
zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10)
|
||||
self.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0))
|
||||
zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10)
|
||||
self.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0))
|
||||
|
||||
# 为子弹夹添加极片
|
||||
for i in range(4):
|
||||
jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
zip_dan_jia2.children[i].assign_child_resource(jipian, location=None)
|
||||
for i in range(4):
|
||||
jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
zip_dan_jia.children[i].assign_child_resource(jipian2, location=None)
|
||||
for i in range(6):
|
||||
jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None)
|
||||
for i in range(6):
|
||||
jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None)
|
||||
for i in range(6):
|
||||
jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None)
|
||||
for i in range(6):
|
||||
jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None)
|
||||
for i in range(6):
|
||||
jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None)
|
||||
for i in range(6):
|
||||
jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None)
|
||||
# 正极片（4个洞位，2x2布局）
|
||||
zhengji_zip = MagazineHolder_4_Cathode("正极&铝箔弹夹")
|
||||
self.assign_child_resource(zhengji_zip, Coordinate(x=2799.0, y=356.0, z=0))
|
||||
|
||||
# 正极壳、平垫片（6个洞位，2x2+2布局）
|
||||
zhengjike_zip = MagazineHolder_6_Cathode("正极壳&平垫片弹夹")
|
||||
self.assign_child_resource(zhengjike_zip, Coordinate(x=2586.0, y=1143.0, z=0))
|
||||
|
||||
# 负极壳、弹垫片（6个洞位，2x2+2布局）
|
||||
fujike_zip = MagazineHolder_6_Anode("负极壳&弹垫片弹夹")
|
||||
self.assign_child_resource(fujike_zip, Coordinate(x=2492.0, y=1144.0, z=0))
|
||||
|
||||
# 成品弹夹（6个洞位，3x2布局）
|
||||
chengpindanjia_zip = MagazineHolder_6_Battery("成品弹夹")
|
||||
self.assign_child_resource(chengpindanjia_zip, Coordinate(x=3112.0, y=1295.0, z=0))
|
||||
|
||||
# ====================================== 物料板 ============================================
|
||||
# 创建6个4*4的物料板
|
||||
liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
self.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0))
|
||||
for i in range(16):
|
||||
jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
liaopan1.children[i].assign_child_resource(jipian_1, location=None)
|
||||
# 创建物料板（料盘carrier）- 4x4布局
|
||||
# 负极料盘
|
||||
fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
self.assign_child_resource(fujiliaopan, Coordinate(x=2107.0, y=304.0, z=0))
|
||||
# for i in range(16):
|
||||
# fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
# fujiliaopan.children[i].assign_child_resource(fujipian, location=None)
|
||||
|
||||
liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
self.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0))
|
||||
# 隔膜料盘
|
||||
gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
self.assign_child_resource(gemoliaopan, Coordinate(x=2107.0, y=146.0, z=0))
|
||||
# for i in range(16):
|
||||
# gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
# gemoliaopan.children[i].assign_child_resource(gemopian, location=None)
|
||||
|
||||
liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
self.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0))
|
||||
|
||||
liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
self.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0))
|
||||
for i in range(16):
|
||||
jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
liaopan4.children[i].assign_child_resource(jipian_4, location=None)
|
||||
|
||||
liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
self.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0))
|
||||
|
||||
liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
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",
|
||||
)
|
||||
# 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写，但是这里应该有一个堆栈用于摆放分液瓶小板
|
||||
|
||||
# bottle_rack_3x4 = BottleRack(
|
||||
# name="bottle_rack_3x4",
|
||||
# size_x=210.0,
|
||||
# size_y=140.0,
|
||||
# size_z=100.0,
|
||||
# num_items_x=2,
|
||||
# num_items_y=4,
|
||||
# position_spacing=35.0,
|
||||
# orientation="vertical",
|
||||
# )
|
||||
# self.assign_child_resource(bottle_rack_3x4, Coordinate(x=1542.0, y=717.0, z=0))
|
||||
|
||||
# 电解液缓存位 - 6x2布局
|
||||
bottle_rack_6x2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2")
|
||||
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)
|
||||
# 电解液回收位6x2
|
||||
bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2")
|
||||
self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=1765.0, y=869.0, z=0))
|
||||
|
||||
tip_box = TipBox64(name="tip_box_64")
|
||||
self.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0))
|
||||
self.assign_child_resource(tip_box, Coordinate(x=1938.0, y=743.0, 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:
|
||||
"""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
|
||||
"""
|
||||
# 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
|
||||
self.assign_child_resource(waste_tip_box, Coordinate(x=1960.0, y=639.0, z=0))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -109,44 +109,22 @@ def _coerce_deck_input(deck: Any) -> Optional[Deck]:
|
||||
#构建物料系统
|
||||
|
||||
class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
def __init__(
|
||||
self,
|
||||
deck: Deck=None,
|
||||
def __init__(self,
|
||||
config: dict = None,
|
||||
deck=None,
|
||||
address: str = "172.16.28.102",
|
||||
port: str = "502",
|
||||
debug_mode: bool = False,
|
||||
*args,
|
||||
**kwargs,
|
||||
):
|
||||
if deck is None and "deck" in kwargs:
|
||||
deck = kwargs.pop("deck")
|
||||
else:
|
||||
kwargs.pop("deck", None)
|
||||
**kwargs):
|
||||
|
||||
normalized_deck = _coerce_deck_input(deck)
|
||||
|
||||
if deck is None and isinstance(normalized_deck, Deck):
|
||||
deck = normalized_deck
|
||||
|
||||
super().__init__(
|
||||
#桌子
|
||||
deck=deck,
|
||||
*args,
|
||||
**kwargs,
|
||||
)
|
||||
if deck is None and config:
|
||||
deck = config.get('deck')
|
||||
if deck is None:
|
||||
logger.info("没有传入依华deck，检查启动json文件")
|
||||
super().__init__(deck=deck, *args, **kwargs,)
|
||||
self.debug_mode = debug_mode
|
||||
|
||||
# 如果没有传入 deck，则创建标准配置的 deck
|
||||
if self.deck is None:
|
||||
self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, origin=Coordinate(-800, 0, 0),setup=True)
|
||||
else:
|
||||
# 如果传入了 deck 但还没有 setup，可以选择是否 setup
|
||||
if self.deck is not None and len(self.deck.children) == 0:
|
||||
# deck 为空，执行 setup
|
||||
self.deck.setup()
|
||||
# 否则使用传入的 deck（可能已经配置好了）
|
||||
self.deck = self.deck
|
||||
|
||||
|
||||
""" 连接初始化 """
|
||||
modbus_client = TCPClient(addr=address, port=port)
|
||||
logger.debug(f"创建 Modbus 客户端: {modbus_client}")
|
||||
@@ -161,26 +139,21 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
time.sleep(2)
|
||||
if not modbus_client.client.is_socket_open():
|
||||
raise ValueError('modbus tcp connection failed')
|
||||
self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))
|
||||
self.client = modbus_client.register_node_list(self.nodes)
|
||||
else:
|
||||
print("测试模式，跳过连接")
|
||||
self.nodes, self.client = None, None
|
||||
|
||||
""" 工站的配置 """
|
||||
self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_1105.csv'))
|
||||
self.client = modbus_client.register_node_list(self.nodes)
|
||||
|
||||
self.success = False
|
||||
self.allow_data_read = False #允许读取函数运行标志位
|
||||
self.csv_export_thread = None
|
||||
self.csv_export_running = False
|
||||
self.csv_export_file = None
|
||||
self.coin_num_N = 0 #已组装电池数量
|
||||
#创建一个物料台面，包含两个极片板
|
||||
#self._ros_node.update_resource(self.deck)
|
||||
|
||||
#ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
# "resources": [self.deck]
|
||||
#})
|
||||
|
||||
|
||||
def post_init(self, ros_node: ROS2WorkstationNode):
|
||||
self._ros_node = ros_node
|
||||
#self.deck = create_a_coin_cell_deck()
|
||||
|
||||
@@ -1,583 +0,0 @@
|
||||
"""
|
||||
工作站物料管理基类
|
||||
Workstation Material Management Base Class
|
||||
|
||||
基于PyLabRobot的物料管理系统
|
||||
"""
|
||||
from typing import Dict, Any, List, Optional, Union, Type
|
||||
from abc import ABC, abstractmethod
|
||||
import json
|
||||
|
||||
from pylabrobot.resources import (
|
||||
Resource as PLRResource,
|
||||
Container,
|
||||
Deck,
|
||||
Coordinate as PLRCoordinate,
|
||||
)
|
||||
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.utils.log import logger
|
||||
from unilabos.resources.graphio import resource_plr_to_ulab, resource_ulab_to_plr
|
||||
|
||||
|
||||
class MaterialManagementBase(ABC):
|
||||
"""物料管理基类
|
||||
|
||||
定义工作站物料管理的标准接口：
|
||||
1. 物料初始化 - 根据配置创建物料资源
|
||||
2. 物料追踪 - 实时跟踪物料位置和状态
|
||||
3. 物料查找 - 按类型、位置、状态查找物料
|
||||
4. 物料转换 - PyLabRobot与UniLab资源格式转换
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
device_id: str,
|
||||
deck_config: Dict[str, Any],
|
||||
resource_tracker: DeviceNodeResourceTracker,
|
||||
children_config: Dict[str, Dict[str, Any]] = None
|
||||
):
|
||||
self.device_id = device_id
|
||||
self.deck_config = deck_config
|
||||
self.resource_tracker = resource_tracker
|
||||
self.children_config = children_config or {}
|
||||
|
||||
# 创建主台面
|
||||
self.plr_deck = self._create_deck()
|
||||
|
||||
# 扩展ResourceTracker
|
||||
self._extend_resource_tracker()
|
||||
|
||||
# 注册deck到resource tracker
|
||||
self.resource_tracker.add_resource(self.plr_deck)
|
||||
|
||||
# 初始化子资源
|
||||
self.plr_resources = {}
|
||||
self._initialize_materials()
|
||||
|
||||
def _create_deck(self) -> Deck:
|
||||
"""创建主台面"""
|
||||
return Deck(
|
||||
name=f"{self.device_id}_deck",
|
||||
size_x=self.deck_config.get("size_x", 1000.0),
|
||||
size_y=self.deck_config.get("size_y", 1000.0),
|
||||
size_z=self.deck_config.get("size_z", 500.0),
|
||||
origin=PLRCoordinate(0, 0, 0)
|
||||
)
|
||||
|
||||
def _extend_resource_tracker(self):
|
||||
"""扩展ResourceTracker以支持PyLabRobot特定功能"""
|
||||
|
||||
def find_by_type(resource_type):
|
||||
"""按类型查找资源"""
|
||||
return self._find_resources_by_type_recursive(self.plr_deck, resource_type)
|
||||
|
||||
def find_by_category(category: str):
|
||||
"""按类别查找资源"""
|
||||
found = []
|
||||
for resource in self._get_all_resources():
|
||||
if hasattr(resource, 'category') and resource.category == category:
|
||||
found.append(resource)
|
||||
return found
|
||||
|
||||
def find_by_name_pattern(pattern: str):
|
||||
"""按名称模式查找资源"""
|
||||
import re
|
||||
found = []
|
||||
for resource in self._get_all_resources():
|
||||
if re.search(pattern, resource.name):
|
||||
found.append(resource)
|
||||
return found
|
||||
|
||||
# 动态添加方法到resource_tracker
|
||||
self.resource_tracker.find_by_type = find_by_type
|
||||
self.resource_tracker.find_by_category = find_by_category
|
||||
self.resource_tracker.find_by_name_pattern = find_by_name_pattern
|
||||
|
||||
def _find_resources_by_type_recursive(self, resource, target_type):
|
||||
"""递归查找指定类型的资源"""
|
||||
found = []
|
||||
if isinstance(resource, target_type):
|
||||
found.append(resource)
|
||||
|
||||
# 递归查找子资源
|
||||
children = getattr(resource, "children", [])
|
||||
for child in children:
|
||||
found.extend(self._find_resources_by_type_recursive(child, target_type))
|
||||
|
||||
return found
|
||||
|
||||
def _get_all_resources(self) -> List[PLRResource]:
|
||||
"""获取所有资源"""
|
||||
all_resources = []
|
||||
|
||||
def collect_resources(resource):
|
||||
all_resources.append(resource)
|
||||
children = getattr(resource, "children", [])
|
||||
for child in children:
|
||||
collect_resources(child)
|
||||
|
||||
collect_resources(self.plr_deck)
|
||||
return all_resources
|
||||
|
||||
def _initialize_materials(self):
|
||||
"""初始化物料"""
|
||||
try:
|
||||
# 确定创建顺序，确保父资源先于子资源创建
|
||||
creation_order = self._determine_creation_order()
|
||||
|
||||
# 按顺序创建资源
|
||||
for resource_id in creation_order:
|
||||
config = self.children_config[resource_id]
|
||||
self._create_plr_resource(resource_id, config)
|
||||
|
||||
logger.info(f"物料管理系统初始化完成，共创建 {len(self.plr_resources)} 个资源")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"物料初始化失败: {e}")
|
||||
|
||||
def _determine_creation_order(self) -> List[str]:
|
||||
"""确定资源创建顺序"""
|
||||
order = []
|
||||
visited = set()
|
||||
|
||||
def visit(resource_id: str):
|
||||
if resource_id in visited:
|
||||
return
|
||||
visited.add(resource_id)
|
||||
|
||||
config = self.children_config.get(resource_id, {})
|
||||
parent_id = config.get("parent")
|
||||
|
||||
# 如果有父资源，先访问父资源
|
||||
if parent_id and parent_id in self.children_config:
|
||||
visit(parent_id)
|
||||
|
||||
order.append(resource_id)
|
||||
|
||||
for resource_id in self.children_config:
|
||||
visit(resource_id)
|
||||
|
||||
return order
|
||||
|
||||
def _create_plr_resource(self, resource_id: str, config: Dict[str, Any]):
|
||||
"""创建PyLabRobot资源"""
|
||||
try:
|
||||
resource_type = config.get("type", "unknown")
|
||||
data = config.get("data", {})
|
||||
location_config = config.get("location", {})
|
||||
|
||||
# 创建位置坐标
|
||||
location = PLRCoordinate(
|
||||
x=location_config.get("x", 0.0),
|
||||
y=location_config.get("y", 0.0),
|
||||
z=location_config.get("z", 0.0)
|
||||
)
|
||||
|
||||
# 根据类型创建资源
|
||||
resource = self._create_resource_by_type(resource_id, resource_type, config, data, location)
|
||||
|
||||
if resource:
|
||||
# 设置父子关系
|
||||
parent_id = config.get("parent")
|
||||
if parent_id and parent_id in self.plr_resources:
|
||||
parent_resource = self.plr_resources[parent_id]
|
||||
parent_resource.assign_child_resource(resource, location)
|
||||
else:
|
||||
# 直接放在deck上
|
||||
self.plr_deck.assign_child_resource(resource, location)
|
||||
|
||||
# 保存资源引用
|
||||
self.plr_resources[resource_id] = resource
|
||||
|
||||
# 注册到resource tracker
|
||||
self.resource_tracker.add_resource(resource)
|
||||
|
||||
logger.debug(f"创建资源成功: {resource_id} ({resource_type})")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"创建资源失败 {resource_id}: {e}")
|
||||
|
||||
@abstractmethod
|
||||
def _create_resource_by_type(
|
||||
self,
|
||||
resource_id: str,
|
||||
resource_type: str,
|
||||
config: Dict[str, Any],
|
||||
data: Dict[str, Any],
|
||||
location: PLRCoordinate
|
||||
) -> Optional[PLRResource]:
|
||||
"""根据类型创建资源 - 子类必须实现"""
|
||||
pass
|
||||
|
||||
# ============ 物料查找接口 ============
|
||||
|
||||
def find_materials_by_type(self, material_type: str) -> List[PLRResource]:
|
||||
"""按材料类型查找物料"""
|
||||
return self.resource_tracker.find_by_category(material_type)
|
||||
|
||||
def find_material_by_id(self, resource_id: str) -> Optional[PLRResource]:
|
||||
"""按ID查找物料"""
|
||||
return self.plr_resources.get(resource_id)
|
||||
|
||||
def find_available_positions(self, position_type: str) -> List[PLRResource]:
|
||||
"""查找可用位置"""
|
||||
positions = self.resource_tracker.find_by_category(position_type)
|
||||
available = []
|
||||
|
||||
for pos in positions:
|
||||
if hasattr(pos, 'is_available') and pos.is_available():
|
||||
available.append(pos)
|
||||
elif hasattr(pos, 'children') and len(pos.children) == 0:
|
||||
available.append(pos)
|
||||
|
||||
return available
|
||||
|
||||
def get_material_inventory(self) -> Dict[str, int]:
|
||||
"""获取物料库存统计"""
|
||||
inventory = {}
|
||||
|
||||
for resource in self._get_all_resources():
|
||||
if hasattr(resource, 'category'):
|
||||
category = resource.category
|
||||
inventory[category] = inventory.get(category, 0) + 1
|
||||
|
||||
return inventory
|
||||
|
||||
# ============ 物料状态更新接口 ============
|
||||
|
||||
def update_material_location(self, material_id: str, new_location: PLRCoordinate) -> bool:
|
||||
"""更新物料位置"""
|
||||
try:
|
||||
material = self.find_material_by_id(material_id)
|
||||
if material:
|
||||
material.location = new_location
|
||||
return True
|
||||
return False
|
||||
except Exception as e:
|
||||
logger.error(f"更新物料位置失败: {e}")
|
||||
return False
|
||||
|
||||
def move_material(self, material_id: str, target_container_id: str) -> bool:
|
||||
"""移动物料到目标容器"""
|
||||
try:
|
||||
material = self.find_material_by_id(material_id)
|
||||
target = self.find_material_by_id(target_container_id)
|
||||
|
||||
if material and target:
|
||||
# 从原位置移除
|
||||
if material.parent:
|
||||
material.parent.unassign_child_resource(material)
|
||||
|
||||
# 添加到新位置
|
||||
target.assign_child_resource(material)
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"移动物料失败: {e}")
|
||||
return False
|
||||
|
||||
# ============ 资源转换接口 ============
|
||||
|
||||
def convert_to_unilab_format(self, plr_resource: PLRResource) -> Dict[str, Any]:
|
||||
"""将PyLabRobot资源转换为UniLab格式"""
|
||||
return resource_plr_to_ulab(plr_resource)
|
||||
|
||||
def convert_from_unilab_format(self, unilab_resource: Dict[str, Any]) -> PLRResource:
|
||||
"""将UniLab格式转换为PyLabRobot资源"""
|
||||
return resource_ulab_to_plr(unilab_resource)
|
||||
|
||||
def get_deck_state(self) -> Dict[str, Any]:
|
||||
"""获取Deck状态"""
|
||||
try:
|
||||
return {
|
||||
"deck_info": {
|
||||
"name": self.plr_deck.name,
|
||||
"size": {
|
||||
"x": self.plr_deck.size_x,
|
||||
"y": self.plr_deck.size_y,
|
||||
"z": self.plr_deck.size_z
|
||||
},
|
||||
"children_count": len(self.plr_deck.children)
|
||||
},
|
||||
"resources": {
|
||||
resource_id: self.convert_to_unilab_format(resource)
|
||||
for resource_id, resource in self.plr_resources.items()
|
||||
},
|
||||
"inventory": self.get_material_inventory()
|
||||
}
|
||||
except Exception as e:
|
||||
logger.error(f"获取Deck状态失败: {e}")
|
||||
return {"error": str(e)}
|
||||
|
||||
# ============ 数据持久化接口 ============
|
||||
|
||||
def save_state_to_file(self, file_path: str) -> bool:
|
||||
"""保存状态到文件"""
|
||||
try:
|
||||
state = self.get_deck_state()
|
||||
with open(file_path, 'w', encoding='utf-8') as f:
|
||||
json.dump(state, f, indent=2, ensure_ascii=False)
|
||||
logger.info(f"状态已保存到: {file_path}")
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"保存状态失败: {e}")
|
||||
return False
|
||||
|
||||
def load_state_from_file(self, file_path: str) -> bool:
|
||||
"""从文件加载状态"""
|
||||
try:
|
||||
with open(file_path, 'r', encoding='utf-8') as f:
|
||||
state = json.load(f)
|
||||
|
||||
# 重新创建资源
|
||||
self._recreate_resources_from_state(state)
|
||||
logger.info(f"状态已从文件加载: {file_path}")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"加载状态失败: {e}")
|
||||
return False
|
||||
|
||||
def _recreate_resources_from_state(self, state: Dict[str, Any]):
|
||||
"""从状态重新创建资源"""
|
||||
# 清除现有资源
|
||||
self.plr_resources.clear()
|
||||
self.plr_deck.children.clear()
|
||||
|
||||
# 从状态重新创建
|
||||
resources_data = state.get("resources", {})
|
||||
for resource_id, resource_data in resources_data.items():
|
||||
try:
|
||||
plr_resource = self.convert_from_unilab_format(resource_data)
|
||||
self.plr_resources[resource_id] = plr_resource
|
||||
self.plr_deck.assign_child_resource(plr_resource)
|
||||
except Exception as e:
|
||||
logger.error(f"重新创建资源失败 {resource_id}: {e}")
|
||||
|
||||
|
||||
class CoinCellMaterialManagement(MaterialManagementBase):
|
||||
"""纽扣电池物料管理类
|
||||
|
||||
从 button_battery_station 抽取的物料管理功能
|
||||
"""
|
||||
|
||||
def _create_resource_by_type(
|
||||
self,
|
||||
resource_id: str,
|
||||
resource_type: str,
|
||||
config: Dict[str, Any],
|
||||
data: Dict[str, Any],
|
||||
location: PLRCoordinate
|
||||
) -> Optional[PLRResource]:
|
||||
"""根据类型创建纽扣电池相关资源"""
|
||||
|
||||
# 导入纽扣电池资源类
|
||||
from unilabos.device_comms.button_battery_station import (
|
||||
MaterialPlate, PlateSlot, ClipMagazine, BatteryPressSlot,
|
||||
TipBox64, WasteTipBox, BottleRack, Battery, ElectrodeSheet
|
||||
)
|
||||
|
||||
try:
|
||||
if resource_type == "material_plate":
|
||||
return self._create_material_plate(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "plate_slot":
|
||||
return self._create_plate_slot(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "clip_magazine":
|
||||
return self._create_clip_magazine(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "battery_press_slot":
|
||||
return self._create_battery_press_slot(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "tip_box":
|
||||
return self._create_tip_box(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "waste_tip_box":
|
||||
return self._create_waste_tip_box(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "bottle_rack":
|
||||
return self._create_bottle_rack(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "battery":
|
||||
return self._create_battery(resource_id, config, data, location)
|
||||
|
||||
else:
|
||||
logger.warning(f"未知的资源类型: {resource_type}")
|
||||
return None
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"创建资源失败 {resource_id} ({resource_type}): {e}")
|
||||
return None
|
||||
|
||||
def _create_material_plate(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建料板"""
|
||||
from unilabos.device_comms.button_battery_station import MaterialPlate, ElectrodeSheet
|
||||
|
||||
plate = MaterialPlate(
|
||||
name=resource_id,
|
||||
size_x=config.get("size_x", 80.0),
|
||||
size_y=config.get("size_y", 80.0),
|
||||
size_z=config.get("size_z", 10.0),
|
||||
hole_diameter=config.get("hole_diameter", 15.0),
|
||||
hole_depth=config.get("hole_depth", 8.0),
|
||||
hole_spacing_x=config.get("hole_spacing_x", 20.0),
|
||||
hole_spacing_y=config.get("hole_spacing_y", 20.0),
|
||||
number=data.get("number", "")
|
||||
)
|
||||
plate.location = location
|
||||
|
||||
# 如果有预填充的极片数据，创建极片
|
||||
electrode_sheets = data.get("electrode_sheets", [])
|
||||
for i, sheet_data in enumerate(electrode_sheets):
|
||||
if i < len(plate.children): # 确保不超过洞位数量
|
||||
hole = plate.children[i]
|
||||
sheet = ElectrodeSheet(
|
||||
name=f"{resource_id}_sheet_{i}",
|
||||
diameter=sheet_data.get("diameter", 14.0),
|
||||
thickness=sheet_data.get("thickness", 0.1),
|
||||
mass=sheet_data.get("mass", 0.01),
|
||||
material_type=sheet_data.get("material_type", "cathode"),
|
||||
info=sheet_data.get("info", "")
|
||||
)
|
||||
hole.place_electrode_sheet(sheet)
|
||||
|
||||
return plate
|
||||
|
||||
def _create_plate_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建板槽位"""
|
||||
from unilabos.device_comms.button_battery_station import PlateSlot
|
||||
|
||||
slot = PlateSlot(
|
||||
name=resource_id,
|
||||
max_plates=config.get("max_plates", 8)
|
||||
)
|
||||
slot.location = location
|
||||
return slot
|
||||
|
||||
def _create_clip_magazine(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建子弹夹"""
|
||||
from unilabos.device_comms.button_battery_station import ClipMagazine
|
||||
|
||||
magazine = ClipMagazine(
|
||||
name=resource_id,
|
||||
size_x=config.get("size_x", 150.0),
|
||||
size_y=config.get("size_y", 100.0),
|
||||
size_z=config.get("size_z", 50.0),
|
||||
hole_diameter=config.get("hole_diameter", 15.0),
|
||||
hole_depth=config.get("hole_depth", 40.0),
|
||||
hole_spacing=config.get("hole_spacing", 25.0),
|
||||
max_sheets_per_hole=config.get("max_sheets_per_hole", 100)
|
||||
)
|
||||
magazine.location = location
|
||||
return magazine
|
||||
|
||||
def _create_battery_press_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建电池压制槽"""
|
||||
from unilabos.device_comms.button_battery_station import BatteryPressSlot
|
||||
|
||||
slot = BatteryPressSlot(
|
||||
name=resource_id,
|
||||
diameter=config.get("diameter", 20.0),
|
||||
depth=config.get("depth", 15.0)
|
||||
)
|
||||
slot.location = location
|
||||
return slot
|
||||
|
||||
def _create_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建枪头盒"""
|
||||
from unilabos.device_comms.button_battery_station import TipBox64
|
||||
|
||||
tip_box = TipBox64(
|
||||
name=resource_id,
|
||||
size_x=config.get("size_x", 127.8),
|
||||
size_y=config.get("size_y", 85.5),
|
||||
size_z=config.get("size_z", 60.0),
|
||||
with_tips=data.get("with_tips", True)
|
||||
)
|
||||
tip_box.location = location
|
||||
return tip_box
|
||||
|
||||
def _create_waste_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建废枪头盒"""
|
||||
from unilabos.device_comms.button_battery_station import WasteTipBox
|
||||
|
||||
waste_box = WasteTipBox(
|
||||
name=resource_id,
|
||||
size_x=config.get("size_x", 127.8),
|
||||
size_y=config.get("size_y", 85.5),
|
||||
size_z=config.get("size_z", 60.0),
|
||||
max_tips=config.get("max_tips", 100)
|
||||
)
|
||||
waste_box.location = location
|
||||
return waste_box
|
||||
|
||||
def _create_bottle_rack(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建瓶架"""
|
||||
from unilabos.device_comms.button_battery_station import BottleRack
|
||||
|
||||
rack = BottleRack(
|
||||
name=resource_id,
|
||||
size_x=config.get("size_x", 210.0),
|
||||
size_y=config.get("size_y", 140.0),
|
||||
size_z=config.get("size_z", 100.0),
|
||||
bottle_diameter=config.get("bottle_diameter", 30.0),
|
||||
bottle_height=config.get("bottle_height", 100.0),
|
||||
position_spacing=config.get("position_spacing", 35.0)
|
||||
)
|
||||
rack.location = location
|
||||
return rack
|
||||
|
||||
def _create_battery(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建电池"""
|
||||
from unilabos.device_comms.button_battery_station import Battery
|
||||
|
||||
battery = Battery(
|
||||
name=resource_id,
|
||||
diameter=config.get("diameter", 20.0),
|
||||
height=config.get("height", 3.2),
|
||||
max_volume=config.get("max_volume", 100.0),
|
||||
barcode=data.get("barcode", "")
|
||||
)
|
||||
battery.location = location
|
||||
return battery
|
||||
|
||||
# ============ 纽扣电池特定查找方法 ============
|
||||
|
||||
def find_material_plates(self):
|
||||
"""查找所有料板"""
|
||||
from unilabos.device_comms.button_battery_station import MaterialPlate
|
||||
return self.resource_tracker.find_by_type(MaterialPlate)
|
||||
|
||||
def find_batteries(self):
|
||||
"""查找所有电池"""
|
||||
from unilabos.device_comms.button_battery_station import Battery
|
||||
return self.resource_tracker.find_by_type(Battery)
|
||||
|
||||
def find_electrode_sheets(self):
|
||||
"""查找所有极片"""
|
||||
found = []
|
||||
plates = self.find_material_plates()
|
||||
for plate in plates:
|
||||
for hole in plate.children:
|
||||
if hasattr(hole, 'has_electrode_sheet') and hole.has_electrode_sheet():
|
||||
found.append(hole._electrode_sheet)
|
||||
return found
|
||||
|
||||
def find_plate_slots(self):
|
||||
"""查找所有板槽位"""
|
||||
from unilabos.device_comms.button_battery_station import PlateSlot
|
||||
return self.resource_tracker.find_by_type(PlateSlot)
|
||||
|
||||
def find_clip_magazines(self):
|
||||
"""查找所有子弹夹"""
|
||||
from unilabos.device_comms.button_battery_station import ClipMagazine
|
||||
return self.resource_tracker.find_by_type(ClipMagazine)
|
||||
|
||||
def find_press_slots(self):
|
||||
"""查找所有压制槽"""
|
||||
from unilabos.device_comms.button_battery_station import BatteryPressSlot
|
||||
return self.resource_tracker.find_by_type(BatteryPressSlot)
|
||||
@@ -63,3 +63,29 @@ YB_pei_ye_xiao_Bottle:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_jia_yang_tou_da:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
|
||||
type: pylabrobot
|
||||
description: YB_jia_yang_tou_da
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_ye_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_ye_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
@@ -11,19 +11,19 @@ YB_100ml_yeti:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_1BottleCarrier:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier
|
||||
type: pylabrobot
|
||||
description: YB_1BottleCarrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
# YB_1BottleCarrier:
|
||||
# category:
|
||||
# - yb3
|
||||
# - YB_bottle_carriers
|
||||
# class:
|
||||
# module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier
|
||||
# type: pylabrobot
|
||||
# description: YB_1BottleCarrier
|
||||
# handles: []
|
||||
# icon: ''
|
||||
# init_param_schema: {}
|
||||
# registry_type: resource
|
||||
# version: 1.0.0
|
||||
YB_gaonianye:
|
||||
category:
|
||||
- yb3
|
||||
@@ -154,19 +154,19 @@ YB_gao_nian_ye_Bottle:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_jia_yang_tou_da:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
|
||||
type: pylabrobot
|
||||
description: YB_jia_yang_tou_da
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
# YB_jia_yang_tou_da:
|
||||
# category:
|
||||
# - yb3
|
||||
# - YB_bottle_carriers
|
||||
# class:
|
||||
# module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
|
||||
# type: pylabrobot
|
||||
# description: YB_jia_yang_tou_da
|
||||
# handles: []
|
||||
# icon: ''
|
||||
# init_param_schema: {}
|
||||
# registry_type: resource
|
||||
# version: 1.0.0
|
||||
YB_jia_yang_tou_da_Carrier:
|
||||
category:
|
||||
- yb3
|
||||
@@ -193,14 +193,14 @@ YB_ye_100ml_Bottle:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_ye_Bottle:
|
||||
YB_ye:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
|
||||
type: pylabrobot
|
||||
description: YB_ye_Bottle
|
||||
description: YB_ye_Bottle_Carrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
|
||||
@@ -34,3 +34,15 @@ BIOYOND_YB_Deck:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
CoincellDeck:
|
||||
category:
|
||||
- deck
|
||||
class:
|
||||
module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck
|
||||
type: pylabrobot
|
||||
description: CoincellDeck
|
||||
handles: []
|
||||
icon: yihua.webp
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
56
unilabos/resources/battery/bottle_carriers.py
Normal file
56
unilabos/resources/battery/bottle_carriers.py
Normal file
@@ -0,0 +1,56 @@
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
|
||||
from unilabos.resources.bioyond.YB_bottles import (
|
||||
YB_pei_ye_xiao_Bottle,
|
||||
)
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
|
||||
|
||||
|
||||
def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier:
|
||||
"""12瓶载架 - 2x6布局"""
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 120.0
|
||||
carrier_size_y = 250.0
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 35.0
|
||||
bottle_spacing_x = 35.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (6 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=2,
|
||||
num_items_y=6,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="Electrolyte_12VialCarrier",
|
||||
)
|
||||
carrier.num_items_x = 2
|
||||
carrier.num_items_y = 6
|
||||
carrier.num_items_z = 1
|
||||
for i in range(12):
|
||||
carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}")
|
||||
return carrier
|
||||
179
unilabos/resources/battery/electrode_sheet.py
Normal file
179
unilabos/resources/battery/electrode_sheet.py
Normal file
@@ -0,0 +1,179 @@
|
||||
from typing import Any, Dict, Optional, TypedDict
|
||||
|
||||
from pylabrobot.resources import Resource as ResourcePLR
|
||||
from pylabrobot.resources import Container
|
||||
|
||||
|
||||
electrode_colors = {
|
||||
"PositiveCan": "#ff0000",
|
||||
"PositiveElectrode": "#cc3333",
|
||||
"NegativeCan": "#000000",
|
||||
"NegativeElectrode": "#666666",
|
||||
"SpringWasher": "#8b7355",
|
||||
"FlatWasher": "a9a9a9",
|
||||
"AluminumFoil": "#ffcccc",
|
||||
"Battery": "#00ff00",
|
||||
}
|
||||
|
||||
class ElectrodeSheetState(TypedDict):
|
||||
mass: float # 质量 (g)
|
||||
material_type: str # 材料类型（铜、铝、不锈钢、弹簧钢等）
|
||||
color: str # 材料类型对应的颜色
|
||||
|
||||
|
||||
class ElectrodeSheet(ResourcePLR):
|
||||
"""极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "极片",
|
||||
size_x=10,
|
||||
size_y=10,
|
||||
size_z=10,
|
||||
category: str = "electrode_sheet",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化极片
|
||||
|
||||
Args:
|
||||
name: 极片名称
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(
|
||||
diameter=14,
|
||||
thickness=0.1,
|
||||
mass=0.5,
|
||||
material_type="copper",
|
||||
info=None
|
||||
)
|
||||
|
||||
# TODO: 这个还要不要？给self._unilabos_state赋值的？
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
#序列化
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
|
||||
def PositiveCan(name: str) -> ElectrodeSheet:
|
||||
"""创建正极壳"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=3.0, model="PositiveCan")
|
||||
sheet.load_state({"material_type": "aluminum", "color": electrode_colors["PositiveCan"]})
|
||||
return sheet
|
||||
|
||||
|
||||
def PositiveElectrode(name: str) -> ElectrodeSheet:
|
||||
"""创建正极片"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="PositiveElectrode")
|
||||
sheet.load_state({"material_type": "positive_electrode", "color": electrode_colors["PositiveElectrode"]})
|
||||
return sheet
|
||||
|
||||
|
||||
def NegativeCan(name: str) -> ElectrodeSheet:
|
||||
"""创建负极壳"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=2.0, model="NegativeCan")
|
||||
sheet.load_state({"material_type": "steel", "color": electrode_colors["NegativeCan"]})
|
||||
return sheet
|
||||
|
||||
|
||||
def NegativeElectrode(name: str) -> ElectrodeSheet:
|
||||
"""创建负极片"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="NegativeElectrode")
|
||||
sheet.load_state({"material_type": "negative_electrode", "color": electrode_colors["NegativeElectrode"]})
|
||||
return sheet
|
||||
|
||||
|
||||
def SpringWasher(name: str) -> ElectrodeSheet:
|
||||
"""创建弹片"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.5, model="SpringWasher")
|
||||
sheet.load_state({"material_type": "spring_steel", "color": electrode_colors["SpringWasher"]})
|
||||
return sheet
|
||||
|
||||
|
||||
def FlatWasher(name: str) -> ElectrodeSheet:
|
||||
"""创建垫片"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.2, model="FlatWasher")
|
||||
sheet.load_state({"material_type": "steel", "color": electrode_colors["FlatWasher"]})
|
||||
return sheet
|
||||
|
||||
|
||||
def AluminumFoil(name: str) -> ElectrodeSheet:
|
||||
"""创建铝箔"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.05, model="AluminumFoil")
|
||||
sheet.load_state({"material_type": "aluminum", "color": electrode_colors["AluminumFoil"]})
|
||||
return sheet
|
||||
|
||||
|
||||
class BatteryState(TypedDict):
|
||||
color: str # 材料类型对应的颜色
|
||||
electrolyte_name: str
|
||||
data_electrolyte_code: str
|
||||
open_circuit_voltage: float
|
||||
assembly_pressure: float
|
||||
electrolyte_volume: float
|
||||
|
||||
info: Optional[str] # 附加信息
|
||||
|
||||
|
||||
class Battery(Container):
|
||||
"""电池类 - 包含组装好的电池"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "电池",
|
||||
size_x=12,
|
||||
size_y=12,
|
||||
size_z=6,
|
||||
category: str = "battery",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化电池
|
||||
|
||||
Args:
|
||||
name: 电池名称
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
self._unilabos_state: BatteryState = BatteryState(
|
||||
color=electrode_colors["Battery"],
|
||||
electrolyte_name="无",
|
||||
data_electrolyte_code="",
|
||||
open_circuit_voltage=0.0,
|
||||
assembly_pressure=0.0,
|
||||
electrolyte_volume=0.0,
|
||||
info=None
|
||||
)
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
#序列化
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
335
unilabos/resources/battery/magazine.py
Normal file
335
unilabos/resources/battery/magazine.py
Normal file
@@ -0,0 +1,335 @@
|
||||
from typing import Dict, List, Optional, OrderedDict, Union, Callable
|
||||
import math
|
||||
|
||||
from pylabrobot.resources.coordinate import Coordinate
|
||||
from pylabrobot.resources import Resource, ResourceStack, ItemizedResource
|
||||
from pylabrobot.resources.carrier import create_homogeneous_resources
|
||||
|
||||
from unilabos.resources.battery.electrode_sheet import (
|
||||
PositiveCan, PositiveElectrode,
|
||||
NegativeCan, NegativeElectrode,
|
||||
SpringWasher, FlatWasher,
|
||||
AluminumFoil,
|
||||
Battery
|
||||
)
|
||||
|
||||
|
||||
class Magazine(ResourceStack):
|
||||
"""子弹夹洞位类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
direction: str = 'z',
|
||||
resources: Optional[List[Resource]] = None,
|
||||
max_sheets: int = 100,
|
||||
**kwargs
|
||||
):
|
||||
"""初始化子弹夹洞位
|
||||
|
||||
Args:
|
||||
name: 洞位名称
|
||||
direction: 堆叠方向
|
||||
resources: 资源列表
|
||||
max_sheets: 最大极片数量
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
direction=direction,
|
||||
resources=resources,
|
||||
)
|
||||
self.max_sheets = max_sheets
|
||||
|
||||
@property
|
||||
def size_x(self) -> float:
|
||||
return self.get_size_x()
|
||||
|
||||
@property
|
||||
def size_y(self) -> float:
|
||||
return self.get_size_y()
|
||||
|
||||
@property
|
||||
def size_z(self) -> float:
|
||||
return self.get_size_z()
|
||||
|
||||
|
||||
class MagazineHolder(ItemizedResource):
|
||||
"""子弹夹类 - 有多个洞位，每个洞位放多个极片"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
ordered_items: Optional[Dict[str, Magazine]] = None,
|
||||
ordering: Optional[OrderedDict[str, str]] = None,
|
||||
hole_diameter: float = 14.0,
|
||||
hole_depth: float = 10.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
cross_section_type: str = "circle",
|
||||
category: str = "magazine_holder",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化子弹夹
|
||||
|
||||
Args:
|
||||
name: 子弹夹名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
hole_diameter: 洞直径 (mm)
|
||||
hole_depth: 洞深度 (mm)
|
||||
max_sheets_per_hole: 每个洞位最大极片数量
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=ordered_items,
|
||||
ordering=ordering,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
|
||||
# 保存洞位的直径和深度
|
||||
self.hole_diameter = hole_diameter
|
||||
self.hole_depth = hole_depth
|
||||
self.max_sheets_per_hole = max_sheets_per_hole
|
||||
self.cross_section_type = cross_section_type
|
||||
|
||||
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,
|
||||
"cross_section_type": self.cross_section_type,
|
||||
}
|
||||
|
||||
|
||||
def magazine_factory(
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
locations: List[Coordinate],
|
||||
klasses: Optional[List[Callable[[str], str]]] = None,
|
||||
hole_diameter: float = 14.0,
|
||||
hole_depth: float = 10.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
category: str = "magazine_holder",
|
||||
model: Optional[str] = None,
|
||||
) -> 'MagazineHolder':
|
||||
"""工厂函数：创建子弹夹
|
||||
|
||||
Args:
|
||||
name: 子弹夹名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
locations: 洞位坐标列表
|
||||
klasses: 每个洞位中极片的类列表
|
||||
hole_diameter: 洞直径 (mm)
|
||||
hole_depth: 洞深度 (mm)
|
||||
max_sheets_per_hole: 每个洞位最大极片数量
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
for loc in locations:
|
||||
loc.x -= hole_diameter / 2
|
||||
loc.y -= hole_diameter / 2
|
||||
|
||||
# 创建洞位
|
||||
_sites = create_homogeneous_resources(
|
||||
klass=Magazine,
|
||||
locations=locations,
|
||||
resource_size_x=hole_diameter,
|
||||
resource_size_y=hole_diameter,
|
||||
name_prefix=name,
|
||||
max_sheets=max_sheets_per_hole,
|
||||
)
|
||||
|
||||
# 生成编号键
|
||||
keys = [f"A{i+1}" for i in range(len(locations))]
|
||||
sites = dict(zip(keys, _sites.values()))
|
||||
|
||||
holder = MagazineHolder(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=sites,
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
|
||||
if klasses is not None:
|
||||
for i, klass in enumerate(klasses):
|
||||
hole_key = keys[i]
|
||||
hole = holder.children[i]
|
||||
for j in reversed(range(max_sheets_per_hole)):
|
||||
item_name = f"{hole_key}_sheet{j+1}"
|
||||
item = klass(name=item_name)
|
||||
hole.assign_child_resource(item)
|
||||
return holder
|
||||
|
||||
|
||||
def MagazineHolder_6_Cathode(
|
||||
name: str,
|
||||
size_x: float = 80.0,
|
||||
size_y: float = 80.0,
|
||||
size_z: float = 40.0,
|
||||
hole_diameter: float = 14.0,
|
||||
hole_depth: float = 10.0,
|
||||
hole_spacing: float = 20.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
) -> MagazineHolder:
|
||||
"""创建6孔子弹夹 - 六边形排布"""
|
||||
center_x = size_x / 2
|
||||
center_y = size_y / 2
|
||||
|
||||
locations = []
|
||||
|
||||
# 周围6个孔，按六边形排布
|
||||
for i in range(6):
|
||||
angle = i * 60 * math.pi / 180 # 每60度一个孔
|
||||
x = center_x + hole_spacing * math.cos(angle)
|
||||
y = center_y + hole_spacing * math.sin(angle)
|
||||
locations.append(Coordinate(x, y, size_z - hole_depth))
|
||||
|
||||
return magazine_factory(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
locations=locations,
|
||||
klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan],
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
category="magazine_holder",
|
||||
model="MagazineHolder_6_Cathode",
|
||||
)
|
||||
|
||||
|
||||
def MagazineHolder_6_Anode(
|
||||
name: str,
|
||||
size_x: float = 80.0,
|
||||
size_y: float = 80.0,
|
||||
size_z: float = 40.0,
|
||||
hole_diameter: float = 14.0,
|
||||
hole_depth: float = 10.0,
|
||||
hole_spacing: float = 20.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
) -> MagazineHolder:
|
||||
"""创建6孔子弹夹 - 六边形排布"""
|
||||
center_x = size_x / 2
|
||||
center_y = size_y / 2
|
||||
|
||||
locations = []
|
||||
|
||||
# 周围6个孔，按六边形排布
|
||||
for i in range(6):
|
||||
angle = i * 60 * math.pi / 180 # 每60度一个孔
|
||||
x = center_x + hole_spacing * math.cos(angle)
|
||||
y = center_y + hole_spacing * math.sin(angle)
|
||||
locations.append(Coordinate(x, y, size_z - hole_depth))
|
||||
|
||||
return magazine_factory(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
locations=locations,
|
||||
klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan],
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
category="magazine_holder",
|
||||
model="MagazineHolder_6_Anode",
|
||||
)
|
||||
|
||||
|
||||
def MagazineHolder_6_Battery(
|
||||
name: str,
|
||||
size_x: float = 80.0,
|
||||
size_y: float = 80.0,
|
||||
size_z: float = 40.0,
|
||||
hole_diameter: float = 14.0,
|
||||
hole_depth: float = 10.0,
|
||||
hole_spacing: float = 20.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
) -> MagazineHolder:
|
||||
"""创建6孔子弹夹 - 六边形排布"""
|
||||
center_x = size_x / 2
|
||||
center_y = size_y / 2
|
||||
|
||||
locations = []
|
||||
|
||||
# 周围6个孔，按六边形排布
|
||||
for i in range(6):
|
||||
angle = i * 60 * math.pi / 180 # 每60度一个孔
|
||||
x = center_x + hole_spacing * math.cos(angle)
|
||||
y = center_y + hole_spacing * math.sin(angle)
|
||||
locations.append(Coordinate(x, y, size_z - hole_depth))
|
||||
|
||||
return magazine_factory(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
locations=locations,
|
||||
klasses=None, # 初始化时，不放入装好的电池
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
category="magazine_holder",
|
||||
model="MagazineHolder_6_Battery",
|
||||
)
|
||||
|
||||
|
||||
def MagazineHolder_4_Cathode(
|
||||
name: str,
|
||||
) -> MagazineHolder:
|
||||
"""创建4孔子弹夹 - 正方形四角排布"""
|
||||
size_x: float = 80.0
|
||||
size_y: float = 80.0
|
||||
size_z: float = 10.0
|
||||
hole_diameter: float = 14.0
|
||||
hole_depth: float = 10.0
|
||||
hole_spacing: float = 25.0
|
||||
max_sheets_per_hole: int = 100
|
||||
|
||||
# 计算4个洞位的坐标（正方形四角排布）
|
||||
center_x = size_x / 2
|
||||
center_y = size_y / 2
|
||||
offset = hole_spacing / 2
|
||||
|
||||
locations = [
|
||||
Coordinate(center_x - offset, center_y - offset, size_z - hole_depth), # 左下
|
||||
Coordinate(center_x + offset, center_y - offset, size_z - hole_depth), # 右下
|
||||
Coordinate(center_x - offset, center_y + offset, size_z - hole_depth), # 左上
|
||||
Coordinate(center_x + offset, center_y + offset, size_z - hole_depth), # 右上
|
||||
]
|
||||
|
||||
return magazine_factory(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
locations=locations,
|
||||
klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode],
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
category="magazine_holder",
|
||||
model="MagazineHolder_4_Cathode",
|
||||
)
|
||||
@@ -206,7 +206,7 @@ def YB_6VialCarrier(name: str) -> BottleCarrier:
|
||||
return carrier
|
||||
|
||||
# 1瓶载架 - 单个中央位置
|
||||
def YB_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
def YB_ye(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
@@ -233,7 +233,7 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_1BottleCarrier",
|
||||
model="YB_ye",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
|
||||
@@ -33,7 +33,7 @@ def YB_ye_Bottle(
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="Liquid_Bottle",
|
||||
model="YB_ye_Bottle",
|
||||
)
|
||||
|
||||
"""100ml液体"""
|
||||
|
||||
@@ -89,11 +89,9 @@ class BIOYOND_YB_Deck(Deck):
|
||||
"自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"),
|
||||
"手动堆栈-左": bioyond_warehouse_3x5x1("手动堆栈-左"),
|
||||
"手动堆栈-右": bioyond_warehouse_3x5x1("手动堆栈-右"),
|
||||
"粉末加样头堆栈-左": bioyond_warehouse_10x1x1("粉末加样头堆栈-左"),
|
||||
"粉末加样头堆栈-右": bioyond_warehouse_10x1x1("粉末加样头堆栈-右"),
|
||||
"粉末加样头堆栈": bioyond_warehouse_20x1x1("粉末加样头堆栈"),
|
||||
"配液站内试剂仓库": bioyond_warehouse_3x3x1("配液站内试剂仓库"),
|
||||
"试剂替换仓库-左": bioyond_warehouse_5x1x1("试剂替换仓库-左"),
|
||||
"试剂替换仓库-右": bioyond_warehouse_5x1x1("试剂替换仓库-右"),
|
||||
"试剂替换仓库": bioyond_warehouse_10x1x1("试剂替换仓库"),
|
||||
}
|
||||
# warehouse 的位置
|
||||
self.warehouse_locations = {
|
||||
@@ -101,11 +99,9 @@ class BIOYOND_YB_Deck(Deck):
|
||||
"自动堆栈-右": Coordinate(4160.0, 158.0, 0.0),
|
||||
"手动堆栈-左": Coordinate(-400.0, 877.0, 0.0),
|
||||
"手动堆栈-右": Coordinate(4160.0, 877.0, 0.0),
|
||||
"粉末加样头堆栈-左": Coordinate(415.0, 1301.0, 0.0),
|
||||
"粉末加样头堆栈-右": Coordinate(2200.0, 1304.0, 0.0),
|
||||
"粉末加样头堆栈": Coordinate(415.0, 1301.0, 0.0),
|
||||
"配液站内试剂仓库": Coordinate(2162.0, 337.0, 0.0),
|
||||
"试剂替换仓库-左": Coordinate(1173.0, 702.0, 0.0),
|
||||
"试剂替换仓库-右": Coordinate(2721.0, 739.0, 0.0),
|
||||
"试剂替换仓库": Coordinate(1173.0, 702.0, 0.0),
|
||||
}
|
||||
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
|
||||
@@ -29,7 +29,7 @@ class Bottle(Well):
|
||||
size_x: float = 0.0,
|
||||
size_y: float = 0.0,
|
||||
size_z: float = 0.0,
|
||||
barcode: Optional[str] = "",
|
||||
barcode: Optional[str] = None,
|
||||
category: str = "container",
|
||||
model: Optional[str] = None,
|
||||
**kwargs,
|
||||
|
||||
Reference in New Issue
Block a user