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14473
bioyond_yihua_YB.json
14473
bioyond_yihua_YB.json
File diff suppressed because it is too large
Load Diff
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Load Diff
@@ -24,6 +24,7 @@ extensions = [
|
||||
"sphinx.ext.autodoc",
|
||||
"sphinx.ext.napoleon", # 如果您使用 Google 或 NumPy 风格的 docstrings
|
||||
"sphinx_rtd_theme",
|
||||
"sphinxcontrib.mermaid"
|
||||
]
|
||||
|
||||
source_suffix = {
|
||||
@@ -42,6 +43,8 @@ myst_enable_extensions = [
|
||||
"substitution",
|
||||
]
|
||||
|
||||
myst_fence_as_directive = ["mermaid"]
|
||||
|
||||
templates_path = ["_templates"]
|
||||
exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
|
||||
|
||||
@@ -203,3 +206,5 @@ def generate_action_includes(app):
|
||||
|
||||
def setup(app):
|
||||
app.connect("builder-inited", generate_action_includes)
|
||||
app.add_js_file("https://cdn.jsdelivr.net/npm/mermaid/dist/mermaid.min.js")
|
||||
app.add_js_file(None, body="mermaid.initialize({startOnLoad:true});")
|
||||
|
||||
@@ -1,88 +1,26 @@
|
||||
## 简单单变量动作函数
|
||||
|
||||
|
||||
### `SendCmd`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StrSingleInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `IntSingleInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `FloatSingleInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Point3DSeparateInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action
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||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Wait`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Wait.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
## 常量有机化学操作
|
||||
|
||||
Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
|
||||
|
||||
|
||||
|
||||
### `Clean`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Clean.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `EvacuateAndRefill`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Evaporate`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Evaporate.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `HeatChill`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/HeatChill.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `HeatChillStart`
|
||||
|
||||
@@ -90,7 +28,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `HeatChillStop`
|
||||
|
||||
@@ -98,7 +36,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `PumpTransfer`
|
||||
|
||||
@@ -106,195 +44,12 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Separate`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Separate.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Stir`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Stir.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Add`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Add.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `AddSolid`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/AddSolid.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `AdjustPH`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Centrifuge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `CleanVessel`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Crystallize`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Crystallize.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Dissolve`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Dissolve.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Dry`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Dry.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Filter`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Filter.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `FilterThrough`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Hydrogenate`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Purge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Purge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Recrystallize`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `RunColumn`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/RunColumn.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StartPurge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StartPurge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StartStir`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StartStir.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StopPurge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StopPurge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StopStir`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StopStir.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Transfer`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Transfer.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `WashSolid`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/WashSolid.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
## 移液工作站及相关生物自动化设备操作
|
||||
|
||||
Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
|
||||
|
||||
### `LiquidHandlerAspirate`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerDiscardTips`
|
||||
|
||||
@@ -302,15 +57,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerDispense`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDispense.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `LiquidHandlerDropTips`
|
||||
|
||||
@@ -318,7 +65,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `LiquidHandlerDropTips96`
|
||||
|
||||
@@ -326,7 +73,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `LiquidHandlerMoveLid`
|
||||
|
||||
@@ -334,7 +81,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `LiquidHandlerMovePlate`
|
||||
|
||||
@@ -342,7 +89,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `LiquidHandlerMoveResource`
|
||||
|
||||
@@ -350,7 +97,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `LiquidHandlerPickUpTips`
|
||||
|
||||
@@ -358,7 +105,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `LiquidHandlerPickUpTips96`
|
||||
|
||||
@@ -366,7 +113,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `LiquidHandlerReturnTips`
|
||||
|
||||
@@ -374,7 +121,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `LiquidHandlerReturnTips96`
|
||||
|
||||
@@ -382,7 +129,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `LiquidHandlerStamp`
|
||||
|
||||
@@ -390,129 +137,17 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerTransfer`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerAdd`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerIncubateBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerMix`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveTo`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerOscillateBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerProtocolCreation`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerRemove`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerSetGroup`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerSetLiquid`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerSetTipRack`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerTransferBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerTransferGroup`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
## 多工作站及小车运行、物料转移
|
||||
|
||||
|
||||
### `AGVTransfer`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
### `WorkStationRun`
|
||||
|
||||
@@ -520,64 +155,12 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `ResetHandling`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `ResourceCreateFromOuter`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `ResourceCreateFromOuterEasy`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `SetPumpPosition`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 固体分配与处理设备操作
|
||||
|
||||
### `SolidDispenseAddPowderTube`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 其他设备操作
|
||||
|
||||
### `EmptyIn`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
## 机械臂、夹爪等机器人设备
|
||||
|
||||
Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
|
||||
|
||||
|
||||
### `FollowJointTrajectory`
|
||||
|
||||
```yaml
|
||||
@@ -645,8 +228,7 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `GripperCommand`
|
||||
|
||||
```yaml
|
||||
@@ -664,19 +246,42 @@ bool reached_goal # True iff the gripper position has reached the commanded setp
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `JointTrajectory`
|
||||
|
||||
```yaml
|
||||
trajectory_msgs/JointTrajectory trajectory
|
||||
---
|
||||
|
||||
---
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
### `ParallelGripperCommand`
|
||||
|
||||
```yaml
|
||||
# Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides.
|
||||
sensor_msgs/JointState command
|
||||
# name: the name(s) of the joint this command is requesting
|
||||
# position: desired position of each gripper joint (radians or meters)
|
||||
# velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second)
|
||||
# effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters)
|
||||
---
|
||||
sensor_msgs/JointState state # The current gripper state.
|
||||
# position of each joint (radians or meters)
|
||||
# optional: velocity of each joint (radians or meters / second)
|
||||
# optional: effort of each joint (Newtons or Newton-meters)
|
||||
bool stalled # True if the gripper is exerting max effort and not moving
|
||||
bool reached_goal # True if the gripper position has reached the commanded setpoint
|
||||
---
|
||||
sensor_msgs/JointState state # The current gripper state.
|
||||
# position of each joint (radians or meters)
|
||||
# optional: velocity of each joint (radians or meters / second)
|
||||
# optional: effort of each joint (Newtons or Newton-meters)
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
### `PointHead`
|
||||
|
||||
```yaml
|
||||
@@ -686,13 +291,12 @@ string pointing_frame
|
||||
builtin_interfaces/Duration min_duration
|
||||
float64 max_velocity
|
||||
---
|
||||
|
||||
---
|
||||
float64 pointing_angle_error
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `SingleJointPosition`
|
||||
|
||||
```yaml
|
||||
@@ -700,16 +304,15 @@ float64 position
|
||||
builtin_interfaces/Duration min_duration
|
||||
float64 max_velocity
|
||||
---
|
||||
|
||||
---
|
||||
std_msgs/Header header
|
||||
float64 position
|
||||
float64 velocity
|
||||
float64 error
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `AssistedTeleop`
|
||||
|
||||
```yaml
|
||||
@@ -721,10 +324,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback
|
||||
builtin_interfaces/Duration current_teleop_duration
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `BackUp`
|
||||
|
||||
```yaml
|
||||
@@ -738,10 +341,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
float32 distance_traveled
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `ComputePathThroughPoses`
|
||||
|
||||
```yaml
|
||||
@@ -756,10 +359,10 @@ nav_msgs/Path path
|
||||
builtin_interfaces/Duration planning_time
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `ComputePathToPose`
|
||||
|
||||
```yaml
|
||||
@@ -774,10 +377,10 @@ nav_msgs/Path path
|
||||
builtin_interfaces/Duration planning_time
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `DriveOnHeading`
|
||||
|
||||
```yaml
|
||||
@@ -791,10 +394,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
float32 distance_traveled
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `DummyBehavior`
|
||||
|
||||
```yaml
|
||||
@@ -805,10 +408,10 @@ std_msgs/String command
|
||||
builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `FollowPath`
|
||||
|
||||
```yaml
|
||||
@@ -823,10 +426,10 @@ std_msgs/Empty result
|
||||
#feedback definition
|
||||
float32 distance_to_goal
|
||||
float32 speed
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `FollowWaypoints`
|
||||
|
||||
```yaml
|
||||
@@ -838,10 +441,10 @@ int32[] missed_waypoints
|
||||
---
|
||||
#feedback definition
|
||||
uint32 current_waypoint
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `NavigateThroughPoses`
|
||||
|
||||
```yaml
|
||||
@@ -859,10 +462,10 @@ builtin_interfaces/Duration estimated_time_remaining
|
||||
int16 number_of_recoveries
|
||||
float32 distance_remaining
|
||||
int16 number_of_poses_remaining
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `NavigateToPose`
|
||||
|
||||
```yaml
|
||||
@@ -879,10 +482,10 @@ builtin_interfaces/Duration navigation_time
|
||||
builtin_interfaces/Duration estimated_time_remaining
|
||||
int16 number_of_recoveries
|
||||
float32 distance_remaining
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `SmoothPath`
|
||||
|
||||
```yaml
|
||||
@@ -898,10 +501,10 @@ builtin_interfaces/Duration smoothing_duration
|
||||
bool was_completed
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `Spin`
|
||||
|
||||
```yaml
|
||||
@@ -914,10 +517,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
float32 angular_distance_traveled
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
----
|
||||
### `Wait`
|
||||
|
||||
```yaml
|
||||
@@ -929,6 +532,7 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
builtin_interfaces/Duration time_left
|
||||
|
||||
```
|
||||
|
||||
---
|
||||
----
|
||||
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 1.2 MiB |
Binary file not shown.
|
After Width: | Height: | Size: 629 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 1.1 MiB |
Binary file not shown.
|
After Width: | Height: | Size: 269 KiB |
File diff suppressed because it is too large
Load Diff
@@ -32,9 +32,8 @@ developer_guide/device_driver
|
||||
developer_guide/add_device
|
||||
developer_guide/add_action
|
||||
developer_guide/actions
|
||||
developer_guide/workstation_architecture
|
||||
developer_guide/add_protocol
|
||||
developer_guide/add_batteryPLC
|
||||
developer_guide/materials_tutorial.md
|
||||
```
|
||||
|
||||
## 接口文档
|
||||
|
||||
@@ -2,6 +2,7 @@
|
||||
sphinx>=7.0.0
|
||||
sphinx-rtd-theme>=2.0.0
|
||||
myst-parser>=2.0.0
|
||||
sphinxcontrib-mermaid
|
||||
|
||||
# 用于支持Jupyter notebook文档
|
||||
myst-nb>=1.0.0
|
||||
|
||||
@@ -1,54 +0,0 @@
|
||||
{
|
||||
"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": []
|
||||
}
|
||||
@@ -1,98 +0,0 @@
|
||||
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "bioyond_cell_workstation",
|
||||
"name": "配液分液工站",
|
||||
"parent": null,
|
||||
"children": [
|
||||
"YB_Bioyond_Deck"
|
||||
],
|
||||
"type": "device",
|
||||
"class": "bioyond_cell",
|
||||
"config": {
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "YB_Bioyond_Deck",
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
|
||||
}
|
||||
},
|
||||
"protocol_type": []
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "YB_Bioyond_Deck",
|
||||
"name": "YB_Bioyond_Deck",
|
||||
"children": [],
|
||||
"parent": "bioyond_cell_workstation",
|
||||
"type": "deck",
|
||||
"class": "BIOYOND_YB_Deck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "BIOYOND_YB_Deck",
|
||||
"setup": true,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "BatteryStation",
|
||||
"name": "扣电工作站",
|
||||
"parent": null,
|
||||
"children": [
|
||||
"coin_cell_deck"
|
||||
],
|
||||
"type": "device",
|
||||
"class":"coincellassemblyworkstation_device",
|
||||
"config": {
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "YB_YH_Deck",
|
||||
"_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
|
||||
}
|
||||
},
|
||||
"protocol_type": []
|
||||
},
|
||||
"position": {
|
||||
"size": {"height": 1450, "width": 1450, "depth": 2100},
|
||||
"position": {
|
||||
"x": -1500,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
}
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "YB_YH_Deck",
|
||||
"name": "YB_YH_Deck",
|
||||
"children": [],
|
||||
"parent": "BatteryStation",
|
||||
"type": "deck",
|
||||
"class": "CoincellDeck",
|
||||
"config": {
|
||||
"type": "CoincellDeck",
|
||||
"setup": true,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
|
||||
|
||||
@@ -24,13 +24,42 @@
|
||||
"Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
|
||||
},
|
||||
"material_type_mappings": {
|
||||
"烧杯": ["YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"],
|
||||
"试剂瓶": ["YB_1BottleCarrier", ""],
|
||||
"样品板": ["YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"],
|
||||
"分装板": ["YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"],
|
||||
"样品瓶": ["YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"],
|
||||
"90%分装小瓶": ["YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"],
|
||||
"10%分装小瓶": ["YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"]
|
||||
"烧杯": [
|
||||
"BIOYOND_PolymerStation_1FlaskCarrier",
|
||||
"3a14196b-24f2-ca49-9081-0cab8021bf1a"
|
||||
],
|
||||
"试剂瓶": [
|
||||
"BIOYOND_PolymerStation_1BottleCarrier",
|
||||
""
|
||||
],
|
||||
"样品板": [
|
||||
"BIOYOND_PolymerStation_6StockCarrier",
|
||||
"3a14196e-b7a0-a5da-1931-35f3000281e9"
|
||||
],
|
||||
"分装板": [
|
||||
"BIOYOND_PolymerStation_6VialCarrier",
|
||||
"3a14196e-5dfe-6e21-0c79-fe2036d052c4"
|
||||
],
|
||||
"样品瓶": [
|
||||
"BIOYOND_PolymerStation_Solid_Stock",
|
||||
"3a14196a-cf7d-8aea-48d8-b9662c7dba94"
|
||||
],
|
||||
"90%分装小瓶": [
|
||||
"BIOYOND_PolymerStation_Solid_Vial",
|
||||
"3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
|
||||
],
|
||||
"10%分装小瓶": [
|
||||
"BIOYOND_PolymerStation_Liquid_Vial",
|
||||
"3a14196c-76be-2279-4e22-7310d69aed68"
|
||||
],
|
||||
"枪头盒": [
|
||||
"BIOYOND_PolymerStation_TipBox",
|
||||
""
|
||||
],
|
||||
"反应器": [
|
||||
"BIOYOND_PolymerStation_Reactor",
|
||||
""
|
||||
]
|
||||
}
|
||||
},
|
||||
"deck": {
|
||||
@@ -46,8 +75,7 @@
|
||||
{
|
||||
"id": "Bioyond_Deck",
|
||||
"name": "Bioyond_Deck",
|
||||
"children": [
|
||||
],
|
||||
"children": [],
|
||||
"parent": "reaction_station_bioyond",
|
||||
"type": "deck",
|
||||
"class": "BIOYOND_PolymerReactionStation_Deck",
|
||||
|
||||
@@ -24,9 +24,9 @@
|
||||
"Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
|
||||
},
|
||||
"material_type_mappings": {
|
||||
"烧杯": "YB_1FlaskCarrier",
|
||||
"试剂瓶": "YB_1BottleCarrier",
|
||||
"样品板": "YB_6VialCarrier"
|
||||
"烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
|
||||
"试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
|
||||
"样品板": "BIOYOND_PolymerStation_6VialCarrier"
|
||||
}
|
||||
},
|
||||
"deck": {
|
||||
|
||||
@@ -1,52 +0,0 @@
|
||||
[
|
||||
{
|
||||
"id": "3a1d377b-299d-d0f2-ced9-48257f60dfad",
|
||||
"typeName": "加样头(大)",
|
||||
"code": "0005-00145",
|
||||
"barCode": "",
|
||||
"name": "LiDFOB",
|
||||
"quantity": 9999.0,
|
||||
"lockQuantity": 0.0,
|
||||
"unit": "个",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a19da56-1379-ff7c-1745-07e200b44ce2",
|
||||
"whid": "3a19da56-1378-613b-29f2-871e1a287aa5",
|
||||
"whName": "粉末加样头堆栈",
|
||||
"code": "0005-0001",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1d377b-6a81-6a7e-147c-f89f6463656d",
|
||||
"typeName": "液",
|
||||
"code": "0006-00141",
|
||||
"barCode": "",
|
||||
"name": "EMC",
|
||||
"quantity": 99999.0,
|
||||
"lockQuantity": 0.0,
|
||||
"unit": "g",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a1baa20-a7b1-c665-8b9c-d8099d07d2f6",
|
||||
"whid": "3a1baa20-a7b0-5c19-8844-5de8924d4e78",
|
||||
"whName": "4号手套箱内部堆栈",
|
||||
"code": "0015-0001",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
}
|
||||
]
|
||||
@@ -1,99 +0,0 @@
|
||||
{
|
||||
"typeId": "3a190c8b-3284-af78-d29f-9a69463ad047",
|
||||
"code": "",
|
||||
"barCode": "",
|
||||
"name": "test",
|
||||
"unit": "",
|
||||
"parameters": "{}",
|
||||
"quantity": "",
|
||||
"details": [
|
||||
{
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
|
||||
"code": "",
|
||||
"name": "配液瓶(小)11",
|
||||
"quantity": "1",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"unit": "",
|
||||
"parameters": "{}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
|
||||
"code": "",
|
||||
"name": "配液瓶(小)21",
|
||||
"quantity": "1",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"unit": "",
|
||||
"parameters": "{}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
|
||||
"code": "",
|
||||
"name": "配液瓶(小)12",
|
||||
"quantity": "1",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"unit": "",
|
||||
"parameters": "{}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
|
||||
"code": "",
|
||||
"name": "配液瓶(小)22",
|
||||
"quantity": "1",
|
||||
"x": 2,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"unit": "",
|
||||
"parameters": "{}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
|
||||
"code": "",
|
||||
"name": "配液瓶(小)13",
|
||||
"quantity": "1",
|
||||
"x": 1,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"unit": "",
|
||||
"parameters": "{}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
|
||||
"code": "",
|
||||
"name": "配液瓶(小)23",
|
||||
"quantity": "1",
|
||||
"x": 2,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"unit": "",
|
||||
"parameters": "{}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
|
||||
"code": "",
|
||||
"name": "配液瓶(小)14",
|
||||
"quantity": "1",
|
||||
"x": 1,
|
||||
"y": 4,
|
||||
"z": 1,
|
||||
"unit": "",
|
||||
"parameters": "{}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
|
||||
"code": "",
|
||||
"name": "配液瓶(小)24",
|
||||
"quantity": "1",
|
||||
"x": 2,
|
||||
"y": 4,
|
||||
"z": 1,
|
||||
"unit": "",
|
||||
"parameters": "{}"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,148 +0,0 @@
|
||||
[
|
||||
{
|
||||
"id": "3a1d4c14-a9fb-d7dc-9e96-7a3ad6e50219",
|
||||
"typeName": "配液瓶(小)板",
|
||||
"code": "0001-00093",
|
||||
"barCode": "",
|
||||
"name": "test",
|
||||
"quantity": 2.0,
|
||||
"lockQuantity": 0.0,
|
||||
"unit": "块",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
|
||||
"whid": "3a19deae-2c79-05a3-9c76-8e6760424841",
|
||||
"whName": "手动堆栈",
|
||||
"code": "1",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"id": "3a1d4c14-a9fc-1daa-71fa-146cb1ccb930",
|
||||
"detailMaterialId": "3a1d4c14-a9fc-4f38-4c48-68486c391c42",
|
||||
"code": "0001-00093 - 05",
|
||||
"name": "配液瓶(小)",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "0",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"associateId": null,
|
||||
"typeName": "配液瓶(小)",
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
|
||||
},
|
||||
{
|
||||
"id": "3a1d4c14-a9fc-3659-ea61-cd587da9e131",
|
||||
"detailMaterialId": "3a1d4c14-a9fc-018f-93e5-c49343d37758",
|
||||
"code": "0001-00093 - 08",
|
||||
"name": "配液瓶(小)",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "0",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 4,
|
||||
"z": 1,
|
||||
"associateId": null,
|
||||
"typeName": "配液瓶(小)",
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
|
||||
},
|
||||
{
|
||||
"id": "3a1d4c14-a9fc-3f94-de83-979d2646e313",
|
||||
"detailMaterialId": "3a1d4c14-a9fc-9987-c0ef-4b7cbad49e6b",
|
||||
"code": "0001-00093 - 01",
|
||||
"name": "配液瓶(小)",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "0",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null,
|
||||
"typeName": "配液瓶(小)",
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
|
||||
},
|
||||
{
|
||||
"id": "3a1d4c14-a9fc-8c35-6b25-913b11dbaf4e",
|
||||
"detailMaterialId": "3a1d4c14-a9fc-9a83-865b-0c26ea5e8cc4",
|
||||
"code": "0001-00093 - 03",
|
||||
"name": "配液瓶(小)",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "0",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null,
|
||||
"typeName": "配液瓶(小)",
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
|
||||
},
|
||||
{
|
||||
"id": "3a1d4c14-a9fc-b41f-e968-64953bfddccd",
|
||||
"detailMaterialId": "3a1d4c14-a9fc-daf7-9d64-e5ec8d3ae0e2",
|
||||
"code": "0001-00093 - 07",
|
||||
"name": "配液瓶(小)",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "0",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 4,
|
||||
"z": 1,
|
||||
"associateId": null,
|
||||
"typeName": "配液瓶(小)",
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
|
||||
},
|
||||
{
|
||||
"id": "3a1d4c14-a9fc-c20f-c26e-b1bb2cdc3bca",
|
||||
"detailMaterialId": "3a1d4c14-a9fc-673b-ac83-aaaf71287f1f",
|
||||
"code": "0001-00093 - 06",
|
||||
"name": "配液瓶(小)",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "0",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"associateId": null,
|
||||
"typeName": "配液瓶(小)",
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
|
||||
},
|
||||
{
|
||||
"id": "3a1d4c14-a9fc-cf21-059c-fde361d82b6f",
|
||||
"detailMaterialId": "3a1d4c14-a9fc-25b1-e736-6b0d8dac0fae",
|
||||
"code": "0001-00093 - 02",
|
||||
"name": "配液瓶(小)",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "0",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null,
|
||||
"typeName": "配液瓶(小)",
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
|
||||
},
|
||||
{
|
||||
"id": "3a1d4c14-a9fc-d732-2b93-9b2bd2bf581b",
|
||||
"detailMaterialId": "3a1d4c14-a9fc-7f5d-b6b6-8bcb2e15f320",
|
||||
"code": "0001-00093 - 04",
|
||||
"name": "配液瓶(小)",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "0",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null,
|
||||
"typeName": "配液瓶(小)",
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
@@ -1,7 +1,7 @@
|
||||
import pytest
|
||||
|
||||
from unilabos.resources.bioyond.bottle_carriers import BIOYOND_Electrolyte_6VialCarrier, BIOYOND_Electrolyte_1BottleCarrier
|
||||
from unilabos.resources.bioyond.bottles import YB_Solid_Vial, YB_Solution_Beaker, YB_Reagent_Bottle
|
||||
from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle
|
||||
|
||||
|
||||
def test_bottle_carrier() -> "BottleCarrier":
|
||||
@@ -16,9 +16,9 @@ def test_bottle_carrier() -> "BottleCarrier":
|
||||
print(f"1烧杯载架: {beaker_carrier.name}, 位置数: {len(beaker_carrier.sites)}")
|
||||
|
||||
# 创建瓶子和烧杯
|
||||
powder_bottle = YB_Solid_Vial("powder_bottle_01")
|
||||
solution_beaker = YB_Solution_Beaker("solution_beaker_01")
|
||||
reagent_bottle = YB_Reagent_Bottle("reagent_bottle_01")
|
||||
powder_bottle = BIOYOND_PolymerStation_Solid_Vial("powder_bottle_01")
|
||||
solution_beaker = BIOYOND_PolymerStation_Solution_Beaker("solution_beaker_01")
|
||||
reagent_bottle = BIOYOND_PolymerStation_Reagent_Bottle("reagent_bottle_01")
|
||||
|
||||
print(f"\n创建的物料:")
|
||||
print(f"粉末瓶: {powder_bottle.name} - {powder_bottle.diameter}mm x {powder_bottle.height}mm, {powder_bottle.max_volume}μL")
|
||||
|
||||
@@ -12,13 +12,13 @@ lab_registry.setup()
|
||||
|
||||
|
||||
type_mapping = {
|
||||
"烧杯": ("YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
|
||||
"试剂瓶": ("YB_1BottleCarrier", ""),
|
||||
"样品板": ("YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
|
||||
"分装板": ("YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
|
||||
"样品瓶": ("YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
|
||||
"90%分装小瓶": ("YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
|
||||
"10%分装小瓶": ("YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
|
||||
"烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
|
||||
"试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
|
||||
"样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
|
||||
"分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
|
||||
"样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
|
||||
"90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
|
||||
"10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
from ast import If
|
||||
import pytest
|
||||
import json
|
||||
import os
|
||||
@@ -9,16 +8,18 @@ from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
|
||||
from unilabos.resources.bioyond.decks import YB_Deck
|
||||
|
||||
lab_registry.setup()
|
||||
|
||||
|
||||
type_mapping = {
|
||||
"加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
"液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
|
||||
"配液瓶(小)板": ("YB_peiyepingxiaoban", "3a190c8b-3284-af78-d29f-9a69463ad047"),
|
||||
"配液瓶(小)": ("YB_pei_ye_xiao_Bottler", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"),
|
||||
"烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
|
||||
"试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
|
||||
"样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
|
||||
"分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
|
||||
"样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
|
||||
"90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
|
||||
"10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
|
||||
}
|
||||
|
||||
|
||||
@@ -56,20 +57,12 @@ def bioyond_materials_liquidhandling_2() -> list[dict]:
|
||||
"bioyond_materials_reaction",
|
||||
"bioyond_materials_liquidhandling_1",
|
||||
])
|
||||
def test_resourcetreeset_from_plr() -> list[dict]:
|
||||
# 直接加载 bioyond_materials_reaction.json 文件
|
||||
current_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
json_path = os.path.join(current_dir, "test.json")
|
||||
with open(json_path, "r", encoding="utf-8") as f:
|
||||
materials = json.load(f)
|
||||
deck = YB_Deck("test_deck")
|
||||
def test_resourcetreeset_from_plr(materials_fixture, request) -> list[dict]:
|
||||
materials = request.getfixturevalue(materials_fixture)
|
||||
deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
|
||||
output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck)
|
||||
print(output)
|
||||
# print(deck.summary())
|
||||
print(deck.summary())
|
||||
|
||||
r = ResourceTreeSet.from_plr_resources([deck])
|
||||
print(r.dump())
|
||||
# json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4)
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_resourcetreeset_from_plr()
|
||||
|
||||
@@ -13,7 +13,7 @@ def start_backend(
|
||||
graph=None,
|
||||
controllers_config: dict = {},
|
||||
bridges=[],
|
||||
is_slave: bool = False,
|
||||
without_host: bool = False,
|
||||
visual: str = "None",
|
||||
resources_mesh_config: dict = {},
|
||||
**kwargs,
|
||||
@@ -32,7 +32,7 @@ def start_backend(
|
||||
raise ValueError(f"Unsupported backend: {backend}")
|
||||
|
||||
backend_thread = threading.Thread(
|
||||
target=main if not is_slave else slave,
|
||||
target=main if not without_host else slave,
|
||||
args=(
|
||||
devices_config,
|
||||
resources_config,
|
||||
|
||||
@@ -375,13 +375,15 @@ def main():
|
||||
|
||||
args_dict["bridges"] = []
|
||||
|
||||
if "fastapi" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(http_client)
|
||||
# 获取通信客户端（仅支持WebSocket）
|
||||
if BasicConfig.is_host_mode:
|
||||
comm_client = get_communication_client()
|
||||
|
||||
if "websocket" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(comm_client)
|
||||
if "fastapi" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(http_client)
|
||||
if "websocket" in args_dict["app_bridges"]:
|
||||
|
||||
def _exit(signum, frame):
|
||||
comm_client.stop()
|
||||
sys.exit(0)
|
||||
@@ -389,9 +391,6 @@ def main():
|
||||
signal.signal(signal.SIGINT, _exit)
|
||||
signal.signal(signal.SIGTERM, _exit)
|
||||
comm_client.start()
|
||||
else:
|
||||
print_status("SlaveMode跳过Websocket连接")
|
||||
|
||||
args_dict["resources_mesh_config"] = {}
|
||||
args_dict["resources_edge_config"] = resource_edge_info
|
||||
# web visiualize 2D
|
||||
|
||||
@@ -1,12 +1,11 @@
|
||||
import json
|
||||
import time
|
||||
from typing import Optional, Tuple, Dict, Any
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
|
||||
|
||||
def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
|
||||
def register_devices_and_resources(lab_registry):
|
||||
"""
|
||||
注册设备和资源到服务器（仅支持HTTP）
|
||||
"""
|
||||
@@ -29,8 +28,6 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
|
||||
resources_to_register[resource_info["id"]] = resource_info
|
||||
logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
|
||||
if gather_only:
|
||||
return devices_to_register, resources_to_register
|
||||
# 注册设备
|
||||
if devices_to_register:
|
||||
try:
|
||||
|
||||
@@ -421,7 +421,7 @@ class MessageProcessor:
|
||||
ssl_context = ssl_module.create_default_context()
|
||||
|
||||
ws_logger = logging.getLogger("websockets.client")
|
||||
# 日志级别已在 unilabos.utils.log 中统一配置为 WARNING
|
||||
ws_logger.setLevel(logging.INFO)
|
||||
|
||||
async with websockets.connect(
|
||||
self.websocket_url,
|
||||
@@ -1197,7 +1197,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
|
||||
|
||||
@@ -1,296 +0,0 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
import serial
|
||||
import time
|
||||
import csv
|
||||
import threading
|
||||
import os
|
||||
from collections import deque
|
||||
from typing import Dict, Any, Optional
|
||||
from pylabrobot.resources import Deck
|
||||
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
|
||||
|
||||
class ElectrolysisWaterPlatform(WorkstationBase):
|
||||
"""
|
||||
电解水平台工作站
|
||||
基于 WorkstationBase 的电解水实验平台，支持串口通信和数据采集
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
deck: Deck,
|
||||
port: str = "COM10",
|
||||
baudrate: int = 115200,
|
||||
csv_path: Optional[str] = None,
|
||||
timeout: float = 0.2,
|
||||
**kwargs
|
||||
):
|
||||
super().__init__(deck, **kwargs)
|
||||
|
||||
# ========== 配置 ==========
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
# 如果没有指定路径，默认保存在代码文件所在目录
|
||||
if csv_path is None:
|
||||
current_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
self.csv_path = os.path.join(current_dir, "stm32_data.csv")
|
||||
else:
|
||||
self.csv_path = csv_path
|
||||
self.ser_timeout = timeout
|
||||
self.chunk_read = 128
|
||||
|
||||
# 串口对象
|
||||
self.ser: Optional[serial.Serial] = None
|
||||
self.stop_flag = False
|
||||
|
||||
# 线程对象
|
||||
self.rx_thread: Optional[threading.Thread] = None
|
||||
self.tx_thread: Optional[threading.Thread] = None
|
||||
|
||||
# ==== 接收（下位机->上位机）：固定 1+13+1 = 15 字节 ====
|
||||
self.RX_HEAD = 0x3E
|
||||
self.RX_TAIL = 0x3E
|
||||
self.RX_FRAME_LEN = 1 + 13 + 1 # 15
|
||||
|
||||
# ==== 发送（上位机->下位机）：固定 1+9+1 = 11 字节 ====
|
||||
self.TX_HEAD = 0x3E
|
||||
self.TX_TAIL = 0xE3 # 协议图中标注 E3 作为帧尾
|
||||
self.TX_FRAME_LEN = 1 + 9 + 1 # 11
|
||||
|
||||
def open_serial(self, port: Optional[str] = None, baudrate: Optional[int] = None, timeout: Optional[float] = None) -> Optional[serial.Serial]:
|
||||
"""打开串口"""
|
||||
port = port or self.port
|
||||
baudrate = baudrate or self.baudrate
|
||||
timeout = timeout or self.ser_timeout
|
||||
try:
|
||||
ser = serial.Serial(port, baudrate, timeout=timeout)
|
||||
print(f"[OK] 串口 {port} 已打开，波特率 {baudrate}")
|
||||
ser.reset_input_buffer()
|
||||
ser.reset_output_buffer()
|
||||
self.ser = ser
|
||||
return ser
|
||||
except serial.SerialException as e:
|
||||
print(f"[ERR] 无法打开串口 {port}: {e}")
|
||||
return None
|
||||
|
||||
def close_serial(self):
|
||||
"""关闭串口"""
|
||||
if self.ser and self.ser.is_open:
|
||||
self.ser.close()
|
||||
print("[INFO] 串口已关闭")
|
||||
|
||||
@staticmethod
|
||||
def u16_be(h: int, l: int) -> int:
|
||||
"""将两个字节组合成16位无符号整数（大端序）"""
|
||||
return ((h & 0xFF) << 8) | (l & 0xFF)
|
||||
|
||||
@staticmethod
|
||||
def split_u16_be(val: int) -> tuple:
|
||||
"""返回 (高字节, 低字节)，输入会夹到 0..65535"""
|
||||
v = int(max(0, min(65535, int(val))))
|
||||
return (v >> 8) & 0xFF, v & 0xFF
|
||||
|
||||
# ================== 接收：固定15字节 ==================
|
||||
def parse_rx_payload(self, dat13: bytes) -> Optional[Dict[str, Any]]:
|
||||
"""解析 13 字节数据区（下位机发送到上位机）"""
|
||||
if len(dat13) != 13:
|
||||
return None
|
||||
current_mA = self.u16_be(dat13[0], dat13[1])
|
||||
voltage_mV = self.u16_be(dat13[2], dat13[3])
|
||||
temperature_raw = self.u16_be(dat13[4], dat13[5])
|
||||
tds_ppm = self.u16_be(dat13[6], dat13[7])
|
||||
gas_sccm = self.u16_be(dat13[8], dat13[9])
|
||||
liquid_mL = self.u16_be(dat13[10], dat13[11])
|
||||
ph_raw = dat13[12] & 0xFF
|
||||
|
||||
return {
|
||||
"Current_mA": current_mA,
|
||||
"Voltage_mV": voltage_mV,
|
||||
"Temperature_C": round(temperature_raw / 100.0, 2),
|
||||
"TDS_ppm": tds_ppm,
|
||||
"GasFlow_sccm": gas_sccm,
|
||||
"LiquidFlow_mL": liquid_mL,
|
||||
"pH": round(ph_raw / 10.0, 2)
|
||||
}
|
||||
|
||||
def try_parse_rx_frame(self, frame15: bytes) -> Optional[Dict[str, Any]]:
|
||||
"""尝试解析接收帧"""
|
||||
if len(frame15) != self.RX_FRAME_LEN:
|
||||
return None
|
||||
if frame15[0] != self.RX_HEAD or frame15[-1] != self.RX_TAIL:
|
||||
return None
|
||||
return self.parse_rx_payload(frame15[1:-1])
|
||||
|
||||
def rx_thread_fn(self):
|
||||
"""接收线程函数"""
|
||||
headers = ["Timestamp", "Current_mA", "Voltage_mV",
|
||||
"Temperature_C", "TDS_ppm", "GasFlow_sccm", "LiquidFlow_mL", "pH"]
|
||||
|
||||
new_file = not os.path.exists(self.csv_path)
|
||||
f = open(self.csv_path, mode='a', newline='', encoding='utf-8')
|
||||
writer = csv.writer(f)
|
||||
if new_file:
|
||||
writer.writerow(headers)
|
||||
f.flush()
|
||||
|
||||
buf = deque(maxlen=8192)
|
||||
print(f"[RX] 开始接收（帧长 {self.RX_FRAME_LEN} 字节）；写入：{self.csv_path}")
|
||||
|
||||
try:
|
||||
while not self.stop_flag and self.ser and self.ser.is_open:
|
||||
chunk = self.ser.read(self.chunk_read)
|
||||
if chunk:
|
||||
buf.extend(chunk)
|
||||
while True:
|
||||
# 找帧头
|
||||
try:
|
||||
start = next(i for i, b in enumerate(buf) if b == self.RX_HEAD)
|
||||
except StopIteration:
|
||||
buf.clear()
|
||||
break
|
||||
if start > 0:
|
||||
for _ in range(start):
|
||||
buf.popleft()
|
||||
if len(buf) < self.RX_FRAME_LEN:
|
||||
break
|
||||
candidate = bytes([buf[i] for i in range(self.RX_FRAME_LEN)])
|
||||
if candidate[-1] == self.RX_TAIL:
|
||||
parsed = self.try_parse_rx_frame(candidate)
|
||||
for _ in range(self.RX_FRAME_LEN):
|
||||
buf.popleft()
|
||||
if parsed:
|
||||
ts = time.strftime("%Y-%m-%d %H:%M:%S")
|
||||
row = [ts,
|
||||
parsed["Current_mA"], parsed["Voltage_mV"],
|
||||
parsed["Temperature_C"], parsed["TDS_ppm"],
|
||||
parsed["GasFlow_sccm"], parsed["LiquidFlow_mL"],
|
||||
parsed["pH"]]
|
||||
writer.writerow(row)
|
||||
f.flush()
|
||||
# 若不想打印可注释下一行
|
||||
# print(f"[{ts}] I={parsed['Current_mA']} mA, V={parsed['Voltage_mV']} mV, "
|
||||
# f"T={parsed['Temperature_C']} °C, TDS={parsed['TDS_ppm']}, "
|
||||
# f"Gas={parsed['GasFlow_sccm']} sccm, Liq={parsed['LiquidFlow_mL']} mL, pH={parsed['pH']}")
|
||||
else:
|
||||
# 头不变，尾不对，丢1字节继续对齐
|
||||
buf.popleft()
|
||||
else:
|
||||
time.sleep(0.01)
|
||||
finally:
|
||||
f.close()
|
||||
print("[RX] 接收线程退出，CSV 已关闭")
|
||||
|
||||
# ================== 发送：固定11字节 ==================
|
||||
def build_tx_frame(self, mode: int, current_ma: int, voltage_mv: int, temp_c: float, ki: float, pump_percent: float) -> bytes:
|
||||
"""
|
||||
发送帧：HEAD + [mode, I_hi, I_lo, V_hi, V_lo, T_hi, T_lo, Ki_byte, Pump_byte] + TAIL
|
||||
- mode: 0=恒压, 1=恒流
|
||||
- current_ma: mA (0..65535)
|
||||
- voltage_mv: mV (0..65535)
|
||||
- temp_c: ℃，将 *100 后拆分为高/低字节
|
||||
- ki: 0.0..20.0 -> byte = round(ki * 10) 夹到 0..200
|
||||
- pump_percent: 0..100 -> byte = round(pump * 2) 夹到 0..200
|
||||
"""
|
||||
mode_b = 1 if int(mode) == 1 else 0
|
||||
|
||||
i_hi, i_lo = self.split_u16_be(current_ma)
|
||||
v_hi, v_lo = self.split_u16_be(voltage_mv)
|
||||
|
||||
t100 = int(round(float(temp_c) * 100.0))
|
||||
t_hi, t_lo = self.split_u16_be(t100)
|
||||
|
||||
ki_b = int(max(0, min(200, round(float(ki) * 10))))
|
||||
pump_b = int(max(0, min(200, round(float(pump_percent) * 2))))
|
||||
|
||||
return bytes((
|
||||
self.TX_HEAD,
|
||||
mode_b,
|
||||
i_hi, i_lo,
|
||||
v_hi, v_lo,
|
||||
t_hi, t_lo,
|
||||
ki_b,
|
||||
pump_b,
|
||||
self.TX_TAIL
|
||||
))
|
||||
|
||||
def tx_thread_fn(self):
|
||||
"""
|
||||
发送线程函数
|
||||
用户输入 6 个用逗号分隔的数值：
|
||||
mode,current_mA,voltage_mV,set_temp_C,Ki,pump_percent
|
||||
例如： 0,1000,500,0,0,50
|
||||
"""
|
||||
print("\n输入 6 个值（用英文逗号分隔），顺序为：")
|
||||
print("mode,current_mA,voltage_mV,set_temp_C,Ki,pump_percent")
|
||||
print("示例恒压：0,500,1000,25,0,100 （stop 结束）\n")
|
||||
print("示例恒流：1,1000,500,25,0,100 （stop 结束）\n")
|
||||
print("示例恒流：1,2000,500,25,0,100 （stop 结束）\n")
|
||||
# 1,2000,500,25,0,100
|
||||
|
||||
while not self.stop_flag and self.ser and self.ser.is_open:
|
||||
try:
|
||||
line = input(">>> ").strip()
|
||||
except EOFError:
|
||||
self.stop_flag = True
|
||||
break
|
||||
|
||||
if not line:
|
||||
continue
|
||||
if line.lower() == "stop":
|
||||
self.stop_flag = True
|
||||
print("[SYS] 停止程序")
|
||||
break
|
||||
|
||||
try:
|
||||
parts = [p.strip() for p in line.split(",")]
|
||||
if len(parts) != 6:
|
||||
raise ValueError("需要 6 个逗号分隔的数值")
|
||||
mode = int(parts[0])
|
||||
i_ma = int(float(parts[1]))
|
||||
v_mv = int(float(parts[2]))
|
||||
t_c = float(parts[3])
|
||||
ki = float(parts[4])
|
||||
pump = float(parts[5])
|
||||
|
||||
frame = self.build_tx_frame(mode, i_ma, v_mv, t_c, ki, pump)
|
||||
self.ser.write(frame)
|
||||
print("[TX]", " ".join(f"{b:02X}" for b in frame))
|
||||
except Exception as e:
|
||||
print("[TX] 输入/打包失败：", e)
|
||||
print("格式：mode,current_mA,voltage_mV,set_temp_C,Ki,pump_percent")
|
||||
continue
|
||||
|
||||
def start(self):
|
||||
"""启动电解水平台"""
|
||||
self.ser = self.open_serial()
|
||||
if self.ser:
|
||||
try:
|
||||
self.rx_thread = threading.Thread(target=self.rx_thread_fn, daemon=True)
|
||||
self.tx_thread = threading.Thread(target=self.tx_thread_fn, daemon=True)
|
||||
self.rx_thread.start()
|
||||
self.tx_thread.start()
|
||||
print("[INFO] 电解水平台已启动")
|
||||
self.tx_thread.join() # 等待用户输入线程结束（输入 stop）
|
||||
finally:
|
||||
self.close_serial()
|
||||
|
||||
def stop(self):
|
||||
"""停止电解水平台"""
|
||||
self.stop_flag = True
|
||||
if self.rx_thread and self.rx_thread.is_alive():
|
||||
self.rx_thread.join(timeout=2.0)
|
||||
if self.tx_thread and self.tx_thread.is_alive():
|
||||
self.tx_thread.join(timeout=2.0)
|
||||
self.close_serial()
|
||||
print("[INFO] 电解水平台已停止")
|
||||
|
||||
|
||||
# ================== 主入口 ==================
|
||||
if __name__ == "__main__":
|
||||
# 创建一个简单的 Deck 用于测试
|
||||
from pylabrobot.resources import Deck
|
||||
|
||||
deck = Deck()
|
||||
platform = ElectrolysisWaterPlatform(deck)
|
||||
platform.start()
|
||||
@@ -1,11 +1,11 @@
|
||||
from __future__ import annotations
|
||||
|
||||
import re
|
||||
import traceback
|
||||
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
|
||||
from collections import Counter
|
||||
import asyncio
|
||||
import time
|
||||
import traceback
|
||||
from collections import Counter
|
||||
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
|
||||
|
||||
import pprint as pp
|
||||
from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
|
||||
from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
|
||||
from pylabrobot.liquid_handling.standard import GripDirection
|
||||
|
||||
Binary file not shown.
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -1,7 +0,0 @@
|
||||
material_name
|
||||
LiPF6
|
||||
LiDFOB
|
||||
DTD
|
||||
LiFSI
|
||||
LiPO2F2
|
||||
|
||||
|
@@ -47,8 +47,8 @@ class BioyondV1RPC(BaseRequest):
|
||||
super().__init__()
|
||||
print("开始初始化 BioyondV1RPC")
|
||||
self.config = config
|
||||
self.api_key = config.get("api_key", "")
|
||||
self.host = config.get("api_host", "") or config.get("base_url", "")
|
||||
self.api_key = config["api_key"]
|
||||
self.host = config["api_host"]
|
||||
self._logger = SimpleLogger()
|
||||
self.material_cache = {}
|
||||
self._load_material_cache()
|
||||
@@ -61,7 +61,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
|
||||
:return: 当前时间的 ISO 8601 格式字符串
|
||||
"""
|
||||
current_time = datetime.now().isoformat(
|
||||
current_time = datetime.now(timezone.utc).isoformat(
|
||||
timespec='milliseconds'
|
||||
)
|
||||
# 替换时区部分为 'Z'
|
||||
@@ -233,7 +233,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
return response.get("data", {})
|
||||
|
||||
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
||||
"""指定库位出库物料"""
|
||||
"""指定库位出库物料（通过库位名称）"""
|
||||
location_id = LOCATION_MAPPING.get(location_name, location_name)
|
||||
|
||||
params = {
|
||||
@@ -251,7 +251,36 @@ class BioyondV1RPC(BaseRequest):
|
||||
})
|
||||
|
||||
if not response or response['code'] != 1:
|
||||
return {}
|
||||
return None
|
||||
return response
|
||||
|
||||
def material_outbound_by_id(self, material_id: str, location_id: str, quantity: int) -> dict:
|
||||
"""指定库位出库物料（直接使用location_id）
|
||||
|
||||
Args:
|
||||
material_id: 物料ID
|
||||
location_id: 库位ID（不是库位名称，是UUID）
|
||||
quantity: 数量
|
||||
|
||||
Returns:
|
||||
dict: API响应，失败返回None
|
||||
"""
|
||||
params = {
|
||||
"materialId": material_id,
|
||||
"locationId": location_id,
|
||||
"quantity": quantity
|
||||
}
|
||||
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/storage/outbound',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": params
|
||||
})
|
||||
|
||||
if not response or response['code'] != 1:
|
||||
return None
|
||||
return response
|
||||
|
||||
# ==================== 工作流查询相关接口 ====================
|
||||
|
||||
@@ -2,330 +2,137 @@
|
||||
"""
|
||||
配置文件 - 包含所有配置信息和映射关系
|
||||
"""
|
||||
import os
|
||||
|
||||
# ==================== API 基础配置 ====================
|
||||
# BioyondCellWorkstation 默认配置（包含所有必需参数）
|
||||
# API配置
|
||||
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://172.16.11.219:44388"),# 仿真机
|
||||
"api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"),
|
||||
"timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")),
|
||||
"api_key": "",
|
||||
"api_host": ""
|
||||
}
|
||||
|
||||
# 报送配置
|
||||
"report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"),
|
||||
# 工作流映射配置
|
||||
WORKFLOW_MAPPINGS = {
|
||||
"reactor_taken_out": "",
|
||||
"reactor_taken_in": "",
|
||||
"Solid_feeding_vials": "",
|
||||
"Liquid_feeding_vials(non-titration)": "",
|
||||
"Liquid_feeding_solvents": "",
|
||||
"Liquid_feeding(titration)": "",
|
||||
"liquid_feeding_beaker": "",
|
||||
"Drip_back": "",
|
||||
}
|
||||
|
||||
# HTTP 服务配置
|
||||
"HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.11.2"), # HTTP服务监听地址，监听计算机飞连ip地址
|
||||
"HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")),
|
||||
"debug_mode": False,# 调试模式
|
||||
# 工作流名称到DisplaySectionName的映射
|
||||
WORKFLOW_TO_SECTION_MAP = {
|
||||
'reactor_taken_in': '反应器放入',
|
||||
'liquid_feeding_beaker': '液体投料-烧杯',
|
||||
'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
|
||||
'Liquid_feeding_solvents': '液体投料-溶剂',
|
||||
'Solid_feeding_vials': '固体投料-小瓶',
|
||||
'Liquid_feeding(titration)': '液体投料-滴定',
|
||||
'reactor_taken_out': '反应器取出'
|
||||
}
|
||||
|
||||
# 库位映射配置
|
||||
WAREHOUSE_MAPPING = {
|
||||
"粉末加样头堆栈": {
|
||||
"粉末堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a19da56-1379-ff7c-1745-07e200b44ce2",
|
||||
"B01": "3a19da56-1379-2424-d751-fe6e94cef938",
|
||||
"C01": "3a19da56-1379-271c-03e3-6bdb590e395e",
|
||||
"D01": "3a19da56-1379-277f-2b1b-0d11f7cf92c6",
|
||||
"E01": "3a19da56-1379-2f1c-a15b-e01db90eb39a",
|
||||
"F01": "3a19da56-1379-3fa1-846b-088158ac0b3d",
|
||||
"G01": "3a19da56-1379-5aeb-d0cd-d3b4609d66e1",
|
||||
"H01": "3a19da56-1379-6077-8258-bdc036870b78",
|
||||
"I01": "3a19da56-1379-863b-a120-f606baf04617",
|
||||
"J01": "3a19da56-1379-8a74-74e5-35a9b41d4fd5",
|
||||
"K01": "3a19da56-1379-b270-b7af-f18773918abe",
|
||||
"L01": "3a19da56-1379-ba54-6d78-fd770a671ffc",
|
||||
"M01": "3a19da56-1379-c22d-c96f-0ceb5eb54a04",
|
||||
"N01": "3a19da56-1379-d64e-c6c5-c72ea4829888",
|
||||
"O01": "3a19da56-1379-d887-1a3c-6f9cce90f90e",
|
||||
"P01": "3a19da56-1379-e77d-0e65-7463b238a3b9",
|
||||
"Q01": "3a19da56-1379-edf6-1472-802ddb628774",
|
||||
"R01": "3a19da56-1379-f281-0273-e0ef78f0fd97",
|
||||
"S01": "3a19da56-1379-f924-7f68-df1fa51489f4",
|
||||
"T01": "3a19da56-1379-ff7c-1745-07e200b44ce2"
|
||||
# 样品板
|
||||
"A1": "3a14198e-6929-31f0-8a22-0f98f72260df",
|
||||
"A2": "3a14198e-6929-4379-affa-9a2935c17f99",
|
||||
"A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
|
||||
"A4": "3a14198e-6929-5e99-2b79-80720f7cfb54",
|
||||
"B1": "3a14198e-6929-f525-9a1b-1857552b28ee",
|
||||
"B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
|
||||
"B3": "3a14198e-6929-2d86-a468-602175a2b5aa",
|
||||
"B4": "3a14198e-6929-1a98-ae57-e97660c489ad",
|
||||
# 分装板
|
||||
"C1": "3a14198e-6929-46fe-841e-03dd753f1e4a",
|
||||
"C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
|
||||
"C3": "3a14198e-6929-72ac-32ce-9b50245682b8",
|
||||
"C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
|
||||
"D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
|
||||
"D2": "3a14198e-6929-dde1-fc78-34a84b71afdf",
|
||||
"D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
|
||||
"D4": "3a14198e-6929-7ac8-915a-fea51cb2e884"
|
||||
}
|
||||
},
|
||||
"配液站内试剂仓库": {
|
||||
"溶液堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a19da43-57b5-294f-d663-154a1cc32270",
|
||||
"B01": "3a19da43-57b5-7394-5f49-54efe2c9bef2",
|
||||
"C01": "3a19da43-57b5-5e75-552f-8dbd0ad1075f",
|
||||
"A02": "3a19da43-57b5-8441-db94-b4d3875a4b6c",
|
||||
"B02": "3a19da43-57b5-3e41-c181-5119dddaf50c",
|
||||
"C02": "3a19da43-57b5-269b-282d-fba61fe8ce96",
|
||||
"A03": "3a19da43-57b5-7c1e-d02e-c40e8c33f8a1",
|
||||
"B03": "3a19da43-57b5-659f-621f-1dcf3f640363",
|
||||
"C03": "3a19da43-57b5-855a-6e71-f398e376dee1",
|
||||
"A1": "3a14198e-d724-e036-afdc-2ae39a7f3383",
|
||||
"A2": "3a14198e-d724-afa4-fc82-0ac8a9016791",
|
||||
"A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
|
||||
"A4": "3a14198e-d724-df6d-5e32-5483b3cab583",
|
||||
"B1": "3a14198e-d724-d818-6d4f-5725191a24b5",
|
||||
"B2": "3a14198e-d724-be8a-5e0b-012675e195c6",
|
||||
"B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
|
||||
"B4": "3a14198e-d724-1e28-c885-574c3df468d0",
|
||||
"C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
|
||||
"C2": "3a14198e-d724-ab4e-48cb-817c3c146707",
|
||||
"C3": "3a14198e-d724-7f18-1853-39d0c62e1d33",
|
||||
"C4": "3a14198e-d724-28a2-a760-baa896f46b66",
|
||||
"D1": "3a14198e-d724-d378-d266-2508a224a19f",
|
||||
"D2": "3a14198e-d724-f56e-468b-0110a8feb36a",
|
||||
"D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
|
||||
"D4": "3a14198e-d724-0ddd-9654-f9352a421de9"
|
||||
}
|
||||
},
|
||||
"试剂替换仓库": {
|
||||
"试剂堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a19da51-8f4e-30f3-ea08-4f8498e9b097",
|
||||
"B01": "3a19da51-8f4e-1da7-beb0-80a4a01e67a8",
|
||||
"C01": "3a19da51-8f4e-337d-2675-bfac46880b06",
|
||||
"D01": "3a19da51-8f4e-e514-b92c-9c44dc5e489d",
|
||||
"E01": "3a19da51-8f4e-22d1-dd5b-9774ddc80402",
|
||||
"F01": "3a19da51-8f4e-273a-4871-dff41c29bfd9",
|
||||
"G01": "3a19da51-8f4e-b32f-454f-74bc1a665653",
|
||||
"H01": "3a19da51-8f4e-8c93-68c9-0b4382320f59",
|
||||
"I01": "3a19da51-8f4e-360c-0149-291b47c6089b",
|
||||
"J01": "3a19da51-8f4e-4152-9bca-8d64df8c1af0"
|
||||
}
|
||||
},
|
||||
"自动堆栈-左": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a19debc-84b5-4c1c-d3a1-26830cf273ff",
|
||||
"A02": "3a19debc-84b5-033b-b31f-6b87f7c2bf52",
|
||||
"B01": "3a19debc-84b5-3924-172f-719ab01b125c",
|
||||
"B02": "3a19debc-84b5-aad8-70c6-b8c6bb2d8750"
|
||||
}
|
||||
},
|
||||
"自动堆栈-右": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a19debe-5200-7df2-1dd9-7d202f158864",
|
||||
"A02": "3a19debe-5200-573b-6120-8b51f50e1e50",
|
||||
"B01": "3a19debe-5200-7cd8-7666-851b0a97e309",
|
||||
"B02": "3a19debe-5200-e6d3-96a3-baa6e3d5e484"
|
||||
}
|
||||
},
|
||||
"手动堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
|
||||
"A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe",
|
||||
"A03": "3a19deae-2c7a-5876-c454-6b7e224ca927",
|
||||
"B01": "3a19deae-2c7a-2426-6d71-e9de3cb158b1",
|
||||
"B02": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3",
|
||||
"B03": "3a19deae-2c7a-b9eb-f4e3-e308e0cf839a",
|
||||
"C01": "3a19deae-2c7a-32bc-768e-556647e292f3",
|
||||
"C02": "3a19deae-2c7a-e97a-8484-f5a4599447c4",
|
||||
"C03": "3a19deae-2c7a-3056-6504-10dc73fbc276",
|
||||
"D01": "3a19deae-2c7a-ffad-875e-8c4cda61d440",
|
||||
"D02": "3a19deae-2c7a-61be-601c-b6fb5610499a",
|
||||
"D03": "3a19deae-2c7a-c0f7-05a7-e3fe2491e560",
|
||||
"E01": "3a19deae-2c7a-a6f4-edd1-b436a7576363",
|
||||
"E02": "3a19deae-2c7a-4367-96dd-1ca2186f4910",
|
||||
"E03": "3a19deae-2c7a-b163-2219-23df15200311",
|
||||
"F01": "3a19deae-2c7a-d594-fd6a-0d20de3c7c4a",
|
||||
"F02": "3a19deae-2c7a-a194-ea63-8b342b8d8679",
|
||||
"F03": "3a19deae-2c7a-f7c4-12bd-425799425698",
|
||||
"G01": "3a19deae-2c7a-0b56-72f1-8ab86e53b955",
|
||||
"G02": "3a19deae-2c7a-204e-95ed-1f1950f28343",
|
||||
"G03": "3a19deae-2c7a-392b-62f1-4907c66343f8",
|
||||
"H01": "3a19deae-2c7a-5602-e876-d27aca4e3201",
|
||||
"H02": "3a19deae-2c7a-f15c-70e0-25b58a8c9702",
|
||||
"H03": "3a19deae-2c7a-780b-8965-2e1345f7e834",
|
||||
"I01": "3a19deae-2c7a-8849-e172-07de14ede928",
|
||||
"I02": "3a19deae-2c7a-4772-a37f-ff99270bafc0",
|
||||
"I03": "3a19deae-2c7a-cce7-6e4a-25ea4a2068c4",
|
||||
"J01": "3a19deae-2c7a-1848-de92-b5d5ed054cc6",
|
||||
"J02": "3a19deae-2c7a-1d45-b4f8-6f866530e205",
|
||||
"J03": "3a19deae-2c7a-f237-89d9-8fe19025dee9"
|
||||
}
|
||||
},
|
||||
"4号手套箱内部堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a1baa20-a7b1-c665-8b9c-d8099d07d2f6",
|
||||
"A02": "3a1baa20-a7b1-93a7-c988-f9c8ad6c58c9",
|
||||
"A03": "3a1baa20-a7b1-00ee-f751-da9b20b6c464",
|
||||
"A04": "3a1baa20-a7b1-4712-c37b-0b5b658ef7b9",
|
||||
"B01": "3a1baa20-a7b1-9847-fc9c-96d604cd1a8e",
|
||||
"B02": "3a1baa20-a7b1-4ae9-e604-0601db06249c",
|
||||
"B03": "3a1baa20-a7b1-8329-ea75-81ca559d9ce1",
|
||||
"B04": "3a1baa20-a7b1-89c5-d96f-36e98a8f7268",
|
||||
"C01": "3a1baa20-a7b1-32ec-39e6-8044733839d6",
|
||||
"C02": "3a1baa20-a7b1-b573-e426-4c86040348b2",
|
||||
"C03": "3a1baa20-a7b1-cca7-781e-0522b729bf5d",
|
||||
"C04": "3a1baa20-a7b1-7c98-5fd9-5855355ae4b3"
|
||||
}
|
||||
},
|
||||
"大分液瓶堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a19da3d-4f3d-bcac-2932-7542041e10e0",
|
||||
"A02": "3a19da3d-4f3d-4d75-38ac-fb58ad0687c3",
|
||||
"A03": "3a19da3d-4f3d-b25e-f2b1-85342a5b7eae",
|
||||
"B01": "3a19da3d-4f3d-fd3e-058a-2733a0925767",
|
||||
"B02": "3a19da3d-4f3d-37bd-a944-c391ad56857f",
|
||||
"B03": "3a19da3d-4f3d-e353-7862-c6d1d4bc667f",
|
||||
"C01": "3a19da3d-4f3d-9519-5da7-76179c958e70",
|
||||
"C02": "3a19da3d-4f3d-b586-d7ed-9ec244f6f937",
|
||||
"C03": "3a19da3d-4f3d-5061-249b-35dfef732811"
|
||||
}
|
||||
},
|
||||
"小分液瓶堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"C03": "3a19da40-55bf-8943-d20d-a8b3ea0d16c0"
|
||||
}
|
||||
},
|
||||
"站内Tip头盒堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a19deab-d5cc-be1e-5c37-4e9e5a664388",
|
||||
"A02": "3a19deab-d5cc-b394-8141-27cb3853e8ea",
|
||||
"B01": "3a19deab-d5cc-4dca-596e-ca7414d5f501",
|
||||
"B02": "3a19deab-d5cc-9bc0-442b-12d9d59aa62a",
|
||||
"C01": "3a19deab-d5cc-2eaf-b6a4-f0d54e4f1246",
|
||||
"C02": "3a19deab-d5cc-d9f4-25df-b8018c372bc7"
|
||||
}
|
||||
},
|
||||
"配液站内配液大板仓库(无需提前上料)": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a1a21dc-06af-3915-9cb9-80a9dc42f386"
|
||||
}
|
||||
},
|
||||
"配液站内配液小板仓库(无需以前入料)": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a1a21de-8e8b-7938-2d06-858b36c10e31"
|
||||
}
|
||||
},
|
||||
"移液站内大瓶板仓库(无需提前如料)": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a1a224c-c727-fa62-1f2b-0037a84b9fca"
|
||||
}
|
||||
},
|
||||
"移液站内小瓶板仓库(无需提前入料)": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a1a224d-ed49-710c-a9c3-3fc61d479cbb"
|
||||
}
|
||||
},
|
||||
"适配器位仓库": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a1abd46-18fe-1f56-6ced-a1f7fe08e36c"
|
||||
}
|
||||
},
|
||||
"1号2号手套箱交接堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a1baa49-7f77-35aa-60b1-e55a45d065fa"
|
||||
}
|
||||
},
|
||||
"2号手套箱内部堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a1baa4b-393e-9f86-3921-7a18b0a8e371",
|
||||
"A02": "3a1baa4b-393e-9425-928b-ee0f6f679d44",
|
||||
"A03": "3a1baa4b-393e-0baf-632b-59dfdc931a3a",
|
||||
"B01": "3a1baa4b-393e-f8aa-c8a9-956f3132f05c",
|
||||
"B02": "3a1baa4b-393e-ef05-42f6-53f4c6e89d70",
|
||||
"B03": "3a1baa4b-393e-c07b-a924-a9f0dfda9711",
|
||||
"C01": "3a1baa4b-393e-4c2b-821a-16a7fe025c48",
|
||||
"C02": "3a1baa4b-393e-2eaf-61a1-9063c832d5a2",
|
||||
"C03": "3a1baa4b-393e-034e-8e28-8626d934a85f"
|
||||
"A1": "3a14198c-c2cf-8b40-af28-b467808f1c36",
|
||||
"A2": "3a14198c-c2d0-f3e7-871a-e470d144296f",
|
||||
"A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",
|
||||
"A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
|
||||
"B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",
|
||||
"B2": "3a14198c-c2d0-1559-105d-0ea30682cab4",
|
||||
"B3": "3a14198c-c2d0-725e-523d-34c037ac2440",
|
||||
"B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
# 物料类型配置
|
||||
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_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"),
|
||||
"20ml分液瓶板": ("YB_20ml_fenyepingban", "3a192fa4-47db-3449-162a-eaf8aba57e27"),
|
||||
"20ml分液瓶": ("YB_20ml_fenyeping", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"),
|
||||
"配液瓶(小)板": ("YB_peiyepingxiaoban", "3a190c8b-3284-af78-d29f-9a69463ad047"),
|
||||
"配液瓶(小)": ("YB_pei_ye_xiao_Bottle", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"),
|
||||
"配液瓶(大)板": ("YB_peiyepingdaban", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"),
|
||||
"配液瓶(大)": ("YB_pei_ye_da_Bottle", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"),
|
||||
"适配器块": ("YB_shi_pei_qi_kuai", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"),
|
||||
"枪头盒": ("YB_qiang_tou_he", "3a192c2e-20f3-a44a-0334-c8301839d0b3"),
|
||||
"枪头": ("YB_qiang_tou", "b6196971-1050-46da-9927-333e8dea062d"),
|
||||
"烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
|
||||
"试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
|
||||
"样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
|
||||
"分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
|
||||
"样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
|
||||
"90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
|
||||
"10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
|
||||
}
|
||||
|
||||
SOLID_LIQUID_MAPPINGS = {
|
||||
# 固体
|
||||
"LiDFOB": {
|
||||
"typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469",
|
||||
"code": "",
|
||||
"barCode": "",
|
||||
"name": "LiDFOB",
|
||||
"unit": "g",
|
||||
"parameters": "",
|
||||
"quantity": "2",
|
||||
"warningQuantity": "1",
|
||||
"details": []
|
||||
# 步骤参数配置（各工作流的步骤UUID）
|
||||
WORKFLOW_STEP_IDS = {
|
||||
"reactor_taken_in": {
|
||||
"config": ""
|
||||
},
|
||||
# "LiPF6": {
|
||||
# "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469",
|
||||
# "code": "",
|
||||
# "barCode": "",
|
||||
# "name": "LiPF6",
|
||||
# "unit": "g",
|
||||
# "parameters": "",
|
||||
# "quantity": 2,
|
||||
# "warningQuantity": 1,
|
||||
# "details": []
|
||||
# },
|
||||
# "LiFSI": {
|
||||
# "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469",
|
||||
# "code": "",
|
||||
# "barCode": "",
|
||||
# "name": "LiFSI",
|
||||
# "unit": "g",
|
||||
# "parameters": "",
|
||||
# "quantity": 2,
|
||||
# "warningQuantity": 1,
|
||||
# "details": []
|
||||
# },
|
||||
# "DTC": {
|
||||
# "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469",
|
||||
# "code": "",
|
||||
# "barCode": "",
|
||||
# "name": "DTC",
|
||||
# "unit": "g",
|
||||
# "parameters": "",
|
||||
# "quantity": 2,
|
||||
# "warningQuantity": 1,
|
||||
# "details": []
|
||||
# },
|
||||
# "LiPO2F2": {
|
||||
# "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469",
|
||||
# "code": "",
|
||||
# "barCode": "",
|
||||
# "name": "LiPO2F2",
|
||||
# "unit": "g",
|
||||
# "parameters": "",
|
||||
# "quantity": 2,
|
||||
# "warningQuantity": 1,
|
||||
# "details": []
|
||||
# },
|
||||
# 液体
|
||||
# "SA": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "EC": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "VC": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "AND": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "HTCN": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "DENE": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "TMSP": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "TMSB": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "EP": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "DEC": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "EMC": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "SN": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "DMC": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
# "FEC": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
|
||||
"liquid_feeding_beaker": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
},
|
||||
"liquid_feeding_vials_non_titration": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
},
|
||||
"liquid_feeding_solvents": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
},
|
||||
"solid_feeding_vials": {
|
||||
"feeding": "",
|
||||
"observe": ""
|
||||
},
|
||||
"liquid_feeding_titration": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
},
|
||||
"drip_back": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
}
|
||||
}
|
||||
|
||||
WORKFLOW_MAPPINGS = {}
|
||||
|
||||
LOCATION_MAPPING = {}
|
||||
@@ -232,7 +232,7 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
temperature: 温度设定(°C)
|
||||
"""
|
||||
# 处理 volume 参数:优先使用直接传入的 volume,否则从 solvents 中提取
|
||||
if volume is None and solvents is not None:
|
||||
if not volume and solvents is not None:
|
||||
# 参数类型转换:如果是字符串则解析为字典
|
||||
if isinstance(solvents, str):
|
||||
try:
|
||||
|
||||
@@ -74,7 +74,6 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||
deck=self.workstation.deck
|
||||
)
|
||||
print("unilab_resources:",unilab_resources)
|
||||
|
||||
logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源")
|
||||
return True
|
||||
@@ -86,8 +85,90 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
def sync_to_external(self, resource: Any) -> bool:
|
||||
"""将本地物料数据变更同步到Bioyond系统"""
|
||||
try:
|
||||
if self.bioyond_api_client is None:
|
||||
logger.error("Bioyond API客户端未初始化")
|
||||
# ✅ 跳过仓库类型的资源 - 仓库是容器，不是物料
|
||||
resource_category = getattr(resource, "category", None)
|
||||
if resource_category == "warehouse":
|
||||
logger.debug(f"[同步→Bioyond] 跳过仓库类型资源: {resource.name} (仓库是容器，不需要同步为物料)")
|
||||
return True
|
||||
|
||||
logger.info(f"[同步→Bioyond] 收到物料变更: {resource.name}")
|
||||
|
||||
# 获取物料的 Bioyond ID
|
||||
extra_info = getattr(resource, "unilabos_extra", {})
|
||||
material_bioyond_id = extra_info.get("material_bioyond_id")
|
||||
|
||||
# ⭐ 如果没有 Bioyond ID，尝试从 Bioyond 系统中按名称查询
|
||||
if not material_bioyond_id:
|
||||
logger.warning(f"[同步→Bioyond] 物料 {resource.name} 没有 Bioyond ID，尝试按名称查询...")
|
||||
try:
|
||||
# 查询所有类型的物料：0=耗材, 1=样品, 2=试剂
|
||||
import json
|
||||
all_materials = []
|
||||
|
||||
for type_mode in [0, 1, 2]:
|
||||
query_params = json.dumps({
|
||||
"typeMode": type_mode,
|
||||
"filter": "", # 空字符串表示查询所有
|
||||
"includeDetail": True
|
||||
})
|
||||
materials = self.bioyond_api_client.stock_material(query_params)
|
||||
if materials:
|
||||
all_materials.extend(materials)
|
||||
|
||||
logger.info(f"[同步→Bioyond] 查询到 {len(all_materials)} 个物料")
|
||||
|
||||
# 按名称匹配
|
||||
for mat in all_materials:
|
||||
if mat.get("name") == resource.name:
|
||||
material_bioyond_id = mat.get("id")
|
||||
mat_type = mat.get("typeName", "未知")
|
||||
logger.info(f"✅ 找到物料 {resource.name} ({mat_type}) 的 Bioyond ID: {material_bioyond_id[:8]}...")
|
||||
# 保存 ID 到资源对象
|
||||
extra_info["material_bioyond_id"] = material_bioyond_id
|
||||
setattr(resource, "unilabos_extra", extra_info)
|
||||
break
|
||||
|
||||
if not material_bioyond_id:
|
||||
logger.warning(f"⚠️ 在 Bioyond 系统中未找到名为 {resource.name} 的物料")
|
||||
logger.info(f"[同步→Bioyond] 这是一个新物料，将创建并入库到 Bioyond 系统")
|
||||
# 不返回，继续执行后续的创建+入库流程
|
||||
except Exception as e:
|
||||
logger.error(f"查询 Bioyond 物料失败: {e}")
|
||||
import traceback
|
||||
traceback.print_exc()
|
||||
return False
|
||||
|
||||
# 检查是否有位置更新请求
|
||||
update_site = extra_info.get("update_resource_site")
|
||||
|
||||
if not update_site:
|
||||
logger.debug(f"[同步→Bioyond] 无位置更新请求")
|
||||
return True
|
||||
|
||||
# ===== 物料移动/创建流程 =====
|
||||
if material_bioyond_id:
|
||||
logger.info(f"[同步→Bioyond] 🔄 开始移动物料 {resource.name} 到 {update_site}")
|
||||
else:
|
||||
logger.info(f"[同步→Bioyond] ➕ 开始创建新物料 {resource.name} 并入库到 {update_site}") # 第1步：获取仓库配置
|
||||
from .config import WAREHOUSE_MAPPING
|
||||
warehouse_mapping = WAREHOUSE_MAPPING
|
||||
|
||||
# 确定目标仓库名称（通过遍历所有仓库的库位配置）
|
||||
parent_name = None
|
||||
target_location_uuid = None
|
||||
|
||||
for warehouse_name, warehouse_info in warehouse_mapping.items():
|
||||
site_uuids = warehouse_info.get("site_uuids", {})
|
||||
if update_site in site_uuids:
|
||||
parent_name = warehouse_name
|
||||
target_location_uuid = site_uuids[update_site]
|
||||
logger.info(f"[同步] 目标仓库: {parent_name}/{update_site}")
|
||||
logger.info(f"[同步] 目标库位UUID: {target_location_uuid[:8]}...")
|
||||
break
|
||||
|
||||
if not parent_name or not target_location_uuid:
|
||||
logger.error(f"❌ 库位 {update_site} 没有在 WAREHOUSE_MAPPING 中配置")
|
||||
logger.debug(f"可用仓库: {list(warehouse_mapping.keys())}")
|
||||
return False
|
||||
|
||||
bioyond_material = resource_plr_to_bioyond(
|
||||
@@ -166,30 +247,28 @@ class BioyondWorkstation(WorkstationBase):
|
||||
self.workflow_sequence = []
|
||||
self.pending_task_params = []
|
||||
|
||||
if self.bioyond_config and "workflow_mappings" in self.bioyond_config:
|
||||
self._set_workflow_mappings(self.bioyond_config["workflow_mappings"])
|
||||
if "workflow_mappings" in bioyond_config:
|
||||
self._set_workflow_mappings(bioyond_config["workflow_mappings"])
|
||||
logger.info(f"Bioyond工作站初始化完成")
|
||||
|
||||
def post_init(self, ros_node: ROS2WorkstationNode):
|
||||
self._ros_node = ros_node
|
||||
print("~~~",self._ros_node)
|
||||
print("deck",self.deck)
|
||||
|
||||
# ⭐ 上传 deck（包括所有 warehouses 及其中的物料）
|
||||
# 注意：如果有从 Bioyond 同步的物料，它们已经被放置到 warehouse 中了
|
||||
# 所以只需要上传 deck，物料会作为 warehouse 的 children 一起上传
|
||||
logger.info("正在上传 deck（包括 warehouses 和物料）到云端...")
|
||||
ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
"resources": [self.deck]
|
||||
})
|
||||
def resource_tree_transfer(self, old_parent: ResourcePLR, plr_resource: ResourcePLR, parent_resource: ResourcePLR):
|
||||
# ROS2DeviceNode.run_async_func(self._ros_node.resource_tree_transfer, True, **{
|
||||
# "old_parent": old_parent,
|
||||
# "plr_resource": plr_resource,
|
||||
# "parent_resource": parent_resource,
|
||||
# })
|
||||
print("resource_tree_transfer", plr_resource, parent_resource)
|
||||
if hasattr(plr_resource, "unilabos_data") and plr_resource.unilabos_data:
|
||||
if "update_resource_site" in plr_resource.unilabos_data:
|
||||
site = plr_resource.unilabos_data["update_resource_site"]
|
||||
return
|
||||
self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}")
|
||||
|
||||
# 清理临时变量（物料已经在 deck 的 warehouse children 中，不需要单独上传）
|
||||
if hasattr(self, "_synced_resources"):
|
||||
logger.info(f"✅ {len(self._synced_resources)} 个从Bioyond同步的物料已包含在 deck 中")
|
||||
self._synced_resources = []
|
||||
|
||||
def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
|
||||
time.sleep(3)
|
||||
ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
|
||||
"plr_resources": resource,
|
||||
"target_device_id": mount_device_id,
|
||||
@@ -482,7 +561,7 @@ def create_bioyond_workstation_example():
|
||||
"""创建Bioyond工作站示例"""
|
||||
|
||||
# 配置参数
|
||||
device_id = "bioyond_cell_workstation_001"
|
||||
device_id = "bioyond_workstation_001"
|
||||
|
||||
# 子资源配置
|
||||
children = {
|
||||
@@ -501,8 +580,8 @@ def create_bioyond_workstation_example():
|
||||
|
||||
# Bioyond配置
|
||||
bioyond_config = {
|
||||
"base_url": "http://172.16.11.219:44388",
|
||||
"api_key": "8A819E5C",
|
||||
"base_url": "http://bioyond.example.com/api",
|
||||
"api_key": "your_api_key_here",
|
||||
"sync_interval": 60, # 60秒同步一次
|
||||
"timeout": 30
|
||||
}
|
||||
@@ -526,18 +605,4 @@ def create_bioyond_workstation_example():
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
by = create_bioyond_workstation_example()
|
||||
by.get_workstation_status()
|
||||
by.get_device_status()
|
||||
by.get_bioyond_status()
|
||||
by.get_station_info()
|
||||
by.get_workstation_status()
|
||||
by.get_bioyond_status()
|
||||
by.get_station_info()
|
||||
by.get_workstation_status()
|
||||
by.get_bioyond_status()
|
||||
by.get_station_info()
|
||||
by.get_workstation_status()
|
||||
by.get_bioyond_status()
|
||||
by.get_station_info()
|
||||
pass
|
||||
@@ -1,639 +0,0 @@
|
||||
"""
|
||||
纽扣电池组装工作站物料类定义
|
||||
Button Battery Assembly Station Resource Classes
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from collections import OrderedDict
|
||||
from typing import Any, Dict, List, Optional, TypedDict, Union, cast
|
||||
|
||||
from pylabrobot.resources.coordinate import Coordinate
|
||||
from pylabrobot.resources.container import Container
|
||||
from pylabrobot.resources.deck import Deck
|
||||
from pylabrobot.resources.itemized_resource import ItemizedResource
|
||||
from pylabrobot.resources.resource import Resource
|
||||
from pylabrobot.resources.resource_stack import ResourceStack
|
||||
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
|
||||
from unilabos.resources.battery.electrode_sheet import ElectrodeSheet
|
||||
|
||||
|
||||
|
||||
# TODO: 这个应该只能放一个极片
|
||||
class MaterialHoleState(TypedDict):
|
||||
diameter: int
|
||||
depth: int
|
||||
max_sheets: int
|
||||
info: Optional[str] # 附加信息
|
||||
|
||||
class MaterialHole(Resource):
|
||||
"""料板洞位类"""
|
||||
children: List[ElectrodeSheet] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "material_hole",
|
||||
**kwargs
|
||||
):
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: MaterialHoleState = MaterialHoleState(
|
||||
diameter=20,
|
||||
depth=10,
|
||||
max_sheets=1,
|
||||
info=None
|
||||
)
|
||||
|
||||
def get_all_sheet_info(self):
|
||||
info_list = []
|
||||
for sheet in self.children:
|
||||
info_list.append(sheet._unilabos_state["info"])
|
||||
return info_list
|
||||
|
||||
#这个函数函数好像没用，一般不会集中赋值质量
|
||||
def set_all_sheet_mass(self):
|
||||
for sheet in self.children:
|
||||
sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g
|
||||
|
||||
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
|
||||
#移动极片前先取出对象
|
||||
def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:
|
||||
for sheet in self.children:
|
||||
if sheet.name == name:
|
||||
return sheet
|
||||
return None
|
||||
|
||||
def has_electrode_sheet(self) -> bool:
|
||||
"""检查洞位是否有极片"""
|
||||
return len(self.children) > 0
|
||||
|
||||
def assign_child_resource(
|
||||
self,
|
||||
resource: ElectrodeSheet,
|
||||
location: Optional[Coordinate],
|
||||
reassign: bool = True,
|
||||
):
|
||||
"""放置极片"""
|
||||
# TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题
|
||||
#if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]:
|
||||
# raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}")
|
||||
#if len(self.children) >= self._unilabos_state["max_sheets"]:
|
||||
# raise ValueError(f"洞位已满，无法放置更多极片")
|
||||
super().assign_child_resource(resource, location, reassign)
|
||||
|
||||
# 根据children的编号取物料对象。
|
||||
def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:
|
||||
return self.children[index]
|
||||
|
||||
|
||||
class MaterialPlateState(TypedDict):
|
||||
hole_spacing_x: float
|
||||
hole_spacing_y: float
|
||||
hole_diameter: float
|
||||
info: Optional[str] # 附加信息
|
||||
|
||||
class MaterialPlate(ItemizedResource[MaterialHole]):
|
||||
"""料板类 - 4x4个洞位，每个洞位放1个极片"""
|
||||
|
||||
children: List[MaterialHole]
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
ordered_items: Optional[Dict[str, MaterialHole]] = None,
|
||||
ordering: Optional[OrderedDict[str, str]] = None,
|
||||
category: str = "material_plate",
|
||||
model: Optional[str] = None,
|
||||
fill: bool = False
|
||||
):
|
||||
"""初始化料板
|
||||
|
||||
Args:
|
||||
name: 料板名称
|
||||
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_x: X方向洞位间距 (mm)
|
||||
hole_spacing_y: Y方向洞位间距 (mm)
|
||||
number: 编号
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
self._unilabos_state: MaterialPlateState = MaterialPlateState(
|
||||
hole_spacing_x=24.0,
|
||||
hole_spacing_y=24.0,
|
||||
hole_diameter=20.0,
|
||||
info="",
|
||||
)
|
||||
# 创建4x4的洞位
|
||||
# TODO: 这里要改，对应不同形状
|
||||
holes = create_ordered_items_2d(
|
||||
klass=MaterialHole,
|
||||
num_items_x=4,
|
||||
num_items_y=4,
|
||||
dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中
|
||||
dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中
|
||||
dz=size_z,
|
||||
item_dx=self._unilabos_state["hole_spacing_x"],
|
||||
item_dy=self._unilabos_state["hole_spacing_y"],
|
||||
size_x = 16,
|
||||
size_y = 16,
|
||||
size_z = 16,
|
||||
)
|
||||
if fill:
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=holes,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
else:
|
||||
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,
|
||||
)
|
||||
|
||||
def update_locations(self):
|
||||
# TODO:调多次相加
|
||||
holes = create_ordered_items_2d(
|
||||
klass=MaterialHole,
|
||||
num_items_x=4,
|
||||
num_items_y=4,
|
||||
dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中
|
||||
dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中
|
||||
dz=self._size_z,
|
||||
item_dx=self._unilabos_state["hole_spacing_x"],
|
||||
item_dy=self._unilabos_state["hole_spacing_y"],
|
||||
size_x = 1,
|
||||
size_y = 1,
|
||||
size_z = 1,
|
||||
)
|
||||
for item, original_item in zip(holes.items(), self.children):
|
||||
original_item.location = item[1].location
|
||||
|
||||
|
||||
class PlateSlot(ResourceStack):
|
||||
"""板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
max_plates: int = 8,
|
||||
category: str = "plate_slot",
|
||||
model: Optional[str] = None
|
||||
):
|
||||
"""初始化板槽位
|
||||
|
||||
Args:
|
||||
name: 槽位名称
|
||||
max_plates: 最大板数量
|
||||
category: 类别
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
direction="z", # Z方向堆叠
|
||||
resources=[],
|
||||
)
|
||||
self.max_plates = max_plates
|
||||
self.category = category
|
||||
|
||||
def can_add_plate(self) -> bool:
|
||||
"""检查是否可以添加板"""
|
||||
return len(self.children) < self.max_plates
|
||||
|
||||
def add_plate(self, plate: MaterialPlate) -> None:
|
||||
"""添加料板"""
|
||||
if not self.can_add_plate():
|
||||
raise ValueError(f"槽位 {self.name} 已满，无法添加更多板")
|
||||
self.assign_child_resource(plate)
|
||||
|
||||
def get_top_plate(self) -> MaterialPlate:
|
||||
"""获取最上方的板"""
|
||||
if len(self.children) == 0:
|
||||
raise ValueError(f"槽位 {self.name} 为空")
|
||||
return cast(MaterialPlate, self.get_top_item())
|
||||
|
||||
def take_top_plate(self) -> MaterialPlate:
|
||||
"""取出最上方的板"""
|
||||
top_plate = self.get_top_plate()
|
||||
self.unassign_child_resource(top_plate)
|
||||
return top_plate
|
||||
|
||||
def can_access_for_picking(self) -> bool:
|
||||
"""检查是否可以进行取料操作（只有最上方的板能进行取料操作）"""
|
||||
return len(self.children) > 0
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {
|
||||
**super().serialize(),
|
||||
"max_plates": self.max_plates,
|
||||
}
|
||||
|
||||
|
||||
#是一种类型注解，不用self
|
||||
class BatteryState(TypedDict):
|
||||
"""电池状态字典"""
|
||||
diameter: float
|
||||
height: float
|
||||
assembly_pressure: float
|
||||
electrolyte_volume: float
|
||||
electrolyte_name: str
|
||||
|
||||
class Battery(Resource):
|
||||
"""电池类 - 可容纳极片"""
|
||||
children: List[ElectrodeSheet] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x=1,
|
||||
size_y=1,
|
||||
size_z=1,
|
||||
category: str = "battery",
|
||||
):
|
||||
"""初始化电池
|
||||
|
||||
Args:
|
||||
name: 电池名称
|
||||
diameter: 直径 (mm)
|
||||
height: 高度 (mm)
|
||||
max_volume: 最大容量 (μL)
|
||||
barcode: 二维码编号
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=1,
|
||||
size_y=1,
|
||||
size_z=1,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: BatteryState = BatteryState(
|
||||
diameter = 1.0,
|
||||
height = 1.0,
|
||||
assembly_pressure = 1.0,
|
||||
electrolyte_volume = 1.0,
|
||||
electrolyte_name = "DP001"
|
||||
)
|
||||
|
||||
def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool:
|
||||
to_add_name = bottle._unilabos_state["electrolyte_name"]
|
||||
if bottle.aspirate_electrolyte(10):
|
||||
if self.add_electrolyte(to_add_name, 10):
|
||||
pass
|
||||
else:
|
||||
bottle._unilabos_state["electrolyte_volume"] += 10
|
||||
|
||||
def set_electrolyte(self, name: str, volume: float) -> None:
|
||||
"""设置电解液信息"""
|
||||
self._unilabos_state["electrolyte_name"] = name
|
||||
self._unilabos_state["electrolyte_volume"] = volume
|
||||
#这个应该没用，不会有加了后再加的事情
|
||||
def add_electrolyte(self, name: str, volume: float) -> bool:
|
||||
"""添加电解液信息"""
|
||||
if name != self._unilabos_state["electrolyte_name"]:
|
||||
return False
|
||||
self._unilabos_state["electrolyte_volume"] += volume
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
# 电解液作为属性放进去
|
||||
|
||||
class BatteryPressSlotState(TypedDict):
|
||||
"""电池状态字典"""
|
||||
diameter: float =20.0
|
||||
depth: float = 4.0
|
||||
|
||||
class BatteryPressSlot(Resource):
|
||||
"""电池压制槽类 - 设备，可容纳一个电池"""
|
||||
children: List[Battery] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "BatteryPressSlot",
|
||||
category: str = "battery_press_slot",
|
||||
):
|
||||
"""初始化电池压制槽
|
||||
|
||||
Args:
|
||||
name: 压制槽名称
|
||||
diameter: 直径 (mm)
|
||||
depth: 深度 (mm)
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=10,
|
||||
size_y=12,
|
||||
size_z=13,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState()
|
||||
|
||||
def has_battery(self) -> bool:
|
||||
"""检查是否有电池"""
|
||||
return len(self.children) > 0
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
def assign_child_resource(
|
||||
self,
|
||||
resource: Battery,
|
||||
location: Optional[Coordinate],
|
||||
reassign: bool = True,
|
||||
):
|
||||
"""放置极片"""
|
||||
# TODO: 让高京看下槽位只有一个电池时是否这么写。
|
||||
if self.has_battery():
|
||||
raise ValueError(f"槽位已含有一个电池，无法再放置其他电池")
|
||||
super().assign_child_resource(resource, location, reassign)
|
||||
|
||||
# 根据children的编号取物料对象。
|
||||
def get_battery_info(self, index: int) -> Battery:
|
||||
return self.children[0]
|
||||
|
||||
|
||||
def TipBox64(
|
||||
name: str,
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
category: str = "tip_rack",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""64孔枪头盒类"""
|
||||
from pylabrobot.resources.tip import Tip
|
||||
|
||||
# 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):
|
||||
""""废枪头盒状态字典"""
|
||||
max_tips: int = 100
|
||||
tip_count: int = 0
|
||||
|
||||
#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断
|
||||
class WasteTipBox(Trash):
|
||||
"""废枪头盒类 - 100个枪头容量"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
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
|
||||
|
||||
Args:
|
||||
name: 废枪头盒名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
max_tips: 最大枪头容量
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
|
||||
|
||||
def add_tip(self) -> None:
|
||||
"""添加废枪头"""
|
||||
if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]:
|
||||
raise ValueError(f"废枪头盒 {self.name} 已满")
|
||||
self._unilabos_state["tip_count"] += 1
|
||||
|
||||
def get_tip_count(self) -> int:
|
||||
"""获取枪头数量"""
|
||||
return self._unilabos_state["tip_count"]
|
||||
|
||||
def empty(self) -> None:
|
||||
"""清空废枪头盒"""
|
||||
self._unilabos_state["tip_count"] = 0
|
||||
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
|
||||
class CoincellDeck(Deck):
|
||||
"""纽扣电池组装工作站台面类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "coin_cell_deck",
|
||||
size_x: float = 1450.0, # 1m
|
||||
size_y: float = 1450.0, # 1m
|
||||
size_z: float = 100.0, # 0.9m
|
||||
origin: Coordinate = Coordinate(-2200, 0, 0),
|
||||
category: str = "coin_cell_deck",
|
||||
setup: bool = False, # 是否自动执行 setup
|
||||
):
|
||||
"""初始化纽扣电池组装工作站台面
|
||||
|
||||
Args:
|
||||
name: 台面名称
|
||||
size_x: 长度 (mm) - 1m
|
||||
size_y: 宽度 (mm) - 1m
|
||||
size_z: 高度 (mm) - 0.9m
|
||||
origin: 原点坐标
|
||||
category: 类别
|
||||
setup: 是否自动执行 setup 配置标准布局
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=1450.0,
|
||||
size_y=1450.0,
|
||||
size_z=100.0,
|
||||
origin=origin,
|
||||
)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
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 ============================================
|
||||
|
||||
# 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=402.0, y=830.0, 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=566.0, y=272.0, 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=474.0, y=276.0, 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=260.0, y=156.0, z=0))
|
||||
|
||||
# ====================================== 物料板 ============================================
|
||||
# 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=708.0, y=794.0, 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)
|
||||
|
||||
# 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=718.0, y=918.0, 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)
|
||||
|
||||
# ====================================== 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
|
||||
# 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=1050.0, y=358.0, z=0))
|
||||
# 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=914.0, y=358.0, z=0))
|
||||
|
||||
tip_box = TipBox64(name="tip_box_64")
|
||||
self.assign_child_resource(tip_box, Coordinate(x=782.0, y=514.0, z=0))
|
||||
|
||||
waste_tip_box = WasteTipBox(name="waste_tip_box")
|
||||
self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
deck = create_coin_cell_deck()
|
||||
print(deck)
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,134 +1,44 @@
|
||||
|
||||
import csv
|
||||
import inspect
|
||||
import json
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
import types
|
||||
from datetime import datetime
|
||||
from typing import Any, Dict, Optional
|
||||
from functools import wraps
|
||||
from pylabrobot.resources import Deck, Resource as PLRResource
|
||||
from pylabrobot.resources import Resource as PLRResource
|
||||
from unilabos_msgs.msg import Resource
|
||||
from unilabos.device_comms.modbus_plc.client import ModbusTcpClient
|
||||
from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient
|
||||
from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder
|
||||
from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import *
|
||||
from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import *
|
||||
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
|
||||
from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
|
||||
from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck
|
||||
from unilabos.resources.graphio import convert_resources_to_type
|
||||
from unilabos.utils.log import logger
|
||||
|
||||
|
||||
def _ensure_modbus_slave_kw_alias(modbus_client):
|
||||
if modbus_client is None:
|
||||
return
|
||||
|
||||
method_names = [
|
||||
"read_coils",
|
||||
"write_coils",
|
||||
"write_coil",
|
||||
"read_discrete_inputs",
|
||||
"read_holding_registers",
|
||||
"write_register",
|
||||
"write_registers",
|
||||
]
|
||||
|
||||
def _wrap(func):
|
||||
signature = inspect.signature(func)
|
||||
has_var_kwargs = any(param.kind == param.VAR_KEYWORD for param in signature.parameters.values())
|
||||
accepts_unit = has_var_kwargs or "unit" in signature.parameters
|
||||
accepts_slave = has_var_kwargs or "slave" in signature.parameters
|
||||
|
||||
@wraps(func)
|
||||
def _wrapped(self, *args, **kwargs):
|
||||
if "slave" in kwargs and not accepts_slave:
|
||||
slave_value = kwargs.pop("slave")
|
||||
if accepts_unit and "unit" not in kwargs:
|
||||
kwargs["unit"] = slave_value
|
||||
if "unit" in kwargs and not accepts_unit:
|
||||
unit_value = kwargs.pop("unit")
|
||||
if accepts_slave and "slave" not in kwargs:
|
||||
kwargs["slave"] = unit_value
|
||||
return func(self, *args, **kwargs)
|
||||
|
||||
_wrapped._has_slave_alias = True
|
||||
return _wrapped
|
||||
|
||||
for name in method_names:
|
||||
if not hasattr(modbus_client, name):
|
||||
continue
|
||||
bound_method = getattr(modbus_client, name)
|
||||
func = getattr(bound_method, "__func__", None)
|
||||
if func is None:
|
||||
continue
|
||||
if getattr(func, "_has_slave_alias", False):
|
||||
continue
|
||||
wrapped = _wrap(func)
|
||||
setattr(modbus_client, name, types.MethodType(wrapped, modbus_client))
|
||||
|
||||
|
||||
def _coerce_deck_input(deck: Any) -> Optional[Deck]:
|
||||
if deck is None:
|
||||
return None
|
||||
|
||||
if isinstance(deck, Deck):
|
||||
return deck
|
||||
|
||||
if isinstance(deck, PLRResource):
|
||||
return deck if isinstance(deck, Deck) else None
|
||||
|
||||
candidates = None
|
||||
if isinstance(deck, dict):
|
||||
if "nodes" in deck and isinstance(deck["nodes"], list):
|
||||
candidates = deck["nodes"]
|
||||
else:
|
||||
candidates = [deck]
|
||||
elif isinstance(deck, list):
|
||||
candidates = deck
|
||||
|
||||
if candidates is None:
|
||||
return None
|
||||
|
||||
try:
|
||||
converted = convert_resources_to_type(resources_list=candidates, resource_type=Deck)
|
||||
if isinstance(converted, Deck):
|
||||
return converted
|
||||
if isinstance(converted, list):
|
||||
for item in converted:
|
||||
if isinstance(item, Deck):
|
||||
return item
|
||||
except Exception as exc:
|
||||
logger.warning(f"deck 转换 Deck 失败: {exc}")
|
||||
return None
|
||||
|
||||
|
||||
#构建物料系统
|
||||
|
||||
class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
def __init__(self,
|
||||
config: dict = None,
|
||||
deck=None,
|
||||
address: str = "172.16.28.102",
|
||||
def __init__(
|
||||
self,
|
||||
deck: CoincellDeck,
|
||||
address: str = "192.168.1.20",
|
||||
port: str = "502",
|
||||
debug_mode: bool = False,
|
||||
debug_mode: bool = True,
|
||||
*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,)
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(
|
||||
#桌子
|
||||
deck=deck,
|
||||
*args,
|
||||
**kwargs,
|
||||
)
|
||||
self.debug_mode = debug_mode
|
||||
|
||||
self.deck = deck
|
||||
""" 连接初始化 """
|
||||
modbus_client = TCPClient(addr=address, port=port)
|
||||
logger.debug(f"创建 Modbus 客户端: {modbus_client}")
|
||||
_ensure_modbus_slave_kw_alias(modbus_client.client)
|
||||
print("modbus_client", modbus_client)
|
||||
if not debug_mode:
|
||||
modbus_client.client.connect()
|
||||
count = 100
|
||||
@@ -139,20 +49,26 @@ 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_1105.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_a.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.deck = create_a_coin_cell_deck()
|
||||
|
||||
#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
|
||||
@@ -575,11 +491,11 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
try:
|
||||
# 尝试不同的字节序读取
|
||||
code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE)
|
||||
# logger.debug(f"读取电池二维码原始数据: {code_little}")
|
||||
print(code_little)
|
||||
clean_code = code_little[-8:][::-1]
|
||||
return clean_code
|
||||
except Exception as e:
|
||||
logger.error(f"读取电池二维码失败: {e}")
|
||||
print(f"读取电池二维码失败: {e}")
|
||||
return "N/A"
|
||||
|
||||
|
||||
@@ -588,11 +504,11 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
try:
|
||||
# 尝试不同的字节序读取
|
||||
code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE)
|
||||
# logger.debug(f"读取电解液二维码原始数据: {code_little}")
|
||||
print(code_little)
|
||||
clean_code = code_little[-8:][::-1]
|
||||
return clean_code
|
||||
except Exception as e:
|
||||
logger.error(f"读取电解液二维码失败: {e}")
|
||||
print(f"读取电解液二维码失败: {e}")
|
||||
return "N/A"
|
||||
|
||||
# ===================== 环境监控区 ======================
|
||||
@@ -690,8 +606,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
print("waiting for start_cmd")
|
||||
time.sleep(1)
|
||||
|
||||
def func_pack_send_bottle_num(self, bottle_num):
|
||||
bottle_num = int(bottle_num)
|
||||
def func_pack_send_bottle_num(self, bottle_num: int):
|
||||
#发送电解液平台数
|
||||
print("启动")
|
||||
while (self._unilab_rece_electrolyte_bottle_num()) == False:
|
||||
@@ -739,25 +654,16 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
# self.success = True
|
||||
# return self.success
|
||||
|
||||
def func_pack_send_msg_cmd(self, elec_use_num, elec_vol, assembly_type, assembly_pressure) -> bool:
|
||||
def func_pack_send_msg_cmd(self, elec_use_num) -> bool:
|
||||
"""UNILAB写参数"""
|
||||
while (self.request_rec_msg_status) == False:
|
||||
print("wait for request_rec_msg_status to True")
|
||||
time.sleep(1)
|
||||
self.success = False
|
||||
#self._unilab_send_msg_electrolyte_num(elec_num)
|
||||
#设置平行样数目
|
||||
time.sleep(1)
|
||||
self._unilab_send_msg_electrolyte_use_num(elec_use_num)
|
||||
time.sleep(1)
|
||||
#发送电解液加注量
|
||||
self._unilab_send_msg_electrolyte_vol(elec_vol)
|
||||
time.sleep(1)
|
||||
#发送电解液组装类型
|
||||
self._unilab_send_msg_assembly_type(assembly_type)
|
||||
time.sleep(1)
|
||||
#发送电池压制力
|
||||
self._unilab_send_msg_assembly_pressure(assembly_pressure)
|
||||
time.sleep(1)
|
||||
self._unilab_send_msg_succ_cmd(True)
|
||||
time.sleep(1)
|
||||
while (self.request_rec_msg_status) == True:
|
||||
@@ -782,32 +688,15 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
data_coin_num = self.data_coin_num
|
||||
data_electrolyte_code = self.data_electrolyte_code
|
||||
data_coin_cell_code = self.data_coin_cell_code
|
||||
logger.debug(f"data_open_circuit_voltage: {data_open_circuit_voltage}")
|
||||
logger.debug(f"data_pole_weight: {data_pole_weight}")
|
||||
logger.debug(f"data_assembly_time: {data_assembly_time}")
|
||||
logger.debug(f"data_assembly_pressure: {data_assembly_pressure}")
|
||||
logger.debug(f"data_electrolyte_volume: {data_electrolyte_volume}")
|
||||
logger.debug(f"data_coin_num: {data_coin_num}")
|
||||
logger.debug(f"data_electrolyte_code: {data_electrolyte_code}")
|
||||
logger.debug(f"data_coin_cell_code: {data_coin_cell_code}")
|
||||
print("data_open_circuit_voltage", data_open_circuit_voltage)
|
||||
print("data_pole_weight", data_pole_weight)
|
||||
print("data_assembly_time", data_assembly_time)
|
||||
print("data_assembly_pressure", data_assembly_pressure)
|
||||
print("data_electrolyte_volume", data_electrolyte_volume)
|
||||
print("data_coin_num", data_coin_num)
|
||||
print("data_electrolyte_code", data_electrolyte_code)
|
||||
print("data_coin_cell_code", data_coin_cell_code)
|
||||
#接收完信息后，读取完毕标志位置True
|
||||
liaopan3 = self.deck.get_resource("成品弹夹")
|
||||
#把物料解绑后放到另一盘上
|
||||
battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2)
|
||||
battery._unilabos_state = {
|
||||
"electrolyte_name": data_coin_cell_code,
|
||||
"data_electrolyte_code": data_electrolyte_code,
|
||||
"open_circuit_voltage": data_open_circuit_voltage,
|
||||
"assembly_pressure": data_assembly_pressure,
|
||||
"electrolyte_volume": data_electrolyte_volume
|
||||
}
|
||||
liaopan3.children[self.coin_num_N].assign_child_resource(battery, location=None)
|
||||
#print(jipian2.parent)
|
||||
ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
"resources": [self.deck]
|
||||
})
|
||||
|
||||
|
||||
self._unilab_rec_msg_succ_cmd(True)
|
||||
time.sleep(1)
|
||||
#等待允许读取标志位置False
|
||||
@@ -865,25 +754,11 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
self.success = True
|
||||
return self.success
|
||||
|
||||
def qiming_coin_cell_code(self, fujipian_panshu:int, fujipian_juzhendianwei:int=0, gemopanshu:int=0, gemo_juzhendianwei:int=0, lvbodian:bool=True, battery_pressure_mode:bool=True, battery_pressure:int=4000, battery_clean_ignore:bool=False) -> bool:
|
||||
self.success = False
|
||||
self.client.use_node('REG_MSG_NE_PLATE_NUM').write(fujipian_panshu)
|
||||
self.client.use_node('REG_MSG_NE_PLATE_MATRIX').write(fujipian_juzhendianwei)
|
||||
self.client.use_node('REG_MSG_SEPARATOR_PLATE_NUM').write(gemopanshu)
|
||||
self.client.use_node('REG_MSG_SEPARATOR_PLATE_MATRIX').write(gemo_juzhendianwei)
|
||||
self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian)
|
||||
self.client.use_node('REG_MSG_PRESS_MODE').write(not battery_pressure_mode)
|
||||
# self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(battery_pressure)
|
||||
self.client.use_node('REG_MSG_BATTERY_CLEAN_IGNORE').write(battery_clean_ignore)
|
||||
self.success = True
|
||||
|
||||
return self.success
|
||||
|
||||
def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="/Users/sml/work") -> bool:
|
||||
elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure)
|
||||
def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool:
|
||||
summary_csv_file = os.path.join(file_path, "duandian.csv")
|
||||
# 如果断点文件存在，先读取之前的进度
|
||||
|
||||
if os.path.exists(summary_csv_file):
|
||||
read_status_flag = True
|
||||
with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile:
|
||||
@@ -909,37 +784,53 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
elec_num_N = 0
|
||||
elec_use_num_N = 0
|
||||
coin_num_N = 0
|
||||
for i in range(20):
|
||||
|
||||
print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}")
|
||||
print(f"剩余电解液瓶数: {type(elec_num)}, 已组装电池数: {type(elec_use_num)}")
|
||||
print(f"剩余电解液瓶数: {type(int(elec_num))}, 已组装电池数: {type(int(elec_use_num))}")
|
||||
|
||||
|
||||
#如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。
|
||||
if read_status_flag == False:
|
||||
pass
|
||||
#初始化
|
||||
#self.func_pack_device_init()
|
||||
self.func_pack_device_init()
|
||||
#切换自动
|
||||
#self.func_pack_device_auto()
|
||||
self.func_pack_device_auto()
|
||||
#启动，小车收回
|
||||
#self.func_pack_device_start()
|
||||
self.func_pack_device_start()
|
||||
#发送电解液瓶数量，启动搬运,多搬运没事
|
||||
#self.func_pack_send_bottle_num(elec_num)
|
||||
self.func_pack_send_bottle_num(elec_num)
|
||||
last_i = elec_num_N
|
||||
last_j = elec_use_num_N
|
||||
for i in range(last_i, elec_num):
|
||||
print(f"开始第{last_i+i+1}瓶电解液的组装")
|
||||
#第一个循环从上次断点继续，后续循环从0开始
|
||||
j_start = last_j if i == last_i else 0
|
||||
self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type, assembly_pressure)
|
||||
self.func_pack_send_msg_cmd(elec_use_num-j_start)
|
||||
|
||||
for j in range(j_start, elec_use_num):
|
||||
print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装")
|
||||
#读取电池组装数据并存入csv
|
||||
self.func_pack_get_msg_cmd(file_path)
|
||||
time.sleep(1)
|
||||
# TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑
|
||||
|
||||
#这里定义物料系统
|
||||
# TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑
|
||||
liaopan1 = self.deck.get_resource("liaopan1")
|
||||
liaopan4 = self.deck.get_resource("liaopan4")
|
||||
jipian1 = liaopan1.children[coin_num_N].children[0]
|
||||
jipian4 = liaopan4.children[coin_num_N].children[0]
|
||||
#print(jipian1)
|
||||
#从料盘上去物料解绑后放到另一盘上
|
||||
jipian1.parent.unassign_child_resource(jipian1)
|
||||
jipian4.parent.unassign_child_resource(jipian4)
|
||||
|
||||
#print(jipian2.parent)
|
||||
battery = Battery(name = f"battery_{coin_num_N}")
|
||||
battery.assign_child_resource(jipian1, location=None)
|
||||
battery.assign_child_resource(jipian4, location=None)
|
||||
|
||||
zidanjia6 = self.deck.get_resource("zi_dan_jia6")
|
||||
|
||||
zidanjia6.children[0].assign_child_resource(battery, location=None)
|
||||
|
||||
|
||||
# 生成断点文件
|
||||
@@ -951,7 +842,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp])
|
||||
csvfile.flush()
|
||||
coin_num_N += 1
|
||||
self.coin_num_N = coin_num_N
|
||||
elec_use_num_N += 1
|
||||
elec_num_N += 1
|
||||
elec_use_num_N = 0
|
||||
@@ -988,27 +878,36 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
|
||||
def fun_wuliao_test(self) -> bool:
|
||||
#找到data_init中构建的2个物料盘
|
||||
liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
|
||||
for i in range(16):
|
||||
battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2)
|
||||
battery._unilabos_state = {
|
||||
"diameter": 20.0,
|
||||
"height": 20.0,
|
||||
"assembly_pressure": i,
|
||||
"electrolyte_volume": 20.0,
|
||||
"electrolyte_name": f"DP{i}"
|
||||
}
|
||||
liaopan3.children[i].assign_child_resource(battery, location=None)
|
||||
#liaopan1 = self.deck.get_resource("liaopan1")
|
||||
#liaopan4 = self.deck.get_resource("liaopan4")
|
||||
#for coin_num_N in range(16):
|
||||
# liaopan1 = self.deck.get_resource("liaopan1")
|
||||
# liaopan4 = self.deck.get_resource("liaopan4")
|
||||
# jipian1 = liaopan1.children[coin_num_N].children[0]
|
||||
# jipian4 = liaopan4.children[coin_num_N].children[0]
|
||||
# #print(jipian1)
|
||||
# #从料盘上去物料解绑后放到另一盘上
|
||||
# jipian1.parent.unassign_child_resource(jipian1)
|
||||
# jipian4.parent.unassign_child_resource(jipian4)
|
||||
#
|
||||
# #print(jipian2.parent)
|
||||
# battery = Battery(name = f"battery_{coin_num_N}")
|
||||
# battery.assign_child_resource(jipian1, location=None)
|
||||
# battery.assign_child_resource(jipian4, location=None)
|
||||
#
|
||||
# zidanjia6 = self.deck.get_resource("zi_dan_jia6")
|
||||
# zidanjia6.children[0].assign_child_resource(battery, location=None)
|
||||
# ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
# "resources": [self.deck]
|
||||
# })
|
||||
# time.sleep(2)
|
||||
for i in range(20):
|
||||
print(f"输出{i}")
|
||||
time.sleep(2)
|
||||
|
||||
|
||||
ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
"resources": [self.deck]
|
||||
})
|
||||
# for i in range(40):
|
||||
# print(f"fun_wuliao_test 运行结束{i}")
|
||||
# time.sleep(1)
|
||||
# time.sleep(40)
|
||||
# 数据读取与输出
|
||||
def func_read_data_and_output(self, file_path: str="/Users/sml/work"):
|
||||
def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"):
|
||||
# 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环
|
||||
if self.csv_export_running:
|
||||
return False, "读取已在运行中"
|
||||
@@ -1113,7 +1012,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
# else:
|
||||
# print("子弹夹洞位0没有极片")
|
||||
#
|
||||
# # TODO:#把电解液从瓶中取到电池夹子中
|
||||
# #把电解液从瓶中取到电池夹子中
|
||||
# battery_site = deck.get_resource("battery_press_1")
|
||||
# clip_magazine_battery = deck.get_resource("clip_magazine_battery")
|
||||
# if battery_site.has_battery():
|
||||
@@ -1203,16 +1102,41 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
'''
|
||||
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 简单测试
|
||||
workstation = CoinCellAssemblyWorkstation(deck=CoincellDeck(setup=True, name="coin_cell_deck"))
|
||||
# workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False)
|
||||
# print(f"工作站创建成功: {workstation.deck.name}")
|
||||
# print(f"料盘数量: {len(workstation.deck.children)}")
|
||||
workstation.func_pack_device_init()
|
||||
workstation.func_pack_device_auto()
|
||||
workstation.func_pack_device_start()
|
||||
workstation.func_pack_send_bottle_num(16)
|
||||
workstation.func_allpack_cmd(elec_num=16, elec_use_num=16, elec_vol=50, assembly_type=7, assembly_pressure=4200, file_path="/Users/calvincao/Desktop/work/Uni-Lab-OS-hhm")
|
||||
from pylabrobot.resources import Resource
|
||||
Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True)
|
||||
#Coin_Cell.func_pack_device_init()
|
||||
#Coin_Cell.func_pack_device_auto()
|
||||
#Coin_Cell.func_pack_device_start()
|
||||
#Coin_Cell.func_pack_send_bottle_num(2)
|
||||
#Coin_Cell.func_pack_send_msg_cmd(2)
|
||||
#Coin_Cell.func_pack_get_msg_cmd()
|
||||
#Coin_Cell.func_pack_get_msg_cmd()
|
||||
#Coin_Cell.func_pack_send_finished_cmd()
|
||||
#
|
||||
#Coin_Cell.func_allpack_cmd(3, 2)
|
||||
#print(Coin_Cell.data_stack_vision_code)
|
||||
#print("success")
|
||||
#创建一个物料台面
|
||||
|
||||
#deck = create_a_coin_cell_deck()
|
||||
|
||||
##在台面上找到料盘和极片
|
||||
#liaopan1 = deck.get_resource("liaopan1")
|
||||
#liaopan2 = deck.get_resource("liaopan2")
|
||||
#jipian1 = liaopan1.children[1].children[0]
|
||||
#
|
||||
##print(jipian1)
|
||||
##把物料解绑后放到另一盘上
|
||||
#jipian1.parent.unassign_child_resource(jipian1)
|
||||
#liaopan2.children[1].assign_child_resource(jipian1, location=None)
|
||||
##print(jipian2.parent)
|
||||
from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type
|
||||
|
||||
with open("./button_battery_decks_unilab.json", "r", encoding="utf-8") as f:
|
||||
bioyond_resources_unilab = json.load(f)
|
||||
print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源")
|
||||
ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource])
|
||||
print(f"转换结果类型: {type(ulab_resources)}")
|
||||
print(ulab_resources)
|
||||
|
||||
@@ -1,64 +0,0 @@
|
||||
Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
|
||||
COIL_SYS_START_CMD,BOOL,,,,coil,9010,
|
||||
COIL_SYS_STOP_CMD,BOOL,,,,coil,9020,
|
||||
COIL_SYS_RESET_CMD,BOOL,,,,coil,9030,
|
||||
COIL_SYS_HAND_CMD,BOOL,,,,coil,9040,
|
||||
COIL_SYS_AUTO_CMD,BOOL,,,,coil,9050,
|
||||
COIL_SYS_INIT_CMD,BOOL,,,,coil,9060,
|
||||
COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,9700,
|
||||
COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,9710,unilab_rec_msg_succ_cmd
|
||||
COIL_SYS_START_STATUS,BOOL,,,,coil,9210,
|
||||
COIL_SYS_STOP_STATUS,BOOL,,,,coil,9220,
|
||||
COIL_SYS_RESET_STATUS,BOOL,,,,coil,9230,
|
||||
COIL_SYS_HAND_STATUS,BOOL,,,,coil,9240,
|
||||
COIL_SYS_AUTO_STATUS,BOOL,,,,coil,9250,
|
||||
COIL_SYS_INIT_STATUS,BOOL,,,,coil,9260,
|
||||
COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,9500,
|
||||
COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,9510,request_send_msg_status
|
||||
REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,17000,
|
||||
REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,17002,unilab_send_msg_electrolyte_num
|
||||
REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,17004,unilab_send_msg_electrolyte_vol
|
||||
REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,17006,unilab_send_msg_assembly_type
|
||||
REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,17008,unilab_send_msg_assembly_pressure
|
||||
REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,16000,data_assembly_coin_cell_num
|
||||
REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,16002,data_open_circuit_voltage
|
||||
REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,16004,
|
||||
REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,16006,
|
||||
REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,16008,
|
||||
REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,16010,data_pole_weight
|
||||
REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,16012,data_assembly_time
|
||||
REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,16014,data_assembly_pressure
|
||||
REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,16016,data_electrolyte_volume
|
||||
REG_DATA_COIN_NUM,INT16,,,,hold_register,16018,data_coin_num
|
||||
REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,16020,data_electrolyte_code()
|
||||
REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,16030,data_coin_cell_code()
|
||||
REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,18004,data_stack_vision_code()
|
||||
REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,16050,data_glove_box_pressure
|
||||
REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,16052,data_glove_box_water_content
|
||||
REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,16054,data_glove_box_o2_content
|
||||
UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,9720,
|
||||
UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,9520,
|
||||
REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,17496,
|
||||
REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,16000,
|
||||
UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,9730,
|
||||
UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,9530,
|
||||
REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,16018,ASSEMBLY_TYPE7or8
|
||||
COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,9340,
|
||||
REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,17440,
|
||||
REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,17450,
|
||||
REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,17480,
|
||||
REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,17443,
|
||||
REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,17453,
|
||||
REG_MSG_PRESS_MODE,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,9360,电池压制模式
|
||||
,,,,,,,
|
||||
,BOOL,,视觉对位（false:使用，true:忽略）,,coil,9300,视觉对位
|
||||
,BOOL,,复检（false:使用，true:忽略）,,coil,9310,视觉复检
|
||||
,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,9320,手套箱左仓
|
||||
,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,9420,手套箱右仓
|
||||
,BOOL,,真空检知（false:使用，true:忽略）,,coil,9350,真空检知
|
||||
,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,9370,滴液模式
|
||||
,BOOL,,正极片称重（false:使用，true:忽略）,,coil,9380,正极片称重
|
||||
,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,9390,正负极反装
|
||||
,BOOL,,压制清洁（false:使用，true:忽略）,,coil,9400,压制清洁
|
||||
,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,9410,负极片摆盘方式
|
||||
REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,忽略电池清洁（false:使用，true:忽略）,,coil,9460,
|
||||
|
@@ -1,64 +0,0 @@
|
||||
Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
|
||||
COIL_SYS_START_CMD,BOOL,,,,coil,8010,
|
||||
COIL_SYS_STOP_CMD,BOOL,,,,coil,8020,
|
||||
COIL_SYS_RESET_CMD,BOOL,,,,coil,8030,
|
||||
COIL_SYS_HAND_CMD,BOOL,,,,coil,8040,
|
||||
COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050,
|
||||
COIL_SYS_INIT_CMD,BOOL,,,,coil,8060,
|
||||
COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700,
|
||||
COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd
|
||||
COIL_SYS_START_STATUS,BOOL,,,,coil,8210,
|
||||
COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220,
|
||||
COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230,
|
||||
COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240,
|
||||
COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250,
|
||||
COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260,
|
||||
COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500,
|
||||
COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status
|
||||
REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000,
|
||||
REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num
|
||||
REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol
|
||||
REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type
|
||||
REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure
|
||||
REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num
|
||||
REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage
|
||||
REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004,
|
||||
REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006,
|
||||
REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008,
|
||||
REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight
|
||||
REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time
|
||||
REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure
|
||||
REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume
|
||||
REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num
|
||||
REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code()
|
||||
REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code()
|
||||
REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code()
|
||||
REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure
|
||||
REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content
|
||||
REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content
|
||||
UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720,
|
||||
UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520,
|
||||
REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496,
|
||||
REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000,
|
||||
UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730,
|
||||
UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530,
|
||||
REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8
|
||||
COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,8340,
|
||||
REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,440,
|
||||
REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,450,
|
||||
REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,480,
|
||||
REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,443,
|
||||
REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,453,
|
||||
REG_MSG_PRESS_MODE,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,8360,电池压制模式
|
||||
,,,,,,,
|
||||
,BOOL,,视觉对位（false:使用，true:忽略）,,coil,8300,视觉对位
|
||||
,BOOL,,复检（false:使用，true:忽略）,,coil,8310,视觉复检
|
||||
,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,8320,手套箱左仓
|
||||
,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,8420,手套箱右仓
|
||||
,BOOL,,真空检知（false:使用，true:忽略）,,coil,8350,真空检知
|
||||
,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,8370,滴液模式
|
||||
,BOOL,,正极片称重（false:使用，true:忽略）,,coil,8380,正极片称重
|
||||
,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,8390,正负极反装
|
||||
,BOOL,,压制清洁（false:使用，true:忽略）,,coil,8400,压制清洁
|
||||
,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,8410,负极片摆盘方式
|
||||
REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,忽略电池清洁（false:使用，true:忽略）,,coil,8460,
|
||||
|
@@ -1,39 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "bioyond_cell_workstation",
|
||||
"name": "配液分液工站",
|
||||
"children": [
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "bioyond_cell",
|
||||
"config": {
|
||||
"protocol_type": [],
|
||||
"station_resource": {}
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
|
||||
{
|
||||
"id": "BatteryStation",
|
||||
"name": "扣电工作站",
|
||||
"children": [
|
||||
"coin_cell_deck"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "coincellassemblyworkstation_device",
|
||||
"position": {
|
||||
"x": -600,
|
||||
"y": -400,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"debug_mode": false,
|
||||
"protocol_type": []
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,23 +1,8 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "bioyond_cell_workstation",
|
||||
"name": "配液分液工站",
|
||||
"children": [
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "bioyond_cell",
|
||||
"config": {
|
||||
"protocol_type": [],
|
||||
"station_resource": {}
|
||||
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "BatteryStation",
|
||||
"name": "扣电组装工作站",
|
||||
"name": "扣电工作站",
|
||||
"children": [
|
||||
"coin_cell_deck"
|
||||
],
|
||||
@@ -113,7 +98,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "MagazineHolder_4",
|
||||
"type": "ClipMagazine_four",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -154,7 +139,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -249,7 +234,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -344,7 +329,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -439,7 +424,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -537,7 +522,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "MagazineHolder_4",
|
||||
"type": "ClipMagazine_four",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -578,7 +563,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -673,7 +658,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -768,7 +753,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -863,7 +848,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -963,7 +948,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "MagazineHolder_6",
|
||||
"type": "ClipMagazine",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -1006,7 +991,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1101,7 +1086,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1196,7 +1181,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1291,7 +1276,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1386,7 +1371,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1481,7 +1466,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1581,7 +1566,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "MagazineHolder_6",
|
||||
"type": "ClipMagazine",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -1624,7 +1609,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1719,7 +1704,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1814,7 +1799,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -1909,7 +1894,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2004,7 +1989,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2099,7 +2084,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2199,7 +2184,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "MagazineHolder_6",
|
||||
"type": "ClipMagazine",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -2242,7 +2227,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2337,7 +2322,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2432,7 +2417,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2527,7 +2512,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2622,7 +2607,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2717,7 +2702,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2817,7 +2802,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "MagazineHolder_6",
|
||||
"type": "ClipMagazine",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -2860,7 +2845,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -2955,7 +2940,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3050,7 +3035,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3145,7 +3130,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3240,7 +3225,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3335,7 +3320,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3435,7 +3420,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "MagazineHolder_6",
|
||||
"type": "ClipMagazine",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -3478,7 +3463,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3573,7 +3558,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3668,7 +3653,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3763,7 +3748,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3858,7 +3843,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -3953,7 +3938,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -4053,7 +4038,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "MagazineHolder_6",
|
||||
"type": "ClipMagazine",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 10,
|
||||
@@ -4096,7 +4081,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -4191,7 +4176,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -4286,7 +4271,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -4381,7 +4366,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -4476,7 +4461,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -4571,7 +4556,7 @@
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Magazine",
|
||||
"type": "ClipMagazineHole",
|
||||
"size_x": 14.0,
|
||||
"size_y": 14.0,
|
||||
"size_z": 10.0,
|
||||
@@ -668,7 +668,7 @@ __all__ = [
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 简单测试HTTP服务
|
||||
class DummyWorkstation:
|
||||
class BioyondWorkstation:
|
||||
device_id = "WS-001"
|
||||
|
||||
def process_step_finish_report(self, report_request):
|
||||
|
||||
252
unilabos/registry/devices/bioyond.yaml
Normal file
252
unilabos/registry/devices/bioyond.yaml
Normal file
@@ -0,0 +1,252 @@
|
||||
workstation.bioyond_dispensing_station:
|
||||
category:
|
||||
- workstation
|
||||
- bioyond
|
||||
class:
|
||||
action_value_mappings:
|
||||
create_90_10_vial_feeding_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
order_name: order_name
|
||||
percent_10_1_assign_material_name: percent_10_1_assign_material_name
|
||||
percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
|
||||
percent_10_1_target_weigh: percent_10_1_target_weigh
|
||||
percent_10_1_volume: percent_10_1_volume
|
||||
percent_10_2_assign_material_name: percent_10_2_assign_material_name
|
||||
percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
|
||||
percent_10_2_target_weigh: percent_10_2_target_weigh
|
||||
percent_10_2_volume: percent_10_2_volume
|
||||
percent_10_3_assign_material_name: percent_10_3_assign_material_name
|
||||
percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
|
||||
percent_10_3_target_weigh: percent_10_3_target_weigh
|
||||
percent_10_3_volume: percent_10_3_volume
|
||||
percent_90_1_assign_material_name: percent_90_1_assign_material_name
|
||||
percent_90_1_target_weigh: percent_90_1_target_weigh
|
||||
percent_90_2_assign_material_name: percent_90_2_assign_material_name
|
||||
percent_90_2_target_weigh: percent_90_2_target_weigh
|
||||
percent_90_3_assign_material_name: percent_90_3_assign_material_name
|
||||
percent_90_3_target_weigh: percent_90_3_target_weigh
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
delay_time: ''
|
||||
hold_m_name: ''
|
||||
order_name: ''
|
||||
percent_10_1_assign_material_name: ''
|
||||
percent_10_1_liquid_material_name: ''
|
||||
percent_10_1_target_weigh: ''
|
||||
percent_10_1_volume: ''
|
||||
percent_10_2_assign_material_name: ''
|
||||
percent_10_2_liquid_material_name: ''
|
||||
percent_10_2_target_weigh: ''
|
||||
percent_10_2_volume: ''
|
||||
percent_10_3_assign_material_name: ''
|
||||
percent_10_3_liquid_material_name: ''
|
||||
percent_10_3_target_weigh: ''
|
||||
percent_10_3_volume: ''
|
||||
percent_90_1_assign_material_name: ''
|
||||
percent_90_1_target_weigh: ''
|
||||
percent_90_2_assign_material_name: ''
|
||||
percent_90_2_target_weigh: ''
|
||||
percent_90_3_assign_material_name: ''
|
||||
percent_90_3_target_weigh: ''
|
||||
speed: ''
|
||||
temperature: ''
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationVialFeed_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
order_name:
|
||||
type: string
|
||||
percent_10_1_assign_material_name:
|
||||
type: string
|
||||
percent_10_1_liquid_material_name:
|
||||
type: string
|
||||
percent_10_1_target_weigh:
|
||||
type: string
|
||||
percent_10_1_volume:
|
||||
type: string
|
||||
percent_10_2_assign_material_name:
|
||||
type: string
|
||||
percent_10_2_liquid_material_name:
|
||||
type: string
|
||||
percent_10_2_target_weigh:
|
||||
type: string
|
||||
percent_10_2_volume:
|
||||
type: string
|
||||
percent_10_3_assign_material_name:
|
||||
type: string
|
||||
percent_10_3_liquid_material_name:
|
||||
type: string
|
||||
percent_10_3_target_weigh:
|
||||
type: string
|
||||
percent_10_3_volume:
|
||||
type: string
|
||||
percent_90_1_assign_material_name:
|
||||
type: string
|
||||
percent_90_1_target_weigh:
|
||||
type: string
|
||||
percent_90_2_assign_material_name:
|
||||
type: string
|
||||
percent_90_2_target_weigh:
|
||||
type: string
|
||||
percent_90_3_assign_material_name:
|
||||
type: string
|
||||
percent_90_3_target_weigh:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- percent_90_1_assign_material_name
|
||||
- percent_90_1_target_weigh
|
||||
- percent_90_2_assign_material_name
|
||||
- percent_90_2_target_weigh
|
||||
- percent_90_3_assign_material_name
|
||||
- percent_90_3_target_weigh
|
||||
- percent_10_1_assign_material_name
|
||||
- percent_10_1_target_weigh
|
||||
- percent_10_1_volume
|
||||
- percent_10_1_liquid_material_name
|
||||
- percent_10_2_assign_material_name
|
||||
- percent_10_2_target_weigh
|
||||
- percent_10_2_volume
|
||||
- percent_10_2_liquid_material_name
|
||||
- percent_10_3_assign_material_name
|
||||
- percent_10_3_target_weigh
|
||||
- percent_10_3_volume
|
||||
- percent_10_3_liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationVialFeed_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationVialFeed_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: DispenStationVialFeed
|
||||
type: object
|
||||
type: DispenStationVialFeed
|
||||
create_diamine_solution_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
liquid_material_name: liquid_material_name
|
||||
material_name: material_name
|
||||
order_name: order_name
|
||||
speed: speed
|
||||
target_weigh: target_weigh
|
||||
temperature: temperature
|
||||
volume: volume
|
||||
goal_default:
|
||||
delay_time: ''
|
||||
hold_m_name: ''
|
||||
liquid_material_name: ''
|
||||
material_name: ''
|
||||
order_name: ''
|
||||
speed: ''
|
||||
target_weigh: ''
|
||||
temperature: ''
|
||||
volume: ''
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationSolnPrep_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
liquid_material_name:
|
||||
type: string
|
||||
material_name:
|
||||
type: string
|
||||
order_name:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
target_weigh:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
volume:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- material_name
|
||||
- target_weigh
|
||||
- volume
|
||||
- liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationSolnPrep_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationSolnPrep_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: DispenStationSolnPrep
|
||||
type: object
|
||||
type: DispenStationSolnPrep
|
||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: ''
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: string
|
||||
required:
|
||||
- config
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
File diff suppressed because it is too large
Load Diff
404
unilabos/registry/devices/bioyond_dispensing_station.yaml
Normal file
404
unilabos/registry/devices/bioyond_dispensing_station.yaml
Normal file
@@ -0,0 +1,404 @@
|
||||
bioyond_dispensing_station:
|
||||
category:
|
||||
- workstation
|
||||
- bioyond
|
||||
- bioyond_dispensing_station
|
||||
class:
|
||||
action_value_mappings:
|
||||
batch_create_90_10_vial_feeding_tasks:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
liquid_material_name: liquid_material_name
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
titration: titration
|
||||
goal_default:
|
||||
delay_time: '600'
|
||||
hold_m_name: ''
|
||||
liquid_material_name: NMP
|
||||
speed: '400'
|
||||
temperature: '40'
|
||||
titration: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: titration
|
||||
data_source: handle
|
||||
data_type: object
|
||||
handler_key: titration
|
||||
io_type: source
|
||||
label: Titration Data From Calculation Node
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: BatchCreate9010VialFeedingTasks_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
default: '600'
|
||||
description: 延迟时间(秒),默认600
|
||||
type: string
|
||||
hold_m_name:
|
||||
description: 库位名称,如"C01",必填参数
|
||||
type: string
|
||||
liquid_material_name:
|
||||
default: NMP
|
||||
description: 10%物料的液体物料名称,默认为"NMP"
|
||||
type: string
|
||||
speed:
|
||||
default: '400'
|
||||
description: 搅拌速度,默认400
|
||||
type: string
|
||||
temperature:
|
||||
default: '40'
|
||||
description: 温度(℃),默认40
|
||||
type: string
|
||||
titration:
|
||||
description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g),
|
||||
titration_solvent(滴定溶液体积mL)'
|
||||
type: string
|
||||
required:
|
||||
- titration
|
||||
- hold_m_name
|
||||
title: BatchCreate9010VialFeedingTasks_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: BatchCreate9010VialFeedingTasks_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: BatchCreate9010VialFeedingTasks
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
batch_create_diamine_solution_tasks:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
liquid_material_name: liquid_material_name
|
||||
solutions: solutions
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
delay_time: '600'
|
||||
liquid_material_name: NMP
|
||||
solutions: ''
|
||||
speed: '400'
|
||||
temperature: '20'
|
||||
handles:
|
||||
input:
|
||||
- data_key: solutions
|
||||
data_source: handle
|
||||
data_type: array
|
||||
handler_key: solutions
|
||||
io_type: source
|
||||
label: Solution Data From Python
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: BatchCreateDiamineSolutionTasks_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
default: '600'
|
||||
description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
|
||||
type: string
|
||||
liquid_material_name:
|
||||
default: NMP
|
||||
description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮）
|
||||
type: string
|
||||
solutions:
|
||||
description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g),
|
||||
solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass":
|
||||
5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass":
|
||||
4.5, "solvent_volume": 18}]'
|
||||
type: string
|
||||
speed:
|
||||
default: '400'
|
||||
description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
|
||||
type: string
|
||||
temperature:
|
||||
default: '20'
|
||||
description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
|
||||
type: string
|
||||
required:
|
||||
- solutions
|
||||
title: BatchCreateDiamineSolutionTasks_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 批量任务创建结果汇总，JSON格式包含总数、成功数、失败数及每个任务的详细信息
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: BatchCreateDiamineSolutionTasks_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: BatchCreateDiamineSolutionTasks
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
create_90_10_vial_feeding_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
order_name: order_name
|
||||
percent_10_1_assign_material_name: percent_10_1_assign_material_name
|
||||
percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
|
||||
percent_10_1_target_weigh: percent_10_1_target_weigh
|
||||
percent_10_1_volume: percent_10_1_volume
|
||||
percent_10_2_assign_material_name: percent_10_2_assign_material_name
|
||||
percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
|
||||
percent_10_2_target_weigh: percent_10_2_target_weigh
|
||||
percent_10_2_volume: percent_10_2_volume
|
||||
percent_10_3_assign_material_name: percent_10_3_assign_material_name
|
||||
percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
|
||||
percent_10_3_target_weigh: percent_10_3_target_weigh
|
||||
percent_10_3_volume: percent_10_3_volume
|
||||
percent_90_1_assign_material_name: percent_90_1_assign_material_name
|
||||
percent_90_1_target_weigh: percent_90_1_target_weigh
|
||||
percent_90_2_assign_material_name: percent_90_2_assign_material_name
|
||||
percent_90_2_target_weigh: percent_90_2_target_weigh
|
||||
percent_90_3_assign_material_name: percent_90_3_assign_material_name
|
||||
percent_90_3_target_weigh: percent_90_3_target_weigh
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
delay_time: ''
|
||||
hold_m_name: ''
|
||||
order_name: ''
|
||||
percent_10_1_assign_material_name: ''
|
||||
percent_10_1_liquid_material_name: ''
|
||||
percent_10_1_target_weigh: ''
|
||||
percent_10_1_volume: ''
|
||||
percent_10_2_assign_material_name: ''
|
||||
percent_10_2_liquid_material_name: ''
|
||||
percent_10_2_target_weigh: ''
|
||||
percent_10_2_volume: ''
|
||||
percent_10_3_assign_material_name: ''
|
||||
percent_10_3_liquid_material_name: ''
|
||||
percent_10_3_target_weigh: ''
|
||||
percent_10_3_volume: ''
|
||||
percent_90_1_assign_material_name: ''
|
||||
percent_90_1_target_weigh: ''
|
||||
percent_90_2_assign_material_name: ''
|
||||
percent_90_2_target_weigh: ''
|
||||
percent_90_3_assign_material_name: ''
|
||||
percent_90_3_target_weigh: ''
|
||||
speed: ''
|
||||
temperature: ''
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationVialFeed_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
order_name:
|
||||
type: string
|
||||
percent_10_1_assign_material_name:
|
||||
type: string
|
||||
percent_10_1_liquid_material_name:
|
||||
type: string
|
||||
percent_10_1_target_weigh:
|
||||
type: string
|
||||
percent_10_1_volume:
|
||||
type: string
|
||||
percent_10_2_assign_material_name:
|
||||
type: string
|
||||
percent_10_2_liquid_material_name:
|
||||
type: string
|
||||
percent_10_2_target_weigh:
|
||||
type: string
|
||||
percent_10_2_volume:
|
||||
type: string
|
||||
percent_10_3_assign_material_name:
|
||||
type: string
|
||||
percent_10_3_liquid_material_name:
|
||||
type: string
|
||||
percent_10_3_target_weigh:
|
||||
type: string
|
||||
percent_10_3_volume:
|
||||
type: string
|
||||
percent_90_1_assign_material_name:
|
||||
type: string
|
||||
percent_90_1_target_weigh:
|
||||
type: string
|
||||
percent_90_2_assign_material_name:
|
||||
type: string
|
||||
percent_90_2_target_weigh:
|
||||
type: string
|
||||
percent_90_3_assign_material_name:
|
||||
type: string
|
||||
percent_90_3_target_weigh:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- percent_90_1_assign_material_name
|
||||
- percent_90_1_target_weigh
|
||||
- percent_90_2_assign_material_name
|
||||
- percent_90_2_target_weigh
|
||||
- percent_90_3_assign_material_name
|
||||
- percent_90_3_target_weigh
|
||||
- percent_10_1_assign_material_name
|
||||
- percent_10_1_target_weigh
|
||||
- percent_10_1_volume
|
||||
- percent_10_1_liquid_material_name
|
||||
- percent_10_2_assign_material_name
|
||||
- percent_10_2_target_weigh
|
||||
- percent_10_2_volume
|
||||
- percent_10_2_liquid_material_name
|
||||
- percent_10_3_assign_material_name
|
||||
- percent_10_3_target_weigh
|
||||
- percent_10_3_volume
|
||||
- percent_10_3_liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationVialFeed_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationVialFeed_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: DispenStationVialFeed
|
||||
type: object
|
||||
type: DispenStationVialFeed
|
||||
create_diamine_solution_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
liquid_material_name: liquid_material_name
|
||||
material_name: material_name
|
||||
order_name: order_name
|
||||
speed: speed
|
||||
target_weigh: target_weigh
|
||||
temperature: temperature
|
||||
volume: volume
|
||||
goal_default:
|
||||
delay_time: ''
|
||||
hold_m_name: ''
|
||||
liquid_material_name: ''
|
||||
material_name: ''
|
||||
order_name: ''
|
||||
speed: ''
|
||||
target_weigh: ''
|
||||
temperature: ''
|
||||
volume: ''
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationSolnPrep_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
liquid_material_name:
|
||||
type: string
|
||||
material_name:
|
||||
type: string
|
||||
order_name:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
target_weigh:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
volume:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- material_name
|
||||
- target_weigh
|
||||
- volume
|
||||
- liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationSolnPrep_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationSolnPrep_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: DispenStationSolnPrep
|
||||
type: object
|
||||
type: DispenStationSolnPrep
|
||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: ''
|
||||
handles: []
|
||||
icon: preparation_station.webp
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: string
|
||||
required:
|
||||
- config
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -1,3 +1,231 @@
|
||||
hplc.agilent:
|
||||
category:
|
||||
- characterization_chromatic
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_status参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-extract_data_from_txt:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file_path: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
file_path:
|
||||
type: string
|
||||
required:
|
||||
- file_path
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: extract_data_from_txt参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start_sequence:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
params: null
|
||||
resource: null
|
||||
wf_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
params:
|
||||
type: string
|
||||
resource:
|
||||
type: object
|
||||
wf_name:
|
||||
type: string
|
||||
required:
|
||||
- wf_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: start_sequence参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-try_close_sub_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_name:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: try_close_sub_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-try_open_sub_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_name:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: try_open_sub_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
execute_command_from_outer:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
|
||||
status_types:
|
||||
could_run: bool
|
||||
data_file: String
|
||||
device_status: str
|
||||
driver_init_ok: bool
|
||||
finish_status: str
|
||||
is_running: bool
|
||||
status_text: str
|
||||
success: bool
|
||||
type: python
|
||||
config_info: []
|
||||
description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
driver_debug:
|
||||
default: false
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
could_run:
|
||||
type: boolean
|
||||
data_file:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
device_status:
|
||||
type: string
|
||||
driver_init_ok:
|
||||
type: boolean
|
||||
finish_status:
|
||||
type: string
|
||||
is_running:
|
||||
type: boolean
|
||||
status_text:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- status_text
|
||||
- device_status
|
||||
- could_run
|
||||
- driver_init_ok
|
||||
- is_running
|
||||
- success
|
||||
- finish_status
|
||||
- data_file
|
||||
type: object
|
||||
version: 1.0.0
|
||||
hplc.agilent-zhida:
|
||||
category:
|
||||
- characterization_chromatic
|
||||
|
||||
@@ -1 +1,194 @@
|
||||
{}
|
||||
raman.home_made:
|
||||
category:
|
||||
- characterization_optic
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-ccd_time:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
int_time: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 设置CCD检测器积分时间的函数。用于配置拉曼光谱仪的信号采集时间，控制光谱数据的质量和信噪比。较长的积分时间可获得更高的信号强度和更好的光谱质量，但会增加测量时间。该函数允许根据样品特性和测量要求动态调整检测参数，优化测量效果。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
int_time:
|
||||
type: string
|
||||
required:
|
||||
- int_time
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: ccd_time参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-laser_on_power:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
output_voltage_laser: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 设置激光器输出功率的函数。用于控制拉曼光谱仪激光器的功率输出，调节激光强度以适应不同样品的测量需求。适当的激光功率能够获得良好的拉曼信号同时避免样品损伤。该函数支持精确的功率控制，确保测量结果的稳定性和重现性。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
output_voltage_laser:
|
||||
type: string
|
||||
required:
|
||||
- output_voltage_laser
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: laser_on_power参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-raman_without_background:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
int_time: null
|
||||
laser_power: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 执行无背景扣除的拉曼光谱测量函数。用于直接采集样品的拉曼光谱信号，不进行背景校正处理。该函数配置积分时间和激光功率参数，获取原始光谱数据用于后续的数据处理分析。适用于对光谱数据质量要求较高或需要自定义背景处理流程的测量场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
int_time:
|
||||
type: string
|
||||
laser_power:
|
||||
type: string
|
||||
required:
|
||||
- int_time
|
||||
- laser_power
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: raman_without_background参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-raman_without_background_average:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
average: null
|
||||
int_time: null
|
||||
laser_power: null
|
||||
sample_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 执行多次平均的无背景拉曼光谱测量函数。通过多次测量取平均值来提高光谱数据的信噪比和测量精度，减少随机噪声影响。该函数支持自定义平均次数、积分时间、激光功率等参数，并可为样品指定名称便于数据管理。适用于对测量精度要求较高的定量分析和研究应用。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
average:
|
||||
type: string
|
||||
int_time:
|
||||
type: string
|
||||
laser_power:
|
||||
type: string
|
||||
sample_name:
|
||||
type: string
|
||||
required:
|
||||
- sample_name
|
||||
- int_time
|
||||
- laser_power
|
||||
- average
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: raman_without_background_average参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
raman_cmd:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.raman_uv.home_made_raman:RamanObj
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: 拉曼光谱分析设备，用于物质的分子结构和化学成分表征。该设备集成激光器和CCD检测器，通过串口通信控制激光功率和光谱采集。具备背景扣除、多次平均、自动数据处理等功能，支持高精度的拉曼光谱测量。适用于材料表征、化学分析、质量控制、研究开发等需要分子指纹识别和结构分析的实验应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate_ccd:
|
||||
default: 921600
|
||||
type: string
|
||||
baudrate_laser:
|
||||
default: 9600
|
||||
type: string
|
||||
port_ccd:
|
||||
type: string
|
||||
port_laser:
|
||||
type: string
|
||||
required:
|
||||
- port_laser
|
||||
- port_ccd
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,586 +0,0 @@
|
||||
coincellassemblyworkstation_device:
|
||||
category:
|
||||
- coin_cell_workstation
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-change_hole_sheet_to_2:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
hole: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
hole:
|
||||
type: object
|
||||
required:
|
||||
- hole
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: change_hole_sheet_to_2参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-fill_plate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: fill_plate参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-fun_wuliao_test:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: fun_wuliao_test参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_allpack_cmd:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
assembly_pressure: 4200
|
||||
assembly_type: 7
|
||||
elec_num: null
|
||||
elec_use_num: null
|
||||
elec_vol: 50
|
||||
file_path: /Users/sml/work
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assembly_pressure:
|
||||
default: 4200
|
||||
type: integer
|
||||
assembly_type:
|
||||
default: 7
|
||||
type: integer
|
||||
elec_num:
|
||||
type: string
|
||||
elec_use_num:
|
||||
type: string
|
||||
elec_vol:
|
||||
default: 50
|
||||
type: integer
|
||||
file_path:
|
||||
default: /Users/sml/work
|
||||
type: string
|
||||
required:
|
||||
- elec_num
|
||||
- elec_use_num
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_allpack_cmd参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_get_csv_export_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_get_csv_export_status参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_device_auto:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_auto参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_device_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_device_start:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_start参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_device_stop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_stop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_get_msg_cmd:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file_path: D:\coin_cell_data
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
file_path:
|
||||
default: D:\coin_cell_data
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_get_msg_cmd参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_send_bottle_num:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
bottle_num: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
bottle_num:
|
||||
type: string
|
||||
required:
|
||||
- bottle_num
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_send_bottle_num参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_send_finished_cmd:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_send_finished_cmd参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_send_msg_cmd:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
assembly_pressure: null
|
||||
assembly_type: null
|
||||
elec_use_num: null
|
||||
elec_vol: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assembly_pressure:
|
||||
type: string
|
||||
assembly_type:
|
||||
type: string
|
||||
elec_use_num:
|
||||
type: string
|
||||
elec_vol:
|
||||
type: string
|
||||
required:
|
||||
- elec_use_num
|
||||
- elec_vol
|
||||
- assembly_type
|
||||
- assembly_pressure
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_send_msg_cmd参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_read_data_and_output:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file_path: /Users/sml/work
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
file_path:
|
||||
default: /Users/sml/work
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_read_data_and_output参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_stop_read_data:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_stop_read_data参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-modify_deck_name:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
resource_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
resource_name:
|
||||
type: string
|
||||
required:
|
||||
- resource_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: modify_deck_name参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-qiming_coin_cell_code:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
battery_clean_ignore: false
|
||||
battery_pressure: 4000
|
||||
battery_pressure_mode: true
|
||||
fujipian_juzhendianwei: 0
|
||||
fujipian_panshu: null
|
||||
gemo_juzhendianwei: 0
|
||||
gemopanshu: 0
|
||||
lvbodian: true
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
battery_clean_ignore:
|
||||
default: false
|
||||
type: boolean
|
||||
battery_pressure:
|
||||
default: 4000
|
||||
type: integer
|
||||
battery_pressure_mode:
|
||||
default: true
|
||||
type: boolean
|
||||
fujipian_juzhendianwei:
|
||||
default: 0
|
||||
type: integer
|
||||
fujipian_panshu:
|
||||
type: integer
|
||||
gemo_juzhendianwei:
|
||||
default: 0
|
||||
type: integer
|
||||
gemopanshu:
|
||||
default: 0
|
||||
type: integer
|
||||
lvbodian:
|
||||
default: true
|
||||
type: boolean
|
||||
required:
|
||||
- fujipian_panshu
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: qiming_coin_cell_code参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
|
||||
status_types:
|
||||
data_assembly_coin_cell_num: int
|
||||
data_assembly_pressure: int
|
||||
data_assembly_time: float
|
||||
data_axis_x_pos: float
|
||||
data_axis_y_pos: float
|
||||
data_axis_z_pos: float
|
||||
data_coin_cell_code: str
|
||||
data_coin_num: int
|
||||
data_electrolyte_code: str
|
||||
data_electrolyte_volume: int
|
||||
data_glove_box_o2_content: float
|
||||
data_glove_box_pressure: float
|
||||
data_glove_box_water_content: float
|
||||
data_open_circuit_voltage: float
|
||||
data_pole_weight: float
|
||||
request_rec_msg_status: bool
|
||||
request_send_msg_status: bool
|
||||
sys_mode: str
|
||||
sys_status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: ''
|
||||
handles: []
|
||||
icon: koudian.webp
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
address:
|
||||
default: 172.16.28.102
|
||||
type: string
|
||||
config:
|
||||
type: object
|
||||
debug_mode:
|
||||
default: false
|
||||
type: boolean
|
||||
deck:
|
||||
type: string
|
||||
port:
|
||||
default: '502'
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
data_assembly_coin_cell_num:
|
||||
type: integer
|
||||
data_assembly_pressure:
|
||||
type: integer
|
||||
data_assembly_time:
|
||||
type: number
|
||||
data_axis_x_pos:
|
||||
type: number
|
||||
data_axis_y_pos:
|
||||
type: number
|
||||
data_axis_z_pos:
|
||||
type: number
|
||||
data_coin_cell_code:
|
||||
type: string
|
||||
data_coin_num:
|
||||
type: integer
|
||||
data_electrolyte_code:
|
||||
type: string
|
||||
data_electrolyte_volume:
|
||||
type: integer
|
||||
data_glove_box_o2_content:
|
||||
type: number
|
||||
data_glove_box_pressure:
|
||||
type: number
|
||||
data_glove_box_water_content:
|
||||
type: number
|
||||
data_open_circuit_voltage:
|
||||
type: number
|
||||
data_pole_weight:
|
||||
type: number
|
||||
request_rec_msg_status:
|
||||
type: boolean
|
||||
request_send_msg_status:
|
||||
type: boolean
|
||||
sys_mode:
|
||||
type: string
|
||||
sys_status:
|
||||
type: string
|
||||
required:
|
||||
- sys_status
|
||||
- sys_mode
|
||||
- request_rec_msg_status
|
||||
- request_send_msg_status
|
||||
- data_assembly_coin_cell_num
|
||||
- data_assembly_time
|
||||
- data_open_circuit_voltage
|
||||
- data_axis_x_pos
|
||||
- data_axis_y_pos
|
||||
- data_axis_z_pos
|
||||
- data_pole_weight
|
||||
- data_assembly_pressure
|
||||
- data_electrolyte_volume
|
||||
- data_coin_num
|
||||
- data_coin_cell_code
|
||||
- data_electrolyte_code
|
||||
- data_glove_box_pressure
|
||||
- data_glove_box_o2_content
|
||||
- data_glove_box_water_content
|
||||
type: object
|
||||
registry_type: device
|
||||
version: 1.0.0
|
||||
@@ -654,31 +654,6 @@ liquid_handler:
|
||||
title: iter_tips参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_group:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -6195,31 +6170,6 @@ liquid_handler.prcxi:
|
||||
title: move_to参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-run_protocol:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
|
||||
@@ -1 +1,479 @@
|
||||
{}
|
||||
reaction_station.bioyond:
|
||||
category:
|
||||
- work_station
|
||||
- reaction_station_bioyond
|
||||
class:
|
||||
action_value_mappings:
|
||||
drip_back:
|
||||
feedback: {}
|
||||
goal:
|
||||
assign_material_name: assign_material_name
|
||||
temperature: temperature
|
||||
time: time
|
||||
titration_type: titration_type
|
||||
torque_variation: torque_variation
|
||||
volume: volume
|
||||
goal_default:
|
||||
assign_material_name: ''
|
||||
temperature: ''
|
||||
time: ''
|
||||
titration_type: ''
|
||||
torque_variation: ''
|
||||
volume: ''
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 滴回去
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assign_material_name:
|
||||
description: 物料名称（不能为空）
|
||||
type: string
|
||||
temperature:
|
||||
description: 温度设定(°C)
|
||||
type: string
|
||||
time:
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
titration_type:
|
||||
description: 是否滴定(1=否, 2=是)
|
||||
type: string
|
||||
torque_variation:
|
||||
description: 是否观察 (1=否, 2=是)
|
||||
type: string
|
||||
volume:
|
||||
description: 分液公式(μL)
|
||||
type: string
|
||||
required:
|
||||
- volume
|
||||
- assign_material_name
|
||||
- time
|
||||
- torque_variation
|
||||
- titration_type
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: drip_back参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
liquid_feeding_beaker:
|
||||
feedback: {}
|
||||
goal:
|
||||
assign_material_name: assign_material_name
|
||||
temperature: temperature
|
||||
time: time
|
||||
titration_type: titration_type
|
||||
torque_variation: torque_variation
|
||||
volume: volume
|
||||
goal_default:
|
||||
assign_material_name: ''
|
||||
temperature: ''
|
||||
time: ''
|
||||
titration_type: ''
|
||||
torque_variation: ''
|
||||
volume: ''
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 液体进料烧杯
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assign_material_name:
|
||||
description: 物料名称
|
||||
type: string
|
||||
temperature:
|
||||
description: 温度设定(°C)
|
||||
type: string
|
||||
time:
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
titration_type:
|
||||
description: 是否滴定(1=否, 2=是)
|
||||
type: string
|
||||
torque_variation:
|
||||
description: 是否观察 (1=否, 2=是)
|
||||
type: string
|
||||
volume:
|
||||
description: 分液公式(μL)
|
||||
type: string
|
||||
required:
|
||||
- volume
|
||||
- assign_material_name
|
||||
- time
|
||||
- torque_variation
|
||||
- titration_type
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: liquid_feeding_beaker参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
liquid_feeding_solvents:
|
||||
feedback: {}
|
||||
goal:
|
||||
assign_material_name: assign_material_name
|
||||
solvents: solvents
|
||||
temperature: temperature
|
||||
time: time
|
||||
titration_type: titration_type
|
||||
torque_variation: torque_variation
|
||||
volume: volume
|
||||
goal_default:
|
||||
assign_material_name: ''
|
||||
solvents: ''
|
||||
temperature: '25.00'
|
||||
time: '360'
|
||||
titration_type: '1'
|
||||
torque_variation: '2'
|
||||
volume: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: solvents
|
||||
data_source: handle
|
||||
data_type: object
|
||||
handler_key: solvents
|
||||
io_type: source
|
||||
label: Solvents Data From Calculation Node
|
||||
result: {}
|
||||
schema:
|
||||
description: 液体投料-溶剂。可以直接提供volume(μL),或通过solvents对象自动从additional_solvent(mL)计算volume。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assign_material_name:
|
||||
description: 物料名称
|
||||
type: string
|
||||
solvents:
|
||||
description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
|
||||
type: string
|
||||
temperature:
|
||||
default: '25.00'
|
||||
description: 温度设定(°C),默认25.00
|
||||
type: string
|
||||
time:
|
||||
default: '360'
|
||||
description: 观察时间(分钟),默认360
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
description: 是否滴定(1=否, 2=是),默认1
|
||||
type: string
|
||||
torque_variation:
|
||||
default: '2'
|
||||
description: 是否观察 (1=否, 2=是),默认2
|
||||
type: string
|
||||
volume:
|
||||
description: 分液量(μL)。可直接提供,或通过solvents参数自动计算
|
||||
type: string
|
||||
required:
|
||||
- assign_material_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: liquid_feeding_solvents参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
liquid_feeding_titration:
|
||||
feedback: {}
|
||||
goal:
|
||||
assign_material_name: assign_material_name
|
||||
temperature: temperature
|
||||
time: time
|
||||
titration_type: titration_type
|
||||
torque_variation: torque_variation
|
||||
volume_formula: volume_formula
|
||||
goal_default:
|
||||
assign_material_name: ''
|
||||
temperature: ''
|
||||
time: ''
|
||||
titration_type: ''
|
||||
torque_variation: ''
|
||||
volume_formula: ''
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 液体进料(滴定)
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assign_material_name:
|
||||
description: 物料名称
|
||||
type: string
|
||||
temperature:
|
||||
description: 温度设定(°C)
|
||||
type: string
|
||||
time:
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
titration_type:
|
||||
description: 是否滴定(1=否, 2=是)
|
||||
type: string
|
||||
torque_variation:
|
||||
description: 是否观察 (1=否, 2=是)
|
||||
type: string
|
||||
volume_formula:
|
||||
description: 分液公式(μL)
|
||||
type: string
|
||||
required:
|
||||
- volume_formula
|
||||
- assign_material_name
|
||||
- time
|
||||
- torque_variation
|
||||
- titration_type
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: liquid_feeding_titration参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
liquid_feeding_vials_non_titration:
|
||||
feedback: {}
|
||||
goal:
|
||||
assign_material_name: assign_material_name
|
||||
temperature: temperature
|
||||
time: time
|
||||
titration_type: titration_type
|
||||
torque_variation: torque_variation
|
||||
volume_formula: volume_formula
|
||||
goal_default:
|
||||
assign_material_name: ''
|
||||
temperature: ''
|
||||
time: ''
|
||||
titration_type: ''
|
||||
torque_variation: ''
|
||||
volume_formula: ''
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 液体进料小瓶(非滴定)
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assign_material_name:
|
||||
description: 物料名称
|
||||
type: string
|
||||
temperature:
|
||||
description: 温度设定(°C)
|
||||
type: string
|
||||
time:
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
titration_type:
|
||||
description: 是否滴定(1=否, 2=是)
|
||||
type: string
|
||||
torque_variation:
|
||||
description: 是否观察 (1=否, 2=是)
|
||||
type: string
|
||||
volume_formula:
|
||||
description: 分液公式(μL)
|
||||
type: string
|
||||
required:
|
||||
- volume_formula
|
||||
- assign_material_name
|
||||
- time
|
||||
- torque_variation
|
||||
- titration_type
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: liquid_feeding_vials_non_titration参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
process_and_execute_workflow:
|
||||
feedback: {}
|
||||
goal:
|
||||
task_name: task_name
|
||||
workflow_name: workflow_name
|
||||
goal_default:
|
||||
task_name: ''
|
||||
workflow_name: ''
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 处理并执行工作流
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
task_name:
|
||||
description: 任务名称
|
||||
type: string
|
||||
workflow_name:
|
||||
description: 工作流名称
|
||||
type: string
|
||||
required:
|
||||
- workflow_name
|
||||
- task_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: process_and_execute_workflow参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
reactor_taken_in:
|
||||
feedback: {}
|
||||
goal:
|
||||
assign_material_name: assign_material_name
|
||||
cutoff: cutoff
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
assign_material_name: ''
|
||||
cutoff: ''
|
||||
temperature: ''
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assign_material_name:
|
||||
description: 物料名称
|
||||
type: string
|
||||
cutoff:
|
||||
description: 粘度上限
|
||||
type: string
|
||||
temperature:
|
||||
description: 温度设定(°C)
|
||||
type: string
|
||||
required:
|
||||
- cutoff
|
||||
- temperature
|
||||
- assign_material_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: reactor_taken_in参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
reactor_taken_out:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
code:
|
||||
description: 操作结果代码(1表示成功,0表示失败)
|
||||
type: integer
|
||||
return_info:
|
||||
description: 操作结果详细信息
|
||||
type: string
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: reactor_taken_out参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
solid_feeding_vials:
|
||||
feedback: {}
|
||||
goal:
|
||||
assign_material_name: assign_material_name
|
||||
material_id: material_id
|
||||
temperature: temperature
|
||||
time: time
|
||||
torque_variation: torque_variation
|
||||
goal_default:
|
||||
assign_material_name: ''
|
||||
material_id: ''
|
||||
temperature: ''
|
||||
time: ''
|
||||
torque_variation: ''
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA)
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assign_material_name:
|
||||
description: 物料名称(用于获取试剂瓶位ID)
|
||||
type: string
|
||||
material_id:
|
||||
description: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
|
||||
type: string
|
||||
temperature:
|
||||
description: 温度设定(°C)
|
||||
type: string
|
||||
time:
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
torque_variation:
|
||||
description: 是否观察 (1=否, 2=是)
|
||||
type: string
|
||||
required:
|
||||
- assign_material_name
|
||||
- material_id
|
||||
- time
|
||||
- torque_variation
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: solid_feeding_vials参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation
|
||||
protocol_type: []
|
||||
status_types:
|
||||
all_workflows: dict
|
||||
bioyond_status: dict
|
||||
workstation_status: dict
|
||||
type: python
|
||||
config_info: []
|
||||
description: Bioyond反应站
|
||||
handles: []
|
||||
icon: reaction_station.webp
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: object
|
||||
deck:
|
||||
type: object
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
all_workflows:
|
||||
type: object
|
||||
bioyond_status:
|
||||
type: object
|
||||
workstation_status:
|
||||
type: object
|
||||
required:
|
||||
- bioyond_status
|
||||
- all_workflows
|
||||
- workstation_status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -834,3 +834,174 @@ linear_motion.toyo_xyz.sim:
|
||||
mesh: toyo_xyz
|
||||
type: device
|
||||
version: 1.0.0
|
||||
motor.iCL42:
|
||||
category:
|
||||
- robot_linear_motion
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-execute_run_motor:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
mode: null
|
||||
position: null
|
||||
velocity: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 步进电机执行运动函数。直接执行电机运动命令，包括位置设定、速度控制和路径规划。该函数处理底层的电机控制协议，消除警告信息，设置运动参数并启动电机运行。适用于需要直接控制电机运动的应用场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
mode:
|
||||
type: string
|
||||
position:
|
||||
type: number
|
||||
velocity:
|
||||
type: integer
|
||||
required:
|
||||
- mode
|
||||
- position
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: execute_run_motor参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-init_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: iCL42电机设备初始化函数。建立与iCL42步进电机驱动器的串口通信连接，配置通信参数包括波特率、数据位、校验位等。该函数是电机使用前的必要步骤，确保驱动器处于可控状态并准备接收运动指令。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: init_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-run_motor:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
mode: null
|
||||
position: null
|
||||
velocity: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 步进电机运动控制函数。根据指定的运动模式、目标位置和速度参数控制电机运动。支持多种运动模式和精确的位置控制，自动处理运动轨迹规划和执行。该函数提供异步执行和状态反馈，确保运动的准确性和可靠性。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
mode:
|
||||
type: string
|
||||
position:
|
||||
type: number
|
||||
velocity:
|
||||
type: integer
|
||||
required:
|
||||
- mode
|
||||
- position
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: run_motor参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
execute_command_from_outer:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.motor.iCL42:iCL42Driver
|
||||
status_types:
|
||||
is_executing_run: bool
|
||||
motor_position: int
|
||||
success: bool
|
||||
type: python
|
||||
config_info: []
|
||||
description: iCL42步进电机驱动器，用于实验室设备的精密线性运动控制。该设备通过串口通信控制iCL42型步进电机驱动器，支持多种运动模式和精确的位置、速度控制。具备位置反馈、运行状态监控和故障检测功能。适用于自动进样器、样品传送、精密定位平台等需要准确线性运动控制的实验室自动化设备。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
device_address:
|
||||
default: 1
|
||||
type: integer
|
||||
device_com:
|
||||
default: COM9
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
is_executing_run:
|
||||
type: boolean
|
||||
motor_position:
|
||||
type: integer
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- motor_position
|
||||
- is_executing_run
|
||||
- success
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -45,31 +45,6 @@ virtual_centrifuge:
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
centrifuge:
|
||||
feedback:
|
||||
current_speed: current_speed
|
||||
@@ -360,31 +335,6 @@ virtual_column:
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
run_column:
|
||||
feedback:
|
||||
current_status: current_status
|
||||
@@ -782,31 +732,6 @@ virtual_filter:
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
filter:
|
||||
feedback:
|
||||
current_status: current_status
|
||||
@@ -1433,31 +1358,6 @@ virtual_heatchill:
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
heat_chill:
|
||||
feedback:
|
||||
status: status
|
||||
@@ -2458,31 +2358,6 @@ virtual_rotavap:
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
evaporate:
|
||||
feedback:
|
||||
current_device: current_device
|
||||
@@ -2815,31 +2690,6 @@ virtual_separator:
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
separate:
|
||||
feedback:
|
||||
current_status: status
|
||||
@@ -3750,31 +3600,6 @@ virtual_solenoid_valve:
|
||||
title: is_closed参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-reset:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -4352,31 +4177,6 @@ virtual_solid_dispenser:
|
||||
title: parse_mol_string参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
|
||||
status_types:
|
||||
current_reagent: str
|
||||
@@ -4478,31 +4278,6 @@ virtual_stirrer:
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
start_stir:
|
||||
feedback:
|
||||
status: status
|
||||
@@ -5220,31 +4995,6 @@ virtual_transfer_pump:
|
||||
title: is_full参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-pull_plunger:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
|
||||
6493
unilabos/registry/devices/work_station.yaml
Normal file
6493
unilabos/registry/devices/work_station.yaml
Normal file
File diff suppressed because it is too large
Load Diff
@@ -1,92 +0,0 @@
|
||||
YB_20ml_fenyeping:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping
|
||||
type: pylabrobot
|
||||
description: YB_20ml_fenyeping
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_5ml_fenyeping:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping
|
||||
type: pylabrobot
|
||||
description: YB_5ml_fenyeping
|
||||
handles: []
|
||||
icon: ''
|
||||
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_pei_ye_da_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_pei_ye_da_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_pei_ye_xiao_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_pei_ye_xiao_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_qiang_tou:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
|
||||
type: pylabrobot
|
||||
description: YB_qiang_tou
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_ye_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
- YB_bottle
|
||||
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
|
||||
@@ -1,182 +0,0 @@
|
||||
YB_100ml_yeti:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti
|
||||
type: pylabrobot
|
||||
description: YB_100ml_yeti
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_20ml_fenyepingban:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
|
||||
type: pylabrobot
|
||||
description: YB_20ml_fenyepingban
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_5ml_fenyepingban:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
|
||||
type: pylabrobot
|
||||
description: YB_5ml_fenyepingban
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_6StockCarrier:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier
|
||||
type: pylabrobot
|
||||
description: YB_6StockCarrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_6VialCarrier:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier
|
||||
type: pylabrobot
|
||||
description: YB_6VialCarrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_gao_nian_ye_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_gao_nian_ye_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_gaonianye:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
|
||||
type: pylabrobot
|
||||
description: YB_gaonianye
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_jia_yang_tou_da_Carrier:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
|
||||
type: pylabrobot
|
||||
description: YB_jia_yang_tou_da_Carrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_peiyepingdaban:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
|
||||
type: pylabrobot
|
||||
description: YB_peiyepingdaban
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_peiyepingxiaoban:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
|
||||
type: pylabrobot
|
||||
description: YB_peiyepingxiaoban
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_qiang_tou_he:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
|
||||
type: pylabrobot
|
||||
description: YB_qiang_tou_he
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_shi_pei_qi_kuai:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
|
||||
type: pylabrobot
|
||||
description: YB_shi_pei_qi_kuai
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_ye:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
|
||||
type: pylabrobot
|
||||
description: YB_ye_Bottle_Carrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_ye_100ml_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_ye_100ml_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
48
unilabos/registry/resources/bioyond/bottle_carriers.yaml
Normal file
48
unilabos/registry/resources/bioyond/bottle_carriers.yaml
Normal file
@@ -0,0 +1,48 @@
|
||||
BIOYOND_PolymerStation_1BottleCarrier:
|
||||
category:
|
||||
- bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1BottleCarrier
|
||||
type: pylabrobot
|
||||
description: BIOYOND_PolymerStation_1BottleCarrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_1FlaskCarrier:
|
||||
category:
|
||||
- bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1FlaskCarrier
|
||||
type: pylabrobot
|
||||
description: BIOYOND_PolymerStation_1FlaskCarrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_6StockCarrier:
|
||||
category:
|
||||
- bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6StockCarrier
|
||||
type: pylabrobot
|
||||
description: BIOYOND_PolymerStation_6StockCarrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_6VialCarrier:
|
||||
category:
|
||||
- bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6VialCarrier
|
||||
type: pylabrobot
|
||||
description: BIOYOND_PolymerStation_6VialCarrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
72
unilabos/registry/resources/bioyond/bottles.yaml
Normal file
72
unilabos/registry/resources/bioyond/bottles.yaml
Normal file
@@ -0,0 +1,72 @@
|
||||
BIOYOND_PolymerStation_Liquid_Vial:
|
||||
category:
|
||||
- bottles
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Vial
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_Reagent_Bottle:
|
||||
category:
|
||||
- bottles
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reagent_Bottle
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_Solid_Stock:
|
||||
category:
|
||||
- bottles
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Stock
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_Solid_Vial:
|
||||
category:
|
||||
- bottles
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Vial
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_Solution_Beaker:
|
||||
category:
|
||||
- bottles
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solution_Beaker
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_TipBox:
|
||||
category:
|
||||
- bottles
|
||||
- tip_boxes
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_Reactor:
|
||||
category:
|
||||
- bottles
|
||||
- reactors
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
@@ -22,27 +22,21 @@ BIOYOND_PolymerReactionStation_Deck:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_YB_Deck:
|
||||
|
||||
YB_Deck11:
|
||||
category:
|
||||
- deck
|
||||
class:
|
||||
module: unilabos.resources.bioyond.decks:BIOYOND_YB_Deck
|
||||
module: unilabos.resources.bioyond.decks:YB_Deck
|
||||
type: pylabrobot
|
||||
description: BIOYOND_YB_Deck
|
||||
description: BIOYOND PolymerReactionStation Deck
|
||||
handles: []
|
||||
icon: 配液站.webp
|
||||
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
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,56 +0,0 @@
|
||||
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
|
||||
@@ -1,179 +0,0 @@
|
||||
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
|
||||
@@ -1,344 +0,0 @@
|
||||
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()
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {
|
||||
**super().serialize(),
|
||||
"size_x": self.size_x or 10.0,
|
||||
"size_y": self.size_y or 10.0,
|
||||
"size_z": self.size_z or 10.0,
|
||||
"max_sheets": self.max_sheets,
|
||||
}
|
||||
|
||||
|
||||
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",
|
||||
)
|
||||
@@ -1,653 +0,0 @@
|
||||
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_jia_yang_tou_da,
|
||||
YB_ye_Bottle,
|
||||
YB_ye_100ml_Bottle,
|
||||
YB_gao_nian_ye_Bottle,
|
||||
YB_5ml_fenyeping,
|
||||
YB_20ml_fenyeping,
|
||||
YB_pei_ye_xiao_Bottle,
|
||||
YB_pei_ye_da_Bottle,
|
||||
YB_qiang_tou,
|
||||
)
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
|
||||
|
||||
|
||||
def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 30.0
|
||||
bottle_spacing_x = 42.0 # 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 - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
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_6VialCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
# for i in range(6):
|
||||
# carrier[i] = YB_Solid_Vial(f"{name}_vial_{i+1}")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
"""1瓶载架 - 单个中央位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 100.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 80.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="Electrolyte_1BottleCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
# carrier[0] = YB_Solution_Beaker(f"{name}_beaker_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def YB_6StockCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 20.0
|
||||
bottle_spacing_x = 42.0 # 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 - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
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="6StockCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
|
||||
# for i in range(6):
|
||||
# carrier[i] = YB_Solid_Stock(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
|
||||
def YB_6VialCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 30.0
|
||||
bottle_spacing_x = 42.0 # 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 - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
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="6VialCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
|
||||
# for i in range(3):
|
||||
# carrier[i] = YB_Solid_Vial(f"{name}_solidvial_{ordering[i]}")
|
||||
# for i in range(3, 6):
|
||||
# carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
# 1瓶载架 - 单个中央位置
|
||||
def YB_ye(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 60.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_ye",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = YB_ye_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
|
||||
# 高粘液瓶载架 - 单个中央位置
|
||||
def YB_gaonianye(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 60.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_gaonianye",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = YB_gao_nian_ye_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
|
||||
# 100ml液体瓶载架 - 单个中央位置
|
||||
def YB_100ml_yeti(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 60.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_100ml_yeti",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = YB_ye_100ml_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
# 5ml分液瓶板 - 4x2布局，8个位置
|
||||
def YB_5ml_fenyepingban(name: str) -> BottleCarrier:
|
||||
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 15.0
|
||||
bottle_spacing_x = 42.0 # 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 - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=4,
|
||||
num_items_y=2,
|
||||
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="YB_5ml_fenyepingban",
|
||||
)
|
||||
carrier.num_items_x = 4
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
|
||||
for i in range(8):
|
||||
carrier[i] = YB_5ml_fenyeping(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
# 20ml分液瓶板 - 4x2布局，8个位置
|
||||
def YB_20ml_fenyepingban(name: str) -> BottleCarrier:
|
||||
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 70.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 20.0
|
||||
bottle_spacing_x = 42.0 # 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 - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=4,
|
||||
num_items_y=2,
|
||||
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="YB_20ml_fenyepingban",
|
||||
)
|
||||
carrier.num_items_x = 4
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
|
||||
for i in range(8):
|
||||
carrier[i] = YB_20ml_fenyeping(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
# 配液瓶(小)板 - 4x2布局，8个位置
|
||||
def YB_peiyepingxiaoban(name: str) -> BottleCarrier:
|
||||
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 65.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 35.0
|
||||
bottle_spacing_x = 42.0 # 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 - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=4,
|
||||
num_items_y=2,
|
||||
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="YB_peiyepingxiaoban",
|
||||
)
|
||||
carrier.num_items_x = 4
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
|
||||
for i in range(8):
|
||||
carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_bottle_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
|
||||
# 配液瓶(大)板 - 2x2布局，4个位置
|
||||
def YB_peiyepingdaban(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 95.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 55.0
|
||||
bottle_spacing_x = 60.0 # X方向间距
|
||||
bottle_spacing_y = 60.0 # 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 - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=2,
|
||||
num_items_y=2,
|
||||
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="YB_peiyepingdaban",
|
||||
)
|
||||
carrier.num_items_x = 2
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "B1", "B2"]
|
||||
for i in range(4):
|
||||
carrier[i] = YB_pei_ye_da_Bottle(f"{name}_bottle_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
# 加样头(大)板 - 1x1布局，1个位置
|
||||
def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 95.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 35.0
|
||||
bottle_spacing_x = 42.0 # 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 - (1 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (1 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=1,
|
||||
num_items_y=1,
|
||||
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="YB_jia_yang_tou_da_Carrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier:
|
||||
"""适配器块 - 单个中央位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 30.0
|
||||
|
||||
# 适配器尺寸
|
||||
adapter_diameter = 80.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - adapter_diameter) / 2
|
||||
center_y = (carrier_size_y - adapter_diameter) / 2
|
||||
center_z = 0.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=adapter_diameter,
|
||||
resource_size_y=adapter_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_shi_pei_qi_kuai",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
# 适配器块本身不包含瓶子，只是一个支撑结构
|
||||
return carrier
|
||||
|
||||
|
||||
def YB_qiang_tou_he(name: str) -> BottleCarrier:
|
||||
"""枪头盒 - 8x12布局，96个位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 55.0
|
||||
|
||||
# 枪头尺寸
|
||||
tip_diameter = 10.0
|
||||
tip_spacing_x = 9.0 # X方向间距
|
||||
tip_spacing_y = 9.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2
|
||||
start_y = (carrier_size_y - (8 - 1) * tip_spacing_y - tip_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=tip_spacing_x,
|
||||
item_dy=tip_spacing_y,
|
||||
size_x=tip_diameter,
|
||||
size_y=tip_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="YB_qiang_tou_he",
|
||||
)
|
||||
carrier.num_items_x = 12
|
||||
carrier.num_items_y = 8
|
||||
carrier.num_items_z = 1
|
||||
# 创建96个枪头
|
||||
for i in range(96):
|
||||
row = chr(65 + i // 12) # A-H
|
||||
col = (i % 12) + 1 # 1-12
|
||||
carrier[i] = YB_qiang_tou(f"{name}_tip_{row}{col}")
|
||||
return carrier
|
||||
|
||||
@@ -1,163 +0,0 @@
|
||||
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
|
||||
# 工厂函数
|
||||
"""加样头（大）"""
|
||||
def YB_jia_yang_tou_da(
|
||||
name: str,
|
||||
diameter: float = 20.0,
|
||||
height: float = 100.0,
|
||||
max_volume: float = 30000.0, # 30mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建粉末瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,# 未知
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_jia_yang_tou_da",
|
||||
)
|
||||
|
||||
"""液1x1"""
|
||||
def YB_ye_Bottle(
|
||||
name: str,
|
||||
diameter: float = 40.0,
|
||||
height: float = 70.0,
|
||||
max_volume: float = 50000.0, # 50mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建液体瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_ye_Bottle",
|
||||
)
|
||||
|
||||
"""100ml液体"""
|
||||
def YB_ye_100ml_Bottle(
|
||||
name: str,
|
||||
diameter: float = 50.0,
|
||||
height: float = 90.0,
|
||||
max_volume: float = 100000.0, # 100mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建100ml液体瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_100ml_yeti",
|
||||
)
|
||||
|
||||
"""高粘液"""
|
||||
def YB_gao_nian_ye_Bottle(
|
||||
name: str,
|
||||
diameter: float = 40.0,
|
||||
height: float = 70.0,
|
||||
max_volume: float = 50000.0, # 50mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建高粘液瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="High_Viscosity_Liquid",
|
||||
)
|
||||
|
||||
"""5ml分液瓶"""
|
||||
def YB_5ml_fenyeping(
|
||||
name: str,
|
||||
diameter: float = 20.0,
|
||||
height: float = 50.0,
|
||||
max_volume: float = 5000.0, # 5mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建5ml分液瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_5ml_fenyeping",
|
||||
)
|
||||
|
||||
"""20ml分液瓶"""
|
||||
def YB_20ml_fenyeping(
|
||||
name: str,
|
||||
diameter: float = 30.0,
|
||||
height: float = 65.0,
|
||||
max_volume: float = 20000.0, # 20mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建20ml分液瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_20ml_fenyeping",
|
||||
)
|
||||
|
||||
"""配液瓶(小)"""
|
||||
def YB_pei_ye_xiao_Bottle(
|
||||
name: str,
|
||||
diameter: float = 35.0,
|
||||
height: float = 60.0,
|
||||
max_volume: float = 30000.0, # 30mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建配液瓶(小)"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_pei_ye_xiao_Bottle",
|
||||
)
|
||||
|
||||
"""配液瓶(大)"""
|
||||
def YB_pei_ye_da_Bottle(
|
||||
name: str,
|
||||
diameter: float = 55.0,
|
||||
height: float = 100.0,
|
||||
max_volume: float = 150000.0, # 150mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建配液瓶(大)"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_pei_ye_da_Bottle",
|
||||
)
|
||||
|
||||
"""枪头"""
|
||||
def YB_qiang_tou(
|
||||
name: str,
|
||||
diameter: float = 10.0,
|
||||
height: float = 50.0,
|
||||
max_volume: float = 1000.0, # 1mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建枪头"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_qiang_tou",
|
||||
)
|
||||
276
unilabos/resources/bioyond/bottle_carriers.py
Normal file
276
unilabos/resources/bioyond/bottle_carriers.py
Normal file
@@ -0,0 +1,276 @@
|
||||
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.bottles import (
|
||||
BIOYOND_PolymerStation_Solid_Stock,
|
||||
BIOYOND_PolymerStation_Solid_Vial,
|
||||
BIOYOND_PolymerStation_Liquid_Vial,
|
||||
BIOYOND_PolymerStation_Solution_Beaker,
|
||||
BIOYOND_PolymerStation_Reagent_Bottle
|
||||
)
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
|
||||
|
||||
|
||||
def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 30.0
|
||||
bottle_spacing_x = 42.0 # 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 - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
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="BIOYOND_Electrolyte_6VialCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
for i in range(6):
|
||||
carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{i+1}")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
"""1瓶载架 - 单个中央位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 100.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 80.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="BIOYOND_Electrolyte_1BottleCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 20.0
|
||||
bottle_spacing_x = 42.0 # 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 - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
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="BIOYOND_PolymerStation_6VialCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
|
||||
for i in range(6):
|
||||
carrier[i] = BIOYOND_PolymerStation_Solid_Stock(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 30.0
|
||||
bottle_spacing_x = 42.0 # 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 - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
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="BIOYOND_PolymerStation_6VialCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
|
||||
for i in range(3):
|
||||
carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_solidvial_{ordering[i]}")
|
||||
for i in range(3, 6):
|
||||
carrier[i] = BIOYOND_PolymerStation_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
"""1瓶载架 - 单个中央位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 60.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="BIOYOND_PolymerStation_1BottleCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier:
|
||||
"""1瓶载架 - 单个中央位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 70.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="BIOYOND_PolymerStation_1FlaskCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_bottle_1")
|
||||
return carrier
|
||||
178
unilabos/resources/bioyond/bottles.py
Normal file
178
unilabos/resources/bioyond/bottles.py
Normal file
@@ -0,0 +1,178 @@
|
||||
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
|
||||
# 工厂函数
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Solid_Stock(
|
||||
name: str,
|
||||
diameter: float = 20.0,
|
||||
height: float = 100.0,
|
||||
max_volume: float = 30000.0, # 30mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建粉末瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="BIOYOND_PolymerStation_Solid_Stock",
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Solid_Vial(
|
||||
name: str,
|
||||
diameter: float = 25.0,
|
||||
height: float = 60.0,
|
||||
max_volume: float = 30000.0, # 30mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建粉末瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="BIOYOND_PolymerStation_Solid_Vial",
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Liquid_Vial(
|
||||
name: str,
|
||||
diameter: float = 25.0,
|
||||
height: float = 60.0,
|
||||
max_volume: float = 30000.0, # 30mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建滴定液瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="BIOYOND_PolymerStation_Liquid_Vial",
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Solution_Beaker(
|
||||
name: str,
|
||||
diameter: float = 60.0,
|
||||
height: float = 70.0,
|
||||
max_volume: float = 200000.0, # 200mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建溶液烧杯"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="BIOYOND_PolymerStation_Solution_Beaker",
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Reagent_Bottle(
|
||||
name: str,
|
||||
diameter: float = 70.0,
|
||||
height: float = 120.0,
|
||||
max_volume: float = 500000.0, # 500mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建试剂瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="BIOYOND_PolymerStation_Reagent_Bottle",
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Reactor(
|
||||
name: str,
|
||||
diameter: float = 30.0,
|
||||
height: float = 80.0,
|
||||
max_volume: float = 50000.0, # 50mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建反应器"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="BIOYOND_PolymerStation_Reactor",
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_TipBox(
|
||||
name: str,
|
||||
size_x: float = 127.76, # 枪头盒宽度
|
||||
size_y: float = 85.48, # 枪头盒长度
|
||||
size_z: float = 100.0, # 枪头盒高度
|
||||
barcode: str = None,
|
||||
):
|
||||
"""创建4×6枪头盒 (24个枪头)
|
||||
|
||||
Args:
|
||||
name: 枪头盒名称
|
||||
size_x: 枪头盒宽度 (mm)
|
||||
size_y: 枪头盒长度 (mm)
|
||||
size_z: 枪头盒高度 (mm)
|
||||
barcode: 条形码
|
||||
|
||||
Returns:
|
||||
TipBoxCarrier: 包含24个枪头孔位的枪头盒
|
||||
"""
|
||||
from pylabrobot.resources import Container, Coordinate
|
||||
|
||||
# 创建枪头盒容器
|
||||
tip_box = Container(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category="tip_rack",
|
||||
model="BIOYOND_PolymerStation_TipBox_4x6",
|
||||
)
|
||||
|
||||
# 设置自定义属性
|
||||
tip_box.barcode = barcode
|
||||
tip_box.tip_count = 24 # 4行×6列
|
||||
tip_box.num_items_x = 6 # 6列
|
||||
tip_box.num_items_y = 4 # 4行
|
||||
|
||||
# 创建24个枪头孔位 (4行×6列)
|
||||
# 假设孔位间距为 9mm
|
||||
tip_spacing_x = 9.0 # 列间距
|
||||
tip_spacing_y = 9.0 # 行间距
|
||||
start_x = 14.38 # 第一个孔位的x偏移
|
||||
start_y = 11.24 # 第一个孔位的y偏移
|
||||
|
||||
for row in range(4): # A, B, C, D
|
||||
for col in range(6): # 1-6
|
||||
spot_name = f"{chr(65 + row)}{col + 1}" # A1, A2, ..., D6
|
||||
x = start_x + col * tip_spacing_x
|
||||
y = start_y + row * tip_spacing_y
|
||||
|
||||
# 创建枪头孔位容器
|
||||
tip_spot = Container(
|
||||
name=spot_name,
|
||||
size_x=8.0, # 单个枪头孔位大小
|
||||
size_y=8.0,
|
||||
size_z=size_z - 10.0, # 略低于盒子高度
|
||||
category="tip_spot",
|
||||
)
|
||||
|
||||
# 添加到枪头盒
|
||||
tip_box.assign_child_resource(
|
||||
tip_spot,
|
||||
location=Coordinate(x=x, y=y, z=0)
|
||||
)
|
||||
|
||||
return tip_box
|
||||
@@ -1,8 +1,22 @@
|
||||
from os import name
|
||||
from pickle import TRUE
|
||||
from pylabrobot.resources import Deck, Coordinate, Rotation
|
||||
|
||||
from unilabos.resources.bioyond.YB_warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1, bioyond_warehouse_20x1x1, bioyond_warehouse_2x2x1, bioyond_warehouse_3x5x1
|
||||
from unilabos.resources.bioyond.warehouses import (
|
||||
bioyond_warehouse_1x4x4,
|
||||
bioyond_warehouse_1x4x4_right, # 新增：右侧仓库 (A05～D08)
|
||||
bioyond_warehouse_1x4x2,
|
||||
bioyond_warehouse_liquid_and_lid_handling,
|
||||
bioyond_warehouse_1x2x2,
|
||||
bioyond_warehouse_1x3x3,
|
||||
bioyond_warehouse_10x1x1,
|
||||
bioyond_warehouse_3x3x1,
|
||||
bioyond_warehouse_3x3x1_2,
|
||||
bioyond_warehouse_5x1x1,
|
||||
bioyond_warehouse_1x8x4,
|
||||
bioyond_warehouse_reagent_storage,
|
||||
bioyond_warehouse_liquid_preparation,
|
||||
bioyond_warehouse_tipbox_storage, # 新增：Tip盒堆栈
|
||||
)
|
||||
|
||||
|
||||
class BIOYOND_PolymerReactionStation_Deck(Deck):
|
||||
@@ -21,21 +35,29 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
|
||||
|
||||
def setup(self) -> None:
|
||||
# 添加仓库
|
||||
# 说明: 堆栈1物理上分为左右两部分
|
||||
# - 堆栈1左: A01～D04 (4行×4列, 位于反应站左侧)
|
||||
# - 堆栈1右: A05～D08 (4行×4列, 位于反应站右侧)
|
||||
self.warehouses = {
|
||||
"堆栈1": bioyond_warehouse_1x4x4("堆栈1"),
|
||||
"堆栈2": bioyond_warehouse_1x4x4("堆栈2"),
|
||||
"站内试剂存放堆栈": bioyond_warehouse_liquid_and_lid_handling("站内试剂存放堆栈"),
|
||||
"堆栈1左": bioyond_warehouse_1x4x4("堆栈1左"), # 左侧堆栈: A01～D04
|
||||
"堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"), # 右侧堆栈: A05～D08
|
||||
"站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"), # A01～A02
|
||||
"移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"), # A01～B04
|
||||
"站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"), # A01～B03, 存放枪头盒
|
||||
}
|
||||
self.warehouse_locations = {
|
||||
"堆栈1": Coordinate(0.0, 430.0, 0.0),
|
||||
"堆栈2": Coordinate(2550.0, 430.0, 0.0),
|
||||
"站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0),
|
||||
"堆栈1左": Coordinate(0.0, 430.0, 0.0), # 左侧位置
|
||||
"堆栈1右": Coordinate(2500.0, 430.0, 0.0), # 右侧位置
|
||||
"站内试剂存放堆栈": Coordinate(1100.0, 475.0, 0.0),
|
||||
"移液站内10%分装液体准备仓库": Coordinate(1500.0, 300.0, 0.0),
|
||||
"站内Tip盒堆栈": Coordinate(1800.0, 300.0, 0.0), # TODO: 根据实际位置调整坐标
|
||||
}
|
||||
self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
|
||||
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
|
||||
class BIOYOND_PolymerPreparationStation_Deck(Deck):
|
||||
def __init__(
|
||||
self,
|
||||
@@ -85,32 +107,40 @@ class BIOYOND_YB_Deck(Deck):
|
||||
def setup(self) -> None:
|
||||
# 添加仓库
|
||||
self.warehouses = {
|
||||
"自动堆栈-左": bioyond_warehouse_2x2x1("自动堆栈-左"),
|
||||
"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": 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": bioyond_warehouse_10x1x1("试剂替换仓库"),
|
||||
"321窗口": bioyond_warehouse_1x2x2("321窗口"),
|
||||
"43窗口": bioyond_warehouse_1x2x2("43窗口"),
|
||||
"手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"),
|
||||
"手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"),
|
||||
"加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
|
||||
"加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"),
|
||||
|
||||
"15ml配液堆栈左": bioyond_warehouse_3x3x1("15ml配液堆栈左"),
|
||||
"母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"),
|
||||
"大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"),
|
||||
"大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"),
|
||||
}
|
||||
# warehouse 的位置
|
||||
self.warehouse_locations = {
|
||||
"自动堆栈-左": Coordinate(-100.3, 171.5, 0.0),
|
||||
"自动堆栈-右": Coordinate(3960.1, 155.9, 0.0),
|
||||
"手动堆栈-左": Coordinate(-213.3, 804.4, 0.0),
|
||||
"手动堆栈-右": Coordinate(3960.1, 807.6, 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, 437.0, 0.0),
|
||||
"试剂替换仓库": Coordinate(1173.0, 802.0, 0.0),
|
||||
"321窗口": Coordinate(-150.0, 158.0, 0.0),
|
||||
"43窗口": Coordinate(4160.0, 158.0, 0.0),
|
||||
"手动传递窗左": Coordinate(-150.0, 877.0, 0.0),
|
||||
"手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
|
||||
"加样头堆栈左": Coordinate(385.0, 1300.0, 0.0),
|
||||
"加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0),
|
||||
|
||||
"15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0),
|
||||
"母液加样右": Coordinate(2152.0, 333.0, 0.0),
|
||||
"大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0),
|
||||
"大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0),
|
||||
}
|
||||
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
# def YB_Deck(name: str) -> Deck:
|
||||
# # by=BIOYOND_YB_Deck(name=name)
|
||||
# # by.setup()
|
||||
# return None
|
||||
def YB_Deck(name: str) -> Deck:
|
||||
by=BIOYOND_YB_Deck(name=name)
|
||||
by.setup()
|
||||
return by
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,26 +1,46 @@
|
||||
from unilabos.resources.warehouse import WareHouse, YB_warehouse_factory
|
||||
from unilabos.resources.warehouse import WareHouse, warehouse_factory
|
||||
|
||||
|
||||
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return YB_warehouse_factory(
|
||||
"""创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1,
|
||||
num_items_x=4,
|
||||
num_items_y=4,
|
||||
num_items_z=4,
|
||||
num_items_z=1,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
item_dx=147.0,
|
||||
item_dy=106.0,
|
||||
item_dz=130.0,
|
||||
category="warehouse",
|
||||
col_offset=0, # 从01开始: A01, A02, A03, A04
|
||||
)
|
||||
|
||||
|
||||
def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4,
|
||||
num_items_y=4,
|
||||
num_items_z=1,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=147.0,
|
||||
item_dy=106.0,
|
||||
item_dz=130.0,
|
||||
category="warehouse",
|
||||
col_offset=4, # 从05开始: A05, A06, A07, A08
|
||||
)
|
||||
|
||||
|
||||
|
||||
def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x2仓库"""
|
||||
return YB_warehouse_factory(
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1,
|
||||
num_items_y=4,
|
||||
@@ -37,39 +57,22 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
|
||||
# 定义benyond的堆栈
|
||||
def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return YB_warehouse_factory(
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=2,
|
||||
num_items_x=1,
|
||||
num_items_y=2,
|
||||
num_items_z=1,
|
||||
num_items_z=2,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="YB_warehouse",
|
||||
category="warehouse",
|
||||
)
|
||||
|
||||
def bioyond_warehouse_2x2x1(name: str) -> WareHouse:
|
||||
"""创建BioYond 2x2x1仓库（自动堆栈）"""
|
||||
return YB_warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=2,
|
||||
num_items_y=2,
|
||||
num_items_z=1,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="YB_warehouse",
|
||||
)
|
||||
|
||||
def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return YB_warehouse_factory(
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=10,
|
||||
num_items_y=1,
|
||||
@@ -84,7 +87,7 @@ def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
|
||||
)
|
||||
def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return YB_warehouse_factory(
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1,
|
||||
num_items_y=3,
|
||||
@@ -99,7 +102,7 @@ def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
|
||||
)
|
||||
def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return YB_warehouse_factory(
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=2,
|
||||
num_items_y=1,
|
||||
@@ -115,7 +118,7 @@ def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
|
||||
|
||||
def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return YB_warehouse_factory(
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3,
|
||||
num_items_y=3,
|
||||
@@ -130,7 +133,7 @@ def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
|
||||
)
|
||||
def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return YB_warehouse_factory(
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=5,
|
||||
num_items_y=1,
|
||||
@@ -145,7 +148,7 @@ def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
|
||||
)
|
||||
def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return YB_warehouse_factory(
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3,
|
||||
num_items_y=3,
|
||||
@@ -161,7 +164,7 @@ def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
|
||||
|
||||
def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
|
||||
"""创建BioYond开关盖加液模块台面"""
|
||||
return YB_warehouse_factory(
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=2,
|
||||
num_items_y=5,
|
||||
@@ -176,13 +179,31 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
|
||||
removed_positions=None
|
||||
)
|
||||
|
||||
def bioyond_warehouse_3x5x1(name: str) -> WareHouse:
|
||||
"""创建BioYond 3x5x1仓库（手动堆栈）"""
|
||||
return YB_warehouse_factory(
|
||||
|
||||
def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
|
||||
"""创建BioYond 8x4x1反应站堆栈（A01～D08）"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3,
|
||||
num_items_y=5,
|
||||
num_items_z=1,
|
||||
num_items_x=8, # 8列（01-08）
|
||||
num_items_y=4, # 4行（A-D）
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=147.0,
|
||||
item_dy=106.0,
|
||||
item_dz=130.0,
|
||||
category="warehouse",
|
||||
)
|
||||
|
||||
|
||||
def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
|
||||
"""创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=2, # 2列（01-02）
|
||||
num_items_y=1, # 1行（A）
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
@@ -192,13 +213,31 @@ def bioyond_warehouse_3x5x1(name: str) -> WareHouse:
|
||||
category="warehouse",
|
||||
)
|
||||
|
||||
def bioyond_warehouse_20x1x1(name: str) -> WareHouse:
|
||||
"""创建BioYond 20x1x1仓库（粉末加样头堆栈）"""
|
||||
return YB_warehouse_factory(
|
||||
|
||||
def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
|
||||
"""创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=20,
|
||||
num_items_y=1,
|
||||
num_items_z=1,
|
||||
num_items_x=4, # 4列（01-04）
|
||||
num_items_y=2, # 2行（A-B）
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
)
|
||||
|
||||
|
||||
def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
|
||||
"""创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3, # 3列（01-03）
|
||||
num_items_y=2, # 2行（A-B）
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
@@ -580,6 +580,8 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
|
||||
"trash": "trash",
|
||||
"deck": "deck",
|
||||
"tip_rack": "tip_rack",
|
||||
"warehouse": "warehouse",
|
||||
"container": "container",
|
||||
}
|
||||
if source in replace_info:
|
||||
return replace_info[source]
|
||||
@@ -625,8 +627,6 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
Returns:
|
||||
pylabrobot 格式的物料列表
|
||||
"""
|
||||
print("1:bioyond_materials:",bioyond_materials)
|
||||
# print("2:type_mapping:",type_mapping)
|
||||
plr_materials = []
|
||||
|
||||
for material in bioyond_materials:
|
||||
@@ -634,11 +634,24 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
type_mapping.get(material.get("typeName"), ("RegularContainer", ""))[0] if type_mapping else "RegularContainer"
|
||||
)
|
||||
|
||||
plr_material: ResourcePLR = initialize_resource(
|
||||
plr_material_result = initialize_resource(
|
||||
{"name": material["name"], "class": className}, resource_type=ResourcePLR
|
||||
)
|
||||
print("plr_material:",plr_material)
|
||||
print("code:",material.get("code", ""))
|
||||
|
||||
# initialize_resource 可能返回列表或单个对象
|
||||
if isinstance(plr_material_result, list):
|
||||
if len(plr_material_result) == 0:
|
||||
logger.warning(f"物料 {material['name']} 初始化失败，跳过")
|
||||
continue
|
||||
plr_material = plr_material_result[0]
|
||||
else:
|
||||
plr_material = plr_material_result
|
||||
|
||||
# 确保 plr_material 是 ResourcePLR 实例
|
||||
if not isinstance(plr_material, ResourcePLR):
|
||||
logger.warning(f"物料 {material['name']} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}")
|
||||
continue
|
||||
|
||||
plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
|
||||
plr_material.unilabos_uuid = str(uuid.uuid4())
|
||||
|
||||
@@ -663,6 +676,8 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
]
|
||||
bottle.code = detail.get("code", "")
|
||||
else:
|
||||
# 只对有 capacity 属性的容器（液体容器）处理液体追踪
|
||||
if hasattr(plr_material, 'capacity'):
|
||||
bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
|
||||
bottle.tracker.liquids = [
|
||||
(material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
|
||||
@@ -672,16 +687,55 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
|
||||
if deck and hasattr(deck, "warehouses"):
|
||||
for loc in material.get("locations", []):
|
||||
if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses:
|
||||
warehouse = deck.warehouses[loc["whName"]]
|
||||
idx = (
|
||||
(loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y
|
||||
+ (loc.get("x", 0) - 1) * warehouse.num_items_x
|
||||
+ (loc.get("z", 0) - 1)
|
||||
)
|
||||
wh_name = loc.get("whName")
|
||||
|
||||
# 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
|
||||
# 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
|
||||
if wh_name == "堆栈1":
|
||||
x_val = loc.get("x", 1)
|
||||
if 1 <= x_val <= 4:
|
||||
wh_name = "堆栈1左"
|
||||
elif 5 <= x_val <= 8:
|
||||
wh_name = "堆栈1右"
|
||||
else:
|
||||
logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
|
||||
continue
|
||||
|
||||
if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
|
||||
warehouse = deck.warehouses[wh_name]
|
||||
|
||||
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
|
||||
# PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
|
||||
x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
|
||||
y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...)
|
||||
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
|
||||
|
||||
# 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
|
||||
if wh_name == "堆栈1右":
|
||||
y = y - 4 # 将5-8映射到1-4
|
||||
|
||||
# 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈）
|
||||
# Bioyond的y坐标表示线性位置序号，而不是列号
|
||||
if warehouse.num_items_y == 1:
|
||||
# 1行warehouse: 直接用y作为线性索引
|
||||
idx = y - 1
|
||||
logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
|
||||
else:
|
||||
# 多行warehouse: 使用列优先索引 (与Bioyond坐标系统一致)
|
||||
# warehouse keys顺序: A01,B01,C01,D01, A02,B02,C02,D02, ...
|
||||
# 索引计算: idx = (col-1) * num_rows + (row-1) + (layer-1) * (rows * cols)
|
||||
row_idx = x - 1 # x表示行: 转为0-based
|
||||
col_idx = y - 1 # y表示列: 转为0-based
|
||||
layer_idx = z - 1 # 转为0-based
|
||||
idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + col_idx * warehouse.num_items_y + row_idx
|
||||
logger.debug(f"多行warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
|
||||
|
||||
if 0 <= idx < warehouse.capacity:
|
||||
if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
|
||||
warehouse[idx] = plr_material
|
||||
logger.debug(f"✅ 物料 {material['name']} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
|
||||
else:
|
||||
logger.warning(f"物料 {material['name']} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}")
|
||||
|
||||
return plr_materials
|
||||
|
||||
@@ -718,8 +772,8 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
|
||||
bottle = resource[0] if resource.capacity > 0 else resource
|
||||
material = {
|
||||
"typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
|
||||
"name": resource.get("name", ""),
|
||||
"unit": "",
|
||||
"name": resource.name if hasattr(resource, "name") else "",
|
||||
"unit": "个", # 修复：Bioyond API 要求 unit 字段不能为空
|
||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"Parameters": "{}"
|
||||
}
|
||||
@@ -763,6 +817,8 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
|
||||
elif type(resource_class_config) == str:
|
||||
# Allow special resource class names to be used
|
||||
if resource_class_config not in lab_registry.resource_type_registry:
|
||||
logger.warning(f"❌ 类 {resource_class_config} 不在 registry 中，返回原始配置")
|
||||
logger.debug(f" 可用的类: {list(lab_registry.resource_type_registry.keys())[:10]}...")
|
||||
return [resource_config]
|
||||
# If the resource class is a string, look up the class in the
|
||||
# resource_type_registry and import it
|
||||
|
||||
@@ -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] = None,
|
||||
barcode: Optional[str] = "",
|
||||
category: str = "container",
|
||||
model: Optional[str] = None,
|
||||
**kwargs,
|
||||
|
||||
@@ -8,7 +8,7 @@ from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR
|
||||
LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
|
||||
|
||||
|
||||
def YB_warehouse_factory(
|
||||
def warehouse_factory(
|
||||
name: str,
|
||||
num_items_x: int = 1,
|
||||
num_items_y: int = 4,
|
||||
@@ -23,6 +23,7 @@ def YB_warehouse_factory(
|
||||
empty: bool = False,
|
||||
category: str = "warehouse",
|
||||
model: Optional[str] = None,
|
||||
col_offset: int = 0, # 新增：列起始偏移量，用于生成A05-D08等命名
|
||||
):
|
||||
# 创建16个板架位 (4层 x 4位置)
|
||||
locations = []
|
||||
@@ -44,8 +45,9 @@ def YB_warehouse_factory(
|
||||
name_prefix=name,
|
||||
)
|
||||
len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
|
||||
|
||||
keys = [f"{LETTERS[len_y-1-j]}{str(i+1).zfill(2)}" for j in range(len_y) for i in range(len_x)]
|
||||
# 应用列偏移量，支持A05-D08等命名
|
||||
# 使用列优先顺序生成keys (与Bioyond坐标系统一致): A01,B01,C01,D01, A02,B02,C02,D02, ...
|
||||
keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
|
||||
sites = {i: site for i, site in zip(keys, _sites.values())}
|
||||
|
||||
return WareHouse(
|
||||
|
||||
@@ -6,12 +6,11 @@ from typing import Optional, Dict, Any, List
|
||||
import rclpy
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Response
|
||||
|
||||
from unilabos.app.register import register_devices_and_resources
|
||||
from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
|
||||
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
|
||||
from unilabos_msgs.srv import SerialCommand # type: ignore
|
||||
from rclpy.executors import MultiThreadedExecutor
|
||||
from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor
|
||||
from rclpy.node import Node
|
||||
from rclpy.timer import Timer
|
||||
|
||||
@@ -109,51 +108,66 @@ def slave(
|
||||
rclpy_init_args: List[str] = ["--log-level", "debug"],
|
||||
) -> None:
|
||||
"""从节点函数"""
|
||||
# 1. 初始化 ROS2
|
||||
if not rclpy.ok():
|
||||
rclpy.init(args=rclpy_init_args)
|
||||
executor = rclpy.__executor
|
||||
if not executor:
|
||||
executor = rclpy.__executor = MultiThreadedExecutor()
|
||||
devices_instances = {}
|
||||
for device_config in devices_config.root_nodes:
|
||||
device_id = device_config.res_content.id
|
||||
if device_config.res_content.type != "device":
|
||||
d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
|
||||
devices_instances[device_id] = d
|
||||
# 默认初始化
|
||||
# if d is not None and isinstance(d, Node):
|
||||
# executor.add_node(d)
|
||||
# else:
|
||||
# print(f"Warning: Device {device_id} could not be initialized or is not a valid Node")
|
||||
|
||||
# 1.5 启动 executor 线程
|
||||
thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
|
||||
thread.start()
|
||||
|
||||
# 2. 创建 Slave Machine Node
|
||||
n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
|
||||
executor.add_node(n)
|
||||
|
||||
# 3. 向 Host 报送节点信息和物料，获取 UUID 映射
|
||||
uuid_mapping = {}
|
||||
if visual != "disable":
|
||||
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
|
||||
|
||||
resource_mesh_manager = ResourceMeshManager(
|
||||
resources_mesh_config,
|
||||
resources_config, # type: ignore FIXME
|
||||
resource_tracker=DeviceNodeResourceTracker(),
|
||||
device_id="resource_mesh_manager",
|
||||
)
|
||||
joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
|
||||
|
||||
executor.add_node(resource_mesh_manager)
|
||||
executor.add_node(joint_republisher)
|
||||
thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
|
||||
thread.start()
|
||||
|
||||
if not BasicConfig.slave_no_host:
|
||||
# 3.1 报送节点信息
|
||||
sclient = n.create_client(SerialCommand, "/node_info_update")
|
||||
sclient.wait_for_service()
|
||||
|
||||
registry_config = {}
|
||||
devices_to_register, resources_to_register = register_devices_and_resources(lab_registry, True)
|
||||
registry_config.update(devices_to_register)
|
||||
registry_config.update(resources_to_register)
|
||||
request = SerialCommand.Request()
|
||||
request.command = json.dumps(
|
||||
{
|
||||
"machine_name": BasicConfig.machine_name,
|
||||
"type": "slave",
|
||||
"devices_config": devices_config.dump(),
|
||||
"registry_config": registry_config,
|
||||
"registry_config": lab_registry.obtain_registry_device_info(),
|
||||
},
|
||||
ensure_ascii=False,
|
||||
cls=TypeEncoder,
|
||||
)
|
||||
sclient.call_async(request).result()
|
||||
response = sclient.call_async(request).result()
|
||||
logger.info(f"Slave node info updated.")
|
||||
|
||||
# 3.2 报送物料树，获取 UUID 映射
|
||||
if resources_config:
|
||||
# 使用新的 c2s_update_resource_tree 服务
|
||||
rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree")
|
||||
rclient.wait_for_service()
|
||||
|
||||
# 序列化 ResourceTreeSet 为 JSON
|
||||
if resources_config:
|
||||
request = SerialCommand.Request()
|
||||
request.command = json.dumps(
|
||||
{
|
||||
@@ -166,61 +180,35 @@ def slave(
|
||||
},
|
||||
ensure_ascii=False,
|
||||
)
|
||||
tree_response: SerialCommand_Response = rclient.call(request)
|
||||
tree_response: SerialCommand_Response = rclient.call_async(request).result()
|
||||
uuid_mapping = json.loads(tree_response.response)
|
||||
logger.info(f"Slave resource tree added. UUID mapping: {len(uuid_mapping)} nodes")
|
||||
|
||||
# 3.3 使用 UUID 映射更新 resources_config 的 UUID（参考 client.py 逻辑）
|
||||
old_uuids = {node.res_content.uuid: node for node in resources_config.all_nodes}
|
||||
for old_uuid, node in old_uuids.items():
|
||||
if old_uuid in uuid_mapping:
|
||||
new_uuid = uuid_mapping[old_uuid]
|
||||
node.res_content.uuid = new_uuid
|
||||
# 更新所有子节点的 parent_uuid
|
||||
for child in node.children:
|
||||
child.res_content.parent_uuid = new_uuid
|
||||
# 创建反向映射：new_uuid -> old_uuid
|
||||
reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
|
||||
for node in resources_config.root_nodes:
|
||||
if node.res_content.type == "device":
|
||||
for sub_node in node.children:
|
||||
# 只有二级子设备
|
||||
if sub_node.res_content.type != "device":
|
||||
device_tracker = devices_instances[node.res_content.id].resource_tracker
|
||||
# sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
|
||||
old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
|
||||
if old_uuid:
|
||||
# 找到旧UUID，使用UUID查找
|
||||
resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
|
||||
else:
|
||||
logger.warning(f"资源UUID未更新: {old_uuid}")
|
||||
# 未找到旧UUID，使用name查找
|
||||
resource_instance = device_tracker.figure_resource({"name": sub_node.res_content.name})
|
||||
device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
|
||||
else:
|
||||
logger.error("Slave模式不允许新增非设备节点下的物料")
|
||||
continue
|
||||
if tree_response:
|
||||
logger.info(f"Slave resource tree added. Response: {tree_response.response}")
|
||||
else:
|
||||
logger.warning("Slave resource tree add response is None")
|
||||
else:
|
||||
logger.info("No resources to add.")
|
||||
|
||||
# 4. 初始化所有设备实例（此时 resources_config 的 UUID 已更新）
|
||||
devices_instances = {}
|
||||
for device_config in devices_config.root_nodes:
|
||||
device_id = device_config.res_content.id
|
||||
if device_config.res_content.type == "device":
|
||||
d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
|
||||
if d is not None:
|
||||
devices_instances[device_id] = d
|
||||
logger.info(f"Device {device_id} initialized.")
|
||||
else:
|
||||
logger.warning(f"Device {device_id} initialization failed.")
|
||||
|
||||
# 5. 如果启用可视化，创建可视化相关节点
|
||||
if visual != "disable":
|
||||
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
|
||||
|
||||
# 将 ResourceTreeSet 转换为 list 用于 visual 组件
|
||||
resources_list = (
|
||||
[node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
|
||||
if resources_config
|
||||
else []
|
||||
)
|
||||
resource_mesh_manager = ResourceMeshManager(
|
||||
resources_mesh_config,
|
||||
resources_list,
|
||||
resource_tracker=DeviceNodeResourceTracker(),
|
||||
device_id="resource_mesh_manager",
|
||||
)
|
||||
joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
|
||||
lh_joint_pub = LiquidHandlerJointPublisher(
|
||||
resources_config=resources_list, resource_tracker=DeviceNodeResourceTracker()
|
||||
)
|
||||
executor.add_node(resource_mesh_manager)
|
||||
executor.add_node(joint_republisher)
|
||||
executor.add_node(lh_joint_pub)
|
||||
|
||||
# 7. 保持运行
|
||||
while True:
|
||||
time.sleep(1)
|
||||
|
||||
|
||||
@@ -638,145 +638,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
- remove: 从资源树中移除资源
|
||||
"""
|
||||
from pylabrobot.resources.resource import Resource as ResourcePLR
|
||||
|
||||
def _handle_add(
|
||||
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
处理资源添加操作的内部函数
|
||||
|
||||
Args:
|
||||
plr_resources: PLR资源列表
|
||||
tree_set: 资源树集合
|
||||
additional_add_params: 额外的添加参数
|
||||
|
||||
Returns:
|
||||
操作结果字典
|
||||
"""
|
||||
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
||||
self.resource_tracker.add_resource(plr_resource)
|
||||
self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
|
||||
|
||||
func = getattr(self.driver_instance, "resource_tree_add", None)
|
||||
if callable(func):
|
||||
func(plr_resources)
|
||||
|
||||
return {"success": True, "action": "add"}
|
||||
|
||||
def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]:
|
||||
"""
|
||||
处理资源移除操作的内部函数
|
||||
|
||||
Args:
|
||||
resources_uuid: 要移除的资源UUID列表
|
||||
|
||||
Returns:
|
||||
操作结果字典，包含移除的资源列表
|
||||
"""
|
||||
found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
|
||||
[{"uuid": uid} for uid in resources_uuid], try_mode=True
|
||||
)
|
||||
found_plr_resources = []
|
||||
other_plr_resources = []
|
||||
|
||||
for found_resource in found_resources:
|
||||
for resource in found_resource:
|
||||
if issubclass(resource.__class__, ResourcePLR):
|
||||
found_plr_resources.append(resource)
|
||||
else:
|
||||
other_plr_resources.append(resource)
|
||||
|
||||
# 调用driver的remove回调
|
||||
func = getattr(self.driver_instance, "resource_tree_remove", None)
|
||||
if callable(func):
|
||||
func(found_plr_resources)
|
||||
|
||||
# 从parent卸载并从tracker移除
|
||||
for plr_resource in found_plr_resources:
|
||||
if plr_resource.parent is not None:
|
||||
plr_resource.parent.unassign_child_resource(plr_resource)
|
||||
self.resource_tracker.remove_resource(plr_resource)
|
||||
self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
|
||||
|
||||
for other_plr_resource in other_plr_resources:
|
||||
self.resource_tracker.remove_resource(other_plr_resource)
|
||||
self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"action": "remove",
|
||||
# "removed_plr": found_plr_resources,
|
||||
# "removed_other": other_plr_resources,
|
||||
}
|
||||
|
||||
def _handle_update(
|
||||
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
处理资源更新操作的内部函数
|
||||
|
||||
Args:
|
||||
plr_resources: PLR资源列表（包含新状态）
|
||||
tree_set: 资源树集合
|
||||
additional_add_params: 额外的参数
|
||||
|
||||
Returns:
|
||||
操作结果字典
|
||||
"""
|
||||
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
||||
states = plr_resource.serialize_all_state()
|
||||
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
|
||||
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
|
||||
)
|
||||
|
||||
# Update操作中包含改名：需要先remove再add
|
||||
if original_instance.name != plr_resource.name:
|
||||
old_name = original_instance.name
|
||||
new_name = plr_resource.name
|
||||
self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}")
|
||||
|
||||
# 收集所有相关的uuid（包括子节点）
|
||||
_handle_remove([original_instance.unilabos_uuid])
|
||||
original_instance.name = new_name
|
||||
_handle_add([original_instance], tree_set, additional_add_params)
|
||||
|
||||
self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}")
|
||||
|
||||
# 常规更新：不涉及改名
|
||||
original_parent_resource = original_instance.parent
|
||||
original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
|
||||
target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
|
||||
|
||||
self.lab_logger().info(
|
||||
f"物料{original_instance} 原始父节点{original_parent_resource_uuid} "
|
||||
f"目标父节点{target_parent_resource_uuid} 更新"
|
||||
)
|
||||
|
||||
# 更新extra
|
||||
if getattr(plr_resource, "unilabos_extra", None) is not None:
|
||||
original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") # type: ignore # noqa: E501
|
||||
|
||||
# 如果父节点变化，需要重新挂载
|
||||
if (
|
||||
original_parent_resource_uuid != target_parent_resource_uuid
|
||||
and original_parent_resource is not None
|
||||
):
|
||||
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
|
||||
|
||||
# 加载状态
|
||||
original_instance.load_all_state(states)
|
||||
child_count = len(original_instance.get_all_children())
|
||||
self.lab_logger().info(
|
||||
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
|
||||
)
|
||||
|
||||
# 调用driver的update回调
|
||||
func = getattr(self.driver_instance, "resource_tree_update", None)
|
||||
if callable(func):
|
||||
func(plr_resources)
|
||||
|
||||
return {"success": True, "action": "update"}
|
||||
|
||||
try:
|
||||
data = json.loads(req.command)
|
||||
results = []
|
||||
@@ -795,7 +656,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
].call_async(
|
||||
SerialCommand.Request(
|
||||
command=json.dumps(
|
||||
{"data": {"data": resources_uuid, "with_children": True if action == "add" else False}, "action": "get"}
|
||||
{"data": {"data": resources_uuid, "with_children": True if action == "add" else "update"}, "action": "get"}
|
||||
)
|
||||
)
|
||||
) # type: ignore
|
||||
@@ -803,20 +664,68 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
tree_set = ResourceTreeSet.from_raw_list(raw_nodes)
|
||||
try:
|
||||
if action == "add":
|
||||
if tree_set is None:
|
||||
raise ValueError("tree_set不能为None")
|
||||
# 添加资源到资源跟踪器
|
||||
plr_resources = tree_set.to_plr_resources()
|
||||
result = _handle_add(plr_resources, tree_set, additional_add_params)
|
||||
results.append(result)
|
||||
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
||||
self.resource_tracker.add_resource(plr_resource)
|
||||
self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
|
||||
func = getattr(self.driver_instance, "resource_tree_add", None)
|
||||
if callable(func):
|
||||
func(plr_resources)
|
||||
results.append({"success": True, "action": "add"})
|
||||
elif action == "update":
|
||||
if tree_set is None:
|
||||
raise ValueError("tree_set不能为None")
|
||||
# 更新资源
|
||||
plr_resources = tree_set.to_plr_resources()
|
||||
result = _handle_update(plr_resources, tree_set, additional_add_params)
|
||||
results.append(result)
|
||||
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
||||
states = plr_resource.serialize_all_state()
|
||||
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
|
||||
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
|
||||
)
|
||||
original_parent_resource = original_instance.parent
|
||||
original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
|
||||
target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
|
||||
self.lab_logger().info(
|
||||
f"物料{original_instance} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新"
|
||||
)
|
||||
# todo: 对extra进行update
|
||||
if getattr(plr_resource, "unilabos_extra", None) is not None:
|
||||
original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra")
|
||||
if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None:
|
||||
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
|
||||
original_instance.load_all_state(states)
|
||||
self.lab_logger().info(
|
||||
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个"
|
||||
)
|
||||
|
||||
func = getattr(self.driver_instance, "resource_tree_update", None)
|
||||
if callable(func):
|
||||
func(plr_resources)
|
||||
results.append({"success": True, "action": "update"})
|
||||
elif action == "remove":
|
||||
result = _handle_remove(resources_uuid)
|
||||
results.append(result)
|
||||
# 移除资源
|
||||
found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
|
||||
[{"uuid": uid} for uid in resources_uuid], try_mode=True
|
||||
)
|
||||
found_plr_resources = []
|
||||
other_plr_resources = []
|
||||
for found_resource in found_resources:
|
||||
for resource in found_resource:
|
||||
if issubclass(resource.__class__, ResourcePLR):
|
||||
found_plr_resources.append(resource)
|
||||
else:
|
||||
other_plr_resources.append(resource)
|
||||
func = getattr(self.driver_instance, "resource_tree_remove", None)
|
||||
if callable(func):
|
||||
func(found_plr_resources)
|
||||
for plr_resource in found_plr_resources:
|
||||
if plr_resource.parent is not None:
|
||||
plr_resource.parent.unassign_child_resource(plr_resource)
|
||||
self.resource_tracker.remove_resource(plr_resource)
|
||||
self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
|
||||
for other_plr_resource in other_plr_resources:
|
||||
self.resource_tracker.remove_resource(other_plr_resource)
|
||||
self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
|
||||
results.append({"success": True, "action": "remove"})
|
||||
except Exception as e:
|
||||
error_msg = f"Error processing {action} operation: {str(e)}"
|
||||
self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
|
||||
@@ -825,7 +734,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
# 返回处理结果
|
||||
result_json = {"results": results, "total": len(data)}
|
||||
res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder)
|
||||
res.response = json.dumps(result_json, ensure_ascii=False)
|
||||
self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
|
||||
|
||||
except json.JSONDecodeError as e:
|
||||
@@ -1095,14 +1004,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
# 通过资源跟踪器获取本地实例
|
||||
final_resources = queried_resources if is_sequence else queried_resources[0]
|
||||
final_resources = (
|
||||
self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
|
||||
if not is_sequence
|
||||
else [
|
||||
self.resource_tracker.figure_resource({"name": res.name}, try_mode=False)
|
||||
for res in queried_resources
|
||||
final_resources = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) if not is_sequence else [
|
||||
self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) for res in queried_resources
|
||||
]
|
||||
)
|
||||
action_kwargs[k] = final_resources
|
||||
|
||||
except Exception as e:
|
||||
@@ -1323,7 +1227,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
raise JsonCommandInitError(
|
||||
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
|
||||
)
|
||||
|
||||
def _convert_resource_sync(self, resource_data: Dict[str, Any]):
|
||||
"""同步转换资源数据为实例"""
|
||||
# 创建资源查询请求
|
||||
|
||||
@@ -165,16 +165,29 @@ class HostNode(BaseROS2DeviceNode):
|
||||
# resources_config 的 root node 是
|
||||
# # 创建反向映射：new_uuid -> old_uuid
|
||||
# reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
|
||||
for tree in resources_config.trees:
|
||||
node = tree.root_node
|
||||
if node.res_content.type == "device":
|
||||
continue
|
||||
else:
|
||||
try:
|
||||
for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
|
||||
self._resource_tracker.add_resource(plr_resource)
|
||||
except Exception as ex:
|
||||
self.lab_logger().warning(f"[Host Node-Resource] 根节点物料{tree}序列化失败！")
|
||||
# for tree in resources_config.trees:
|
||||
# node = tree.root_node
|
||||
# if node.res_content.type == "device":
|
||||
# if node.res_content.id == "host_node":
|
||||
# continue
|
||||
# # slave节点走c2s更新接口，拿到add自行update uuid
|
||||
# device_tracker = self.devices_instances[node.res_content.id].resource_tracker
|
||||
# old_uuid = reverse_uuid_mapping.get(node.res_content.uuid)
|
||||
# if old_uuid:
|
||||
# # 找到旧UUID，使用UUID查找
|
||||
# resource_instance = device_tracker.uuid_to_resources.get(old_uuid)
|
||||
# else:
|
||||
# # 未找到旧UUID，使用name查找
|
||||
# resource_instance = device_tracker.figure_resource(
|
||||
# {"name": node.res_content.name}
|
||||
# )
|
||||
# device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
|
||||
# else:
|
||||
# try:
|
||||
# for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
|
||||
# self.resource_tracker.add_resource(plr_resource)
|
||||
# except Exception as ex:
|
||||
# self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
|
||||
except Exception as ex:
|
||||
logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}")
|
||||
# 初始化Node基类，传递空参数覆盖列表
|
||||
@@ -652,7 +665,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
if bCreate:
|
||||
self.lab_logger().trace(f"Status created: {device_id}.{property_name} = {msg.data}")
|
||||
else:
|
||||
self.lab_logger().trace(f"Status updated: {device_id}.{property_name} = {msg.data}")
|
||||
self.lab_logger().debug(f"Status updated: {device_id}.{property_name} = {msg.data}")
|
||||
|
||||
def send_goal(
|
||||
self,
|
||||
@@ -865,10 +878,11 @@ class HostNode(BaseROS2DeviceNode):
|
||||
success = False
|
||||
uuid_mapping = {}
|
||||
if len(self.bridges) > 0:
|
||||
from unilabos.app.web.client import HTTPClient, http_client
|
||||
from unilabos.app.web.client import HTTPClient
|
||||
|
||||
client: HTTPClient = self.bridges[-1]
|
||||
resource_start_time = time.time()
|
||||
uuid_mapping = http_client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
|
||||
uuid_mapping = client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
|
||||
success = True
|
||||
resource_end_time = time.time()
|
||||
self.lab_logger().info(
|
||||
@@ -976,10 +990,9 @@ class HostNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
更新节点信息回调
|
||||
"""
|
||||
# self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
|
||||
self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
|
||||
try:
|
||||
from unilabos.app.communication import get_communication_client
|
||||
from unilabos.app.web.client import HTTPClient, http_client
|
||||
|
||||
info = json.loads(request.command)
|
||||
if "SYNC_SLAVE_NODE_INFO" in info:
|
||||
@@ -988,10 +1001,10 @@ class HostNode(BaseROS2DeviceNode):
|
||||
edge_device_id = info["edge_device_id"]
|
||||
self.device_machine_names[edge_device_id] = machine_name
|
||||
else:
|
||||
devices_config = info.pop("devices_config")
|
||||
registry_config = info.pop("registry_config")
|
||||
if registry_config:
|
||||
http_client.resource_registry({"resources": registry_config})
|
||||
comm_client = get_communication_client()
|
||||
registry_config = info["registry_config"]
|
||||
for device_config in registry_config:
|
||||
comm_client.publish_registry(device_config["id"], device_config)
|
||||
self.lab_logger().debug(f"[Host Node] Node info update: {info}")
|
||||
response.response = "OK"
|
||||
except Exception as e:
|
||||
@@ -1017,9 +1030,10 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
success = False
|
||||
if len(self.bridges) > 0: # 边的提交待定
|
||||
from unilabos.app.web.client import HTTPClient, http_client
|
||||
from unilabos.app.web.client import HTTPClient
|
||||
|
||||
r = http_client.resource_add(add_schema(resources))
|
||||
client: HTTPClient = self.bridges[-1]
|
||||
r = client.resource_add(add_schema(resources))
|
||||
success = bool(r)
|
||||
|
||||
response.success = success
|
||||
|
||||
@@ -2,7 +2,7 @@ import traceback
|
||||
import uuid
|
||||
from pydantic import BaseModel, field_serializer, field_validator
|
||||
from pydantic import Field
|
||||
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
|
||||
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
|
||||
@@ -848,9 +848,15 @@ class DeviceNodeResourceTracker(object):
|
||||
extra: extra字典值
|
||||
"""
|
||||
if isinstance(resource, dict):
|
||||
resource["extra"] = extra
|
||||
# ⭐ 修复：合并extra而不是覆盖
|
||||
current_extra = resource.get("extra", {})
|
||||
current_extra.update(extra)
|
||||
resource["extra"] = current_extra
|
||||
else:
|
||||
setattr(resource, "unilabos_extra", extra)
|
||||
# ⭐ 修复：合并unilabos_extra而不是覆盖
|
||||
current_extra = getattr(resource, "unilabos_extra", {})
|
||||
current_extra.update(extra)
|
||||
setattr(resource, "unilabos_extra", current_extra)
|
||||
|
||||
def _traverse_and_process(self, resource, process_func) -> int:
|
||||
"""
|
||||
@@ -894,7 +900,7 @@ class DeviceNodeResourceTracker(object):
|
||||
new_uuid = name_to_uuid_map[resource_name]
|
||||
self.set_resource_uuid(res, new_uuid)
|
||||
self.uuid_to_resources[new_uuid] = res
|
||||
logger.trace(f"设置资源UUID: {resource_name} -> {new_uuid}")
|
||||
logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
|
||||
return 1
|
||||
return 0
|
||||
|
||||
@@ -917,7 +923,6 @@ class DeviceNodeResourceTracker(object):
|
||||
if resource_name and resource_name in name_to_extra_map:
|
||||
extra = name_to_extra_map[resource_name]
|
||||
self.set_resource_extra(res, extra)
|
||||
if len(extra):
|
||||
logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
|
||||
return 1
|
||||
return 0
|
||||
@@ -928,7 +933,7 @@ class DeviceNodeResourceTracker(object):
|
||||
"""
|
||||
递归遍历资源树，更新所有节点的uuid
|
||||
|
||||
Args:
|
||||
Args:0
|
||||
resource: 资源对象（可以是dict或实例）
|
||||
uuid_map: uuid映射字典，{old_uuid: new_uuid}
|
||||
|
||||
@@ -953,27 +958,6 @@ class DeviceNodeResourceTracker(object):
|
||||
|
||||
return self._traverse_and_process(resource, process)
|
||||
|
||||
def loop_gather_uuid(self, resource) -> List[str]:
|
||||
"""
|
||||
递归遍历资源树，收集所有节点的uuid
|
||||
|
||||
Args:
|
||||
resource: 资源对象（可以是dict或实例）
|
||||
|
||||
Returns:
|
||||
收集到的uuid列表
|
||||
"""
|
||||
uuid_list = []
|
||||
|
||||
def process(res):
|
||||
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
|
||||
if current_uuid:
|
||||
uuid_list.append(current_uuid)
|
||||
return 0
|
||||
|
||||
self._traverse_and_process(resource, process)
|
||||
return uuid_list
|
||||
|
||||
def _collect_uuid_mapping(self, resource):
|
||||
"""
|
||||
递归收集资源的 uuid 映射到 uuid_to_resources
|
||||
@@ -987,15 +971,14 @@ class DeviceNodeResourceTracker(object):
|
||||
if current_uuid:
|
||||
old = self.uuid_to_resources.get(current_uuid)
|
||||
self.uuid_to_resources[current_uuid] = res
|
||||
logger.trace(
|
||||
logger.debug(
|
||||
f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}"
|
||||
)
|
||||
return 1
|
||||
return 0
|
||||
|
||||
self._traverse_and_process(resource, process)
|
||||
|
||||
def _remove_uuid_mapping(self, resource) -> int:
|
||||
def _remove_uuid_mapping(self, resource):
|
||||
"""
|
||||
递归清除资源的 uuid 映射
|
||||
|
||||
@@ -1007,11 +990,10 @@ class DeviceNodeResourceTracker(object):
|
||||
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
|
||||
if current_uuid and current_uuid in self.uuid_to_resources:
|
||||
self.uuid_to_resources.pop(current_uuid)
|
||||
logger.trace(f"移除资源UUID映射: {current_uuid} -> {res}")
|
||||
return 1
|
||||
logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}")
|
||||
return 0
|
||||
|
||||
return self._traverse_and_process(resource, process)
|
||||
self._traverse_and_process(resource, process)
|
||||
|
||||
def parent_resource(self, resource):
|
||||
if id(resource) in self.resource2parent_resource:
|
||||
@@ -1066,12 +1048,13 @@ class DeviceNodeResourceTracker(object):
|
||||
removed = True
|
||||
break
|
||||
|
||||
# 递归清除uuid映射
|
||||
count = self._remove_uuid_mapping(resource)
|
||||
if not count:
|
||||
if not removed:
|
||||
logger.warning(f"尝试移除不存在的资源: {resource}")
|
||||
return False
|
||||
|
||||
# 递归清除uuid映射
|
||||
self._remove_uuid_mapping(resource)
|
||||
|
||||
# 清除 resource2parent_resource 中与该资源相关的映射
|
||||
# 需要清除：1) 该资源作为 key 的映射 2) 该资源作为 value 的映射
|
||||
keys_to_remove = []
|
||||
@@ -1094,9 +1077,7 @@ class DeviceNodeResourceTracker(object):
|
||||
self.uuid_to_resources.clear()
|
||||
self.resource2parent_resource.clear()
|
||||
|
||||
def figure_resource(
|
||||
self, query_resource: Union[List[Union[dict, "PLRResource"]], dict, "PLRResource"], try_mode=False
|
||||
) -> Union[List[Union[dict, "PLRResource", List[Union[dict, "PLRResource"]]]], dict, "PLRResource"]:
|
||||
def figure_resource(self, query_resource, try_mode=False):
|
||||
if isinstance(query_resource, list):
|
||||
return [self.figure_resource(r, try_mode) for r in query_resource]
|
||||
elif (
|
||||
|
||||
@@ -192,18 +192,6 @@ def configure_logger(loglevel=None):
|
||||
# 添加处理器到根日志记录器
|
||||
root_logger.addHandler(console_handler)
|
||||
|
||||
# 降低第三方库的日志级别，避免过多输出
|
||||
# pymodbus 库的日志太详细，设置为 WARNING
|
||||
logging.getLogger('pymodbus').setLevel(logging.WARNING)
|
||||
logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
|
||||
logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
|
||||
logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
|
||||
|
||||
# websockets 库的日志输出较多，设置为 WARNING
|
||||
logging.getLogger('websockets').setLevel(logging.WARNING)
|
||||
logging.getLogger('websockets.client').setLevel(logging.WARNING)
|
||||
logging.getLogger('websockets.server').setLevel(logging.WARNING)
|
||||
|
||||
|
||||
# 配置日志系统
|
||||
configure_logger()
|
||||
|
||||
Reference in New Issue
Block a user