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1
.gitignore
vendored
1
.gitignore
vendored
@@ -249,4 +249,3 @@ ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
|
||||
test_config.py
|
||||
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||||
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||||
Uni-Lab-OS/
|
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14473
bioyond_yihua_YB.json
14473
bioyond_yihua_YB.json
File diff suppressed because it is too large
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File diff suppressed because it is too large
Load Diff
@@ -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": {
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||||
"x": 0,
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"y": 0,
|
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"z": 0
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},
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"config": {
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"type": "CoincellDeck",
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||||
"setup": true,
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"rotation": {
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"x": 0,
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"y": 0,
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"z": 0,
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"type": "Rotation"
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}
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},
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||||
"data": {}
|
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}
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||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,101 +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,
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"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "BIOYOND_YB_Deck",
|
||||
"setup": true,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
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"z": 0,
|
||||
"type": "Rotation"
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||||
}
|
||||
},
|
||||
"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": {
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||||
"x": -1500,
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"y": 0,
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"z": 0
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||||
}
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "YB_YH_Deck",
|
||||
"name": "YB_YH_Deck",
|
||||
"children": [],
|
||||
"parent": "BatteryStation",
|
||||
"type": "deck",
|
||||
"class": "CoincellDeck",
|
||||
"config": {
|
||||
"type": "CoincellDeck",
|
||||
"setup": true,
|
||||
"rotation": {
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||||
"x": 0,
|
||||
"y": 0,
|
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"z": 0,
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||||
"type": "Rotation"
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||||
}
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||||
},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,52 +0,0 @@
|
||||
[
|
||||
{
|
||||
"id": "3a1d377b-299d-d0f2-ced9-48257f60dfad",
|
||||
"typeName": "加样头(大)",
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||||
"code": "0005-00145",
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||||
"barCode": "",
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||||
"name": "LiDFOB",
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||||
"quantity": 9999.0,
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"lockQuantity": 0.0,
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||||
"unit": "个",
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||||
"status": 1,
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"isUse": false,
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||||
"locations": [
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{
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"id": "3a19da56-1379-ff7c-1745-07e200b44ce2",
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"whid": "3a19da56-1378-613b-29f2-871e1a287aa5",
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||||
"whName": "粉末加样头堆栈",
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"code": "0005-0001",
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"x": 1,
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"y": 1,
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"z": 1,
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"quantity": 0
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}
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],
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||||
"detail": []
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||||
},
|
||||
{
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||||
"id": "3a1d377b-6a81-6a7e-147c-f89f6463656d",
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||||
"typeName": "液",
|
||||
"code": "0006-00141",
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||||
"barCode": "",
|
||||
"name": "EMC",
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||||
"quantity": 99999.0,
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"lockQuantity": 0.0,
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"unit": "g",
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||||
"status": 1,
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"isUse": false,
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"locations": [
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{
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||||
"id": "3a1baa20-a7b1-c665-8b9c-d8099d07d2f6",
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"whid": "3a1baa20-a7b0-5c19-8844-5de8924d4e78",
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||||
"whName": "4号手套箱内部堆栈",
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||||
"code": "0015-0001",
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"x": 1,
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"y": 1,
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"z": 1,
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"quantity": 0
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}
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],
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||||
"detail": []
|
||||
}
|
||||
]
|
||||
@@ -1,99 +0,0 @@
|
||||
{
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||||
"typeId": "3a190c8b-3284-af78-d29f-9a69463ad047",
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||||
"code": "",
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"barCode": "",
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||||
"name": "test",
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||||
"unit": "",
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||||
"parameters": "{}",
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||||
"quantity": "",
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||||
"details": [
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{
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||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
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"code": "",
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||||
"name": "配液瓶(小)11",
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"quantity": "1",
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"x": 1,
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"y": 1,
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"z": 1,
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"unit": "",
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"parameters": "{}"
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||||
},
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{
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||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
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||||
"code": "",
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||||
"name": "配液瓶(小)21",
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"quantity": "1",
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"x": 2,
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||||
"y": 1,
|
||||
"z": 1,
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||||
"unit": "",
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||||
"parameters": "{}"
|
||||
},
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||||
{
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
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||||
"code": "",
|
||||
"name": "配液瓶(小)12",
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||||
"quantity": "1",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"unit": "",
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||||
"parameters": "{}"
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||||
},
|
||||
{
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
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||||
"code": "",
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||||
"name": "配液瓶(小)22",
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"quantity": "1",
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"x": 2,
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||||
"y": 2,
|
||||
"z": 1,
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"unit": "",
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"parameters": "{}"
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||||
},
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{
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||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
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||||
"code": "",
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||||
"name": "配液瓶(小)13",
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"quantity": "1",
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||||
"x": 1,
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||||
"y": 3,
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||||
"z": 1,
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"unit": "",
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||||
"parameters": "{}"
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||||
},
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||||
{
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||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
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||||
"code": "",
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||||
"name": "配液瓶(小)23",
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||||
"quantity": "1",
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||||
"x": 2,
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||||
"y": 3,
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||||
"z": 1,
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"unit": "",
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"parameters": "{}"
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||||
},
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||||
{
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||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
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||||
"code": "",
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||||
"name": "配液瓶(小)14",
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||||
"quantity": "1",
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||||
"x": 1,
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||||
"y": 4,
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||||
"z": 1,
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||||
"unit": "",
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"parameters": "{}"
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||||
},
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||||
{
|
||||
"typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
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||||
"code": "",
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||||
"name": "配液瓶(小)24",
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||||
"quantity": "1",
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||||
"x": 2,
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||||
"y": 4,
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||||
"z": 1,
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||||
"unit": "",
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||||
"parameters": "{}"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,148 +0,0 @@
|
||||
[
|
||||
{
|
||||
"id": "3a1d4c14-a9fb-d7dc-9e96-7a3ad6e50219",
|
||||
"typeName": "配液瓶(小)板",
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||||
"code": "0001-00093",
|
||||
"barCode": "",
|
||||
"name": "test",
|
||||
"quantity": 2.0,
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||||
"lockQuantity": 0.0,
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||||
"unit": "块",
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||||
"status": 1,
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||||
"isUse": false,
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||||
"locations": [
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||||
{
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||||
"id": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
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"whid": "3a19deae-2c79-05a3-9c76-8e6760424841",
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"whName": "手动堆栈",
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"detail": [
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{
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"detailMaterialId": "3a1d4c14-a9fc-4f38-4c48-68486c391c42",
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"code": "0001-00093 - 05",
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"name": "配液瓶(小)",
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"unit": "个",
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"x": 1,
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"typeName": "配液瓶(小)",
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"code": "0001-00093 - 08",
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"code": "0001-00093 - 02",
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"name": "配液瓶(小)",
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||||
"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()
|
||||
|
||||
@@ -367,37 +367,10 @@ def main():
|
||||
graph, resource_tree_set, resource_links = read_node_link_json(request_startup_json)
|
||||
else:
|
||||
if not os.path.isfile(file_path):
|
||||
# 尝试从 main.py 向上两级目录查找
|
||||
temp_file_path = os.path.abspath(str(os.path.join(__file__, "..", "..", file_path)))
|
||||
if os.path.isfile(temp_file_path):
|
||||
print_status(f"使用相对路径{temp_file_path}", "info")
|
||||
file_path = temp_file_path
|
||||
else:
|
||||
# 尝试在 working_dir 中查找
|
||||
working_dir_file_path = os.path.join(working_dir, file_path)
|
||||
if os.path.isfile(working_dir_file_path):
|
||||
print_status(f"在工作目录中找到文件: {working_dir_file_path}", "info")
|
||||
file_path = working_dir_file_path
|
||||
else:
|
||||
# 尝试使用文件名在 working_dir 中查找
|
||||
file_name = os.path.basename(file_path)
|
||||
working_dir_file_path = os.path.join(working_dir, file_name)
|
||||
if os.path.isfile(working_dir_file_path):
|
||||
print_status(f"在工作目录中找到文件: {working_dir_file_path}", "info")
|
||||
file_path = working_dir_file_path
|
||||
# 最终检查文件是否存在
|
||||
if not os.path.isfile(file_path):
|
||||
print_status(
|
||||
f"无法找到设备加载文件: {file_path}\n"
|
||||
f"已尝试在以下位置查找:\n"
|
||||
f" 1. 原始路径: {args_dict.get('graph', BasicConfig.startup_json_path)}\n"
|
||||
f" 2. 相对路径: {os.path.abspath(str(os.path.join(__file__, '..', '..', args_dict.get('graph', BasicConfig.startup_json_path) or '')))}\n"
|
||||
f" 3. 工作目录: {os.path.join(working_dir, args_dict.get('graph', BasicConfig.startup_json_path) or '')}\n"
|
||||
f" 4. 工作目录(仅文件名): {os.path.join(working_dir, os.path.basename(args_dict.get('graph', BasicConfig.startup_json_path) or ''))}\n"
|
||||
f"请使用 -g 参数指定正确的文件路径，或在工作目录 {working_dir} 中放置文件",
|
||||
"error"
|
||||
)
|
||||
os._exit(1)
|
||||
if file_path.endswith(".json"):
|
||||
graph, resource_tree_set, resource_links = read_node_link_json(file_path)
|
||||
else:
|
||||
@@ -415,6 +388,10 @@ def main():
|
||||
for ind, i in enumerate(resource_edge_info[::-1]):
|
||||
source_node: ResourceDict = nodes[i["source"]]
|
||||
target_node: ResourceDict = nodes[i["target"]]
|
||||
if "sourceHandle" not in source_node:
|
||||
continue
|
||||
if "targetHandle" not in target_node:
|
||||
continue
|
||||
source_handle = i["sourceHandle"]
|
||||
target_handle = i["targetHandle"]
|
||||
source_handler_keys = [
|
||||
|
||||
@@ -300,6 +300,10 @@ class HTTPClient:
|
||||
)
|
||||
if response.status_code not in [200, 201]:
|
||||
logger.error(f"注册资源失败: {response.status_code}, {response.text}")
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"注册资源失败: {response.text}")
|
||||
return response
|
||||
|
||||
def request_startup_json(self) -> Optional[Dict[str, Any]]:
|
||||
|
||||
@@ -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,
|
||||
@@ -1240,7 +1240,7 @@ 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
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -3,7 +3,7 @@ from enum import Enum
|
||||
from abc import ABC, abstractmethod
|
||||
from typing import Tuple, Union, Optional, Any, List
|
||||
|
||||
from opcua import Client, Node
|
||||
from opcua import Client, Node, ua
|
||||
from opcua.ua import NodeId, NodeClass, VariantType
|
||||
|
||||
|
||||
@@ -47,23 +47,68 @@ class Base(ABC):
|
||||
def _get_node(self) -> Node:
|
||||
if self._node is None:
|
||||
try:
|
||||
# 检查是否是NumericNodeId(ns=X;i=Y)格式
|
||||
if "NumericNodeId" in self._node_id:
|
||||
# 从字符串中提取命名空间和标识符
|
||||
import re
|
||||
match = re.search(r'ns=(\d+);i=(\d+)', self._node_id)
|
||||
if match:
|
||||
ns = int(match.group(1))
|
||||
identifier = int(match.group(2))
|
||||
node_id = NodeId(identifier, ns)
|
||||
self._node = self._client.get_node(node_id)
|
||||
# 尝试多种 NodeId 字符串格式解析，兼容不同服务器/库的输出
|
||||
# 可能的格式示例: 'ns=2;i=1234', 'ns=2;s=SomeString',
|
||||
# 'StringNodeId(ns=4;s=OPC|变量名)', 'NumericNodeId(ns=2;i=1234)' 等
|
||||
import re
|
||||
|
||||
nid = self._node_id
|
||||
# 如果已经是 NodeId/Node 对象（库用户可能传入），直接使用
|
||||
try:
|
||||
from opcua.ua import NodeId as UaNodeId
|
||||
if isinstance(nid, UaNodeId):
|
||||
self._node = self._client.get_node(nid)
|
||||
return self._node
|
||||
except Exception:
|
||||
# 若导入或类型判断失败，则继续下一步
|
||||
pass
|
||||
|
||||
# 直接以字符串形式处理
|
||||
if isinstance(nid, str):
|
||||
nid = nid.strip()
|
||||
|
||||
# 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
|
||||
# 提取括号内的内容
|
||||
match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
|
||||
if match_wrapped:
|
||||
# 提取括号内的实际 node_id 字符串
|
||||
nid = match_wrapped.group(2).strip()
|
||||
|
||||
# 常见短格式 'ns=2;i=1234' 或 'ns=2;s=SomeString'
|
||||
if re.match(r'^ns=\d+;[is]=', nid):
|
||||
self._node = self._client.get_node(nid)
|
||||
else:
|
||||
raise ValueError(f"无法解析节点ID: {self._node_id}")
|
||||
# 尝试提取 ns 和 i 或 s
|
||||
# 对于字符串标识符，可能包含特殊字符，使用非贪婪匹配
|
||||
m_num = re.search(r'ns=(\d+);i=(\d+)', nid)
|
||||
m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid)
|
||||
if m_num:
|
||||
ns = int(m_num.group(1))
|
||||
identifier = int(m_num.group(2))
|
||||
node_id = NodeId(identifier, ns)
|
||||
self._node = self._client.get_node(node_id)
|
||||
elif m_str:
|
||||
ns = int(m_str.group(1))
|
||||
identifier = m_str.group(2).strip()
|
||||
# 对于字符串标识符，直接使用字符串格式
|
||||
node_id_str = f"ns={ns};s={identifier}"
|
||||
self._node = self._client.get_node(node_id_str)
|
||||
else:
|
||||
# 回退：尝试直接传入字符串（有些实现接受其它格式）
|
||||
try:
|
||||
self._node = self._client.get_node(self._node_id)
|
||||
except Exception as e:
|
||||
# 输出更详细的错误信息供调试
|
||||
print(f"获取节点失败(尝试直接字符串): {self._node_id}, 错误: {e}")
|
||||
raise
|
||||
else:
|
||||
# 直接使用节点ID字符串
|
||||
# 非字符串，尝试直接使用
|
||||
self._node = self._client.get_node(self._node_id)
|
||||
except Exception as e:
|
||||
print(f"获取节点失败: {self._node_id}, 错误: {e}")
|
||||
# 添加额外提示，帮助定位 BadNodeIdUnknown 问题
|
||||
print("提示: 请确认该 node_id 是否来自当前连接的服务器地址空间，" \
|
||||
"以及 CSV/配置中名称与服务器 BrowseName 是否匹配。")
|
||||
raise
|
||||
return self._node
|
||||
|
||||
@@ -104,7 +149,56 @@ class Variable(Base):
|
||||
|
||||
def write(self, value: Any) -> bool:
|
||||
try:
|
||||
self._get_node().set_value(value)
|
||||
# 如果声明了数据类型，则尝试转换并使用对应的 Variant 写入
|
||||
coerced = value
|
||||
try:
|
||||
if self._data_type is not None:
|
||||
# 基于声明的数据类型做简单类型转换
|
||||
dt = self._data_type
|
||||
if dt in (DataType.SBYTE, DataType.BYTE, DataType.INT16, DataType.UINT16,
|
||||
DataType.INT32, DataType.UINT32, DataType.INT64, DataType.UINT64):
|
||||
# 数值类型 -> int
|
||||
if isinstance(value, str):
|
||||
coerced = int(value)
|
||||
else:
|
||||
coerced = int(value)
|
||||
elif dt in (DataType.FLOAT, DataType.DOUBLE):
|
||||
if isinstance(value, str):
|
||||
coerced = float(value)
|
||||
else:
|
||||
coerced = float(value)
|
||||
elif dt == DataType.BOOLEAN:
|
||||
if isinstance(value, str):
|
||||
v = value.strip().lower()
|
||||
if v in ("true", "1", "yes", "on"):
|
||||
coerced = True
|
||||
elif v in ("false", "0", "no", "off"):
|
||||
coerced = False
|
||||
else:
|
||||
coerced = bool(value)
|
||||
else:
|
||||
coerced = bool(value)
|
||||
elif dt == DataType.STRING or dt == DataType.BYTESTRING or dt == DataType.DATETIME:
|
||||
coerced = str(value)
|
||||
|
||||
# 使用 ua.Variant 明确指定 VariantType
|
||||
try:
|
||||
variant = ua.Variant(coerced, dt.value)
|
||||
self._get_node().set_value(variant)
|
||||
except Exception:
|
||||
# 回退：有些 set_value 实现接受 (value, variant_type)
|
||||
try:
|
||||
self._get_node().set_value(coerced, dt.value)
|
||||
except Exception:
|
||||
# 最后回退到直接写入（保持兼容性）
|
||||
self._get_node().set_value(coerced)
|
||||
else:
|
||||
# 未声明数据类型，直接写入
|
||||
self._get_node().set_value(value)
|
||||
except Exception:
|
||||
# 若在转换或按数据类型写入失败，尝试直接写入原始值并让上层捕获错误
|
||||
self._get_node().set_value(value)
|
||||
|
||||
return False
|
||||
except Exception as e:
|
||||
print(f"写入变量 {self._name} 失败: {e}")
|
||||
@@ -120,20 +214,50 @@ class Method(Base):
|
||||
def _get_parent_node(self) -> Node:
|
||||
if self._parent_node is None:
|
||||
try:
|
||||
# 检查是否是NumericNodeId(ns=X;i=Y)格式
|
||||
if "NumericNodeId" in self._parent_node_id:
|
||||
# 从字符串中提取命名空间和标识符
|
||||
import re
|
||||
match = re.search(r'ns=(\d+);i=(\d+)', self._parent_node_id)
|
||||
if match:
|
||||
ns = int(match.group(1))
|
||||
identifier = int(match.group(2))
|
||||
node_id = NodeId(identifier, ns)
|
||||
self._parent_node = self._client.get_node(node_id)
|
||||
# 处理父节点ID，使用与_get_node相同的解析逻辑
|
||||
import re
|
||||
|
||||
nid = self._parent_node_id
|
||||
|
||||
# 如果已经是 NodeId 对象，直接使用
|
||||
try:
|
||||
from opcua.ua import NodeId as UaNodeId
|
||||
if isinstance(nid, UaNodeId):
|
||||
self._parent_node = self._client.get_node(nid)
|
||||
return self._parent_node
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
# 字符串处理
|
||||
if isinstance(nid, str):
|
||||
nid = nid.strip()
|
||||
|
||||
# 处理包含类名的格式
|
||||
match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
|
||||
if match_wrapped:
|
||||
nid = match_wrapped.group(2).strip()
|
||||
|
||||
# 常见短格式
|
||||
if re.match(r'^ns=\d+;[is]=', nid):
|
||||
self._parent_node = self._client.get_node(nid)
|
||||
else:
|
||||
raise ValueError(f"无法解析父节点ID: {self._parent_node_id}")
|
||||
# 提取 ns 和 i 或 s
|
||||
m_num = re.search(r'ns=(\d+);i=(\d+)', nid)
|
||||
m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid)
|
||||
if m_num:
|
||||
ns = int(m_num.group(1))
|
||||
identifier = int(m_num.group(2))
|
||||
node_id = NodeId(identifier, ns)
|
||||
self._parent_node = self._client.get_node(node_id)
|
||||
elif m_str:
|
||||
ns = int(m_str.group(1))
|
||||
identifier = m_str.group(2).strip()
|
||||
node_id_str = f"ns={ns};s={identifier}"
|
||||
self._parent_node = self._client.get_node(node_id_str)
|
||||
else:
|
||||
# 回退
|
||||
self._parent_node = self._client.get_node(self._parent_node_id)
|
||||
else:
|
||||
# 直接使用节点ID字符串
|
||||
self._parent_node = self._client.get_node(self._parent_node_id)
|
||||
except Exception as e:
|
||||
print(f"获取父节点失败: {self._parent_node_id}, 错误: {e}")
|
||||
|
||||
29
unilabos/devices/battery/battery.json
Normal file
29
unilabos/devices/battery/battery.json
Normal file
@@ -0,0 +1,29 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "NEWARE_BATTERY_TEST_SYSTEM",
|
||||
"name": "Neware Battery Test System",
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "neware_battery_test_system",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"ip": "127.0.0.1",
|
||||
"port": 502,
|
||||
"machine_id": 1,
|
||||
"devtype": "27",
|
||||
"timeout": 20,
|
||||
"size_x": 500.0,
|
||||
"size_y": 500.0,
|
||||
"size_z": 2000.0
|
||||
},
|
||||
"data": {},
|
||||
"children": []
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
1042
unilabos/devices/battery/neware_battery_test_system.py
Normal file
1042
unilabos/devices/battery/neware_battery_test_system.py
Normal file
File diff suppressed because it is too large
Load Diff
0
unilabos/devices/cameraSII/__init__.py
Normal file
0
unilabos/devices/cameraSII/__init__.py
Normal file
712
unilabos/devices/cameraSII/cameraDriver.py
Normal file
712
unilabos/devices/cameraSII/cameraDriver.py
Normal file
@@ -0,0 +1,712 @@
|
||||
#!/usr/bin/env python3
|
||||
import asyncio
|
||||
import json
|
||||
import subprocess
|
||||
import sys
|
||||
import threading
|
||||
from typing import Optional, Dict, Any
|
||||
import logging
|
||||
|
||||
import requests
|
||||
import websockets
|
||||
|
||||
logging.getLogger("zeep").setLevel(logging.WARNING)
|
||||
logging.getLogger("zeep.xsd.schema").setLevel(logging.WARNING)
|
||||
logging.getLogger("zeep.xsd.schema.schema").setLevel(logging.WARNING)
|
||||
from onvif import ONVIFCamera # 新增：ONVIF PTZ 控制
|
||||
|
||||
|
||||
# ======================= 独立的 PTZController =======================
|
||||
class PTZController:
|
||||
def __init__(self, host: str, port: int, user: str, password: str):
|
||||
"""
|
||||
:param host: 摄像机 IP 或域名（和 RTSP 的一样即可）
|
||||
:param port: ONVIF 端口（多数为 80，看你的设备）
|
||||
:param user: 摄像机用户名
|
||||
:param password: 摄像机密码
|
||||
"""
|
||||
self.host = host
|
||||
self.port = port
|
||||
self.user = user
|
||||
self.password = password
|
||||
|
||||
self.cam: Optional[ONVIFCamera] = None
|
||||
self.media_service = None
|
||||
self.ptz_service = None
|
||||
self.profile = None
|
||||
|
||||
def connect(self) -> bool:
|
||||
"""
|
||||
建立 ONVIF 连接并初始化 PTZ 能力，失败返回 False（不抛异常）
|
||||
Note: 首先 pip install onvif-zeep
|
||||
"""
|
||||
try:
|
||||
self.cam = ONVIFCamera(self.host, self.port, self.user, self.password)
|
||||
self.media_service = self.cam.create_media_service()
|
||||
self.ptz_service = self.cam.create_ptz_service()
|
||||
profiles = self.media_service.GetProfiles()
|
||||
if not profiles:
|
||||
print("[PTZ] No media profiles found on camera.", file=sys.stderr)
|
||||
return False
|
||||
self.profile = profiles[0]
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"[PTZ] Failed to init ONVIF PTZ: {e}", file=sys.stderr)
|
||||
return False
|
||||
|
||||
def _continuous_move(self, pan: float, tilt: float, zoom: float, duration: float) -> bool:
|
||||
"""
|
||||
连续移动一段时间（秒），之后自动停止。
|
||||
此函数为阻塞模式：只有在 Stop 调用结束后，才返回 True/False。
|
||||
"""
|
||||
if not self.ptz_service or not self.profile:
|
||||
print("[PTZ] _continuous_move: ptz_service or profile not ready", file=sys.stderr)
|
||||
return False
|
||||
|
||||
# 进入前先强行停一下，避免前一次残留动作
|
||||
self._force_stop()
|
||||
|
||||
req = self.ptz_service.create_type("ContinuousMove")
|
||||
req.ProfileToken = self.profile.token
|
||||
|
||||
req.Velocity = {
|
||||
"PanTilt": {"x": pan, "y": tilt},
|
||||
"Zoom": {"x": zoom},
|
||||
}
|
||||
|
||||
try:
|
||||
print(f"[PTZ] ContinuousMove start: pan={pan}, tilt={tilt}, zoom={zoom}, duration={duration}", file=sys.stderr)
|
||||
self.ptz_service.ContinuousMove(req)
|
||||
except Exception as e:
|
||||
print(f"[PTZ] ContinuousMove failed: {e}", file=sys.stderr)
|
||||
return False
|
||||
|
||||
# 阻塞等待：这里决定“运动时间”
|
||||
import time
|
||||
wait_seconds = max(2 * duration, 0.0)
|
||||
time.sleep(wait_seconds)
|
||||
|
||||
# 运动完成后强制停止
|
||||
return self._force_stop()
|
||||
|
||||
def stop(self) -> bool:
|
||||
"""
|
||||
阻塞调用 Stop（带重试），成功 True，失败 False。
|
||||
"""
|
||||
return self._force_stop()
|
||||
|
||||
# ------- 对外动作接口（给 CameraController 调用） -------
|
||||
# 所有接口都为“阻塞模式”：只有在运动 + Stop 完成后才返回 True/False
|
||||
|
||||
def move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool:
|
||||
print(f"[PTZ] move_up called, speed={speed}, duration={duration}", file=sys.stderr)
|
||||
return self._continuous_move(pan=0.0, tilt=+speed, zoom=0.0, duration=duration)
|
||||
|
||||
def move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool:
|
||||
print(f"[PTZ] move_down called, speed={speed}, duration={duration}", file=sys.stderr)
|
||||
return self._continuous_move(pan=0.0, tilt=-speed, zoom=0.0, duration=duration)
|
||||
|
||||
def move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool:
|
||||
print(f"[PTZ] move_left called, speed={speed}, duration={duration}", file=sys.stderr)
|
||||
return self._continuous_move(pan=-speed, tilt=0.0, zoom=0.0, duration=duration)
|
||||
|
||||
def move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool:
|
||||
print(f"[PTZ] move_right called, speed={speed}, duration={duration}", file=sys.stderr)
|
||||
return self._continuous_move(pan=+speed, tilt=0.0, zoom=0.0, duration=duration)
|
||||
|
||||
# ------- 占位的变倍接口（当前设备不支持） -------
|
||||
def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool:
|
||||
"""
|
||||
当前设备不支持变倍；保留方法只是避免上层调用时报错。
|
||||
"""
|
||||
print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr)
|
||||
return False
|
||||
|
||||
def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool:
|
||||
"""
|
||||
当前设备不支持变倍；保留方法只是避免上层调用时报错。
|
||||
"""
|
||||
print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr)
|
||||
return False
|
||||
|
||||
def _force_stop(self, retries: int = 3, delay: float = 0.1) -> bool:
|
||||
"""
|
||||
尝试多次调用 Stop，作为“强制停止”手段。
|
||||
:param retries: 重试次数
|
||||
:param delay: 每次重试间隔（秒）
|
||||
"""
|
||||
if not self.ptz_service or not self.profile:
|
||||
print("[PTZ] _force_stop: ptz_service or profile not ready", file=sys.stderr)
|
||||
return False
|
||||
|
||||
import time
|
||||
last_error = None
|
||||
for i in range(retries):
|
||||
try:
|
||||
print(f"[PTZ] _force_stop: calling Stop(), attempt={i+1}", file=sys.stderr)
|
||||
self.ptz_service.Stop({"ProfileToken": self.profile.token})
|
||||
print("[PTZ] _force_stop: Stop() returned OK", file=sys.stderr)
|
||||
return True
|
||||
except Exception as e:
|
||||
last_error = e
|
||||
print(f"[PTZ] _force_stop: Stop() failed at attempt {i+1}: {e}", file=sys.stderr)
|
||||
time.sleep(delay)
|
||||
|
||||
print(f"[PTZ] _force_stop: all {retries} attempts failed, last error: {last_error}", file=sys.stderr)
|
||||
return False
|
||||
|
||||
# ======================= CameraController（加入 PTZ） =======================
|
||||
|
||||
class CameraController:
|
||||
"""
|
||||
Uni-Lab-OS 摄像头驱动（driver 形式）
|
||||
启动 Uni-Lab-OS 后，立即开始推流
|
||||
|
||||
- WebSocket 信令：通过 signal_backend_url 连接到后端
|
||||
例如: wss://sciol.ac.cn/api/realtime/signal/host/<host_id>
|
||||
- 媒体服务器：通过 rtmp_url / webrtc_api / webrtc_stream_url
|
||||
当前配置为 SRS，与独立 HostSimulator 独立运行脚本保持一致。
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
host_id: str = "demo-host",
|
||||
|
||||
# （1）信令后端（WebSocket）
|
||||
signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host",
|
||||
|
||||
# （2）媒体后端（RTMP + WebRTC API）
|
||||
rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01",
|
||||
webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/",
|
||||
webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01",
|
||||
camera_rtsp_url: str = "",
|
||||
|
||||
# （3）PTZ 控制相关（ONVIF）
|
||||
ptz_host: str = "", # 一般就是摄像头 IP，比如 "192.168.31.164"
|
||||
ptz_port: int = 80, # ONVIF 端口，不一定是 80，按实际情况改
|
||||
ptz_user: str = "", # admin
|
||||
ptz_password: str = "", # admin123
|
||||
):
|
||||
self.host_id = host_id
|
||||
self.camera_rtsp_url = camera_rtsp_url
|
||||
|
||||
# 拼接最终的 WebSocket URL：.../host/<host_id>
|
||||
signal_backend_url = signal_backend_url.rstrip("/")
|
||||
if not signal_backend_url.endswith("/host"):
|
||||
signal_backend_url = signal_backend_url + "/host"
|
||||
self.signal_backend_url = f"{signal_backend_url}/{host_id}"
|
||||
|
||||
# 媒体服务器配置
|
||||
self.rtmp_url = rtmp_url
|
||||
self.webrtc_api = webrtc_api
|
||||
self.webrtc_stream_url = webrtc_stream_url
|
||||
|
||||
# PTZ 控制
|
||||
self.ptz_host = ptz_host
|
||||
self.ptz_port = ptz_port
|
||||
self.ptz_user = ptz_user
|
||||
self.ptz_password = ptz_password
|
||||
self._ptz: Optional[PTZController] = None
|
||||
self._init_ptz_if_possible()
|
||||
|
||||
# 运行时状态
|
||||
self._ws: Optional[object] = None
|
||||
self._ffmpeg_process: Optional[subprocess.Popen] = None
|
||||
self._running = False
|
||||
self._loop_task: Optional[asyncio.Future] = None
|
||||
|
||||
# 事件循环 & 线程
|
||||
self._loop: Optional[asyncio.AbstractEventLoop] = None
|
||||
self._loop_thread: Optional[threading.Thread] = None
|
||||
|
||||
try:
|
||||
self.start()
|
||||
except Exception as e:
|
||||
print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr)
|
||||
|
||||
# ------------------------ PTZ 初始化 ------------------------
|
||||
|
||||
# ------------------------ PTZ 公开动作方法（一个动作一个函数） ------------------------
|
||||
|
||||
def ptz_move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool:
|
||||
print(f"[CameraController] ptz_move_up called, speed={speed}, duration={duration}")
|
||||
return self._ptz.move_up(speed=speed, duration=duration)
|
||||
|
||||
def ptz_move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool:
|
||||
print(f"[CameraController] ptz_move_down called, speed={speed}, duration={duration}")
|
||||
return self._ptz.move_down(speed=speed, duration=duration)
|
||||
|
||||
def ptz_move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool:
|
||||
print(f"[CameraController] ptz_move_left called, speed={speed}, duration={duration}")
|
||||
return self._ptz.move_left(speed=speed, duration=duration)
|
||||
|
||||
def ptz_move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool:
|
||||
print(f"[CameraController] ptz_move_right called, speed={speed}, duration={duration}")
|
||||
return self._ptz.move_right(speed=speed, duration=duration)
|
||||
|
||||
def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool:
|
||||
"""
|
||||
当前设备不支持变倍；保留方法只是避免上层调用时报错。
|
||||
"""
|
||||
print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr)
|
||||
return False
|
||||
|
||||
def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool:
|
||||
"""
|
||||
当前设备不支持变倍；保留方法只是避免上层调用时报错。
|
||||
"""
|
||||
print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr)
|
||||
return False
|
||||
|
||||
def ptz_stop(self):
|
||||
if self._ptz is None:
|
||||
print("[CameraController] PTZ not initialized.", file=sys.stderr)
|
||||
return
|
||||
self._ptz.stop()
|
||||
|
||||
def _init_ptz_if_possible(self):
|
||||
"""
|
||||
根据 ptz_host / user / password 初始化 PTZ；
|
||||
如果配置信息不全则不启用 PTZ（静默）。
|
||||
"""
|
||||
if not (self.ptz_host and self.ptz_user and self.ptz_password):
|
||||
return
|
||||
ctrl = PTZController(
|
||||
host=self.ptz_host,
|
||||
port=self.ptz_port,
|
||||
user=self.ptz_user,
|
||||
password=self.ptz_password,
|
||||
)
|
||||
if ctrl.connect():
|
||||
self._ptz = ctrl
|
||||
else:
|
||||
self._ptz = None
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# 对外暴露的方法：供 Uni-Lab-OS 调用
|
||||
# ---------------------------------------------------------------------
|
||||
|
||||
def start(self, config: Optional[Dict[str, Any]] = None):
|
||||
"""
|
||||
启动 Camera 连接 & 消息循环，并在启动时就开启 FFmpeg 推流，
|
||||
"""
|
||||
|
||||
if self._running:
|
||||
return {"status": "already_running", "host_id": self.host_id}
|
||||
|
||||
# 应用 config 覆盖（如果有）
|
||||
if config:
|
||||
self.camera_rtsp_url = config.get("camera_rtsp_url", self.camera_rtsp_url)
|
||||
cfg_host_id = config.get("host_id")
|
||||
if cfg_host_id:
|
||||
self.host_id = cfg_host_id
|
||||
|
||||
signal_backend_url = config.get("signal_backend_url")
|
||||
if signal_backend_url:
|
||||
signal_backend_url = signal_backend_url.rstrip("/")
|
||||
if not signal_backend_url.endswith("/host"):
|
||||
signal_backend_url = signal_backend_url + "/host"
|
||||
self.signal_backend_url = f"{signal_backend_url}/{self.host_id}"
|
||||
|
||||
self.rtmp_url = config.get("rtmp_url", self.rtmp_url)
|
||||
self.webrtc_api = config.get("webrtc_api", self.webrtc_api)
|
||||
self.webrtc_stream_url = config.get(
|
||||
"webrtc_stream_url", self.webrtc_stream_url
|
||||
)
|
||||
|
||||
# PTZ 相关配置也允许通过 config 注入
|
||||
self.ptz_host = config.get("ptz_host", self.ptz_host)
|
||||
self.ptz_port = int(config.get("ptz_port", self.ptz_port))
|
||||
self.ptz_user = config.get("ptz_user", self.ptz_user)
|
||||
self.ptz_password = config.get("ptz_password", self.ptz_password)
|
||||
self._init_ptz_if_possible()
|
||||
|
||||
self._running = True
|
||||
|
||||
# === start 时启动 FFmpeg 推流 ===
|
||||
self._start_ffmpeg()
|
||||
|
||||
# 创建新的事件循环和线程（用于 WebSocket 信令）
|
||||
self._loop = asyncio.new_event_loop()
|
||||
|
||||
def loop_runner(loop: asyncio.AbstractEventLoop):
|
||||
asyncio.set_event_loop(loop)
|
||||
try:
|
||||
loop.run_forever()
|
||||
except Exception as e:
|
||||
print(f"[CameraController] event loop error: {e}", file=sys.stderr)
|
||||
|
||||
self._loop_thread = threading.Thread(
|
||||
target=loop_runner, args=(self._loop,), daemon=True
|
||||
)
|
||||
self._loop_thread.start()
|
||||
|
||||
self._loop_task = asyncio.run_coroutine_threadsafe(
|
||||
self._run_main_loop(), self._loop
|
||||
)
|
||||
|
||||
return {
|
||||
"status": "started",
|
||||
"host_id": self.host_id,
|
||||
"signal_backend_url": self.signal_backend_url,
|
||||
"rtmp_url": self.rtmp_url,
|
||||
"webrtc_api": self.webrtc_api,
|
||||
"webrtc_stream_url": self.webrtc_stream_url,
|
||||
}
|
||||
|
||||
def stop(self) -> Dict[str, Any]:
|
||||
"""
|
||||
停止推流 & 断开 WebSocket，并关闭事件循环线程。
|
||||
"""
|
||||
self._running = False
|
||||
|
||||
self._stop_ffmpeg()
|
||||
|
||||
if self._ws and self._loop is not None:
|
||||
async def close_ws():
|
||||
try:
|
||||
await self._ws.close()
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when closing WebSocket: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
|
||||
asyncio.run_coroutine_threadsafe(close_ws(), self._loop)
|
||||
|
||||
if self._loop_task is not None:
|
||||
if not self._loop_task.done():
|
||||
self._loop_task.cancel()
|
||||
try:
|
||||
self._loop_task.result()
|
||||
except asyncio.CancelledError:
|
||||
pass
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] main loop task error in stop(): {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
finally:
|
||||
self._loop_task = None
|
||||
|
||||
if self._loop is not None:
|
||||
try:
|
||||
self._loop.call_soon_threadsafe(self._loop.stop)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when stopping event loop: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
|
||||
if self._loop_thread is not None:
|
||||
try:
|
||||
self._loop_thread.join(timeout=5)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when joining loop thread: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
finally:
|
||||
self._loop_thread = None
|
||||
|
||||
self._ws = None
|
||||
self._loop = None
|
||||
|
||||
return {"status": "stopped", "host_id": self.host_id}
|
||||
|
||||
def get_status(self) -> Dict[str, Any]:
|
||||
"""
|
||||
查询当前状态，方便在 Uni-Lab-OS 中做监控。
|
||||
"""
|
||||
ws_closed = None
|
||||
if self._ws is not None:
|
||||
ws_closed = getattr(self._ws, "closed", None)
|
||||
|
||||
if ws_closed is None:
|
||||
websocket_connected = self._ws is not None
|
||||
else:
|
||||
websocket_connected = (self._ws is not None) and (not ws_closed)
|
||||
|
||||
return {
|
||||
"host_id": self.host_id,
|
||||
"running": self._running,
|
||||
"websocket_connected": websocket_connected,
|
||||
"ffmpeg_running": bool(
|
||||
self._ffmpeg_process and self._ffmpeg_process.poll() is None
|
||||
),
|
||||
"signal_backend_url": self.signal_backend_url,
|
||||
"rtmp_url": self.rtmp_url,
|
||||
}
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# 内部实现逻辑：WebSocket 循环 / FFmpeg / WebRTC Offer 处理
|
||||
# ---------------------------------------------------------------------
|
||||
|
||||
async def _run_main_loop(self):
|
||||
try:
|
||||
while self._running:
|
||||
try:
|
||||
async with websockets.connect(self.signal_backend_url) as ws:
|
||||
self._ws = ws
|
||||
await self._recv_loop()
|
||||
except asyncio.CancelledError:
|
||||
raise
|
||||
except Exception as e:
|
||||
if self._running:
|
||||
print(
|
||||
f"[CameraController] WebSocket connection error: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
await asyncio.sleep(3)
|
||||
except asyncio.CancelledError:
|
||||
pass
|
||||
|
||||
async def _recv_loop(self):
|
||||
assert self._ws is not None
|
||||
ws = self._ws
|
||||
|
||||
async for message in ws:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
except json.JSONDecodeError:
|
||||
print(
|
||||
f"[CameraController] received non-JSON message: {message}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
continue
|
||||
|
||||
try:
|
||||
await self._handle_message(data)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error while handling message {data}: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
|
||||
async def _handle_message(self, data: Dict[str, Any]):
|
||||
"""
|
||||
处理来自信令后端的消息：
|
||||
- command: start_stream / stop_stream / ptz_xxx
|
||||
- type: offer (WebRTC)
|
||||
"""
|
||||
cmd = data.get("command")
|
||||
|
||||
# ---------- 推流控制 ----------
|
||||
if cmd == "start_stream":
|
||||
try:
|
||||
self._start_ffmpeg()
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when starting FFmpeg on start_stream: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
return
|
||||
|
||||
if cmd == "stop_stream":
|
||||
try:
|
||||
self._stop_ffmpeg()
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when stopping FFmpeg on stop_stream: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
return
|
||||
|
||||
# # ---------- PTZ 控制 ----------
|
||||
# # 例如信令可以发：
|
||||
# # {"command": "ptz_move", "direction": "down", "speed": 0.5, "duration": 0.5}
|
||||
# if cmd == "ptz_move":
|
||||
# if self._ptz is None:
|
||||
# # 没有初始化 PTZ，静默忽略或打印一条
|
||||
# print("[CameraController] PTZ not initialized.", file=sys.stderr)
|
||||
# return
|
||||
|
||||
# direction = data.get("direction", "")
|
||||
# speed = float(data.get("speed", 0.5))
|
||||
# duration = float(data.get("duration", 0.5))
|
||||
|
||||
# try:
|
||||
# if direction == "up":
|
||||
# self._ptz.move_up(speed=speed, duration=duration)
|
||||
# elif direction == "down":
|
||||
# self._ptz.move_down(speed=speed, duration=duration)
|
||||
# elif direction == "left":
|
||||
# self._ptz.move_left(speed=speed, duration=duration)
|
||||
# elif direction == "right":
|
||||
# self._ptz.move_right(speed=speed, duration=duration)
|
||||
# elif direction == "zoom_in":
|
||||
# self._ptz.zoom_in(speed=speed, duration=duration)
|
||||
# elif direction == "zoom_out":
|
||||
# self._ptz.zoom_out(speed=speed, duration=duration)
|
||||
# elif direction == "stop":
|
||||
# self._ptz.stop()
|
||||
# else:
|
||||
# # 未知方向，忽略
|
||||
# pass
|
||||
# except Exception as e:
|
||||
# print(
|
||||
# f"[CameraController] error when handling PTZ move: {e}",
|
||||
# file=sys.stderr,
|
||||
# )
|
||||
# return
|
||||
|
||||
# ---------- WebRTC Offer ----------
|
||||
if data.get("type") == "offer":
|
||||
offer_sdp = data.get("sdp", "")
|
||||
camera_id = data.get("cameraId", "camera-01")
|
||||
try:
|
||||
answer_sdp = await self._handle_webrtc_offer(offer_sdp)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when handling WebRTC offer: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
return
|
||||
|
||||
if self._ws:
|
||||
answer_payload = {
|
||||
"type": "answer",
|
||||
"sdp": answer_sdp,
|
||||
"cameraId": camera_id,
|
||||
"hostId": self.host_id,
|
||||
}
|
||||
try:
|
||||
await self._ws.send(json.dumps(answer_payload))
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when sending WebRTC answer: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
|
||||
# ------------------------ FFmpeg 相关 ------------------------
|
||||
|
||||
def _start_ffmpeg(self):
|
||||
if self._ffmpeg_process and self._ffmpeg_process.poll() is None:
|
||||
return
|
||||
|
||||
cmd = [
|
||||
"ffmpeg",
|
||||
"-rtsp_transport", "tcp",
|
||||
"-i", self.camera_rtsp_url,
|
||||
|
||||
"-c:v", "libx264",
|
||||
"-preset", "ultrafast",
|
||||
"-tune", "zerolatency",
|
||||
"-profile:v", "baseline",
|
||||
"-b:v", "1M",
|
||||
"-maxrate", "1M",
|
||||
"-bufsize", "2M",
|
||||
"-g", "10",
|
||||
"-keyint_min", "10",
|
||||
"-sc_threshold", "0",
|
||||
"-pix_fmt", "yuv420p",
|
||||
"-x264-params", "bframes=0",
|
||||
|
||||
"-c:a", "aac",
|
||||
"-ar", "44100",
|
||||
"-ac", "1",
|
||||
"-b:a", "64k",
|
||||
|
||||
"-f", "flv",
|
||||
self.rtmp_url,
|
||||
]
|
||||
|
||||
try:
|
||||
self._ffmpeg_process = subprocess.Popen(
|
||||
cmd,
|
||||
stdout=subprocess.DEVNULL,
|
||||
stderr=subprocess.STDOUT,
|
||||
shell=False,
|
||||
)
|
||||
except Exception as e:
|
||||
print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr)
|
||||
self._ffmpeg_process = None
|
||||
raise
|
||||
|
||||
def _stop_ffmpeg(self):
|
||||
proc = self._ffmpeg_process
|
||||
|
||||
if proc and proc.poll() is None:
|
||||
try:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except subprocess.TimeoutExpired:
|
||||
try:
|
||||
proc.kill()
|
||||
try:
|
||||
proc.wait(timeout=2)
|
||||
except subprocess.TimeoutExpired:
|
||||
print(
|
||||
f"[CameraController] FFmpeg process did not exit even after kill (pid={proc.pid})",
|
||||
file=sys.stderr,
|
||||
)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] failed to kill FFmpeg process: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when stopping FFmpeg: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
|
||||
self._ffmpeg_process = None
|
||||
|
||||
# ------------------------ WebRTC Offer 相关 ------------------------
|
||||
|
||||
async def _handle_webrtc_offer(self, offer_sdp: str) -> str:
|
||||
payload = {
|
||||
"api": self.webrtc_api,
|
||||
"streamurl": self.webrtc_stream_url,
|
||||
"sdp": offer_sdp,
|
||||
}
|
||||
|
||||
headers = {"Content-Type": "application/json"}
|
||||
|
||||
def _do_request():
|
||||
return requests.post(
|
||||
self.webrtc_api,
|
||||
json=payload,
|
||||
headers=headers,
|
||||
timeout=10,
|
||||
)
|
||||
|
||||
try:
|
||||
loop = asyncio.get_running_loop()
|
||||
resp = await loop.run_in_executor(None, _do_request)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] failed to send offer to media server: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
raise
|
||||
|
||||
try:
|
||||
resp.raise_for_status()
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] media server HTTP error: {e}, "
|
||||
f"status={resp.status_code}, body={resp.text[:200]}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
raise
|
||||
|
||||
try:
|
||||
data = resp.json()
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] failed to parse media server JSON: {e}, "
|
||||
f"raw={resp.text[:200]}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
raise
|
||||
|
||||
answer_sdp = data.get("sdp", "")
|
||||
if not answer_sdp:
|
||||
msg = f"empty SDP from media server: {data}"
|
||||
print(f"[CameraController] {msg}", file=sys.stderr)
|
||||
raise RuntimeError(msg)
|
||||
|
||||
return answer_sdp
|
||||
401
unilabos/devices/cameraSII/cameraUSB.py
Normal file
401
unilabos/devices/cameraSII/cameraUSB.py
Normal file
@@ -0,0 +1,401 @@
|
||||
#!/usr/bin/env python3
|
||||
import asyncio
|
||||
import json
|
||||
import subprocess
|
||||
import sys
|
||||
import threading
|
||||
from typing import Optional, Dict, Any
|
||||
|
||||
import requests
|
||||
import websockets
|
||||
|
||||
|
||||
class CameraController:
|
||||
"""
|
||||
Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
|
||||
|
||||
- WebSocket 信令：signal_backend_url 连接到后端
|
||||
例如: wss://sciol.ac.cn/api/realtime/signal/host/<host_id>
|
||||
- 媒体服务器：RTMP 推流到 rtmp_url；WebRTC offer 转发到 SRS 的 webrtc_api
|
||||
- 视频源：本地 USB 摄像头（V4L2，默认 /dev/video0）
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
host_id: str = "demo-host",
|
||||
signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host",
|
||||
rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01",
|
||||
webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/",
|
||||
webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01",
|
||||
video_device: str = "/dev/video0",
|
||||
width: int = 1280,
|
||||
height: int = 720,
|
||||
fps: int = 30,
|
||||
video_bitrate: str = "1500k",
|
||||
audio_device: Optional[str] = None, # 比如 "hw:1,0"，没有音频就保持 None
|
||||
audio_bitrate: str = "64k",
|
||||
):
|
||||
self.host_id = host_id
|
||||
|
||||
# 拼接最终 WebSocket URL：.../host/<host_id>
|
||||
signal_backend_url = signal_backend_url.rstrip("/")
|
||||
if not signal_backend_url.endswith("/host"):
|
||||
signal_backend_url = signal_backend_url + "/host"
|
||||
self.signal_backend_url = f"{signal_backend_url}/{host_id}"
|
||||
|
||||
# 媒体服务器配置
|
||||
self.rtmp_url = rtmp_url
|
||||
self.webrtc_api = webrtc_api
|
||||
self.webrtc_stream_url = webrtc_stream_url
|
||||
|
||||
# 本地采集配置
|
||||
self.video_device = video_device
|
||||
self.width = int(width)
|
||||
self.height = int(height)
|
||||
self.fps = int(fps)
|
||||
self.video_bitrate = video_bitrate
|
||||
self.audio_device = audio_device
|
||||
self.audio_bitrate = audio_bitrate
|
||||
|
||||
# 运行时状态
|
||||
self._ws: Optional[object] = None
|
||||
self._ffmpeg_process: Optional[subprocess.Popen] = None
|
||||
self._running = False
|
||||
self._loop_task: Optional[asyncio.Future] = None
|
||||
|
||||
# 事件循环 & 线程
|
||||
self._loop: Optional[asyncio.AbstractEventLoop] = None
|
||||
self._loop_thread: Optional[threading.Thread] = None
|
||||
|
||||
try:
|
||||
self.start()
|
||||
except Exception as e:
|
||||
print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr)
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# 对外方法
|
||||
# ---------------------------------------------------------------------
|
||||
|
||||
def start(self, config: Optional[Dict[str, Any]] = None):
|
||||
if self._running:
|
||||
return {"status": "already_running", "host_id": self.host_id}
|
||||
|
||||
# 应用 config 覆盖（如果有）
|
||||
if config:
|
||||
cfg_host_id = config.get("host_id")
|
||||
if cfg_host_id:
|
||||
self.host_id = cfg_host_id
|
||||
|
||||
signal_backend_url = config.get("signal_backend_url")
|
||||
if signal_backend_url:
|
||||
signal_backend_url = signal_backend_url.rstrip("/")
|
||||
if not signal_backend_url.endswith("/host"):
|
||||
signal_backend_url = signal_backend_url + "/host"
|
||||
self.signal_backend_url = f"{signal_backend_url}/{self.host_id}"
|
||||
|
||||
self.rtmp_url = config.get("rtmp_url", self.rtmp_url)
|
||||
self.webrtc_api = config.get("webrtc_api", self.webrtc_api)
|
||||
self.webrtc_stream_url = config.get("webrtc_stream_url", self.webrtc_stream_url)
|
||||
|
||||
self.video_device = config.get("video_device", self.video_device)
|
||||
self.width = int(config.get("width", self.width))
|
||||
self.height = int(config.get("height", self.height))
|
||||
self.fps = int(config.get("fps", self.fps))
|
||||
self.video_bitrate = config.get("video_bitrate", self.video_bitrate)
|
||||
self.audio_device = config.get("audio_device", self.audio_device)
|
||||
self.audio_bitrate = config.get("audio_bitrate", self.audio_bitrate)
|
||||
|
||||
self._running = True
|
||||
|
||||
print("[CameraController] start(): starting FFmpeg streaming...", file=sys.stderr)
|
||||
self._start_ffmpeg()
|
||||
|
||||
self._loop = asyncio.new_event_loop()
|
||||
|
||||
def loop_runner(loop: asyncio.AbstractEventLoop):
|
||||
asyncio.set_event_loop(loop)
|
||||
try:
|
||||
loop.run_forever()
|
||||
except Exception as e:
|
||||
print(f"[CameraController] event loop error: {e}", file=sys.stderr)
|
||||
|
||||
self._loop_thread = threading.Thread(target=loop_runner, args=(self._loop,), daemon=True)
|
||||
self._loop_thread.start()
|
||||
|
||||
self._loop_task = asyncio.run_coroutine_threadsafe(self._run_main_loop(), self._loop)
|
||||
|
||||
return {
|
||||
"status": "started",
|
||||
"host_id": self.host_id,
|
||||
"signal_backend_url": self.signal_backend_url,
|
||||
"rtmp_url": self.rtmp_url,
|
||||
"webrtc_api": self.webrtc_api,
|
||||
"webrtc_stream_url": self.webrtc_stream_url,
|
||||
"video_device": self.video_device,
|
||||
"width": self.width,
|
||||
"height": self.height,
|
||||
"fps": self.fps,
|
||||
"video_bitrate": self.video_bitrate,
|
||||
"audio_device": self.audio_device,
|
||||
}
|
||||
|
||||
def stop(self) -> Dict[str, Any]:
|
||||
self._running = False
|
||||
|
||||
# 先取消主任务（让 ws connect/sleep 尽快退出）
|
||||
if self._loop_task is not None and not self._loop_task.done():
|
||||
self._loop_task.cancel()
|
||||
|
||||
# 停止推流
|
||||
self._stop_ffmpeg()
|
||||
|
||||
# 关闭 WebSocket（在 loop 中执行）
|
||||
if self._ws and self._loop is not None:
|
||||
|
||||
async def close_ws():
|
||||
try:
|
||||
await self._ws.close()
|
||||
except Exception as e:
|
||||
print(f"[CameraController] error closing WebSocket: {e}", file=sys.stderr)
|
||||
|
||||
try:
|
||||
asyncio.run_coroutine_threadsafe(close_ws(), self._loop)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
# 停止事件循环
|
||||
if self._loop is not None:
|
||||
try:
|
||||
self._loop.call_soon_threadsafe(self._loop.stop)
|
||||
except Exception as e:
|
||||
print(f"[CameraController] error stopping loop: {e}", file=sys.stderr)
|
||||
|
||||
# 等待线程退出
|
||||
if self._loop_thread is not None:
|
||||
try:
|
||||
self._loop_thread.join(timeout=5)
|
||||
except Exception as e:
|
||||
print(f"[CameraController] error joining loop thread: {e}", file=sys.stderr)
|
||||
|
||||
self._ws = None
|
||||
self._loop_task = None
|
||||
self._loop = None
|
||||
self._loop_thread = None
|
||||
|
||||
return {"status": "stopped", "host_id": self.host_id}
|
||||
|
||||
def get_status(self) -> Dict[str, Any]:
|
||||
ws_closed = None
|
||||
if self._ws is not None:
|
||||
ws_closed = getattr(self._ws, "closed", None)
|
||||
|
||||
if ws_closed is None:
|
||||
websocket_connected = self._ws is not None
|
||||
else:
|
||||
websocket_connected = (self._ws is not None) and (not ws_closed)
|
||||
|
||||
return {
|
||||
"host_id": self.host_id,
|
||||
"running": self._running,
|
||||
"websocket_connected": websocket_connected,
|
||||
"ffmpeg_running": bool(self._ffmpeg_process and self._ffmpeg_process.poll() is None),
|
||||
"signal_backend_url": self.signal_backend_url,
|
||||
"rtmp_url": self.rtmp_url,
|
||||
"video_device": self.video_device,
|
||||
"width": self.width,
|
||||
"height": self.height,
|
||||
"fps": self.fps,
|
||||
"video_bitrate": self.video_bitrate,
|
||||
}
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# WebSocket / 信令
|
||||
# ---------------------------------------------------------------------
|
||||
|
||||
async def _run_main_loop(self):
|
||||
print("[CameraController] main loop started", file=sys.stderr)
|
||||
try:
|
||||
while self._running:
|
||||
try:
|
||||
async with websockets.connect(self.signal_backend_url) as ws:
|
||||
self._ws = ws
|
||||
print(f"[CameraController] WebSocket connected: {self.signal_backend_url}", file=sys.stderr)
|
||||
await self._recv_loop()
|
||||
except asyncio.CancelledError:
|
||||
raise
|
||||
except Exception as e:
|
||||
if self._running:
|
||||
print(f"[CameraController] WebSocket connection error: {e}", file=sys.stderr)
|
||||
await asyncio.sleep(3)
|
||||
except asyncio.CancelledError:
|
||||
pass
|
||||
finally:
|
||||
print("[CameraController] main loop exited", file=sys.stderr)
|
||||
|
||||
async def _recv_loop(self):
|
||||
assert self._ws is not None
|
||||
ws = self._ws
|
||||
|
||||
async for message in ws:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
except json.JSONDecodeError:
|
||||
print(f"[CameraController] non-JSON message: {message}", file=sys.stderr)
|
||||
continue
|
||||
|
||||
try:
|
||||
await self._handle_message(data)
|
||||
except Exception as e:
|
||||
print(f"[CameraController] error handling message {data}: {e}", file=sys.stderr)
|
||||
|
||||
async def _handle_message(self, data: Dict[str, Any]):
|
||||
cmd = data.get("command")
|
||||
|
||||
if cmd == "start_stream":
|
||||
self._start_ffmpeg()
|
||||
return
|
||||
|
||||
if cmd == "stop_stream":
|
||||
self._stop_ffmpeg()
|
||||
return
|
||||
|
||||
if data.get("type") == "offer":
|
||||
offer_sdp = data.get("sdp", "")
|
||||
camera_id = data.get("cameraId", "camera-01")
|
||||
|
||||
answer_sdp = await self._handle_webrtc_offer(offer_sdp)
|
||||
|
||||
if self._ws:
|
||||
answer_payload = {
|
||||
"type": "answer",
|
||||
"sdp": answer_sdp,
|
||||
"cameraId": camera_id,
|
||||
"hostId": self.host_id,
|
||||
}
|
||||
await self._ws.send(json.dumps(answer_payload))
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# FFmpeg 推流（V4L2 USB 摄像头）
|
||||
# ---------------------------------------------------------------------
|
||||
|
||||
def _start_ffmpeg(self):
|
||||
if self._ffmpeg_process and self._ffmpeg_process.poll() is None:
|
||||
return
|
||||
|
||||
# 兼容性优先：不强制输入像素格式；失败再通过外部调整 width/height/fps
|
||||
video_size = f"{self.width}x{self.height}"
|
||||
|
||||
cmd = [
|
||||
"ffmpeg",
|
||||
"-hide_banner",
|
||||
"-loglevel",
|
||||
"warning",
|
||||
|
||||
# video input
|
||||
"-f", "v4l2",
|
||||
"-framerate", str(self.fps),
|
||||
"-video_size", video_size,
|
||||
"-i", self.video_device,
|
||||
]
|
||||
|
||||
# optional audio input
|
||||
if self.audio_device:
|
||||
cmd += [
|
||||
"-f", "alsa",
|
||||
"-i", self.audio_device,
|
||||
"-c:a", "aac",
|
||||
"-b:a", self.audio_bitrate,
|
||||
"-ar", "44100",
|
||||
"-ac", "1",
|
||||
]
|
||||
else:
|
||||
cmd += ["-an"]
|
||||
|
||||
# video encode + rtmp out
|
||||
cmd += [
|
||||
"-c:v", "libx264",
|
||||
"-preset", "ultrafast",
|
||||
"-tune", "zerolatency",
|
||||
"-profile:v", "baseline",
|
||||
"-pix_fmt", "yuv420p",
|
||||
"-b:v", self.video_bitrate,
|
||||
"-maxrate", self.video_bitrate,
|
||||
"-bufsize", "2M",
|
||||
"-g", str(max(self.fps, 10)),
|
||||
"-keyint_min", str(max(self.fps, 10)),
|
||||
"-sc_threshold", "0",
|
||||
"-x264-params", "bframes=0",
|
||||
|
||||
"-f", "flv",
|
||||
self.rtmp_url,
|
||||
]
|
||||
|
||||
print(f"[CameraController] starting FFmpeg: {' '.join(cmd)}", file=sys.stderr)
|
||||
|
||||
try:
|
||||
# 不再丢弃日志，至少能看到 ffmpeg 报错（调试很关键）
|
||||
self._ffmpeg_process = subprocess.Popen(
|
||||
cmd,
|
||||
stdout=subprocess.DEVNULL,
|
||||
stderr=sys.stderr,
|
||||
shell=False,
|
||||
)
|
||||
except Exception as e:
|
||||
self._ffmpeg_process = None
|
||||
print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr)
|
||||
|
||||
def _stop_ffmpeg(self):
|
||||
proc = self._ffmpeg_process
|
||||
if proc and proc.poll() is None:
|
||||
try:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except subprocess.TimeoutExpired:
|
||||
proc.kill()
|
||||
except Exception as e:
|
||||
print(f"[CameraController] error stopping FFmpeg: {e}", file=sys.stderr)
|
||||
self._ffmpeg_process = None
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# WebRTC offer -> SRS
|
||||
# ---------------------------------------------------------------------
|
||||
|
||||
async def _handle_webrtc_offer(self, offer_sdp: str) -> str:
|
||||
payload = {
|
||||
"api": self.webrtc_api,
|
||||
"streamurl": self.webrtc_stream_url,
|
||||
"sdp": offer_sdp,
|
||||
}
|
||||
headers = {"Content-Type": "application/json"}
|
||||
|
||||
def _do_post():
|
||||
return requests.post(self.webrtc_api, json=payload, headers=headers, timeout=10)
|
||||
|
||||
loop = asyncio.get_running_loop()
|
||||
resp = await loop.run_in_executor(None, _do_post)
|
||||
|
||||
resp.raise_for_status()
|
||||
data = resp.json()
|
||||
answer_sdp = data.get("sdp", "")
|
||||
if not answer_sdp:
|
||||
raise RuntimeError(f"empty SDP from media server: {data}")
|
||||
return answer_sdp
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 直接运行用于手动测试
|
||||
c = CameraController(
|
||||
host_id="demo-host",
|
||||
video_device="/dev/video0",
|
||||
width=1280,
|
||||
height=720,
|
||||
fps=30,
|
||||
video_bitrate="1500k",
|
||||
audio_device=None,
|
||||
)
|
||||
try:
|
||||
while True:
|
||||
asyncio.sleep(1)
|
||||
except KeyboardInterrupt:
|
||||
c.stop()
|
||||
51
unilabos/devices/cameraSII/cameraUSB_test.py
Normal file
51
unilabos/devices/cameraSII/cameraUSB_test.py
Normal file
@@ -0,0 +1,51 @@
|
||||
#!/usr/bin/env python3
|
||||
import time
|
||||
import json
|
||||
|
||||
from cameraUSB import CameraController
|
||||
|
||||
|
||||
def main():
|
||||
# 按你的实际情况改
|
||||
cfg = dict(
|
||||
host_id="demo-host",
|
||||
signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host",
|
||||
rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01",
|
||||
webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/",
|
||||
webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01",
|
||||
video_device="/dev/video7",
|
||||
width=1280,
|
||||
height=720,
|
||||
fps=30,
|
||||
video_bitrate="1500k",
|
||||
audio_device=None,
|
||||
)
|
||||
|
||||
c = CameraController(**cfg)
|
||||
|
||||
# 可选：如果你不想依赖 __init__ 自动 start，可以这样显式调用：
|
||||
# c = CameraController(host_id=cfg["host_id"])
|
||||
# c.start(cfg)
|
||||
|
||||
run_seconds = 30 # 测试运行时长
|
||||
t0 = time.time()
|
||||
|
||||
try:
|
||||
while True:
|
||||
st = c.get_status()
|
||||
print(json.dumps(st, ensure_ascii=False, indent=2))
|
||||
|
||||
if time.time() - t0 >= run_seconds:
|
||||
break
|
||||
|
||||
time.sleep(2)
|
||||
except KeyboardInterrupt:
|
||||
print("Interrupted, stopping...")
|
||||
finally:
|
||||
print("Stopping controller...")
|
||||
c.stop()
|
||||
print("Done.")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
36
unilabos/devices/cameraSII/demo_camera_pic.py
Normal file
36
unilabos/devices/cameraSII/demo_camera_pic.py
Normal file
@@ -0,0 +1,36 @@
|
||||
import cv2
|
||||
|
||||
# 推荐把 @ 进行 URL 编码：@ -> %40
|
||||
RTSP_URL = "rtsp://admin:admin123@192.168.31.164:554/stream1"
|
||||
OUTPUT_IMAGE = "rtsp_test_frame.jpg"
|
||||
|
||||
def main():
|
||||
print(f"尝试连接 RTSP 流: {RTSP_URL}")
|
||||
cap = cv2.VideoCapture(RTSP_URL)
|
||||
|
||||
if not cap.isOpened():
|
||||
print("错误：无法打开 RTSP 流，请检查：")
|
||||
print(" 1. IP/端口是否正确")
|
||||
print(" 2. 账号密码（尤其是 @ 是否已转成 %40）是否正确")
|
||||
print(" 3. 摄像头是否允许当前主机访问（同一网段、防火墙等）")
|
||||
return
|
||||
|
||||
print("连接成功，开始读取一帧...")
|
||||
ret, frame = cap.read()
|
||||
|
||||
if not ret or frame is None:
|
||||
print("错误：已连接但未能读取到帧数据（可能是码流未开启或网络抖动）")
|
||||
cap.release()
|
||||
return
|
||||
|
||||
# 保存当前帧
|
||||
success = cv2.imwrite(OUTPUT_IMAGE, frame)
|
||||
cap.release()
|
||||
|
||||
if success:
|
||||
print(f"成功截取一帧并保存为: {OUTPUT_IMAGE}")
|
||||
else:
|
||||
print("错误：写入图片失败，请检查磁盘权限/路径")
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
21
unilabos/devices/cameraSII/demo_camera_push.py
Normal file
21
unilabos/devices/cameraSII/demo_camera_push.py
Normal file
@@ -0,0 +1,21 @@
|
||||
# run_camera_push.py
|
||||
import time
|
||||
from cameraDriver import CameraController # 这里根据你的文件名调整
|
||||
|
||||
if __name__ == "__main__":
|
||||
controller = CameraController(
|
||||
host_id="demo-host",
|
||||
signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host",
|
||||
rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01",
|
||||
webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/",
|
||||
webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01",
|
||||
camera_rtsp_url="rtsp://admin:admin123@192.168.31.164:554/stream1",
|
||||
)
|
||||
|
||||
try:
|
||||
while True:
|
||||
status = controller.get_status()
|
||||
print(status)
|
||||
time.sleep(5)
|
||||
except KeyboardInterrupt:
|
||||
controller.stop()
|
||||
78
unilabos/devices/cameraSII/ptz_cameracontroller_test.py
Normal file
78
unilabos/devices/cameraSII/ptz_cameracontroller_test.py
Normal file
@@ -0,0 +1,78 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
"""
|
||||
使用 CameraController 来测试 PTZ：
|
||||
让摄像头按顺序向下、向上、向左、向右运动几次。
|
||||
"""
|
||||
|
||||
import time
|
||||
import sys
|
||||
|
||||
# 根据你的工程结构修改导入路径：
|
||||
# 假设 CameraController 定义在 cameraController.py 里
|
||||
from cameraDriver import CameraController
|
||||
|
||||
|
||||
def main():
|
||||
# === 根据你的实际情况填 IP、端口、账号密码 ===
|
||||
ptz_host = "192.168.31.164"
|
||||
ptz_port = 2020 # 注意要和你单独测试 PTZController 时保持一致
|
||||
ptz_user = "admin"
|
||||
ptz_password = "admin123"
|
||||
|
||||
# 1. 创建 CameraController 实例
|
||||
cam = CameraController(
|
||||
# 其他摄像机相关参数按你类的 __init__ 来补充
|
||||
ptz_host=ptz_host,
|
||||
ptz_port=ptz_port,
|
||||
ptz_user=ptz_user,
|
||||
ptz_password=ptz_password,
|
||||
)
|
||||
|
||||
# 2. 启动 / 初始化（如果你的 CameraController 有 start(config) 之类的接口）
|
||||
# 这里给一个最小的 config，重点是 PTZ 相关字段
|
||||
config = {
|
||||
"ptz_host": ptz_host,
|
||||
"ptz_port": ptz_port,
|
||||
"ptz_user": ptz_user,
|
||||
"ptz_password": ptz_password,
|
||||
}
|
||||
|
||||
try:
|
||||
cam.start(config)
|
||||
except Exception as e:
|
||||
print(f"[TEST] CameraController start() 失败: {e}", file=sys.stderr)
|
||||
return
|
||||
|
||||
# 这里可以判断一下内部 _ptz 是否初始化成功（如果你对 CameraController 做了封装）
|
||||
if getattr(cam, "_ptz", None) is None:
|
||||
print("[TEST] CameraController 内部 PTZ 未初始化成功，请检查 ptz_host/port/user/password 配置。", file=sys.stderr)
|
||||
return
|
||||
|
||||
# 3. 依次调用 CameraController 的 PTZ 方法
|
||||
# 这里假设你在 CameraController 中提供了这几个对外方法：
|
||||
# ptz_move_down / ptz_move_up / ptz_move_left / ptz_move_right
|
||||
# 如果你命名不一样，把下面调用名改成你的即可。
|
||||
|
||||
print("向下移动（通过 CameraController）...")
|
||||
cam.ptz_move_down(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("向上移动（通过 CameraController）...")
|
||||
cam.ptz_move_up(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("向左移动（通过 CameraController）...")
|
||||
cam.ptz_move_left(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("向右移动（通过 CameraController）...")
|
||||
cam.ptz_move_right(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("测试结束。")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
50
unilabos/devices/cameraSII/ptz_test.py
Normal file
50
unilabos/devices/cameraSII/ptz_test.py
Normal file
@@ -0,0 +1,50 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
"""
|
||||
测试 cameraDriver.py中的 PTZController 类，让摄像头按顺序运动几次
|
||||
"""
|
||||
|
||||
import time
|
||||
|
||||
from cameraDriver import PTZController
|
||||
|
||||
|
||||
def main():
|
||||
# 根据你的实际情况填 IP、端口、账号密码
|
||||
host = "192.168.31.164"
|
||||
port = 80
|
||||
user = "admin"
|
||||
password = "admin123"
|
||||
|
||||
ptz = PTZController(host=host, port=port, user=user, password=password)
|
||||
|
||||
# 1. 连接摄像头
|
||||
if not ptz.connect():
|
||||
print("连接 PTZ 失败，检查 IP/用户名/密码/端口。")
|
||||
return
|
||||
|
||||
# 2. 依次测试几个动作
|
||||
# 每个动作之间 sleep 一下方便观察
|
||||
|
||||
print("向下移动...")
|
||||
ptz.move_down(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("向上移动...")
|
||||
ptz.move_up(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("向左移动...")
|
||||
ptz.move_left(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("向右移动...")
|
||||
ptz.move_right(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("测试结束。")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -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()
|
||||
954
unilabos/devices/liquid_handling/prcxi/base_material.json
Normal file
954
unilabos/devices/liquid_handling/prcxi/base_material.json
Normal file
@@ -0,0 +1,954 @@
|
||||
[
|
||||
{
|
||||
"uuid": "3b6f33ffbf734014bcc20e3c63e124d4",
|
||||
"Code": "ZX-58-1250",
|
||||
"Name": "Tip头适配器 1250uL",
|
||||
"SummaryName": "Tip头适配器 1250uL",
|
||||
"SupplyType": 2,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 128,
|
||||
"WidthNum": 85,
|
||||
"HeightNum": 20,
|
||||
"DepthNum": 4,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": null,
|
||||
"HoleColum": 1,
|
||||
"HoleRow": 1,
|
||||
"HoleDiameter": 0,
|
||||
"Volume": 1250,
|
||||
"ImagePath": "/images/20220624015044.jpg",
|
||||
"QRCode": null,
|
||||
"Qty": 10,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-30 16:03:52.6583727",
|
||||
"UpdateName": null,
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||||
"id": "c7bcaeeb-7ce7-479d-8dae-e82f4023a2b6",
|
||||
"number": 6,
|
||||
"name": "T6",
|
||||
"row": 1,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "e502d5ee-3197-4f60-8ac4-3bc005349dfd",
|
||||
"number": 7,
|
||||
"name": "T7",
|
||||
"row": 1,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "829c78b0-9e05-448f-9531-6d19c094c83f",
|
||||
"number": 8,
|
||||
"name": "T8",
|
||||
"row": 1,
|
||||
"col": 3,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "d0fd64d6-360d-4f5e-9451-21a332e247f5",
|
||||
"number": 9,
|
||||
"name": "T9",
|
||||
"row": 2,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "7f3da25d-0be0-4e07-885f-fbbbfa952f9f",
|
||||
"number": 10,
|
||||
"name": "T10",
|
||||
"row": 2,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "491d396d-7264-43d6-9ad4-60bffbe66c26",
|
||||
"number": 11,
|
||||
"name": "T11",
|
||||
"row": 2,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "a8853b6d-639d-46f9-a4bf-9153c0c22461",
|
||||
"number": 12,
|
||||
"name": "T12",
|
||||
"row": 2,
|
||||
"col": 3,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "b7beb8d0-0003-471d-bd8d-a9c0e09b07d5",
|
||||
"number": 1,
|
||||
"name": "T1",
|
||||
"row": 0,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "306e3f96-a6d7-484a-83ef-722e3710d5c4",
|
||||
"number": 2,
|
||||
"name": "T2",
|
||||
"row": 0,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "4e7bb617-ac1a-4360-b379-7ac4197089c4",
|
||||
"number": 3,
|
||||
"name": "T3",
|
||||
"row": 0,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "af583180-c29d-418e-9061-9e030f77cf57",
|
||||
"number": 4,
|
||||
"name": "T4",
|
||||
"row": 0,
|
||||
"col": 3,
|
||||
"row_span": 2,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "24a85ce8-e9e3-44f5-9d08-25116173ba75",
|
||||
"number": 5,
|
||||
"name": "T5",
|
||||
"row": 1,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "7bf61a40-f65a-4d2f-bb19-d42bfd80e2e9",
|
||||
"number": 6,
|
||||
"name": "T6",
|
||||
"row": 1,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "a3177806-3c02-4c4f-86d6-604a38c2ba2a",
|
||||
"number": 7,
|
||||
"name": "T7",
|
||||
"row": 1,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "8ccaad5a-8588-4ff3-b0d7-17e7fd5ac6cc",
|
||||
"number": 1,
|
||||
"name": "T1",
|
||||
"row": 0,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
|
||||
},
|
||||
{
|
||||
"id": "93ae7707-b6b8-4bc4-8700-c500c3d7b165",
|
||||
"number": 2,
|
||||
"name": "T2",
|
||||
"row": 0,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
|
||||
},
|
||||
{
|
||||
"id": "3591a07b-4922-4882-996f-7bebee843be1",
|
||||
"number": 3,
|
||||
"name": "T3",
|
||||
"row": 0,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
|
||||
},
|
||||
{
|
||||
"id": "669fdba9-b20c-4bd2-8352-8fe5682e3e0c",
|
||||
"number": 4,
|
||||
"name": "T4",
|
||||
"row": 1,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
|
||||
},
|
||||
{
|
||||
"id": "8bf3333e-4a73-4e4c-959a-8ae44e1038a2",
|
||||
"number": 5,
|
||||
"name": "T5",
|
||||
"row": 1,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
|
||||
},
|
||||
{
|
||||
"id": "2837bf69-273a-4cbb-a74c-0af1b362f609",
|
||||
"number": 6,
|
||||
"name": "T6",
|
||||
"row": 1,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
|
||||
}
|
||||
]
|
||||
@@ -0,0 +1,74 @@
|
||||
[
|
||||
{
|
||||
"uuid": "9a3007baa748457b8d5162f5c5918553",
|
||||
"ArmCode": "SC10",
|
||||
"ArmName": "单道-10uL",
|
||||
"CmdCode": "SC10",
|
||||
"ChannelNum": 1,
|
||||
"Dosage": 10,
|
||||
"CreateName": "admin",
|
||||
"CreateTime": "2021-11-13 14:04:02.000",
|
||||
"UpdateName": "admin",
|
||||
"UpdateTime": "2021-11-13 14:04:12.000"
|
||||
},
|
||||
{
|
||||
"uuid": "8f57a4cc859d4c02bffbeeadcfb2b661",
|
||||
"ArmCode": "SC300",
|
||||
"ArmName": "单道-300uL",
|
||||
"CmdCode": "SC300",
|
||||
"ChannelNum": 1,
|
||||
"Dosage": 300,
|
||||
"CreateName": "admin",
|
||||
"CreateTime": "2021-11-11 11:11:11.000",
|
||||
"UpdateName": "admin",
|
||||
"UpdateTime": "2021-11-11 11:11:11.000"
|
||||
},
|
||||
{
|
||||
"uuid": "8fe0320823de49a99bfa5060ce1aaa28",
|
||||
"ArmCode": "SC1250",
|
||||
"ArmName": "单道-1250",
|
||||
"CmdCode": "SC1250",
|
||||
"ChannelNum": 1,
|
||||
"Dosage": 1250,
|
||||
"CreateName": "admin",
|
||||
"CreateTime": "2021-11-12 10:10:10.000",
|
||||
"UpdateName": "admin",
|
||||
"UpdateTime": "2021-11-12 11:11:11.000"
|
||||
},
|
||||
{
|
||||
"uuid": "88f22c5384e94dbbad60961d4d2b5e91",
|
||||
"ArmCode": "MC10",
|
||||
"ArmName": "八道-10uL",
|
||||
"CmdCode": "MC10",
|
||||
"ChannelNum": 8,
|
||||
"Dosage": 10,
|
||||
"CreateName": "admin",
|
||||
"CreateTime": "2021-11-12 10:10:10.000",
|
||||
"UpdateName": "admin",
|
||||
"UpdateTime": "2021-11-13 12:12:12.000"
|
||||
},
|
||||
{
|
||||
"uuid": "09206ff90e64466f90ce6a785a24bad8",
|
||||
"ArmCode": "MC300",
|
||||
"ArmName": "八道-300uL",
|
||||
"CmdCode": "MC300",
|
||||
"ChannelNum": 8,
|
||||
"Dosage": 300,
|
||||
"CreateName": "admin",
|
||||
"CreateTime": "2021-11-12 12:12:12.000",
|
||||
"UpdateName": "admin",
|
||||
"UpdateTime": "2021-11-12 10:10:10.000"
|
||||
},
|
||||
{
|
||||
"uuid": "5afcbd7d1d6749079d1c94f8c2e68f06",
|
||||
"ArmCode": "MC1250",
|
||||
"ArmName": "八道-1250uL",
|
||||
"CmdCode": "MC1250",
|
||||
"ChannelNum": 8,
|
||||
"Dosage": 1250,
|
||||
"CreateName": "admin",
|
||||
"CreateTime": "2021-11-12 12:12:10.000",
|
||||
"UpdateName": "admin",
|
||||
"UpdateTime": "2021-11-12 12:11:11.000"
|
||||
}
|
||||
]
|
||||
@@ -0,0 +1,10 @@
|
||||
[
|
||||
{
|
||||
"uuid": "bd52d6566534441ea523265814dc06e8",
|
||||
"uuidMaterial": "01bdeb95a1314dc78b8f25667b08d531",
|
||||
"ChannelNum": 8,
|
||||
"HoleNo": 96,
|
||||
"HoleCenterXYZ": "300",
|
||||
"uuidLayoutMaster": "4f35adc958c540fcb40d6f9dd51e40fa"
|
||||
}
|
||||
]
|
||||
@@ -0,0 +1,20 @@
|
||||
[
|
||||
{
|
||||
"uuid": "4f35adc958c540fcb40d6f9dd51e40fa",
|
||||
"BoardCode": 34,
|
||||
"BoardNum": 1,
|
||||
"BoardLength": 500,
|
||||
"BoardWidth": 400,
|
||||
"BoardColum": 4,
|
||||
"BoardRow": 3,
|
||||
"TotalColum": 4,
|
||||
"TotalRow": 3,
|
||||
"BoardCenterXY": "300",
|
||||
"HoleQty": 96,
|
||||
"Version": 1,
|
||||
"CreateTime": "2021-11-15",
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2021-11-15",
|
||||
"UpdateName": "admin"
|
||||
}
|
||||
]
|
||||
180578
unilabos/devices/liquid_handling/prcxi/json_output/base_plan_detail.json
Normal file
180578
unilabos/devices/liquid_handling/prcxi/json_output/base_plan_detail.json
Normal file
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,98 @@
|
||||
[
|
||||
{
|
||||
"id": "ef121889-2724-4b3d-a786-bbf0bd213c3d",
|
||||
"name": "9300_V02",
|
||||
"row": 2,
|
||||
"col": 3,
|
||||
"create_name": "",
|
||||
"create_time": "2023-08-12 16:02:20.994",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "9300_V02",
|
||||
"isUse": 0
|
||||
},
|
||||
{
|
||||
"id": "9af15efc-29d2-4c44-8533-bbaf24913be6",
|
||||
"name": "9310",
|
||||
"row": 3,
|
||||
"col": 4,
|
||||
"create_name": "",
|
||||
"create_time": "2023-08-12 16:23:07.472",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "9310",
|
||||
"isUse": 0
|
||||
},
|
||||
{
|
||||
"id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546",
|
||||
"name": "6版位",
|
||||
"row": 2,
|
||||
"col": 4,
|
||||
"create_name": "",
|
||||
"create_time": "2023-10-09 11:05:57.244",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "6版位",
|
||||
"isUse": 0
|
||||
},
|
||||
{
|
||||
"id": "77673540-92c4-4404-b659-4257034a9c5e",
|
||||
"name": "9300_V03",
|
||||
"row": 2,
|
||||
"col": 3,
|
||||
"create_name": "",
|
||||
"create_time": "2024-01-20 08:49:09.620",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "9300_V03",
|
||||
"isUse": 0
|
||||
},
|
||||
{
|
||||
"id": "c08591fe-bc7e-42a8-bfa1-a27a4967058e",
|
||||
"name": "9320",
|
||||
"row": 4,
|
||||
"col": 7,
|
||||
"create_name": "",
|
||||
"create_time": "2025-03-10 13:44:17.994",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "9320",
|
||||
"isUse": 0
|
||||
},
|
||||
{
|
||||
"id": "54092457-a8b8-4457-bccd-e8c251e83ebd",
|
||||
"name": "7.17演示",
|
||||
"row": 4,
|
||||
"col": 4,
|
||||
"create_name": "",
|
||||
"create_time": "2025-07-12 17:08:38.336",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "7.17演示",
|
||||
"isUse": 0
|
||||
},
|
||||
{
|
||||
"id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc",
|
||||
"name": "北京大学 16版位",
|
||||
"row": 4,
|
||||
"col": 4,
|
||||
"create_name": "",
|
||||
"create_time": "2025-09-03 13:23:51.781",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "北京大学 16版位",
|
||||
"isUse": 1
|
||||
},
|
||||
{
|
||||
"id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a",
|
||||
"name": "TEST",
|
||||
"row": 4,
|
||||
"col": 4,
|
||||
"create_name": "",
|
||||
"create_time": "2025-10-27 14:36:03.266",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "TEST",
|
||||
"isUse": 0
|
||||
}
|
||||
]
|
||||
@@ -0,0 +1,872 @@
|
||||
[
|
||||
{
|
||||
"id": "630a9ca9-dfbf-40f9-b90b-6df73e6a1d7f",
|
||||
"number": 1,
|
||||
"name": "T1",
|
||||
"row": 0,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
|
||||
},
|
||||
{
|
||||
"id": "db955443-1397-4a7a-a0cc-185eb6422c27",
|
||||
"number": 2,
|
||||
"name": "T2",
|
||||
"row": 0,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
|
||||
},
|
||||
{
|
||||
"id": "635e8265-e2b9-430e-8a4e-ddf94256266f",
|
||||
"number": 3,
|
||||
"name": "T3",
|
||||
"row": 0,
|
||||
"col": 2,
|
||||
"row_span": 2,
|
||||
"col_span": 1,
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@@ -0,0 +1 @@
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[]
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@@ -0,0 +1 @@
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||||
"uuid": "8fb6d7589fdd42df93c1e1989ff13a62",
|
||||
"Code": "MDHC-001-10",
|
||||
"Key": "52980979",
|
||||
"Value": "MDHC-001-100052200100119bb6731",
|
||||
"CreateTime": "2022-01-22 20:19:20.9444209"
|
||||
},
|
||||
{
|
||||
"uuid": "efc4c92b40a94de6b0662c64486c18d1",
|
||||
"Code": "MDHC-001-10",
|
||||
"Key": "79da8402",
|
||||
"Value": "MDHC-001-1000522001001e24ea780",
|
||||
"CreateTime": "2022-01-22 20:19:26.8107506"
|
||||
},
|
||||
{
|
||||
"uuid": "3b81b1a9eabc4449b4dcbbbde47cb17f",
|
||||
"Code": "MDHC-001-10",
|
||||
"Key": "daa51755",
|
||||
"Value": "MDHC-001-100052200100185dd22e2",
|
||||
"CreateTime": "2022-01-22 20:19:36.1581374"
|
||||
},
|
||||
{
|
||||
"uuid": "d005a70801544e42ab9d216ad68dbf50",
|
||||
"Code": "MDHC-023-0.2",
|
||||
"Key": "992bbdab",
|
||||
"Value": "MDHC-023-0.2005220010014871a385",
|
||||
"CreateTime": "2022-02-16 15:49:53.760377"
|
||||
},
|
||||
{
|
||||
"uuid": "222315afb8e04320b0fcff10e3ddb8ae",
|
||||
"Code": "MDHC-023-0.2",
|
||||
"Key": "76d23270",
|
||||
"Value": "MDHC-023-0.200522001001e61547ee",
|
||||
"CreateTime": "2022-02-16 15:50:05.1932055"
|
||||
},
|
||||
{
|
||||
"uuid": "31e2a5d4f884419aa9ba96cef98b7385",
|
||||
"Code": "MDHC-023-0.2",
|
||||
"Key": "ba2b8a46",
|
||||
"Value": "MDHC-023-0.2005220010013bfed6cf",
|
||||
"CreateTime": "2022-02-16 17:26:20.0024235"
|
||||
},
|
||||
{
|
||||
"uuid": "9ccb8e0c5ca64ef09b8aced680395335",
|
||||
"Code": "MDHC-023-0.2",
|
||||
"Key": "1d1276d0",
|
||||
"Value": "MDHC-023-0.2005220010015c039a9c",
|
||||
"CreateTime": "2022-02-16 17:26:31.8479966"
|
||||
}
|
||||
]
|
||||
@@ -0,0 +1,22 @@
|
||||
[
|
||||
{
|
||||
"uuid": "f3932aeae93533f19c0519c4c14702aa",
|
||||
"RoleCode": "admin",
|
||||
"RoleName": "管理员",
|
||||
"RoleMenu": "all",
|
||||
"CreateTime": "2022-02-26 00:00:00.000",
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2022-02-26 14:50:10.000",
|
||||
"UpdateName": "admin"
|
||||
},
|
||||
{
|
||||
"uuid": "8c822592b360345fb59690e49ac6b181",
|
||||
"RoleCode": "user",
|
||||
"RoleName": "实验员",
|
||||
"RoleMenu": "nosetting",
|
||||
"CreateTime": "2022-02-26 14:54:16.000",
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2022-02-26 14:54:19.000",
|
||||
"UpdateName": "admin"
|
||||
}
|
||||
]
|
||||
@@ -0,0 +1,54 @@
|
||||
[
|
||||
{
|
||||
"uuid": "f3932aeae93533f19c0519c4c14702dd",
|
||||
"UserName": "admin",
|
||||
"Password": "NuGlByx4NZBm7XcV9f89qA==",
|
||||
"RealName": "管理员",
|
||||
"IsEnable": 1,
|
||||
"uuidRole": "f3932aeae93533f19c0519c4c14702aa",
|
||||
"IsDel": 0,
|
||||
"CreateTime": "2022-02-26 14:51:41.000",
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2022-02-26 14:51:49.000",
|
||||
"UpdateName": "admin"
|
||||
},
|
||||
{
|
||||
"uuid": "5c522592b366645fb55690e49ac6b166",
|
||||
"UserName": "user",
|
||||
"Password": "4QrcOUm6Wau+VuBX8g+IPg==",
|
||||
"RealName": "实验员",
|
||||
"IsEnable": 1,
|
||||
"uuidRole": "8c822592b360345fb59690e49ac6b181",
|
||||
"IsDel": 0,
|
||||
"CreateTime": "2022-02-26 14:56:57.000",
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2022-02-26 14:58:39.000",
|
||||
"UpdateName": "admin"
|
||||
},
|
||||
{
|
||||
"uuid": "ju0514zjhi9267mz8s0buspq8b9s0bgb",
|
||||
"UserName": "Administrator",
|
||||
"Password": "3J17Il4KOR+wKPszf/0cHQ==",
|
||||
"RealName": "超级管理员",
|
||||
"IsEnable": 1,
|
||||
"uuidRole": "f3932aeae93533f19c0519c4c14702aa",
|
||||
"IsDel": 0,
|
||||
"CreateTime": "2023-08-12 00:00:00.000",
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2023-08-12 00:00:00.000",
|
||||
"UpdateName": "admin"
|
||||
},
|
||||
{
|
||||
"uuid": "2",
|
||||
"UserName": "shortcut",
|
||||
"Password": "4QrcOUm6Wau+VuBX8g+IPg==",
|
||||
"RealName": "实验员",
|
||||
"IsEnable": 1,
|
||||
"uuidRole": "8c822592b360345fb59690e49ac6b181",
|
||||
"IsDel": 0,
|
||||
"CreateTime": null,
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2023-10-23 00:00:00.000",
|
||||
"UpdateName": null
|
||||
}
|
||||
]
|
||||
@@ -6,7 +6,7 @@ import os
|
||||
import socket
|
||||
import time
|
||||
import uuid
|
||||
from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal
|
||||
from typing import Any, List, Dict, Optional, OrderedDict, Tuple, TypedDict, Union, Sequence, Iterator, Literal
|
||||
|
||||
from pylabrobot.liquid_handling import (
|
||||
LiquidHandlerBackend,
|
||||
@@ -28,7 +28,7 @@ from pylabrobot.liquid_handling.standard import (
|
||||
ResourceMove,
|
||||
ResourceDrop,
|
||||
)
|
||||
from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
|
||||
from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, TubeRack, PlateAdapter
|
||||
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
@@ -70,50 +70,129 @@ class PRCXI9300Deck(Deck):
|
||||
super().__init__(name, size_x, size_y, size_z)
|
||||
self.slots = [None] * 6 # PRCXI 9300 有 6 个槽位
|
||||
|
||||
|
||||
class PRCXI9300Container(Plate, TipRack):
|
||||
"""PRCXI 9300 的专用 Container 类，继承自 Plate和TipRack。
|
||||
|
||||
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
||||
class PRCXI9300Plate(Plate):
|
||||
"""
|
||||
专用孔板类：
|
||||
1. 继承自 PLR 原生 Plate，保留所有物理特性。
|
||||
2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str,
|
||||
ordering: collections.OrderedDict,
|
||||
model: Optional[str] = None,
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "plate",
|
||||
ordered_items: collections.OrderedDict = None,
|
||||
ordering: Optional[collections.OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
items = ordered_items if ordered_items is not None else ordering
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""从给定的状态加载工作台信息。"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
if k == "Material" and isinstance(v, dict):
|
||||
safe_material = {}
|
||||
for mk, mv in v.items():
|
||||
# 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
|
||||
if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_material[mk] = mv
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
class PRCXI9300TipRack(TipRack):
|
||||
""" 专用吸头盒类 """
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "tip_rack",
|
||||
ordered_items: collections.OrderedDict = None,
|
||||
ordering: Optional[collections.OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
items = ordered_items if ordered_items is not None else ordering
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state)
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
if k == "Material" and isinstance(v, dict):
|
||||
safe_material = {}
|
||||
for mk, mv in v.items():
|
||||
# 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
|
||||
if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_material[mk] = mv
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
|
||||
|
||||
class PRCXI9300Trash(Trash):
|
||||
"""PRCXI 9300 的专用 Trash 类，继承自 Trash。
|
||||
|
||||
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
||||
"""
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, **kwargs):
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "trash",
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
|
||||
if name != "trash":
|
||||
name = "trash"
|
||||
print("PRCXI9300Trash name must be 'trash', using 'trash' instead.")
|
||||
super().__init__(name, size_x, size_y, size_z, category=category, **kwargs)
|
||||
print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
|
||||
super().__init__(name, size_x, size_y, size_z, **kwargs)
|
||||
self._unilabos_state = {}
|
||||
# 初始化时注入 UUID
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""从给定的状态加载工作台信息。"""
|
||||
@@ -121,10 +200,152 @@ class PRCXI9300Trash(Trash):
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state)
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
if k == "Material" and isinstance(v, dict):
|
||||
safe_material = {}
|
||||
for mk, mv in v.items():
|
||||
# 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
|
||||
if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_material[mk] = mv
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
class PRCXI9300TubeRack(TubeRack):
|
||||
"""
|
||||
专用管架类：用于 EP 管架、试管架等。
|
||||
继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。
|
||||
"""
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "tube_rack",
|
||||
items: Optional[Dict[str, Any]] = None,
|
||||
ordered_items: Optional[OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
|
||||
# 兼容处理：PLR 的 TubeRack 构造函数可能接受 items 或 ordered_items
|
||||
items_to_pass = items if items is not None else ordered_items
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=ordered_items,
|
||||
model=model,
|
||||
**kwargs)
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
if k == "Material" and isinstance(v, dict):
|
||||
safe_material = {}
|
||||
for mk, mv in v.items():
|
||||
# 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
|
||||
if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_material[mk] = mv
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
class PRCXI9300PlateAdapter(PlateAdapter):
|
||||
"""
|
||||
专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。
|
||||
支持注入 material_info (UUID)。
|
||||
"""
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "plate_adapter",
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
# 参数给予默认值 (标准96孔板尺寸)
|
||||
adapter_hole_size_x: float = 127.76,
|
||||
adapter_hole_size_y: float = 85.48,
|
||||
adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
|
||||
dx: Optional[float] = None,
|
||||
dy: Optional[float] = None,
|
||||
dz: float = 0.0, # 默认Z轴偏移
|
||||
**kwargs):
|
||||
|
||||
# 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置
|
||||
if dx is None:
|
||||
dx = (size_x - adapter_hole_size_x) / 2
|
||||
if dy is None:
|
||||
dy = (size_y - adapter_hole_size_y) / 2
|
||||
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
dx=dx,
|
||||
dy=dy,
|
||||
dz=dz,
|
||||
adapter_hole_size_x=adapter_hole_size_x,
|
||||
adapter_hole_size_y=adapter_hole_size_y,
|
||||
adapter_hole_size_z=adapter_hole_size_z,
|
||||
model=model,
|
||||
**kwargs
|
||||
)
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
if k == "Material" and isinstance(v, dict):
|
||||
safe_material = {}
|
||||
for mk, mv in v.items():
|
||||
# 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
|
||||
if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_material[mk] = mv
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
support_touch_tip = False
|
||||
@@ -154,10 +375,15 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
tablets_info = []
|
||||
count = 0
|
||||
for child in deck.children:
|
||||
if "Material" in child._unilabos_state:
|
||||
child_state = getattr(child, "_unilabos_state", {})
|
||||
if "Material" in child_state:
|
||||
count += 1
|
||||
tablets_info.append(
|
||||
WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"])
|
||||
WorkTablets(
|
||||
Number=count,
|
||||
Code=f"T{count}",
|
||||
Material=child_state["Material"]
|
||||
)
|
||||
)
|
||||
if is_9320:
|
||||
print("当前设备是9320")
|
||||
@@ -434,7 +660,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):
|
||||
return await super().move_to(well, dis_to_top, channel)
|
||||
|
||||
|
||||
class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
"""PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
|
||||
|
||||
@@ -1533,31 +1758,31 @@ if __name__ == "__main__":
|
||||
from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul, opentrons_96_tiprack_10ul
|
||||
from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
|
||||
|
||||
def get_well_container(name: str) -> PRCXI9300Container:
|
||||
def get_well_container(name: str) -> PRCXI9300Plate:
|
||||
well_containers = corning_96_wellplate_360ul_flat(name).serialize()
|
||||
plate = PRCXI9300Container(
|
||||
name=name, size_x=50, size_y=50, size_z=10, category="plate", ordering=well_containers["ordering"]
|
||||
plate = PRCXI9300Plate(
|
||||
name=name, size_x=50, size_y=50, size_z=10, category="plate", ordered_items=well_containers["ordering"]
|
||||
)
|
||||
plate_serialized = plate.serialize()
|
||||
plate_serialized["parent_name"] = deck.name
|
||||
well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
|
||||
new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
|
||||
new_plate: PRCXI9300Plate = PRCXI9300Plate.deserialize(well_containers)
|
||||
return new_plate
|
||||
|
||||
def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
|
||||
def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300TipRack:
|
||||
tip_racks = opentrons_96_tiprack_10ul(name).serialize()
|
||||
tip_rack = PRCXI9300Container(
|
||||
tip_rack = PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=50,
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="tip_rack",
|
||||
ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
|
||||
ordered_items=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
|
||||
)
|
||||
tip_rack_serialized = tip_rack.serialize()
|
||||
tip_rack_serialized["parent_name"] = deck.name
|
||||
tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
|
||||
new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
|
||||
new_tip_rack: PRCXI9300TipRack = PRCXI9300TipRack.deserialize(tip_racks)
|
||||
return new_tip_rack
|
||||
|
||||
plate1 = get_tip_rack("RackT1")
|
||||
@@ -1604,8 +1829,8 @@ if __name__ == "__main__":
|
||||
}
|
||||
}
|
||||
)
|
||||
plate7 = PRCXI9300Container(
|
||||
name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()
|
||||
plate7 = PRCXI9300Plate(
|
||||
name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordered_items=collections.OrderedDict()
|
||||
)
|
||||
plate7.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}})
|
||||
plate8 = get_tip_rack("PlateT8")
|
||||
@@ -1679,13 +1904,13 @@ if __name__ == "__main__":
|
||||
deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(
|
||||
PRCXI9300Container(
|
||||
PRCXI9300Plate(
|
||||
name="container_for_nothin3",
|
||||
size_x=50,
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="plate",
|
||||
ordering=collections.OrderedDict(),
|
||||
ordered_items=collections.OrderedDict(),
|
||||
),
|
||||
location=Coordinate(0, 0, 0),
|
||||
)
|
||||
@@ -1693,48 +1918,48 @@ if __name__ == "__main__":
|
||||
deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(
|
||||
PRCXI9300Container(
|
||||
PRCXI9300Plate(
|
||||
name="container_for_nothing7",
|
||||
size_x=50,
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="plate",
|
||||
ordering=collections.OrderedDict(),
|
||||
ordered_items=collections.OrderedDict(),
|
||||
),
|
||||
location=Coordinate(0, 0, 0),
|
||||
)
|
||||
deck.assign_child_resource(
|
||||
PRCXI9300Container(
|
||||
PRCXI9300Plate(
|
||||
name="container_for_nothing8",
|
||||
size_x=50,
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="plate",
|
||||
ordering=collections.OrderedDict(),
|
||||
ordered_items=collections.OrderedDict(),
|
||||
),
|
||||
location=Coordinate(0, 0, 0),
|
||||
)
|
||||
deck.assign_child_resource(plate9, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(plate10, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(
|
||||
PRCXI9300Container(
|
||||
PRCXI9300Plate(
|
||||
name="container_for_nothing11",
|
||||
size_x=50,
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="plate",
|
||||
ordering=collections.OrderedDict(),
|
||||
ordered_items=collections.OrderedDict(),
|
||||
),
|
||||
location=Coordinate(0, 0, 0),
|
||||
)
|
||||
deck.assign_child_resource(
|
||||
PRCXI9300Container(
|
||||
PRCXI9300Plate(
|
||||
name="container_for_nothing12",
|
||||
size_x=50,
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="plate",
|
||||
ordering=collections.OrderedDict(),
|
||||
ordered_items=collections.OrderedDict(),
|
||||
),
|
||||
location=Coordinate(0, 0, 0),
|
||||
)
|
||||
|
||||
841
unilabos/devices/liquid_handling/prcxi/prcxi_labware.py
Normal file
841
unilabos/devices/liquid_handling/prcxi/prcxi_labware.py
Normal file
@@ -0,0 +1,841 @@
|
||||
from typing import Optional
|
||||
from pylabrobot.resources import Tube, Coordinate
|
||||
from pylabrobot.resources.well import Well, WellBottomType, CrossSectionType
|
||||
from pylabrobot.resources.tip import Tip, TipCreator
|
||||
from pylabrobot.resources.tip_rack import TipRack, TipSpot
|
||||
from pylabrobot.resources.utils import create_ordered_items_2d
|
||||
from pylabrobot.resources.height_volume_functions import (
|
||||
compute_height_from_volume_rectangle,
|
||||
compute_volume_from_height_rectangle,
|
||||
)
|
||||
|
||||
from .prcxi import PRCXI9300Plate, PRCXI9300TipRack, PRCXI9300Trash, PRCXI9300TubeRack, PRCXI9300PlateAdapter
|
||||
|
||||
def _make_tip_helper(volume: float, length: float, depth: float) -> Tip:
|
||||
"""
|
||||
PLR 的 Tip 类参数名为: maximal_volume, total_tip_length, fitting_depth
|
||||
"""
|
||||
return Tip(
|
||||
has_filter=False, # 默认无滤芯
|
||||
maximal_volume=volume,
|
||||
total_tip_length=length,
|
||||
fitting_depth=depth
|
||||
)
|
||||
|
||||
# =========================================================================
|
||||
# 标准品 参照 PLR 标准库的参数，但是用 PRCXI9300Plate 实例化，并注入 UUID
|
||||
# =========================================================================
|
||||
def PRCXI_BioER_96_wellplate(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: ZX-019-2.2 (2.2ml 深孔板)
|
||||
原型: pylabrobot.resources.bioer.BioER_96_wellplate_Vb_2200uL
|
||||
"""
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.1,
|
||||
size_y=85.0,
|
||||
size_z=44.2,
|
||||
lid=None,
|
||||
model="PRCXI_BioER_96_wellplate",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "ca877b8b114a4310b429d1de4aae96ee",
|
||||
"Code": "ZX-019-2.2",
|
||||
"Name": "2.2ml 深孔板",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
size_x=8.25,
|
||||
size_y=8.25,
|
||||
size_z=39.3, # 修改过
|
||||
dx=9.5,
|
||||
dy=7.5,
|
||||
dz=6,
|
||||
material_z_thickness=0.8,
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
cross_section_type=CrossSectionType.RECTANGLE,
|
||||
bottom_type=WellBottomType.V, # 是否需要修改？
|
||||
max_volume=2200,
|
||||
),
|
||||
)
|
||||
def PRCXI_nest_1_troughplate(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: ZX-58-10000 (储液槽)
|
||||
原型: pylabrobot.resources.nest.nest_1_troughplate_195000uL_Vb
|
||||
"""
|
||||
well_size_x = 127.76 - (14.38 - 9 / 2) * 2
|
||||
well_size_y = 85.48 - (11.24 - 9 / 2) * 2
|
||||
well_kwargs = {
|
||||
"size_x": well_size_x,
|
||||
"size_y": well_size_y,
|
||||
"size_z": 26.85,
|
||||
"bottom_type": WellBottomType.V,
|
||||
"compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
|
||||
liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y
|
||||
),
|
||||
"compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
|
||||
liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y
|
||||
),
|
||||
"material_z_thickness": 31.4 - 26.85 - 3.55,
|
||||
}
|
||||
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=31.4,
|
||||
lid=None,
|
||||
model="PRCXI_Nest_1_troughplate",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "04211a2dc93547fe9bf6121eac533650",
|
||||
"Code": "ZX-58-10000",
|
||||
"Name": "储液槽",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=1,
|
||||
num_items_y=1,
|
||||
dx=14.38 - 9 / 2,
|
||||
dy=11.24 - 9 / 2,
|
||||
dz=3.55,
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
**well_kwargs, # 传入上面计算好的孔参数
|
||||
),
|
||||
)
|
||||
def PRCXI_BioRad_384_wellplate(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: q3 (384板)
|
||||
原型: pylabrobot.resources.biorad.BioRad_384_wellplate_50uL_Vb
|
||||
"""
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
# 直接抄录 PLR 标准品的物理尺寸
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=10.40,
|
||||
model="BioRad_384_wellplate_50uL_Vb",
|
||||
category="plate",
|
||||
# 2. 注入 Unilab 必须的 UUID 信息
|
||||
material_info={
|
||||
"uuid": "853dcfb6226f476e8b23c250217dc7da",
|
||||
"Code": "q3",
|
||||
"Name": "384板",
|
||||
"SupplyType": 1,
|
||||
},
|
||||
# 3. 定义孔的排列 (抄录标准参数)
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=24,
|
||||
num_items_y=16,
|
||||
dx=10.58, # A1 左边缘距离板子左边缘 需要进一步测量
|
||||
dy=7.44, # P1 下边缘距离板子下边缘 需要进一步测量
|
||||
dz=1.05,
|
||||
item_dx=4.5,
|
||||
item_dy=4.5,
|
||||
size_x=3.10,
|
||||
size_y=3.10,
|
||||
size_z=9.35,
|
||||
max_volume=50,
|
||||
material_z_thickness=1,
|
||||
bottom_type=WellBottomType.V,
|
||||
cross_section_type=CrossSectionType.CIRCLE,
|
||||
)
|
||||
)
|
||||
def PRCXI_AGenBio_4_troughplate(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: sdfrth654 (4道储液槽)
|
||||
原型: pylabrobot.resources.agenbio.AGenBio_4_troughplate_75000uL_Vb
|
||||
"""
|
||||
INNER_WELL_WIDTH = 26.1
|
||||
INNER_WELL_LENGTH = 71.2
|
||||
well_kwargs = {
|
||||
"size_x": 26,
|
||||
"size_y": 71.2,
|
||||
"size_z": 42.55,
|
||||
"bottom_type": WellBottomType.FLAT,
|
||||
"cross_section_type": CrossSectionType.RECTANGLE,
|
||||
"compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
|
||||
liquid_volume,
|
||||
INNER_WELL_LENGTH,
|
||||
INNER_WELL_WIDTH,
|
||||
),
|
||||
"compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
|
||||
liquid_height,
|
||||
INNER_WELL_LENGTH,
|
||||
INNER_WELL_WIDTH,
|
||||
),
|
||||
"material_z_thickness": 1,
|
||||
}
|
||||
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=43.80,
|
||||
model="PRCXI_AGenBio_4_troughplate",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "01953864f6f140ccaa8ddffd4f3e46f5",
|
||||
"Code": "sdfrth654",
|
||||
"Name": "4道储液槽",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=4,
|
||||
num_items_y=1,
|
||||
dx=9.8,
|
||||
dy=7.2,
|
||||
dz=0.9,
|
||||
item_dx=INNER_WELL_WIDTH + 1, # 1 mm wall thickness
|
||||
item_dy=INNER_WELL_LENGTH,
|
||||
**well_kwargs,
|
||||
),
|
||||
)
|
||||
def PRCXI_nest_12_troughplate(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: 12道储液槽 (12道储液槽)
|
||||
原型: pylabrobot.resources.nest.nest_12_troughplate_15000uL_Vb
|
||||
"""
|
||||
well_size_x = 8.2
|
||||
well_size_y = 71.2
|
||||
well_kwargs = {
|
||||
"size_x": well_size_x,
|
||||
"size_y": well_size_y,
|
||||
"size_z": 26.85,
|
||||
"bottom_type": WellBottomType.V,
|
||||
"compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
|
||||
liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y
|
||||
),
|
||||
"compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
|
||||
liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y
|
||||
),
|
||||
"material_z_thickness": 31.4 - 26.85 - 3.55,
|
||||
}
|
||||
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=31.4,
|
||||
lid=None,
|
||||
model="PRCXI_nest_12_troughplate",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "0f1639987b154e1fac78f4fb29a1f7c1",
|
||||
"Code": "12道储液槽",
|
||||
"Name": "12道储液槽",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=12,
|
||||
num_items_y=1,
|
||||
dx=14.38 - 8.2 / 2,
|
||||
dy=(85.48 - 71.2) / 2,
|
||||
dz=3.55,
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
**well_kwargs,
|
||||
),
|
||||
)
|
||||
def PRCXI_CellTreat_96_wellplate(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: ZX-78-096 (细菌培养皿)
|
||||
原型: pylabrobot.resources.celltreat.CellTreat_96_wellplate_350ul_Fb
|
||||
"""
|
||||
well_kwargs = {
|
||||
"size_x": 6.96,
|
||||
"size_y": 6.96,
|
||||
"size_z": 10.04,
|
||||
"bottom_type": WellBottomType.FLAT,
|
||||
"material_z_thickness": 1.75,
|
||||
"cross_section_type": CrossSectionType.CIRCLE,
|
||||
"max_volume": 300,
|
||||
}
|
||||
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.61,
|
||||
size_y=85.24,
|
||||
size_z=14.30,
|
||||
lid=None,
|
||||
model="PRCXI_CellTreat_96_wellplate",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f",
|
||||
"Code": "ZX-78-096",
|
||||
"Name": "细菌培养皿",
|
||||
"materialEnum": 4,
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=10.83,
|
||||
dy=7.67,
|
||||
dz=4.05,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
**well_kwargs,
|
||||
),
|
||||
)
|
||||
# =========================================================================
|
||||
# 自定义/需测量品 (Custom Measurement)
|
||||
# =========================================================================
|
||||
def PRCXI_10ul_eTips(name: str) -> PRCXI9300TipRack:
|
||||
"""
|
||||
对应 JSON Code: ZX-001-10+
|
||||
"""
|
||||
return PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=122.11,
|
||||
size_y=85.48, #修改
|
||||
size_z=58.23,
|
||||
model="PRCXI_10ul_eTips",
|
||||
material_info={
|
||||
"uuid": "068b3815e36b4a72a59bae017011b29f",
|
||||
"Code": "ZX-001-10+",
|
||||
"Name": "10μL加长 Tip头",
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=7.97, #需要修改
|
||||
dy=5.0, #需修改
|
||||
dz=2.0, #需修改
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
size_x=7.0,
|
||||
size_y=7.0,
|
||||
size_z=0,
|
||||
make_tip=lambda: _make_tip_helper(volume=10, length=52.0, depth=45.1)
|
||||
)
|
||||
)
|
||||
def PRCXI_300ul_Tips(name: str) -> PRCXI9300TipRack:
|
||||
"""
|
||||
对应 JSON Code: ZX-001-300
|
||||
吸头盒通常比较特殊，需要定义 Tip 对象
|
||||
"""
|
||||
return PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=122.11,
|
||||
size_y=85.48, #修改
|
||||
size_z=58.23,
|
||||
model="PRCXI_300ul_Tips",
|
||||
material_info={
|
||||
"uuid": "076250742950465b9d6ea29a225dfb00",
|
||||
"Code": "ZX-001-300",
|
||||
"Name": "300μL Tip头",
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=7.97, #需要修改
|
||||
dy=5.0, #需修改
|
||||
dz=2.0, #需修改
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
size_x=7.0,
|
||||
size_y=7.0,
|
||||
size_z=0,
|
||||
make_tip=lambda: _make_tip_helper(volume=300, length=60.0, depth=51.0)
|
||||
)
|
||||
)
|
||||
def PRCXI_PCR_Plate_200uL_nonskirted(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
|
||||
"""
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=119.5,
|
||||
size_y=80.0,
|
||||
size_z=26.0,
|
||||
model="PRCXI_PCR_Plate_200uL_nonskirted",
|
||||
plate_type="non-skirted",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "73bb9b10bc394978b70e027bf45ce2d3",
|
||||
"Code": "ZX-023-0.2",
|
||||
"Name": "0.2ml PCR 板",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=7,
|
||||
dy=5,
|
||||
dz=0.0,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=6,
|
||||
size_y=6,
|
||||
size_z=15.17,
|
||||
bottom_type=WellBottomType.V,
|
||||
cross_section_type=CrossSectionType.CIRCLE,
|
||||
),
|
||||
)
|
||||
def PRCXI_PCR_Plate_200uL_semiskirted(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
|
||||
"""
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=126,
|
||||
size_y=86,
|
||||
size_z=21.2,
|
||||
model="PRCXI_PCR_Plate_200uL_semiskirted",
|
||||
plate_type="semi-skirted",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "73bb9b10bc394978b70e027bf45ce2d3",
|
||||
"Code": "ZX-023-0.2",
|
||||
"Name": "0.2ml PCR 板",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=11,
|
||||
dy=8,
|
||||
dz=0.0,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=6,
|
||||
size_y=6,
|
||||
size_z=15.17,
|
||||
bottom_type=WellBottomType.V,
|
||||
cross_section_type=CrossSectionType.CIRCLE,
|
||||
),
|
||||
)
|
||||
def PRCXI_PCR_Plate_200uL_skirted(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
|
||||
"""
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=86,
|
||||
size_z=16.1,
|
||||
model="PRCXI_PCR_Plate_200uL_skirted",
|
||||
plate_type="skirted",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "73bb9b10bc394978b70e027bf45ce2d3",
|
||||
"Code": "ZX-023-0.2",
|
||||
"Name": "0.2ml PCR 板",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=11,
|
||||
dy=8.49,
|
||||
dz=0.8,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=6,
|
||||
size_y=6,
|
||||
size_z=15.1,
|
||||
bottom_type=WellBottomType.V,
|
||||
cross_section_type=CrossSectionType.CIRCLE,
|
||||
),
|
||||
)
|
||||
def PRCXI_trash(name: str = "trash") -> PRCXI9300Trash:
|
||||
"""
|
||||
对应 JSON Code: q1 (废弃槽)
|
||||
"""
|
||||
return PRCXI9300Trash(
|
||||
name="trash",
|
||||
size_x=126.59,
|
||||
size_y=84.87,
|
||||
size_z=89.5, # 修改
|
||||
category="trash",
|
||||
model="PRCXI_trash",
|
||||
material_info={
|
||||
"uuid": "730067cf07ae43849ddf4034299030e9",
|
||||
"Code": "q1",
|
||||
"Name": "废弃槽",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
}
|
||||
)
|
||||
def PRCXI_96_DeepWell(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: q2 (96深孔板)
|
||||
"""
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.3,
|
||||
size_y=85.35,
|
||||
size_z=45.0, #修改
|
||||
model="PRCXI_96_DeepWell",
|
||||
material_info={
|
||||
"uuid": "57b1e4711e9e4a32b529f3132fc5931f", # 对应 q2 uuid
|
||||
"Code": "q2",
|
||||
"Name": "96深孔板",
|
||||
"materialEnum": 0
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=10.9,
|
||||
dy=8.25,
|
||||
dz=2.0,
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
size_x=8.2,
|
||||
size_y=8.2,
|
||||
size_z=42.0,
|
||||
max_volume=2200
|
||||
)
|
||||
)
|
||||
def PRCXI_EP_Adapter(name: str) -> PRCXI9300TubeRack:
|
||||
"""
|
||||
对应 JSON Code: 1 (ep适配器)
|
||||
这是一个 4x6 的 EP 管架，适配 1.5mL/2.0mL 离心管
|
||||
"""
|
||||
ep_tube_prototype = Tube(
|
||||
name="EP_Tube_1.5mL",
|
||||
size_x=10.6,
|
||||
size_y=10.6,
|
||||
size_z=40.0, # 管子本身的高度，通常比架子孔略高或持平
|
||||
max_volume=1500,
|
||||
model="EP_Tube_1.5mL"
|
||||
)
|
||||
|
||||
# 计算 PRCXI9300TubeRack 中孔的起始位置 dx, dy
|
||||
dy_calc = 85.8 - 10.5 - (3 * 18) - 10.6
|
||||
dx_calc = 3.54
|
||||
return PRCXI9300TubeRack(
|
||||
name=name,
|
||||
size_x=128.04,
|
||||
size_y=85.8,
|
||||
size_z=42.66,
|
||||
model="PRCXI_EP_Adapter",
|
||||
category="tube_rack",
|
||||
material_info={
|
||||
"uuid": "e146697c395e4eabb3d6b74f0dd6aaf7",
|
||||
"Code": "1",
|
||||
"Name": "ep适配器",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Tube,
|
||||
num_items_x=6,
|
||||
num_items_y=4,
|
||||
dx=dx_calc,
|
||||
dy=dy_calc,
|
||||
dz=42.66 - 38.08, # 架高 - 孔深
|
||||
item_dx=21.0,
|
||||
item_dy=18.0,
|
||||
size_x=10.6,
|
||||
size_y=10.6,
|
||||
size_z=40.0,
|
||||
max_volume=1500
|
||||
)
|
||||
)
|
||||
# =========================================================================
|
||||
# 无实物，需要测量
|
||||
# =========================================================================
|
||||
def PRCXI_Tip1250_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-58-1250 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=128,
|
||||
size_y=85,
|
||||
size_z=20,
|
||||
material_info={
|
||||
"uuid": "3b6f33ffbf734014bcc20e3c63e124d4",
|
||||
"Code": "ZX-58-1250",
|
||||
"Name": "Tip头适配器 1250uL",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_Tip300_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-58-300 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=127,
|
||||
size_y=85,
|
||||
size_z=81,
|
||||
material_info={
|
||||
"uuid": "7c822592b360451fb59690e49ac6b181",
|
||||
"Code": "ZX-58-300",
|
||||
"Name": "ZHONGXI 适配器 300uL",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_Tip10_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-58-10 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=128,
|
||||
size_y=85,
|
||||
size_z=72.3,
|
||||
material_info={
|
||||
"uuid": "8cc3dce884ac41c09f4570d0bcbfb01c",
|
||||
"Code": "ZX-58-10",
|
||||
"Name": "吸头10ul 适配器",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_1250uL_Tips(name: str) -> PRCXI9300TipRack:
|
||||
""" Code: ZX-001-1250 """
|
||||
return PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=118.09,
|
||||
size_y=80.7,
|
||||
size_z=107.67,
|
||||
model="PRCXI_1250uL_Tips",
|
||||
material_info={
|
||||
"uuid": "7960f49ddfe9448abadda89bd1556936",
|
||||
"Code": "ZX-001-1250",
|
||||
"Name": "1250μL Tip头",
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=9.545 - 7.95/2,
|
||||
dy=8.85 - 7.95/2,
|
||||
dz=2.0,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=7.0,
|
||||
size_y=7.0,
|
||||
size_z=0,
|
||||
make_tip=lambda: _make_tip_helper(volume=1250, length=107.67, depth=8)
|
||||
)
|
||||
)
|
||||
def PRCXI_10uL_Tips(name: str) -> PRCXI9300TipRack:
|
||||
""" Code: ZX-001-10 """
|
||||
return PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=120.98,
|
||||
size_y=82.12,
|
||||
size_z=67,
|
||||
model="PRCXI_10uL_Tips",
|
||||
material_info={
|
||||
"uuid": "45f2ed3ad925484d96463d675a0ebf66",
|
||||
"Code": "ZX-001-10",
|
||||
"Name": "10μL Tip头",
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=10.99 - 5/2,
|
||||
dy=9.56 - 5/2,
|
||||
dz=2.0,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=7.0,
|
||||
size_y=7.0,
|
||||
size_z=0,
|
||||
make_tip=lambda: _make_tip_helper(volume=1250, length=52.0, depth=5)
|
||||
)
|
||||
)
|
||||
def PRCXI_1000uL_Tips(name: str) -> PRCXI9300TipRack:
|
||||
""" Code: ZX-001-1000 """
|
||||
return PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=128.09,
|
||||
size_y=85.8,
|
||||
size_z=98,
|
||||
model="PRCXI_1000uL_Tips",
|
||||
material_info={
|
||||
"uuid": "80652665f6a54402b2408d50b40398df",
|
||||
"Code": "ZX-001-1000",
|
||||
"Name": "1000μL Tip头",
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=14.5 - 7.95/2,
|
||||
dy=7.425,
|
||||
dz=2.0,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=7.0,
|
||||
size_y=7.0,
|
||||
size_z=0,
|
||||
make_tip=lambda: _make_tip_helper(volume=1000, length=55.0, depth=8)
|
||||
)
|
||||
)
|
||||
def PRCXI_200uL_Tips(name: str) -> PRCXI9300TipRack:
|
||||
""" Code: ZX-001-200 """
|
||||
return PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=120.98,
|
||||
size_y=82.12,
|
||||
size_z=66.9,
|
||||
model="PRCXI_200uL_Tips",
|
||||
material_info={
|
||||
"uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7",
|
||||
"Code": "ZX-001-200",
|
||||
"Name": "200μL Tip头",
|
||||
"SupplyType": 1},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=10.99 - 5.5/2,
|
||||
dy=9.56 - 5.5/2,
|
||||
dz=2.0,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=7.0,
|
||||
size_z=0,
|
||||
size_y=7.0,
|
||||
make_tip=lambda: _make_tip_helper(volume=200, length=52.0, depth=5)
|
||||
)
|
||||
)
|
||||
def PRCXI_PCR_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
"""
|
||||
对应 JSON Code: ZX-58-0001 (全裙边 PCR适配器)
|
||||
"""
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=21.69,
|
||||
model="PRCXI_PCR_Adapter",
|
||||
material_info={
|
||||
"uuid": "4a043a07c65a4f9bb97745e1f129b165",
|
||||
"Code": "ZX-58-0001",
|
||||
"Name": "全裙边 PCR适配器",
|
||||
"materialEnum": 3,
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_Reservoir_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-ADP-001 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=133,
|
||||
size_y=91.8,
|
||||
size_z=70,
|
||||
material_info={
|
||||
"uuid": "6bdfdd7069df453896b0806df50f2f4d",
|
||||
"Code": "ZX-ADP-001",
|
||||
"Name": "储液槽 适配器",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_Deep300_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-002-300 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=136.4,
|
||||
size_y=93.8,
|
||||
size_z=96,
|
||||
material_info={
|
||||
"uuid": "9a439bed8f3344549643d6b3bc5a5eb4",
|
||||
"Code": "ZX-002-300",
|
||||
"Name": "300ul深孔板适配器",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_Deep10_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-002-10 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=136.5,
|
||||
size_y=93.8,
|
||||
size_z=121.5,
|
||||
material_info={
|
||||
"uuid": "4dc8d6ecfd0449549683b8ef815a861b",
|
||||
"Code": "ZX-002-10",
|
||||
"Name": "10ul专用深孔板适配器",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: Fhh478 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=120,
|
||||
size_y=90,
|
||||
size_z=86,
|
||||
material_info={
|
||||
"uuid": "adfabfffa8f24af5abfbba67b8d0f973",
|
||||
"Code": "Fhh478",
|
||||
"Name": "适配器",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_48_DeepWell(name: str) -> PRCXI9300Plate:
|
||||
""" Code: 22 (48孔深孔板) """
|
||||
print("Warning: Code '22' (48孔深孔板) dimensions are null in JSON.")
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127,
|
||||
size_y=85,
|
||||
size_z=44,
|
||||
model="PRCXI_48_DeepWell",
|
||||
material_info={
|
||||
"uuid": "026c5d5cf3d94e56b4e16b7fb53a995b",
|
||||
"Code": "22",
|
||||
"Name": "48孔深孔板",
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=6,
|
||||
num_items_y=8,
|
||||
dx=10,
|
||||
dy=10,
|
||||
dz=1,
|
||||
item_dx=18.5,
|
||||
item_dy=9,
|
||||
size_x=8,
|
||||
size_y=8,
|
||||
size_z=40
|
||||
)
|
||||
)
|
||||
def PRCXI_30mm_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-58-30 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=132,
|
||||
size_y=93.5,
|
||||
size_z=30,
|
||||
material_info={
|
||||
"uuid": "a0757a90d8e44e81a68f306a608694f2",
|
||||
"Code": "ZX-58-30",
|
||||
"Name": "30mm适配器",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
@@ -1,31 +0,0 @@
|
||||
{
|
||||
"Tip头适配器 1250uL": {"uuid": "3b6f33ffbf734014bcc20e3c63e124d4", "materialEnum": "0"},
|
||||
"ZHONGXI 适配器 300uL": {"uuid": "7c822592b360451fb59690e49ac6b181", "materialEnum": "0"},
|
||||
"吸头10ul 适配器": {"uuid": "8cc3dce884ac41c09f4570d0bcbfb01c", "materialEnum": "0"},
|
||||
"1250μL Tip头": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"},
|
||||
"10μL Tip头": {"uuid": "45f2ed3ad925484d96463d675a0ebf66", "materialEnum": "0"},
|
||||
"10μL加长 Tip头": {"uuid": "068b3815e36b4a72a59bae017011b29f", "materialEnum": "1"},
|
||||
"1000μL Tip头": {"uuid": "80652665f6a54402b2408d50b40398df", "materialEnum": "1"},
|
||||
"300μL Tip头": {"uuid": "076250742950465b9d6ea29a225dfb00", "materialEnum": "1"},
|
||||
"200μL Tip头": {"uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7", "materialEnum": "0"},
|
||||
"0.2ml PCR板": {"uuid": "73bb9b10bc394978b70e027bf45ce2d3", "materialEnum": "0"},
|
||||
"2.2ml 深孔板": {"uuid": "ca877b8b114a4310b429d1de4aae96ee", "materialEnum": "0"},
|
||||
"储液槽": {"uuid": "04211a2dc93547fe9bf6121eac533650", "materialEnum": "0"},
|
||||
"全裙边 PCR适配器": {"uuid": "4a043a07c65a4f9bb97745e1f129b165", "materialEnum": "3"},
|
||||
"储液槽 适配器": {"uuid": "6bdfdd7069df453896b0806df50f2f4d", "materialEnum": "0"},
|
||||
"300ul深孔板适配器": {"uuid": "9a439bed8f3344549643d6b3bc5a5eb4", "materialEnum": "0"},
|
||||
"10ul专用深孔板适配器": {"uuid": "4dc8d6ecfd0449549683b8ef815a861b", "materialEnum": "0"},
|
||||
"爱津": {"uuid": "b01627718d3341aba649baa81c2c083c", "materialEnum": "0"},
|
||||
"适配器": {"uuid": "adfabfffa8f24af5abfbba67b8d0f973", "materialEnum": "0"},
|
||||
"废弃槽": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": "0"},
|
||||
"96深孔板": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"},
|
||||
"384板": {"uuid": "853dcfb6226f476e8b23c250217dc7da", "materialEnum": "0"},
|
||||
"4道储液槽": {"uuid": "01953864f6f140ccaa8ddffd4f3e46f5", "materialEnum": "0"},
|
||||
"48孔深孔板": {"uuid": "026c5d5cf3d94e56b4e16b7fb53a995b", "materialEnum": "2"},
|
||||
"12道储液槽": {"uuid": "0f1639987b154e1fac78f4fb29a1f7c1", "materialEnum": "0"},
|
||||
"HPLC料盘": {"uuid": "548bbc3df0d4447586f2c19d2c0c0c55", "materialEnum": "0"},
|
||||
"ep适配器": {"uuid": "e146697c395e4eabb3d6b74f0dd6aaf7", "materialEnum": "0"},
|
||||
"30mm适配器": {"uuid": "a0757a90d8e44e81a68f306a608694f2", "materialEnum": "0"},
|
||||
"细菌培养皿": {"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f", "materialEnum": "4"},
|
||||
"96 细胞培养皿":{ "uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"}
|
||||
}
|
||||
@@ -1,21 +0,0 @@
|
||||
import collections
|
||||
import json
|
||||
from pathlib import Path
|
||||
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
|
||||
|
||||
|
||||
prcxi_materials_path = str(Path(__file__).parent / "prcxi_material.json")
|
||||
with open(prcxi_materials_path, mode="r", encoding="utf-8") as f:
|
||||
prcxi_materials = json.loads(f.read())
|
||||
|
||||
|
||||
def tip_adaptor_1250ul(name="Tip头适配器 1250uL") -> PRCXI9300Container: # 必须传入一个name参数，是plr的规范要求
|
||||
# tip_rack = PRCXI9300Container(name, prcxi_materials["name"]["Height"])
|
||||
tip_rack = PRCXI9300Container(name, 1000,400,800, "tip_rack", collections.OrderedDict())
|
||||
tip_rack.load_state({
|
||||
"Materials": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"}
|
||||
})
|
||||
return tip_rack
|
||||
|
||||
|
||||
@@ -1,44 +0,0 @@
|
||||
import collections
|
||||
|
||||
from pylabrobot.resources import opentrons_96_tiprack_10ul
|
||||
from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
|
||||
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container, PRCXI9300Trash
|
||||
|
||||
|
||||
def get_well_container(name: str) -> PRCXI9300Container:
|
||||
well_containers = corning_96_wellplate_360ul_flat(name).serialize()
|
||||
plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
|
||||
ordering=collections.OrderedDict())
|
||||
plate_serialized = plate.serialize()
|
||||
well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
|
||||
new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
|
||||
return new_plate
|
||||
|
||||
def get_tip_rack(name: str) -> PRCXI9300Container:
|
||||
tip_racks = opentrons_96_tiprack_10ul("name").serialize()
|
||||
tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
|
||||
ordering=collections.OrderedDict())
|
||||
tip_rack_serialized = tip_rack.serialize()
|
||||
tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
|
||||
new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
|
||||
return new_tip_rack
|
||||
|
||||
def prcxi_96_wellplate_360ul_flat(name: str):
|
||||
return get_well_container(name)
|
||||
|
||||
def prcxi_opentrons_96_tiprack_10ul(name: str):
|
||||
return get_tip_rack(name)
|
||||
|
||||
def prcxi_trash(name: str = None):
|
||||
return PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
|
||||
|
||||
if __name__ == "__main__":
|
||||
# Example usage
|
||||
test_plate = prcxi_96_wellplate_360ul_flat("test_plate")
|
||||
test_rack = prcxi_opentrons_96_tiprack_10ul("test_rack")
|
||||
tash = prcxi_trash("trash")
|
||||
print(test_plate)
|
||||
print(test_rack)
|
||||
print(tash)
|
||||
# Output will be a dictionary representation of the PRCXI9300Container with well details
|
||||
@@ -0,0 +1,560 @@
|
||||
# 新威电池测试系统 - OSS 上传功能说明
|
||||
|
||||
## 功能概述
|
||||
|
||||
本次更新为新威电池测试系统添加了**阿里云 OSS 文件上传功能**，采用统一的 API 方式，允许将测试数据备份文件上传到云端存储。
|
||||
|
||||
## 版本更新说明
|
||||
|
||||
### ⚠️ 重大变更（2025-12-17）
|
||||
|
||||
本次更新将 OSS 上传方式从 **`oss2` 库** 改为 **统一 API 方式**，实现与团队其他系统的统一。
|
||||
|
||||
**主要变化**：
|
||||
- ✅ 用 `requests` 库
|
||||
- ✅ 通过统一 API 获取预签名 URL 进行上传
|
||||
- ✅ 简化环境变量配置（仅需要 JWT Token）
|
||||
- ✅ 返回文件访问 URL
|
||||
|
||||
## 主要改动
|
||||
|
||||
### 1. OSS 上传工具函数重构（第30-200行）
|
||||
|
||||
#### 新增函数
|
||||
|
||||
- **`get_upload_token(base_url, auth_token, scene, filename)`**
|
||||
从统一 API 获取文件上传的预签名 URL
|
||||
|
||||
- **`upload_file_with_presigned_url(upload_info, file_path)`**
|
||||
使用预签名 URL 上传文件到 OSS
|
||||
|
||||
#### 更新的函数
|
||||
|
||||
- **`upload_file_to_oss(local_file_path, oss_object_name)`**
|
||||
上传单个文件到阿里云 OSS（使用统一 API 方式）
|
||||
- 返回值变更：成功时返回文件访问 URL，失败时返回 `False`
|
||||
|
||||
- **`upload_files_to_oss(file_paths, oss_prefix)`**
|
||||
批量上传文件列表
|
||||
- `oss_prefix` 参数保留但暂不使用（接口兼容性）
|
||||
|
||||
- **`upload_directory_to_oss(local_dir, oss_prefix)`**
|
||||
上传整个目录
|
||||
- 简化实现，直接使用文件名上传
|
||||
|
||||
### 2. 环境变量配置简化
|
||||
|
||||
#### 新方式（推荐）
|
||||
```bash
|
||||
# ✅ 必需
|
||||
UNI_LAB_AUTH_TOKEN # API Key 格式: "Api xxxxxx"
|
||||
|
||||
# ✅ 可选（有默认值）
|
||||
UNI_LAB_BASE_URL (默认: https://uni-lab.test.bohrium.com)
|
||||
UNI_LAB_UPLOAD_SCENE (默认: job，其他值会被改成 default)
|
||||
```
|
||||
|
||||
### 3. 初始化方法（保持不变）
|
||||
|
||||
`__init__` 方法中的 OSS 相关配置参数：
|
||||
|
||||
```python
|
||||
# OSS 上传配置
|
||||
self.oss_upload_enabled = False # 默认不启用 OSS 上传
|
||||
self.oss_prefix = "neware_backup" # OSS 对象路径前缀
|
||||
self._last_backup_dir = None # 记录最近一次的 backup_dir
|
||||
```
|
||||
|
||||
**默认行为**：OSS 上传功能默认关闭（`oss_upload_enabled=False`），不影响现有系统。
|
||||
|
||||
### 4. upload_backup_to_oss 方法（保持不变）
|
||||
|
||||
```python
|
||||
def upload_backup_to_oss(
|
||||
self,
|
||||
backup_dir: str = None,
|
||||
file_pattern: str = "*",
|
||||
oss_prefix: str = None
|
||||
) -> dict
|
||||
```
|
||||
|
||||
## 使用说明
|
||||
|
||||
### 前置条件
|
||||
|
||||
#### 1. 安装依赖
|
||||
|
||||
```bash
|
||||
# requests 库（通常已安装）
|
||||
pip install requests
|
||||
```
|
||||
|
||||
#### 2. 配置环境变量
|
||||
|
||||
根据您使用的终端类型配置环境变量：
|
||||
|
||||
##### PowerShell（推荐）
|
||||
|
||||
```powershell
|
||||
# 必需：设置认证 Token（API Key 格式）
|
||||
$env:UNI_LAB_AUTH_TOKEN = "Api xxxx"
|
||||
|
||||
# 可选：自定义服务器地址（默认为 test 环境）
|
||||
$env:UNI_LAB_BASE_URL = "https://uni-lab.test.bohrium.com"
|
||||
|
||||
# 可选：自定义上传场景（默认为 job）
|
||||
$env:UNI_LAB_UPLOAD_SCENE = "job"
|
||||
|
||||
# 验证是否设置成功
|
||||
echo $env:UNI_LAB_AUTH_TOKEN
|
||||
```
|
||||
|
||||
##### CMD / 命令提示符
|
||||
|
||||
```cmd
|
||||
REM 必需：设置认证 Token（API Key 格式）
|
||||
set UNI_LAB_AUTH_TOKEN=Api xxxx
|
||||
|
||||
REM 可选：自定义配置
|
||||
set UNI_LAB_BASE_URL=https://uni-lab.test.bohrium.com
|
||||
set UNI_LAB_UPLOAD_SCENE=job
|
||||
|
||||
REM 验证是否设置成功
|
||||
echo %UNI_LAB_AUTH_TOKEN%
|
||||
```
|
||||
|
||||
##### Linux/Mac
|
||||
|
||||
```bash
|
||||
# 必需：设置认证 Token（API Key 格式）
|
||||
export UNI_LAB_AUTH_TOKEN="Api xxxx"
|
||||
|
||||
# 可选：自定义配置
|
||||
export UNI_LAB_BASE_URL="https://uni-lab.test.bohrium.com"
|
||||
export UNI_LAB_UPLOAD_SCENE="job"
|
||||
|
||||
# 验证是否设置成功
|
||||
echo $UNI_LAB_AUTH_TOKEN
|
||||
```
|
||||
|
||||
#### 3. 获取认证 Token
|
||||
|
||||
> **重要**：从 Uni-Lab 主页 → 账号安全 中获取 API Key。
|
||||
|
||||
**获取步骤**：
|
||||
1. 登录 Uni-Lab 系统
|
||||
2. 进入主页 → 账号安全
|
||||
3. 复制 API Key
|
||||
|
||||
Token 格式示例：
|
||||
```
|
||||
Api 48ccxx336fba44f39e1e37db93xxxxx
|
||||
```
|
||||
|
||||
> **提示**：
|
||||
> - 如果 Token 已经包含 `Api ` 前缀，直接使用
|
||||
> - 如果没有前缀，代码会自动添加 `Api ` 前缀
|
||||
> - 旧版 `Bearer` JWT Token 格式仍然兼容
|
||||
|
||||
#### 4. 持久化配置（可选）
|
||||
|
||||
**临时配置**：上述命令设置的环境变量只在当前终端会话中有效。
|
||||
|
||||
**持久化方式 1：PowerShell 配置文件**
|
||||
```powershell
|
||||
# 编辑 PowerShell 配置文件
|
||||
notepad $PROFILE
|
||||
|
||||
# 在打开的文件中添加：
|
||||
$env:UNI_LAB_AUTH_TOKEN = "Api 你的API_Key"
|
||||
```
|
||||
|
||||
**持久化方式 2：Windows 系统环境变量**
|
||||
- 右键"此电脑" → "属性" → "高级系统设置" → "环境变量"
|
||||
- 添加用户变量或系统变量：
|
||||
- 变量名：`UNI_LAB_AUTH_TOKEN`
|
||||
- 变量值：`Api 你的API_Key`
|
||||
|
||||
### 使用流程
|
||||
|
||||
#### 步骤 1：启用 OSS 上传功能
|
||||
|
||||
**推荐方式：在 `device.json` 中配置**
|
||||
|
||||
编辑设备配置文件 `unilabos/devices/neware_battery_test_system/device.json`，在 `config` 中添加：
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "NEWARE_BATTERY_TEST_SYSTEM",
|
||||
"config": {
|
||||
"ip": "127.0.0.1",
|
||||
"port": 502,
|
||||
"machine_id": 1,
|
||||
"oss_upload_enabled": true,
|
||||
"oss_prefix": "neware_backup/2025-12"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**参数说明**：
|
||||
- `oss_upload_enabled`: 设置为 `true` 启用 OSS 上传
|
||||
- `oss_prefix`: OSS 文件路径前缀，建议按日期或项目组织（暂时未使用，保留接口兼容性）
|
||||
|
||||
**其他方式：通过初始化参数**
|
||||
|
||||
```python
|
||||
device = NewareBatteryTestSystem(
|
||||
ip="127.0.0.1",
|
||||
port=502,
|
||||
oss_upload_enabled=True, # 启用 OSS 上传
|
||||
oss_prefix="neware_backup/2025-12" # 可选：自定义路径前缀
|
||||
)
|
||||
```
|
||||
|
||||
**配置完成后，重启 ROS 节点使配置生效。**
|
||||
|
||||
#### 步骤 2：提交测试任务
|
||||
|
||||
使用 `submit_from_csv` 提交测试任务：
|
||||
|
||||
```python
|
||||
result = device.submit_from_csv(
|
||||
csv_path="test_data.csv",
|
||||
output_dir="D:/neware_output"
|
||||
)
|
||||
```
|
||||
|
||||
此时会创建以下目录结构：
|
||||
```
|
||||
D:/neware_output/
|
||||
├── xml_dir/ # XML 配置文件
|
||||
└── backup_dir/ # 测试数据备份（由新威设备生成）
|
||||
```
|
||||
|
||||
#### 步骤 3：等待测试完成
|
||||
|
||||
等待新威设备完成测试，备份文件会生成到 `backup_dir` 中。
|
||||
|
||||
#### 步骤 4：上传备份文件到 OSS
|
||||
|
||||
**方法 A：使用默认设置（推荐）**
|
||||
```python
|
||||
# 自动使用最近一次的 backup_dir，上传所有文件
|
||||
result = device.upload_backup_to_oss()
|
||||
```
|
||||
|
||||
**方法 B：指定备份目录**
|
||||
```python
|
||||
# 手动指定备份目录
|
||||
result = device.upload_backup_to_oss(
|
||||
backup_dir="D:/neware_output/backup_dir"
|
||||
)
|
||||
```
|
||||
|
||||
**方法 C：筛选特定文件**
|
||||
```python
|
||||
# 仅上传 CSV 文件
|
||||
result = device.upload_backup_to_oss(
|
||||
backup_dir="D:/neware_output/backup_dir",
|
||||
file_pattern="*.csv"
|
||||
)
|
||||
|
||||
# 仅上传特定电池编号的文件
|
||||
result = device.upload_backup_to_oss(
|
||||
file_pattern="Battery_A001_*.nda"
|
||||
)
|
||||
```
|
||||
|
||||
### 返回结果示例
|
||||
|
||||
**成功上传所有文件**：
|
||||
```python
|
||||
{
|
||||
"return_info": "全部上传成功: 15/15 个文件",
|
||||
"success": True,
|
||||
"uploaded_count": 15,
|
||||
"total_count": 15,
|
||||
"failed_files": [],
|
||||
"uploaded_files": [
|
||||
{
|
||||
"filename": "Battery_A001.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
|
||||
},
|
||||
{
|
||||
"filename": "Battery_A002.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
|
||||
}
|
||||
# ... 其他 13 个文件
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**部分上传成功**：
|
||||
```python
|
||||
{
|
||||
"return_info": "部分上传成功: 12/15 个文件，失败 3 个",
|
||||
"success": True,
|
||||
"uploaded_count": 12,
|
||||
"total_count": 15,
|
||||
"failed_files": ["Battery_A003.csv", "Battery_A007.csv", "test.log"],
|
||||
"uploaded_files": [
|
||||
{
|
||||
"filename": "Battery_A001.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
|
||||
},
|
||||
{
|
||||
"filename": "Battery_A002.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
|
||||
}
|
||||
# ... 其他 10 个成功上传的文件
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
> **说明**：`uploaded_files` 字段包含所有成功上传文件的详细信息：
|
||||
> - `filename`: 文件名（不含路径）
|
||||
> - `url`: 文件在 OSS 上的完整访问 URL
|
||||
|
||||
## 错误处理
|
||||
|
||||
### OSS 上传未启用
|
||||
|
||||
如果 `oss_upload_enabled=False`，调用 `upload_backup_to_oss` 会返回：
|
||||
```python
|
||||
{
|
||||
"return_info": "OSS 上传未启用 (oss_upload_enabled=False)，跳过上传。备份目录: ...",
|
||||
"success": False,
|
||||
"uploaded_count": 0,
|
||||
"total_count": 0,
|
||||
"failed_files": []
|
||||
}
|
||||
```
|
||||
|
||||
**解决方法**：设置 `device.oss_upload_enabled = True`
|
||||
|
||||
### 环境变量未配置
|
||||
|
||||
如果缺少 `UNI_LAB_AUTH_TOKEN`，会返回：
|
||||
```python
|
||||
{
|
||||
"return_info": "OSS 环境变量配置错误: 请设置环境变量: UNI_LAB_AUTH_TOKEN",
|
||||
"success": False,
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
**解决方法**：按照前置条件配置环境变量
|
||||
|
||||
### 备份目录不存在
|
||||
|
||||
如果指定的备份目录不存在，会返回：
|
||||
```python
|
||||
{
|
||||
"return_info": "备份目录不存在: D:/neware_output/backup_dir",
|
||||
"success": False,
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
**解决方法**：检查目录路径是否正确，或等待测试生成备份文件
|
||||
|
||||
### API 认证失败
|
||||
|
||||
如果 Token 无效或过期，会返回：
|
||||
```python
|
||||
{
|
||||
"return_info": "获取凭证失败: 认证失败",
|
||||
"success": False,
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
**解决方法**：检查 Token 是否正确，或联系开发团队获取新 Token
|
||||
|
||||
## 技术细节
|
||||
|
||||
### OSS 上传流程（新方式）
|
||||
|
||||
```mermaid
|
||||
flowchart TD
|
||||
A[开始上传] --> B[验证配置和环境变量]
|
||||
B --> C[扫描备份目录]
|
||||
C --> D[筛选符合 pattern 的文件]
|
||||
D --> E[遍历每个文件]
|
||||
E --> F[调用 API 获取预签名 URL]
|
||||
F --> G{获取成功?}
|
||||
G -->|是| H[使用预签名 URL 上传文件]
|
||||
G -->|否| I[记录失败]
|
||||
H --> J{上传成功?}
|
||||
J -->|是| K[记录成功 + 文件 URL]
|
||||
J -->|否| I
|
||||
I --> L{还有文件?}
|
||||
K --> L
|
||||
L -->|是| E
|
||||
L -->|否| M[返回统计结果]
|
||||
```
|
||||
|
||||
### 上传 API 流程
|
||||
|
||||
1. **获取预签名 URL**
|
||||
- 请求：`GET /api/v1/applications/token?scene={scene}&filename={filename}`
|
||||
- 认证：`Authorization: Bearer {token}`
|
||||
- 响应：`{code: 0, data: {url: "预签名URL", path: "文件路径"}}`
|
||||
|
||||
2. **上传文件**
|
||||
- 请求：`PUT {预签名URL}`
|
||||
- 内容：文件二进制数据
|
||||
- 响应：HTTP 200 表示成功
|
||||
|
||||
3. **生成访问 URL**
|
||||
- 格式：`https://{OSS_PUBLIC_HOST}/{path}`
|
||||
- 示例：`https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/battery_data.csv`
|
||||
|
||||
### 日志记录
|
||||
|
||||
所有上传操作都会通过 ROS 日志系统记录：
|
||||
- `INFO` 级别：上传进度和成功信息
|
||||
- `WARNING` 级别：空目录、未启用等警告
|
||||
- `ERROR` 级别：上传失败、配置错误
|
||||
|
||||
## 注意事项
|
||||
|
||||
1. **上传时机**：`backup_dir` 中的文件是在新威设备执行测试过程中实时生成的，请确保测试已完成再上传。
|
||||
|
||||
2. **文件命名**：上传到 OSS 的文件会保留原始文件名，路径由统一 API 分配。
|
||||
|
||||
3. **网络要求**：上传需要稳定的网络连接到阿里云 OSS 服务。
|
||||
|
||||
4. **Token 有效期**：JWT Token 有过期时间，过期后需要重新获取。
|
||||
|
||||
5. **成本考虑**：OSS 存储和流量会产生费用，请根据需要合理设置文件筛选规则。
|
||||
|
||||
6. **并发上传**：当前实现为串行上传，大量文件上传可能需要较长时间。
|
||||
|
||||
7. **文件大小限制**：请注意单个文件大小是否有上传限制（由统一 API 控制）。
|
||||
|
||||
## 兼容性
|
||||
|
||||
- ✅ **向后兼容**：默认 `oss_upload_enabled=False`，不影响现有系统
|
||||
- ✅ **可选功能**：仅在需要时启用
|
||||
- ✅ **独立操作**：上传失败不会影响测试任务的提交和执行
|
||||
- ⚠️ **环境变量变更**：需要更新环境变量配置（从 OSS AK/SK 改为 JWT Token）
|
||||
|
||||
## 迁移指南
|
||||
|
||||
如果您之前使用 `oss2` 库方式，请按以下步骤迁移：
|
||||
|
||||
### 1. 卸载旧依赖（可选）
|
||||
```bash
|
||||
pip uninstall oss2
|
||||
```
|
||||
|
||||
### 2. 删除旧环境变量
|
||||
```powershell
|
||||
# PowerShell
|
||||
Remove-Item Env:\OSS_ACCESS_KEY_ID
|
||||
Remove-Item Env:\OSS_ACCESS_KEY_SECRET
|
||||
Remove-Item Env:\OSS_BUCKET_NAME
|
||||
Remove-Item Env:\OSS_ENDPOINT
|
||||
```
|
||||
|
||||
### 3. 设置新环境变量
|
||||
```powershell
|
||||
# PowerShell
|
||||
$env:UNI_LAB_AUTH_TOKEN = "Bearer 你的token..."
|
||||
```
|
||||
|
||||
### 4. 测试上传功能
|
||||
```python
|
||||
# 验证上传是否正常工作
|
||||
result = device.upload_backup_to_oss(backup_dir="测试目录")
|
||||
print(result)
|
||||
```
|
||||
|
||||
## 常见问题
|
||||
|
||||
**Q: 为什么要从 `oss2` 改为统一 API？**
|
||||
A: 为了与团队其他系统保持一致，简化配置，并统一认证方式。
|
||||
|
||||
**Q: Token 在哪里获取？**
|
||||
A: 请联系开发团队获取有效的 JWT Token。
|
||||
|
||||
**Q: Token 过期了怎么办？**
|
||||
A: 重新获取新的 Token 并更新环境变量 `UNI_LAB_AUTH_TOKEN`。
|
||||
|
||||
**Q: 可以自定义上传路径吗？**
|
||||
A: 当前版本路径由统一 API 自动分配，`oss_prefix` 参数暂不使用（保留接口兼容性）。
|
||||
|
||||
**Q: 为什么不在 `submit_from_csv` 中自动上传？**
|
||||
A: 因为备份文件在测试进行中逐步生成，方法返回时可能文件尚未完全生成，因此提供独立的上传方法更灵活。
|
||||
|
||||
**Q: 上传后如何访问文件？**
|
||||
A: 上传成功后会返回文件访问 URL，格式为 `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{path}`
|
||||
|
||||
**Q: 如何删除已上传的文件？**
|
||||
A: 需要通过 OSS 控制台或 API 操作，本功能仅负责上传。
|
||||
|
||||
## 验证上传结果
|
||||
|
||||
### 方法1：通过阿里云控制台查看
|
||||
|
||||
1. 登录 [阿里云 OSS 控制台](https://oss.console.aliyun.com/)
|
||||
2. 点击左侧 **Bucket列表**
|
||||
3. 选择 `uni-lab-test` Bucket
|
||||
4. 点击 **文件管理**
|
||||
5. 查看上传的文件列表
|
||||
|
||||
### 方法2：使用返回的文件 URL
|
||||
|
||||
上传成功后，`upload_file_to_oss()` 会返回文件访问 URL：
|
||||
```python
|
||||
url = upload_file_to_oss("local_file.csv")
|
||||
print(f"文件访问 URL: {url}")
|
||||
# 输出示例：https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/local_file.csv
|
||||
```
|
||||
|
||||
> **注意**：OSS 文件默认为私有访问，直接访问 URL 可能需要签名认证。
|
||||
|
||||
### 方法3：使用 ossutil 命令行工具
|
||||
|
||||
安装 [ossutil](https://help.aliyun.com/document_detail/120075.html) 后：
|
||||
|
||||
```bash
|
||||
# 列出文件
|
||||
ossutil ls oss://uni-lab-test/job/
|
||||
|
||||
# 下载文件到本地
|
||||
ossutil cp oss://uni-lab-test/job/20251217/文件名 ./本地路径
|
||||
|
||||
# 生成签名URL（有效期1小时）
|
||||
ossutil sign oss://uni-lab-test/job/20251217/文件名 --timeout 3600
|
||||
```
|
||||
|
||||
## 更新日志
|
||||
|
||||
- **2025-12-17**: v2.0（重大更新）
|
||||
- ⚠️ 从 `oss2` 库改为统一 API 方式
|
||||
- 简化环境变量配置（仅需 JWT Token）
|
||||
- 新增 `get_upload_token()` 和 `upload_file_with_presigned_url()` 函数
|
||||
- `upload_file_to_oss()` 返回值改为文件访问 URL
|
||||
- 更新文档和迁移指南
|
||||
|
||||
- **2025-12-15**: v1.1
|
||||
- 添加初始化参数 `oss_upload_enabled` 和 `oss_prefix`
|
||||
- 支持在 `device.json` 中配置 OSS 上传
|
||||
- 更新使用说明，添加验证方法
|
||||
|
||||
- **2025-12-13**: v1.0 初始版本
|
||||
- 添加 OSS 上传工具函数（基于 `oss2` 库）
|
||||
- 创建 `upload_backup_to_oss` 动作方法
|
||||
- 支持文件筛选和自定义 OSS 路径
|
||||
|
||||
## 参考资料
|
||||
|
||||
- [Uni-Lab 统一文件上传 API 文档](https://uni-lab.test.bohrium.com/api/docs)（如有）
|
||||
- [阿里云 OSS 控制台](https://oss.console.aliyun.com/)
|
||||
- [ossutil 工具文档](https://help.aliyun.com/document_detail/120075.html)
|
||||
@@ -0,0 +1,574 @@
|
||||
# Neware Battery Test System - OSS Upload Feature
|
||||
|
||||
## Overview
|
||||
|
||||
This update adds **Aliyun OSS file upload functionality** to the Neware Battery Test System using a unified API approach, allowing test data backup files to be uploaded to cloud storage.
|
||||
|
||||
## Version Updates
|
||||
|
||||
### ⚠️ Breaking Changes (2025-12-17)
|
||||
|
||||
This update changes the OSS upload method from **`oss2` library** to **unified API approach** to align with other team systems.
|
||||
|
||||
**Main Changes**:
|
||||
- ✅ Use `requests` library
|
||||
- ✅ Upload via presigned URLs obtained through unified API
|
||||
- ✅ Simplified environment variable configuration (only API Key required)
|
||||
- ✅ Returns file access URLs
|
||||
|
||||
## Main Changes
|
||||
|
||||
### 1. OSS Upload Functions Refactored (Lines 30-200)
|
||||
|
||||
#### New Functions
|
||||
|
||||
- **`get_upload_token(base_url, auth_token, scene, filename)`**
|
||||
Obtain presigned URL for file upload from unified API
|
||||
|
||||
- **`upload_file_with_presigned_url(upload_info, file_path)`**
|
||||
Upload file to OSS using presigned URL
|
||||
|
||||
#### Updated Functions
|
||||
|
||||
- **`upload_file_to_oss(local_file_path, oss_object_name)`**
|
||||
Upload single file to Aliyun OSS (using unified API approach)
|
||||
- Return value changed: returns file access URL on success, `False` on failure
|
||||
|
||||
- **`upload_files_to_oss(file_paths, oss_prefix)`**
|
||||
Batch upload file list
|
||||
- `oss_prefix` parameter retained but not used (interface compatibility)
|
||||
|
||||
- **`upload_directory_to_oss(local_dir, oss_prefix)`**
|
||||
Upload entire directory
|
||||
- Simplified implementation, uploads using filenames directly
|
||||
|
||||
### 2. Simplified Environment Variable Configuration
|
||||
|
||||
#### Old Method (Deprecated)
|
||||
```bash
|
||||
# ❌ No longer used
|
||||
OSS_ACCESS_KEY_ID
|
||||
OSS_ACCESS_KEY_SECRET
|
||||
OSS_BUCKET_NAME
|
||||
OSS_ENDPOINT
|
||||
```
|
||||
|
||||
#### New Method (Recommended)
|
||||
```bash
|
||||
# ✅ Required
|
||||
UNI_LAB_AUTH_TOKEN # API Key format: "Api xxxxxx"
|
||||
|
||||
# ✅ Optional (with defaults)
|
||||
UNI_LAB_BASE_URL (default: https://uni-lab.test.bohrium.com)
|
||||
UNI_LAB_UPLOAD_SCENE (default: job, other values will be changed to default)
|
||||
```
|
||||
|
||||
### 3. Initialization Method (Unchanged)
|
||||
|
||||
OSS-related configuration parameters in `__init__` method:
|
||||
|
||||
```python
|
||||
# OSS upload configuration
|
||||
self.oss_upload_enabled = False # OSS upload disabled by default
|
||||
self.oss_prefix = "neware_backup" # OSS object path prefix
|
||||
self._last_backup_dir = None # Record last backup_dir
|
||||
```
|
||||
|
||||
**Default Behavior**: OSS upload is disabled by default (`oss_upload_enabled=False`), does not affect existing systems.
|
||||
|
||||
### 4. upload_backup_to_oss Method (Unchanged)
|
||||
|
||||
```python
|
||||
def upload_backup_to_oss(
|
||||
self,
|
||||
backup_dir: str = None,
|
||||
file_pattern: str = "*",
|
||||
oss_prefix: str = None
|
||||
) -> dict
|
||||
```
|
||||
|
||||
## Usage Guide
|
||||
|
||||
### Prerequisites
|
||||
|
||||
#### 1. Install Dependencies
|
||||
|
||||
```bash
|
||||
# requests library (usually pre-installed)
|
||||
pip install requests
|
||||
```
|
||||
|
||||
> **Note**: No longer need to install `oss2` library
|
||||
|
||||
#### 2. Configure Environment Variables
|
||||
|
||||
Configure environment variables based on your terminal type:
|
||||
|
||||
##### PowerShell (Recommended)
|
||||
|
||||
```powershell
|
||||
# Required: Set authentication Token (API Key format)
|
||||
$env:UNI_LAB_AUTH_TOKEN = "Api xxxx"
|
||||
|
||||
# Optional: Custom server URL (defaults to test environment)
|
||||
$env:UNI_LAB_BASE_URL = "https://uni-lab.test.bohrium.com"
|
||||
|
||||
# Optional: Custom upload scene (defaults to job)
|
||||
$env:UNI_LAB_UPLOAD_SCENE = "job"
|
||||
|
||||
# Verify if set successfully
|
||||
echo $env:UNI_LAB_AUTH_TOKEN
|
||||
```
|
||||
|
||||
##### CMD / Command Prompt
|
||||
|
||||
```cmd
|
||||
REM Required: Set authentication Token (API Key format)
|
||||
set UNI_LAB_AUTH_TOKEN=Api xxxx
|
||||
|
||||
REM Optional: Custom configuration
|
||||
set UNI_LAB_BASE_URL=https://uni-lab.test.bohrium.com
|
||||
set UNI_LAB_UPLOAD_SCENE=job
|
||||
|
||||
REM Verify if set successfully
|
||||
echo %UNI_LAB_AUTH_TOKEN%
|
||||
```
|
||||
|
||||
##### Linux/Mac
|
||||
|
||||
```bash
|
||||
# Required: Set authentication Token (API Key format)
|
||||
export UNI_LAB_AUTH_TOKEN="Api xxxx"
|
||||
|
||||
# Optional: Custom configuration
|
||||
export UNI_LAB_BASE_URL="https://uni-lab.test.bohrium.com"
|
||||
export UNI_LAB_UPLOAD_SCENE="job"
|
||||
|
||||
# Verify if set successfully
|
||||
echo $UNI_LAB_AUTH_TOKEN
|
||||
```
|
||||
|
||||
#### 3. Obtain Authentication Token
|
||||
|
||||
> **Important**: Obtain API Key from Uni-Lab Homepage → Account Security.
|
||||
|
||||
**Steps to Obtain**:
|
||||
1. Login to Uni-Lab system
|
||||
2. Go to Homepage → Account Security
|
||||
3. Copy your API Key
|
||||
|
||||
Token format example:
|
||||
```
|
||||
Api 48ccxx336fba44f39e1e37db93xxxxx
|
||||
```
|
||||
|
||||
> **Tips**:
|
||||
> - If Token already includes `Api ` prefix, use directly
|
||||
> - If no prefix, code will automatically add `Api ` prefix
|
||||
> - Old `Bearer` JWT Token format is still compatible
|
||||
|
||||
#### 4. Persistent Configuration (Optional)
|
||||
|
||||
**Temporary Configuration**: Environment variables set with the above commands are only valid for the current terminal session.
|
||||
|
||||
**Persistence Method 1: PowerShell Profile**
|
||||
```powershell
|
||||
# Edit PowerShell profile
|
||||
notepad $PROFILE
|
||||
|
||||
# Add to the opened file:
|
||||
$env:UNI_LAB_AUTH_TOKEN = "Api your_API_Key"
|
||||
```
|
||||
|
||||
**Persistence Method 2: Windows System Environment Variables**
|
||||
- Right-click "This PC" → "Properties" → "Advanced system settings" → "Environment Variables"
|
||||
- Add user or system variable:
|
||||
- Variable name: `UNI_LAB_AUTH_TOKEN`
|
||||
- Variable value: `Api your_API_Key`
|
||||
|
||||
### Usage Workflow
|
||||
|
||||
#### Step 1: Enable OSS Upload Feature
|
||||
|
||||
**Recommended: Configure in `device.json`**
|
||||
|
||||
Edit device configuration file `unilabos/devices/neware_battery_test_system/device.json`, add to `config`:
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "NEWARE_BATTERY_TEST_SYSTEM",
|
||||
"config": {
|
||||
"ip": "127.0.0.1",
|
||||
"port": 502,
|
||||
"machine_id": 1,
|
||||
"oss_upload_enabled": true,
|
||||
"oss_prefix": "neware_backup/2025-12"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**Parameter Description**:
|
||||
- `oss_upload_enabled`: Set to `true` to enable OSS upload
|
||||
- `oss_prefix`: OSS file path prefix, recommended to organize by date or project (currently unused, retained for interface compatibility)
|
||||
|
||||
**Alternative: Via Initialization Parameters**
|
||||
|
||||
```python
|
||||
device = NewareBatteryTestSystem(
|
||||
ip="127.0.0.1",
|
||||
port=502,
|
||||
oss_upload_enabled=True, # Enable OSS upload
|
||||
oss_prefix="neware_backup/2025-12" # Optional: custom path prefix
|
||||
)
|
||||
```
|
||||
|
||||
**After configuration, restart the ROS node for changes to take effect.**
|
||||
|
||||
#### Step 2: Submit Test Tasks
|
||||
|
||||
Use `submit_from_csv` to submit test tasks:
|
||||
|
||||
```python
|
||||
result = device.submit_from_csv(
|
||||
csv_path="test_data.csv",
|
||||
output_dir="D:/neware_output"
|
||||
)
|
||||
```
|
||||
|
||||
This creates the following directory structure:
|
||||
```
|
||||
D:/neware_output/
|
||||
├── xml_dir/ # XML configuration files
|
||||
└── backup_dir/ # Test data backup (generated by Neware device)
|
||||
```
|
||||
|
||||
#### Step 3: Wait for Test Completion
|
||||
|
||||
Wait for the Neware device to complete testing. Backup files will be generated in the `backup_dir`.
|
||||
|
||||
#### Step 4: Upload Backup Files to OSS
|
||||
|
||||
**Method A: Use Default Settings (Recommended)**
|
||||
```python
|
||||
# Automatically uses the last backup_dir, uploads all files
|
||||
result = device.upload_backup_to_oss()
|
||||
```
|
||||
|
||||
**Method B: Specify Backup Directory**
|
||||
```python
|
||||
# Manually specify backup directory
|
||||
result = device.upload_backup_to_oss(
|
||||
backup_dir="D:/neware_output/backup_dir"
|
||||
)
|
||||
```
|
||||
|
||||
**Method C: Filter Specific Files**
|
||||
```python
|
||||
# Upload only CSV files
|
||||
result = device.upload_backup_to_oss(
|
||||
backup_dir="D:/neware_output/backup_dir",
|
||||
file_pattern="*.csv"
|
||||
)
|
||||
|
||||
# Upload files for specific battery IDs
|
||||
result = device.upload_backup_to_oss(
|
||||
file_pattern="Battery_A001_*.nda"
|
||||
)
|
||||
```
|
||||
|
||||
### Return Result Examples
|
||||
|
||||
**All Files Uploaded Successfully**:
|
||||
```python
|
||||
{
|
||||
"return_info": "All uploads successful: 15/15 files",
|
||||
"success": True,
|
||||
"uploaded_count": 15,
|
||||
"total_count": 15,
|
||||
"failed_files": [],
|
||||
"uploaded_files": [
|
||||
{
|
||||
"filename": "Battery_A001.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
|
||||
},
|
||||
{
|
||||
"filename": "Battery_A002.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
|
||||
}
|
||||
# ... other 13 files
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**Partial Upload Success**:
|
||||
```python
|
||||
{
|
||||
"return_info": "Partial upload success: 12/15 files, 3 failed",
|
||||
"success": True,
|
||||
"uploaded_count": 12,
|
||||
"total_count": 15,
|
||||
"failed_files": ["Battery_A003.csv", "Battery_A007.csv", "test.log"],
|
||||
"uploaded_files": [
|
||||
{
|
||||
"filename": "Battery_A001.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
|
||||
},
|
||||
{
|
||||
"filename": "Battery_A002.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
|
||||
}
|
||||
# ... other 10 successfully uploaded files
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
> **Note**: The `uploaded_files` field contains detailed information for all successfully uploaded files:
|
||||
> - `filename`: Filename (without path)
|
||||
> - `url`: Complete OSS access URL for the file
|
||||
|
||||
## Error Handling
|
||||
|
||||
### OSS Upload Not Enabled
|
||||
|
||||
If `oss_upload_enabled=False`, calling `upload_backup_to_oss` returns:
|
||||
```python
|
||||
{
|
||||
"return_info": "OSS upload not enabled (oss_upload_enabled=False), skipping upload. Backup directory: ...",
|
||||
"success": False,
|
||||
"uploaded_count": 0,
|
||||
"total_count": 0,
|
||||
"failed_files": []
|
||||
}
|
||||
```
|
||||
|
||||
**Solution**: Set `device.oss_upload_enabled = True`
|
||||
|
||||
### Environment Variables Not Configured
|
||||
|
||||
If `UNI_LAB_AUTH_TOKEN` is missing, returns:
|
||||
```python
|
||||
{
|
||||
"return_info": "OSS environment variable configuration error: Please set environment variable: UNI_LAB_AUTH_TOKEN",
|
||||
"success": False,
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
**Solution**: Configure environment variables as per prerequisites
|
||||
|
||||
### Backup Directory Does Not Exist
|
||||
|
||||
If specified backup directory doesn't exist, returns:
|
||||
```python
|
||||
{
|
||||
"return_info": "Backup directory does not exist: D:/neware_output/backup_dir",
|
||||
"success": False,
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
**Solution**: Check if directory path is correct, or wait for test to generate backup files
|
||||
|
||||
### API Authentication Failed
|
||||
|
||||
If Token is invalid or expired, returns:
|
||||
```python
|
||||
{
|
||||
"return_info": "Failed to get credentials: Authentication failed",
|
||||
"success": False,
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
**Solution**: Check if Token is correct, or contact development team for new Token
|
||||
|
||||
## Technical Details
|
||||
|
||||
### OSS Upload Process (New Method)
|
||||
|
||||
```mermaid
|
||||
flowchart TD
|
||||
A[Start Upload] --> B[Verify Configuration and Environment Variables]
|
||||
B --> C[Scan Backup Directory]
|
||||
C --> D[Filter Files Matching Pattern]
|
||||
D --> E[Iterate Each File]
|
||||
E --> F[Call API to Get Presigned URL]
|
||||
F --> G{Success?}
|
||||
G -->|Yes| H[Upload File Using Presigned URL]
|
||||
G -->|No| I[Record Failure]
|
||||
H --> J{Upload Success?}
|
||||
J -->|Yes| K[Record Success + File URL]
|
||||
J -->|No| I
|
||||
I --> L{More Files?}
|
||||
K --> L
|
||||
L -->|Yes| E
|
||||
L -->|No| M[Return Statistics]
|
||||
```
|
||||
|
||||
### Upload API Flow
|
||||
|
||||
1. **Get Presigned URL**
|
||||
- Request: `GET /api/v1/lab/storage/token?scene={scene}&filename={filename}&path={path}`
|
||||
- Authentication: `Authorization: Api {api_key}` or `Authorization: Bearer {token}`
|
||||
- Response: `{code: 0, data: {url: "presigned_url", path: "file_path"}}`
|
||||
|
||||
2. **Upload File**
|
||||
- Request: `PUT {presigned_url}`
|
||||
- Content: File binary data
|
||||
- Response: HTTP 200 indicates success
|
||||
|
||||
3. **Generate Access URL**
|
||||
- Format: `https://{OSS_PUBLIC_HOST}/{path}`
|
||||
- Example: `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/battery_data.csv`
|
||||
|
||||
### Logging
|
||||
|
||||
All upload operations are logged through ROS logging system:
|
||||
- `INFO` level: Upload progress and success information
|
||||
- `WARNING` level: Empty directory, not enabled warnings
|
||||
- `ERROR` level: Upload failures, configuration errors
|
||||
|
||||
## Important Notes
|
||||
|
||||
1. **Upload Timing**: Files in `backup_dir` are generated in real-time during test execution. Ensure testing is complete before uploading.
|
||||
|
||||
2. **File Naming**: Files uploaded to OSS retain original filenames. Paths are assigned by unified API.
|
||||
|
||||
3. **Network Requirements**: Upload requires stable network connection to Aliyun OSS service.
|
||||
|
||||
4. **Token Expiration**: JWT Tokens have expiration time. Need to obtain new token after expiration.
|
||||
|
||||
5. **Cost Considerations**: OSS storage and traffic incur costs. Set file filtering rules appropriately.
|
||||
|
||||
6. **Concurrent Upload**: Current implementation uses serial upload. Large number of files may take considerable time.
|
||||
|
||||
7. **File Size Limits**: Note single file size upload limits (controlled by unified API).
|
||||
|
||||
## Compatibility
|
||||
|
||||
- ✅ **Backward Compatible**: Default `oss_upload_enabled=False`, does not affect existing systems
|
||||
- ✅ **Optional Feature**: Enable only when needed
|
||||
- ✅ **Independent Operation**: Upload failures do not affect test task submission and execution
|
||||
- ⚠️ **Environment Variable Changes**: Need to update environment variable configuration (from OSS AK/SK to API Key)
|
||||
|
||||
## Migration Guide
|
||||
|
||||
If you previously used the `oss2` library method, follow these steps to migrate:
|
||||
|
||||
### 1. Uninstall Old Dependencies (Optional)
|
||||
```bash
|
||||
pip uninstall oss2
|
||||
```
|
||||
|
||||
### 2. Remove Old Environment Variables
|
||||
```powershell
|
||||
# PowerShell
|
||||
Remove-Item Env:\OSS_ACCESS_KEY_ID
|
||||
Remove-Item Env:\OSS_ACCESS_KEY_SECRET
|
||||
Remove-Item Env:\OSS_BUCKET_NAME
|
||||
Remove-Item Env:\OSS_ENDPOINT
|
||||
```
|
||||
|
||||
### 3. Set New Environment Variables
|
||||
```powershell
|
||||
# PowerShell
|
||||
$env:UNI_LAB_AUTH_TOKEN = "Api your_API_Key"
|
||||
```
|
||||
|
||||
### 4. Test Upload Functionality
|
||||
```python
|
||||
# Verify upload works correctly
|
||||
result = device.upload_backup_to_oss(backup_dir="test_directory")
|
||||
print(result)
|
||||
```
|
||||
|
||||
## FAQ
|
||||
|
||||
**Q: Why change from `oss2` to unified API?**
|
||||
A: To maintain consistency with other team systems, simplify configuration, and unify authentication methods.
|
||||
|
||||
**Q: Where to get the Token?**
|
||||
A: Obtain API Key from Uni-Lab Homepage → Account Security.
|
||||
|
||||
**Q: What if Token expires?**
|
||||
A: Obtain a new API Key and update the `UNI_LAB_AUTH_TOKEN` environment variable.
|
||||
|
||||
**Q: Can I customize upload paths?**
|
||||
A: Current version has paths automatically assigned by unified API. `oss_prefix` parameter is currently unused (retained for interface compatibility).
|
||||
|
||||
**Q: Why not auto-upload in `submit_from_csv`?**
|
||||
A: Because backup files are generated progressively during testing, they may not be fully generated when the method returns. A separate upload method provides more flexibility.
|
||||
|
||||
**Q: How to access files after upload?**
|
||||
A: Upload success returns file access URL in format `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{path}`
|
||||
|
||||
**Q: How to delete uploaded files?**
|
||||
A: Need to operate through OSS console or API. This feature only handles uploads.
|
||||
|
||||
## Verifying Upload Results
|
||||
|
||||
### Method 1: Via Aliyun Console
|
||||
|
||||
1. Login to [Aliyun OSS Console](https://oss.console.aliyun.com/)
|
||||
2. Click **Bucket List** on the left
|
||||
3. Select the `uni-lab-test` Bucket
|
||||
4. Click **File Management**
|
||||
5. View uploaded file list
|
||||
|
||||
### Method 2: Using Returned File URL
|
||||
|
||||
After successful upload, `upload_file_to_oss()` returns file access URL:
|
||||
```python
|
||||
url = upload_file_to_oss("local_file.csv")
|
||||
print(f"File access URL: {url}")
|
||||
# Example output: https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/local_file.csv
|
||||
```
|
||||
|
||||
> **Note**: OSS files are private by default, direct URL access may require signature authentication.
|
||||
|
||||
### Method 3: Using ossutil CLI Tool
|
||||
|
||||
After installing [ossutil](https://help.aliyun.com/document_detail/120075.html):
|
||||
|
||||
```bash
|
||||
# List files
|
||||
ossutil ls oss://uni-lab-test/job/
|
||||
|
||||
# Download file to local
|
||||
ossutil cp oss://uni-lab-test/job/20251217/filename ./local_path
|
||||
|
||||
# Generate signed URL (valid for 1 hour)
|
||||
ossutil sign oss://uni-lab-test/job/20251217/filename --timeout 3600
|
||||
```
|
||||
|
||||
## Changelog
|
||||
|
||||
- **2025-12-17**: v2.0 (Major Update)
|
||||
- ⚠️ Changed from `oss2` library to unified API approach
|
||||
- Simplified environment variable configuration (only API Key required)
|
||||
- Added `get_upload_token()` and `upload_file_with_presigned_url()` functions
|
||||
- `upload_file_to_oss()` return value changed to file access URL
|
||||
- Updated documentation and migration guide
|
||||
- Token format: Support both `Api Key` and `Bearer JWT`
|
||||
- API endpoint: `/api/v1/lab/storage/token`
|
||||
- Scene parameter: Fixed to `job` (other values changed to `default`)
|
||||
|
||||
- **2025-12-15**: v1.1
|
||||
- Added initialization parameters `oss_upload_enabled` and `oss_prefix`
|
||||
- Support OSS upload configuration in `device.json`
|
||||
- Updated usage guide, added verification methods
|
||||
|
||||
- **2025-12-13**: v1.0 Initial Version
|
||||
- Added OSS upload utility functions (based on `oss2` library)
|
||||
- Created `upload_backup_to_oss` action method
|
||||
- Support file filtering and custom OSS paths
|
||||
|
||||
## References
|
||||
|
||||
- [Uni-Lab Unified File Upload API Documentation](https://uni-lab.test.bohrium.com/api/docs) (if available)
|
||||
- [Aliyun OSS Console](https://oss.console.aliyun.com/)
|
||||
- [ossutil Tool Documentation](https://help.aliyun.com/document_detail/120075.html)
|
||||
@@ -1,8 +0,0 @@
|
||||
from .neware_battery_test_system import NewareBatteryTestSystem
|
||||
from .neware_driver import build_start_command, start_test
|
||||
|
||||
__all__ = [
|
||||
"NewareBatteryTestSystem",
|
||||
"build_start_command",
|
||||
"start_test",
|
||||
]
|
||||
@@ -1,3 +0,0 @@
|
||||
Timestamp,Battery_Count,Assembly_Time,Open_Circuit_Voltage,Pole_Weight,Assembly_Pressure,Battery_Code,Electrolyte_Code,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʺ<EFBFBD><EFBFBD><EFBFBD>,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>mah/g,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ,<EFBFBD>豸<EFBFBD><EFBFBD>,<EFBFBD>ź<EFBFBD>,ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
2025/10/29 17:32,7,5,0.11299999803304672,18.049999237060547,3593,Li000595,Si-Gr001,9.2,0.954,469,SiGr_Li,1,1,2
|
||||
2025/10/30 17:49,2,5,0,13.109999895095825,4094,YS101224,NoRead88,5.2,0.92,190,SiGr_Li,2,1,1
|
||||
|
@@ -19,7 +19,9 @@
|
||||
"timeout": 20,
|
||||
"size_x": 500.0,
|
||||
"size_y": 500.0,
|
||||
"size_z": 2000.0
|
||||
"size_z": 2000.0,
|
||||
"oss_upload_enabled": true,
|
||||
"oss_prefix": "neware_backup/2025-12"
|
||||
},
|
||||
"data": {
|
||||
"功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能",
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -26,6 +26,183 @@ from pylabrobot.resources import ResourceHolder, Coordinate, create_ordered_item
|
||||
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
|
||||
from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
|
||||
|
||||
# ========================
|
||||
# OSS 上传工具函数
|
||||
# ========================
|
||||
|
||||
import requests
|
||||
|
||||
# 服务器地址和OSS配置
|
||||
OSS_PUBLIC_HOST = "uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com"
|
||||
|
||||
def get_upload_token(base_url, auth_token, scene, filename):
|
||||
"""
|
||||
获取文件上传的预签名URL
|
||||
|
||||
Args:
|
||||
base_url: API服务器地址
|
||||
auth_token: 认证Token (JWT)，需要包含 "Bearer " 前缀
|
||||
scene: 上传场景 (例如: "job")
|
||||
filename: 文件名
|
||||
|
||||
Returns:
|
||||
dict: 包含上传URL和路径的字典，失败返回None
|
||||
"""
|
||||
url = f"{base_url}/api/v1/lab/storage/token"
|
||||
params = {
|
||||
"scene": scene,
|
||||
"filename": filename,
|
||||
"path": "neware_backup", # 添加 path 参数
|
||||
}
|
||||
headers = {
|
||||
"Authorization": auth_token,
|
||||
}
|
||||
|
||||
print(f"正在从 {url} 获取上传凭证...")
|
||||
try:
|
||||
response = requests.get(url, params=params, headers=headers)
|
||||
response.raise_for_status()
|
||||
|
||||
data = response.json()
|
||||
if data.get("code") == 0 and "data" in data and "url" in data["data"]:
|
||||
print("成功获取上传凭证!")
|
||||
return data["data"]
|
||||
else:
|
||||
print(f"获取凭证失败: {data.get('msg', '未知错误')}")
|
||||
return None
|
||||
|
||||
except requests.exceptions.RequestException as e:
|
||||
print(f"请求上传凭证时发生错误: {e}")
|
||||
return None
|
||||
|
||||
|
||||
def upload_file_with_presigned_url(upload_info, file_path):
|
||||
"""
|
||||
使用预签名URL上传文件到OSS
|
||||
|
||||
Args:
|
||||
upload_info: 包含上传URL的字典
|
||||
file_path: 本地文件路径
|
||||
|
||||
Returns:
|
||||
bool: 上传是否成功
|
||||
"""
|
||||
upload_url = upload_info['url']
|
||||
|
||||
print(f"开始上传文件: {file_path} 到 {upload_url}")
|
||||
try:
|
||||
with open(file_path, 'rb') as f:
|
||||
file_data = f.read()
|
||||
response = requests.put(upload_url, data=file_data)
|
||||
response.raise_for_status()
|
||||
|
||||
print("文件上传成功!")
|
||||
return True
|
||||
|
||||
except FileNotFoundError:
|
||||
print(f"错误: 文件未找到 {file_path}")
|
||||
return False
|
||||
except requests.exceptions.RequestException as e:
|
||||
print(f"文件上传失败: {e}")
|
||||
print(f"服务器响应: {e.response.text if e.response else '无响应'}")
|
||||
return False
|
||||
|
||||
|
||||
def upload_file_to_oss(local_file_path, oss_object_name=None):
|
||||
"""
|
||||
上传文件到阿里云OSS (使用统一API方式)
|
||||
|
||||
Args:
|
||||
local_file_path: 本地文件路径
|
||||
oss_object_name: OSS对象名称 (暂时未使用，保留接口兼容性)
|
||||
|
||||
Returns:
|
||||
bool or str: 上传成功返回文件访问URL，失败返回False
|
||||
"""
|
||||
# 从环境变量获取配置
|
||||
base_url = os.getenv('UNI_LAB_BASE_URL', 'https://uni-lab.test.bohrium.com')
|
||||
auth_token = os.getenv('UNI_LAB_AUTH_TOKEN')
|
||||
upload_scene = os.getenv('UNI_LAB_UPLOAD_SCENE', 'job') # 必须使用 job，其他值会被改成 default
|
||||
|
||||
# 检查环境变量是否设置
|
||||
if not auth_token:
|
||||
raise ValueError("请设置环境变量: UNI_LAB_AUTH_TOKEN")
|
||||
|
||||
# 确保 auth_token 包含正确的前缀
|
||||
# 支持两种格式: "Bearer xxx" (JWT) 或 "Api xxx" (API Key)
|
||||
if not auth_token.startswith("Bearer ") and not auth_token.startswith("Api "):
|
||||
# 默认使用 Api 格式
|
||||
auth_token = f"Api {auth_token}"
|
||||
|
||||
# 检查文件是否存在
|
||||
if not os.path.exists(local_file_path):
|
||||
print(f"错误: 无法找到要上传的文件 '{local_file_path}'")
|
||||
return False
|
||||
|
||||
filename = os.path.basename(local_file_path)
|
||||
|
||||
# 1. 获取上传信息
|
||||
upload_info = get_upload_token(base_url, auth_token, upload_scene, filename)
|
||||
|
||||
if not upload_info:
|
||||
print("无法继续上传，因为没有获取到有效的上传信息。")
|
||||
return False
|
||||
|
||||
# 2. 上传文件
|
||||
success = upload_file_with_presigned_url(upload_info, local_file_path)
|
||||
|
||||
if success:
|
||||
access_url = f"https://{OSS_PUBLIC_HOST}/{upload_info['path']}"
|
||||
print(f"文件访问URL: {access_url}")
|
||||
return access_url
|
||||
else:
|
||||
return False
|
||||
|
||||
|
||||
def upload_files_to_oss(file_paths, oss_prefix=""):
|
||||
"""
|
||||
批量上传文件到OSS
|
||||
|
||||
Args:
|
||||
file_paths: 本地文件路径列表
|
||||
oss_prefix: OSS对象前缀 (暂时未使用，保留接口兼容性)
|
||||
|
||||
Returns:
|
||||
int: 成功上传的文件数量
|
||||
"""
|
||||
success_count = 0
|
||||
print(f"开始批量上传 {len(file_paths)} 个文件到OSS...")
|
||||
for i, fp in enumerate(file_paths, 1):
|
||||
print(f"[{i}/{len(file_paths)}] 上传文件: {fp}")
|
||||
try:
|
||||
result = upload_file_to_oss(fp)
|
||||
if result:
|
||||
success_count += 1
|
||||
print(f"[{i}/{len(file_paths)}] 上传成功")
|
||||
else:
|
||||
print(f"[{i}/{len(file_paths)}] 上传失败")
|
||||
except ValueError as e:
|
||||
print(f"[{i}/{len(file_paths)}] 环境变量错误: {e}")
|
||||
break
|
||||
except Exception as e:
|
||||
print(f"[{i}/{len(file_paths)}] 上传异常: {e}")
|
||||
print(f"批量上传完成: {success_count}/{len(file_paths)} 个文件成功")
|
||||
return success_count
|
||||
|
||||
|
||||
def upload_directory_to_oss(local_dir, oss_prefix=""):
|
||||
"""
|
||||
上传整个目录到OSS
|
||||
|
||||
Args:
|
||||
local_dir: 本地目录路径
|
||||
oss_prefix: OSS对象前缀 (暂时未使用，保留接口兼容性)
|
||||
"""
|
||||
for root, dirs, files in os.walk(local_dir):
|
||||
for file in files:
|
||||
local_file_path = os.path.join(root, file)
|
||||
upload_file_to_oss(local_file_path)
|
||||
|
||||
|
||||
# ========================
|
||||
# 内部数据类和结构
|
||||
@@ -139,6 +316,9 @@ class NewareBatteryTestSystem:
|
||||
size_x: float = 50,
|
||||
size_y: float = 50,
|
||||
size_z: float = 20,
|
||||
|
||||
oss_upload_enabled: bool = False,
|
||||
oss_prefix: str = "neware_backup",
|
||||
):
|
||||
"""
|
||||
初始化新威电池测试系统
|
||||
@@ -150,6 +330,8 @@ class NewareBatteryTestSystem:
|
||||
timeout: 通信超时时间（秒）
|
||||
machine_id: 机器ID
|
||||
size_x, size_y, size_z: 设备物理尺寸
|
||||
oss_upload_enabled: 是否启用OSS上传功能，默认False
|
||||
oss_prefix: OSS对象路径前缀，默认"neware_backup"
|
||||
"""
|
||||
self.ip = ip or self.BTS_IP
|
||||
self.port = port or self.BTS_PORT
|
||||
@@ -162,8 +344,13 @@ class NewareBatteryTestSystem:
|
||||
self.size_y = size_y
|
||||
self.size_z = size_z
|
||||
|
||||
# OSS 上传配置
|
||||
self.oss_upload_enabled = oss_upload_enabled
|
||||
self.oss_prefix = oss_prefix
|
||||
|
||||
self._last_status_update = None
|
||||
self._cached_status = {}
|
||||
self._last_backup_dir = None # 记录最近一次的 backup_dir，供上传使用
|
||||
self._ros_node: Optional[ROS2WorkstationNode] = None # ROS节点引用，由框架设置
|
||||
|
||||
|
||||
@@ -495,10 +682,9 @@ class NewareBatteryTestSystem:
|
||||
self._ros_node.lab_logger().error(error_msg)
|
||||
return {"return_info": error_msg, "success": False}
|
||||
|
||||
@property
|
||||
def plate_status(self) -> Dict[str, Any]:
|
||||
def _plate_status(self) -> Dict[str, Any]:
|
||||
"""
|
||||
获取所有盘的状态信息（属性）
|
||||
获取所有盘的状态信息（内部方法）
|
||||
|
||||
Returns:
|
||||
包含所有盘状态信息的字典
|
||||
@@ -507,7 +693,7 @@ class NewareBatteryTestSystem:
|
||||
# 确保先更新所有资源的状态数据
|
||||
_ = self.channel_status # 这会触发状态更新并调用load_state
|
||||
|
||||
# 手动计算两盘的状态，避免调用需要参数的get_plate_status方法
|
||||
# 手动计算两盘的状态
|
||||
plate1_stats = {s: 0 for s in self.STATUS_SET | {"unknown"}}
|
||||
plate1_active = []
|
||||
|
||||
@@ -572,6 +758,7 @@ class NewareBatteryTestSystem:
|
||||
|
||||
|
||||
|
||||
|
||||
def debug_resource_names(self) -> dict:
|
||||
"""
|
||||
调试方法：显示所有资源的实际名称（ROS2动作）
|
||||
@@ -611,6 +798,66 @@ class NewareBatteryTestSystem:
|
||||
self._ros_node.lab_logger().error(error_msg)
|
||||
return {"return_info": error_msg, "success": False}
|
||||
|
||||
def get_plate_status(self, plate_num: int = None) -> dict:
|
||||
"""
|
||||
获取指定盘或所有盘的状态信息（ROS2动作）
|
||||
|
||||
Args:
|
||||
plate_num: 盘号 (1 或 2)，如果为None则返回所有盘的状态
|
||||
|
||||
Returns:
|
||||
dict: ROS2动作结果格式 {"return_info": str, "success": bool, "plate_data": dict}
|
||||
"""
|
||||
try:
|
||||
# 获取所有盘的状态
|
||||
all_plates_data = self._plate_status()
|
||||
|
||||
# 如果指定了盘号，只返回该盘的数据
|
||||
if plate_num is not None:
|
||||
if plate_num not in [1, 2]:
|
||||
error_msg = f"无效的盘号: {plate_num}，必须是 1 或 2"
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().error(error_msg)
|
||||
return {
|
||||
"return_info": error_msg,
|
||||
"success": False,
|
||||
"plate_data": {}
|
||||
}
|
||||
|
||||
plate_key = f"plate{plate_num}"
|
||||
plate_data = all_plates_data.get(plate_key, {})
|
||||
|
||||
success_msg = f"成功获取盘 {plate_num} 的状态信息"
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().info(success_msg)
|
||||
|
||||
return {
|
||||
"return_info": success_msg,
|
||||
"success": True,
|
||||
"plate_data": plate_data
|
||||
}
|
||||
else:
|
||||
# 返回所有盘的状态
|
||||
success_msg = "成功获取所有盘的状态信息"
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().info(success_msg)
|
||||
|
||||
return {
|
||||
"return_info": success_msg,
|
||||
"success": True,
|
||||
"plate_data": all_plates_data
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"获取盘状态失败: {str(e)}"
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().error(error_msg)
|
||||
return {
|
||||
"return_info": error_msg,
|
||||
"success": False,
|
||||
"plate_data": {}
|
||||
}
|
||||
|
||||
# ========================
|
||||
# 辅助方法
|
||||
# ========================
|
||||
@@ -716,6 +963,7 @@ class NewareBatteryTestSystem:
|
||||
'SIGR_LI_STEP': gen_mod.xml_SiGr_Li_Step,
|
||||
'SIGR_LI': gen_mod.xml_SiGr_Li_Step,
|
||||
'811_SIGR': gen_mod.xml_811_SiGr,
|
||||
'811_CU_AGING': gen_mod.xml_811_Cu_aging,
|
||||
}
|
||||
if key not in fmap:
|
||||
raise ValueError(f"未定义电池体系映射: {key}")
|
||||
@@ -758,13 +1006,13 @@ class NewareBatteryTestSystem:
|
||||
error_msg = f"CSV文件不存在: {csv_path}"
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().error(error_msg)
|
||||
return {"return_info": error_msg, "success": False, "submitted_count": 0}
|
||||
return {"return_info": error_msg, "success": False, "submitted_count": 0, "total_count": 0}
|
||||
|
||||
df = pd.read_csv(csv_path, encoding='gbk')
|
||||
|
||||
# 验证必需列
|
||||
required = [
|
||||
'Battery_Code', 'Pole_Weight', '集流体质量', '活性物质含量',
|
||||
'Battery_Code', 'Electrolyte_Code', 'Pole_Weight', '集流体质量', '活性物质含量',
|
||||
'克容量mah/g', '电池体系', '设备号', '排号', '通道号'
|
||||
]
|
||||
missing = [c for c in required if c not in df.columns]
|
||||
@@ -772,7 +1020,7 @@ class NewareBatteryTestSystem:
|
||||
error_msg = f"CSV缺少必需列: {missing}"
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().error(error_msg)
|
||||
return {"return_info": error_msg, "success": False, "submitted_count": 0}
|
||||
return {"return_info": error_msg, "success": False, "submitted_count": 0, "total_count": 0}
|
||||
|
||||
# 创建输出目录
|
||||
xml_dir = os.path.join(output_dir, 'xml_dir')
|
||||
@@ -780,6 +1028,9 @@ class NewareBatteryTestSystem:
|
||||
os.makedirs(xml_dir, exist_ok=True)
|
||||
os.makedirs(backup_dir, exist_ok=True)
|
||||
|
||||
# 记录备份目录供后续 OSS 上传使用
|
||||
self._last_backup_dir = backup_dir
|
||||
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().info(
|
||||
f"输出目录: XML={xml_dir}, 备份={backup_dir}"
|
||||
@@ -791,7 +1042,7 @@ class NewareBatteryTestSystem:
|
||||
|
||||
for idx, row in df.iterrows():
|
||||
try:
|
||||
coin_id = str(row['Battery_Code'])
|
||||
coin_id = f"{row['Battery_Code']}-{row['Electrolyte_Code']}"
|
||||
|
||||
# 计算活性物质质量和容量
|
||||
act_mass, cap_mAh = self._compute_values(row)
|
||||
@@ -877,7 +1128,8 @@ class NewareBatteryTestSystem:
|
||||
return {
|
||||
"return_info": error_msg,
|
||||
"success": False,
|
||||
"submitted_count": 0
|
||||
"submitted_count": 0,
|
||||
"total_count": 0
|
||||
}
|
||||
|
||||
|
||||
@@ -956,6 +1208,207 @@ class NewareBatteryTestSystem:
|
||||
self._ros_node.lab_logger().error(error_msg)
|
||||
return {"return_info": error_msg, "success": False}
|
||||
|
||||
def upload_backup_to_oss(
|
||||
self,
|
||||
backup_dir: str = None,
|
||||
file_pattern: str = "*",
|
||||
oss_prefix: str = None
|
||||
) -> dict:
|
||||
"""
|
||||
上传备份目录中的文件到 OSS（ROS2 动作）
|
||||
|
||||
Args:
|
||||
backup_dir: 备份目录路径，默认使用最近一次 submit_from_csv 的 backup_dir
|
||||
file_pattern: 文件通配符模式，默认 "*" 上传所有文件（例如 "*.csv" 仅上传 CSV 文件）
|
||||
oss_prefix: OSS 对象前缀，默认使用类初始化时的配置
|
||||
|
||||
Returns:
|
||||
dict: {
|
||||
"return_info": str,
|
||||
"success": bool,
|
||||
"uploaded_count": int,
|
||||
"total_count": int,
|
||||
"failed_files": List[str]
|
||||
}
|
||||
"""
|
||||
try:
|
||||
# 确定备份目录
|
||||
target_backup_dir = backup_dir if backup_dir else self._last_backup_dir
|
||||
|
||||
if not target_backup_dir:
|
||||
error_msg = "未指定 backup_dir 且没有可用的最近备份目录"
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().error(error_msg)
|
||||
return {
|
||||
"return_info": error_msg,
|
||||
"success": False,
|
||||
"uploaded_count": 0,
|
||||
"total_count": 0,
|
||||
"failed_files": [],
|
||||
"uploaded_files": []
|
||||
}
|
||||
|
||||
# 检查目录是否存在
|
||||
if not os.path.exists(target_backup_dir):
|
||||
error_msg = f"备份目录不存在: {target_backup_dir}"
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().error(error_msg)
|
||||
return {
|
||||
"return_info": error_msg,
|
||||
"success": False,
|
||||
"uploaded_count": 0,
|
||||
"total_count": 0,
|
||||
"failed_files": [],
|
||||
"uploaded_files": []
|
||||
}
|
||||
|
||||
# 检查是否启用 OSS 上传
|
||||
if not self.oss_upload_enabled:
|
||||
warning_msg = f"OSS 上传未启用 (oss_upload_enabled=False)，跳过上传。备份目录: {target_backup_dir}"
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().warning(warning_msg)
|
||||
return { "return_info": warning_msg,
|
||||
"success": False,
|
||||
"uploaded_count": 0,
|
||||
"total_count": 0,
|
||||
"failed_files": [],
|
||||
"uploaded_files": []
|
||||
}
|
||||
|
||||
# 确定 OSS 前缀
|
||||
target_oss_prefix = oss_prefix if oss_prefix else self.oss_prefix
|
||||
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().info(
|
||||
f"开始上传备份文件到 OSS: {target_backup_dir} -> {target_oss_prefix}"
|
||||
)
|
||||
|
||||
# 扫描匹配的文件
|
||||
import glob
|
||||
pattern_path = os.path.join(target_backup_dir, file_pattern)
|
||||
matched_files = glob.glob(pattern_path)
|
||||
|
||||
if not matched_files:
|
||||
warning_msg = f"备份目录中没有匹配 '{file_pattern}' 的文件: {target_backup_dir}"
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().warning(warning_msg)
|
||||
return {
|
||||
"return_info": warning_msg,
|
||||
"success": True, # 没有文件也算成功
|
||||
"uploaded_count": 0,
|
||||
"total_count": 0,
|
||||
"failed_files": [],
|
||||
"uploaded_files": []
|
||||
}
|
||||
|
||||
total_count = len(matched_files)
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().info(
|
||||
f"找到 {total_count} 个匹配文件，开始上传..."
|
||||
)
|
||||
|
||||
# 批量上传文件
|
||||
uploaded_count = 0
|
||||
failed_files = []
|
||||
uploaded_files = [] # 记录成功上传的文件信息（文件名和URL）
|
||||
|
||||
for i, file_path in enumerate(matched_files, 1):
|
||||
try:
|
||||
basename = os.path.basename(file_path)
|
||||
oss_object_name = f"{target_oss_prefix}/{basename}" if target_oss_prefix else basename
|
||||
oss_object_name = oss_object_name.replace('\\', '/')
|
||||
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().info(
|
||||
f"[{i}/{total_count}] 上传: {file_path} -> {oss_object_name}"
|
||||
)
|
||||
|
||||
# upload_file_to_oss 成功时返回 URL
|
||||
result = upload_file_to_oss(file_path, oss_object_name)
|
||||
if result:
|
||||
uploaded_count += 1
|
||||
# 解析文件名获取 Battery_Code 和 Electrolyte_Code
|
||||
name_without_ext = os.path.splitext(basename)[0]
|
||||
parts = name_without_ext.split('-', 1)
|
||||
battery_code = parts[0]
|
||||
electrolyte_code = parts[1] if len(parts) > 1 else ""
|
||||
|
||||
# 记录成功上传的文件信息
|
||||
uploaded_files.append({
|
||||
"filename": basename,
|
||||
"url": result if isinstance(result, str) else f"https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{oss_object_name}",
|
||||
"Battery_Code": battery_code,
|
||||
"Electrolyte_Code": electrolyte_code
|
||||
})
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().info(
|
||||
f"[{i}/{total_count}] 上传成功: {result if isinstance(result, str) else oss_object_name}"
|
||||
)
|
||||
else:
|
||||
failed_files.append(basename)
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().error(
|
||||
f"[{i}/{total_count}] 上传失败: {basename}"
|
||||
)
|
||||
|
||||
except ValueError as e:
|
||||
# OSS 环境变量错误，停止上传
|
||||
error_msg = f"OSS 环境变量配置错误: {e}"
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().error(error_msg)
|
||||
return {
|
||||
"return_info": error_msg,
|
||||
"success": False,
|
||||
"uploaded_count": uploaded_count,
|
||||
"total_count": total_count,
|
||||
"failed_files": failed_files,
|
||||
"uploaded_files": uploaded_files
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
failed_files.append(os.path.basename(file_path))
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().error(
|
||||
f"[{i}/{total_count}] 上传异常: {e}"
|
||||
)
|
||||
|
||||
# 汇总结果
|
||||
if uploaded_count == total_count:
|
||||
success_msg = f"全部上传成功: {uploaded_count}/{total_count} 个文件"
|
||||
success = True
|
||||
elif uploaded_count > 0:
|
||||
success_msg = f"部分上传成功: {uploaded_count}/{total_count} 个文件，失败 {len(failed_files)} 个"
|
||||
success = True # 部分成功也算成功
|
||||
else:
|
||||
success_msg = f"全部上传失败: 0/{total_count} 个文件"
|
||||
success = False
|
||||
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().info(success_msg)
|
||||
|
||||
return {
|
||||
"return_info": success_msg,
|
||||
"success": success,
|
||||
"uploaded_count": uploaded_count,
|
||||
"total_count": total_count,
|
||||
"failed_files": failed_files,
|
||||
"uploaded_files": uploaded_files # 添加成功上传的文件 URL 列表
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"上传备份文件到 OSS 失败: {str(e)}"
|
||||
if self._ros_node:
|
||||
self._ros_node.lab_logger().error(error_msg)
|
||||
return {
|
||||
"return_info": error_msg,
|
||||
"success": False,
|
||||
"uploaded_count": 0,
|
||||
"total_count": 0,
|
||||
"failed_files": [],
|
||||
"uploaded_files": []
|
||||
}
|
||||
|
||||
|
||||
def query_plate_action(self, plate_id: str = "P1") -> dict:
|
||||
"""
|
||||
查询指定盘的详细信息（设备动作）
|
||||
|
||||
@@ -1,49 +0,0 @@
|
||||
import socket
|
||||
END_MARKS = [b"\r\n#\r\n", b"</bts>"] # 读到任一标志即可判定完整响应
|
||||
|
||||
def build_start_command(devid, subdevid, chlid, CoinID,
|
||||
ip_in_xml="127.0.0.1",
|
||||
devtype:int=27,
|
||||
recipe_path:str=f"D:\\HHM_test\\A001.xml",
|
||||
backup_dir:str=f"D:\\HHM_test\\backup") -> str:
|
||||
lines = [
|
||||
'<?xml version="1.0" encoding="UTF-8"?>',
|
||||
'<bts version="1.0">',
|
||||
' <cmd>start</cmd>',
|
||||
' <list count="1">',
|
||||
f' <start ip="{ip_in_xml}" devtype="{devtype}" devid="{devid}" subdevid="{subdevid}" chlid="{chlid}" barcode="{CoinID}">{recipe_path}</start>',
|
||||
f' <backup backupdir="{backup_dir}" remotedir="" filenametype="1" customfilename="" createdirbydate="0" filetype="0" backupontime="1" backupontimeinterval="1" backupfree="0" />',
|
||||
' </list>',
|
||||
'</bts>',
|
||||
]
|
||||
# TCP 模式：请求必须以 #\r\n 结束（协议要求）
|
||||
return "\r\n".join(lines) + "\r\n#\r\n"
|
||||
|
||||
def recv_until_marks(sock: socket.socket, timeout=60):
|
||||
sock.settimeout(timeout) # 上限给足，协议允许到 30s:contentReference[oaicite:2]{index=2}
|
||||
buf = bytearray()
|
||||
while True:
|
||||
chunk = sock.recv(8192)
|
||||
if not chunk:
|
||||
break
|
||||
buf += chunk
|
||||
# 读到结束标志就停，避免等对端断开
|
||||
for m in END_MARKS:
|
||||
if m in buf:
|
||||
return bytes(buf)
|
||||
# 保险：读到完整 XML 结束标签也停
|
||||
if b"</bts>" in buf:
|
||||
return bytes(buf)
|
||||
return bytes(buf)
|
||||
|
||||
def start_test(ip="127.0.0.1", port=502, devid=3, subdevid=2, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup"):
|
||||
xml_cmd = build_start_command(devid=devid, subdevid=subdevid, chlid=chlid, CoinID=CoinID, recipe_path=recipe_path, backup_dir=backup_dir)
|
||||
#print(xml_cmd)
|
||||
with socket.create_connection((ip, port), timeout=60) as s:
|
||||
s.sendall(xml_cmd.encode("utf-8"))
|
||||
data = recv_until_marks(s, timeout=60)
|
||||
return data.decode("utf-8", errors="replace")
|
||||
|
||||
if __name__ == "__main__":
|
||||
resp = start_test(ip="127.0.0.1", port=502, devid=4, subdevid=10, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup")
|
||||
print(resp)
|
||||
@@ -1,282 +1,649 @@
|
||||
import sys
|
||||
import threading
|
||||
import serial
|
||||
import serial.tools.list_ports
|
||||
import re
|
||||
import time
|
||||
from typing import Optional, List, Dict, Tuple
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
Contains drivers for:
|
||||
1. SyringePump: Runze Fluid SY-03B (ASCII)
|
||||
2. EmmMotor: Emm V5.0 Closed-loop Stepper (Modbus-RTU variant)
|
||||
3. XKCSensor: XKC Non-contact Level Sensor (Modbus-RTU)
|
||||
"""
|
||||
|
||||
class ChinweDevice:
|
||||
import socket
|
||||
import serial
|
||||
import time
|
||||
import threading
|
||||
import struct
|
||||
import re
|
||||
import traceback
|
||||
import queue
|
||||
from typing import Optional, Dict, List, Any
|
||||
|
||||
try:
|
||||
from unilabos.device_comms.universal_driver import UniversalDriver
|
||||
except ImportError:
|
||||
import logging
|
||||
class UniversalDriver:
|
||||
def __init__(self):
|
||||
self.logger = logging.getLogger(self.__class__.__name__)
|
||||
|
||||
def execute_command_from_outer(self, command: str):
|
||||
pass
|
||||
|
||||
# ==============================================================================
|
||||
# 1. Transport Layer (通信层)
|
||||
# ==============================================================================
|
||||
|
||||
class TransportManager:
|
||||
"""
|
||||
ChinWe设备控制类
|
||||
提供串口通信、电机控制、传感器数据读取等功能
|
||||
统一通信管理类。
|
||||
自动识别 串口 (Serial) 或 网络 (TCP) 连接。
|
||||
"""
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 115200, debug: bool = False):
|
||||
"""
|
||||
初始化ChinWe设备
|
||||
|
||||
Args:
|
||||
port: 串口名称，如果为None则自动检测
|
||||
baudrate: 波特率，默认115200
|
||||
"""
|
||||
self.debug = debug
|
||||
def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.serial_port: Optional[serial.Serial] = None
|
||||
self._voltage: float = 0.0
|
||||
self._ec_value: float = 0.0
|
||||
self._ec_adc_value: int = 0
|
||||
self.timeout = timeout
|
||||
self.logger = logger
|
||||
self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
|
||||
|
||||
self.is_tcp = False
|
||||
self.serial = None
|
||||
self.socket = None
|
||||
|
||||
# 简单判断: 如果包含 ':' (如 192.168.1.1:8899) 或者看起来像 IP，则认为是 TCP
|
||||
if ':' in self.port or (self.port.count('.') == 3 and not self.port.startswith('/')):
|
||||
self.is_tcp = True
|
||||
self._connect_tcp()
|
||||
else:
|
||||
self._connect_serial()
|
||||
|
||||
def _log(self, msg):
|
||||
if self.logger:
|
||||
pass
|
||||
# self.logger.debug(f"[Transport] {msg}")
|
||||
|
||||
def _connect_tcp(self):
|
||||
try:
|
||||
if ':' in self.port:
|
||||
host, p = self.port.split(':')
|
||||
self.tcp_host = host
|
||||
self.tcp_port = int(p)
|
||||
else:
|
||||
self.tcp_host = self.port
|
||||
self.tcp_port = 8899 # 默认端口
|
||||
|
||||
# if self.logger: self.logger.info(f"Connecting TCP {self.tcp_host}:{self.tcp_port} ...")
|
||||
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
self.socket.settimeout(self.timeout)
|
||||
self.socket.connect((self.tcp_host, self.tcp_port))
|
||||
except Exception as e:
|
||||
raise ConnectionError(f"TCP connection failed: {e}")
|
||||
|
||||
def _connect_serial(self):
|
||||
try:
|
||||
# if self.logger: self.logger.info(f"Opening Serial {self.port} (Baud: {self.baudrate}) ...")
|
||||
self.serial = serial.Serial(
|
||||
port=self.port,
|
||||
baudrate=self.baudrate,
|
||||
timeout=self.timeout
|
||||
)
|
||||
except Exception as e:
|
||||
raise ConnectionError(f"Serial open failed: {e}")
|
||||
|
||||
def close(self):
|
||||
"""关闭连接"""
|
||||
if self.is_tcp and self.socket:
|
||||
try: self.socket.close()
|
||||
except: pass
|
||||
elif not self.is_tcp and self.serial and self.serial.is_open:
|
||||
self.serial.close()
|
||||
|
||||
def clear_buffer(self):
|
||||
"""清空缓冲区 (Thread-safe)"""
|
||||
with self.lock:
|
||||
if self.is_tcp:
|
||||
self.socket.setblocking(False)
|
||||
try:
|
||||
while True:
|
||||
if not self.socket.recv(1024): break
|
||||
except: pass
|
||||
finally: self.socket.settimeout(self.timeout)
|
||||
else:
|
||||
self.serial.reset_input_buffer()
|
||||
|
||||
def write(self, data: bytes):
|
||||
"""发送原始字节"""
|
||||
with self.lock:
|
||||
if self.is_tcp:
|
||||
self.socket.sendall(data)
|
||||
else:
|
||||
self.serial.write(data)
|
||||
|
||||
def read(self, size: int) -> bytes:
|
||||
"""读取指定长度字节"""
|
||||
if self.is_tcp:
|
||||
data = b''
|
||||
start = time.time()
|
||||
while len(data) < size:
|
||||
if time.time() - start > self.timeout: break
|
||||
try:
|
||||
chunk = self.socket.recv(size - len(data))
|
||||
if not chunk: break
|
||||
data += chunk
|
||||
except socket.timeout: break
|
||||
return data
|
||||
else:
|
||||
return self.serial.read(size)
|
||||
|
||||
def send_ascii_command(self, command: str) -> str:
|
||||
"""
|
||||
发送 ASCII 字符串命令 (如注射泵指令)，读取直到 '\r'。
|
||||
"""
|
||||
with self.lock:
|
||||
data = command.encode('ascii') if isinstance(command, str) else command
|
||||
self.clear_buffer()
|
||||
self.write(data)
|
||||
|
||||
# Read until \r
|
||||
if self.is_tcp:
|
||||
resp = b''
|
||||
start = time.time()
|
||||
while True:
|
||||
if time.time() - start > self.timeout: break
|
||||
try:
|
||||
char = self.socket.recv(1)
|
||||
if not char: break
|
||||
resp += char
|
||||
if char == b'\r': break
|
||||
except: break
|
||||
return resp.decode('ascii', errors='ignore').strip()
|
||||
else:
|
||||
return self.serial.read_until(b'\r').decode('ascii', errors='ignore').strip()
|
||||
|
||||
# ==============================================================================
|
||||
# 2. Syringe Pump Driver (注射泵)
|
||||
# ==============================================================================
|
||||
|
||||
class SyringePump:
|
||||
"""SY-03B 注射泵驱动 (ASCII协议)"""
|
||||
|
||||
CMD_INITIALIZE = "Z{speed},{drain_port},{output_port}R"
|
||||
CMD_SWITCH_VALVE = "I{port}R"
|
||||
CMD_ASPIRATE = "P{vol}R"
|
||||
CMD_DISPENSE = "D{vol}R"
|
||||
CMD_DISPENSE_ALL = "A0R"
|
||||
CMD_STOP = "TR"
|
||||
CMD_QUERY_STATUS = "Q"
|
||||
CMD_QUERY_PLUNGER = "?0"
|
||||
|
||||
def __init__(self, device_id: int, transport: TransportManager):
|
||||
if not 1 <= device_id <= 15:
|
||||
pass # Allow all IDs for now
|
||||
self.id = str(device_id)
|
||||
self.transport = transport
|
||||
|
||||
def _send(self, template: str, **kwargs) -> str:
|
||||
cmd = f"/{self.id}" + template.format(**kwargs) + "\r"
|
||||
return self.transport.send_ascii_command(cmd)
|
||||
|
||||
def is_busy(self) -> bool:
|
||||
"""查询繁忙状态"""
|
||||
resp = self._send(self.CMD_QUERY_STATUS)
|
||||
# 响应如 /0` (Ready, 0x60) 或 /0@ (Busy, 0x40)
|
||||
if len(resp) >= 3:
|
||||
status_byte = ord(resp[2])
|
||||
# Bit 5: 1=Ready, 0=Busy
|
||||
return (status_byte & 0x20) == 0
|
||||
return False
|
||||
|
||||
def wait_until_idle(self, timeout=30):
|
||||
"""阻塞等待直到空闲"""
|
||||
start = time.time()
|
||||
while time.time() - start < timeout:
|
||||
if not self.is_busy(): return
|
||||
time.sleep(0.5)
|
||||
# raise TimeoutError(f"Pump {self.id} wait idle timeout")
|
||||
pass
|
||||
|
||||
def initialize(self, drain_port=0, output_port=0, speed=10):
|
||||
"""初始化"""
|
||||
self._send(self.CMD_INITIALIZE, speed=speed, drain_port=drain_port, output_port=output_port)
|
||||
|
||||
def switch_valve(self, port: int):
|
||||
"""切换阀门 (1-8)"""
|
||||
self._send(self.CMD_SWITCH_VALVE, port=port)
|
||||
|
||||
def aspirate(self, steps: int):
|
||||
"""吸液 (相对步数)"""
|
||||
self._send(self.CMD_ASPIRATE, vol=steps)
|
||||
|
||||
def dispense(self, steps: int):
|
||||
"""排液 (相对步数)"""
|
||||
self._send(self.CMD_DISPENSE, vol=steps)
|
||||
|
||||
def stop(self):
|
||||
"""停止"""
|
||||
self._send(self.CMD_STOP)
|
||||
|
||||
def get_position(self) -> int:
|
||||
"""获取柱塞位置 (步数)"""
|
||||
resp = self._send(self.CMD_QUERY_PLUNGER)
|
||||
m = re.search(r'\d+', resp)
|
||||
return int(m.group()) if m else -1
|
||||
|
||||
# ==============================================================================
|
||||
# 3. Stepper Motor Driver (步进电机)
|
||||
# ==============================================================================
|
||||
|
||||
class EmmMotor:
|
||||
"""Emm V5.0 闭环步进电机驱动"""
|
||||
|
||||
def __init__(self, device_id: int, transport: TransportManager):
|
||||
self.id = device_id
|
||||
self.transport = transport
|
||||
|
||||
def _send(self, func_code: int, payload: list) -> bytes:
|
||||
with self.transport.lock:
|
||||
self.transport.clear_buffer()
|
||||
# 格式: [ID] [Func] [Data...] [Check=0x6B]
|
||||
body = [self.id, func_code] + payload
|
||||
body.append(0x6B) # Checksum
|
||||
self.transport.write(bytes(body))
|
||||
|
||||
# 根据指令不同，读取不同长度响应
|
||||
read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
|
||||
return self.transport.read(read_len)
|
||||
|
||||
def enable(self, on=True):
|
||||
"""使能 (True=锁轴, False=松轴)"""
|
||||
state = 1 if on else 0
|
||||
self._send(0xF3, [0xAB, state, 0])
|
||||
|
||||
def run_speed(self, speed_rpm: int, direction=0, acc=10):
|
||||
"""速度模式运行"""
|
||||
sp = struct.pack('>H', int(speed_rpm))
|
||||
self._send(0xF6, [direction, sp[0], sp[1], acc, 0])
|
||||
|
||||
def run_position(self, pulses: int, speed_rpm: int, direction=0, acc=10, absolute=False):
|
||||
"""位置模式运行"""
|
||||
sp = struct.pack('>H', int(speed_rpm))
|
||||
pl = struct.pack('>I', int(pulses))
|
||||
is_abs = 1 if absolute else 0
|
||||
self._send(0xFD, [direction, sp[0], sp[1], acc, pl[0], pl[1], pl[2], pl[3], is_abs, 0])
|
||||
|
||||
def stop(self):
|
||||
"""停止"""
|
||||
self._send(0xFE, [0x98, 0])
|
||||
|
||||
def set_zero(self):
|
||||
"""清零位置"""
|
||||
self._send(0x0A, [])
|
||||
|
||||
def get_position(self) -> int:
|
||||
"""获取当前脉冲位置"""
|
||||
resp = self._send(0x32, [])
|
||||
if len(resp) >= 8:
|
||||
sign = resp[2]
|
||||
val = struct.unpack('>I', resp[3:7])[0]
|
||||
return -val if sign == 1 else val
|
||||
return 0
|
||||
|
||||
# ==============================================================================
|
||||
# 4. Liquid Sensor Driver (液位传感器)
|
||||
# ==============================================================================
|
||||
|
||||
class XKCSensor:
|
||||
"""XKC RS485 液位传感器 (Modbus RTU)"""
|
||||
|
||||
def __init__(self, device_id: int, transport: TransportManager, threshold: int = 300):
|
||||
self.id = device_id
|
||||
self.transport = transport
|
||||
self.threshold = threshold
|
||||
|
||||
def _crc(self, data: bytes) -> bytes:
|
||||
crc = 0xFFFF
|
||||
for byte in data:
|
||||
crc ^= byte
|
||||
for _ in range(8):
|
||||
if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
|
||||
else: crc >>= 1
|
||||
return struct.pack('<H', crc)
|
||||
|
||||
def read_level(self) -> Optional[Dict[str, Any]]:
|
||||
"""
|
||||
读取液位。
|
||||
返回: {'level': bool, 'rssi': int}
|
||||
"""
|
||||
with self.transport.lock:
|
||||
self.transport.clear_buffer()
|
||||
# Modbus Read Registers: 01 03 00 01 00 02 CRC
|
||||
payload = struct.pack('>HH', 0x0001, 0x0002)
|
||||
msg = struct.pack('BB', self.id, 0x03) + payload
|
||||
msg += self._crc(msg)
|
||||
self.transport.write(msg)
|
||||
|
||||
# Read header
|
||||
h = self.transport.read(3) # Addr, Func, Len
|
||||
if len(h) < 3: return None
|
||||
length = h[2]
|
||||
|
||||
# Read body + CRC
|
||||
body = self.transport.read(length + 2)
|
||||
if len(body) < length + 2:
|
||||
# Firmware bug fix specific to some modules
|
||||
if len(body) == 4 and length == 4:
|
||||
pass
|
||||
else:
|
||||
return None
|
||||
|
||||
data = body[:-2]
|
||||
if len(data) == 2:
|
||||
rssi = data[1]
|
||||
elif len(data) >= 4:
|
||||
rssi = (data[2] << 8) | data[3]
|
||||
else:
|
||||
return None
|
||||
|
||||
return {
|
||||
'level': rssi > self.threshold,
|
||||
'rssi': rssi
|
||||
}
|
||||
|
||||
# ==============================================================================
|
||||
# 5. Main Device Class (ChinweDevice)
|
||||
# ==============================================================================
|
||||
|
||||
class ChinweDevice(UniversalDriver):
|
||||
"""
|
||||
ChinWe 工作站主驱动
|
||||
继承自 UniversalDriver，管理所有子设备（泵、电机、传感器）
|
||||
"""
|
||||
|
||||
def __init__(self, port: str = "192.168.1.200:8899", baudrate: int = 9600,
|
||||
pump_ids: List[int] = None, motor_ids: List[int] = None,
|
||||
sensor_id: int = 6, sensor_threshold: int = 300,
|
||||
timeout: float = 10.0):
|
||||
"""
|
||||
初始化 ChinWe 工作站
|
||||
:param port: 串口号 或 IP:Port
|
||||
:param baudrate: 串口波特率
|
||||
:param pump_ids: 注射泵 ID列表 (默认 [1, 2, 3])
|
||||
:param motor_ids: 步进电机 ID列表 (默认 [4, 5])
|
||||
:param sensor_id: 液位传感器 ID (默认 6)
|
||||
:param sensor_threshold: 传感器液位判定阈值
|
||||
:param timeout: 通信超时时间 (默认 10秒)
|
||||
"""
|
||||
super().__init__()
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.timeout = timeout
|
||||
self.mgr = None
|
||||
self._is_connected = False
|
||||
self.connect()
|
||||
|
||||
|
||||
# 默认配置
|
||||
if pump_ids is None: pump_ids = [1, 2, 3]
|
||||
if motor_ids is None: motor_ids = [4, 5]
|
||||
|
||||
# 配置信息
|
||||
self.pump_ids = pump_ids
|
||||
self.motor_ids = motor_ids
|
||||
self.sensor_id = sensor_id
|
||||
self.sensor_threshold = sensor_threshold
|
||||
|
||||
# 子设备实例容器
|
||||
self.pumps: Dict[int, SyringePump] = {}
|
||||
self.motors: Dict[int, EmmMotor] = {}
|
||||
self.sensor: Optional[XKCSensor] = None
|
||||
|
||||
# 轮询线程控制
|
||||
self._stop_event = threading.Event()
|
||||
self._poll_thread = None
|
||||
|
||||
# 实时状态缓存
|
||||
self.status_cache = {
|
||||
"sensor_rssi": 0,
|
||||
"sensor_level": False,
|
||||
"connected": False
|
||||
}
|
||||
|
||||
# 自动连接
|
||||
if self.port:
|
||||
self.connect()
|
||||
|
||||
def connect(self) -> bool:
|
||||
if self._is_connected: return True
|
||||
try:
|
||||
self.logger.info(f"Connecting to {self.port} (timeout={self.timeout})...")
|
||||
self.mgr = TransportManager(self.port, baudrate=self.baudrate, timeout=self.timeout, logger=self.logger)
|
||||
|
||||
# 初始化所有泵
|
||||
for pid in self.pump_ids:
|
||||
self.pumps[pid] = SyringePump(pid, self.mgr)
|
||||
|
||||
# 初始化所有电机
|
||||
for mid in self.motor_ids:
|
||||
self.motors[mid] = EmmMotor(mid, self.mgr)
|
||||
|
||||
# 初始化传感器
|
||||
self.sensor = XKCSensor(self.sensor_id, self.mgr, self.sensor_threshold)
|
||||
|
||||
self._is_connected = True
|
||||
self.status_cache["connected"] = True
|
||||
|
||||
# 启动轮询线程
|
||||
self._start_polling()
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"Connection failed: {e}")
|
||||
self._is_connected = False
|
||||
self.status_cache["connected"] = False
|
||||
return False
|
||||
|
||||
def disconnect(self):
|
||||
self._stop_event.set()
|
||||
if self._poll_thread:
|
||||
self._poll_thread.join(timeout=2.0)
|
||||
|
||||
if self.mgr:
|
||||
self.mgr.close()
|
||||
|
||||
self._is_connected = False
|
||||
self.status_cache["connected"] = False
|
||||
self.logger.info("Disconnected.")
|
||||
|
||||
def _start_polling(self):
|
||||
"""启动传感器轮询线程"""
|
||||
if self._poll_thread and self._poll_thread.is_alive():
|
||||
return
|
||||
|
||||
self._stop_event.clear()
|
||||
self._poll_thread = threading.Thread(target=self._polling_loop, daemon=True, name="ChinwePoll")
|
||||
self._poll_thread.start()
|
||||
|
||||
def _polling_loop(self):
|
||||
"""轮询主循环"""
|
||||
self.logger.info("Sensor polling started.")
|
||||
error_count = 0
|
||||
while not self._stop_event.is_set():
|
||||
if not self._is_connected or not self.sensor:
|
||||
time.sleep(1)
|
||||
continue
|
||||
|
||||
try:
|
||||
# 获取传感器数据
|
||||
data = self.sensor.read_level()
|
||||
if data:
|
||||
self.status_cache["sensor_rssi"] = data['rssi']
|
||||
self.status_cache["sensor_level"] = data['level']
|
||||
error_count = 0
|
||||
else:
|
||||
error_count += 1
|
||||
|
||||
# 降低轮询频率防止总线拥塞
|
||||
time.sleep(0.2)
|
||||
|
||||
except Exception as e:
|
||||
error_count += 1
|
||||
if error_count > 10: # 连续错误记录日志
|
||||
# self.logger.error(f"Polling error: {e}")
|
||||
error_count = 0
|
||||
time.sleep(1)
|
||||
|
||||
# --- 对外暴露属性 (Properties) ---
|
||||
|
||||
@property
|
||||
def sensor_level(self) -> bool:
|
||||
return self.status_cache["sensor_level"]
|
||||
|
||||
@property
|
||||
def sensor_rssi(self) -> int:
|
||||
return self.status_cache["sensor_rssi"]
|
||||
|
||||
@property
|
||||
def is_connected(self) -> bool:
|
||||
"""获取连接状态"""
|
||||
return self._is_connected and self.serial_port and self.serial_port.is_open
|
||||
|
||||
@property
|
||||
def voltage(self) -> float:
|
||||
"""获取电源电压值"""
|
||||
return self._voltage
|
||||
|
||||
@property
|
||||
def ec_value(self) -> float:
|
||||
"""获取电导率值 (ms/cm)"""
|
||||
return self._ec_value
|
||||
return self._is_connected
|
||||
|
||||
@property
|
||||
def ec_adc_value(self) -> int:
|
||||
"""获取EC ADC原始值"""
|
||||
return self._ec_adc_value
|
||||
|
||||
# --- 对外功能指令 (Actions) ---
|
||||
|
||||
@property
|
||||
def device_status(self) -> Dict[str, any]:
|
||||
"""
|
||||
获取设备状态信息
|
||||
|
||||
Returns:
|
||||
包含设备状态的字典
|
||||
"""
|
||||
return {
|
||||
"connected": self.is_connected,
|
||||
"port": self.port,
|
||||
"baudrate": self.baudrate,
|
||||
"voltage": self.voltage,
|
||||
"ec_value": self.ec_value,
|
||||
"ec_adc_value": self.ec_adc_value
|
||||
}
|
||||
|
||||
def connect(self, port: Optional[str] = None, baudrate: Optional[int] = None) -> bool:
|
||||
"""
|
||||
连接到串口设备
|
||||
|
||||
Args:
|
||||
port: 串口名称，如果为None则使用初始化时的port或自动检测
|
||||
baudrate: 波特率，如果为None则使用初始化时的baudrate
|
||||
|
||||
Returns:
|
||||
连接是否成功
|
||||
"""
|
||||
if self.is_connected:
|
||||
def pump_initialize(self, pump_id: int, drain_port=0, output_port=0, speed=10):
|
||||
"""指定泵初始化"""
|
||||
pump_id = int(pump_id)
|
||||
if pump_id in self.pumps:
|
||||
self.pumps[pump_id].initialize(drain_port, output_port, speed)
|
||||
self.pumps[pump_id].wait_until_idle()
|
||||
return True
|
||||
|
||||
target_port = port or self.port
|
||||
target_baudrate = baudrate or self.baudrate
|
||||
|
||||
try:
|
||||
self.serial_port = serial.Serial(target_port, target_baudrate, timeout=0.5)
|
||||
self._is_connected = True
|
||||
self.port = target_port
|
||||
self.baudrate = target_baudrate
|
||||
connect_allow_times = 5
|
||||
while not self.serial_port.is_open and connect_allow_times > 0:
|
||||
time.sleep(0.5)
|
||||
connect_allow_times -= 1
|
||||
print(f"尝试连接到 {target_port} @ {target_baudrate}，剩余尝试次数: {connect_allow_times}", self.debug)
|
||||
raise ValueError("串口未打开，请检查设备连接")
|
||||
print(f"已连接到 {target_port} @ {target_baudrate}", self.debug)
|
||||
threading.Thread(target=self._read_data, daemon=True).start()
|
||||
return False
|
||||
|
||||
def pump_aspirate(self, pump_id: int, volume: int, valve_port: int):
|
||||
"""
|
||||
泵吸液 (阻塞)
|
||||
:param valve_port: 阀门端口 (1-8)
|
||||
"""
|
||||
pump_id = int(pump_id)
|
||||
valve_port = int(valve_port)
|
||||
if pump_id in self.pumps:
|
||||
pump = self.pumps[pump_id]
|
||||
# 1. 切换阀门
|
||||
pump.switch_valve(valve_port)
|
||||
pump.wait_until_idle()
|
||||
# 2. 吸液
|
||||
pump.aspirate(volume)
|
||||
pump.wait_until_idle()
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"ChinweDevice连接失败: {e}")
|
||||
self._is_connected = False
|
||||
return False
|
||||
|
||||
def disconnect(self) -> bool:
|
||||
return False
|
||||
|
||||
def pump_dispense(self, pump_id: int, volume: int, valve_port: int):
|
||||
"""
|
||||
断开串口连接
|
||||
|
||||
Returns:
|
||||
断开是否成功
|
||||
泵排液 (阻塞)
|
||||
:param valve_port: 阀门端口 (1-8)
|
||||
"""
|
||||
if self.serial_port and self.serial_port.is_open:
|
||||
try:
|
||||
self.serial_port.close()
|
||||
self._is_connected = False
|
||||
print("已断开串口连接")
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"断开连接失败: {e}")
|
||||
return False
|
||||
pump_id = int(pump_id)
|
||||
valve_port = int(valve_port)
|
||||
if pump_id in self.pumps:
|
||||
pump = self.pumps[pump_id]
|
||||
# 1. 切换阀门
|
||||
pump.switch_valve(valve_port)
|
||||
pump.wait_until_idle()
|
||||
# 2. 排液
|
||||
pump.dispense(volume)
|
||||
pump.wait_until_idle()
|
||||
return True
|
||||
return False
|
||||
|
||||
def pump_valve(self, pump_id: int, port: int):
|
||||
"""泵切换阀门 (阻塞)"""
|
||||
pump_id = int(pump_id)
|
||||
port = int(port)
|
||||
if pump_id in self.pumps:
|
||||
pump = self.pumps[pump_id]
|
||||
pump.switch_valve(port)
|
||||
pump.wait_until_idle()
|
||||
return True
|
||||
return False
|
||||
|
||||
def motor_run_continuous(self, motor_id: int, speed: int, direction: str = "顺时针"):
|
||||
"""
|
||||
电机一直旋转 (速度模式)
|
||||
:param direction: "顺时针" or "逆时针"
|
||||
"""
|
||||
motor_id = int(motor_id)
|
||||
if motor_id not in self.motors: return False
|
||||
|
||||
dir_val = 0 if direction == "顺时针" else 1
|
||||
self.motors[motor_id].run_speed(speed, dir_val)
|
||||
return True
|
||||
|
||||
def _send_motor_command(self, command: str) -> bool:
|
||||
|
||||
def motor_rotate_quarter(self, motor_id: int, speed: int = 60, direction: str = "顺时针"):
|
||||
"""
|
||||
发送电机控制命令
|
||||
|
||||
Args:
|
||||
command: 电机命令字符串，例如 "M 1 CW 1.5"
|
||||
|
||||
Returns:
|
||||
发送是否成功
|
||||
电机旋转1/4圈 (阻塞)
|
||||
假设电机设置为 3200 脉冲/圈，1/4圈 = 800脉冲
|
||||
"""
|
||||
if not self.is_connected:
|
||||
print("设备未连接")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.serial_port.write((command + "\n").encode('utf-8'))
|
||||
print(f"发送命令: {command}")
|
||||
motor_id = int(motor_id)
|
||||
if motor_id not in self.motors: return False
|
||||
|
||||
pulses = 800
|
||||
dir_val = 0 if direction == "顺时针" else 1
|
||||
|
||||
self.motors[motor_id].run_position(pulses, speed, dir_val, absolute=False)
|
||||
|
||||
# 预估时间阻塞 (单位: 分钟 -> 秒)
|
||||
# Time(s) = revs / (RPM/60). revs = 0.25. time = 15 / RPM.
|
||||
estimated_time = 15.0 / max(1, speed)
|
||||
time.sleep(estimated_time + 0.5)
|
||||
|
||||
return True
|
||||
|
||||
def motor_stop(self, motor_id: int):
|
||||
"""电机停止"""
|
||||
motor_id = int(motor_id)
|
||||
if motor_id in self.motors:
|
||||
self.motors[motor_id].stop()
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"发送命令失败: {e}")
|
||||
return False
|
||||
|
||||
def rotate_motor(self, motor_id: int, turns: float, clockwise: bool = True) -> bool:
|
||||
"""
|
||||
使电机转动指定圈数
|
||||
|
||||
Args:
|
||||
motor_id: 电机ID（1, 2, 3...）
|
||||
turns: 转动圈数，支持小数
|
||||
clockwise: True为顺时针，False为逆时针
|
||||
|
||||
Returns:
|
||||
命令发送是否成功
|
||||
"""
|
||||
if clockwise:
|
||||
command = f"M {motor_id} CW {turns}"
|
||||
else:
|
||||
command = f"M {motor_id} CCW {turns}"
|
||||
return self._send_motor_command(command)
|
||||
return False
|
||||
|
||||
def set_motor_speed(self, motor_id: int, speed: float) -> bool:
|
||||
def wait_sensor_level(self, target_state: str = "有液", timeout: int = 30) -> bool:
|
||||
"""
|
||||
设置电机转速（如果设备支持）
|
||||
|
||||
Args:
|
||||
motor_id: 电机ID（1, 2, 3...）
|
||||
speed: 转速值
|
||||
|
||||
Returns:
|
||||
命令发送是否成功
|
||||
等待传感器达到指定电平
|
||||
:param target_state: "有液" or "无液"
|
||||
"""
|
||||
command = f"M {motor_id} SPEED {speed}"
|
||||
return self._send_motor_command(command)
|
||||
target_bool = True if target_state == "有液" else False
|
||||
|
||||
def _read_data(self) -> List[str]:
|
||||
"""
|
||||
读取串口数据并解析
|
||||
|
||||
Returns:
|
||||
读取到的数据行列表
|
||||
"""
|
||||
print("开始读取串口数据...")
|
||||
if not self.is_connected:
|
||||
return []
|
||||
|
||||
data_lines = []
|
||||
try:
|
||||
while self.serial_port.in_waiting:
|
||||
time.sleep(0.1) # 等待数据稳定
|
||||
try:
|
||||
line = self.serial_port.readline().decode('utf-8', errors='ignore').strip()
|
||||
if line:
|
||||
data_lines.append(line)
|
||||
self._parse_sensor_data(line)
|
||||
except Exception as ex:
|
||||
print(f"解码数据错误: {ex}")
|
||||
except Exception as e:
|
||||
print(f"读取串口数据错误: {e}")
|
||||
|
||||
return data_lines
|
||||
|
||||
def _parse_sensor_data(self, line: str) -> None:
|
||||
"""
|
||||
解析传感器数据
|
||||
|
||||
Args:
|
||||
line: 接收到的数据行
|
||||
"""
|
||||
# 解析电源电压
|
||||
if "电源电压" in line:
|
||||
try:
|
||||
val = float(line.split("：")[1].replace("V", "").strip())
|
||||
self._voltage = val
|
||||
if self.debug:
|
||||
print(f"电源电压更新: {val}V")
|
||||
except Exception:
|
||||
pass
|
||||
self.logger.info(f"Wait sensor: {target_state} ({target_bool}), timeout: {timeout}")
|
||||
start = time.time()
|
||||
while time.time() - start < timeout:
|
||||
if self.sensor_level == target_bool:
|
||||
return True
|
||||
time.sleep(0.1)
|
||||
self.logger.warning("Wait sensor level timeout")
|
||||
return False
|
||||
|
||||
# 解析电导率和ADC原始值（支持两种格式）
|
||||
if "电导率" in line and "ADC原始值" in line:
|
||||
try:
|
||||
# 支持格式如：电导率：2.50ms/cm, ADC原始值：2052
|
||||
ec_match = re.search(r"电导率[:：]\s*([\d\.]+)", line)
|
||||
adc_match = re.search(r"ADC原始值[:：]\s*(\d+)", line)
|
||||
if ec_match:
|
||||
ec_val = float(ec_match.group(1))
|
||||
self._ec_value = ec_val
|
||||
if self.debug:
|
||||
print(f"电导率更新: {ec_val:.2f} ms/cm")
|
||||
if adc_match:
|
||||
adc_val = int(adc_match.group(1))
|
||||
self._ec_adc_value = adc_val
|
||||
if self.debug:
|
||||
print(f"EC ADC原始值更新: {adc_val}")
|
||||
except Exception:
|
||||
pass
|
||||
# 仅电导率，无ADC原始值
|
||||
elif "电导率" in line:
|
||||
try:
|
||||
val = float(line.split("：")[1].replace("ms/cm", "").strip())
|
||||
self._ec_value = val
|
||||
if self.debug:
|
||||
print(f"电导率更新: {val:.2f} ms/cm")
|
||||
except Exception:
|
||||
pass
|
||||
# 仅ADC原始值（如有分开回传场景）
|
||||
elif "ADC原始值" in line:
|
||||
try:
|
||||
adc_val = int(line.split("：")[1].strip())
|
||||
self._ec_adc_value = adc_val
|
||||
if self.debug:
|
||||
print(f"EC ADC原始值更新: {adc_val}")
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
def spin_when_ec_ge_0():
|
||||
pass
|
||||
|
||||
def wait_time(self, duration: int) -> bool:
|
||||
"""
|
||||
等待指定时间 (秒)
|
||||
:param duration: 秒
|
||||
"""
|
||||
self.logger.info(f"Waiting for {duration} seconds...")
|
||||
time.sleep(duration)
|
||||
return True
|
||||
|
||||
def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
|
||||
"""支持标准 JSON 指令调用"""
|
||||
return super().execute_command_from_outer(command_dict)
|
||||
|
||||
def main():
|
||||
"""测试函数"""
|
||||
print("=== ChinWe设备测试 ===")
|
||||
|
||||
# 创建设备实例
|
||||
device = ChinweDevice("/dev/tty.usbserial-A5069RR4", debug=True)
|
||||
try:
|
||||
# 测试5: 发送电机命令
|
||||
print("\n5. 发送电机命令测试:")
|
||||
print(" 5.3 使用通用函数控制电机20顺时针转2圈:")
|
||||
device.rotate_motor(2, 20.0, clockwise=True)
|
||||
time.sleep(0.5)
|
||||
finally:
|
||||
time.sleep(10)
|
||||
# 测试7: 断开连接
|
||||
print("\n7. 断开连接:")
|
||||
device.disconnect()
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
# Test
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
dev = ChinweDevice(port="192.168.31.201:8899")
|
||||
try:
|
||||
if dev.is_connected:
|
||||
print(f"Status: Level={dev.sensor_level}, RSSI={dev.sensor_rssi}")
|
||||
|
||||
# Test pump 1
|
||||
# dev.pump_valve(1, 1)
|
||||
# dev.pump_move(1, 1000, "aspirate")
|
||||
|
||||
# Test motor 4
|
||||
# dev.motor_run(4, 60, 0, 2)
|
||||
|
||||
for _ in range(5):
|
||||
print(f"Level={dev.sensor_level}, RSSI={dev.sensor_rssi}")
|
||||
time.sleep(1)
|
||||
finally:
|
||||
dev.disconnect()
|
||||
|
||||
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'
|
||||
@@ -192,6 +192,23 @@ class BioyondV1RPC(BaseRequest):
|
||||
return []
|
||||
return str(response.get("data", {}))
|
||||
|
||||
def material_type_list(self) -> list:
|
||||
"""查询物料类型列表
|
||||
|
||||
返回值:
|
||||
list: 物料类型数组，失败返回空列表
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/storage/material-type-list',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": {},
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return []
|
||||
return response.get("data", [])
|
||||
|
||||
def material_inbound(self, material_id: str, location_id: str) -> dict:
|
||||
"""
|
||||
描述：指定库位入库一个物料
|
||||
@@ -212,8 +229,34 @@ class BioyondV1RPC(BaseRequest):
|
||||
})
|
||||
|
||||
if not response or response['code'] != 1:
|
||||
if response:
|
||||
error_msg = response.get('message', '未知错误')
|
||||
print(f"[ERROR] 物料入库失败: code={response.get('code')}, message={error_msg}")
|
||||
else:
|
||||
print(f"[ERROR] 物料入库失败: API 无响应")
|
||||
return {}
|
||||
return response.get("data", {})
|
||||
# 入库成功时，即使没有 data 字段，也返回成功标识
|
||||
return response.get("data") or {"success": True}
|
||||
|
||||
def batch_inbound(self, inbound_items: List[Dict[str, Any]]) -> int:
|
||||
"""批量入库物料
|
||||
|
||||
参数:
|
||||
inbound_items: 入库条目列表，每项包含 materialId/locationId/quantity 等
|
||||
|
||||
返回值:
|
||||
int: 成功返回1，失败返回0
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/storage/batch-inbound',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": inbound_items,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return 0
|
||||
return response.get("code", 0)
|
||||
|
||||
def delete_material(self, material_id: str) -> dict:
|
||||
"""
|
||||
@@ -233,7 +276,7 @@ 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 = {
|
||||
@@ -251,9 +294,98 @@ 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
|
||||
|
||||
def batch_outbound(self, outbound_items: List[Dict[str, Any]]) -> int:
|
||||
"""批量出库物料
|
||||
|
||||
参数:
|
||||
outbound_items: 出库条目列表，每项包含 materialId/locationId/quantity 等
|
||||
|
||||
返回值:
|
||||
int: 成功返回1，失败返回0
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/storage/batch-outbound',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": outbound_items,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return 0
|
||||
return response.get("code", 0)
|
||||
|
||||
def material_info(self, material_id: str) -> dict:
|
||||
"""查询物料详情
|
||||
|
||||
参数:
|
||||
material_id: 物料ID
|
||||
|
||||
返回值:
|
||||
dict: 物料信息字典，失败返回空字典
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/storage/material-info',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": material_id,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return {}
|
||||
return response.get("data", {})
|
||||
|
||||
def reset_location(self, location_id: str) -> int:
|
||||
"""复位库位
|
||||
|
||||
参数:
|
||||
location_id: 库位ID
|
||||
|
||||
返回值:
|
||||
int: 成功返回1，失败返回0
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/storage/reset-location',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": location_id,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return 0
|
||||
return response.get("code", 0)
|
||||
|
||||
# ==================== 工作流查询相关接口 ====================
|
||||
|
||||
def query_workflow(self, json_str: str) -> dict:
|
||||
@@ -297,6 +429,66 @@ class BioyondV1RPC(BaseRequest):
|
||||
return {}
|
||||
return response.get("data", {})
|
||||
|
||||
def split_workflow_list(self, params: Dict[str, Any]) -> dict:
|
||||
"""查询可拆分工作流列表
|
||||
|
||||
参数:
|
||||
params: 查询条件参数
|
||||
|
||||
返回值:
|
||||
dict: 返回数据字典，失败返回空字典
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/workflow/split-workflow-list',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": params,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return {}
|
||||
return response.get("data", {})
|
||||
|
||||
def merge_workflow(self, data: Dict[str, Any]) -> dict:
|
||||
"""合并工作流（无参数版）
|
||||
|
||||
参数:
|
||||
data: 合并请求体，包含待合并的子工作流信息
|
||||
|
||||
返回值:
|
||||
dict: 合并结果，失败返回空字典
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/workflow/merge-workflow',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": data,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return {}
|
||||
return response.get("data", {})
|
||||
|
||||
def merge_workflow_with_parameters(self, data: Dict[str, Any]) -> dict:
|
||||
"""合并工作流（携带参数）
|
||||
|
||||
参数:
|
||||
data: 合并请求体，包含 name、workflows 以及 stepParameters 等
|
||||
|
||||
返回值:
|
||||
dict: 合并结果，失败返回空字典
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/workflow/merge-workflow-with-parameters',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": data,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return {}
|
||||
return response.get("data", {})
|
||||
|
||||
def validate_workflow_parameters(self, workflows: List[Dict[str, Any]]) -> Dict[str, Any]:
|
||||
"""验证工作流参数格式"""
|
||||
try:
|
||||
@@ -459,18 +651,15 @@ class BioyondV1RPC(BaseRequest):
|
||||
return {}
|
||||
return response.get("data", {})
|
||||
|
||||
def order_report(self, json_str: str) -> dict:
|
||||
"""
|
||||
描述：查询某个任务明细
|
||||
json_str 格式为JSON字符串:
|
||||
'{"order_id": "order123"}'
|
||||
"""
|
||||
try:
|
||||
data = json.loads(json_str)
|
||||
order_id = data.get("order_id", "")
|
||||
except json.JSONDecodeError:
|
||||
return {}
|
||||
def order_report(self, order_id: str) -> dict:
|
||||
"""查询订单报告
|
||||
|
||||
参数:
|
||||
order_id: 订单ID
|
||||
|
||||
返回值:
|
||||
dict: 报告数据，失败返回空字典
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/order/order-report',
|
||||
params={
|
||||
@@ -478,16 +667,18 @@ class BioyondV1RPC(BaseRequest):
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": order_id,
|
||||
})
|
||||
|
||||
if not response or response['code'] != 1:
|
||||
return {}
|
||||
return response.get("data", {})
|
||||
|
||||
def order_takeout(self, json_str: str) -> int:
|
||||
"""
|
||||
描述：取出任务产物
|
||||
json_str 格式为JSON字符串:
|
||||
'{"order_id": "order123", "preintake_id": "preintake123"}'
|
||||
"""取出任务产物
|
||||
|
||||
参数:
|
||||
json_str: JSON字符串，包含 order_id 与 preintake_id
|
||||
|
||||
返回值:
|
||||
int: 成功返回1，失败返回0
|
||||
"""
|
||||
try:
|
||||
data = json.loads(json_str)
|
||||
@@ -510,14 +701,15 @@ class BioyondV1RPC(BaseRequest):
|
||||
return 0
|
||||
return response.get("code", 0)
|
||||
|
||||
|
||||
def sample_waste_removal(self, order_id: str) -> dict:
|
||||
"""
|
||||
样品/废料取出接口
|
||||
"""样品/废料取出
|
||||
|
||||
参数:
|
||||
- order_id: 订单ID
|
||||
order_id: 订单ID
|
||||
|
||||
返回: 取出结果
|
||||
返回值:
|
||||
dict: 取出结果，失败返回空字典
|
||||
"""
|
||||
params = {"orderId": order_id}
|
||||
|
||||
@@ -539,10 +731,13 @@ class BioyondV1RPC(BaseRequest):
|
||||
return response.get("data", {})
|
||||
|
||||
def cancel_order(self, json_str: str) -> bool:
|
||||
"""
|
||||
描述：取消指定任务
|
||||
json_str 格式为JSON字符串:
|
||||
'{"order_id": "order123"}'
|
||||
"""取消指定任务
|
||||
|
||||
参数:
|
||||
json_str: JSON字符串，包含 order_id
|
||||
|
||||
返回值:
|
||||
bool: 成功返回 True，失败返回 False
|
||||
"""
|
||||
try:
|
||||
data = json.loads(json_str)
|
||||
@@ -562,6 +757,126 @@ class BioyondV1RPC(BaseRequest):
|
||||
return False
|
||||
return True
|
||||
|
||||
def cancel_experiment(self, order_id: str) -> int:
|
||||
"""取消指定实验
|
||||
|
||||
参数:
|
||||
order_id: 订单ID
|
||||
|
||||
返回值:
|
||||
int: 成功返回1，失败返回0
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/order/cancel-experiment',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": order_id,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return 0
|
||||
return response.get("code", 0)
|
||||
|
||||
def batch_cancel_experiment(self, order_ids: List[str]) -> int:
|
||||
"""批量取消实验
|
||||
|
||||
参数:
|
||||
order_ids: 订单ID列表
|
||||
|
||||
返回值:
|
||||
int: 成功返回1，失败返回0
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/order/batch-cancel-experiment',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": order_ids,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return 0
|
||||
return response.get("code", 0)
|
||||
|
||||
def gantts_by_order_id(self, order_id: str) -> dict:
|
||||
"""查询订单甘特图数据
|
||||
|
||||
参数:
|
||||
order_id: 订单ID
|
||||
|
||||
返回值:
|
||||
dict: 甘特数据，失败返回空字典
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/order/gantts-by-order-id',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": order_id,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return {}
|
||||
return response.get("data", {})
|
||||
|
||||
def simulation_gantt_by_order_id(self, order_id: str) -> dict:
|
||||
"""查询订单模拟甘特图数据
|
||||
|
||||
参数:
|
||||
order_id: 订单ID
|
||||
|
||||
返回值:
|
||||
dict: 模拟甘特数据，失败返回空字典
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/order/simulation-gantt-by-order-id',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": order_id,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return {}
|
||||
return response.get("data", {})
|
||||
|
||||
def reset_order_status(self, order_id: str) -> int:
|
||||
"""复位订单状态
|
||||
|
||||
参数:
|
||||
order_id: 订单ID
|
||||
|
||||
返回值:
|
||||
int: 成功返回1，失败返回0
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/order/reset-order-status',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": order_id,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return 0
|
||||
return response.get("code", 0)
|
||||
|
||||
def gantt_with_simulation_by_order_id(self, order_id: str) -> dict:
|
||||
"""查询订单甘特与模拟联合数据
|
||||
|
||||
参数:
|
||||
order_id: 订单ID
|
||||
|
||||
返回值:
|
||||
dict: 联合数据，失败返回空字典
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/order/gantt-with-simulation-by-order-id',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": order_id,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return {}
|
||||
return response.get("data", {})
|
||||
|
||||
# ==================== 设备管理相关接口 ====================
|
||||
|
||||
def device_list(self, json_str: str = "") -> list:
|
||||
@@ -593,9 +908,13 @@ class BioyondV1RPC(BaseRequest):
|
||||
return response.get("data", [])
|
||||
|
||||
def device_operation(self, json_str: str) -> int:
|
||||
"""
|
||||
描述：操作设备
|
||||
json_str 格式为JSON字符串
|
||||
"""设备操作
|
||||
|
||||
参数:
|
||||
json_str: JSON字符串，包含 device_no/operationType/operationParams
|
||||
|
||||
返回值:
|
||||
int: 成功返回1，失败返回0
|
||||
"""
|
||||
try:
|
||||
data = json.loads(json_str)
|
||||
@@ -608,7 +927,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
return 0
|
||||
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/device/device-operation',
|
||||
url=f'{self.host}/api/lims/device/execute-operation',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
@@ -619,9 +938,30 @@ class BioyondV1RPC(BaseRequest):
|
||||
return 0
|
||||
return response.get("code", 0)
|
||||
|
||||
def reset_devices(self) -> int:
|
||||
"""复位设备集合
|
||||
|
||||
返回值:
|
||||
int: 成功返回1，失败返回0
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/device/reset-devices',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return 0
|
||||
return response.get("code", 0)
|
||||
|
||||
# ==================== 调度器相关接口 ====================
|
||||
|
||||
def scheduler_status(self) -> dict:
|
||||
"""查询调度器状态
|
||||
|
||||
返回值:
|
||||
dict: 包含 schedulerStatus/hasTask/creationTime 等
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/scheduler/scheduler-status',
|
||||
params={
|
||||
@@ -634,7 +974,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
return response.get("data", {})
|
||||
|
||||
def scheduler_start(self) -> int:
|
||||
"""描述：启动调度器"""
|
||||
"""启动调度器"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/scheduler/start',
|
||||
params={
|
||||
@@ -647,9 +987,22 @@ class BioyondV1RPC(BaseRequest):
|
||||
return response.get("code", 0)
|
||||
|
||||
def scheduler_pause(self) -> int:
|
||||
"""描述：暂停调度器"""
|
||||
"""暂停调度器"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/scheduler/scheduler-pause',
|
||||
url=f'{self.host}/api/lims/scheduler/pause',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
})
|
||||
|
||||
if not response or response['code'] != 1:
|
||||
return 0
|
||||
return response.get("code", 0)
|
||||
|
||||
def scheduler_smart_pause(self) -> int:
|
||||
"""智能暂停调度器"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/scheduler/smart-pause',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
@@ -660,8 +1013,9 @@ class BioyondV1RPC(BaseRequest):
|
||||
return response.get("code", 0)
|
||||
|
||||
def scheduler_continue(self) -> int:
|
||||
"""继续调度器"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/scheduler/scheduler-continue',
|
||||
url=f'{self.host}/api/lims/scheduler/continue',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
@@ -672,9 +1026,9 @@ class BioyondV1RPC(BaseRequest):
|
||||
return response.get("code", 0)
|
||||
|
||||
def scheduler_stop(self) -> int:
|
||||
"""描述：停止调度器"""
|
||||
"""停止调度器"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/scheduler/scheduler-stop',
|
||||
url=f'{self.host}/api/lims/scheduler/stop',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
@@ -685,9 +1039,9 @@ class BioyondV1RPC(BaseRequest):
|
||||
return response.get("code", 0)
|
||||
|
||||
def scheduler_reset(self) -> int:
|
||||
"""描述：重置调度器"""
|
||||
"""复位调度器"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/scheduler/scheduler-reset',
|
||||
url=f'{self.host}/api/lims/scheduler/reset',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
@@ -697,16 +1051,36 @@ class BioyondV1RPC(BaseRequest):
|
||||
return 0
|
||||
return response.get("code", 0)
|
||||
|
||||
def scheduler_reply_error_handling(self, data: Dict[str, Any]) -> int:
|
||||
"""调度错误处理回复
|
||||
|
||||
参数:
|
||||
data: 错误处理参数
|
||||
|
||||
返回值:
|
||||
int: 成功返回1，失败返回0
|
||||
"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/scheduler/reply-error-handling',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": data,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return 0
|
||||
return response.get("code", 0)
|
||||
|
||||
# ==================== 辅助方法 ====================
|
||||
|
||||
def _load_material_cache(self):
|
||||
"""预加载材料列表到缓存中"""
|
||||
try:
|
||||
print("正在加载材料列表缓存...")
|
||||
|
||||
|
||||
# 加载所有类型的材料：耗材(0)、样品(1)、试剂(2)
|
||||
material_types = [1, 2]
|
||||
|
||||
material_types = [0, 1, 2]
|
||||
|
||||
for type_mode in material_types:
|
||||
print(f"正在加载类型 {type_mode} 的材料...")
|
||||
stock_query = f'{{"typeMode": {type_mode}, "includeDetail": true}}'
|
||||
@@ -723,7 +1097,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
material_id = material.get("id")
|
||||
if material_name and material_id:
|
||||
self.material_cache[material_name] = material_id
|
||||
|
||||
|
||||
# 处理样品板等容器中的detail材料
|
||||
detail_materials = material.get("detail", [])
|
||||
for detail_material in detail_materials:
|
||||
@@ -759,4 +1133,24 @@ class BioyondV1RPC(BaseRequest):
|
||||
|
||||
def get_available_materials(self):
|
||||
"""获取所有可用的材料名称列表"""
|
||||
return list(self.material_cache.keys())
|
||||
return list(self.material_cache.keys())
|
||||
|
||||
def get_scheduler_state(self) -> Optional[MachineState]:
|
||||
"""将调度状态字符串映射为枚举值
|
||||
|
||||
返回值:
|
||||
Optional[MachineState]: 映射后的枚举，失败返回 None
|
||||
"""
|
||||
data = self.scheduler_status()
|
||||
if not isinstance(data, dict):
|
||||
return None
|
||||
status = data.get("schedulerStatus")
|
||||
mapping = {
|
||||
"Init": MachineState.INITIAL,
|
||||
"Stop": MachineState.STOPPED,
|
||||
"Running": MachineState.RUNNING,
|
||||
"Pause": MachineState.PAUSED,
|
||||
"ErrorPause": MachineState.ERROR_PAUSED,
|
||||
"ErrorStop": MachineState.ERROR_STOPPED,
|
||||
}
|
||||
return mapping.get(status)
|
||||
|
||||
@@ -2,330 +2,141 @@
|
||||
"""
|
||||
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")),
|
||||
|
||||
# 报送配置
|
||||
"report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"),
|
||||
|
||||
# HTTP 服务配置
|
||||
"HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.11.6"), # 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
|
||||
"api_key": "",
|
||||
"api_host": ""
|
||||
}
|
||||
|
||||
# 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": "",
|
||||
}
|
||||
|
||||
# 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 = {}
|
||||
|
||||
LOCATION_MAPPING = {}
|
||||
ACTION_NAMES = {}
|
||||
|
||||
HTTP_SERVICE_CONFIG = {}
|
||||
@@ -1,8 +1,25 @@
|
||||
from datetime import datetime
|
||||
import json
|
||||
import time
|
||||
from typing import Optional, Dict, Any, List
|
||||
from typing_extensions import TypedDict
|
||||
import requests
|
||||
from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
|
||||
|
||||
from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
|
||||
from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
|
||||
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
|
||||
import json
|
||||
import sys
|
||||
from pathlib import Path
|
||||
import importlib
|
||||
|
||||
class ComputeExperimentDesignReturn(TypedDict):
|
||||
solutions: list
|
||||
titration: dict
|
||||
solvents: dict
|
||||
feeding_order: list
|
||||
return_info: str
|
||||
|
||||
|
||||
class BioyondDispensingStation(BioyondWorkstation):
|
||||
@@ -23,6 +40,111 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
# self._logger = SimpleLogger()
|
||||
# self.is_running = False
|
||||
|
||||
# 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
|
||||
self.order_completion_status = {}
|
||||
|
||||
def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
|
||||
"""项目接口通用POST调用
|
||||
|
||||
参数:
|
||||
endpoint: 接口路径（例如 /api/lims/order/brief-step-paramerers）
|
||||
data: 请求体中的 data 字段内容
|
||||
|
||||
返回:
|
||||
dict: 服务端响应，失败时返回 {code:0,message,...}
|
||||
"""
|
||||
request_data = {
|
||||
"apiKey": API_CONFIG["api_key"],
|
||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||
"data": data
|
||||
}
|
||||
try:
|
||||
response = requests.post(
|
||||
f"{self.hardware_interface.host}{endpoint}",
|
||||
json=request_data,
|
||||
headers={"Content-Type": "application/json"},
|
||||
timeout=30
|
||||
)
|
||||
result = response.json()
|
||||
return result if isinstance(result, dict) else {"code": 0, "message": "非JSON响应"}
|
||||
except json.JSONDecodeError:
|
||||
return {"code": 0, "message": "非JSON响应"}
|
||||
except requests.exceptions.Timeout:
|
||||
return {"code": 0, "message": "请求超时"}
|
||||
except requests.exceptions.RequestException as e:
|
||||
return {"code": 0, "message": str(e)}
|
||||
|
||||
def _delete_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
|
||||
"""项目接口通用DELETE调用
|
||||
|
||||
参数:
|
||||
endpoint: 接口路径（例如 /api/lims/order/workflows）
|
||||
data: 请求体中的 data 字段内容
|
||||
|
||||
返回:
|
||||
dict: 服务端响应，失败时返回 {code:0,message,...}
|
||||
"""
|
||||
request_data = {
|
||||
"apiKey": API_CONFIG["api_key"],
|
||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||
"data": data
|
||||
}
|
||||
try:
|
||||
response = requests.delete(
|
||||
f"{self.hardware_interface.host}{endpoint}",
|
||||
json=request_data,
|
||||
headers={"Content-Type": "application/json"},
|
||||
timeout=30
|
||||
)
|
||||
result = response.json()
|
||||
return result if isinstance(result, dict) else {"code": 0, "message": "非JSON响应"}
|
||||
except json.JSONDecodeError:
|
||||
return {"code": 0, "message": "非JSON响应"}
|
||||
except requests.exceptions.Timeout:
|
||||
return {"code": 0, "message": "请求超时"}
|
||||
except requests.exceptions.RequestException as e:
|
||||
return {"code": 0, "message": str(e)}
|
||||
|
||||
def compute_experiment_design(
|
||||
self,
|
||||
ratio: dict,
|
||||
wt_percent: str = "0.25",
|
||||
m_tot: str = "70",
|
||||
titration_percent: str = "0.03",
|
||||
) -> ComputeExperimentDesignReturn:
|
||||
try:
|
||||
if isinstance(ratio, str):
|
||||
try:
|
||||
ratio = json.loads(ratio)
|
||||
except Exception:
|
||||
ratio = {}
|
||||
root = str(Path(__file__).resolve().parents[3])
|
||||
if root not in sys.path:
|
||||
sys.path.append(root)
|
||||
try:
|
||||
mod = importlib.import_module("tem.compute")
|
||||
except Exception as e:
|
||||
raise BioyondException(f"无法导入计算模块: {e}")
|
||||
try:
|
||||
wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
|
||||
mt = float(m_tot) if isinstance(m_tot, str) else m_tot
|
||||
tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
|
||||
except Exception as e:
|
||||
raise BioyondException(f"参数解析失败: {e}")
|
||||
res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
|
||||
out = {
|
||||
"solutions": res.get("solutions", []),
|
||||
"titration": res.get("titration", {}),
|
||||
"solvents": res.get("solvents", {}),
|
||||
"feeding_order": res.get("feeding_order", []),
|
||||
"return_info": json.dumps(res, ensure_ascii=False)
|
||||
}
|
||||
return out
|
||||
except BioyondException:
|
||||
raise
|
||||
except Exception as e:
|
||||
raise BioyondException(str(e))
|
||||
|
||||
# 90%10%小瓶投料任务创建方法
|
||||
def create_90_10_vial_feeding_task(self,
|
||||
order_name: str = None,
|
||||
@@ -270,7 +392,45 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
# 7. 调用create_order方法创建任务
|
||||
result = self.hardware_interface.create_order(json_str)
|
||||
self.hardware_interface._logger.info(f"创建90%10%小瓶投料任务结果: {result}")
|
||||
return json.dumps({"suc": True})
|
||||
|
||||
# 8. 解析结果获取order_id
|
||||
order_id = None
|
||||
if isinstance(result, str):
|
||||
# result 格式: "{'3a1d895c-4d39-d504-1398-18f5a40bac1e': [{'id': '...', ...}]}"
|
||||
# 第一个键就是order_id (UUID)
|
||||
try:
|
||||
# 尝试解析字符串为字典
|
||||
import ast
|
||||
result_dict = ast.literal_eval(result)
|
||||
# 获取第一个键作为order_id
|
||||
if result_dict and isinstance(result_dict, dict):
|
||||
first_key = list(result_dict.keys())[0]
|
||||
order_id = first_key
|
||||
self.hardware_interface._logger.info(f"✓ 成功提取order_id: {order_id}")
|
||||
else:
|
||||
self.hardware_interface._logger.warning(f"result_dict格式异常: {result_dict}")
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.error(f"✗ 无法从结果中提取order_id: {e}, result类型={type(result)}")
|
||||
elif isinstance(result, dict):
|
||||
# 如果已经是字典
|
||||
if result:
|
||||
first_key = list(result.keys())[0]
|
||||
order_id = first_key
|
||||
self.hardware_interface._logger.info(f"✓ 成功提取order_id(dict): {order_id}")
|
||||
|
||||
if not order_id:
|
||||
self.hardware_interface._logger.warning(
|
||||
f"⚠ 未能提取order_id，result={result[:100] if isinstance(result, str) else result}"
|
||||
)
|
||||
|
||||
# 返回成功结果和构建的JSON数据
|
||||
return json.dumps({
|
||||
"suc": True,
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"result": result,
|
||||
"order_params": order_data
|
||||
})
|
||||
|
||||
except BioyondException:
|
||||
# 重新抛出BioyondException
|
||||
@@ -398,7 +558,37 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
result = self.hardware_interface.create_order(json_str)
|
||||
self.hardware_interface._logger.info(f"创建二胺溶液配置任务结果: {result}")
|
||||
|
||||
return json.dumps({"suc": True})
|
||||
# 8. 解析结果获取order_id
|
||||
order_id = None
|
||||
if isinstance(result, str):
|
||||
try:
|
||||
import ast
|
||||
result_dict = ast.literal_eval(result)
|
||||
if result_dict and isinstance(result_dict, dict):
|
||||
first_key = list(result_dict.keys())[0]
|
||||
order_id = first_key
|
||||
self.hardware_interface._logger.info(f"✓ 成功提取order_id: {order_id}")
|
||||
else:
|
||||
self.hardware_interface._logger.warning(f"result_dict格式异常: {result_dict}")
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.error(f"✗ 无法从结果中提取order_id: {e}")
|
||||
elif isinstance(result, dict):
|
||||
if result:
|
||||
first_key = list(result.keys())[0]
|
||||
order_id = first_key
|
||||
self.hardware_interface._logger.info(f"✓ 成功提取order_id(dict): {order_id}")
|
||||
|
||||
if not order_id:
|
||||
self.hardware_interface._logger.warning(f"⚠ 未能提取order_id")
|
||||
|
||||
# 返回成功结果和构建的JSON数据
|
||||
return json.dumps({
|
||||
"suc": True,
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"result": result,
|
||||
"order_params": order_data
|
||||
})
|
||||
|
||||
except BioyondException:
|
||||
# 重新抛出BioyondException
|
||||
@@ -499,15 +689,24 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
hold_m_name=hold_m_name
|
||||
)
|
||||
|
||||
# 解析返回结果以获取order_code和order_id
|
||||
result_data = json.loads(result) if isinstance(result, str) else result
|
||||
order_code = result_data.get("order_code")
|
||||
order_id = result_data.get("order_id")
|
||||
order_params = result_data.get("order_params", {})
|
||||
|
||||
results.append({
|
||||
"index": idx + 1,
|
||||
"name": name,
|
||||
"success": True,
|
||||
"hold_m_name": hold_m_name
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"hold_m_name": hold_m_name,
|
||||
"order_params": order_params
|
||||
})
|
||||
success_count += 1
|
||||
self.hardware_interface._logger.info(
|
||||
f"成功创建二胺溶液配置任务: {name}"
|
||||
f"成功创建二胺溶液配置任务: {name}, order_code={order_code}, order_id={order_id}"
|
||||
)
|
||||
|
||||
except BioyondException as e:
|
||||
@@ -533,11 +732,17 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
f"创建第 {idx + 1} 个任务时发生未知错误: {str(e)}"
|
||||
)
|
||||
|
||||
# 提取所有成功任务的order_code和order_id
|
||||
order_codes = [r["order_code"] for r in results if r["success"]]
|
||||
order_ids = [r["order_id"] for r in results if r["success"]]
|
||||
|
||||
# 返回汇总结果
|
||||
summary = {
|
||||
"total": len(solutions),
|
||||
"success": success_count,
|
||||
"failed": failed_count,
|
||||
"order_codes": order_codes,
|
||||
"order_ids": order_ids,
|
||||
"details": results
|
||||
}
|
||||
|
||||
@@ -546,8 +751,13 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
f"成功={success_count}, 失败={failed_count}"
|
||||
)
|
||||
|
||||
# 返回JSON字符串格式
|
||||
return json.dumps(summary, ensure_ascii=False)
|
||||
# 构建返回结果
|
||||
summary["return_info"] = {
|
||||
"order_codes": order_codes,
|
||||
"order_ids": order_ids,
|
||||
}
|
||||
|
||||
return summary
|
||||
|
||||
except BioyondException:
|
||||
raise
|
||||
@@ -556,6 +766,40 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
raise BioyondException(error_msg)
|
||||
|
||||
def brief_step_parameters(self, data: Dict[str, Any]) -> Dict[str, Any]:
|
||||
"""获取简要步骤参数（站点项目接口）
|
||||
|
||||
参数:
|
||||
data: 查询参数字典
|
||||
|
||||
返回值:
|
||||
dict: 接口返回数据
|
||||
"""
|
||||
return self._post_project_api("/api/lims/order/brief-step-paramerers", data)
|
||||
|
||||
def project_order_report(self, order_id: str) -> Dict[str, Any]:
|
||||
"""查询项目端订单报告（兼容旧路径）
|
||||
|
||||
参数:
|
||||
order_id: 订单ID
|
||||
|
||||
返回值:
|
||||
dict: 报告数据
|
||||
"""
|
||||
return self._post_project_api("/api/lims/order/project-order-report", order_id)
|
||||
|
||||
def workflow_sample_locations(self, workflow_id: str) -> Dict[str, Any]:
|
||||
"""查询工作流样品库位（站点项目接口）
|
||||
|
||||
参数:
|
||||
workflow_id: 工作流ID
|
||||
|
||||
返回值:
|
||||
dict: 位置信息数据
|
||||
"""
|
||||
return self._post_project_api("/api/lims/storage/workflow-sample-locations", workflow_id)
|
||||
|
||||
|
||||
# 批量创建90%10%小瓶投料任务
|
||||
def batch_create_90_10_vial_feeding_tasks(self,
|
||||
titration,
|
||||
@@ -613,22 +857,15 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
if not all([name, main_portion is not None, titration_portion is not None, titration_solvent is not None]):
|
||||
raise BioyondException("titration 数据缺少必要参数")
|
||||
|
||||
# 将main_portion平均分成3份作为90%物料（3个小瓶）
|
||||
portion_90 = main_portion / 3
|
||||
|
||||
# 调用单个任务创建方法
|
||||
result = self.create_90_10_vial_feeding_task(
|
||||
order_name=f"90%10%小瓶投料-{name}",
|
||||
speed=speed,
|
||||
temperature=temperature,
|
||||
delay_time=delay_time,
|
||||
# 90%物料 - 主称固体平均分成3份
|
||||
# 90%物料 - 主称固体直接使用main_portion
|
||||
percent_90_1_assign_material_name=name,
|
||||
percent_90_1_target_weigh=str(round(portion_90, 6)),
|
||||
percent_90_2_assign_material_name=name,
|
||||
percent_90_2_target_weigh=str(round(portion_90, 6)),
|
||||
percent_90_3_assign_material_name=name,
|
||||
percent_90_3_target_weigh=str(round(portion_90, 6)),
|
||||
percent_90_1_target_weigh=str(round(main_portion, 6)),
|
||||
# 10%物料 - 滴定固体 + 滴定溶剂（只使用第1个10%小瓶）
|
||||
percent_10_1_assign_material_name=name,
|
||||
percent_10_1_target_weigh=str(round(titration_portion, 6)),
|
||||
@@ -637,29 +874,54 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
hold_m_name=hold_m_name
|
||||
)
|
||||
|
||||
summary = {
|
||||
# 解析返回结果以获取order_code和order_id
|
||||
result_data = json.loads(result) if isinstance(result, str) else result
|
||||
order_code = result_data.get("order_code")
|
||||
order_id = result_data.get("order_id")
|
||||
order_params = result_data.get("order_params", {})
|
||||
|
||||
# 构建详细信息（保持原有结构）
|
||||
detail = {
|
||||
"index": 1,
|
||||
"name": name,
|
||||
"success": True,
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"hold_m_name": hold_m_name,
|
||||
"material_name": name,
|
||||
"90_vials": {
|
||||
"count": 3,
|
||||
"weight_per_vial": round(portion_90, 6),
|
||||
"count": 1,
|
||||
"weight_per_vial": round(main_portion, 6),
|
||||
"total_weight": round(main_portion, 6)
|
||||
},
|
||||
"10_vials": {
|
||||
"count": 1,
|
||||
"solid_weight": round(titration_portion, 6),
|
||||
"liquid_volume": round(titration_solvent, 6)
|
||||
}
|
||||
},
|
||||
"order_params": order_params
|
||||
}
|
||||
|
||||
# 构建批量结果格式（与diamine_solution_tasks保持一致）
|
||||
summary = {
|
||||
"total": 1,
|
||||
"success": 1,
|
||||
"failed": 0,
|
||||
"order_codes": [order_code],
|
||||
"order_ids": [order_id],
|
||||
"details": [detail]
|
||||
}
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"成功创建90%10%小瓶投料任务: {hold_m_name}, "
|
||||
f"90%物料={portion_90:.6f}g×3, 10%物料={titration_portion:.6f}g+{titration_solvent:.6f}mL"
|
||||
f"成功创建90%10%小瓶投料任务: {name}, order_code={order_code}, order_id={order_id}"
|
||||
)
|
||||
|
||||
# 返回JSON字符串格式
|
||||
return json.dumps(summary, ensure_ascii=False)
|
||||
# 构建返回结果
|
||||
summary["return_info"] = {
|
||||
"order_codes": [order_code],
|
||||
"order_ids": [order_id],
|
||||
}
|
||||
|
||||
return summary
|
||||
|
||||
except BioyondException:
|
||||
raise
|
||||
@@ -668,6 +930,571 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
raise BioyondException(error_msg)
|
||||
|
||||
def _extract_actuals_from_report(self, report) -> Dict[str, Any]:
|
||||
data = report.get('data') if isinstance(report, dict) else None
|
||||
actual_target_weigh = None
|
||||
actual_volume = None
|
||||
if data:
|
||||
extra = data.get('extraProperties') or {}
|
||||
if isinstance(extra, dict):
|
||||
for v in extra.values():
|
||||
obj = None
|
||||
try:
|
||||
obj = json.loads(v) if isinstance(v, str) else v
|
||||
except Exception:
|
||||
obj = None
|
||||
if isinstance(obj, dict):
|
||||
tw = obj.get('targetWeigh')
|
||||
vol = obj.get('volume')
|
||||
if tw is not None:
|
||||
try:
|
||||
actual_target_weigh = float(tw)
|
||||
except Exception:
|
||||
pass
|
||||
if vol is not None:
|
||||
try:
|
||||
actual_volume = float(vol)
|
||||
except Exception:
|
||||
pass
|
||||
return {
|
||||
'actualTargetWeigh': actual_target_weigh,
|
||||
'actualVolume': actual_volume
|
||||
}
|
||||
|
||||
# 等待多个任务完成并获取实验报告
|
||||
def wait_for_multiple_orders_and_get_reports(self,
|
||||
batch_create_result: str = None,
|
||||
timeout: int = 7200,
|
||||
check_interval: int = 10) -> Dict[str, Any]:
|
||||
"""
|
||||
同时等待多个任务完成并获取实验报告
|
||||
|
||||
参数说明:
|
||||
- batch_create_result: 批量创建任务的返回结果JSON字符串，包含order_codes和order_ids数组
|
||||
- timeout: 超时时间（秒），默认7200秒（2小时）
|
||||
- check_interval: 检查间隔（秒），默认10秒
|
||||
|
||||
返回: 包含所有任务状态和报告的字典
|
||||
{
|
||||
"total": 2,
|
||||
"completed": 2,
|
||||
"timeout": 0,
|
||||
"elapsed_time": 120.5,
|
||||
"reports": [
|
||||
{
|
||||
"order_code": "task_vial_1",
|
||||
"order_id": "uuid1",
|
||||
"status": "completed",
|
||||
"completion_status": 30,
|
||||
"report": {...}
|
||||
},
|
||||
...
|
||||
]
|
||||
}
|
||||
|
||||
异常:
|
||||
- BioyondException: 所有任务都超时或发生错误
|
||||
"""
|
||||
try:
|
||||
# 参数类型转换
|
||||
timeout = int(timeout) if timeout else 7200
|
||||
check_interval = int(check_interval) if check_interval else 10
|
||||
|
||||
# 验证batch_create_result参数
|
||||
if not batch_create_result or batch_create_result == "":
|
||||
raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
|
||||
|
||||
# 解析batch_create_result JSON对象
|
||||
try:
|
||||
# 清理可能存在的截断标记 [...]
|
||||
if isinstance(batch_create_result, str) and '[...]' in batch_create_result:
|
||||
batch_create_result = batch_create_result.replace('[...]', '[]')
|
||||
|
||||
result_obj = json.loads(batch_create_result) if isinstance(batch_create_result, str) else batch_create_result
|
||||
|
||||
# 兼容外层包装格式 {error, suc, return_value}
|
||||
if isinstance(result_obj, dict) and "return_value" in result_obj:
|
||||
inner = result_obj.get("return_value")
|
||||
if isinstance(inner, str):
|
||||
result_obj = json.loads(inner)
|
||||
elif isinstance(inner, dict):
|
||||
result_obj = inner
|
||||
|
||||
# 从summary对象中提取order_codes和order_ids
|
||||
order_codes = result_obj.get("order_codes", [])
|
||||
order_ids = result_obj.get("order_ids", [])
|
||||
|
||||
except json.JSONDecodeError as e:
|
||||
raise BioyondException(f"解析batch_create_result失败: {e}")
|
||||
except Exception as e:
|
||||
raise BioyondException(f"处理batch_create_result时出错: {e}")
|
||||
|
||||
# 验证提取的数据
|
||||
if not order_codes:
|
||||
raise BioyondException("batch_create_result中未找到order_codes字段或为空")
|
||||
if not order_ids:
|
||||
raise BioyondException("batch_create_result中未找到order_ids字段或为空")
|
||||
|
||||
# 确保order_codes和order_ids是列表类型
|
||||
if not isinstance(order_codes, list):
|
||||
order_codes = [order_codes] if order_codes else []
|
||||
if not isinstance(order_ids, list):
|
||||
order_ids = [order_ids] if order_ids else []
|
||||
|
||||
codes_list = order_codes
|
||||
ids_list = order_ids
|
||||
|
||||
if len(codes_list) != len(ids_list):
|
||||
raise BioyondException(
|
||||
f"order_codes数量({len(codes_list)})与order_ids数量({len(ids_list)})不匹配"
|
||||
)
|
||||
|
||||
if not codes_list or not ids_list:
|
||||
raise BioyondException("order_codes和order_ids不能为空")
|
||||
|
||||
# 初始化跟踪变量
|
||||
total = len(codes_list)
|
||||
pending_orders = {code: {"order_id": ids_list[i], "completed": False}
|
||||
for i, code in enumerate(codes_list)}
|
||||
reports = []
|
||||
|
||||
start_time = time.time()
|
||||
self.hardware_interface._logger.info(
|
||||
f"开始等待 {total} 个任务完成: {', '.join(codes_list)}"
|
||||
)
|
||||
|
||||
# 轮询检查任务状态
|
||||
while pending_orders:
|
||||
elapsed_time = time.time() - start_time
|
||||
|
||||
# 检查超时
|
||||
if elapsed_time > timeout:
|
||||
# 收集超时任务
|
||||
timeout_orders = list(pending_orders.keys())
|
||||
self.hardware_interface._logger.error(
|
||||
f"等待任务完成超时，剩余未完成任务: {', '.join(timeout_orders)}"
|
||||
)
|
||||
|
||||
# 为超时任务添加记录
|
||||
for order_code in timeout_orders:
|
||||
reports.append({
|
||||
"order_code": order_code,
|
||||
"order_id": pending_orders[order_code]["order_id"],
|
||||
"status": "timeout",
|
||||
"completion_status": None,
|
||||
"report": None,
|
||||
"extracted": None,
|
||||
"elapsed_time": elapsed_time
|
||||
})
|
||||
|
||||
break
|
||||
|
||||
# 检查每个待完成的任务
|
||||
completed_in_this_round = []
|
||||
for order_code in list(pending_orders.keys()):
|
||||
order_id = pending_orders[order_code]["order_id"]
|
||||
|
||||
# 检查任务是否完成
|
||||
if order_code in self.order_completion_status:
|
||||
completion_info = self.order_completion_status[order_code]
|
||||
self.hardware_interface._logger.info(
|
||||
f"检测到任务 {order_code} 已完成，状态: {completion_info.get('status')}"
|
||||
)
|
||||
|
||||
# 获取实验报告
|
||||
try:
|
||||
report = self.project_order_report(order_id)
|
||||
|
||||
if not report:
|
||||
self.hardware_interface._logger.warning(
|
||||
f"任务 {order_code} 已完成但无法获取报告"
|
||||
)
|
||||
report = {"error": "无法获取报告"}
|
||||
else:
|
||||
self.hardware_interface._logger.info(
|
||||
f"成功获取任务 {order_code} 的实验报告"
|
||||
)
|
||||
|
||||
reports.append({
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"status": "completed",
|
||||
"completion_status": completion_info.get('status'),
|
||||
"report": report,
|
||||
"extracted": self._extract_actuals_from_report(report),
|
||||
"elapsed_time": elapsed_time
|
||||
})
|
||||
|
||||
# 标记为已完成
|
||||
completed_in_this_round.append(order_code)
|
||||
|
||||
# 清理完成状态记录
|
||||
del self.order_completion_status[order_code]
|
||||
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.error(
|
||||
f"查询任务 {order_code} 报告失败: {str(e)}"
|
||||
)
|
||||
reports.append({
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"status": "error",
|
||||
"completion_status": completion_info.get('status'),
|
||||
"report": None,
|
||||
"extracted": None,
|
||||
"error": str(e),
|
||||
"elapsed_time": elapsed_time
|
||||
})
|
||||
completed_in_this_round.append(order_code)
|
||||
|
||||
# 从待完成列表中移除已完成的任务
|
||||
for order_code in completed_in_this_round:
|
||||
del pending_orders[order_code]
|
||||
|
||||
# 如果还有待完成的任务，等待后继续
|
||||
if pending_orders:
|
||||
time.sleep(check_interval)
|
||||
|
||||
# 每分钟记录一次等待状态
|
||||
new_elapsed_time = time.time() - start_time
|
||||
if int(new_elapsed_time) % 60 == 0 and new_elapsed_time > 0:
|
||||
self.hardware_interface._logger.info(
|
||||
f"批量等待任务中... 已完成 {len(reports)}/{total}, "
|
||||
f"待完成: {', '.join(pending_orders.keys())}, "
|
||||
f"已等待 {int(new_elapsed_time/60)} 分钟"
|
||||
)
|
||||
|
||||
# 统计结果
|
||||
completed_count = sum(1 for r in reports if r['status'] == 'completed')
|
||||
timeout_count = sum(1 for r in reports if r['status'] == 'timeout')
|
||||
error_count = sum(1 for r in reports if r['status'] == 'error')
|
||||
|
||||
final_elapsed_time = time.time() - start_time
|
||||
|
||||
summary = {
|
||||
"total": total,
|
||||
"completed": completed_count,
|
||||
"timeout": timeout_count,
|
||||
"error": error_count,
|
||||
"elapsed_time": round(final_elapsed_time, 2),
|
||||
"reports": reports
|
||||
}
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"批量等待任务完成: 总数={total}, 成功={completed_count}, "
|
||||
f"超时={timeout_count}, 错误={error_count}, 耗时={final_elapsed_time:.1f}秒"
|
||||
)
|
||||
|
||||
# 返回字典格式，在顶层包含统计信息
|
||||
return {
|
||||
"return_info": json.dumps(summary, ensure_ascii=False)
|
||||
}
|
||||
|
||||
except BioyondException:
|
||||
raise
|
||||
except Exception as e:
|
||||
error_msg = f"批量等待任务完成时发生未预期的错误: {str(e)}"
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
raise BioyondException(error_msg)
|
||||
|
||||
def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
|
||||
"""
|
||||
重写父类方法，处理任务完成报送并记录到 order_completion_status
|
||||
|
||||
Args:
|
||||
report_request: WorkstationReportRequest 对象，包含任务完成信息
|
||||
used_materials: 物料使用记录列表
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 处理结果
|
||||
"""
|
||||
try:
|
||||
# 调用父类方法
|
||||
result = super().process_order_finish_report(report_request, used_materials)
|
||||
|
||||
# 记录任务完成状态
|
||||
data = report_request.data
|
||||
order_code = data.get('orderCode')
|
||||
|
||||
if order_code:
|
||||
self.order_completion_status[order_code] = {
|
||||
'status': data.get('status'),
|
||||
'order_name': data.get('orderName'),
|
||||
'timestamp': datetime.now().isoformat(),
|
||||
'start_time': data.get('startTime'),
|
||||
'end_time': data.get('endTime')
|
||||
}
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"已记录任务完成状态: {order_code}, status={data.get('status')}"
|
||||
)
|
||||
|
||||
return result
|
||||
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.error(f"处理任务完成报送失败: {e}")
|
||||
return {"processed": False, "error": str(e)}
|
||||
|
||||
def transfer_materials_to_reaction_station(
|
||||
self,
|
||||
target_device_id: str,
|
||||
transfer_groups: list
|
||||
) -> dict:
|
||||
"""
|
||||
将配液站完成的物料转移到指定反应站的堆栈库位
|
||||
支持多组转移任务,每组包含物料名称、目标堆栈和目标库位
|
||||
|
||||
Args:
|
||||
target_device_id: 目标反应站设备ID(所有转移组使用同一个设备)
|
||||
transfer_groups: 转移任务组列表,每组包含:
|
||||
- materials: 物料名称(字符串,将通过RPC查询)
|
||||
- target_stack: 目标堆栈名称(如"堆栈1左")
|
||||
- target_sites: 目标库位(如"A01")
|
||||
|
||||
Returns:
|
||||
dict: 转移结果
|
||||
{
|
||||
"success": bool,
|
||||
"total_groups": int,
|
||||
"successful_groups": int,
|
||||
"failed_groups": int,
|
||||
"target_device_id": str,
|
||||
"details": [...]
|
||||
}
|
||||
"""
|
||||
try:
|
||||
# 验证参数
|
||||
if not target_device_id:
|
||||
raise ValueError("目标设备ID不能为空")
|
||||
|
||||
if not transfer_groups:
|
||||
raise ValueError("转移任务组列表不能为空")
|
||||
|
||||
if not isinstance(transfer_groups, list):
|
||||
raise ValueError("transfer_groups必须是列表类型")
|
||||
|
||||
# 标准化设备ID格式: 确保以 /devices/ 开头
|
||||
if not target_device_id.startswith("/devices/"):
|
||||
if target_device_id.startswith("/"):
|
||||
target_device_id = f"/devices{target_device_id}"
|
||||
else:
|
||||
target_device_id = f"/devices/{target_device_id}"
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"目标设备ID标准化为: {target_device_id}"
|
||||
)
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
|
||||
)
|
||||
|
||||
from .config import WAREHOUSE_MAPPING
|
||||
results = []
|
||||
successful_count = 0
|
||||
failed_count = 0
|
||||
|
||||
for idx, group in enumerate(transfer_groups, 1):
|
||||
try:
|
||||
# 提取参数
|
||||
material_name = group.get("materials", "")
|
||||
target_stack = group.get("target_stack", "")
|
||||
target_sites = group.get("target_sites", "")
|
||||
|
||||
# 验证必填参数
|
||||
if not material_name:
|
||||
raise ValueError(f"第{idx}组: 物料名称不能为空")
|
||||
if not target_stack:
|
||||
raise ValueError(f"第{idx}组: 目标堆栈不能为空")
|
||||
if not target_sites:
|
||||
raise ValueError(f"第{idx}组: 目标库位不能为空")
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"处理第{idx}组转移: {material_name} -> "
|
||||
f"{target_device_id}/{target_stack}/{target_sites}"
|
||||
)
|
||||
|
||||
# 通过物料名称从deck获取ResourcePLR对象
|
||||
try:
|
||||
material_resource = self.deck.get_resource(material_name)
|
||||
if not material_resource:
|
||||
raise ValueError(f"在deck中未找到物料: {material_name}")
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"从deck获取到物料 {material_name}: {material_resource}"
|
||||
)
|
||||
except Exception as e:
|
||||
raise ValueError(
|
||||
f"获取物料 {material_name} 失败: {str(e)}，请确认物料已正确加载到deck中"
|
||||
)
|
||||
|
||||
# 验证目标堆栈是否存在
|
||||
if target_stack not in WAREHOUSE_MAPPING:
|
||||
raise ValueError(
|
||||
f"未知的堆栈名称: {target_stack}，"
|
||||
f"可选值: {list(WAREHOUSE_MAPPING.keys())}"
|
||||
)
|
||||
|
||||
# 验证库位是否有效
|
||||
stack_sites = WAREHOUSE_MAPPING[target_stack].get("site_uuids", {})
|
||||
if target_sites not in stack_sites:
|
||||
raise ValueError(
|
||||
f"库位 {target_sites} 不存在于堆栈 {target_stack} 中，"
|
||||
f"可选库位: {list(stack_sites.keys())}"
|
||||
)
|
||||
|
||||
# 获取目标库位的UUID
|
||||
target_site_uuid = stack_sites[target_sites]
|
||||
if not target_site_uuid:
|
||||
raise ValueError(
|
||||
f"库位 {target_sites} 的 UUID 未配置，请在 WAREHOUSE_MAPPING 中完善"
|
||||
)
|
||||
|
||||
# 目标位点（包含UUID）
|
||||
future = ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.get_resource_with_dir,
|
||||
True,
|
||||
**{
|
||||
"resource_id": f"/reaction_station_bioyond/Bioyond_Deck/{target_stack}",
|
||||
"with_children": True,
|
||||
},
|
||||
)
|
||||
# 等待异步完成后再获取结果
|
||||
if not future:
|
||||
raise ValueError(f"获取目标堆栈资源future无效: {target_stack}")
|
||||
while not future.done():
|
||||
time.sleep(0.1)
|
||||
target_site_resource = future.result()
|
||||
|
||||
# 调用父类的 transfer_resource_to_another 方法
|
||||
# 传入ResourcePLR对象和目标位点资源
|
||||
future = self.transfer_resource_to_another(
|
||||
resource=[material_resource],
|
||||
mount_resource=[target_site_resource],
|
||||
sites=[target_sites],
|
||||
mount_device_id=target_device_id
|
||||
)
|
||||
|
||||
# 等待异步任务完成（轮询直到完成，再取结果）
|
||||
if future:
|
||||
try:
|
||||
while not future.done():
|
||||
time.sleep(0.1)
|
||||
future.result()
|
||||
self.hardware_interface._logger.info(
|
||||
f"异步转移任务已完成: {material_name}"
|
||||
)
|
||||
except Exception as e:
|
||||
raise ValueError(f"转移任务执行失败: {str(e)}")
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"第{idx}组转移成功: {material_name} -> "
|
||||
f"{target_device_id}/{target_stack}/{target_sites}"
|
||||
)
|
||||
|
||||
successful_count += 1
|
||||
results.append({
|
||||
"group_index": idx,
|
||||
"success": True,
|
||||
"material_name": material_name,
|
||||
"target_stack": target_stack,
|
||||
"target_site": target_sites,
|
||||
"message": "转移成功"
|
||||
})
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"第{idx}组转移失败: {str(e)}"
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
failed_count += 1
|
||||
results.append({
|
||||
"group_index": idx,
|
||||
"success": False,
|
||||
"material_name": group.get("materials", ""),
|
||||
"error": str(e)
|
||||
})
|
||||
|
||||
# 返回汇总结果
|
||||
return {
|
||||
"success": failed_count == 0,
|
||||
"total_groups": len(transfer_groups),
|
||||
"successful_groups": successful_count,
|
||||
"failed_groups": failed_count,
|
||||
"target_device_id": target_device_id,
|
||||
"details": results,
|
||||
"message": f"完成 {len(transfer_groups)} 组转移任务到 {target_device_id}: "
|
||||
f"{successful_count} 成功, {failed_count} 失败"
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"批量转移物料失败: {str(e)}"
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
return {
|
||||
"success": False,
|
||||
"total_groups": len(transfer_groups) if transfer_groups else 0,
|
||||
"successful_groups": 0,
|
||||
"failed_groups": len(transfer_groups) if transfer_groups else 0,
|
||||
"target_device_id": target_device_id if target_device_id else "",
|
||||
"error": error_msg
|
||||
}
|
||||
|
||||
def query_resource_by_name(self, material_name: str):
|
||||
"""
|
||||
通过物料名称查询资源对象(适用于Bioyond系统)
|
||||
|
||||
Args:
|
||||
material_name: 物料名称
|
||||
|
||||
Returns:
|
||||
物料ID或None
|
||||
"""
|
||||
try:
|
||||
# Bioyond系统使用material_cache存储物料信息
|
||||
if not hasattr(self.hardware_interface, 'material_cache'):
|
||||
self.hardware_interface._logger.error(
|
||||
"hardware_interface没有material_cache属性"
|
||||
)
|
||||
return None
|
||||
|
||||
material_cache = self.hardware_interface.material_cache
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"查询物料 '{material_name}', 缓存中共有 {len(material_cache)} 个物料"
|
||||
)
|
||||
|
||||
# 调试: 打印前几个物料信息
|
||||
if material_cache:
|
||||
cache_items = list(material_cache.items())[:5]
|
||||
for name, material_id in cache_items:
|
||||
self.hardware_interface._logger.debug(
|
||||
f"缓存物料: name={name}, id={material_id}"
|
||||
)
|
||||
|
||||
# 直接从缓存中查找
|
||||
if material_name in material_cache:
|
||||
material_id = material_cache[material_name]
|
||||
self.hardware_interface._logger.info(
|
||||
f"找到物料: {material_name} -> ID: {material_id}"
|
||||
)
|
||||
return material_id
|
||||
|
||||
self.hardware_interface._logger.warning(
|
||||
f"未找到物料: {material_name} (缓存中无此物料)"
|
||||
)
|
||||
|
||||
# 打印所有可用物料名称供参考
|
||||
available_materials = list(material_cache.keys())
|
||||
if available_materials:
|
||||
self.hardware_interface._logger.info(
|
||||
f"可用物料列表(前10个): {available_materials[:10]}"
|
||||
)
|
||||
|
||||
return None
|
||||
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.error(
|
||||
f"查询物料失败 {material_name}: {str(e)}"
|
||||
)
|
||||
return None
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
bioyond = BioyondDispensingStation(config={
|
||||
@@ -1089,4 +1916,3 @@ if __name__ == "__main__":
|
||||
|
||||
# id = "3a1bce3c-4f31-c8f3-5525-f3b273bc34dc"
|
||||
# bioyond.sample_waste_removal(id)
|
||||
|
||||
|
||||
@@ -1,7 +1,12 @@
|
||||
import json
|
||||
import time
|
||||
import requests
|
||||
from typing import List, Dict, Any
|
||||
from pathlib import Path
|
||||
from datetime import datetime
|
||||
from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
|
||||
from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import MachineState
|
||||
from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String
|
||||
from unilabos.devices.workstation.bioyond_studio.config import (
|
||||
WORKFLOW_STEP_IDS,
|
||||
WORKFLOW_TO_SECTION_MAP,
|
||||
@@ -10,6 +15,37 @@ from unilabos.devices.workstation.bioyond_studio.config import (
|
||||
from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
|
||||
|
||||
|
||||
class BioyondReactor:
|
||||
def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
|
||||
self.in_temperature = 0.0
|
||||
self.out_temperature = 0.0
|
||||
self.pt100_temperature = 0.0
|
||||
self.sensor_average_temperature = 0.0
|
||||
self.target_temperature = 0.0
|
||||
self.setting_temperature = 0.0
|
||||
self.viscosity = 0.0
|
||||
self.average_viscosity = 0.0
|
||||
self.speed = 0.0
|
||||
self.force = 0.0
|
||||
|
||||
def update_metrics(self, payload: Dict[str, Any]):
|
||||
def _f(v):
|
||||
try:
|
||||
return float(v)
|
||||
except Exception:
|
||||
return 0.0
|
||||
self.target_temperature = _f(payload.get("targetTemperature"))
|
||||
self.setting_temperature = _f(payload.get("settingTemperature"))
|
||||
self.in_temperature = _f(payload.get("inTemperature"))
|
||||
self.out_temperature = _f(payload.get("outTemperature"))
|
||||
self.pt100_temperature = _f(payload.get("pt100Temperature"))
|
||||
self.sensor_average_temperature = _f(payload.get("sensorAverageTemperature"))
|
||||
self.speed = _f(payload.get("speed"))
|
||||
self.force = _f(payload.get("force"))
|
||||
self.viscosity = _f(payload.get("viscosity"))
|
||||
self.average_viscosity = _f(payload.get("averageViscosity"))
|
||||
|
||||
|
||||
class BioyondReactionStation(BioyondWorkstation):
|
||||
"""Bioyond反应站类
|
||||
|
||||
@@ -37,6 +73,19 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
print(f"BioyondReactionStation初始化完成 - workflow_mappings: {self.workflow_mappings}")
|
||||
print(f"workflow_mappings长度: {len(self.workflow_mappings)}")
|
||||
|
||||
self.in_temperature = 0.0
|
||||
self.out_temperature = 0.0
|
||||
self.pt100_temperature = 0.0
|
||||
self.sensor_average_temperature = 0.0
|
||||
self.target_temperature = 0.0
|
||||
self.setting_temperature = 0.0
|
||||
self.viscosity = 0.0
|
||||
self.average_viscosity = 0.0
|
||||
self.speed = 0.0
|
||||
self.force = 0.0
|
||||
|
||||
self._frame_to_reactor_id = {1: "reactor_1", 2: "reactor_2", 3: "reactor_3", 4: "reactor_4", 5: "reactor_5"}
|
||||
|
||||
# ==================== 工作流方法 ====================
|
||||
|
||||
def reactor_taken_out(self):
|
||||
@@ -232,7 +281,7 @@ 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:
|
||||
@@ -291,22 +340,39 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
|
||||
def liquid_feeding_titration(
|
||||
self,
|
||||
volume_formula: str,
|
||||
assign_material_name: str,
|
||||
titration_type: str = "1",
|
||||
volume_formula: str = None,
|
||||
x_value: str = None,
|
||||
feeding_order_data: str = None,
|
||||
extracted_actuals: str = None,
|
||||
titration_type: str = "2",
|
||||
time: str = "90",
|
||||
torque_variation: int = 2,
|
||||
temperature: float = 25.00
|
||||
):
|
||||
"""液体进料(滴定)
|
||||
|
||||
支持两种模式:
|
||||
1. 直接提供 volume_formula (传统方式)
|
||||
2. 自动计算公式: 提供 x_value, feeding_order_data, extracted_actuals (新方式)
|
||||
|
||||
Args:
|
||||
volume_formula: 分液公式(μL)
|
||||
assign_material_name: 物料名称
|
||||
titration_type: 是否滴定(1=否, 2=是)
|
||||
volume_formula: 分液公式(μL),如果提供则直接使用,否则自动计算
|
||||
x_value: 手工输入的x值,格式如 "1-2-3"
|
||||
feeding_order_data: feeding_order JSON字符串或对象,用于获取m二酐值
|
||||
extracted_actuals: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh和actualVolume
|
||||
titration_type: 是否滴定(1=否, 2=是),默认2
|
||||
time: 观察时间(分钟)
|
||||
torque_variation: 是否观察(int类型, 1=否, 2=是)
|
||||
temperature: 温度(°C)
|
||||
|
||||
自动公式模板: 1000*(m二酐-x)*V二酐滴定/m二酐滴定
|
||||
其中:
|
||||
- m二酐滴定 = actualTargetWeigh (从extracted_actuals获取)
|
||||
- V二酐滴定 = actualVolume (从extracted_actuals获取)
|
||||
- x = x_value (手工输入)
|
||||
- m二酐 = feeding_order中type为"main_anhydride"的amount值
|
||||
"""
|
||||
self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding(titration)"}')
|
||||
material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
|
||||
@@ -316,6 +382,84 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
if isinstance(temperature, str):
|
||||
temperature = float(temperature)
|
||||
|
||||
# 如果没有直接提供volume_formula,则自动计算
|
||||
if not volume_formula and x_value and feeding_order_data and extracted_actuals:
|
||||
# 1. 解析 feeding_order_data 获取 m二酐
|
||||
if isinstance(feeding_order_data, str):
|
||||
try:
|
||||
feeding_order_data = json.loads(feeding_order_data)
|
||||
except json.JSONDecodeError as e:
|
||||
raise ValueError(f"feeding_order_data JSON解析失败: {str(e)}")
|
||||
|
||||
# 支持两种格式:
|
||||
# 格式1: 直接是数组 [{...}, {...}]
|
||||
# 格式2: 对象包裹 {"feeding_order": [{...}, {...}]}
|
||||
if isinstance(feeding_order_data, list):
|
||||
feeding_order_list = feeding_order_data
|
||||
elif isinstance(feeding_order_data, dict):
|
||||
feeding_order_list = feeding_order_data.get("feeding_order", [])
|
||||
else:
|
||||
raise ValueError("feeding_order_data 必须是数组或包含feeding_order的字典")
|
||||
|
||||
# 从feeding_order中找到main_anhydride的amount
|
||||
m_anhydride = None
|
||||
for item in feeding_order_list:
|
||||
if item.get("type") == "main_anhydride":
|
||||
m_anhydride = item.get("amount")
|
||||
break
|
||||
|
||||
if m_anhydride is None:
|
||||
raise ValueError("在feeding_order中未找到type为'main_anhydride'的条目")
|
||||
|
||||
# 2. 解析 extracted_actuals 获取 actualTargetWeigh 和 actualVolume
|
||||
if isinstance(extracted_actuals, str):
|
||||
try:
|
||||
extracted_actuals_obj = json.loads(extracted_actuals)
|
||||
except json.JSONDecodeError as e:
|
||||
raise ValueError(f"extracted_actuals JSON解析失败: {str(e)}")
|
||||
else:
|
||||
extracted_actuals_obj = extracted_actuals
|
||||
|
||||
# 获取actuals数组
|
||||
actuals_list = extracted_actuals_obj.get("actuals", [])
|
||||
if not actuals_list:
|
||||
# actuals为空,无法自动生成公式,回退到手动模式
|
||||
print(f"警告: extracted_actuals中actuals数组为空,无法自动生成公式,请手动提供volume_formula")
|
||||
volume_formula = None # 清空,触发后续的错误检查
|
||||
else:
|
||||
# 根据assign_material_name匹配对应的actual数据
|
||||
# 假设order_code中包含物料名称
|
||||
matched_actual = None
|
||||
for actual in actuals_list:
|
||||
order_code = actual.get("order_code", "")
|
||||
# 简单匹配:如果order_code包含物料名称
|
||||
if assign_material_name in order_code:
|
||||
matched_actual = actual
|
||||
break
|
||||
|
||||
# 如果没有匹配到,使用第一个
|
||||
if not matched_actual and actuals_list:
|
||||
matched_actual = actuals_list[0]
|
||||
|
||||
if not matched_actual:
|
||||
raise ValueError("无法从extracted_actuals中获取实际加料量数据")
|
||||
|
||||
m_anhydride_titration = matched_actual.get("actualTargetWeigh") # m二酐滴定
|
||||
v_anhydride_titration = matched_actual.get("actualVolume") # V二酐滴定
|
||||
|
||||
if m_anhydride_titration is None or v_anhydride_titration is None:
|
||||
raise ValueError(f"实际加料量数据不完整: actualTargetWeigh={m_anhydride_titration}, actualVolume={v_anhydride_titration}")
|
||||
|
||||
# 3. 构建公式: 1000*(m二酐-x)*V二酐滴定/m二酐滴定
|
||||
# x_value 格式如 "{{1-2-3}}",保留完整格式(包括花括号)直接替换到公式中
|
||||
volume_formula = f"1000*({m_anhydride}-{x_value})*{v_anhydride_titration}/{m_anhydride_titration}"
|
||||
|
||||
print(f"自动生成滴定公式: {volume_formula}")
|
||||
print(f" m二酐={m_anhydride}, x={x_value}, V二酐滴定={v_anhydride_titration}, m二酐滴定={m_anhydride_titration}")
|
||||
|
||||
elif not volume_formula:
|
||||
raise ValueError("必须提供 volume_formula 或 (x_value + feeding_order_data + extracted_actuals)")
|
||||
|
||||
liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["liquid"]
|
||||
observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["observe"]
|
||||
|
||||
@@ -343,9 +487,288 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
print(f"当前队列长度: {len(self.pending_task_params)}")
|
||||
return json.dumps({"suc": True})
|
||||
|
||||
def _extract_actuals_from_report(self, report) -> Dict[str, Any]:
|
||||
data = report.get('data') if isinstance(report, dict) else None
|
||||
actual_target_weigh = None
|
||||
actual_volume = None
|
||||
if data:
|
||||
extra = data.get('extraProperties') or {}
|
||||
if isinstance(extra, dict):
|
||||
for v in extra.values():
|
||||
obj = None
|
||||
try:
|
||||
obj = json.loads(v) if isinstance(v, str) else v
|
||||
except Exception:
|
||||
obj = None
|
||||
if isinstance(obj, dict):
|
||||
tw = obj.get('targetWeigh')
|
||||
vol = obj.get('volume')
|
||||
if tw is not None:
|
||||
try:
|
||||
actual_target_weigh = float(tw)
|
||||
except Exception:
|
||||
pass
|
||||
if vol is not None:
|
||||
try:
|
||||
actual_volume = float(vol)
|
||||
except Exception:
|
||||
pass
|
||||
return {
|
||||
'actualTargetWeigh': actual_target_weigh,
|
||||
'actualVolume': actual_volume
|
||||
}
|
||||
|
||||
def extract_actuals_from_batch_reports(self, batch_reports_result: str) -> dict:
|
||||
print(f"[DEBUG] extract_actuals 收到原始数据: {batch_reports_result[:500]}...") # 打印前500字符
|
||||
try:
|
||||
obj = json.loads(batch_reports_result) if isinstance(batch_reports_result, str) else batch_reports_result
|
||||
if isinstance(obj, dict) and "return_info" in obj:
|
||||
inner = obj["return_info"]
|
||||
obj = json.loads(inner) if isinstance(inner, str) else inner
|
||||
reports = obj.get("reports", []) if isinstance(obj, dict) else []
|
||||
print(f"[DEBUG] 解析后的 reports 数组长度: {len(reports)}")
|
||||
except Exception as e:
|
||||
print(f"[DEBUG] 解析异常: {e}")
|
||||
reports = []
|
||||
|
||||
actuals = []
|
||||
for i, r in enumerate(reports):
|
||||
print(f"[DEBUG] 处理 report[{i}]: order_code={r.get('order_code')}, has_extracted={r.get('extracted') is not None}, has_report={r.get('report') is not None}")
|
||||
order_code = r.get("order_code")
|
||||
order_id = r.get("order_id")
|
||||
ex = r.get("extracted")
|
||||
if isinstance(ex, dict) and (ex.get("actualTargetWeigh") is not None or ex.get("actualVolume") is not None):
|
||||
print(f"[DEBUG] 从 extracted 字段提取: actualTargetWeigh={ex.get('actualTargetWeigh')}, actualVolume={ex.get('actualVolume')}")
|
||||
actuals.append({
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"actualTargetWeigh": ex.get("actualTargetWeigh"),
|
||||
"actualVolume": ex.get("actualVolume")
|
||||
})
|
||||
continue
|
||||
report = r.get("report")
|
||||
vals = self._extract_actuals_from_report(report) if report else {"actualTargetWeigh": None, "actualVolume": None}
|
||||
print(f"[DEBUG] 从 report 字段提取: {vals}")
|
||||
actuals.append({
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
**vals
|
||||
})
|
||||
|
||||
print(f"[DEBUG] 最终提取的 actuals 数组长度: {len(actuals)}")
|
||||
result = {
|
||||
"return_info": json.dumps({"actuals": actuals}, ensure_ascii=False)
|
||||
}
|
||||
print(f"[DEBUG] 返回结果: {result}")
|
||||
return result
|
||||
|
||||
def process_temperature_cutoff_report(self, report_request) -> Dict[str, Any]:
|
||||
try:
|
||||
data = report_request.data
|
||||
def _f(v):
|
||||
try:
|
||||
return float(v)
|
||||
except Exception:
|
||||
return 0.0
|
||||
self.target_temperature = _f(data.get("targetTemperature"))
|
||||
self.setting_temperature = _f(data.get("settingTemperature"))
|
||||
self.in_temperature = _f(data.get("inTemperature"))
|
||||
self.out_temperature = _f(data.get("outTemperature"))
|
||||
self.pt100_temperature = _f(data.get("pt100Temperature"))
|
||||
self.sensor_average_temperature = _f(data.get("sensorAverageTemperature"))
|
||||
self.speed = _f(data.get("speed"))
|
||||
self.force = _f(data.get("force"))
|
||||
self.viscosity = _f(data.get("viscosity"))
|
||||
self.average_viscosity = _f(data.get("averageViscosity"))
|
||||
|
||||
try:
|
||||
if hasattr(self, "_ros_node") and self._ros_node is not None:
|
||||
props = [
|
||||
"in_temperature","out_temperature","pt100_temperature","sensor_average_temperature",
|
||||
"target_temperature","setting_temperature","viscosity","average_viscosity",
|
||||
"speed","force"
|
||||
]
|
||||
for name in props:
|
||||
pub = self._ros_node._property_publishers.get(name)
|
||||
if pub:
|
||||
pub.publish_property()
|
||||
frame = data.get("frameCode")
|
||||
reactor_id = None
|
||||
try:
|
||||
reactor_id = self._frame_to_reactor_id.get(int(frame))
|
||||
except Exception:
|
||||
reactor_id = None
|
||||
if reactor_id and hasattr(self._ros_node, "sub_devices"):
|
||||
child = self._ros_node.sub_devices.get(reactor_id)
|
||||
if child and hasattr(child, "driver_instance"):
|
||||
child.driver_instance.update_metrics(data)
|
||||
pubs = getattr(child.ros_node_instance, "_property_publishers", {})
|
||||
for name in props:
|
||||
p = pubs.get(name)
|
||||
if p:
|
||||
p.publish_property()
|
||||
except Exception:
|
||||
pass
|
||||
event = {
|
||||
"frameCode": data.get("frameCode"),
|
||||
"generateTime": data.get("generateTime"),
|
||||
"targetTemperature": data.get("targetTemperature"),
|
||||
"settingTemperature": data.get("settingTemperature"),
|
||||
"inTemperature": data.get("inTemperature"),
|
||||
"outTemperature": data.get("outTemperature"),
|
||||
"pt100Temperature": data.get("pt100Temperature"),
|
||||
"sensorAverageTemperature": data.get("sensorAverageTemperature"),
|
||||
"speed": data.get("speed"),
|
||||
"force": data.get("force"),
|
||||
"viscosity": data.get("viscosity"),
|
||||
"averageViscosity": data.get("averageViscosity"),
|
||||
"request_time": report_request.request_time,
|
||||
"timestamp": datetime.now().isoformat(),
|
||||
"reactor_id": self._frame_to_reactor_id.get(int(data.get("frameCode", 0))) if str(data.get("frameCode", "")).isdigit() else None,
|
||||
}
|
||||
|
||||
base_dir = Path(__file__).resolve().parents[3] / "unilabos_data"
|
||||
base_dir.mkdir(parents=True, exist_ok=True)
|
||||
out_file = base_dir / "temperature_cutoff_events.json"
|
||||
try:
|
||||
existing = json.loads(out_file.read_text(encoding="utf-8")) if out_file.exists() else []
|
||||
if not isinstance(existing, list):
|
||||
existing = []
|
||||
except Exception:
|
||||
existing = []
|
||||
existing.append(event)
|
||||
out_file.write_text(json.dumps(existing, ensure_ascii=False, indent=2), encoding="utf-8")
|
||||
|
||||
if hasattr(self, "_ros_node") and self._ros_node is not None:
|
||||
ns = self._ros_node.namespace
|
||||
topics = {
|
||||
"targetTemperature": f"{ns}/metrics/temperature_cutoff/target_temperature",
|
||||
"settingTemperature": f"{ns}/metrics/temperature_cutoff/setting_temperature",
|
||||
"inTemperature": f"{ns}/metrics/temperature_cutoff/in_temperature",
|
||||
"outTemperature": f"{ns}/metrics/temperature_cutoff/out_temperature",
|
||||
"pt100Temperature": f"{ns}/metrics/temperature_cutoff/pt100_temperature",
|
||||
"sensorAverageTemperature": f"{ns}/metrics/temperature_cutoff/sensor_average_temperature",
|
||||
"speed": f"{ns}/metrics/temperature_cutoff/speed",
|
||||
"force": f"{ns}/metrics/temperature_cutoff/force",
|
||||
"viscosity": f"{ns}/metrics/temperature_cutoff/viscosity",
|
||||
"averageViscosity": f"{ns}/metrics/temperature_cutoff/average_viscosity",
|
||||
}
|
||||
for k, t in topics.items():
|
||||
v = data.get(k)
|
||||
if v is not None:
|
||||
pub = self._ros_node.create_publisher(Float64, t, 10)
|
||||
pub.publish(convert_to_ros_msg(Float64, float(v)))
|
||||
|
||||
evt_pub = self._ros_node.create_publisher(String, f"{ns}/events/temperature_cutoff", 10)
|
||||
evt_pub.publish(convert_to_ros_msg(String, json.dumps(event, ensure_ascii=False)))
|
||||
|
||||
return {"processed": True, "frame": data.get("frameCode")}
|
||||
except Exception as e:
|
||||
return {"processed": False, "error": str(e)}
|
||||
|
||||
def wait_for_multiple_orders_and_get_reports(self, batch_create_result: str = None, timeout: int = 7200, check_interval: int = 10) -> Dict[str, Any]:
|
||||
try:
|
||||
timeout = int(timeout) if timeout else 7200
|
||||
check_interval = int(check_interval) if check_interval else 10
|
||||
if not batch_create_result or batch_create_result == "":
|
||||
raise ValueError("batch_create_result为空")
|
||||
try:
|
||||
if isinstance(batch_create_result, str) and '[...]' in batch_create_result:
|
||||
batch_create_result = batch_create_result.replace('[...]', '[]')
|
||||
result_obj = json.loads(batch_create_result) if isinstance(batch_create_result, str) else batch_create_result
|
||||
if isinstance(result_obj, dict) and "return_value" in result_obj:
|
||||
inner = result_obj.get("return_value")
|
||||
if isinstance(inner, str):
|
||||
result_obj = json.loads(inner)
|
||||
elif isinstance(inner, dict):
|
||||
result_obj = inner
|
||||
order_codes = result_obj.get("order_codes", [])
|
||||
order_ids = result_obj.get("order_ids", [])
|
||||
except Exception as e:
|
||||
raise ValueError(f"解析batch_create_result失败: {e}")
|
||||
if not order_codes or not order_ids:
|
||||
raise ValueError("缺少order_codes或order_ids")
|
||||
if not isinstance(order_codes, list):
|
||||
order_codes = [order_codes]
|
||||
if not isinstance(order_ids, list):
|
||||
order_ids = [order_ids]
|
||||
if len(order_codes) != len(order_ids):
|
||||
raise ValueError("order_codes与order_ids数量不匹配")
|
||||
total = len(order_codes)
|
||||
pending = {c: {"order_id": order_ids[i], "completed": False} for i, c in enumerate(order_codes)}
|
||||
reports = []
|
||||
start_time = time.time()
|
||||
while pending:
|
||||
elapsed_time = time.time() - start_time
|
||||
if elapsed_time > timeout:
|
||||
for oc in list(pending.keys()):
|
||||
reports.append({
|
||||
"order_code": oc,
|
||||
"order_id": pending[oc]["order_id"],
|
||||
"status": "timeout",
|
||||
"completion_status": None,
|
||||
"report": None,
|
||||
"extracted": None,
|
||||
"elapsed_time": elapsed_time
|
||||
})
|
||||
break
|
||||
completed_round = []
|
||||
for oc in list(pending.keys()):
|
||||
oid = pending[oc]["order_id"]
|
||||
if oc in self.order_completion_status:
|
||||
info = self.order_completion_status[oc]
|
||||
try:
|
||||
rep = self.hardware_interface.order_report(oid)
|
||||
if not rep:
|
||||
rep = {"error": "无法获取报告"}
|
||||
reports.append({
|
||||
"order_code": oc,
|
||||
"order_id": oid,
|
||||
"status": "completed",
|
||||
"completion_status": info.get('status'),
|
||||
"report": rep,
|
||||
"extracted": self._extract_actuals_from_report(rep),
|
||||
"elapsed_time": elapsed_time
|
||||
})
|
||||
completed_round.append(oc)
|
||||
del self.order_completion_status[oc]
|
||||
except Exception as e:
|
||||
reports.append({
|
||||
"order_code": oc,
|
||||
"order_id": oid,
|
||||
"status": "error",
|
||||
"completion_status": info.get('status') if 'info' in locals() else None,
|
||||
"report": None,
|
||||
"extracted": None,
|
||||
"error": str(e),
|
||||
"elapsed_time": elapsed_time
|
||||
})
|
||||
completed_round.append(oc)
|
||||
for oc in completed_round:
|
||||
del pending[oc]
|
||||
if pending:
|
||||
time.sleep(check_interval)
|
||||
completed_count = sum(1 for r in reports if r['status'] == 'completed')
|
||||
timeout_count = sum(1 for r in reports if r['status'] == 'timeout')
|
||||
error_count = sum(1 for r in reports if r['status'] == 'error')
|
||||
final_elapsed_time = time.time() - start_time
|
||||
summary = {
|
||||
"total": total,
|
||||
"completed": completed_count,
|
||||
"timeout": timeout_count,
|
||||
"error": error_count,
|
||||
"elapsed_time": round(final_elapsed_time, 2),
|
||||
"reports": reports
|
||||
}
|
||||
return {
|
||||
"return_info": json.dumps(summary, ensure_ascii=False)
|
||||
}
|
||||
except Exception as e:
|
||||
raise
|
||||
|
||||
def liquid_feeding_beaker(
|
||||
self,
|
||||
volume: str = "35000",
|
||||
volume: str = "350",
|
||||
assign_material_name: str = "BAPP",
|
||||
time: str = "0",
|
||||
torque_variation: int = 1,
|
||||
@@ -355,7 +778,7 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
"""液体进料烧杯
|
||||
|
||||
Args:
|
||||
volume: 分液量(μL)
|
||||
volume: 分液质量(g)
|
||||
assign_material_name: 物料名称(试剂瓶位)
|
||||
time: 观察时间(分钟)
|
||||
torque_variation: 是否观察(int类型, 1=否, 2=是)
|
||||
@@ -489,6 +912,106 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
"""
|
||||
return self.hardware_interface.create_order(json_str)
|
||||
|
||||
def hard_delete_merged_workflows(self, workflow_ids: List[str]) -> Dict[str, Any]:
|
||||
"""
|
||||
调用新接口：硬删除合并后的工作流
|
||||
|
||||
Args:
|
||||
workflow_ids: 要删除的工作流ID数组
|
||||
|
||||
Returns:
|
||||
删除结果
|
||||
"""
|
||||
try:
|
||||
if not isinstance(workflow_ids, list):
|
||||
raise ValueError("workflow_ids必须是字符串数组")
|
||||
return self._delete_project_api("/api/lims/order/workflows", workflow_ids)
|
||||
except Exception as e:
|
||||
print(f"❌ 硬删除异常: {str(e)}")
|
||||
return {"code": 0, "message": str(e), "timestamp": int(time.time())}
|
||||
|
||||
# ==================== 项目接口通用方法 ====================
|
||||
|
||||
def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
|
||||
"""项目接口通用POST调用
|
||||
|
||||
参数:
|
||||
endpoint: 接口路径（例如 /api/lims/order/skip-titration-steps）
|
||||
data: 请求体中的 data 字段内容
|
||||
|
||||
返回:
|
||||
dict: 服务端响应，失败时返回 {code:0,message,...}
|
||||
"""
|
||||
request_data = {
|
||||
"apiKey": API_CONFIG["api_key"],
|
||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||
"data": data
|
||||
}
|
||||
print(f"\n📤 项目POST请求: {self.hardware_interface.host}{endpoint}")
|
||||
print(json.dumps(request_data, indent=4, ensure_ascii=False))
|
||||
try:
|
||||
response = requests.post(
|
||||
f"{self.hardware_interface.host}{endpoint}",
|
||||
json=request_data,
|
||||
headers={"Content-Type": "application/json"},
|
||||
timeout=30
|
||||
)
|
||||
result = response.json()
|
||||
if result.get("code") == 1:
|
||||
print("✅ 请求成功")
|
||||
else:
|
||||
print(f"❌ 请求失败: {result.get('message','未知错误')}")
|
||||
return result
|
||||
except json.JSONDecodeError:
|
||||
print("❌ 非JSON响应")
|
||||
return {"code": 0, "message": "非JSON响应", "timestamp": int(time.time())}
|
||||
except requests.exceptions.Timeout:
|
||||
print("❌ 请求超时")
|
||||
return {"code": 0, "message": "请求超时", "timestamp": int(time.time())}
|
||||
except requests.exceptions.RequestException as e:
|
||||
print(f"❌ 网络异常: {str(e)}")
|
||||
return {"code": 0, "message": str(e), "timestamp": int(time.time())}
|
||||
|
||||
def _delete_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
|
||||
"""项目接口通用DELETE调用
|
||||
|
||||
参数:
|
||||
endpoint: 接口路径（例如 /api/lims/order/workflows）
|
||||
data: 请求体中的 data 字段内容
|
||||
|
||||
返回:
|
||||
dict: 服务端响应，失败时返回 {code:0,message,...}
|
||||
"""
|
||||
request_data = {
|
||||
"apiKey": API_CONFIG["api_key"],
|
||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||
"data": data
|
||||
}
|
||||
print(f"\n📤 项目DELETE请求: {self.hardware_interface.host}{endpoint}")
|
||||
print(json.dumps(request_data, indent=4, ensure_ascii=False))
|
||||
try:
|
||||
response = requests.delete(
|
||||
f"{self.hardware_interface.host}{endpoint}",
|
||||
json=request_data,
|
||||
headers={"Content-Type": "application/json"},
|
||||
timeout=30
|
||||
)
|
||||
result = response.json()
|
||||
if result.get("code") == 1:
|
||||
print("✅ 请求成功")
|
||||
else:
|
||||
print(f"❌ 请求失败: {result.get('message','未知错误')}")
|
||||
return result
|
||||
except json.JSONDecodeError:
|
||||
print("❌ 非JSON响应")
|
||||
return {"code": 0, "message": "非JSON响应", "timestamp": int(time.time())}
|
||||
except requests.exceptions.Timeout:
|
||||
print("❌ 请求超时")
|
||||
return {"code": 0, "message": "请求超时", "timestamp": int(time.time())}
|
||||
except requests.exceptions.RequestException as e:
|
||||
print(f"❌ 网络异常: {str(e)}")
|
||||
return {"code": 0, "message": str(e), "timestamp": int(time.time())}
|
||||
|
||||
# ==================== 工作流执行核心方法 ====================
|
||||
|
||||
def process_web_workflows(self, web_workflow_json: str) -> List[Dict[str, str]]:
|
||||
@@ -519,69 +1042,6 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
print(f"错误：处理工作流失败: {e}")
|
||||
return []
|
||||
|
||||
def process_and_execute_workflow(self, workflow_name: str, task_name: str) -> dict:
|
||||
"""
|
||||
一站式处理工作流程：解析网页工作流列表，合并工作流(带参数)，然后发布任务
|
||||
|
||||
Args:
|
||||
workflow_name: 合并后的工作流名称
|
||||
task_name: 任务名称
|
||||
|
||||
Returns:
|
||||
任务创建结果
|
||||
"""
|
||||
web_workflow_list = self.get_workflow_sequence()
|
||||
print(f"\n{'='*60}")
|
||||
print(f"📋 处理网页工作流列表: {web_workflow_list}")
|
||||
print(f"{'='*60}")
|
||||
|
||||
web_workflow_json = json.dumps({"web_workflow_list": web_workflow_list})
|
||||
workflows_result = self.process_web_workflows(web_workflow_json)
|
||||
|
||||
if not workflows_result:
|
||||
return self._create_error_result("处理网页工作流列表失败", "process_web_workflows")
|
||||
|
||||
print(f"workflows_result 类型: {type(workflows_result)}")
|
||||
print(f"workflows_result 内容: {workflows_result}")
|
||||
|
||||
workflows_with_params = self._build_workflows_with_parameters(workflows_result)
|
||||
|
||||
merge_data = {
|
||||
"name": workflow_name,
|
||||
"workflows": workflows_with_params
|
||||
}
|
||||
|
||||
# print(f"\n🔄 合并工作流（带参数），名称: {workflow_name}")
|
||||
merged_workflow = self.merge_workflow_with_parameters(json.dumps(merge_data))
|
||||
|
||||
if not merged_workflow:
|
||||
return self._create_error_result("合并工作流失败", "merge_workflow_with_parameters")
|
||||
|
||||
workflow_id = merged_workflow.get("subWorkflows", [{}])[0].get("id", "")
|
||||
# print(f"\n📤 使用工作流创建任务: {workflow_name} (ID: {workflow_id})")
|
||||
|
||||
order_params = [{
|
||||
"orderCode": f"task_{self.hardware_interface.get_current_time_iso8601()}",
|
||||
"orderName": task_name,
|
||||
"workFlowId": workflow_id,
|
||||
"borderNumber": 1,
|
||||
"paramValues": {}
|
||||
}]
|
||||
|
||||
result = self.create_order(json.dumps(order_params))
|
||||
|
||||
if not result:
|
||||
return self._create_error_result("创建任务失败", "create_order")
|
||||
|
||||
# 清空工作流序列和参数，防止下次执行时累积重复
|
||||
self.pending_task_params = []
|
||||
self.clear_workflows() # 清空工作流序列，避免重复累积
|
||||
|
||||
# print(f"\n✅ 任务创建成功: {result}")
|
||||
# print(f"\n✅ 任务创建成功")
|
||||
print(f"{'='*60}\n")
|
||||
return json.dumps({"success": True, "result": result})
|
||||
|
||||
def _build_workflows_with_parameters(self, workflows_result: list) -> list:
|
||||
"""
|
||||
构建带参数的工作流列表
|
||||
@@ -780,4 +1240,91 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
except Exception as e:
|
||||
print(f" ❌ 工作流ID验证失败: {e}")
|
||||
print(f" 💡 将重新合并工作流")
|
||||
return False
|
||||
return False
|
||||
|
||||
def process_and_execute_workflow(self, workflow_name: str, task_name: str) -> dict:
|
||||
"""
|
||||
一站式处理工作流程：解析网页工作流列表，合并工作流(带参数)，然后发布任务
|
||||
|
||||
Args:
|
||||
workflow_name: 合并后的工作流名称
|
||||
task_name: 任务名称
|
||||
|
||||
Returns:
|
||||
任务创建结果
|
||||
"""
|
||||
web_workflow_list = self.get_workflow_sequence()
|
||||
print(f"\n{'='*60}")
|
||||
print(f"📋 处理网页工作流列表: {web_workflow_list}")
|
||||
print(f"{'='*60}")
|
||||
|
||||
web_workflow_json = json.dumps({"web_workflow_list": web_workflow_list})
|
||||
workflows_result = self.process_web_workflows(web_workflow_json)
|
||||
|
||||
if not workflows_result:
|
||||
return self._create_error_result("处理网页工作流列表失败", "process_web_workflows")
|
||||
|
||||
print(f"workflows_result 类型: {type(workflows_result)}")
|
||||
print(f"workflows_result 内容: {workflows_result}")
|
||||
|
||||
workflows_with_params = self._build_workflows_with_parameters(workflows_result)
|
||||
|
||||
merge_data = {
|
||||
"name": workflow_name,
|
||||
"workflows": workflows_with_params
|
||||
}
|
||||
|
||||
# print(f"\n🔄 合并工作流（带参数），名称: {workflow_name}")
|
||||
merged_workflow = self.merge_workflow_with_parameters(json.dumps(merge_data))
|
||||
|
||||
if not merged_workflow:
|
||||
return self._create_error_result("合并工作流失败", "merge_workflow_with_parameters")
|
||||
|
||||
workflow_id = merged_workflow.get("subWorkflows", [{}])[0].get("id", "")
|
||||
# print(f"\n📤 使用工作流创建任务: {workflow_name} (ID: {workflow_id})")
|
||||
|
||||
order_params = [{
|
||||
"orderCode": f"task_{self.hardware_interface.get_current_time_iso8601()}",
|
||||
"orderName": task_name,
|
||||
"workFlowId": workflow_id,
|
||||
"borderNumber": 1,
|
||||
"paramValues": {}
|
||||
}]
|
||||
|
||||
result = self.create_order(json.dumps(order_params))
|
||||
|
||||
if not result:
|
||||
return self._create_error_result("创建任务失败", "create_order")
|
||||
|
||||
# 清空工作流序列和参数，防止下次执行时累积重复
|
||||
self.pending_task_params = []
|
||||
self.clear_workflows() # 清空工作流序列，避免重复累积
|
||||
|
||||
# print(f"\n✅ 任务创建成功: {result}")
|
||||
# print(f"\n✅ 任务创建成功")
|
||||
print(f"{'='*60}\n")
|
||||
|
||||
# 返回结果，包含合并后的工作流数据和订单参数
|
||||
return json.dumps({
|
||||
"success": True,
|
||||
"result": result,
|
||||
"merged_workflow": merged_workflow,
|
||||
"order_params": order_params
|
||||
})
|
||||
|
||||
# ==================== 反应器操作接口 ====================
|
||||
|
||||
def skip_titration_steps(self, preintake_id: str) -> Dict[str, Any]:
|
||||
"""跳过当前正在进行的滴定步骤
|
||||
|
||||
Args:
|
||||
preintake_id: 通量ID
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 服务器响应，包含状态码、消息和时间戳
|
||||
"""
|
||||
try:
|
||||
return self._post_project_api("/api/lims/order/skip-titration-steps", preintake_id)
|
||||
except Exception as e:
|
||||
print(f"❌ 跳过滴定异常: {str(e)}")
|
||||
return {"code": 0, "message": str(e), "timestamp": int(time.time())}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -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
@@ -1,133 +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
|
||||
@@ -138,20 +49,27 @@ 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 """
|
||||
|
||||
""" 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
|
||||
#self.deck = create_a_coin_cell_deck()
|
||||
@@ -159,27 +77,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
"resources": [self.deck]
|
||||
})
|
||||
|
||||
def sync_transfer_resources(self) -> Dict[str, Any]:
|
||||
"""
|
||||
供跨工站转运完成后调用，强制将当前台面资源同步到云端/前端。
|
||||
"""
|
||||
if not hasattr(self, "_ros_node") or self._ros_node is None:
|
||||
return {"status": "failed", "error": "ros_node_not_ready"}
|
||||
if self.deck is None:
|
||||
return {"status": "failed", "error": "deck_not_initialized"}
|
||||
try:
|
||||
future = ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource,
|
||||
True,
|
||||
resources=[self.deck],
|
||||
)
|
||||
if future:
|
||||
future.result()
|
||||
return {"status": "success"}
|
||||
except Exception as exc:
|
||||
logger.error(f"同步转运资源失败: {exc}", exc_info=True)
|
||||
return {"status": "failed", "error": str(exc)}
|
||||
|
||||
# 批量操作在这里写
|
||||
async def change_hole_sheet_to_2(self, hole: MaterialHole):
|
||||
hole._unilabos_state["max_sheets"] = 2
|
||||
@@ -594,11 +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"
|
||||
|
||||
|
||||
@@ -607,11 +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 ======================
|
||||
@@ -709,8 +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:
|
||||
@@ -758,25 +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:
|
||||
@@ -801,32 +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
|
||||
@@ -884,25 +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:
|
||||
@@ -928,38 +784,54 @@ 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))}")
|
||||
|
||||
print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {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)
|
||||
|
||||
#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
|
||||
# 生成包含elec_num_N、coin_num_N、timestamp的CSV文件
|
||||
@@ -970,7 +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
|
||||
@@ -1005,54 +876,38 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
#self.success = True
|
||||
#return self.success
|
||||
|
||||
def run_packaging_workflow(self, workflow_config: Dict[str, Any]) -> "CoinCellAssemblyWorkstation":
|
||||
config = workflow_config or {}
|
||||
|
||||
qiming_params = config.get("qiming") or {}
|
||||
if qiming_params:
|
||||
self.qiming_coin_cell_code(**qiming_params)
|
||||
|
||||
if config.get("init", True):
|
||||
self.func_pack_device_init()
|
||||
if config.get("auto", True):
|
||||
self.func_pack_device_auto()
|
||||
if config.get("start", True):
|
||||
self.func_pack_device_start()
|
||||
|
||||
packaging_config = config.get("packaging") or {}
|
||||
bottle_num = packaging_config.get("bottle_num")
|
||||
if bottle_num is not None:
|
||||
self.func_pack_send_bottle_num(bottle_num)
|
||||
|
||||
allpack_params = packaging_config.get("command") or {}
|
||||
if allpack_params:
|
||||
self.func_allpack_cmd(**allpack_params)
|
||||
|
||||
return self
|
||||
|
||||
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"
|
||||
@@ -1157,7 +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():
|
||||
@@ -1243,95 +1098,45 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
"""移液枪头库存 (数量, INT16)"""
|
||||
inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1)
|
||||
return inventory
|
||||
|
||||
|
||||
'''
|
||||
|
||||
def run_coin_cell_assembly_workflow(
|
||||
self,
|
||||
workflow_config: Optional[Dict[str, Any]] = None,
|
||||
) -> Dict[str, Any]:
|
||||
config: Dict[str, Any]
|
||||
if workflow_config is None:
|
||||
config = {}
|
||||
elif isinstance(workflow_config, list):
|
||||
config = {"materials": workflow_config}
|
||||
else:
|
||||
config = workflow_config
|
||||
qiming_defaults = {
|
||||
"fujipian_panshu": 1,
|
||||
"fujipian_juzhendianwei": 0,
|
||||
"gemopanshu": 1,
|
||||
"gemo_juzhendianwei": 0,
|
||||
"lvbodian": True,
|
||||
"battery_pressure_mode": True,
|
||||
"battery_pressure": 4200,
|
||||
"battery_clean_ignore": False,
|
||||
}
|
||||
qiming_params = {**qiming_defaults, **(config.get("qiming") or {})}
|
||||
qiming_success = self.qiming_coin_cell_code(**qiming_params)
|
||||
|
||||
step_results: Dict[str, Any] = {}
|
||||
try:
|
||||
self.func_pack_device_init()
|
||||
step_results["init"] = True
|
||||
except Exception as exc:
|
||||
step_results["init"] = f"error: {exc}"
|
||||
|
||||
try:
|
||||
self.func_pack_device_auto()
|
||||
step_results["auto"] = True
|
||||
except Exception as exc:
|
||||
step_results["auto"] = f"error: {exc}"
|
||||
|
||||
try:
|
||||
self.func_pack_device_start()
|
||||
step_results["start"] = True
|
||||
except Exception as exc:
|
||||
step_results["start"] = f"error: {exc}"
|
||||
|
||||
packaging_cfg = config.get("packaging") or {}
|
||||
bottle_num = packaging_cfg.get("bottle_num", 1)
|
||||
try:
|
||||
self.func_pack_send_bottle_num(bottle_num)
|
||||
step_results["send_bottle_num"] = True
|
||||
except Exception as exc:
|
||||
step_results["send_bottle_num"] = f"error: {exc}"
|
||||
|
||||
command_defaults = {
|
||||
"elec_num": 1,
|
||||
"elec_use_num": 1,
|
||||
"elec_vol": 50,
|
||||
"assembly_type": 7,
|
||||
"assembly_pressure": 4200,
|
||||
"file_path": "/Users/sml/work",
|
||||
}
|
||||
command_params = {**command_defaults, **(packaging_cfg.get("command") or {})}
|
||||
packaging_result = self.func_allpack_cmd(**command_params)
|
||||
|
||||
finished_result = self.func_pack_send_finished_cmd()
|
||||
stop_result = self.func_pack_device_stop()
|
||||
|
||||
return {
|
||||
"qiming": {
|
||||
"params": qiming_params,
|
||||
"success": qiming_success,
|
||||
},
|
||||
"workflow_steps": step_results,
|
||||
"packaging": {
|
||||
"bottle_num": bottle_num,
|
||||
"command": command_params,
|
||||
"result": packaging_result,
|
||||
},
|
||||
"finish": {
|
||||
"send_finished": finished_result,
|
||||
"stop": stop_result,
|
||||
},
|
||||
}
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
deck = CoincellDeck(setup=True, name="coin_cell_deck")
|
||||
w = CoinCellAssemblyWorkstation(deck=deck, address="172.16.28.102", port="502", debug_mode=False)
|
||||
w.run_coin_cell_assembly_workflow()
|
||||
|
||||
|
||||
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,
|
||||
93
unilabos/devices/workstation/post_process/bottle_carriers.py
Normal file
93
unilabos/devices/workstation/post_process/bottle_carriers.py
Normal file
@@ -0,0 +1,93 @@
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.itemized_carrier import BottleCarrier
|
||||
from unilabos.devices.workstation.post_process.bottles import POST_PROCESS_PolymerStation_Reagent_Bottle
|
||||
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
|
||||
|
||||
|
||||
# ============================================================================
|
||||
# 聚合站（PolymerStation）载体定义（统一入口）
|
||||
# ============================================================================
|
||||
|
||||
def POST_PROCESS_Raw_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
"""聚合站-单试剂瓶载架
|
||||
|
||||
参数:
|
||||
- name: 载架名称前缀
|
||||
"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯/试剂瓶占位尺寸（使用圆形占位）
|
||||
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="POST_PROCESS_Raw_1BottleCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
# 统一后缀采用 "flask_1" 命名（可按需调整）
|
||||
carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
def POST_PROCESS_Reaction_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
"""聚合站-单试剂瓶载架
|
||||
|
||||
参数:
|
||||
- name: 载架名称前缀
|
||||
"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯/试剂瓶占位尺寸（使用圆形占位）
|
||||
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="POST_PROCESS_Reaction_1BottleCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
# 统一后缀采用 "flask_1" 命名（可按需调整）
|
||||
carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
20
unilabos/devices/workstation/post_process/bottles.py
Normal file
20
unilabos/devices/workstation/post_process/bottles.py
Normal file
@@ -0,0 +1,20 @@
|
||||
from unilabos.resources.itemized_carrier import Bottle
|
||||
|
||||
|
||||
def POST_PROCESS_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="POST_PROCESS_PolymerStation_Reagent_Bottle",
|
||||
)
|
||||
|
||||
46
unilabos/devices/workstation/post_process/decks.py
Normal file
46
unilabos/devices/workstation/post_process/decks.py
Normal file
@@ -0,0 +1,46 @@
|
||||
from os import name
|
||||
from pylabrobot.resources import Deck, Coordinate, Rotation
|
||||
|
||||
from unilabos.devices.workstation.post_process.warehouses import (
|
||||
post_process_warehouse_4x3x1,
|
||||
post_process_warehouse_4x3x1_2,
|
||||
)
|
||||
|
||||
|
||||
|
||||
class post_process_deck(Deck):
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "post_process_deck",
|
||||
size_x: float = 2000.0,
|
||||
size_y: float = 1000.0,
|
||||
size_z: float = 2670.0,
|
||||
category: str = "deck",
|
||||
setup: bool = True,
|
||||
) -> None:
|
||||
super().__init__(name=name, size_x=1700.0, size_y=1350.0, size_z=2670.0)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
# 添加仓库
|
||||
self.warehouses = {
|
||||
"原料罐堆栈": post_process_warehouse_4x3x1("原料罐堆栈"),
|
||||
"反应罐堆栈": post_process_warehouse_4x3x1_2("反应罐堆栈"),
|
||||
|
||||
}
|
||||
# warehouse 的位置
|
||||
self.warehouse_locations = {
|
||||
"原料罐堆栈": Coordinate(350.0, 55.0, 0.0),
|
||||
"反应罐堆栈": Coordinate(1000.0, 55.0, 0.0),
|
||||
|
||||
}
|
||||
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
157
unilabos/devices/workstation/post_process/opcua_huairou.json
Normal file
157
unilabos/devices/workstation/post_process/opcua_huairou.json
Normal file
@@ -0,0 +1,157 @@
|
||||
{
|
||||
"register_node_list_from_csv_path": {
|
||||
"path": "opcua_nodes_huairou.csv"
|
||||
},
|
||||
"create_flow": [
|
||||
{
|
||||
"name": "trigger_grab_action",
|
||||
"description": "触发反应罐及原料罐抓取动作",
|
||||
"parameters": ["reaction_tank_number", "raw_tank_number"],
|
||||
"action": [
|
||||
{
|
||||
"init_function": {
|
||||
"func_name": "init_grab_params",
|
||||
"write_nodes": ["reaction_tank_number", "raw_tank_number"]
|
||||
},
|
||||
"start_function": {
|
||||
"func_name": "start_grab",
|
||||
"write_nodes": {"grab_trigger": true},
|
||||
"condition_nodes": ["grab_complete"],
|
||||
"stop_condition_expression": "grab_complete == True",
|
||||
"timeout_seconds": 999999.0
|
||||
},
|
||||
"stop_function": {
|
||||
"func_name": "stop_grab",
|
||||
"write_nodes": {"grab_trigger": false}
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "trigger_post_processing",
|
||||
"description": "触发后处理动作",
|
||||
"parameters": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
|
||||
"injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
|
||||
"second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
|
||||
"first_powder_wash_count","second_powder_wash_count","initial_water_amount",
|
||||
"pre_filtration_mixing_time","atomization_pressure_kpa"],
|
||||
"action": [
|
||||
{
|
||||
"init_function": {
|
||||
"func_name": "init_post_processing_params",
|
||||
"write_nodes": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
|
||||
"injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
|
||||
"second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
|
||||
"first_powder_wash_count","second_powder_wash_count","initial_water_amount",
|
||||
"pre_filtration_mixing_time","atomization_pressure_kpa"]
|
||||
},
|
||||
"start_function": {
|
||||
"func_name": "start_post_processing",
|
||||
"write_nodes": {"post_process_trigger": true},
|
||||
"condition_nodes": ["post_process_complete"],
|
||||
"stop_condition_expression": "post_process_complete == True",
|
||||
"timeout_seconds": 999999.0
|
||||
},
|
||||
"stop_function": {
|
||||
"func_name": "stop_post_processing",
|
||||
"write_nodes": {"post_process_trigger": false}
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "trigger_cleaning_action",
|
||||
"description": "触发清洗及管路吹气动作",
|
||||
"parameters": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
|
||||
"nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
|
||||
"nmp_pump_cleaning_suction_count",
|
||||
"nmp_inner_wall_cleaning_waste_time",
|
||||
"nmp_stirrer_cleaning_injection",
|
||||
"nmp_stirrer_cleaning_count",
|
||||
"nmp_stirrer_cleaning_wait_time",
|
||||
"nmp_stirrer_cleaning_waste_time",
|
||||
"water_outer_wall_cleaning_injection",
|
||||
"water_outer_wall_cleaning_count",
|
||||
"water_outer_wall_cleaning_wait_time",
|
||||
"water_outer_wall_cleaning_waste_time",
|
||||
"water_inner_wall_cleaning_injection",
|
||||
"water_inner_wall_cleaning_count",
|
||||
"water_pump_cleaning_suction_count",
|
||||
"water_inner_wall_cleaning_waste_time",
|
||||
"water_stirrer_cleaning_injection",
|
||||
"water_stirrer_cleaning_count",
|
||||
"water_stirrer_cleaning_wait_time",
|
||||
"water_stirrer_cleaning_waste_time",
|
||||
"acetone_outer_wall_cleaning_injection",
|
||||
"acetone_outer_wall_cleaning_count",
|
||||
"acetone_outer_wall_cleaning_wait_time",
|
||||
"acetone_outer_wall_cleaning_waste_time",
|
||||
"acetone_inner_wall_cleaning_injection",
|
||||
"acetone_inner_wall_cleaning_count",
|
||||
"acetone_pump_cleaning_suction_count",
|
||||
"acetone_inner_wall_cleaning_waste_time",
|
||||
"acetone_stirrer_cleaning_injection",
|
||||
"acetone_stirrer_cleaning_count",
|
||||
"acetone_stirrer_cleaning_wait_time",
|
||||
"acetone_stirrer_cleaning_waste_time",
|
||||
"pipe_blowing_time",
|
||||
"injection_pump_forward_empty_suction_count",
|
||||
"injection_pump_reverse_empty_suction_count",
|
||||
"filtration_liquid_selection"],
|
||||
"action": [
|
||||
{
|
||||
"init_function": {
|
||||
"func_name": "init_cleaning_params",
|
||||
"write_nodes": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
|
||||
"nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
|
||||
"nmp_pump_cleaning_suction_count",
|
||||
"nmp_inner_wall_cleaning_waste_time",
|
||||
"nmp_stirrer_cleaning_injection",
|
||||
"nmp_stirrer_cleaning_count",
|
||||
"nmp_stirrer_cleaning_wait_time",
|
||||
"nmp_stirrer_cleaning_waste_time",
|
||||
"water_outer_wall_cleaning_injection",
|
||||
"water_outer_wall_cleaning_count",
|
||||
"water_outer_wall_cleaning_wait_time",
|
||||
"water_outer_wall_cleaning_waste_time",
|
||||
"water_inner_wall_cleaning_injection",
|
||||
"water_inner_wall_cleaning_count",
|
||||
"water_pump_cleaning_suction_count",
|
||||
"water_inner_wall_cleaning_waste_time",
|
||||
"water_stirrer_cleaning_injection",
|
||||
"water_stirrer_cleaning_count",
|
||||
"water_stirrer_cleaning_wait_time",
|
||||
"water_stirrer_cleaning_waste_time",
|
||||
"acetone_outer_wall_cleaning_injection",
|
||||
"acetone_outer_wall_cleaning_count",
|
||||
"acetone_outer_wall_cleaning_wait_time",
|
||||
"acetone_outer_wall_cleaning_waste_time",
|
||||
"acetone_inner_wall_cleaning_injection",
|
||||
"acetone_inner_wall_cleaning_count",
|
||||
"acetone_pump_cleaning_suction_count",
|
||||
"acetone_inner_wall_cleaning_waste_time",
|
||||
"acetone_stirrer_cleaning_injection",
|
||||
"acetone_stirrer_cleaning_count",
|
||||
"acetone_stirrer_cleaning_wait_time",
|
||||
"acetone_stirrer_cleaning_waste_time",
|
||||
"pipe_blowing_time",
|
||||
"injection_pump_forward_empty_suction_count",
|
||||
"injection_pump_reverse_empty_suction_count",
|
||||
"filtration_liquid_selection"]
|
||||
},
|
||||
"start_function": {
|
||||
"func_name": "start_cleaning",
|
||||
"write_nodes": {"cleaning_and_pipe_blowing_trigger": true},
|
||||
"condition_nodes": ["cleaning_complete"],
|
||||
"stop_condition_expression": "cleaning_complete == True",
|
||||
"timeout_seconds": 999999.0
|
||||
},
|
||||
"stop_function": {
|
||||
"func_name": "stop_cleaning",
|
||||
"write_nodes": {"cleaning_and_pipe_blowing_trigger": false}
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,70 @@
|
||||
Name,EnglishName,NodeType,DataType,NodeLanguage,NodeId
|
||||
原料罐号码,raw_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|原料罐号码
|
||||
反应罐号码,reaction_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|反应罐号码
|
||||
反应罐及原料罐抓取触发,grab_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取触发
|
||||
后处理动作触发,post_process_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作触发
|
||||
搅拌桨雾化快速,atomization_fast_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨雾化快速
|
||||
搅拌桨洗涤慢速,wash_slow_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨洗涤慢速
|
||||
注射泵抽液速度,injection_pump_suction_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵抽液速度
|
||||
注射泵推液速度,injection_pump_push_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵推液速度
|
||||
抽原液次数,raw_liquid_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽原液次数
|
||||
第1次洗涤加水量,first_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第1次洗涤加水量
|
||||
第2次洗涤加水量,second_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第2次洗涤加水量
|
||||
第1次粉末搅拌时间,first_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第1次粉末搅拌时间
|
||||
第2次粉末搅拌时间,second_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第2次粉末搅拌时间
|
||||
第1次粉末洗涤次数,first_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第1次粉末洗涤次数
|
||||
第2次粉末洗涤次数,second_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第2次粉末洗涤次数
|
||||
最开始加水量,initial_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|最开始加水量
|
||||
抽滤前搅拌时间,pre_filtration_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|抽滤前搅拌时间
|
||||
雾化压力Kpa,atomization_pressure_kpa,VARIABLE,INT16,Chinese,ns=4;s=OPC|雾化压力Kpa
|
||||
清洗及管路吹气触发,cleaning_and_pipe_blowing_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气触发
|
||||
废液桶满报警,waste_tank_full_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|废液桶满报警
|
||||
清水桶空报警,water_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清水桶空报警
|
||||
NMP桶空报警,nmp_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|NMP桶空报警
|
||||
丙酮桶空报警,acetone_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|丙酮桶空报警
|
||||
门开报警,door_open_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|门开报警
|
||||
反应罐及原料罐抓取完成PLCtoPC,grab_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取完成PLCtoPC
|
||||
后处理动作完成PLCtoPC,post_process_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作完成PLCtoPC
|
||||
清洗及管路吹气完成PLCtoPC,cleaning_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气完成PLCtoPC
|
||||
远程模式PLCtoPC,remote_mode,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|远程模式PLCtoPC
|
||||
设备准备就绪PLCtoPC,device_ready,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|设备准备就绪PLCtoPC
|
||||
NMP外壁清洗加注,nmp_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP外壁清洗加注
|
||||
NMP外壁清洗次数,nmp_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP外壁清洗次数
|
||||
NMP外壁清洗等待时间,nmp_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗等待时间
|
||||
NMP外壁清洗抽废时间,nmp_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗抽废时间
|
||||
NMP内壁清洗加注,nmp_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP内壁清洗加注
|
||||
NMP内壁清洗次数,nmp_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP内壁清洗次数
|
||||
NMP泵清洗抽次数,nmp_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP泵清洗抽次数
|
||||
NMP内壁清洗抽废时间,nmp_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP内壁清洗抽废时间
|
||||
NMP搅拌桨清洗加注,nmp_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP搅拌桨清洗加注
|
||||
NMP搅拌桨清洗次数,nmp_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP搅拌桨清洗次数
|
||||
NMP搅拌桨清洗等待时间,nmp_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗等待时间
|
||||
NMP搅拌桨清洗抽废时间,nmp_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗抽废时间
|
||||
清水外壁清洗加注,water_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水外壁清洗加注
|
||||
清水外壁清洗次数,water_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水外壁清洗次数
|
||||
清水外壁清洗等待时间,water_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗等待时间
|
||||
清水外壁清洗抽废时间,water_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗抽废时间
|
||||
清水内壁清洗加注,water_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水内壁清洗加注
|
||||
清水内壁清洗次数,water_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水内壁清洗次数
|
||||
清水泵清洗抽次数,water_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水泵清洗抽次数
|
||||
清水内壁清洗抽废时间,water_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水内壁清洗抽废时间
|
||||
清水搅拌桨清洗加注,water_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水搅拌桨清洗加注
|
||||
清水搅拌桨清洗次数,water_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水搅拌桨清洗次数
|
||||
清水搅拌桨清洗等待时间,water_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗等待时间
|
||||
清水搅拌桨清洗抽废时间,water_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗抽废时间
|
||||
丙酮外壁清洗加注,acetone_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮外壁清洗加注
|
||||
丙酮外壁清洗次数,acetone_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮外壁清洗次数
|
||||
丙酮外壁清洗等待时间,acetone_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗等待时间
|
||||
丙酮外壁清洗抽废时间,acetone_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗抽废时间
|
||||
丙酮内壁清洗加注,acetone_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮内壁清洗加注
|
||||
丙酮内壁清洗次数,acetone_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮内壁清洗次数
|
||||
丙酮泵清洗抽次数,acetone_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮泵清洗抽次数
|
||||
丙酮内壁清洗抽废时间,acetone_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮内壁清洗抽废时间
|
||||
丙酮搅拌桨清洗加注,acetone_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗加注
|
||||
丙酮搅拌桨清洗次数,acetone_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗次数
|
||||
丙酮搅拌桨清洗等待时间,acetone_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗等待时间
|
||||
丙酮搅拌桨清洗抽废时间,acetone_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗抽废时间
|
||||
管道吹气时间,pipe_blowing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|管道吹气时间
|
||||
注射泵正向空抽次数,injection_pump_forward_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵正向空抽次数
|
||||
注射泵反向空抽次数,injection_pump_reverse_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵反向空抽次数
|
||||
抽滤液选择0水1丙酮,filtration_liquid_selection,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽滤液选择0水1丙酮
|
||||
|
1781
unilabos/devices/workstation/post_process/post_process.py
Normal file
1781
unilabos/devices/workstation/post_process/post_process.py
Normal file
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,45 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "post_process_station",
|
||||
"name": "post_process_station",
|
||||
"children": [
|
||||
"post_process_deck"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "post_process_station",
|
||||
"config": {
|
||||
"url": "opc.tcp://LAPTOP-AN6QGCSD:53530/OPCUA/SimulationServer",
|
||||
"config_path": "C:\\Users\\Roy\\Desktop\\DPLC\\Uni-Lab-OS\\unilabos\\devices\\workstation\\post_process\\opcua_huairou.json",
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "post_process_deck",
|
||||
"_resource_type": "unilabos.devices.workstation.post_process.decks:post_process_deck"
|
||||
}
|
||||
}
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "post_process_deck",
|
||||
"name": "post_process_deck",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "post_process_station",
|
||||
"type": "deck",
|
||||
"class": "post_process_deck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "post_process_deck",
|
||||
"setup": true
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,160 @@
|
||||
from typing import Dict, Optional, List, Union
|
||||
from pylabrobot.resources import Coordinate
|
||||
from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources
|
||||
|
||||
from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR
|
||||
|
||||
|
||||
LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
|
||||
|
||||
|
||||
def warehouse_factory(
|
||||
name: str,
|
||||
num_items_x: int = 1,
|
||||
num_items_y: int = 4,
|
||||
num_items_z: int = 4,
|
||||
dx: float = 137.0,
|
||||
dy: float = 96.0,
|
||||
dz: float = 120.0,
|
||||
item_dx: float = 10.0,
|
||||
item_dy: float = 10.0,
|
||||
item_dz: float = 10.0,
|
||||
resource_size_x: float = 127.0,
|
||||
resource_size_y: float = 86.0,
|
||||
resource_size_z: float = 25.0,
|
||||
removed_positions: Optional[List[int]] = None,
|
||||
empty: bool = False,
|
||||
category: str = "warehouse",
|
||||
model: Optional[str] = None,
|
||||
col_offset: int = 0, # 列起始偏移量，用于生成5-8等命名
|
||||
layout: str = "col-major", # 新增：排序方式，"col-major"=列优先，"row-major"=行优先
|
||||
):
|
||||
# 创建位置坐标
|
||||
locations = []
|
||||
|
||||
for layer in range(num_items_z): # 层
|
||||
for row in range(num_items_y): # 行
|
||||
for col in range(num_items_x): # 列
|
||||
# 计算位置
|
||||
x = dx + col * item_dx
|
||||
|
||||
# 根据 layout 决定 y 坐标计算
|
||||
if layout == "row-major":
|
||||
# 行优先：row=0(第1行) 应该显示在上方，y 值最小
|
||||
y = dy + row * item_dy
|
||||
else:
|
||||
# 列优先：保持原逻辑
|
||||
y = dy + (num_items_y - row - 1) * item_dy
|
||||
|
||||
z = dz + (num_items_z - layer - 1) * item_dz
|
||||
locations.append(Coordinate(x, y, z))
|
||||
|
||||
if removed_positions:
|
||||
locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
|
||||
|
||||
_sites = create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=locations,
|
||||
resource_size_x=resource_size_x,
|
||||
resource_size_y=resource_size_y,
|
||||
resource_size_z=resource_size_z,
|
||||
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)
|
||||
|
||||
# 🔑 修改：使用数字命名，最上面是4321，最下面是12,11,10,9
|
||||
# 命名顺序必须与坐标生成顺序一致：层 → 行 → 列
|
||||
keys = []
|
||||
for layer in range(num_items_z): # 遍历每一层
|
||||
for row in range(num_items_y): # 遍历每一行
|
||||
for col in range(num_items_x): # 遍历每一列
|
||||
# 倒序计算全局行号：row=0 应该对应 global_row=0（第1行：4321）
|
||||
# row=1 应该对应 global_row=1（第2行：8765）
|
||||
# row=2 应该对应 global_row=2（第3行：12,11,10,9）
|
||||
# 但前端显示时 row=2 在最上面，所以需要反转
|
||||
reversed_row = (num_items_y - 1 - row) # row=0→reversed_row=2, row=1→reversed_row=1, row=2→reversed_row=0
|
||||
global_row = layer * num_items_y + reversed_row
|
||||
|
||||
# 每行的最大数字 = (global_row + 1) * num_items_x + col_offset
|
||||
base_num = (global_row + 1) * num_items_x + col_offset
|
||||
|
||||
# 从右到左递减：4,3,2,1
|
||||
key = str(base_num - col)
|
||||
keys.append(key)
|
||||
|
||||
sites = {i: site for i, site in zip(keys, _sites.values())}
|
||||
|
||||
return WareHouse(
|
||||
name=name,
|
||||
size_x=dx + item_dx * num_items_x,
|
||||
size_y=dy + item_dy * num_items_y,
|
||||
size_z=dz + item_dz * num_items_z,
|
||||
num_items_x = num_items_x,
|
||||
num_items_y = num_items_y,
|
||||
num_items_z = num_items_z,
|
||||
ordering_layout=layout, # 传递排序方式到 ordering_layout
|
||||
sites=sites,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
|
||||
|
||||
class WareHouse(ItemizedCarrier):
|
||||
"""堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）"""
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
num_items_x: int,
|
||||
num_items_y: int,
|
||||
num_items_z: int,
|
||||
layout: str = "x-y",
|
||||
sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
|
||||
category: str = "warehouse",
|
||||
model: Optional[str] = None,
|
||||
ordering_layout: str = "col-major",
|
||||
**kwargs
|
||||
):
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
# ordered_items=ordered_items,
|
||||
# ordering=ordering,
|
||||
num_items_x=num_items_x,
|
||||
num_items_y=num_items_y,
|
||||
num_items_z=num_items_z,
|
||||
layout=layout,
|
||||
sites=sites,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
|
||||
# 保存排序方式，供graphio.py的坐标映射使用
|
||||
# 使用独立属性避免与父类的layout冲突
|
||||
self.ordering_layout = ordering_layout
|
||||
|
||||
def serialize(self) -> dict:
|
||||
"""序列化时保存 ordering_layout 属性"""
|
||||
data = super().serialize()
|
||||
data['ordering_layout'] = self.ordering_layout
|
||||
return data
|
||||
|
||||
def get_site_by_layer_position(self, row: int, col: int, layer: int) -> ResourceHolder:
|
||||
if not (0 <= layer < 4 and 0 <= row < 4 and 0 <= col < 1):
|
||||
raise ValueError("无效的位置: layer={}, row={}, col={}".format(layer, row, col))
|
||||
|
||||
site_index = layer * 4 + row * 1 + col
|
||||
return self.sites[site_index]
|
||||
|
||||
def add_rack_to_position(self, row: int, col: int, layer: int, rack) -> None:
|
||||
site = self.get_site_by_layer_position(row, col, layer)
|
||||
site.assign_child_resource(rack)
|
||||
|
||||
def get_rack_at_position(self, row: int, col: int, layer: int):
|
||||
site = self.get_site_by_layer_position(row, col, layer)
|
||||
return site.resource
|
||||
38
unilabos/devices/workstation/post_process/warehouses.py
Normal file
38
unilabos/devices/workstation/post_process/warehouses.py
Normal file
@@ -0,0 +1,38 @@
|
||||
from unilabos.devices.workstation.post_process.post_process_warehouse import WareHouse, warehouse_factory
|
||||
|
||||
|
||||
|
||||
# =================== Other ===================
|
||||
|
||||
|
||||
def post_process_warehouse_4x3x1(name: str) -> WareHouse:
|
||||
"""创建post_process 4x3x1仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4,
|
||||
num_items_y=3,
|
||||
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="warehouse",
|
||||
)
|
||||
|
||||
def post_process_warehouse_4x3x1_2(name: str) -> WareHouse:
|
||||
"""已弃用：创建post_process 4x3x1仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4,
|
||||
num_items_y=3,
|
||||
num_items_z=1,
|
||||
dx=12.0,
|
||||
dy=12.0,
|
||||
dz=12.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
)
|
||||
@@ -147,7 +147,7 @@ class WorkstationBase(ABC):
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
deck: Deck,
|
||||
deck: Optional[Deck],
|
||||
*args,
|
||||
**kwargs, # 必须有kwargs
|
||||
):
|
||||
@@ -349,5 +349,5 @@ class WorkstationBase(ABC):
|
||||
|
||||
|
||||
class ProtocolNode(WorkstationBase):
|
||||
def __init__(self, deck: Optional[PLRResource], *args, **kwargs):
|
||||
def __init__(self, protocol_type: List[str], deck: Optional[PLRResource], *args, **kwargs):
|
||||
super().__init__(deck, *args, **kwargs)
|
||||
|
||||
@@ -4,7 +4,7 @@ Workstation HTTP Service Module
|
||||
|
||||
统一的工作站报送接收服务，基于LIMS协议规范：
|
||||
1. 步骤完成报送 - POST /report/step_finish
|
||||
2. 通量完成报送 - POST /report/sample_finish
|
||||
2. 通量完成报送 - POST /report/sample_finish
|
||||
3. 任务完成报送 - POST /report/order_finish
|
||||
4. 批量更新报送 - POST /report/batch_update
|
||||
5. 物料变更报送 - POST /report/material_change
|
||||
@@ -22,6 +22,7 @@ from http.server import BaseHTTPRequestHandler, HTTPServer
|
||||
from urllib.parse import urlparse
|
||||
from dataclasses import dataclass, asdict
|
||||
from datetime import datetime
|
||||
from pathlib import Path
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
|
||||
@@ -54,18 +55,18 @@ class HttpResponse:
|
||||
|
||||
class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
"""工作站HTTP请求处理器"""
|
||||
|
||||
|
||||
def __init__(self, workstation_instance, *args, **kwargs):
|
||||
self.workstation = workstation_instance
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
|
||||
def do_POST(self):
|
||||
"""处理POST请求 - 统一的工作站报送接口"""
|
||||
try:
|
||||
# 解析请求路径
|
||||
parsed_path = urlparse(self.path)
|
||||
endpoint = parsed_path.path
|
||||
|
||||
|
||||
# 读取请求体
|
||||
content_length = int(self.headers.get('Content-Length', 0))
|
||||
if content_length > 0:
|
||||
@@ -73,9 +74,17 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
request_data = json.loads(post_data.decode('utf-8'))
|
||||
else:
|
||||
request_data = {}
|
||||
|
||||
|
||||
logger.info(f"收到工作站报送: {endpoint} - {request_data.get('token', 'unknown')}")
|
||||
|
||||
|
||||
try:
|
||||
payload_for_log = {"method": "POST", **request_data}
|
||||
self._save_raw_request(endpoint, payload_for_log)
|
||||
if hasattr(self.workstation, '_reports_received_count'):
|
||||
self.workstation._reports_received_count += 1
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
# 统一的报送端点路由（基于LIMS协议规范）
|
||||
if endpoint == '/report/step_finish':
|
||||
response = self._handle_step_finish_report(request_data)
|
||||
@@ -90,6 +99,8 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
response = self._handle_material_change_report(request_data)
|
||||
elif endpoint == '/report/error_handling':
|
||||
response = self._handle_error_handling_report(request_data)
|
||||
elif endpoint == '/report/temperature-cutoff':
|
||||
response = self._handle_temperature_cutoff_report(request_data)
|
||||
# 保留LIMS协议端点以兼容现有系统
|
||||
elif endpoint == '/LIMS/step_finish':
|
||||
response = self._handle_step_finish_report(request_data)
|
||||
@@ -102,18 +113,19 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"不支持的报送端点: {endpoint}",
|
||||
data={"supported_endpoints": [
|
||||
"/report/step_finish",
|
||||
"/report/sample_finish",
|
||||
"/report/step_finish",
|
||||
"/report/sample_finish",
|
||||
"/report/order_finish",
|
||||
"/report/batch_update",
|
||||
"/report/material_change",
|
||||
"/report/error_handling"
|
||||
"/report/error_handling",
|
||||
"/report/temperature-cutoff"
|
||||
]}
|
||||
)
|
||||
|
||||
|
||||
# 发送响应
|
||||
self._send_response(response)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理工作站报送失败: {e}\\n{traceback.format_exc()}")
|
||||
error_response = HttpResponse(
|
||||
@@ -121,13 +133,18 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
message=f"请求处理失败: {str(e)}"
|
||||
)
|
||||
self._send_response(error_response)
|
||||
|
||||
|
||||
def do_GET(self):
|
||||
"""处理GET请求 - 健康检查和状态查询"""
|
||||
try:
|
||||
parsed_path = urlparse(self.path)
|
||||
endpoint = parsed_path.path
|
||||
|
||||
|
||||
try:
|
||||
self._save_raw_request(endpoint, {"method": "GET"})
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
if endpoint == '/status':
|
||||
response = self._handle_status_check()
|
||||
elif endpoint == '/health':
|
||||
@@ -138,9 +155,9 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
message=f"不支持的查询端点: {endpoint}",
|
||||
data={"supported_endpoints": ["/status", "/health"]}
|
||||
)
|
||||
|
||||
|
||||
self._send_response(response)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"GET请求处理失败: {e}")
|
||||
error_response = HttpResponse(
|
||||
@@ -148,7 +165,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
message=f"GET请求处理失败: {str(e)}"
|
||||
)
|
||||
self._send_response(error_response)
|
||||
|
||||
|
||||
def do_OPTIONS(self):
|
||||
"""处理OPTIONS请求 - CORS预检请求"""
|
||||
try:
|
||||
@@ -159,12 +176,12 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
self.send_header('Access-Control-Allow-Headers', 'Content-Type, Authorization')
|
||||
self.send_header('Access-Control-Max-Age', '86400')
|
||||
self.end_headers()
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"OPTIONS请求处理失败: {e}")
|
||||
self.send_response(500)
|
||||
self.end_headers()
|
||||
|
||||
|
||||
def _handle_step_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理步骤完成报送（统一LIMS协议规范）"""
|
||||
try:
|
||||
@@ -175,7 +192,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"缺少必要字段: {', '.join(missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 验证data字段内容
|
||||
data = request_data['data']
|
||||
data_required_fields = ['orderCode', 'orderName', 'stepName', 'stepId', 'sampleId', 'startTime', 'endTime']
|
||||
@@ -184,31 +201,31 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"data字段缺少必要内容: {', '.join(data_missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 创建统一请求对象
|
||||
report_request = WorkstationReportRequest(
|
||||
token=request_data['token'],
|
||||
request_time=request_data['request_time'],
|
||||
data=data
|
||||
)
|
||||
|
||||
|
||||
# 调用工作站处理方法
|
||||
result = self.workstation.process_step_finish_report(report_request)
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"步骤完成报送已处理: {data['stepName']} ({data['orderCode']})",
|
||||
acknowledgment_id=f"STEP_{int(time.time() * 1000)}_{data['stepId']}",
|
||||
data=result
|
||||
)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理步骤完成报送失败: {e}")
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"步骤完成报送处理失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _handle_sample_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理通量完成报送（统一LIMS协议规范）"""
|
||||
try:
|
||||
@@ -219,7 +236,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"缺少必要字段: {', '.join(missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 验证data字段内容
|
||||
data = request_data['data']
|
||||
data_required_fields = ['orderCode', 'orderName', 'sampleId', 'startTime', 'endTime', 'status']
|
||||
@@ -228,37 +245,37 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"data字段缺少必要内容: {', '.join(data_missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 创建统一请求对象
|
||||
report_request = WorkstationReportRequest(
|
||||
token=request_data['token'],
|
||||
request_time=request_data['request_time'],
|
||||
data=data
|
||||
)
|
||||
|
||||
|
||||
# 调用工作站处理方法
|
||||
result = self.workstation.process_sample_finish_report(report_request)
|
||||
|
||||
|
||||
status_names = {
|
||||
"0": "待生产", "2": "进样", "10": "开始",
|
||||
"0": "待生产", "2": "进样", "10": "开始",
|
||||
"20": "完成", "-2": "异常停止", "-3": "人工停止"
|
||||
}
|
||||
status_desc = status_names.get(str(data['status']), f"状态{data['status']}")
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"通量完成报送已处理: {data['sampleId']} ({data['orderCode']}) - {status_desc}",
|
||||
acknowledgment_id=f"SAMPLE_{int(time.time() * 1000)}_{data['sampleId']}",
|
||||
data=result
|
||||
)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理通量完成报送失败: {e}")
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"通量完成报送处理失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _handle_order_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理任务完成报送（统一LIMS协议规范）"""
|
||||
try:
|
||||
@@ -269,7 +286,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"缺少必要字段: {', '.join(missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 验证data字段内容
|
||||
data = request_data['data']
|
||||
data_required_fields = ['orderCode', 'orderName', 'startTime', 'endTime', 'status']
|
||||
@@ -278,7 +295,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"data字段缺少必要内容: {', '.join(data_missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 处理物料使用记录
|
||||
used_materials = []
|
||||
if 'usedMaterials' in data:
|
||||
@@ -290,41 +307,85 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
usedQuantity=material_data.get('usedQuantity', 0.0)
|
||||
)
|
||||
used_materials.append(material)
|
||||
|
||||
|
||||
# 创建统一请求对象
|
||||
report_request = WorkstationReportRequest(
|
||||
token=request_data['token'],
|
||||
request_time=request_data['request_time'],
|
||||
data=data
|
||||
)
|
||||
|
||||
|
||||
# 调用工作站处理方法
|
||||
result = self.workstation.process_order_finish_report(report_request, used_materials)
|
||||
|
||||
|
||||
status_names = {"30": "完成", "-11": "异常停止", "-12": "人工停止"}
|
||||
status_desc = status_names.get(str(data['status']), f"状态{data['status']}")
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"任务完成报送已处理: {data['orderName']} ({data['orderCode']}) - {status_desc}",
|
||||
acknowledgment_id=f"ORDER_{int(time.time() * 1000)}_{data['orderCode']}",
|
||||
data=result
|
||||
)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理任务完成报送失败: {e}")
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"任务完成报送处理失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _handle_temperature_cutoff_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
try:
|
||||
required_fields = ['token', 'request_time', 'data']
|
||||
if missing := [f for f in required_fields if f not in request_data]:
|
||||
return HttpResponse(success=False, message=f"缺少必要字段: {', '.join(missing)}")
|
||||
|
||||
data = request_data['data']
|
||||
metrics = [
|
||||
'frameCode',
|
||||
'generateTime',
|
||||
'targetTemperature',
|
||||
'settingTemperature',
|
||||
'inTemperature',
|
||||
'outTemperature',
|
||||
'pt100Temperature',
|
||||
'sensorAverageTemperature',
|
||||
'speed',
|
||||
'force',
|
||||
'viscosity',
|
||||
'averageViscosity'
|
||||
]
|
||||
if miss := [f for f in metrics if f not in data]:
|
||||
return HttpResponse(success=False, message=f"data字段缺少必要内容: {', '.join(miss)}")
|
||||
|
||||
report_request = WorkstationReportRequest(
|
||||
token=request_data['token'],
|
||||
request_time=request_data['request_time'],
|
||||
data=data
|
||||
)
|
||||
|
||||
result = {}
|
||||
if hasattr(self.workstation, 'process_temperature_cutoff_report'):
|
||||
result = self.workstation.process_temperature_cutoff_report(report_request)
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"温度/粘度报送已处理: 帧{data['frameCode']}",
|
||||
acknowledgment_id=f"TEMP_CUTOFF_{int(time.time()*1000)}_{data['frameCode']}",
|
||||
data=result
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"处理温度/粘度报送失败: {e}\n{traceback.format_exc()}")
|
||||
return HttpResponse(success=False, message=f"温度/粘度报送处理失败: {str(e)}")
|
||||
|
||||
def _handle_batch_update_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理批量报送"""
|
||||
try:
|
||||
step_updates = request_data.get('step_updates', [])
|
||||
sample_updates = request_data.get('sample_updates', [])
|
||||
order_updates = request_data.get('order_updates', [])
|
||||
|
||||
|
||||
results = {
|
||||
'step_results': [],
|
||||
'sample_results': [],
|
||||
@@ -332,7 +393,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
'total_processed': 0,
|
||||
'total_failed': 0
|
||||
}
|
||||
|
||||
|
||||
# 处理批量步骤更新
|
||||
for step_data in step_updates:
|
||||
try:
|
||||
@@ -347,7 +408,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
except Exception as e:
|
||||
results['step_results'].append(HttpResponse(success=False, message=str(e)))
|
||||
results['total_failed'] += 1
|
||||
|
||||
|
||||
# 处理批量通量更新
|
||||
for sample_data in sample_updates:
|
||||
try:
|
||||
@@ -362,7 +423,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
except Exception as e:
|
||||
results['sample_results'].append(HttpResponse(success=False, message=str(e)))
|
||||
results['total_failed'] += 1
|
||||
|
||||
|
||||
# 处理批量任务更新
|
||||
for order_data in order_updates:
|
||||
try:
|
||||
@@ -377,21 +438,21 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
except Exception as e:
|
||||
results['order_results'].append(HttpResponse(success=False, message=str(e)))
|
||||
results['total_failed'] += 1
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=results['total_failed'] == 0,
|
||||
message=f"批量报送处理完成: {results['total_processed']} 成功, {results['total_failed']} 失败",
|
||||
acknowledgment_id=f"BATCH_{int(time.time() * 1000)}",
|
||||
data=results
|
||||
)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理批量报送失败: {e}")
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"批量报送处理失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _handle_material_change_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理物料变更报送"""
|
||||
try:
|
||||
@@ -417,24 +478,24 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"缺少必要字段: {', '.join(missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 调用工作站的处理方法
|
||||
result = self.workstation.process_material_change_report(request_data)
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"物料变更报送已处理: {request_data['resource_id']} ({request_data['change_type']})",
|
||||
acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{request_data['resource_id']}",
|
||||
data=result
|
||||
)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理物料变更报送失败: {e}")
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"物料变更报送处理失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _handle_error_handling_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理错误处理报送"""
|
||||
try:
|
||||
@@ -446,13 +507,13 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message="奔曜格式缺少text字段"
|
||||
)
|
||||
|
||||
|
||||
error_data = request_data["text"]
|
||||
logger.info(f"收到奔曜错误处理报送: {error_data}")
|
||||
|
||||
|
||||
# 调用工作站的处理方法
|
||||
result = self.workstation.handle_external_error(error_data)
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"错误处理报送已收到: 任务{error_data.get('task', 'unknown')}, 错误代码{error_data.get('code', 'unknown')}",
|
||||
@@ -467,42 +528,50 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"缺少必要字段: {', '.join(missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 调用工作站的处理方法
|
||||
result = self.workstation.handle_external_error(request_data)
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"错误处理报送已处理: {request_data['error_type']} - {request_data['error_message']}",
|
||||
acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{request_data.get('action_id', 'unknown')}",
|
||||
data=result
|
||||
)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理错误处理报送失败: {e}")
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"错误处理报送处理失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _handle_status_check(self) -> HttpResponse:
|
||||
"""处理状态查询"""
|
||||
try:
|
||||
# 安全地获取 device_id
|
||||
device_id = "unknown"
|
||||
if hasattr(self.workstation, 'device_id'):
|
||||
device_id = self.workstation.device_id
|
||||
elif hasattr(self.workstation, '_ros_node') and hasattr(self.workstation._ros_node, 'device_id'):
|
||||
device_id = self.workstation._ros_node.device_id
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message="工作站报送服务正常运行",
|
||||
data={
|
||||
"workstation_id": self.workstation.device_id,
|
||||
"workstation_id": device_id,
|
||||
"service_type": "unified_reporting_service",
|
||||
"uptime": time.time() - getattr(self.workstation, '_start_time', time.time()),
|
||||
"reports_received": getattr(self.workstation, '_reports_received_count', 0),
|
||||
"supported_endpoints": [
|
||||
"POST /report/step_finish",
|
||||
"POST /report/sample_finish",
|
||||
"POST /report/sample_finish",
|
||||
"POST /report/order_finish",
|
||||
"POST /report/batch_update",
|
||||
"POST /report/material_change",
|
||||
"POST /report/error_handling",
|
||||
"POST /report/temperature-cutoff",
|
||||
"GET /status",
|
||||
"GET /health"
|
||||
]
|
||||
@@ -514,36 +583,52 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"状态查询失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _send_response(self, response: HttpResponse):
|
||||
"""发送响应"""
|
||||
try:
|
||||
# 设置响应状态码
|
||||
status_code = 200 if response.success else 400
|
||||
self.send_response(status_code)
|
||||
|
||||
|
||||
# 设置响应头
|
||||
self.send_header('Content-Type', 'application/json; charset=utf-8')
|
||||
self.send_header('Access-Control-Allow-Origin', '*')
|
||||
self.send_header('Access-Control-Allow-Methods', 'GET, POST, OPTIONS')
|
||||
self.send_header('Access-Control-Allow-Headers', 'Content-Type')
|
||||
self.end_headers()
|
||||
|
||||
|
||||
# 发送响应体
|
||||
response_json = json.dumps(asdict(response), ensure_ascii=False, indent=2)
|
||||
self.wfile.write(response_json.encode('utf-8'))
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"发送响应失败: {e}")
|
||||
|
||||
|
||||
def log_message(self, format, *args):
|
||||
"""重写日志方法"""
|
||||
logger.debug(f"HTTP请求: {format % args}")
|
||||
|
||||
def _save_raw_request(self, endpoint: str, request_data: Dict[str, Any]) -> None:
|
||||
try:
|
||||
base_dir = Path(__file__).resolve().parents[3] / "unilabos_data" / "http_reports"
|
||||
base_dir.mkdir(parents=True, exist_ok=True)
|
||||
log_path = getattr(self.workstation, "_http_log_path", None)
|
||||
log_file = Path(log_path) if log_path else (base_dir / f"http_{int(time.time()*1000)}.log")
|
||||
payload = {
|
||||
"endpoint": endpoint,
|
||||
"received_at": datetime.now().isoformat(),
|
||||
"body": request_data
|
||||
}
|
||||
with open(log_file, "a", encoding="utf-8") as f:
|
||||
f.write(json.dumps(payload, ensure_ascii=False) + "\n")
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
class WorkstationHTTPService:
|
||||
"""工作站HTTP服务"""
|
||||
|
||||
|
||||
def __init__(self, workstation_instance, host: str = "127.0.0.1", port: int = 8080):
|
||||
self.workstation = workstation_instance
|
||||
self.host = host
|
||||
@@ -551,31 +636,42 @@ class WorkstationHTTPService:
|
||||
self.server = None
|
||||
self.server_thread = None
|
||||
self.running = False
|
||||
|
||||
|
||||
# 初始化统计信息
|
||||
self.workstation._start_time = time.time()
|
||||
self.workstation._reports_received_count = 0
|
||||
|
||||
|
||||
def start(self):
|
||||
"""启动HTTP服务"""
|
||||
try:
|
||||
# 创建处理器工厂函数
|
||||
def handler_factory(*args, **kwargs):
|
||||
return WorkstationHTTPHandler(self.workstation, *args, **kwargs)
|
||||
|
||||
|
||||
# 创建HTTP服务器
|
||||
self.server = HTTPServer((self.host, self.port), handler_factory)
|
||||
|
||||
base_dir = Path(__file__).resolve().parents[3] / "unilabos_data" / "http_reports"
|
||||
base_dir.mkdir(parents=True, exist_ok=True)
|
||||
session_log = base_dir / f"http_{int(time.time()*1000)}.log"
|
||||
setattr(self.workstation, "_http_log_path", str(session_log))
|
||||
|
||||
# 安全地获取 device_id 用于线程命名
|
||||
device_id = "unknown"
|
||||
if hasattr(self.workstation, 'device_id'):
|
||||
device_id = self.workstation.device_id
|
||||
elif hasattr(self.workstation, '_ros_node') and hasattr(self.workstation._ros_node, 'device_id'):
|
||||
device_id = self.workstation._ros_node.device_id
|
||||
|
||||
# 在单独线程中运行服务器
|
||||
self.server_thread = threading.Thread(
|
||||
target=self._run_server,
|
||||
daemon=True,
|
||||
name=f"WorkstationHTTP-{self.workstation.device_id}"
|
||||
name=f"WorkstationHTTP-{device_id}"
|
||||
)
|
||||
|
||||
|
||||
self.running = True
|
||||
self.server_thread.start()
|
||||
|
||||
|
||||
logger.info(f"工作站HTTP报送服务已启动: http://{self.host}:{self.port}")
|
||||
logger.info("统一的报送端点 (基于LIMS协议规范):")
|
||||
logger.info(" - POST /report/step_finish # 步骤完成报送")
|
||||
@@ -585,6 +681,7 @@ class WorkstationHTTPService:
|
||||
logger.info("扩展报送端点:")
|
||||
logger.info(" - POST /report/material_change # 物料变更报送")
|
||||
logger.info(" - POST /report/error_handling # 错误处理报送")
|
||||
logger.info(" - POST /report/temperature-cutoff # 温度/粘度报送")
|
||||
logger.info("兼容端点:")
|
||||
logger.info(" - POST /LIMS/step_finish # 兼容LIMS步骤完成")
|
||||
logger.info(" - POST /LIMS/preintake_finish # 兼容LIMS通量完成")
|
||||
@@ -592,33 +689,33 @@ class WorkstationHTTPService:
|
||||
logger.info("服务端点:")
|
||||
logger.info(" - GET /status # 服务状态查询")
|
||||
logger.info(" - GET /health # 健康检查")
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"启动HTTP服务失败: {e}")
|
||||
raise
|
||||
|
||||
|
||||
def stop(self):
|
||||
"""停止HTTP服务"""
|
||||
try:
|
||||
if self.running and self.server:
|
||||
logger.info("正在停止工作站HTTP报送服务...")
|
||||
self.running = False
|
||||
|
||||
|
||||
# 停止serve_forever循环
|
||||
self.server.shutdown()
|
||||
|
||||
|
||||
# 等待服务器线程结束
|
||||
if self.server_thread and self.server_thread.is_alive():
|
||||
self.server_thread.join(timeout=5.0)
|
||||
|
||||
|
||||
# 关闭服务器套接字
|
||||
self.server.server_close()
|
||||
|
||||
|
||||
logger.info("工作站HTTP报送服务已停止")
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"停止HTTP服务失败: {e}")
|
||||
|
||||
|
||||
def _run_server(self):
|
||||
"""运行HTTP服务器"""
|
||||
try:
|
||||
@@ -629,12 +726,12 @@ class WorkstationHTTPService:
|
||||
logger.error(f"HTTP服务运行错误: {e}")
|
||||
finally:
|
||||
logger.info("HTTP服务器线程已退出")
|
||||
|
||||
|
||||
@property
|
||||
def is_running(self) -> bool:
|
||||
"""检查服务是否正在运行"""
|
||||
return self.running and self.server_thread and self.server_thread.is_alive()
|
||||
|
||||
|
||||
@property
|
||||
def service_url(self) -> str:
|
||||
"""获取服务URL"""
|
||||
@@ -648,7 +745,7 @@ class MaterialChangeReport:
|
||||
pass
|
||||
|
||||
|
||||
@dataclass
|
||||
@dataclass
|
||||
class TaskExecutionReport:
|
||||
"""已废弃：任务执行报送，请使用统一的WorkstationReportRequest"""
|
||||
pass
|
||||
@@ -668,40 +765,43 @@ __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):
|
||||
return {"processed": True}
|
||||
|
||||
|
||||
def process_sample_finish_report(self, report_request):
|
||||
return {"processed": True}
|
||||
|
||||
|
||||
def process_order_finish_report(self, report_request, used_materials):
|
||||
return {"processed": True}
|
||||
|
||||
|
||||
def process_material_change_report(self, report_data):
|
||||
return {"processed": True}
|
||||
|
||||
|
||||
def handle_external_error(self, error_data):
|
||||
return {"handled": True}
|
||||
|
||||
workstation = DummyWorkstation()
|
||||
|
||||
def process_temperature_cutoff_report(self, report_request):
|
||||
return {"processed": True, "metrics": report_request.data}
|
||||
|
||||
workstation = BioyondWorkstation()
|
||||
http_service = WorkstationHTTPService(workstation)
|
||||
|
||||
|
||||
try:
|
||||
http_service.start()
|
||||
print(f"测试服务器已启动: {http_service.service_url}")
|
||||
print("按 Ctrl+C 停止服务器")
|
||||
print("服务将持续运行，等待接收HTTP请求...")
|
||||
|
||||
|
||||
# 保持服务器运行 - 使用更好的等待机制
|
||||
try:
|
||||
while http_service.is_running:
|
||||
time.sleep(1)
|
||||
except KeyboardInterrupt:
|
||||
print("\n接收到停止信号...")
|
||||
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n正在停止服务器...")
|
||||
http_service.stop()
|
||||
@@ -709,4 +809,3 @@ if __name__ == "__main__":
|
||||
except Exception as e:
|
||||
print(f"服务器运行错误: {e}")
|
||||
http_service.stop()
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
105
unilabos/registry/devices/cameraSII.yaml
Normal file
105
unilabos/registry/devices/cameraSII.yaml
Normal file
@@ -0,0 +1,105 @@
|
||||
cameracontroller_device:
|
||||
category:
|
||||
- cameraSII
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-start:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
config: null
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
config:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: start参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.cameraSII.cameraUSB:CameraController
|
||||
status_types:
|
||||
status: dict
|
||||
type: python
|
||||
config_info: []
|
||||
description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
audio_bitrate:
|
||||
default: 64k
|
||||
type: string
|
||||
audio_device:
|
||||
type: string
|
||||
fps:
|
||||
default: 30
|
||||
type: integer
|
||||
height:
|
||||
default: 720
|
||||
type: integer
|
||||
host_id:
|
||||
default: demo-host
|
||||
type: string
|
||||
rtmp_url:
|
||||
default: rtmp://srs.sciol.ac.cn:4499/live/camera-01
|
||||
type: string
|
||||
signal_backend_url:
|
||||
default: wss://sciol.ac.cn/api/realtime/signal/host
|
||||
type: string
|
||||
video_bitrate:
|
||||
default: 1500k
|
||||
type: string
|
||||
video_device:
|
||||
default: /dev/video0
|
||||
type: string
|
||||
webrtc_api:
|
||||
default: https://srs.sciol.ac.cn/rtc/v1/play/
|
||||
type: string
|
||||
webrtc_stream_url:
|
||||
default: webrtc://srs.sciol.ac.cn:4500/live/camera-01
|
||||
type: string
|
||||
width:
|
||||
default: 1280
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
status:
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
type: object
|
||||
registry_type: device
|
||||
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
|
||||
|
||||
344
unilabos/registry/devices/chinwe.yaml
Normal file
344
unilabos/registry/devices/chinwe.yaml
Normal file
@@ -0,0 +1,344 @@
|
||||
separator.chinwe:
|
||||
category:
|
||||
- separator
|
||||
- chinwe
|
||||
class:
|
||||
action_value_mappings:
|
||||
motor_rotate_quarter:
|
||||
goal:
|
||||
direction: 顺时针
|
||||
motor_id: 4
|
||||
speed: 60
|
||||
handles: {}
|
||||
schema:
|
||||
description: 电机旋转 1/4 圈
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
direction:
|
||||
default: 顺时针
|
||||
description: 旋转方向
|
||||
enum:
|
||||
- 顺时针
|
||||
- 逆时针
|
||||
type: string
|
||||
motor_id:
|
||||
default: '4'
|
||||
description: 选择电机 (4:搅拌, 5:旋钮)
|
||||
enum:
|
||||
- '4'
|
||||
- '5'
|
||||
type: string
|
||||
speed:
|
||||
default: 60
|
||||
description: 速度 (RPM)
|
||||
type: integer
|
||||
required:
|
||||
- motor_id
|
||||
- speed
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
motor_run_continuous:
|
||||
goal:
|
||||
direction: 顺时针
|
||||
motor_id: 4
|
||||
speed: 60
|
||||
handles: {}
|
||||
schema:
|
||||
description: 电机一直旋转 (速度模式)
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
direction:
|
||||
default: 顺时针
|
||||
description: 旋转方向
|
||||
enum:
|
||||
- 顺时针
|
||||
- 逆时针
|
||||
type: string
|
||||
motor_id:
|
||||
default: '4'
|
||||
description: 选择电机 (4:搅拌, 5:旋钮)
|
||||
enum:
|
||||
- '4'
|
||||
- '5'
|
||||
type: string
|
||||
speed:
|
||||
default: 60
|
||||
description: 速度 (RPM)
|
||||
type: integer
|
||||
required:
|
||||
- motor_id
|
||||
- speed
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
motor_stop:
|
||||
goal:
|
||||
motor_id: 4
|
||||
handles: {}
|
||||
schema:
|
||||
description: 停止指定步进电机
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
motor_id:
|
||||
default: '4'
|
||||
description: 选择电机
|
||||
enum:
|
||||
- '4'
|
||||
- '5'
|
||||
title: '注: 4=搅拌, 5=旋钮'
|
||||
type: string
|
||||
required:
|
||||
- motor_id
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pump_aspirate:
|
||||
goal:
|
||||
pump_id: 1
|
||||
valve_port: 1
|
||||
volume: 1000
|
||||
handles: {}
|
||||
schema:
|
||||
description: 注射泵吸液
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
pump_id:
|
||||
default: '1'
|
||||
description: 选择泵
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
type: string
|
||||
valve_port:
|
||||
default: '1'
|
||||
description: 阀门端口
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
- '4'
|
||||
- '5'
|
||||
- '6'
|
||||
- '7'
|
||||
- '8'
|
||||
type: string
|
||||
volume:
|
||||
default: 1000
|
||||
description: 吸液步数
|
||||
type: integer
|
||||
required:
|
||||
- pump_id
|
||||
- volume
|
||||
- valve_port
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pump_dispense:
|
||||
goal:
|
||||
pump_id: 1
|
||||
valve_port: 1
|
||||
volume: 1000
|
||||
handles: {}
|
||||
schema:
|
||||
description: 注射泵排液
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
pump_id:
|
||||
default: '1'
|
||||
description: 选择泵
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
type: string
|
||||
valve_port:
|
||||
default: '1'
|
||||
description: 阀门端口
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
- '4'
|
||||
- '5'
|
||||
- '6'
|
||||
- '7'
|
||||
- '8'
|
||||
type: string
|
||||
volume:
|
||||
default: 1000
|
||||
description: 排液步数
|
||||
type: integer
|
||||
required:
|
||||
- pump_id
|
||||
- volume
|
||||
- valve_port
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pump_initialize:
|
||||
goal:
|
||||
drain_port: 0
|
||||
output_port: 0
|
||||
pump_id: 1
|
||||
speed: 10
|
||||
handles: {}
|
||||
schema:
|
||||
description: 初始化指定注射泵
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
drain_port:
|
||||
default: 0
|
||||
description: 排液口索引
|
||||
type: integer
|
||||
output_port:
|
||||
default: 0
|
||||
description: 输出口索引
|
||||
type: integer
|
||||
pump_id:
|
||||
default: '1'
|
||||
description: 选择泵
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
title: '注: 1号泵, 2号泵, 3号泵'
|
||||
type: string
|
||||
speed:
|
||||
default: 10
|
||||
description: 运动速度
|
||||
type: integer
|
||||
required:
|
||||
- pump_id
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pump_valve:
|
||||
goal:
|
||||
port: 1
|
||||
pump_id: 1
|
||||
handles: {}
|
||||
schema:
|
||||
description: 切换指定泵的阀门端口
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
port:
|
||||
default: '1'
|
||||
description: 阀门端口号 (1-8)
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
- '4'
|
||||
- '5'
|
||||
- '6'
|
||||
- '7'
|
||||
- '8'
|
||||
type: string
|
||||
pump_id:
|
||||
default: '1'
|
||||
description: 选择泵
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
type: string
|
||||
required:
|
||||
- pump_id
|
||||
- port
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
wait_sensor_level:
|
||||
goal:
|
||||
target_state: 有液
|
||||
timeout: 30
|
||||
handles: {}
|
||||
schema:
|
||||
description: 等待传感器液位条件
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
target_state:
|
||||
default: 有液
|
||||
description: 目标液位状态
|
||||
enum:
|
||||
- 有液
|
||||
- 无液
|
||||
type: string
|
||||
timeout:
|
||||
default: 30
|
||||
description: 超时时间 (秒)
|
||||
type: integer
|
||||
required:
|
||||
- target_state
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
wait_time:
|
||||
goal:
|
||||
duration: 10
|
||||
handles: {}
|
||||
schema:
|
||||
description: 等待指定时间
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
duration:
|
||||
default: 10
|
||||
description: 等待时间 (秒)
|
||||
type: integer
|
||||
required:
|
||||
- duration
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.separator.chinwe:ChinweDevice
|
||||
status_types:
|
||||
is_connected: bool
|
||||
sensor_level: bool
|
||||
sensor_rssi: int
|
||||
type: python
|
||||
config_info: []
|
||||
description: ChinWe 简易工作站控制器 (3泵, 2电机, 1传感器)
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
goal:
|
||||
baudrate:
|
||||
default: 9600
|
||||
description: 串口波特率
|
||||
type: integer
|
||||
motor_ids:
|
||||
default:
|
||||
- 4
|
||||
- 5
|
||||
description: 步进电机ID列表
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
port:
|
||||
default: 192.168.1.200:8899
|
||||
description: 串口号或 IP:Port
|
||||
type: string
|
||||
pump_ids:
|
||||
default:
|
||||
- 1
|
||||
- 2
|
||||
- 3
|
||||
description: 注射泵ID列表
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
sensor_id:
|
||||
default: 6
|
||||
description: XKC传感器ID
|
||||
type: integer
|
||||
sensor_threshold:
|
||||
default: 300
|
||||
description: 传感器液位判定阈值
|
||||
type: integer
|
||||
timeout:
|
||||
default: 10
|
||||
description: 通信超时时间 (秒)
|
||||
type: integer
|
||||
version: 2.1.0
|
||||
@@ -1,751 +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
|
||||
auto-run_coin_cell_assembly_workflow:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
workflow_config:
|
||||
type: object
|
||||
required: []
|
||||
type: object
|
||||
goal_default:
|
||||
workflow_config: {}
|
||||
handles:
|
||||
input:
|
||||
- data_key: workflow_config
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: WorkflowConfig
|
||||
label: Workflow Config
|
||||
output:
|
||||
- data_key: qiming
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: QimingResult
|
||||
label: Qiming Result
|
||||
- data_key: workflow_steps
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: WorkflowSteps
|
||||
label: Workflow Steps
|
||||
- data_key: packaging
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: PackagingResult
|
||||
label: Packaging Result
|
||||
- data_key: finish
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: FinishResult
|
||||
label: Finish Result
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
properties:
|
||||
finish:
|
||||
properties:
|
||||
send_finished:
|
||||
type: object
|
||||
stop:
|
||||
type: object
|
||||
required:
|
||||
- send_finished
|
||||
- stop
|
||||
type: object
|
||||
packaging:
|
||||
properties:
|
||||
bottle_num:
|
||||
type: integer
|
||||
command:
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
required:
|
||||
- bottle_num
|
||||
- command
|
||||
- result
|
||||
type: object
|
||||
qiming:
|
||||
properties:
|
||||
params:
|
||||
type: object
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- params
|
||||
- success
|
||||
type: object
|
||||
workflow_steps:
|
||||
type: object
|
||||
required:
|
||||
- qiming
|
||||
- workflow_steps
|
||||
- packaging
|
||||
- finish
|
||||
type: object
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
workflow_config:
|
||||
type: object
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
finish:
|
||||
properties:
|
||||
send_finished:
|
||||
type: object
|
||||
stop:
|
||||
type: object
|
||||
required:
|
||||
- send_finished
|
||||
- stop
|
||||
type: object
|
||||
packaging:
|
||||
properties:
|
||||
bottle_num:
|
||||
type: integer
|
||||
command:
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
required:
|
||||
- bottle_num
|
||||
- command
|
||||
- result
|
||||
type: object
|
||||
qiming:
|
||||
properties:
|
||||
params:
|
||||
type: object
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- params
|
||||
- success
|
||||
type: object
|
||||
workflow_steps:
|
||||
type: object
|
||||
required:
|
||||
- qiming
|
||||
- workflow_steps
|
||||
- packaging
|
||||
- finish
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: run_coin_cell_assembly_workflow参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-run_packaging_workflow:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
workflow_config: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
workflow_config:
|
||||
type: object
|
||||
required:
|
||||
- workflow_config
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: run_packaging_workflow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: 扣电工站
|
||||
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
|
||||
@@ -5,73 +5,6 @@ neware_battery_test_system:
|
||||
- battery_test
|
||||
class:
|
||||
action_value_mappings:
|
||||
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-print_status_summary:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: print_status_summary参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-test_connection:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: test_connection参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
debug_resource_names:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -179,29 +112,32 @@ neware_battery_test_system:
|
||||
goal:
|
||||
plate_num: plate_num
|
||||
goal_default:
|
||||
plate_num: 1
|
||||
plate_num: null
|
||||
handles: {}
|
||||
result:
|
||||
plate_data: plate_data
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: 获取指定盘(1或2)的电池状态信息
|
||||
description: 获取指定盘或所有盘的状态信息
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
plate_num:
|
||||
description: 盘号 (1 或 2)
|
||||
description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
|
||||
maximum: 2
|
||||
minimum: 1
|
||||
type: integer
|
||||
required:
|
||||
- plate_num
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
plate_data:
|
||||
description: 盘状态数据（单盘或所有盘）
|
||||
type: object
|
||||
return_info:
|
||||
description: 盘状态信息JSON格式
|
||||
description: 操作结果信息
|
||||
type: string
|
||||
success:
|
||||
description: 查询是否成功
|
||||
@@ -209,6 +145,7 @@ neware_battery_test_system:
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
- plate_data
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
@@ -370,12 +307,106 @@ neware_battery_test_system:
|
||||
- goal
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
upload_backup_to_oss:
|
||||
feedback: {}
|
||||
goal:
|
||||
backup_dir: backup_dir
|
||||
file_pattern: file_pattern
|
||||
oss_prefix: oss_prefix
|
||||
goal_default:
|
||||
backup_dir: null
|
||||
file_pattern: '*'
|
||||
oss_prefix: null
|
||||
handles:
|
||||
output:
|
||||
- data_key: uploaded_files
|
||||
data_source: executor
|
||||
data_type: array
|
||||
handler_key: uploaded_files
|
||||
io_type: sink
|
||||
label: Uploaded Files (with standard flow info)
|
||||
result:
|
||||
failed_files: failed_files
|
||||
return_info: return_info
|
||||
success: success
|
||||
total_count: total_count
|
||||
uploaded_count: uploaded_count
|
||||
schema:
|
||||
description: 上传备份文件到阿里云OSS
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
backup_dir:
|
||||
description: 备份目录路径（默认使用最近一次submit_from_csv的backup_dir）
|
||||
type: string
|
||||
file_pattern:
|
||||
default: '*'
|
||||
description: 文件通配符模式，例如 *.csv 或 Battery_*.nda
|
||||
type: string
|
||||
oss_prefix:
|
||||
description: OSS对象路径前缀（默认使用self.oss_prefix）
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
failed_files:
|
||||
description: 上传失败的文件名列表
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
return_info:
|
||||
description: 上传操作结果信息
|
||||
type: string
|
||||
success:
|
||||
description: 上传是否成功
|
||||
type: boolean
|
||||
total_count:
|
||||
description: 总文件数
|
||||
type: integer
|
||||
uploaded_count:
|
||||
description: 成功上传的文件数
|
||||
type: integer
|
||||
uploaded_files:
|
||||
description: 成功上传的文件详情列表
|
||||
items:
|
||||
properties:
|
||||
Battery_Code:
|
||||
description: 电池编码
|
||||
type: string
|
||||
Electrolyte_Code:
|
||||
description: 电解液编码
|
||||
type: string
|
||||
filename:
|
||||
description: 文件名
|
||||
type: string
|
||||
url:
|
||||
description: OSS下载链接
|
||||
type: string
|
||||
required:
|
||||
- filename
|
||||
- url
|
||||
- Battery_Code
|
||||
- Electrolyte_Code
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
- uploaded_count
|
||||
- total_count
|
||||
- failed_files
|
||||
- uploaded_files
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
|
||||
status_types:
|
||||
channel_status: dict
|
||||
connection_info: dict
|
||||
device_summary: dict
|
||||
plate_status: dict
|
||||
status: str
|
||||
total_channels: int
|
||||
type: python
|
||||
@@ -387,24 +418,36 @@ neware_battery_test_system:
|
||||
config:
|
||||
properties:
|
||||
devtype:
|
||||
default: '27'
|
||||
type: string
|
||||
ip:
|
||||
default: 127.0.0.1
|
||||
type: string
|
||||
machine_id:
|
||||
default: 1
|
||||
type: integer
|
||||
oss_prefix:
|
||||
default: neware_backup
|
||||
description: OSS对象路径前缀
|
||||
type: string
|
||||
oss_upload_enabled:
|
||||
default: false
|
||||
description: 是否启用OSS上传功能
|
||||
type: boolean
|
||||
port:
|
||||
default: 502
|
||||
type: integer
|
||||
size_x:
|
||||
default: 50
|
||||
default: 500.0
|
||||
type: number
|
||||
size_y:
|
||||
default: 50
|
||||
default: 500.0
|
||||
type: number
|
||||
size_z:
|
||||
default: 20
|
||||
default: 2000.0
|
||||
type: number
|
||||
timeout:
|
||||
default: 20
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
@@ -416,8 +459,6 @@ neware_battery_test_system:
|
||||
type: object
|
||||
device_summary:
|
||||
type: object
|
||||
plate_status:
|
||||
type: object
|
||||
status:
|
||||
type: string
|
||||
total_channels:
|
||||
@@ -427,7 +468,6 @@ neware_battery_test_system:
|
||||
- channel_status
|
||||
- connection_info
|
||||
- total_channels
|
||||
- plate_status
|
||||
- device_summary
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
630
unilabos/registry/devices/post_process_station.yaml
Normal file
630
unilabos/registry/devices/post_process_station.yaml
Normal file
@@ -0,0 +1,630 @@
|
||||
post_process_station:
|
||||
category:
|
||||
- post_process_station
|
||||
class:
|
||||
action_value_mappings:
|
||||
disconnect:
|
||||
feedback: {}
|
||||
goal:
|
||||
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
|
||||
read_node:
|
||||
feedback:
|
||||
result: result
|
||||
goal:
|
||||
command: node_name
|
||||
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
|
||||
trigger_cleaning_action:
|
||||
feedback: {}
|
||||
goal:
|
||||
acetone_inner_wall_cleaning_count: acetone_inner_wall_cleaning_count
|
||||
acetone_inner_wall_cleaning_injection: acetone_inner_wall_cleaning_injection
|
||||
acetone_inner_wall_cleaning_waste_time: acetone_inner_wall_cleaning_waste_time
|
||||
acetone_outer_wall_cleaning_count: acetone_outer_wall_cleaning_count
|
||||
acetone_outer_wall_cleaning_injection: acetone_outer_wall_cleaning_injection
|
||||
acetone_outer_wall_cleaning_wait_time: acetone_outer_wall_cleaning_wait_time
|
||||
acetone_outer_wall_cleaning_waste_time: acetone_outer_wall_cleaning_waste_time
|
||||
acetone_pump_cleaning_suction_count: acetone_pump_cleaning_suction_count
|
||||
acetone_stirrer_cleaning_count: acetone_stirrer_cleaning_count
|
||||
acetone_stirrer_cleaning_injection: acetone_stirrer_cleaning_injection
|
||||
acetone_stirrer_cleaning_wait_time: acetone_stirrer_cleaning_wait_time
|
||||
acetone_stirrer_cleaning_waste_time: acetone_stirrer_cleaning_waste_time
|
||||
filtration_liquid_selection: filtration_liquid_selection
|
||||
injection_pump_forward_empty_suction_count: injection_pump_forward_empty_suction_count
|
||||
injection_pump_reverse_empty_suction_count: injection_pump_reverse_empty_suction_count
|
||||
nmp_inner_wall_cleaning_count: nmp_inner_wall_cleaning_count
|
||||
nmp_inner_wall_cleaning_injection: nmp_inner_wall_cleaning_injection
|
||||
nmp_inner_wall_cleaning_waste_time: nmp_inner_wall_cleaning_waste_time
|
||||
nmp_outer_wall_cleaning_count: nmp_outer_wall_cleaning_count
|
||||
nmp_outer_wall_cleaning_injection: nmp_outer_wall_cleaning_injection
|
||||
nmp_outer_wall_cleaning_wait_time: nmp_outer_wall_cleaning_wait_time
|
||||
nmp_outer_wall_cleaning_waste_time: nmp_outer_wall_cleaning_waste_time
|
||||
nmp_pump_cleaning_suction_count: nmp_pump_cleaning_suction_count
|
||||
nmp_stirrer_cleaning_count: nmp_stirrer_cleaning_count
|
||||
nmp_stirrer_cleaning_injection: nmp_stirrer_cleaning_injection
|
||||
nmp_stirrer_cleaning_wait_time: nmp_stirrer_cleaning_wait_time
|
||||
nmp_stirrer_cleaning_waste_time: nmp_stirrer_cleaning_waste_time
|
||||
pipe_blowing_time: pipe_blowing_time
|
||||
water_inner_wall_cleaning_count: water_inner_wall_cleaning_count
|
||||
water_inner_wall_cleaning_injection: water_inner_wall_cleaning_injection
|
||||
water_inner_wall_cleaning_waste_time: water_inner_wall_cleaning_waste_time
|
||||
water_outer_wall_cleaning_count: water_outer_wall_cleaning_count
|
||||
water_outer_wall_cleaning_injection: water_outer_wall_cleaning_injection
|
||||
water_outer_wall_cleaning_wait_time: water_outer_wall_cleaning_wait_time
|
||||
water_outer_wall_cleaning_waste_time: water_outer_wall_cleaning_waste_time
|
||||
water_pump_cleaning_suction_count: water_pump_cleaning_suction_count
|
||||
water_stirrer_cleaning_count: water_stirrer_cleaning_count
|
||||
water_stirrer_cleaning_injection: water_stirrer_cleaning_injection
|
||||
water_stirrer_cleaning_wait_time: water_stirrer_cleaning_wait_time
|
||||
water_stirrer_cleaning_waste_time: water_stirrer_cleaning_waste_time
|
||||
goal_default:
|
||||
acetone_inner_wall_cleaning_count: 0
|
||||
acetone_inner_wall_cleaning_injection: 0.0
|
||||
acetone_inner_wall_cleaning_waste_time: 0
|
||||
acetone_outer_wall_cleaning_count: 0
|
||||
acetone_outer_wall_cleaning_injection: 0.0
|
||||
acetone_outer_wall_cleaning_wait_time: 0
|
||||
acetone_outer_wall_cleaning_waste_time: 0
|
||||
acetone_pump_cleaning_suction_count: 0
|
||||
acetone_stirrer_cleaning_count: 0
|
||||
acetone_stirrer_cleaning_injection: 0.0
|
||||
acetone_stirrer_cleaning_wait_time: 0
|
||||
acetone_stirrer_cleaning_waste_time: 0
|
||||
filtration_liquid_selection: 0
|
||||
injection_pump_forward_empty_suction_count: 0
|
||||
injection_pump_reverse_empty_suction_count: 0
|
||||
nmp_inner_wall_cleaning_count: 0
|
||||
nmp_inner_wall_cleaning_injection: 0.0
|
||||
nmp_inner_wall_cleaning_waste_time: 0
|
||||
nmp_outer_wall_cleaning_count: 0
|
||||
nmp_outer_wall_cleaning_injection: 0.0
|
||||
nmp_outer_wall_cleaning_wait_time: 0
|
||||
nmp_outer_wall_cleaning_waste_time: 0
|
||||
nmp_pump_cleaning_suction_count: 0
|
||||
nmp_stirrer_cleaning_count: 0
|
||||
nmp_stirrer_cleaning_injection: 0.0
|
||||
nmp_stirrer_cleaning_wait_time: 0
|
||||
nmp_stirrer_cleaning_waste_time: 0
|
||||
pipe_blowing_time: 0
|
||||
water_inner_wall_cleaning_count: 0
|
||||
water_inner_wall_cleaning_injection: 0.0
|
||||
water_inner_wall_cleaning_waste_time: 0
|
||||
water_outer_wall_cleaning_count: 0
|
||||
water_outer_wall_cleaning_injection: 0.0
|
||||
water_outer_wall_cleaning_wait_time: 0
|
||||
water_outer_wall_cleaning_waste_time: 0
|
||||
water_pump_cleaning_suction_count: 0
|
||||
water_stirrer_cleaning_count: 0
|
||||
water_stirrer_cleaning_injection: 0.0
|
||||
water_stirrer_cleaning_wait_time: 0
|
||||
water_stirrer_cleaning_waste_time: 0
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: PostProcessTriggerClean_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
acetone_inner_wall_cleaning_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
acetone_inner_wall_cleaning_injection:
|
||||
type: number
|
||||
acetone_inner_wall_cleaning_waste_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
acetone_outer_wall_cleaning_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
acetone_outer_wall_cleaning_injection:
|
||||
type: number
|
||||
acetone_outer_wall_cleaning_wait_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
acetone_outer_wall_cleaning_waste_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
acetone_pump_cleaning_suction_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
acetone_stirrer_cleaning_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
acetone_stirrer_cleaning_injection:
|
||||
type: number
|
||||
acetone_stirrer_cleaning_wait_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
acetone_stirrer_cleaning_waste_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
filtration_liquid_selection:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
injection_pump_forward_empty_suction_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
injection_pump_reverse_empty_suction_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
nmp_inner_wall_cleaning_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
nmp_inner_wall_cleaning_injection:
|
||||
type: number
|
||||
nmp_inner_wall_cleaning_waste_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
nmp_outer_wall_cleaning_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
nmp_outer_wall_cleaning_injection:
|
||||
type: number
|
||||
nmp_outer_wall_cleaning_wait_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
nmp_outer_wall_cleaning_waste_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
nmp_pump_cleaning_suction_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
nmp_stirrer_cleaning_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
nmp_stirrer_cleaning_injection:
|
||||
type: number
|
||||
nmp_stirrer_cleaning_wait_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
nmp_stirrer_cleaning_waste_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
pipe_blowing_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
water_inner_wall_cleaning_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
water_inner_wall_cleaning_injection:
|
||||
type: number
|
||||
water_inner_wall_cleaning_waste_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
water_outer_wall_cleaning_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
water_outer_wall_cleaning_injection:
|
||||
type: number
|
||||
water_outer_wall_cleaning_wait_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
water_outer_wall_cleaning_waste_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
water_pump_cleaning_suction_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
water_stirrer_cleaning_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
water_stirrer_cleaning_injection:
|
||||
type: number
|
||||
water_stirrer_cleaning_wait_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
water_stirrer_cleaning_waste_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- nmp_outer_wall_cleaning_injection
|
||||
- nmp_outer_wall_cleaning_count
|
||||
- nmp_outer_wall_cleaning_wait_time
|
||||
- nmp_outer_wall_cleaning_waste_time
|
||||
- nmp_inner_wall_cleaning_injection
|
||||
- nmp_inner_wall_cleaning_count
|
||||
- nmp_pump_cleaning_suction_count
|
||||
- nmp_inner_wall_cleaning_waste_time
|
||||
- nmp_stirrer_cleaning_injection
|
||||
- nmp_stirrer_cleaning_count
|
||||
- nmp_stirrer_cleaning_wait_time
|
||||
- nmp_stirrer_cleaning_waste_time
|
||||
- water_outer_wall_cleaning_injection
|
||||
- water_outer_wall_cleaning_count
|
||||
- water_outer_wall_cleaning_wait_time
|
||||
- water_outer_wall_cleaning_waste_time
|
||||
- water_inner_wall_cleaning_injection
|
||||
- water_inner_wall_cleaning_count
|
||||
- water_pump_cleaning_suction_count
|
||||
- water_inner_wall_cleaning_waste_time
|
||||
- water_stirrer_cleaning_injection
|
||||
- water_stirrer_cleaning_count
|
||||
- water_stirrer_cleaning_wait_time
|
||||
- water_stirrer_cleaning_waste_time
|
||||
- acetone_outer_wall_cleaning_injection
|
||||
- acetone_outer_wall_cleaning_count
|
||||
- acetone_outer_wall_cleaning_wait_time
|
||||
- acetone_outer_wall_cleaning_waste_time
|
||||
- acetone_inner_wall_cleaning_injection
|
||||
- acetone_inner_wall_cleaning_count
|
||||
- acetone_pump_cleaning_suction_count
|
||||
- acetone_inner_wall_cleaning_waste_time
|
||||
- acetone_stirrer_cleaning_injection
|
||||
- acetone_stirrer_cleaning_count
|
||||
- acetone_stirrer_cleaning_wait_time
|
||||
- acetone_stirrer_cleaning_waste_time
|
||||
- pipe_blowing_time
|
||||
- injection_pump_forward_empty_suction_count
|
||||
- injection_pump_reverse_empty_suction_count
|
||||
- filtration_liquid_selection
|
||||
title: PostProcessTriggerClean_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: PostProcessTriggerClean_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: PostProcessTriggerClean
|
||||
type: object
|
||||
type: PostProcessTriggerClean
|
||||
trigger_grab_action:
|
||||
feedback: {}
|
||||
goal:
|
||||
raw_tank_number: raw_tank_number
|
||||
reaction_tank_number: reaction_tank_number
|
||||
goal_default:
|
||||
raw_tank_number: 0
|
||||
reaction_tank_number: 0
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: PostProcessGrab_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
raw_tank_number:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
reaction_tank_number:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- reaction_tank_number
|
||||
- raw_tank_number
|
||||
title: PostProcessGrab_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: PostProcessGrab_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: PostProcessGrab
|
||||
type: object
|
||||
type: PostProcessGrab
|
||||
trigger_post_processing:
|
||||
feedback: {}
|
||||
goal:
|
||||
atomization_fast_speed: atomization_fast_speed
|
||||
atomization_pressure_kpa: atomization_pressure_kpa
|
||||
first_powder_mixing_tim: first_powder_mixing_tim
|
||||
first_powder_wash_count: first_powder_wash_count
|
||||
first_wash_water_amount: first_wash_water_amount
|
||||
initial_water_amount: initial_water_amount
|
||||
injection_pump_push_speed: injection_pump_push_speed
|
||||
injection_pump_suction_speed: injection_pump_suction_speed
|
||||
pre_filtration_mixing_time: pre_filtration_mixing_time
|
||||
raw_liquid_suction_count: raw_liquid_suction_count
|
||||
second_powder_mixing_time: second_powder_mixing_time
|
||||
second_powder_wash_count: second_powder_wash_count
|
||||
second_wash_water_amount: second_wash_water_amount
|
||||
wash_slow_speed: wash_slow_speed
|
||||
goal_default:
|
||||
atomization_fast_speed: 0.0
|
||||
atomization_pressure_kpa: 0
|
||||
first_powder_mixing_tim: 0
|
||||
first_powder_wash_count: 0
|
||||
first_wash_water_amount: 0.0
|
||||
initial_water_amount: 0.0
|
||||
injection_pump_push_speed: 0
|
||||
injection_pump_suction_speed: 0
|
||||
pre_filtration_mixing_time: 0
|
||||
raw_liquid_suction_count: 0
|
||||
second_powder_mixing_time: 0
|
||||
second_powder_wash_count: 0
|
||||
second_wash_water_amount: 0.0
|
||||
wash_slow_speed: 0.0
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: PostProcessTriggerPostPro_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
atomization_fast_speed:
|
||||
type: number
|
||||
atomization_pressure_kpa:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
first_powder_mixing_tim:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
first_powder_wash_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
first_wash_water_amount:
|
||||
type: number
|
||||
initial_water_amount:
|
||||
type: number
|
||||
injection_pump_push_speed:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
injection_pump_suction_speed:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
pre_filtration_mixing_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
raw_liquid_suction_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
second_powder_mixing_time:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
second_powder_wash_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
second_wash_water_amount:
|
||||
type: number
|
||||
wash_slow_speed:
|
||||
type: number
|
||||
required:
|
||||
- atomization_fast_speed
|
||||
- wash_slow_speed
|
||||
- injection_pump_suction_speed
|
||||
- injection_pump_push_speed
|
||||
- raw_liquid_suction_count
|
||||
- first_wash_water_amount
|
||||
- second_wash_water_amount
|
||||
- first_powder_mixing_tim
|
||||
- second_powder_mixing_time
|
||||
- first_powder_wash_count
|
||||
- second_powder_wash_count
|
||||
- initial_water_amount
|
||||
- pre_filtration_mixing_time
|
||||
- atomization_pressure_kpa
|
||||
title: PostProcessTriggerPostPro_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: PostProcessTriggerPostPro_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: PostProcessTriggerPostPro
|
||||
type: object
|
||||
type: PostProcessTriggerPostPro
|
||||
write_node:
|
||||
feedback:
|
||||
result: result
|
||||
goal:
|
||||
command: json_input
|
||||
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.workstation.post_process.post_process:OpcUaClient
|
||||
status_types:
|
||||
acetone_tank_empty_alarm: Bool
|
||||
atomization_fast_speed: Float64
|
||||
atomization_pressure_kpa: Int32
|
||||
cleaning_complete: Bool
|
||||
device_ready: Bool
|
||||
door_open_alarm: Bool
|
||||
grab_complete: Bool
|
||||
grab_trigger: Bool
|
||||
injection_pump_push_speed: Int32
|
||||
injection_pump_suction_speed: Int32
|
||||
nmp_tank_empty_alarm: Bool
|
||||
post_process_complete: Bool
|
||||
post_process_trigger: Bool
|
||||
raw_tank_number: Int32
|
||||
reaction_tank_number: Int32
|
||||
remote_mode: Bool
|
||||
wash_slow_speed: Float64
|
||||
waste_tank_full_alarm: Bool
|
||||
water_tank_empty_alarm: Bool
|
||||
type: python
|
||||
config_info: []
|
||||
description: 后处理站
|
||||
handles: []
|
||||
icon: post_process_station.webp
|
||||
init_param_schema: {}
|
||||
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
|
||||
|
||||
@@ -237,6 +237,8 @@ class Registry:
|
||||
resource_info["category"] = [file.stem]
|
||||
elif file.stem not in resource_info["category"]:
|
||||
resource_info["category"].append(file.stem)
|
||||
elif not isinstance(resource_info.get("category"), list):
|
||||
resource_info["category"] = [resource_info["category"]]
|
||||
if "config_info" not in resource_info:
|
||||
resource_info["config_info"] = []
|
||||
if "icon" not in resource_info:
|
||||
|
||||
@@ -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
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user