from typing import Dict, List, Optional, OrderedDict, Union, Callable import math from pylabrobot.resources.coordinate import Coordinate from pylabrobot.resources import Resource, ResourceStack, ItemizedResource from pylabrobot.resources.carrier import create_homogeneous_resources from unilabos.resources.battery.electrode_sheet import ( PositiveCan, PositiveElectrode, NegativeCan, NegativeElectrode, SpringWasher, FlatWasher, AluminumFoil, Battery ) class Magazine(ResourceStack): """子弹夹洞位类""" def __init__( self, name: str, direction: str = 'z', resources: Optional[List[Resource]] = None, max_sheets: int = 100, **kwargs ): """初始化子弹夹洞位 Args: name: 洞位名称 direction: 堆叠方向 resources: 资源列表 max_sheets: 最大极片数量 """ super().__init__( name=name, direction=direction, resources=resources, ) self.max_sheets = max_sheets @property def size_x(self) -> float: return self.get_size_x() @property def size_y(self) -> float: return self.get_size_y() @property def size_z(self) -> float: return self.get_size_z() def serialize(self) -> dict: return { **super().serialize(), "size_x": self.size_x or 10.0, "size_y": self.size_y or 10.0, "size_z": self.size_z or 10.0, "max_sheets": self.max_sheets, } class MagazineHolder(ItemizedResource): """子弹夹类 - 有多个洞位，每个洞位放多个极片""" def __init__( self, name: str, size_x: float, size_y: float, size_z: float, ordered_items: Optional[Dict[str, Magazine]] = None, ordering: Optional[OrderedDict[str, str]] = None, hole_diameter: float = 14.0, hole_depth: float = 10.0, max_sheets_per_hole: int = 100, cross_section_type: str = "circle", category: str = "magazine_holder", model: Optional[str] = None, ): """初始化子弹夹 Args: name: 子弹夹名称 size_x: 长度 (mm) size_y: 宽度 (mm) size_z: 高度 (mm) hole_diameter: 洞直径 (mm) hole_depth: 洞深度 (mm) max_sheets_per_hole: 每个洞位最大极片数量 category: 类别 model: 型号 """ super().__init__( name=name, size_x=size_x, size_y=size_y, size_z=size_z, ordered_items=ordered_items, ordering=ordering, category=category, model=model, ) # 保存洞位的直径和深度 self.hole_diameter = hole_diameter self.hole_depth = hole_depth self.max_sheets_per_hole = max_sheets_per_hole self.cross_section_type = cross_section_type def serialize(self) -> dict: return { **super().serialize(), "hole_diameter": self.hole_diameter, "hole_depth": self.hole_depth, "max_sheets_per_hole": self.max_sheets_per_hole, "cross_section_type": self.cross_section_type, } def magazine_factory( name: str, size_x: float, size_y: float, size_z: float, locations: List[Coordinate], klasses: Optional[List[Callable[[str], str]]] = None, hole_diameter: float = 14.0, hole_depth: float = 10.0, max_sheets_per_hole: int = 100, category: str = "magazine_holder", model: Optional[str] = None, ) -> 'MagazineHolder': """工厂函数：创建子弹夹 Args: name: 子弹夹名称 size_x: 长度 (mm) size_y: 宽度 (mm) size_z: 高度 (mm) locations: 洞位坐标列表 klasses: 每个洞位中极片的类列表 hole_diameter: 洞直径 (mm) hole_depth: 洞深度 (mm) max_sheets_per_hole: 每个洞位最大极片数量 category: 类别 model: 型号 """ for loc in locations: loc.x -= hole_diameter / 2 loc.y -= hole_diameter / 2 # 创建洞位 _sites = create_homogeneous_resources( klass=Magazine, locations=locations, resource_size_x=hole_diameter, resource_size_y=hole_diameter, name_prefix=name, max_sheets=max_sheets_per_hole, ) # 生成编号键 keys = [f"A{i+1}" for i in range(len(locations))] sites = dict(zip(keys, _sites.values())) holder = MagazineHolder( name=name, size_x=size_x, size_y=size_y, size_z=size_z, ordered_items=sites, hole_diameter=hole_diameter, hole_depth=hole_depth, max_sheets_per_hole=max_sheets_per_hole, category=category, model=model, ) if klasses is not None: for i, klass in enumerate(klasses): hole_key = keys[i] hole = holder.children[i] for j in reversed(range(max_sheets_per_hole)): item_name = f"{hole_key}_sheet{j+1}" item = klass(name=item_name) hole.assign_child_resource(item) return holder def MagazineHolder_6_Cathode( name: str, size_x: float = 80.0, size_y: float = 80.0, size_z: float = 40.0, hole_diameter: float = 14.0, hole_depth: float = 10.0, hole_spacing: float = 20.0, max_sheets_per_hole: int = 100, ) -> MagazineHolder: """创建6孔子弹夹 - 六边形排布""" center_x = size_x / 2 center_y = size_y / 2 locations = [] # 周围6个孔，按六边形排布 for i in range(6): angle = i * 60 * math.pi / 180 # 每60度一个孔 x = center_x + hole_spacing * math.cos(angle) y = center_y + hole_spacing * math.sin(angle) locations.append(Coordinate(x, y, size_z - hole_depth)) return magazine_factory( name=name, size_x=size_x, size_y=size_y, size_z=size_z, locations=locations, klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan], hole_diameter=hole_diameter, hole_depth=hole_depth, max_sheets_per_hole=max_sheets_per_hole, category="magazine_holder", model="MagazineHolder_6_Cathode", ) def MagazineHolder_6_Anode( name: str, size_x: float = 80.0, size_y: float = 80.0, size_z: float = 40.0, hole_diameter: float = 14.0, hole_depth: float = 10.0, hole_spacing: float = 20.0, max_sheets_per_hole: int = 100, ) -> MagazineHolder: """创建6孔子弹夹 - 六边形排布""" center_x = size_x / 2 center_y = size_y / 2 locations = [] # 周围6个孔，按六边形排布 for i in range(6): angle = i * 60 * math.pi / 180 # 每60度一个孔 x = center_x + hole_spacing * math.cos(angle) y = center_y + hole_spacing * math.sin(angle) locations.append(Coordinate(x, y, size_z - hole_depth)) return magazine_factory( name=name, size_x=size_x, size_y=size_y, size_z=size_z, locations=locations, klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan], hole_diameter=hole_diameter, hole_depth=hole_depth, max_sheets_per_hole=max_sheets_per_hole, category="magazine_holder", model="MagazineHolder_6_Anode", ) def MagazineHolder_6_Battery( name: str, size_x: float = 80.0, size_y: float = 80.0, size_z: float = 40.0, hole_diameter: float = 14.0, hole_depth: float = 10.0, hole_spacing: float = 20.0, max_sheets_per_hole: int = 100, ) -> MagazineHolder: """创建6孔子弹夹 - 六边形排布""" center_x = size_x / 2 center_y = size_y / 2 locations = [] # 周围6个孔，按六边形排布 for i in range(6): angle = i * 60 * math.pi / 180 # 每60度一个孔 x = center_x + hole_spacing * math.cos(angle) y = center_y + hole_spacing * math.sin(angle) locations.append(Coordinate(x, y, size_z - hole_depth)) return magazine_factory( name=name, size_x=size_x, size_y=size_y, size_z=size_z, locations=locations, klasses=None, # 初始化时，不放入装好的电池 hole_diameter=hole_diameter, hole_depth=hole_depth, max_sheets_per_hole=max_sheets_per_hole, category="magazine_holder", model="MagazineHolder_6_Battery", ) def MagazineHolder_4_Cathode( name: str, ) -> MagazineHolder: """创建4孔子弹夹 - 正方形四角排布""" size_x: float = 80.0 size_y: float = 80.0 size_z: float = 10.0 hole_diameter: float = 14.0 hole_depth: float = 10.0 hole_spacing: float = 25.0 max_sheets_per_hole: int = 100 # 计算4个洞位的坐标（正方形四角排布） center_x = size_x / 2 center_y = size_y / 2 offset = hole_spacing / 2 locations = [ Coordinate(center_x - offset, center_y - offset, size_z - hole_depth), # 左下 Coordinate(center_x + offset, center_y - offset, size_z - hole_depth), # 右下 Coordinate(center_x - offset, center_y + offset, size_z - hole_depth), # 左上 Coordinate(center_x + offset, center_y + offset, size_z - hole_depth), # 右上 ] return magazine_factory( name=name, size_x=size_x, size_y=size_y, size_z=size_z, locations=locations, klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode], hole_diameter=hole_diameter, hole_depth=hole_depth, max_sheets_per_hole=max_sheets_per_hole, category="magazine_holder", model="MagazineHolder_4_Cathode", )