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https://github.com/dptech-corp/Uni-Lab-OS.git
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0bfb52df00
Update recipe.yaml fix: figure_resource use call_async in all service to avoid deadlock fix: prcxi import error 临时兼容错误的driver写法 fix protocol node fix filter protocol bugfixes on organic protocols fix and remove redundant info feat: 新增use_remote_resource参数 fix all protocol_compilers and remove deprecated devices feat: 优化protocol node节点运行日志 fix pumps and liquid_handler handle feat: workstation example add: prcxi res fix: startup slow fix: prcxi_res fix: discard_tips fix: discard_tips error fix: drop_tips not using auto resource select feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79) feat: add trace log level modify default discovery_interval to 15s fix: working dir error when input config path feat: report publish topic when error fix: workstation handlers and vessel_id parsing Cleanup registry to be easy-understanding (#76) * delete deprecated mock devices * rename categories * combine chromatographic devices * rename rviz simulation nodes * organic virtual devices * parse vessel_id * run registry completion before merge --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
305 lines
11 KiB
Python
305 lines
11 KiB
Python
import serial
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import time
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import pandas as pd
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class Laiyu:
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@property
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def status(self) -> str:
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return ""
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def __init__(self, port, baudrate=115200, timeout=0.5):
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"""
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初始化串口参数，默认波特率115200，8位数据位、1位停止位、无校验
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"""
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self.ser = serial.Serial(port, baudrate=baudrate, timeout=timeout)
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def calculate_crc(self, data: bytes) -> bytes:
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"""
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计算Modbus CRC-16，返回低字节和高字节（little-endian）
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"""
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crc = 0xFFFF
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for pos in data:
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crc ^= pos
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for _ in range(8):
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if crc & 0x0001:
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crc = (crc >> 1) ^ 0xA001
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else:
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crc >>= 1
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return crc.to_bytes(2, byteorder='little')
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def send_command(self, command: bytes) -> bytes:
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"""
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构造完整指令帧（加上CRC校验），发送指令后一直等待设备响应，直至响应结束或超时（最大3分钟）
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"""
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crc = self.calculate_crc(command)
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full_command = command + crc
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# 清空接收缓存
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self.ser.reset_input_buffer()
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self.ser.write(full_command)
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print("发送指令：", full_command.hex().upper()) # 打印发送的指令帧
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# 持续等待响应，直到连续0.5秒没有新数据或超时（3分钟）
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start_time = time.time()
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last_data_time = time.time()
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response = bytearray()
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while True:
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if self.ser.in_waiting > 0:
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new_data = self.ser.read(self.ser.in_waiting)
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response.extend(new_data)
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last_data_time = time.time()
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# 如果已有数据，并且0.5秒内无新数据，则认为响应结束
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if response and (time.time() - last_data_time) > 0.5:
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break
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# 超过最大等待时间，退出循环
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if time.time() - start_time > 180:
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break
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time.sleep(0.1)
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return bytes(response)
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def pick_powder_tube(self, int_input: int) -> bytes:
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"""
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拿取粉筒指令：
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- 功能码06
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- 寄存器地址0x0037（取粉筒）
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- 数据：粉筒编号（如1代表A，2代表B，以此类推）
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示例：拿取A粉筒指令帧：01 06 00 37 00 01 + CRC
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"""
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slave_addr = 0x01
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function_code = 0x06
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register_addr = 0x0037
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# 数据部分：粉筒编号转换为2字节大端
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data = int_input.to_bytes(2, byteorder='big')
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command = bytes([slave_addr, function_code]) + register_addr.to_bytes(2, byteorder='big') + data
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return self.send_command(command)
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def put_powder_tube(self, int_input: int) -> bytes:
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"""
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放回粉筒指令：
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- 功能码06
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- 寄存器地址0x0038（放回粉筒）
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- 数据：粉筒编号
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示例：放回A粉筒指令帧：01 06 00 38 00 01 + CRC
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"""
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slave_addr = 0x01
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function_code = 0x06
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register_addr = 0x0038
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data = int_input.to_bytes(2, byteorder='big')
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command = bytes([slave_addr, function_code]) + register_addr.to_bytes(2, byteorder='big') + data
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return self.send_command(command)
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def reset(self) -> bytes:
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"""
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重置指令：
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- 功能码 0x06
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- 寄存器地址 0x0042 （示例中用了 00 42）
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- 数据 0x0001
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示例发送：01 06 00 42 00 01 E8 1E
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"""
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slave_addr = 0x01
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function_code = 0x06
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register_addr = 0x0042 # 对应示例中的 00 42
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payload = (0x0001).to_bytes(2, 'big') # 重置命令
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cmd = (
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bytes([slave_addr, function_code])
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+ register_addr.to_bytes(2, 'big')
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+ payload
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)
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return self.send_command(cmd)
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def move_to_xyz(self, x: float, y: float, z: float) -> bytes:
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"""
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移动到指定位置指令：
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- 功能码10（写多个寄存器）
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- 寄存器起始地址0x0030
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- 寄存器数量：3个（x,y,z）
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- 字节计数：6
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- 数据：x,y,z各2字节，单位为0.1mm（例如1mm对应数值10）
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示例帧：01 10 00 30 00 03 06 00C8 02BC 02EE + CRC
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"""
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slave_addr = 0x01
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function_code = 0x10
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register_addr = 0x0030
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num_registers = 3
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byte_count = num_registers * 2 # 6字节
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# 将mm转换为0.1mm单位（乘以10），转换为2字节大端表示
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x_val = int(x * 10)
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y_val = int(y * 10)
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z_val = int(z * 10)
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data = x_val.to_bytes(2, 'big') + y_val.to_bytes(2, 'big') + z_val.to_bytes(2, 'big')
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command = (bytes([slave_addr, function_code]) +
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register_addr.to_bytes(2, 'big') +
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num_registers.to_bytes(2, 'big') +
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byte_count.to_bytes(1, 'big') +
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data)
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return self.send_command(command)
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def discharge(self, float_in: float) -> bytes:
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"""
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出料指令：
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- 使用写多个寄存器命令（功能码 0x10）
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- 寄存器起始地址设为 0x0039
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- 寄存器数量为 0x0002（两个寄存器：出料质量和误差范围）
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- 字节计数为 0x04（每个寄存器2字节，共4字节）
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- 数据：出料质量（单位0.1mg，例如10mg对应100，即0x0064）、误差范围固定为0x0005
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示例发送帧：01 10 00 39 0002 04 00640005 + CRC
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"""
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mass = float_in
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slave_addr = 0x01
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function_code = 0x10 # 修改为写多个寄存器的功能码
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start_register = 0x0039 # 寄存器起始地址
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quantity = 0x0002 # 寄存器数量
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byte_count = 0x04 # 字节数：2寄存器*2字节=4
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mass_val = int(mass * 10) # 质量转换，单位0.1mg
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error_margin = 5 # 固定误差范围，0x0005
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command = (bytes([slave_addr, function_code]) +
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start_register.to_bytes(2, 'big') +
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quantity.to_bytes(2, 'big') +
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byte_count.to_bytes(1, 'big') +
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mass_val.to_bytes(2, 'big') +
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error_margin.to_bytes(2, 'big'))
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return self.send_command(command)
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'''
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示例：这个是标智96孔板的坐标转换，但是不同96孔板的坐标可能不同
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所以需要根据实际情况进行修改
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'''
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def move_to_plate(self, string):
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#只接受两位数的str，比如a1，a2，b1，b2
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# 解析位置字符串
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if len(string) != 2 and len(string) != 3:
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raise ValueError("Invalid plate position")
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if not string[0].isalpha() or not string[1:].isdigit():
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raise ValueError("Invalid plate position")
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a = string[0] # 字母部分s
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b = string[1:] # 数字部分
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if a.isalpha():
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a = ord(a.lower()) - ord('a') + 1
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else:
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print('1')
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raise ValueError("Invalid plate position")
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a = int(a)
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b = int(b)
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# max a = 8, max b = 12, 否则报错
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if a > 8 or b > 12:
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print('2')
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raise ValueError("Invalid plate position")
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# 计算移动到指定位置的坐标
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# a=1, x=3.0; a=12, x=220.0
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# b=1, y=62.0; b=8, y=201.0
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# z = 110.0
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x = float((b-1) * (220-4.0)/11 + 4.0)
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y = float((a-1) * (201.0-62.0)/7 + 62.0)
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z = 110.0
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# 移动到指定位置
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resp_move = self.move_to_xyz(x, y, z)
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print("移动位置响应：", resp_move.hex().upper())
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# 打印移动到指定位置的坐标
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print(f"移动到位置：{string}，坐标：x={x:.2f}, y={y:.2f}, z={z:.2f}")
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return resp_move
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def add_powder_tube(self, powder_tube_number, target_tube_position, compound_mass):
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# 拿取粉筒
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resp_pick = self.pick_powder_tube(powder_tube_number)
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print("拿取粉筒响应：", resp_pick.hex().upper())
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time.sleep(1)
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# 移动到指定位置
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self.move_to_plate(target_tube_position)
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time.sleep(1)
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# 出料，设定质量
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resp_discharge = self.discharge(compound_mass)
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print("出料响应：", resp_discharge.hex().upper())
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# 使用modbus协议读取实际出料质量
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# 样例 01 06 00 40 00 64 89 F5，其中 00 64 是实际出料质量，换算为十进制为100，代表10 mg
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# 从resp_discharge读取实际出料质量
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# 提取字节4和字节5的两个字节
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actual_mass_raw = int.from_bytes(resp_discharge[4:6], byteorder='big')
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# 根据说明，将读取到的数据转换为实际出料质量（mg），这里除以10，例如：0x0064 = 100，转换后为10 mg
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actual_mass_mg = actual_mass_raw / 10
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print(f"孔位{target_tube_position}，实际出料质量：{actual_mass_mg}mg")
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time.sleep(1)
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# 放回粉筒
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resp_put = self.put_powder_tube(powder_tube_number)
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print("放回粉筒响应：", resp_put.hex().upper())
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print(f"放回粉筒{powder_tube_number}")
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resp_reset = self.reset()
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return actual_mass_mg
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if __name__ == "__main__":
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'''
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样例：对单个粉筒进行称量
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'''
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modbus = Laiyu(port="COM25")
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mass_test = modbus.add_powder_tube(1, 'h12', 6.0)
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print(f"实际出料质量：{mass_test}mg")
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'''
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样例: 对一份excel文件记录的化合物进行称量
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'''
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excel_file = r"C:\auto\laiyu\test1.xlsx"
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# 定义输出文件路径，用于记录实际加样多少
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output_file = r"C:\auto\laiyu\test_output.xlsx"
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# 定义物料名称和料筒位置关系
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compound_positions = {
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'XPhos': '1',
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'Cu(OTf)2': '2',
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'CuSO4': '3',
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'PPh3': '4',
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}
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# read excel file
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# excel_file = r"C:\auto\laiyu\test.xlsx"
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df = pd.read_excel(excel_file, sheet_name='Sheet1')
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# 读取Excel文件中的数据
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# 遍历每一行数据
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for index, row in df.iterrows():
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# 获取物料名称和质量
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copper_name = row['copper']
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copper_mass = row['copper_mass']
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ligand_name = row['ligand']
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ligand_mass = row['ligand_mass']
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target_tube_position = row['position']
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# 获取物料位置 from compound_positions
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copper_position = compound_positions.get(copper_name)
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ligand_position = compound_positions.get(ligand_name)
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# 判断物料位置是否存在
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if copper_position is None:
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print(f"物料位置不存在：{copper_name}")
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continue
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if ligand_position is None:
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print(f"物料位置不存在：{ligand_name}")
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continue
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# 加铜
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copper_actual_mass = modbus.add_powder_tube(int(copper_position), target_tube_position, copper_mass)
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time.sleep(1)
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# 加配体
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ligand_actual_mass = modbus.add_powder_tube(int(ligand_position), target_tube_position, ligand_mass)
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time.sleep(1)
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# 保存至df
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df.at[index, 'copper_actual_mass'] = copper_actual_mass
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df.at[index, 'ligand_actual_mass'] = ligand_actual_mass
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# 保存修改后的数据到新的Excel文件
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df.to_excel(output_file, index=False)
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print(f"已保存到文件：{output_file}")
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# 关闭串口
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modbus.ser.close()
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print("串口已关闭")
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