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79 lines
2.8 KiB
Python
79 lines
2.8 KiB
Python
from typing import Optional, List
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from pylabrobot.resources import Coordinate
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from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources
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from unilabos.resources.itemized_carrier import ItemizedCarrier
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class WareHouse(ItemizedCarrier):
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"""4x4x1堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）"""
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def __init__(
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self,
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name: str,
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num_items_x: int = 4,
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num_items_y: int = 1,
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num_items_z: int = 4,
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dx: float = 137.0,
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dy: float = 96.0,
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dz: float = 120.0,
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item_dx: float = 10.0,
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item_dy: float = 10.0,
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item_dz: float = 10.0,
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removed_positions: Optional[List[int]] = None,
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empty: bool = False,
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category: str = "warehouse",
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model: Optional[str] = None,
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):
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self.num_items_x = num_items_x
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self.num_items_y = num_items_y
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self.num_items_z = num_items_z
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# 创建16个板架位 (4层 x 4位置)
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locations = []
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for layer in range(num_items_z): # 4层
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for row in range(num_items_y): # 4行
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for col in range(num_items_x): # 1列 (每层4x1=4个位置)
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# 计算位置
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x = dx + col * item_dx
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y = dy + (num_items_y - row - 1) * item_dy
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z = dz + (num_items_z - layer - 1) * item_dz
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locations.append(Coordinate(x, y, z))
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if removed_positions:
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locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
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sites = create_homogeneous_resources(
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klass=ResourceHolder,
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locations=locations,
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resource_size_x=127.0,
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resource_size_y=86.0,
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name_prefix=name,
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)
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super().__init__(
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name=name,
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size_x=dx + item_dx * num_items_x,
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size_y=dy + item_dy * num_items_y,
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size_z=dz + item_dz * num_items_z,
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# ordered_items=ordered_items,
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# ordering=ordering,
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sites=sites,
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category=category,
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model=model,
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)
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def get_site_by_layer_position(self, row: int, col: int, layer: int) -> ResourceHolder:
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if not (0 <= layer < 4 and 0 <= row < 4 and 0 <= col < 1):
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raise ValueError("无效的位置: layer={}, row={}, col={}".format(layer, row, col))
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site_index = layer * 4 + row * 1 + col
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return self.sites[site_index]
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def add_rack_to_position(self, row: int, col: int, layer: int, rack) -> None:
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site = self.get_site_by_layer_position(row, col, layer)
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site.assign_child_resource(rack)
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def get_rack_at_position(self, row: int, col: int, layer: int):
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site = self.get_site_by_layer_position(row, col, layer)
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return site.resource |