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https://github.com/dptech-corp/Uni-Lab-OS.git
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62 lines
1.6 KiB
Python
62 lines
1.6 KiB
Python
import serial
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import time
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ser = serial.Serial(
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port="COM18",
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baudrate=9600,
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bytesize=serial.EIGHTBITS,
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parity=serial.PARITY_NONE,
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stopbits=serial.STOPBITS_ONE,
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timeout=15,
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def send_cmd(cmd: str, wait: float = 1.0) -> str:
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"""向 Cytomat 发送一行命令并打印/返回响应。"""
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print(f">>> {cmd}")
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ser.write((cmd + "\r").encode("ascii"))
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time.sleep(wait)
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resp = ser.read_all().decode("ascii", errors="ignore").strip()
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print(f"<<< {resp or '<no response>'}")
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return resp
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def initialize():
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"""设备初始化 (ll:in)。"""
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return send_cmd("ll:in")
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def wp_to_storage(pos: int):
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"""WP → 库位。pos: 1–9999 绝对地址。"""
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return send_cmd(f"mv:ws {pos:04d}")
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def storage_to_tfs(stacker: int, level: int):
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"""库位 → TFS1。"""
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return send_cmd(f"mv:st {stacker:02d} {level:02d}")
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def get_basic_state():
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"""查询 Basic State Register。"""
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return send_cmd("ch:bs")
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def set_pitch(stacker: int, pitch_mm: int):
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"""设置单个 stacker 的层间距（mm）。"""
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return send_cmd(f"se:cs {stacker:02d} {pitch_mm}")
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def tfs_to_storage(stacker: int, level: int):
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"""TFS1 → 库位。"""
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return send_cmd(f"mv:ts {stacker:02d} {level:02d}")
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# ---------- 示例工作流 ----------
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if __name__ == "__main__":
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try:
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if not ser.is_open:
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ser.open()
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initialize()
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wp_to_storage(10)
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storage_to_tfs(17, 3)
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get_basic_state()
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tfs_to_storage(7, 5)
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except Exception as exc:
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print("Error:", exc)
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finally:
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ser.close()
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print("Done.")
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