mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 21:11:12 +00:00
79 lines
2.8 KiB
Python
79 lines
2.8 KiB
Python
import json
|
||
from typing import Optional, List
|
||
from pylabrobot.resources import Coordinate, Resource
|
||
from pylabrobot.resources.carrier import Carrier, PlateHolder, ResourceHolder, create_homogeneous_resources
|
||
from pylabrobot.resources.deck import Deck
|
||
|
||
|
||
class WareHouse(Carrier[ResourceHolder]):
|
||
"""4x4x1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,
|
||
num_items_x: int = 4,
|
||
num_items_y: int = 1,
|
||
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,
|
||
removed_positions: Optional[List[int]] = None,
|
||
category: str = "warehouse",
|
||
model: Optional[str] = None,
|
||
):
|
||
# 创建16个板架位 (4层 x 4位置)
|
||
locations = []
|
||
|
||
for layer in range(num_items_z): # 4层
|
||
for row in range(num_items_y): # 4行
|
||
for col in range(num_items_x): # 1列 (每层4x1=4个位置)
|
||
# 计算位置
|
||
x = dx + col * item_dx
|
||
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=[
|
||
Coordinate(4.0, 8.5, 86.15),
|
||
Coordinate(4.0, 104.5, 86.15),
|
||
Coordinate(4.0, 200.5, 86.15),
|
||
Coordinate(4.0, 296.5, 86.15),
|
||
Coordinate(4.0, 392.5, 86.15),
|
||
],
|
||
resource_size_x=127.0,
|
||
resource_size_y=86.0,
|
||
name_prefix=name,
|
||
)
|
||
|
||
super().__init__(
|
||
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,
|
||
sites=sites,
|
||
category=category,
|
||
model=model,
|
||
)
|
||
|
||
def get_site_by_layer_position(self, row: int, col: int, layer: int) -> PlateHolder:
|
||
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 |