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https://github.com/deepmodeling/Uni-Lab-OS
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更新扣电组装驱动 coin_cell_assembly.py
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Andy6M
@@ -6,7 +6,7 @@ import threading
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import time
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import types
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from datetime import datetime
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from typing import Any, Dict, Optional
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from typing import Any, Dict, List, Optional
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from functools import wraps
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from pylabrobot.resources import Deck, Resource as PLRResource
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from unilabos_msgs.msg import Resource
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@@ -1406,12 +1406,45 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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self._formulations_map = {
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f["orderCode"]: f for f in formulations
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} if formulations else {}
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# ✅ 新增：存储配方列表（按接收顺序），用于索引访问
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# ✅ 新增：存储配方列表（按接收顺序），用于索引访问（兜底用）
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self._formulations_list = formulations
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# ✅ 新增：按分液瓶条码（vial_bottle_barcodes）反向索引配方
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# 配液站夹爪取放顺序与扣电站夹取顺序可能不同，所以不能再依赖位置序号，
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# 必须用扣电站扫码得到的 data_electrolyte_code 去对齐配液站登记的瓶条码。
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# vial_bottle_barcodes 字段可能形如 "LG100114"（单瓶）或 '["LG100114","LG100115"]'（多瓶）。
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self._formulations_by_vial_barcode: Dict[str, Dict] = {}
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for f in formulations:
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raw_barcodes = f.get("vial_bottle_barcodes", "")
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if not raw_barcodes:
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continue
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barcodes: List[str] = []
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if isinstance(raw_barcodes, list):
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barcodes = [str(b).strip() for b in raw_barcodes if b]
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else:
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s = str(raw_barcodes).strip()
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if s.startswith("[") and s.endswith("]"):
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try:
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parsed = json.loads(s)
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if isinstance(parsed, list):
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barcodes = [str(b).strip() for b in parsed if b]
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else:
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barcodes = [str(parsed).strip()]
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except Exception:
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barcodes = [s]
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else:
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barcodes = [s]
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for bc in barcodes:
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if bc and bc not in self._formulations_by_vial_barcode:
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self._formulations_by_vial_barcode[bc] = f
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logger.info(
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f"已建立分液瓶条码 → 配方索引: {len(self._formulations_by_vial_barcode)} 条 "
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f"(条码: {list(self._formulations_by_vial_barcode.keys())})"
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)
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else:
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logger.warning("未接收到配方信息，CSV将不包含配方字段")
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self._formulations_map = {}
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self._formulations_list = []
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self._formulations_by_vial_barcode = {}
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# ✅ 新增：存储每瓶电池数，用于计算当前使用的瓶号
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# ⚠️ 确保转换为整数（前端可能传递字符串）
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@@ -1680,50 +1713,78 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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# 从 self._formulations_list 获取配方信息
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if hasattr(self, '_formulations_list') and self._formulations_list:
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# ✅ 新方案：根据电池编号和每瓶电池数计算当前瓶号
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# 例如：elec_use_num=2时，电池1-2用瓶0，电池3-4用瓶1
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if hasattr(self, '_elec_use_num') and self._elec_use_num:
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# ⚠️ 确保转换为整数（防御性编程）
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elec_use_num_int = int(self._elec_use_num) if self._elec_use_num else 1
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if elec_use_num_int > 0:
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current_bottle_index = (data_battery_number - 1) // elec_use_num_int
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# ============================================================
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# ✅ 主方案：用扣电站扫码得到的电解液瓶条码 (data_electrolyte_code)
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# 反查配液站登记的 vial_bottle_barcodes，避免依赖夹爪取放顺序。
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# 配液站和扣电站的瓶子顺序往往不一致（不同自动化设备的取放策略不同），
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# 按位置序号匹配会错位；但每个瓶子的条码是唯一的，按条码匹配最可靠。
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# ============================================================
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formulation = None
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match_method = ""
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barcode_map = getattr(self, "_formulations_by_vial_barcode", {}) or {}
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scan_code = (data_electrolyte_code or "").strip()
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if scan_code and scan_code != "N/A" and barcode_map:
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formulation = barcode_map.get(scan_code)
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if formulation is not None:
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match_method = f"按条码({scan_code})精确匹配"
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else:
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current_bottle_index = 0
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logger.debug(
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f"[CSV写入] 电池 {data_battery_number}: 计算瓶号索引={current_bottle_index} "
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f"(每瓶{self._elec_use_num}颗电池)"
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)
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else:
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# 降级方案：尝试从二维码解析（仅当参数未设置时）
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current_bottle_index = int(data_electrolyte_code.split('-')[-1]) if '-' in str(data_electrolyte_code) else 0
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logger.debug(
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f"[CSV写入] 电池 {data_battery_number}: 从二维码解析瓶号索引={current_bottle_index}"
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)
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# 从配方列表中获取对应配方
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if 0 <= current_bottle_index < len(self._formulations_list):
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formulation = self._formulations_list[current_bottle_index]
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logger.warning(
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f"[CSV写入] 电池 {data_battery_number}: 扫码条码 {scan_code} "
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f"在配方索引中找不到 (已登记条码: {list(barcode_map.keys())})"
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)
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# ============================================================
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# 🔁 降级方案：扫码失败 / 条码缺失时按瓶号位置兜底
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# 保留原有"每瓶电池数"或"二维码尾号"的位置推断逻辑，
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# 确保在异常路径下仍能落盘（位置推断的结果可能不准，仅供回溯）。
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# ============================================================
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if formulation is None:
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if hasattr(self, '_elec_use_num') and self._elec_use_num:
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elec_use_num_int = int(self._elec_use_num) if self._elec_use_num else 1
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if elec_use_num_int > 0:
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current_bottle_index = (data_battery_number - 1) // elec_use_num_int
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else:
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current_bottle_index = 0
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logger.debug(
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f"[CSV写入] 电池 {data_battery_number}: 降级按瓶号索引={current_bottle_index} "
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f"(每瓶{self._elec_use_num}颗电池)"
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)
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else:
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current_bottle_index = (
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int(data_electrolyte_code.split('-')[-1])
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if '-' in str(data_electrolyte_code)
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else 0
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)
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logger.debug(
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f"[CSV写入] 电池 {data_battery_number}: 降级按二维码尾号瓶号索引={current_bottle_index}"
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)
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if 0 <= current_bottle_index < len(self._formulations_list):
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formulation = self._formulations_list[current_bottle_index]
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match_method = f"按位置兜底匹配[{current_bottle_index}]"
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else:
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logger.warning(
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f"[CSV写入] 电池 {data_battery_number}: 瓶号索引 {current_bottle_index} "
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f"超出配方列表范围 (共{len(self._formulations_list)}个配方)"
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)
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if formulation is not None:
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formulation_order_name = formulation.get("orderName", "")
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prep_bottle_barcode = formulation.get("prep_bottle_barcode", "")
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vial_bottle_barcodes = formulation.get("vial_bottle_barcodes", "")
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real_ratio = formulation.get("real_mass_ratio", {})
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target_ratio = formulation.get("target_mass_ratio", {})
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# 将配方比例转为JSON字符串
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import json
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target_ratio_str = json.dumps(target_ratio, ensure_ascii=False) if target_ratio else ""
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real_ratio_str = json.dumps(real_ratio, ensure_ascii=False) if real_ratio else ""
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logger.info(
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f"[CSV写入] 电池 {data_battery_number}: 使用配方[{current_bottle_index}] "
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f"orderName={formulation_order_name}, 配液瓶={prep_bottle_barcode}, 分液瓶={vial_bottle_barcodes}"
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)
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else:
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logger.warning(
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f"[CSV写入] 电池 {data_battery_number}: 瓶号索引 {current_bottle_index} "
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f"超出配方列表范围 (共{len(self._formulations_list)}个配方)"
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f"[CSV写入] 电池 {data_battery_number} ({match_method}): "
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f"orderName={formulation_order_name}, 配液瓶={prep_bottle_barcode}, "
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f"分液瓶={vial_bottle_barcodes}"
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)
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else:
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logger.debug(f"[CSV写入] 电池 {data_battery_number}: 未找到配方信息数据")
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