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feat: 新增AGV批量物料转运功能

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添加AGV工作站设备驱动、注册表定义、批量转运编译器和消息定义。
包含跨工作站批量转运协议、AGV路径规划、容量分批等功能。

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
Junhan Chang
2026-03-25 13:10:56 +08:00
parent 9de473374f
commit ed80d786c1
11 changed files with 938 additions and 24 deletions
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41
unilabos/compile/agv_transfer_protocol.py
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@@ -1,4 +1,12 @@
"""
AGV 单物料转运编译器
从 physical_setup_graph 中查询 AGV 配置（device_roles, route_table），
不再硬编码 device_id 和路由表。
"""
import networkx as nx
from unilabos.compile._agv_utils import find_agv_config
def generate_agv_transfer_protocol(
@@ -17,37 +25,32 @@ def generate_agv_transfer_protocol(
from_repo_id = from_repo_["id"]
to_repo_id = to_repo_["id"]
wf_list = {
("AiChemEcoHiWo", "zhixing_agv"): {"nav_command" : '{"target" : "LM14"}',
"arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
("AiChemEcoHiWo", "AGV"): {"nav_command" : '{"target" : "LM14"}',
"arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
# 从 G 中查询 AGV 配置
agv_cfg = find_agv_config(G)
device_roles = agv_cfg["device_roles"]
route_table = agv_cfg["route_table"]
("zhixing_agv", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
"arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
route_key = f"{from_repo_id}->{to_repo_id}"
if route_key not in route_table:
raise KeyError(f"AGV 路由表中未找到路线: {route_key}，可用路线: {list(route_table.keys())}")
("AGV", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
"arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
route = route_table[route_key]
nav_device = device_roles.get("navigator", device_roles.get("nav"))
arm_device = device_roles.get("arm")
("Revvity", "HPLC"): {"nav_command": '{"target" : "LM13"}',
"arm_command": '{"task_name" : "camera/250111_hplc.urp"}'},
("HPLC", "Revvity"): {"nav_command": '{"target" : "LM13"}',
"arm_command": '{"task_name" : "camera/250111_lfp.urp"}'},
}
return [
{
"device_id": "zhixing_agv",
"device_id": nav_device,
"action_name": "send_nav_task",
"action_kwargs": {
"command": wf_list[(from_repo_id, to_repo_id)]["nav_command"]
"command": route["nav_command"]
}
},
{
"device_id": "zhixing_ur_arm",
"device_id": arm_device,
"action_name": "move_pos_task",
"action_kwargs": {
"command": wf_list[(from_repo_id, to_repo_id)]["arm_command"]
"command": route.get("arm_command", route.get("arm_place", ""))
}
}
]