From f230028558441e2195b79b57b1cd54d4df4bcd19 Mon Sep 17 00:00:00 2001 From: calvincao Date: Mon, 3 Nov 2025 21:30:27 +0800 Subject: [PATCH] feat: Enhance CoincellDeck setup with new ClipMagazine and BottleRack configurations - Refactored ClipMagazine class to inherit from ItemizedResource and updated hole dimensions. - Introduced ClipMagazine_four class for a new 2x2 hole layout. - Expanded CoincellDeck setup to include multiple ClipMagazines and MaterialPlates with ElectrodeSheets. - Improved BottleRack initialization with dynamic item positioning and resource assignment. - Added serialization methods for new classes to maintain state consistency. --- .../coin_cell_assembly/YB_YH_materials.py | 349 ++++++++++++++---- 1 file changed, 269 insertions(+), 80 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index 6232fb8c..5c3aa870 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -387,17 +387,17 @@ class ClipMagazineHole(Container): } # TODO: 这个要改 -class ClipMagazine(Resource): +class ClipMagazine(ItemizedResource[ClipMagazineHole]): """子弹夹类 - 有6个洞位，每个洞位放多个极片""" - + children: List[ClipMagazineHole] def __init__( self, name: str, size_x: float, size_y: float, size_z: float, - hole_diameter: float = 20.0, - hole_depth: float = 50.0, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, hole_spacing: float = 25.0, max_sheets_per_hole: int = 100, category: str = "clip_magazine", @@ -441,6 +441,7 @@ class ClipMagazine(Resource): model=model, ) + # 保存洞位的直径和深度 self.hole_diameter = hole_diameter self.hole_depth = hole_depth self.max_sheets_per_hole = max_sheets_per_hole @@ -744,16 +745,22 @@ class BottleRackState(TypedDict): class BottleRack(Resource): """瓶架类 - 12个待配位置+12个已配位置""" - children: List[Bottle] = [] + children: List[Resource] = [] def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "bottle_rack", - model: Optional[str] = None, + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "bottle_rack", + model: Optional[str] = None, + num_items_x: int = 3, + num_items_y: int = 4, + position_spacing: float = 35.0, + orientation: str = "horizontal", + padding_x: float = 20.0, + padding_y: float = 20.0, ): """初始化瓶架 @@ -773,13 +780,42 @@ class BottleRack(Resource): category=category, model=model, ) - # TODO: 添加瓶位坐标映射 - self.index_to_pos = { - 0: Coordinate.zero(), - 1: Coordinate(x=1, y=2, z=3) # 添加 - } + # 初始化状态 + self._unilabos_state: BottleRackState = BottleRackState( + bottle_diameter=30.0, + bottle_height=100.0, + position_spacing=position_spacing, + name_to_index={}, + ) + # 基于网格生成瓶位坐标映射（居中摆放） + # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥） + origin_x = padding_x + origin_y = padding_y + self.index_to_pos = {} + for j in range(num_items_y): + for i in range(num_items_x): + idx = j * num_items_x + i + if orientation == "vertical": + # 纵向：沿 y 方向优先排列 + self.index_to_pos[idx] = Coordinate( + x=origin_x + j * position_spacing, + y=origin_y + i * position_spacing, + z=0, + ) + else: + # 横向（默认）：沿 x 方向优先排列 + self.index_to_pos[idx] = Coordinate( + x=origin_x + i * position_spacing, + y=origin_y + j * position_spacing, + z=0, + ) self.name_to_index = {} self.name_to_pos = {} + self.num_items_x = num_items_x + self.num_items_y = num_items_y + self.orientation = orientation + self.padding_x = padding_x + self.padding_y = padding_y def load_state(self, state: Dict[str, Any]) -> None: """格式不变""" @@ -789,20 +825,23 @@ class BottleRack(Resource): def serialize_state(self) -> Dict[str, Dict[str, Any]]: """格式不变""" data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + data.update( + self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） return data # TODO: 这里有些问题要重新写一下 - def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True): - assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子" + def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True): + capacity = self.num_items_x * self.num_items_y + assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子" index = len(self.children) - location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0) + location = self.index_to_pos.get(index, Coordinate.zero()) self.name_to_pos[resource.name] = location self.name_to_index[resource.name] = index return super().assign_child_resource(resource, location, reassign) - - def assign_child_resource_by_index(self, resource: Bottle, index: int): - assert 0 <= index < 12, "无效的瓶子索引" + + def assign_child_resource(self, resource: Resource, index: int): + capacity = self.num_items_x * self.num_items_y + assert 0 <= index < capacity, "无效的瓶子索引" self.name_to_index[resource.name] = index location = self.index_to_pos[index] return super().assign_child_resource(resource, location) @@ -811,10 +850,16 @@ class BottleRack(Resource): super().unassign_child_resource(resource) self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) - # def serialize(self): - # self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0)) - # return super().serialize() - + def serialize(self) -> dict: + return { + **super().serialize(), + "num_items_x": self.num_items_x, + "num_items_y": self.num_items_y, + "position_spacing": self._unilabos_state.get("position_spacing", 35.0), + "orientation": self.orientation, + "padding_x": self.padding_x, + "padding_y": self.padding_y, + } class BottleState(TypedDict): diameter: float @@ -868,6 +913,73 @@ class Bottle(Resource): data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） return data +class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): + """子弹夹类 - 有4个洞位，每个洞位放多个极片""" + children: List[ClipMagazineHole] + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine_four", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建4个洞位，排成2x2布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=2, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=hole_diameter, + depth=hole_depth, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + # 保存洞位的直径和深度 + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } + class CoincellDeck(Deck): """纽扣电池组装工作站台面类""" @@ -904,59 +1016,131 @@ class CoincellDeck(Deck): self.setup() def setup(self) -> None: - """设置工作站的标准布局 - 包含3个料盘""" - # 步骤 1: 创建所有料盘 - self.plates = { - "liaopan1": MaterialPlate( - name="liaopan1", - size_x=120.8, - size_y=120.5, - size_z=10.0, - fill=True - ), - "liaopan2": MaterialPlate( - name="liaopan2", - size_x=120.8, - size_y=120.5, - size_z=10.0, - fill=True - ), - "电池料盘": MaterialPlate( - name="电池料盘", - size_x=120.8, - size_y=160.5, - size_z=10.0, - fill=True - ), - } + """设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置""" + # ====================================== 子弹夹 ============================================ + zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) + self.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) + zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) + self.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) + zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) + self.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) + zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) + self.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) + zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) + self.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) + zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) + self.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) + zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) + self.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) + zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) + self.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) - # 步骤 2: 定义料盘在 deck 上的位置 - # Deck 尺寸: 1000×1000mm，料盘尺寸: 120.8×120.5mm 或 120.8×160.5mm - self.plate_locations = { - "liaopan1": Coordinate(x=50, y=50, z=0), # 左上角，留 50mm 边距 - "liaopan2": Coordinate(x=250, y=50, z=0), # 中间，liaopan1 右侧 - "电池料盘": Coordinate(x=450, y=50, z=0), # 右侧 - } + # 为子弹夹添加极片 + for i in range(4): + jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) + for i in range(4): + jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) + for i in range(6): + jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) + for i in range(6): + jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) + for i in range(6): + jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) + for i in range(6): + jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) + for i in range(6): + jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) + for i in range(6): + jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) - # 步骤 3: 将料盘分配到 deck 上 - for plate_name, plate in self.plates.items(): - self.assign_child_resource( - plate, - location=self.plate_locations[plate_name] - ) - - # 步骤 4: 为 liaopan1 添加初始极片 + # ====================================== 物料板 ============================================ + # 创建6个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) for i in range(16): - jipian = ElectrodeSheet( - name=f"jipian1_{i}", - size_x=12, - size_y=12, - size_z=0.1 - ) - self.plates["liaopan1"].children[i].assign_child_resource( - jipian, - location=None - ) + jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian_1, location=None) + + liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) + + liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) + + liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) + for i in range(16): + jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan4.children[i].assign_child_resource(jipian_4, location=None) + + liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) + + liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) + + # ====================================== 瓶架、移液枪 ============================================ + # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 + bottle_rack_3x4 = BottleRack( + name="bottle_rack_3x4", + size_x=210.0, + size_y=140.0, + size_z=100.0, + num_items_x=3, + num_items_y=4, + position_spacing=35.0, + orientation="vertical", + ) + self.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) + + bottle_rack_6x2 = BottleRack( + name="bottle_rack_6x2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + self.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) + + bottle_rack_6x2_2 = BottleRack( + name="bottle_rack_6x2_2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) + + # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 + for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_3x4.assign_child_resource(sheet, index=idx) + + for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_6x2.assign_child_resource(sheet, index=idx) + + tip_box = TipBox64(name="tip_box_64") + self.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) + + waste_tip_box = WasteTipBox(name="waste_tip_box") + self.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) + + print(self) def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0, size_y: float = 1000.0, size_z: float = 900.0) -> CoincellDeck: @@ -971,6 +1155,11 @@ def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0, Returns: 已配置好的 CoincellDeck 对象 """ - deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z) - deck.setup() + # 创建 CoincellDeck 实例并自动执行 setup 配置 + deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z, setup=True) return deck + + +if __name__ == "__main__": + deck = create_coin_cell_deck() + print(deck) \ No newline at end of file