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https://github.com/deepmodeling/Uni-Lab-OS
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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>
128 lines
4.4 KiB
Python
128 lines
4.4 KiB
Python
"""
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AGV 编译器共用工具函数
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从 physical_setup_graph 中发现 AGV 节点配置，
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供 agv_transfer_protocol 和 batch_transfer_protocol 复用。
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"""
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from typing import Any, Dict, List, Optional
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import networkx as nx
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def find_agv_config(G: nx.Graph, agv_id: Optional[str] = None) -> Dict[str, Any]:
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"""从设备图中发现 AGV 节点，返回其配置
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查找策略：
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1. 如果指定 agv_id，直接读取该节点
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2. 否则查找 class 为 "agv_transport_station" 的节点
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3. 兜底查找 config 中包含 device_roles 的 workstation 节点
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Returns:
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{
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"agv_id": str,
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"device_roles": {"navigator": "...", "arm": "..."},
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"route_table": {"A->B": {"nav_command": ..., "arm_pick": ..., "arm_place": ...}},
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"capacity": int,
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}
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"""
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if agv_id and agv_id in G.nodes:
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node_data = G.nodes[agv_id]
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config = _extract_config(node_data)
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if config and "device_roles" in config:
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return _build_agv_cfg(agv_id, config, G)
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# 查找 agv_transport_station 类型
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for nid, ndata in G.nodes(data=True):
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node_class = _get_node_class(ndata)
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if node_class == "agv_transport_station":
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config = _extract_config(ndata)
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return _build_agv_cfg(nid, config or {}, G)
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# 兜底：查找带有 device_roles 的 workstation
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for nid, ndata in G.nodes(data=True):
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node_class = _get_node_class(ndata)
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if node_class == "workstation":
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config = _extract_config(ndata)
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if config and "device_roles" in config:
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return _build_agv_cfg(nid, config, G)
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raise ValueError("设备图中未找到 AGV 节点（需 class=agv_transport_station 或 config.device_roles）")
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def get_agv_capacity(G: nx.Graph, agv_id: str) -> int:
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"""从 AGV 的 Warehouse 子节点计算载具容量"""
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for neighbor in G.successors(agv_id) if G.is_directed() else G.neighbors(agv_id):
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ndata = G.nodes[neighbor]
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node_type = _get_node_type(ndata)
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if node_type == "warehouse":
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config = _extract_config(ndata)
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if config:
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x = config.get("num_items_x", 1)
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y = config.get("num_items_y", 1)
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z = config.get("num_items_z", 1)
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return x * y * z
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# 如果没有 warehouse 子节点，尝试从配置中读取
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return 0
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def split_batches(items: list, capacity: int) -> List[list]:
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"""按 AGV 容量分批
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Args:
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items: 待转运的物料列表
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capacity: AGV 单批次容量
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Returns:
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分批后的列表的列表
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"""
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if capacity <= 0:
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raise ValueError(f"AGV 容量必须 > 0，当前: {capacity}")
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return [items[i:i + capacity] for i in range(0, len(items), capacity)]
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def _extract_config(node_data: dict) -> Optional[dict]:
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"""从节点数据中提取 config 字段，兼容多种格式"""
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# 直接 config 字段
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config = node_data.get("config")
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if isinstance(config, dict):
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return config
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# res_content 嵌套格式
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res_content = node_data.get("res_content")
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if hasattr(res_content, "config"):
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return res_content.config if isinstance(res_content.config, dict) else None
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if isinstance(res_content, dict):
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return res_content.get("config")
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return None
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def _get_node_class(node_data: dict) -> str:
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"""获取节点的 class 字段"""
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res_content = node_data.get("res_content")
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if hasattr(res_content, "model_dump"):
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d = res_content.model_dump()
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return d.get("class_", d.get("class", ""))
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if isinstance(res_content, dict):
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return res_content.get("class_", res_content.get("class", ""))
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return node_data.get("class_", node_data.get("class", ""))
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def _get_node_type(node_data: dict) -> str:
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"""获取节点的 type 字段"""
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res_content = node_data.get("res_content")
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if hasattr(res_content, "type"):
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return res_content.type or ""
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if isinstance(res_content, dict):
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return res_content.get("type", "")
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return node_data.get("type", "")
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def _build_agv_cfg(agv_id: str, config: dict, G: nx.Graph) -> Dict[str, Any]:
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"""构建标准化的 AGV 配置"""
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return {
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"agv_id": agv_id,
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"device_roles": config.get("device_roles", {}),
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"route_table": config.get("route_table", {}),
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"capacity": get_agv_capacity(G, agv_id),
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}
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