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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>
57 lines
1.6 KiB
Python
57 lines
1.6 KiB
Python
"""
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AGV 单物料转运编译器
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从 physical_setup_graph 中查询 AGV 配置（device_roles, route_table），
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不再硬编码 device_id 和路由表。
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"""
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import networkx as nx
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from unilabos.compile._agv_utils import find_agv_config
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def generate_agv_transfer_protocol(
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G: nx.Graph,
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from_repo: dict,
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from_repo_position: str,
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to_repo: dict = {},
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to_repo_position: str = ""
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):
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from_repo_ = list(from_repo.values())[0]
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to_repo_ = list(to_repo.values())[0]
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resource_to_move = from_repo_["children"].pop(from_repo_position)
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resource_to_move["parent"] = to_repo_["id"]
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to_repo_["children"][to_repo_position] = resource_to_move
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from_repo_id = from_repo_["id"]
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to_repo_id = to_repo_["id"]
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# 从 G 中查询 AGV 配置
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agv_cfg = find_agv_config(G)
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device_roles = agv_cfg["device_roles"]
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route_table = agv_cfg["route_table"]
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route_key = f"{from_repo_id}->{to_repo_id}"
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if route_key not in route_table:
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raise KeyError(f"AGV 路由表中未找到路线: {route_key}，可用路线: {list(route_table.keys())}")
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route = route_table[route_key]
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nav_device = device_roles.get("navigator", device_roles.get("nav"))
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arm_device = device_roles.get("arm")
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return [
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{
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"device_id": nav_device,
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"action_name": "send_nav_task",
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"action_kwargs": {
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"command": route["nav_command"]
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}
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},
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{
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"device_id": arm_device,
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"action_name": "move_pos_task",
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"action_kwargs": {
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"command": route.get("arm_command", route.get("arm_place", ""))
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}
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}
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]
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