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Squash merge from dev

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Update recipe.yaml

fix: figure_resource

use call_async in all service to avoid deadlock

fix: prcxi import error

临时兼容错误的driver写法

fix protocol node

fix filter protocol

bugfixes on organic protocols

fix and remove redundant info

feat: 新增use_remote_resource参数

fix all protocol_compilers and remove deprecated devices

feat: 优化protocol node节点运行日志

fix pumps and liquid_handler handle

feat: workstation example

add: prcxi res
fix: startup slow

fix: prcxi_res

fix: discard_tips

fix: discard_tips error

fix: drop_tips not using auto resource select

feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79)

feat: add trace log level

modify default discovery_interval to 15s

fix: working dir error when input config path
feat: report publish topic when error

fix: workstation handlers and vessel_id parsing

Cleanup registry to be easy-understanding (#76)

* delete deprecated mock devices

* rename categories

* combine chromatographic devices

* rename rviz simulation nodes

* organic virtual devices

* parse vessel_id

* run registry completion before merge

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
This commit is contained in:
Junhan Chang
2025-08-03 11:21:37 +08:00
committed by Xuwznln
parent a555c59dc2
commit 0bfb52df00
97 changed files with 5033 additions and 164837 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
unilabos/devices/virtual/virtual_heatchill.py
View File

@@ -67,8 +67,8 @@ class VirtualHeatChill:
self.logger.info(f"✅ 温控设备 {self.device_id} 清理完成 💤")
return True
async def heat_chill(self, vessel: str, temp: float, time, stir: bool,
stir_speed: float, purpose: str) -> bool:
async def heat_chill(self, temp: float, time, stir: bool,
stir_speed: float, purpose: str, vessel: dict = {}) -> bool:
"""Execute heat chill action - 🔧 修复：确保参数类型正确"""
# 🔧 关键修复：确保所有参数类型正确
@@ -77,7 +77,6 @@ class VirtualHeatChill:
time_value = float(time) # 强制转换为浮点数
stir_speed = float(stir_speed)
stir = bool(stir)
vessel = str(vessel)
purpose = str(purpose)
except (ValueError, TypeError) as e:
error_msg = f"参数类型转换错误: temp={temp}({type(temp)}), time={time}({type(time)}), error={str(e)}"
@@ -102,8 +101,7 @@ class VirtualHeatChill:
operation_mode = "Maintaining"
status_action = "保温"
self.logger.info(f"🌡️ 开始温控操作: {vessel} → {temp}°C {temp_emoji}")
self.logger.info(f" 🥽 容器: {vessel}")
self.logger.info(f"🌡️ 开始温控操作: {temp}°C {temp_emoji}")
self.logger.info(f" 🎯 目标温度: {temp}°C {temp_emoji}")
self.logger.info(f" ⏰ 持续时间: {time_value}s")
self.logger.info(f" 🌪️ 搅拌: {stir} ({stir_speed} RPM)")
@@ -147,7 +145,7 @@ class VirtualHeatChill:
stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""
self.data.update({
"status": f"{temp_emoji} 运行中: {status_action} {vessel} 至 {temp}°C | ⏰ 剩余: {total_time:.0f}s{stir_info}",
"status": f"{temp_emoji} 运行中: {status_action} 至 {temp}°C | ⏰ 剩余: {total_time:.0f}s{stir_info}",
"operation_mode": operation_mode,
"is_stirring": stir,
"stir_speed": stir_speed if stir else 0.0,
@@ -165,7 +163,7 @@ class VirtualHeatChill:
# 更新剩余时间和状态
self.data.update({
"remaining_time": remaining,
"status": f"{temp_emoji} 运行中: {status_action} {vessel} 至 {temp}°C | ⏰ 剩余: {remaining:.0f}s{stir_info}",
"status": f"{temp_emoji} 运行中: {status_action} 至 {temp}°C | ⏰ 剩余: {remaining:.0f}s{stir_info}",
"progress": progress
})
@@ -185,7 +183,7 @@ class VirtualHeatChill:
final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""
self.data.update({
"status": f"✅ 完成: {vessel} 已达到 {temp}°C {temp_emoji} | ⏱️ 用时: {total_time:.0f}s{final_stir_info}",
"status": f"✅ 完成: 已达到 {temp}°C {temp_emoji} | ⏱️ 用时: {total_time:.0f}s{final_stir_info}",
"operation_mode": "Completed",
"remaining_time": 0.0,
"is_stirring": False,
@@ -195,7 +193,6 @@ class VirtualHeatChill:
self.logger.info(f"🎉 温控操作完成! ✨")
self.logger.info(f"📊 操作结果:")
self.logger.info(f" 🥽 容器: {vessel}")
self.logger.info(f" 🌡️ 达到温度: {temp}°C {temp_emoji}")
self.logger.info(f" ⏱️ 总用时: {total_time:.0f}s")
if stir:
@@ -204,13 +201,12 @@ class VirtualHeatChill:
return True
async def heat_chill_start(self, vessel: str, temp: float, purpose: str) -> bool:
async def heat_chill_start(self, temp: float, purpose: str, vessel: dict = {}) -> bool:
"""Start continuous heat chill 🔄"""
# 🔧 添加类型转换
try:
temp = float(temp)
vessel = str(vessel)
purpose = str(purpose)
except (ValueError, TypeError) as e:
error_msg = f"参数类型转换错误: {str(e)}"
@@ -235,8 +231,7 @@ class VirtualHeatChill:
operation_mode = "Maintaining"
status_action = "恒温保持"
self.logger.info(f"🔄 启动持续温控: {vessel} → {temp}°C {temp_emoji}")
self.logger.info(f" 🥽 容器: {vessel}")
self.logger.info(f"🔄 启动持续温控: {temp}°C {temp_emoji}")
self.logger.info(f" 🎯 目标温度: {temp}°C {temp_emoji}")
self.logger.info(f" 🔄 模式: {status_action}")
self.logger.info(f" 📝 目的: {purpose}")
@@ -252,7 +247,7 @@ class VirtualHeatChill:
return False
self.data.update({
"status": f"🔄 启动: {status_action} {vessel} 至 {temp}°C {temp_emoji} | ♾️ 持续运行",
"status": f"🔄 启动: {status_action} 至 {temp}°C {temp_emoji} | ♾️ 持续运行",
"operation_mode": operation_mode,
"is_stirring": False,
"stir_speed": 0.0,
@@ -262,28 +257,20 @@ class VirtualHeatChill:
self.logger.info(f"✅ 持续温控已启动! {temp_emoji} {status_action}模式 🚀")
return True
async def heat_chill_stop(self, vessel: str) -> bool:
async def heat_chill_stop(self, vessel: dict = {}) -> bool:
"""Stop heat chill 🛑"""
# 🔧 添加类型转换
try:
vessel = str(vessel)
except (ValueError, TypeError) as e:
error_msg = f"参数类型转换错误: {str(e)}"
self.logger.error(f"❌ {error_msg}")
return False
self.logger.info(f"🛑 停止温控: {vessel}")
self.logger.info(f"🛑 停止温控:")
self.data.update({
"status": f"🛑 已停止: {vessel} 温控停止",
"status": f"🛑 {self.device_id} 温控停止",
"operation_mode": "Stopped",
"is_stirring": False,
"stir_speed": 0.0,
"remaining_time": 0.0,
})
self.logger.info(f"✅ 温控设备已停止 {vessel} 的温度控制 🏁")
self.logger.info(f"✅ 温控设备已停止 {self.device_id} 温度控制 🏁")
return True
# 状态属性