mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 04:51:10 +00:00
Squash merge from dev
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
Xuwznln
@@ -36,6 +36,7 @@ requirements:
|
||||
- conda-forge::python ==3.11.11
|
||||
- compilers
|
||||
- cmake
|
||||
- zstd
|
||||
- ninja
|
||||
- if: unix
|
||||
then:
|
||||
|
||||
@@ -49,7 +49,6 @@
|
||||
"config": {
|
||||
"protocol_type": [
|
||||
"AddProtocol",
|
||||
"TransferProtocol",
|
||||
"StartStirProtocol",
|
||||
"StopStirProtocol",
|
||||
"StirProtocol",
|
||||
@@ -171,12 +170,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "DMF"
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "DMF"
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "DMF",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -192,12 +194,15 @@
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||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "ethyl_acetate"
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "ethyl_acetate"
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "ethyl_acetate",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
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@@ -213,12 +218,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "hexane"
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "hexane"
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "hexane",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
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||||
}
|
||||
},
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||||
{
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||||
@@ -234,12 +242,15 @@
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||||
"z": 0
|
||||
},
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||||
"config": {
|
||||
"volume": 1000.0,
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||||
"reagent": "methanol"
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||||
"max_volume": 1000.0
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||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
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||||
"reagent_name": "methanol"
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "methanol",
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||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
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||||
{
|
||||
@@ -255,12 +266,15 @@
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||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "water"
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "water"
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "water",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -320,15 +334,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 500.0,
|
||||
"max_volume": 500.0,
|
||||
"max_temp": 200.0,
|
||||
"min_temp": -20.0,
|
||||
"has_stirrer": true,
|
||||
"has_heater": true
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0,
|
||||
"current_temp": 25.0
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -405,10 +419,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 2000.0
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -424,10 +439,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 2000.0
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -633,10 +649,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 250.0
|
||||
"max_volume": 250.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -652,10 +669,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 250.0
|
||||
"max_volume": 250.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -671,10 +689,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 250.0
|
||||
"max_volume": 250.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -713,7 +732,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 500.0,
|
||||
"max_volume": 500.0,
|
||||
"reagent": "sodium_chloride",
|
||||
"physical_state": "solid"
|
||||
},
|
||||
@@ -1077,7 +1096,7 @@
|
||||
"target": "solid_dispenser_1",
|
||||
"type": "resource",
|
||||
"port": {
|
||||
"solid_reagent_bottle_1": "top",
|
||||
"solid_reagent_bottle_1": "bottom",
|
||||
"solid_dispenser_1": "SolidIn"
|
||||
}
|
||||
},
|
||||
@@ -1087,7 +1106,7 @@
|
||||
"target": "solid_dispenser_1",
|
||||
"type": "resource",
|
||||
"port": {
|
||||
"solid_reagent_bottle_2": "top",
|
||||
"solid_reagent_bottle_2": "bottom",
|
||||
"solid_dispenser_1": "SolidIn"
|
||||
}
|
||||
},
|
||||
@@ -1097,7 +1116,7 @@
|
||||
"target": "solid_dispenser_1",
|
||||
"type": "resource",
|
||||
"port": {
|
||||
"solid_reagent_bottle_3": "top",
|
||||
"solid_reagent_bottle_3": "bottom",
|
||||
"solid_dispenser_1": "SolidIn"
|
||||
}
|
||||
}
|
||||
|
||||
@@ -14,8 +14,8 @@
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "PLR_STATION",
|
||||
"name": "PLR_LH_TEST",
|
||||
"id": "liquid_handler",
|
||||
"name": "liquid_handler",
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "liquid_handler",
|
||||
@@ -37,7 +37,7 @@
|
||||
"tip_rack",
|
||||
"plate_well"
|
||||
],
|
||||
"parent": "PLR_STATION",
|
||||
"parent": "liquid_handler",
|
||||
"type": "deck",
|
||||
"class": "OTDeck",
|
||||
"position": {
|
||||
@@ -9650,7 +9650,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "moveit.arm_slider",
|
||||
"class": "robotic_arm.SCARA_with_slider.virtual",
|
||||
"position": {
|
||||
"x": -500,
|
||||
"y": 1000,
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "moveit.arm_slider",
|
||||
"class": "robotic_arm.SCARA_with_slider.virtual",
|
||||
"position": {
|
||||
"x": -500,
|
||||
"y": 1000,
|
||||
|
||||
949
test/experiments/workshop.json
Normal file
949
test/experiments/workshop.json
Normal file
@@ -0,0 +1,949 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "simple_station",
|
||||
"name": "愚公常量合成工作站",
|
||||
"children": [
|
||||
"serial_pump",
|
||||
"pump_reagents",
|
||||
"pump_workup",
|
||||
"flask_CH2Cl2",
|
||||
"waste_workup",
|
||||
"separator_controller",
|
||||
"flask_separator",
|
||||
"flask_air"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["PumpTransferProtocol", "CleanProtocol", "SeparateProtocol", "EvaporateProtocol"]
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "serial_pump",
|
||||
"name": "serial_pump",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "device",
|
||||
"class": "serial",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "COM7",
|
||||
"baudrate": 9600
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "pump_reagents",
|
||||
"name": "pump_reagents",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "device",
|
||||
"class": "syringepump.runze",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/devices/PumpBackbone/Serial/serialwrite",
|
||||
"address": "1",
|
||||
"max_volume": 25.0
|
||||
},
|
||||
"data": {
|
||||
"max_velocity": 1.0,
|
||||
"position": 0.0,
|
||||
"status": "Idle",
|
||||
"valve_position": "0"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_CH2Cl2",
|
||||
"name": "flask_CH2Cl2",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 430.4087301587302,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"liquid_type": "CH2Cl2",
|
||||
"liquid_volume": 1500.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_acetone",
|
||||
"name": "flask_acetone",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 295.36944444444447,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"liquid_type": "acetone",
|
||||
"liquid_volume": 1500.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_NH4Cl",
|
||||
"name": "flask_NH4Cl",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 165.36944444444444,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"liquid_type": "NH4Cl",
|
||||
"liquid_volume": 1500.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_grignard",
|
||||
"name": "flask_grignard",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 165.36944444444444,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"liquid_type": "grignard",
|
||||
"liquid_volume": 1500.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_THF",
|
||||
"name": "flask_THF",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 35,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"liquid_type": "THF",
|
||||
"liquid_volume": 1500.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "reactor",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 5000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "stirrer",
|
||||
"name": "stirrer",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "device",
|
||||
"class": "heaterstirrer.dalong",
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "COM43",
|
||||
"temp_warning": 60.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"temp": 0.0,
|
||||
"stir_speed": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "pump_workup",
|
||||
"name": "pump_workup",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "device",
|
||||
"class": "syringepump.runze",
|
||||
"position": {
|
||||
"x": 1195.611507936508,
|
||||
"y": 686,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/devices/PumpBackbone/Serial/serialwrite",
|
||||
"address": "2",
|
||||
"max_volume": 25.0
|
||||
},
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
{
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
{
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
{
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
{
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
{
|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
{
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
{
|
||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
{
|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
"target": "flask_CH2Cl2",
|
||||
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|
||||
"port": {
|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"flask_acetone": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
"target": "flask_grignard",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_reagents": "6",
|
||||
"flask_grignard": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
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|
||||
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|
||||
"port": {
|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"flask_air": "-1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
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|
||||
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|
||||
"port": {
|
||||
"pump_workup": "2",
|
||||
"waste_workup": "-1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "flask_H2O",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "7",
|
||||
"flask_H2O": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "flask_NaHCO3",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "6",
|
||||
"flask_NaHCO3": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "pump_reagents",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "8",
|
||||
"pump_reagents": "1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "flask_holding",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "5",
|
||||
"flask_holding": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "separator_controller",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "4",
|
||||
"separator_controller": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "flask_separator",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "3",
|
||||
"flask_separator": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "pump_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "1",
|
||||
"pump_column": "8"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "4",
|
||||
"column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "flask_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "3",
|
||||
"flask_column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "rotavap",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "2",
|
||||
"rotavap": "-1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "pump_workup",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "8",
|
||||
"pump_workup": "1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "flask_air",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "5",
|
||||
"flask_air": "-1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "dry_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "7",
|
||||
"dry_column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "flask_dry_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "6",
|
||||
"flask_dry_column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "pump_ext",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "1",
|
||||
"pump_ext": "8"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -95,6 +95,11 @@ def parse_args():
|
||||
action="store_true",
|
||||
help="启动unilab时同时报送注册表信息",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--use_remote_resource",
|
||||
action="store_true",
|
||||
help="启动unilab时使用远程资源启动",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--config",
|
||||
type=str,
|
||||
@@ -171,6 +176,8 @@ def main():
|
||||
"error",
|
||||
)
|
||||
os._exit(1)
|
||||
elif config_path and os.path.exists(config_path):
|
||||
working_dir = os.path.dirname(config_path)
|
||||
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
elif not config_path and (
|
||||
@@ -193,6 +200,16 @@ def main():
|
||||
print_status(f"当前工作目录为 {working_dir}", "info")
|
||||
load_config_from_file(config_path, args_dict["labid"])
|
||||
|
||||
if args_dict["use_remote_resource"]:
|
||||
print_status("使用远程资源启动", "info")
|
||||
from unilabos.app.web import http_client
|
||||
res = http_client.resource_get("host_node", False)
|
||||
if str(res.get("code", 0)) == "0" and len(res.get("data", [])) > 0:
|
||||
print_status("远程资源已存在，使用云端物料！", "info")
|
||||
args_dict["graph"] = None
|
||||
else:
|
||||
print_status("远程资源不存在，本地将进行首次上报！", "info")
|
||||
|
||||
# 设置BasicConfig参数
|
||||
BasicConfig.working_dir = working_dir
|
||||
BasicConfig.is_host_mode = not args_dict.get("without_host", False)
|
||||
@@ -220,7 +237,7 @@ def main():
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# 注册表
|
||||
build_registry(args_dict["registry_path"])
|
||||
build_registry(args_dict["registry_path"], False, args_dict["upload_registry"])
|
||||
if args_dict["graph"] is None:
|
||||
request_startup_json = http_client.request_startup_json()
|
||||
if not request_startup_json:
|
||||
|
||||
@@ -166,7 +166,7 @@ class MQTTClient:
|
||||
status = {"data": device_status.get(device_id, {}), "device_id": device_id, "timestamp": time.time()}
|
||||
address = f"labs/{MQConfig.lab_id}/devices/"
|
||||
self.client.publish(address, json.dumps(status), qos=2)
|
||||
logger.info(f"Device {device_id} status published: address: {address}, {status}")
|
||||
# logger.info(f"Device {device_id} status published: address: {address}, {status}")
|
||||
|
||||
def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
|
||||
if self.mqtt_disable:
|
||||
|
||||
@@ -69,7 +69,7 @@ def main():
|
||||
args = parser.parse_args()
|
||||
load_config_from_file(args.config)
|
||||
# 构建注册表
|
||||
build_registry(args.registry, args.complete_registry)
|
||||
build_registry(args.registry, args.complete_registry, True)
|
||||
from unilabos.app.mq import mqtt_client
|
||||
|
||||
# 连接mqtt
|
||||
|
||||
@@ -15,7 +15,6 @@ from .heatchill_protocol import (
|
||||
generate_heat_chill_to_temp_protocol # 保留导入，但不注册为协议
|
||||
)
|
||||
from .stir_protocol import generate_stir_protocol, generate_start_stir_protocol, generate_stop_stir_protocol
|
||||
from .transfer_protocol import generate_transfer_protocol
|
||||
from .clean_vessel_protocol import generate_clean_vessel_protocol
|
||||
from .dissolve_protocol import generate_dissolve_protocol
|
||||
from .filter_through_protocol import generate_filter_through_protocol
|
||||
@@ -54,6 +53,5 @@ action_protocol_generators = {
|
||||
StartStirProtocol: generate_start_stir_protocol,
|
||||
StirProtocol: generate_stir_protocol,
|
||||
StopStirProtocol: generate_stop_stir_protocol,
|
||||
TransferProtocol: generate_transfer_protocol,
|
||||
WashSolidProtocol: generate_wash_solid_protocol,
|
||||
}
|
||||
@@ -1,313 +1,24 @@
|
||||
from functools import partial
|
||||
|
||||
import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
from typing import List, Dict, Any, Union
|
||||
|
||||
from .utils.unit_parser import parse_volume_input, parse_mass_input, parse_time_input
|
||||
from .utils.vessel_parser import get_vessel, find_solid_dispenser, find_connected_stirrer, find_reagent_vessel
|
||||
from .utils.logger_util import action_log
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"[ADD] {message}", flush=True)
|
||||
logger.info(f"[ADD] {message}")
|
||||
|
||||
def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析体积输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
volume_input: 体积输入（如 "2.7 mL", "2.67 mL", "?", 10.0）
|
||||
|
||||
Returns:
|
||||
float: 体积（毫升）
|
||||
"""
|
||||
if isinstance(volume_input, (int, float)):
|
||||
debug_print(f"📏 体积输入为数值: {volume_input}")
|
||||
return float(volume_input)
|
||||
|
||||
if not volume_input or not str(volume_input).strip():
|
||||
debug_print(f"⚠️ 体积输入为空，返回0.0mL")
|
||||
return 0.0
|
||||
|
||||
volume_str = str(volume_input).lower().strip()
|
||||
debug_print(f"🔍 解析体积输入: '{volume_str}'")
|
||||
|
||||
# 处理未知体积
|
||||
if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
default_volume = 10.0 # 默认10mL
|
||||
debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
|
||||
return default_volume
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
volume_clean = re.sub(r'\s+', '', volume_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"❌ 无法解析体积: '{volume_str}'，使用默认值10mL")
|
||||
return 10.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 'ml' # 默认单位为毫升
|
||||
|
||||
# 转换为毫升
|
||||
if unit in ['l', 'liter']:
|
||||
volume = value * 1000.0 # L -> mL
|
||||
debug_print(f"🔄 体积转换: {value}L → {volume}mL")
|
||||
elif unit in ['μl', 'ul', 'microliter']:
|
||||
volume = value / 1000.0 # μL -> mL
|
||||
debug_print(f"🔄 体积转换: {value}μL → {volume}mL")
|
||||
else: # ml, milliliter 或默认
|
||||
volume = value # 已经是mL
|
||||
debug_print(f"✅ 体积已为mL: {volume}mL")
|
||||
|
||||
return volume
|
||||
|
||||
def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析质量输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
mass_input: 质量输入（如 "19.3 g", "4.5 g", 2.5）
|
||||
|
||||
Returns:
|
||||
float: 质量（克）
|
||||
"""
|
||||
if isinstance(mass_input, (int, float)):
|
||||
debug_print(f"⚖️ 质量输入为数值: {mass_input}g")
|
||||
return float(mass_input)
|
||||
|
||||
if not mass_input or not str(mass_input).strip():
|
||||
debug_print(f"⚠️ 质量输入为空，返回0.0g")
|
||||
return 0.0
|
||||
|
||||
mass_str = str(mass_input).lower().strip()
|
||||
debug_print(f"🔍 解析质量输入: '{mass_str}'")
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
mass_clean = re.sub(r'\s+', '', mass_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(g|mg|kg|gram|milligram|kilogram)?', mass_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"❌ 无法解析质量: '{mass_str}'，返回0.0g")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 'g' # 默认单位为克
|
||||
|
||||
# 转换为克
|
||||
if unit in ['mg', 'milligram']:
|
||||
mass = value / 1000.0 # mg -> g
|
||||
debug_print(f"🔄 质量转换: {value}mg → {mass}g")
|
||||
elif unit in ['kg', 'kilogram']:
|
||||
mass = value * 1000.0 # kg -> g
|
||||
debug_print(f"🔄 质量转换: {value}kg → {mass}g")
|
||||
else: # g, gram 或默认
|
||||
mass = value # 已经是g
|
||||
debug_print(f"✅ 质量已为g: {mass}g")
|
||||
|
||||
return mass
|
||||
|
||||
def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析时间输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
time_input: 时间输入（如 "1 h", "20 min", "30 s", 60.0）
|
||||
|
||||
Returns:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if isinstance(time_input, (int, float)):
|
||||
debug_print(f"⏱️ 时间输入为数值: {time_input}秒")
|
||||
return float(time_input)
|
||||
|
||||
if not time_input or not str(time_input).strip():
|
||||
debug_print(f"⚠️ 时间输入为空，返回0秒")
|
||||
return 0.0
|
||||
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"🔍 解析时间输入: '{time_str}'")
|
||||
|
||||
# 处理未知时间
|
||||
if time_str in ['?', 'unknown', 'tbd']:
|
||||
default_time = 60.0 # 默认1分钟
|
||||
debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (1分钟) ⏰")
|
||||
return default_time
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
time_clean = re.sub(r'\s+', '', time_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"❌ 无法解析时间: '{time_str}'，返回0s")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 's' # 默认单位为秒
|
||||
|
||||
# 转换为秒
|
||||
if unit in ['min', 'minute']:
|
||||
time_sec = value * 60.0 # min -> s
|
||||
debug_print(f"🔄 时间转换: {value}分钟 → {time_sec}秒")
|
||||
elif unit in ['h', 'hr', 'hour']:
|
||||
time_sec = value * 3600.0 # h -> s
|
||||
debug_print(f"🔄 时间转换: {value}小时 → {time_sec}秒")
|
||||
elif unit in ['d', 'day']:
|
||||
time_sec = value * 86400.0 # d -> s
|
||||
debug_print(f"🔄 时间转换: {value}天 → {time_sec}秒")
|
||||
else: # s, sec, second 或默认
|
||||
time_sec = value # 已经是s
|
||||
debug_print(f"✅ 时间已为秒: {time_sec}秒")
|
||||
|
||||
return time_sec
|
||||
|
||||
def find_reagent_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
"""增强版试剂容器查找，支持固体和液体"""
|
||||
debug_print(f"🔍 开始查找试剂 '{reagent}' 的容器...")
|
||||
|
||||
# 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
|
||||
debug_print(f"📋 方法1: 搜索reagent字段...")
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node].get('data', {})
|
||||
node_type = G.nodes[node].get('type', '')
|
||||
config_data = G.nodes[node].get('config', {})
|
||||
|
||||
# 只搜索容器类型的节点
|
||||
if node_type == 'container':
|
||||
reagent_name = node_data.get('reagent_name', '').lower()
|
||||
config_reagent = config_data.get('reagent', '').lower()
|
||||
|
||||
# 精确匹配
|
||||
if reagent_name == reagent.lower() or config_reagent == reagent.lower():
|
||||
debug_print(f"✅ 通过reagent字段精确匹配到容器: {node} 🎯")
|
||||
return node
|
||||
|
||||
# 模糊匹配
|
||||
if (reagent.lower() in reagent_name and reagent_name) or \
|
||||
(reagent.lower() in config_reagent and config_reagent):
|
||||
debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node} 🔍")
|
||||
return node
|
||||
|
||||
# 🔧 方法2：常见的容器命名规则
|
||||
debug_print(f"📋 方法2: 使用命名规则查找...")
|
||||
reagent_clean = reagent.lower().replace(' ', '_').replace('-', '_')
|
||||
possible_names = [
|
||||
reagent_clean,
|
||||
f"flask_{reagent_clean}",
|
||||
f"bottle_{reagent_clean}",
|
||||
f"vessel_{reagent_clean}",
|
||||
f"{reagent_clean}_flask",
|
||||
f"{reagent_clean}_bottle",
|
||||
f"reagent_{reagent_clean}",
|
||||
f"reagent_bottle_{reagent_clean}",
|
||||
f"solid_reagent_bottle_{reagent_clean}",
|
||||
f"reagent_bottle_1", # 通用试剂瓶
|
||||
f"reagent_bottle_2",
|
||||
f"reagent_bottle_3"
|
||||
]
|
||||
|
||||
debug_print(f"🔍 尝试的容器名称: {possible_names[:5]}... (共{len(possible_names)}个)")
|
||||
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
node_type = G.nodes[name].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"✅ 通过命名规则找到容器: {name} 📝")
|
||||
return name
|
||||
|
||||
# 🔧 方法3：节点名称模糊匹配
|
||||
debug_print(f"📋 方法3: 节点名称模糊匹配...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
if node_data.get('type') == 'container':
|
||||
# 检查节点名称是否包含试剂名称
|
||||
if reagent_clean in node_id.lower():
|
||||
debug_print(f"✅ 通过节点名称模糊匹配到容器: {node_id} 🔍")
|
||||
return node_id
|
||||
|
||||
# 检查液体类型匹配
|
||||
vessel_data = node_data.get('data', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
|
||||
if liquid_type.lower() == reagent.lower():
|
||||
debug_print(f"✅ 通过液体类型匹配到容器: {node_id} 💧")
|
||||
return node_id
|
||||
|
||||
# 🔧 方法4：使用第一个试剂瓶作为备选
|
||||
debug_print(f"📋 方法4: 查找备选试剂瓶...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
if (node_data.get('type') == 'container' and
|
||||
('reagent' in node_id.lower() or 'bottle' in node_id.lower())):
|
||||
debug_print(f"⚠️ 未找到专用容器，使用备选试剂瓶: {node_id} 🔄")
|
||||
return node_id
|
||||
|
||||
debug_print(f"❌ 所有方法都失败了，无法找到容器!")
|
||||
raise ValueError(f"找不到试剂 '{reagent}' 对应的容器")
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找连接到指定容器的搅拌器"""
|
||||
debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
|
||||
|
||||
stirrer_nodes = []
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'stirrer' in node_class:
|
||||
stirrer_nodes.append(node)
|
||||
debug_print(f"📋 发现搅拌器: {node}")
|
||||
|
||||
debug_print(f"📊 共找到 {len(stirrer_nodes)} 个搅拌器")
|
||||
|
||||
# 查找连接到容器的搅拌器
|
||||
for stirrer in stirrer_nodes:
|
||||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||||
debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
|
||||
return stirrer
|
||||
|
||||
# 返回第一个搅拌器
|
||||
if stirrer_nodes:
|
||||
debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
|
||||
return stirrer_nodes[0]
|
||||
|
||||
debug_print(f"❌ 未找到任何搅拌器")
|
||||
return ""
|
||||
|
||||
def find_solid_dispenser(G: nx.DiGraph) -> str:
|
||||
"""查找固体加样器"""
|
||||
debug_print(f"🔍 查找固体加样器...")
|
||||
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'solid_dispenser' in node_class or 'dispenser' in node_class:
|
||||
debug_print(f"✅ 找到固体加样器: {node} 🥄")
|
||||
return node
|
||||
|
||||
debug_print(f"❌ 未找到固体加样器")
|
||||
return ""
|
||||
|
||||
# 🆕 创建进度日志动作
|
||||
def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
|
||||
"""创建一个动作日志"""
|
||||
full_message = f"{emoji} {message}"
|
||||
debug_print(full_message)
|
||||
logger.info(full_message)
|
||||
print(f"[ACTION] {full_message}", flush=True)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message
|
||||
}
|
||||
}
|
||||
create_action_log = partial(action_log, prefix="[ADD]")
|
||||
|
||||
def generate_add_protocol(
|
||||
G: nx.DiGraph,
|
||||
@@ -346,16 +57,7 @@ def generate_add_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
# 🔧 修改：更新容器的液体体积（假设有 liquid_volume 字段）
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
@@ -406,12 +108,7 @@ def generate_add_protocol(
|
||||
final_time = parse_time_input(time)
|
||||
|
||||
debug_print(f"📊 解析结果:")
|
||||
debug_print(f" 📏 体积: {final_volume}mL")
|
||||
debug_print(f" ⚖️ 质量: {final_mass}g")
|
||||
debug_print(f" ⏱️ 时间: {final_time}s")
|
||||
debug_print(f" 🧬 摩尔: '{mol}'")
|
||||
debug_print(f" 🎯 事件: '{event}'")
|
||||
debug_print(f" ⚡ 速率: '{rate_spec}'")
|
||||
debug_print(f" 体积: {final_volume}mL, 质量: {final_mass}g, 时间: {final_time}s, 摩尔: '{mol}', 事件: '{event}', 速率: '{rate_spec}'")
|
||||
|
||||
# === 判断添加类型 ===
|
||||
debug_print("🔍 步骤3: 判断添加类型...")
|
||||
|
||||
@@ -1,31 +1,15 @@
|
||||
import networkx as nx
|
||||
import logging
|
||||
from typing import List, Dict, Any, Union
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"[ADJUST_PH] {message}", flush=True)
|
||||
logger.info(f"[ADJUST_PH] {message}")
|
||||
|
||||
# 🆕 创建进度日志动作
|
||||
def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
|
||||
"""创建一个动作日志"""
|
||||
full_message = f"{emoji} {message}"
|
||||
debug_print(full_message)
|
||||
logger.info(full_message)
|
||||
print(f"[ACTION] {full_message}", flush=True)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message
|
||||
}
|
||||
}
|
||||
|
||||
def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
"""
|
||||
查找酸碱试剂容器，支持多种匹配模式
|
||||
@@ -235,16 +219,7 @@ def generate_adjust_ph_protocol(
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
if not vessel_id:
|
||||
debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
|
||||
|
||||
@@ -1,101 +1,9 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
from .utils.vessel_parser import get_vessel, find_solvent_vessel
|
||||
from .pump_protocol import generate_pump_protocol
|
||||
|
||||
|
||||
def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""
|
||||
查找溶剂容器，支持多种匹配模式：
|
||||
1. 容器名称匹配（如 flask_water, reagent_bottle_1-DMF）
|
||||
2. 容器内液体类型匹配（如 liquid_type: "DMF", "ethanol"）
|
||||
"""
|
||||
print(f"CLEAN_VESSEL: 正在查找溶剂 '{solvent}' 的容器...")
|
||||
|
||||
# 第一步：通过容器名称匹配
|
||||
possible_names = [
|
||||
f"flask_{solvent}", # flask_water, flask_ethanol
|
||||
f"bottle_{solvent}", # bottle_water, bottle_ethanol
|
||||
f"vessel_{solvent}", # vessel_water, vessel_ethanol
|
||||
f"{solvent}_flask", # water_flask, ethanol_flask
|
||||
f"{solvent}_bottle", # water_bottle, ethanol_bottle
|
||||
f"{solvent}", # 直接用溶剂名
|
||||
f"solvent_{solvent}", # solvent_water, solvent_ethanol
|
||||
f"reagent_bottle_{solvent}", # reagent_bottle_DMF
|
||||
]
|
||||
|
||||
# 尝试名称匹配
|
||||
for vessel_name in possible_names:
|
||||
if vessel_name in G.nodes():
|
||||
print(f"CLEAN_VESSEL: 通过名称匹配找到容器: {vessel_name}")
|
||||
return vessel_name
|
||||
|
||||
# 第二步：通过模糊名称匹配（名称中包含溶剂名）
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
# 检查节点ID或名称中是否包含溶剂名
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
if (solvent.lower() in node_id.lower() or
|
||||
solvent.lower() in node_name):
|
||||
print(f"CLEAN_VESSEL: 通过模糊名称匹配找到容器: {node_id} (名称: {node_name})")
|
||||
return node_id
|
||||
|
||||
# 第三步：通过液体类型匹配
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
# 支持两种格式的液体类型字段
|
||||
liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
|
||||
reagent_name = vessel_data.get('reagent_name', '')
|
||||
config_reagent = G.nodes[node_id].get('config', {}).get('reagent', '')
|
||||
|
||||
# 检查多个可能的字段
|
||||
if (liquid_type.lower() == solvent.lower() or
|
||||
reagent_name.lower() == solvent.lower() or
|
||||
config_reagent.lower() == solvent.lower()):
|
||||
print(f"CLEAN_VESSEL: 通过液体类型匹配找到容器: {node_id}")
|
||||
print(f" - liquid_type: {liquid_type}")
|
||||
print(f" - reagent_name: {reagent_name}")
|
||||
print(f" - config.reagent: {config_reagent}")
|
||||
return node_id
|
||||
|
||||
# 第四步：列出所有可用的容器信息帮助调试
|
||||
available_containers = []
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
config_data = G.nodes[node_id].get('config', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
|
||||
container_info = {
|
||||
'id': node_id,
|
||||
'name': G.nodes[node_id].get('name', ''),
|
||||
'liquid_types': [],
|
||||
'reagent_name': vessel_data.get('reagent_name', ''),
|
||||
'config_reagent': config_data.get('reagent', '')
|
||||
}
|
||||
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
|
||||
if liquid_type:
|
||||
container_info['liquid_types'].append(liquid_type)
|
||||
|
||||
available_containers.append(container_info)
|
||||
|
||||
print(f"CLEAN_VESSEL: 可用容器列表:")
|
||||
for container in available_containers:
|
||||
print(f" - {container['id']}: {container['name']}")
|
||||
print(f" 液体类型: {container['liquid_types']}")
|
||||
print(f" 试剂名称: {container['reagent_name']}")
|
||||
print(f" 配置试剂: {container['config_reagent']}")
|
||||
|
||||
raise ValueError(f"未找到溶剂 '{solvent}' 的容器。尝试了名称匹配: {possible_names}")
|
||||
|
||||
|
||||
def find_solvent_vessel_by_any_match(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""
|
||||
增强版溶剂容器查找，支持各种匹配方式的别名函数
|
||||
@@ -181,16 +89,7 @@ def generate_clean_vessel_protocol(
|
||||
clean_protocol = generate_clean_vessel_protocol(G, {"id": "main_reactor"}, "water", 100.0, 60.0, 2)
|
||||
"""
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
|
||||
@@ -1,31 +1,22 @@
|
||||
from functools import partial
|
||||
|
||||
import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
from typing import List, Dict, Any, Union
|
||||
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.logger_util import action_log
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"[DISSOLVE] {message}", flush=True)
|
||||
logger.info(f"[DISSOLVE] {message}")
|
||||
|
||||
# 🆕 创建进度日志动作
|
||||
def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
|
||||
"""创建一个动作日志"""
|
||||
full_message = f"{emoji} {message}"
|
||||
debug_print(full_message)
|
||||
logger.info(full_message)
|
||||
print(f"[ACTION] {full_message}", flush=True)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message
|
||||
}
|
||||
}
|
||||
create_action_log = partial(action_log, prefix="[DISSOLVE]")
|
||||
|
||||
def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
"""
|
||||
@@ -446,7 +437,7 @@ def generate_dissolve_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("🧪 开始生成溶解协议")
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
import networkx as nx
|
||||
from typing import List, Dict, Any
|
||||
|
||||
from unilabos.compile.utils.vessel_parser import get_vessel
|
||||
|
||||
|
||||
def find_connected_heater(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""
|
||||
@@ -63,7 +65,7 @@ def generate_dry_protocol(
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
|
||||
@@ -1,8 +1,12 @@
|
||||
from functools import partial
|
||||
|
||||
import networkx as nx
|
||||
import logging
|
||||
import uuid
|
||||
import sys
|
||||
from typing import List, Dict, Any, Optional
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.logger_util import action_log
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_protocol
|
||||
|
||||
# 设置日志
|
||||
@@ -21,48 +25,17 @@ def debug_print(message):
|
||||
try:
|
||||
# 确保消息是字符串格式
|
||||
safe_message = str(message)
|
||||
print(f"[抽真空充气] {safe_message}", flush=True)
|
||||
logger.info(f"[抽真空充气] {safe_message}")
|
||||
except UnicodeEncodeError:
|
||||
# 如果编码失败，尝试替换不支持的字符
|
||||
safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
|
||||
print(f"[抽真空充气] {safe_message}", flush=True)
|
||||
logger.info(f"[抽真空充气] {safe_message}")
|
||||
except Exception as e:
|
||||
# 最后的安全措施
|
||||
fallback_message = f"日志输出错误: {repr(message)}"
|
||||
print(f"[抽真空充气] {fallback_message}", flush=True)
|
||||
logger.info(f"[抽真空充气] {fallback_message}")
|
||||
|
||||
def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
|
||||
"""创建一个动作日志 - 支持中文和emoji"""
|
||||
try:
|
||||
full_message = f"{emoji} {message}"
|
||||
debug_print(full_message)
|
||||
logger.info(full_message)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message,
|
||||
"progress_message": full_message
|
||||
}
|
||||
}
|
||||
except Exception as e:
|
||||
# 如果emoji有问题，使用纯文本
|
||||
safe_message = f"[日志] {message}"
|
||||
debug_print(safe_message)
|
||||
logger.info(safe_message)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": safe_message,
|
||||
"progress_message": safe_message
|
||||
}
|
||||
}
|
||||
create_action_log = partial(action_log, prefix="[抽真空充气]")
|
||||
|
||||
def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||||
"""
|
||||
@@ -288,16 +261,7 @@ def generate_evacuateandrefill_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
# 硬编码重复次数为 3
|
||||
repeats = 3
|
||||
|
||||
@@ -2,75 +2,15 @@ from typing import List, Dict, Any, Optional, Union
|
||||
import networkx as nx
|
||||
import logging
|
||||
import re
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.unit_parser import parse_time_input
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"🧪 [EVAPORATE] {message}", flush=True)
|
||||
logger.info(f"[EVAPORATE] {message}")
|
||||
|
||||
def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析时间输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
time_input: 时间输入（如 "3 min", "180", "0.5 h" 等）
|
||||
|
||||
Returns:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if isinstance(time_input, (int, float)):
|
||||
debug_print(f"⏱️ 时间输入为数字: {time_input}s ✨")
|
||||
return float(time_input) # 🔧 确保返回float
|
||||
|
||||
if not time_input or not str(time_input).strip():
|
||||
debug_print(f"⚠️ 时间输入为空，使用默认值: 180s (3分钟) 🕐")
|
||||
return 180.0 # 默认3分钟
|
||||
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"🔍 解析时间输入: '{time_str}' 📝")
|
||||
|
||||
# 处理未知时间
|
||||
if time_str in ['?', 'unknown', 'tbd']:
|
||||
default_time = 180.0 # 默认3分钟
|
||||
debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (3分钟) 🤷♀️")
|
||||
return default_time
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
time_clean = re.sub(r'\s+', '', time_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
|
||||
|
||||
if not match:
|
||||
# 如果无法解析，尝试直接转换为数字（默认秒）
|
||||
try:
|
||||
value = float(time_str)
|
||||
debug_print(f"✅ 时间解析成功: {time_str} → {value}s（无单位，默认秒）⏰")
|
||||
return float(value) # 🔧 确保返回float
|
||||
except ValueError:
|
||||
debug_print(f"❌ 无法解析时间: '{time_str}'，使用默认值180s (3分钟) 😅")
|
||||
return 180.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 's' # 默认单位为秒
|
||||
|
||||
# 转换为秒
|
||||
if unit in ['min', 'minute']:
|
||||
time_sec = value * 60.0 # min -> s
|
||||
debug_print(f"🕐 时间转换: {value} 分钟 → {time_sec}s ⏰")
|
||||
elif unit in ['h', 'hr', 'hour']:
|
||||
time_sec = value * 3600.0 # h -> s
|
||||
debug_print(f"🕐 时间转换: {value} 小时 → {time_sec}s ({time_sec/60:.1f}分钟) ⏰")
|
||||
elif unit in ['d', 'day']:
|
||||
time_sec = value * 86400.0 # d -> s
|
||||
debug_print(f"🕐 时间转换: {value} 天 → {time_sec}s ({time_sec/3600:.1f}小时) ⏰")
|
||||
else: # s, sec, second 或默认
|
||||
time_sec = value # 已经是s
|
||||
debug_print(f"🕐 时间转换: {value}s → {time_sec}s (已是秒) ⏰")
|
||||
|
||||
return float(time_sec) # 🔧 确保返回float
|
||||
|
||||
def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
|
||||
"""
|
||||
@@ -201,16 +141,7 @@ def generate_evaporate_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
debug_print("🌟" * 20)
|
||||
debug_print("🌪️ 开始生成蒸发协议（支持单位和体积运算）✨")
|
||||
|
||||
@@ -1,13 +1,13 @@
|
||||
from typing import List, Dict, Any, Optional
|
||||
import networkx as nx
|
||||
import logging
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"🧪 [FILTER] {message}", flush=True)
|
||||
logger.info(f"[FILTER] {message}")
|
||||
|
||||
def find_filter_device(G: nx.DiGraph) -> str:
|
||||
@@ -51,7 +51,7 @@ def validate_vessel(G: nx.DiGraph, vessel: str, vessel_type: str = "容器") ->
|
||||
def generate_filter_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
filtrate_vessel: str = "",
|
||||
filtrate_vessel: dict = {"id": "waste"},
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
@@ -68,16 +68,8 @@ def generate_filter_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
filtrate_vessel_id, filtrate_vessel_data = get_vessel(filtrate_vessel)
|
||||
|
||||
debug_print("🌊" * 20)
|
||||
debug_print("🚀 开始生成过滤协议（支持体积运算）✨")
|
||||
@@ -111,7 +103,7 @@ def generate_filter_protocol(
|
||||
# 验证可选参数
|
||||
debug_print(" 🔍 验证可选参数...")
|
||||
if filtrate_vessel:
|
||||
validate_vessel(G, filtrate_vessel, "滤液容器")
|
||||
validate_vessel(G, filtrate_vessel_id, "滤液容器")
|
||||
debug_print(" 🌊 模式: 过滤并收集滤液 💧")
|
||||
else:
|
||||
debug_print(" 🧱 模式: 过滤并收集固体 🔬")
|
||||
@@ -168,8 +160,8 @@ def generate_filter_protocol(
|
||||
# 使用pump protocol转移液体到过滤器
|
||||
transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
to_vessel=filter_device,
|
||||
from_vessel={"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
to_vessel={"id": filter_device},
|
||||
volume=0.0, # 转移所有液体
|
||||
amount="",
|
||||
time=0.0,
|
||||
@@ -220,8 +212,8 @@ def generate_filter_protocol(
|
||||
# 构建过滤动作参数
|
||||
debug_print(" ⚙️ 构建过滤参数...")
|
||||
filter_kwargs = {
|
||||
"vessel": filter_device, # 过滤器设备
|
||||
"filtrate_vessel": filtrate_vessel, # 滤液容器（可能为空）
|
||||
"vessel": {"id": filter_device}, # 过滤器设备
|
||||
"filtrate_vessel": {"id": filtrate_vessel_id}, # 滤液容器（可能为空）
|
||||
"stir": kwargs.get("stir", False),
|
||||
"stir_speed": kwargs.get("stir_speed", 0.0),
|
||||
"temp": kwargs.get("temp", 25.0),
|
||||
@@ -252,8 +244,8 @@ def generate_filter_protocol(
|
||||
# === 收集滤液（如果需要）===
|
||||
debug_print("📍 步骤5: 收集滤液... 💧")
|
||||
|
||||
if filtrate_vessel:
|
||||
debug_print(f" 🧪 收集滤液: {filter_device} → {filtrate_vessel} 💧")
|
||||
if filtrate_vessel_id and filtrate_vessel_id not in G.neighbors(filter_device):
|
||||
debug_print(f" 🧪 收集滤液: {filter_device} → {filtrate_vessel_id} 💧")
|
||||
|
||||
try:
|
||||
debug_print(" 🔄 开始执行收集操作...")
|
||||
@@ -282,20 +274,20 @@ def generate_filter_protocol(
|
||||
debug_print(" 🔧 更新滤液容器体积...")
|
||||
|
||||
# 更新filtrate_vessel在图中的体积（如果它是节点）
|
||||
if filtrate_vessel in G.nodes():
|
||||
if 'data' not in G.nodes[filtrate_vessel]:
|
||||
G.nodes[filtrate_vessel]['data'] = {}
|
||||
if filtrate_vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[filtrate_vessel_id]:
|
||||
G.nodes[filtrate_vessel_id]['data'] = {}
|
||||
|
||||
current_filtrate_volume = G.nodes[filtrate_vessel]['data'].get('liquid_volume', 0.0)
|
||||
current_filtrate_volume = G.nodes[filtrate_vessel_id]['data'].get('liquid_volume', 0.0)
|
||||
if isinstance(current_filtrate_volume, list):
|
||||
if len(current_filtrate_volume) > 0:
|
||||
G.nodes[filtrate_vessel]['data']['liquid_volume'][0] += expected_filtrate_volume
|
||||
G.nodes[filtrate_vessel_id]['data']['liquid_volume'][0] += expected_filtrate_volume
|
||||
else:
|
||||
G.nodes[filtrate_vessel]['data']['liquid_volume'] = [expected_filtrate_volume]
|
||||
G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = [expected_filtrate_volume]
|
||||
else:
|
||||
G.nodes[filtrate_vessel]['data']['liquid_volume'] = current_filtrate_volume + expected_filtrate_volume
|
||||
G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = current_filtrate_volume + expected_filtrate_volume
|
||||
|
||||
debug_print(f" 📊 滤液容器 {filtrate_vessel} 体积增加 {expected_filtrate_volume:.2f}mL")
|
||||
debug_print(f" 📊 滤液容器 {filtrate_vessel_id} 体积增加 {expected_filtrate_volume:.2f}mL")
|
||||
|
||||
else:
|
||||
debug_print(" ⚠️ 收集协议返回空序列 🤔")
|
||||
@@ -360,7 +352,7 @@ def generate_filter_protocol(
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
|
||||
debug_print(f"🥽 过滤容器: {vessel_id} 🧪")
|
||||
debug_print(f"🌊 过滤器设备: {filter_device} 🔧")
|
||||
debug_print(f"💧 滤液容器: {filtrate_vessel or '无（保留固体）'} 🧱")
|
||||
debug_print(f"💧 滤液容器: {filtrate_vessel_id or '无（保留固体）'} 🧱")
|
||||
debug_print(f"⏱️ 预计总时间: {(len(action_sequence) * 5):.0f} 秒 ⌛")
|
||||
if original_liquid_volume > 0:
|
||||
debug_print(f"📊 体积变化统计:")
|
||||
@@ -372,4 +364,3 @@ def generate_filter_protocol(
|
||||
debug_print("🎊" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
@@ -2,81 +2,15 @@ from typing import List, Dict, Any, Union
|
||||
import networkx as nx
|
||||
import logging
|
||||
import re
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.unit_parser import parse_time_input
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"🌡️ [HEATCHILL] {message}", flush=True)
|
||||
logger.info(f"[HEATCHILL] {message}")
|
||||
|
||||
def parse_time_input(time_input: Union[str, float, int]) -> float:
|
||||
"""
|
||||
解析时间输入（统一函数）
|
||||
|
||||
Args:
|
||||
time_input: 时间输入（如 "30 min", "1 h", "300", "?", 60.0）
|
||||
|
||||
Returns:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if not time_input:
|
||||
return 300.0
|
||||
|
||||
# 🔢 处理数值输入
|
||||
if isinstance(time_input, (int, float)):
|
||||
result = float(time_input)
|
||||
debug_print(f"⏰ 数值时间: {time_input} → {result}s")
|
||||
return result
|
||||
|
||||
# 📝 处理字符串输入
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"🔍 解析时间: '{time_str}'")
|
||||
|
||||
# ❓ 特殊值处理
|
||||
special_times = {
|
||||
'?': 300.0, 'unknown': 300.0, 'tbd': 300.0,
|
||||
'overnight': 43200.0, 'several hours': 10800.0,
|
||||
'few hours': 7200.0, 'long time': 3600.0, 'short time': 300.0
|
||||
}
|
||||
|
||||
if time_str in special_times:
|
||||
result = special_times[time_str]
|
||||
debug_print(f"🎯 特殊时间: '{time_str}' → {result}s ({result/60:.1f}分钟)")
|
||||
return result
|
||||
|
||||
# 🔢 纯数字处理
|
||||
try:
|
||||
result = float(time_str)
|
||||
debug_print(f"⏰ 纯数字: {time_str} → {result}s")
|
||||
return result
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
# 📐 正则表达式解析
|
||||
pattern = r'(\d+\.?\d*)\s*([a-z]*)'
|
||||
match = re.match(pattern, time_str)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析时间: '{time_str}'，使用默认值: 300s")
|
||||
return 300.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 's'
|
||||
|
||||
# 📏 单位转换
|
||||
unit_multipliers = {
|
||||
's': 1.0, 'sec': 1.0, 'second': 1.0, 'seconds': 1.0,
|
||||
'm': 60.0, 'min': 60.0, 'mins': 60.0, 'minute': 60.0, 'minutes': 60.0,
|
||||
'h': 3600.0, 'hr': 3600.0, 'hrs': 3600.0, 'hour': 3600.0, 'hours': 3600.0,
|
||||
'd': 86400.0, 'day': 86400.0, 'days': 86400.0
|
||||
}
|
||||
|
||||
multiplier = unit_multipliers.get(unit, 1.0)
|
||||
result = value * multiplier
|
||||
|
||||
debug_print(f"✅ 时间解析: '{time_str}' → {value} {unit} → {result}s ({result/60:.1f}分钟)")
|
||||
return result
|
||||
|
||||
def parse_temp_input(temp_input: Union[str, float], default_temp: float = 25.0) -> float:
|
||||
"""
|
||||
@@ -217,16 +151,7 @@ def generate_heat_chill_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
debug_print("🌡️" * 20)
|
||||
debug_print("🚀 开始生成加热冷却协议（支持vessel字典）✨")
|
||||
@@ -295,7 +220,7 @@ def generate_heat_chill_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"vessel": vessel,
|
||||
"temp": float(final_temp),
|
||||
"time": float(final_time),
|
||||
"stir": bool(stir),
|
||||
@@ -329,7 +254,7 @@ def generate_heat_chill_to_temp_protocol(
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""生成加热到指定温度的协议（简化版）"""
|
||||
vessel_id = vessel["id"]
|
||||
vessel_id, _ = get_vessel(vessel)
|
||||
debug_print(f"🌡️ 生成加热到温度协议: {vessel_id} → {temp}°C")
|
||||
return generate_heat_chill_protocol(G, vessel, temp, time, **kwargs)
|
||||
|
||||
@@ -343,7 +268,7 @@ def generate_heat_chill_start_protocol(
|
||||
"""生成开始加热操作的协议序列"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
vessel_id, _ = get_vessel(vessel)
|
||||
|
||||
debug_print("🔥 开始生成启动加热协议 ✨")
|
||||
debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id}), 🌡️ temp: {temp}°C")
|
||||
@@ -361,7 +286,6 @@ def generate_heat_chill_start_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"temp": temp,
|
||||
"purpose": purpose or f"开始加热到 {temp}°C"
|
||||
}
|
||||
@@ -378,7 +302,7 @@ def generate_heat_chill_stop_protocol(
|
||||
"""生成停止加热操作的协议序列"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
vessel_id, _ = get_vessel(vessel)
|
||||
|
||||
debug_print("🛑 开始生成停止加热协议 ✨")
|
||||
debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
@@ -396,10 +320,8 @@ def generate_heat_chill_stop_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id # 🔧 使用 vessel_id
|
||||
}
|
||||
}]
|
||||
|
||||
debug_print(f"✅ 停止加热协议生成完成 🎯")
|
||||
return action_sequence
|
||||
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
import networkx as nx
|
||||
from typing import List, Dict, Any, Optional
|
||||
from .utils.vessel_parser import get_vessel
|
||||
|
||||
|
||||
def parse_temperature(temp_str: str) -> float:
|
||||
@@ -170,16 +171,7 @@ def generate_hydrogenate_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -2,91 +2,17 @@ import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
from typing import List, Dict, Any, Tuple, Union
|
||||
from .utils.vessel_parser import get_vessel, find_solvent_vessel
|
||||
from .utils.unit_parser import parse_volume_input
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"💎 [RECRYSTALLIZE] {message}", flush=True)
|
||||
logger.info(f"[RECRYSTALLIZE] {message}")
|
||||
|
||||
|
||||
def parse_volume_with_units(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
|
||||
"""
|
||||
解析带单位的体积输入
|
||||
|
||||
Args:
|
||||
volume_input: 体积输入（如 "100 mL", "2.5 L", "500", "?", 100.0）
|
||||
default_unit: 默认单位（默认为毫升）
|
||||
|
||||
Returns:
|
||||
float: 体积（毫升）
|
||||
"""
|
||||
if not volume_input:
|
||||
debug_print("⚠️ 体积输入为空，返回 0.0mL 📦")
|
||||
return 0.0
|
||||
|
||||
# 处理数值输入
|
||||
if isinstance(volume_input, (int, float)):
|
||||
result = float(volume_input)
|
||||
debug_print(f"🔢 数值体积输入: {volume_input} → {result}mL（默认单位）💧")
|
||||
return result
|
||||
|
||||
# 处理字符串输入
|
||||
volume_str = str(volume_input).lower().strip()
|
||||
debug_print(f"🔍 解析体积字符串: '{volume_str}' 📝")
|
||||
|
||||
# 处理特殊值
|
||||
if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
default_volume = 50.0 # 50mL默认值
|
||||
debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
|
||||
return default_volume
|
||||
|
||||
# 如果是纯数字，使用默认单位
|
||||
try:
|
||||
value = float(volume_str)
|
||||
if default_unit.lower() in ["ml", "milliliter"]:
|
||||
result = value
|
||||
elif default_unit.lower() in ["l", "liter"]:
|
||||
result = value * 1000.0
|
||||
elif default_unit.lower() in ["μl", "ul", "microliter"]:
|
||||
result = value / 1000.0
|
||||
else:
|
||||
result = value # 默认mL
|
||||
debug_print(f"🔢 纯数字输入: {volume_str} → {result}mL（单位: {default_unit}）📏")
|
||||
return result
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
volume_clean = re.sub(r'\s+', '', volume_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析体积: '{volume_str}'，使用默认值: 50mL 🎯")
|
||||
return 50.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or default_unit.lower()
|
||||
|
||||
# 转换为毫升
|
||||
if unit in ['l', 'liter']:
|
||||
volume = value * 1000.0 # L -> mL
|
||||
debug_print(f"📏 升转毫升: {value}L → {volume}mL 💧")
|
||||
elif unit in ['μl', 'ul', 'microliter']:
|
||||
volume = value / 1000.0 # μL -> mL
|
||||
debug_print(f"📏 微升转毫升: {value}μL → {volume}mL 💧")
|
||||
else: # ml, milliliter 或默认
|
||||
volume = value # 已经是mL
|
||||
debug_print(f"📏 毫升单位: {value}mL → {volume}mL 💧")
|
||||
|
||||
debug_print(f"✅ 体积解析完成: '{volume_str}' → {volume}mL ✨")
|
||||
return volume
|
||||
|
||||
|
||||
def parse_ratio(ratio_str: str) -> Tuple[float, float]:
|
||||
"""
|
||||
解析比例字符串，支持多种格式
|
||||
@@ -136,131 +62,6 @@ def parse_ratio(ratio_str: str) -> Tuple[float, float]:
|
||||
return 1.0, 1.0
|
||||
|
||||
|
||||
def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""
|
||||
查找溶剂容器
|
||||
|
||||
Args:
|
||||
G: 网络图
|
||||
solvent: 溶剂名称
|
||||
|
||||
Returns:
|
||||
str: 溶剂容器ID
|
||||
"""
|
||||
debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器... 🧪")
|
||||
|
||||
# 构建可能的容器名称
|
||||
possible_names = [
|
||||
f"flask_{solvent}",
|
||||
f"bottle_{solvent}",
|
||||
f"reagent_{solvent}",
|
||||
f"reagent_bottle_{solvent}",
|
||||
f"{solvent}_flask",
|
||||
f"{solvent}_bottle",
|
||||
f"{solvent}",
|
||||
f"vessel_{solvent}",
|
||||
]
|
||||
|
||||
debug_print(f"📋 候选容器名称: {possible_names[:3]}... (共{len(possible_names)}个) 📝")
|
||||
|
||||
# 第一步：通过容器名称匹配
|
||||
debug_print(" 🎯 步骤1: 精确名称匹配...")
|
||||
for vessel_name in possible_names:
|
||||
if vessel_name in G.nodes():
|
||||
debug_print(f" 🎉 通过名称匹配找到容器: {vessel_name} ✨")
|
||||
return vessel_name
|
||||
|
||||
# 第二步：通过模糊匹配（节点ID和名称）
|
||||
debug_print(" 🔍 步骤2: 模糊名称匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
|
||||
if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
|
||||
debug_print(f" 🎉 通过模糊匹配找到容器: {node_id} (名称: {node_name}) ✨")
|
||||
return node_id
|
||||
|
||||
# 第三步：通过配置中的试剂信息匹配
|
||||
debug_print(" 🧪 步骤3: 配置试剂信息匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
# 检查 config 中的 reagent 字段
|
||||
node_config = G.nodes[node_id].get('config', {})
|
||||
config_reagent = node_config.get('reagent', '').lower()
|
||||
|
||||
if config_reagent and solvent.lower() == config_reagent:
|
||||
debug_print(f" 🎉 通过config.reagent匹配找到容器: {node_id} (试剂: {config_reagent}) ✨")
|
||||
return node_id
|
||||
|
||||
# 第四步：通过数据中的试剂信息匹配
|
||||
debug_print(" 🧪 步骤4: 数据试剂信息匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
|
||||
# 检查 data 中的 reagent_name 字段
|
||||
reagent_name = vessel_data.get('reagent_name', '').lower()
|
||||
if reagent_name and solvent.lower() == reagent_name:
|
||||
debug_print(f" 🎉 通过data.reagent_name匹配找到容器: {node_id} (试剂: {reagent_name}) ✨")
|
||||
return node_id
|
||||
|
||||
# 检查 data 中的液体信息
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
|
||||
|
||||
if solvent.lower() in liquid_type:
|
||||
debug_print(f" 🎉 通过液体类型匹配找到容器: {node_id} (液体类型: {liquid_type}) ✨")
|
||||
return node_id
|
||||
|
||||
# 第五步：部分匹配（如果前面都没找到）
|
||||
debug_print(" 🔍 步骤5: 部分匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_config = G.nodes[node_id].get('config', {})
|
||||
node_data = G.nodes[node_id].get('data', {})
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
|
||||
config_reagent = node_config.get('reagent', '').lower()
|
||||
data_reagent = node_data.get('reagent_name', '').lower()
|
||||
|
||||
# 检查是否包含溶剂名称
|
||||
if (solvent.lower() in config_reagent or
|
||||
solvent.lower() in data_reagent or
|
||||
solvent.lower() in node_name or
|
||||
solvent.lower() in node_id.lower()):
|
||||
debug_print(f" 🎉 通过部分匹配找到容器: {node_id} ✨")
|
||||
debug_print(f" - 节点名称: {node_name}")
|
||||
debug_print(f" - 配置试剂: {config_reagent}")
|
||||
debug_print(f" - 数据试剂: {data_reagent}")
|
||||
return node_id
|
||||
|
||||
# 调试信息：列出所有容器
|
||||
debug_print(" 🔎 调试信息：列出所有容器...")
|
||||
container_list = []
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_config = G.nodes[node_id].get('config', {})
|
||||
node_data = G.nodes[node_id].get('data', {})
|
||||
node_name = G.nodes[node_id].get('name', '')
|
||||
|
||||
container_info = {
|
||||
'id': node_id,
|
||||
'name': node_name,
|
||||
'config_reagent': node_config.get('reagent', ''),
|
||||
'data_reagent': node_data.get('reagent_name', '')
|
||||
}
|
||||
container_list.append(container_info)
|
||||
debug_print(f" - 容器: {node_id}, 名称: {node_name}, config试剂: {node_config.get('reagent', '')}, data试剂: {node_data.get('reagent_name', '')}")
|
||||
|
||||
debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器 😭")
|
||||
debug_print(f"🔍 查找的溶剂: '{solvent}' (小写: '{solvent.lower()}')")
|
||||
debug_print(f"📊 总共发现 {len(container_list)} 个容器")
|
||||
|
||||
raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
|
||||
|
||||
|
||||
def generate_recrystallize_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
@@ -287,16 +88,7 @@ def generate_recrystallize_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
@@ -330,7 +122,7 @@ def generate_recrystallize_protocol(
|
||||
|
||||
# 2. 解析体积（支持单位）
|
||||
debug_print("📍 步骤2: 解析体积（支持单位）... 💧")
|
||||
final_volume = parse_volume_with_units(volume, "mL")
|
||||
final_volume = parse_volume_input(volume, "mL")
|
||||
debug_print(f"🎯 体积解析完成: {volume} → {final_volume}mL ✨")
|
||||
|
||||
# 3. 解析比例
|
||||
@@ -582,7 +374,7 @@ def test_recrystallize_protocol():
|
||||
debug_print("💧 测试体积解析...")
|
||||
test_volumes = ["100 mL", "2.5 L", "500", "50.5", "?", "invalid"]
|
||||
for vol in test_volumes:
|
||||
parsed = parse_volume_with_units(vol)
|
||||
parsed = parse_volume_input(vol)
|
||||
debug_print(f" 📊 体积 '{vol}' -> {parsed}mL")
|
||||
|
||||
# 测试比例解析
|
||||
|
||||
@@ -8,7 +8,6 @@ logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"🏛️ [RUN_COLUMN] {message}", flush=True)
|
||||
logger.info(f"[RUN_COLUMN] {message}")
|
||||
|
||||
def parse_percentage(pct_str: str) -> float:
|
||||
|
||||
@@ -1,8 +1,12 @@
|
||||
from functools import partial
|
||||
|
||||
import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
import sys
|
||||
from typing import List, Dict, Any, Union
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.logger_util import action_log
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
@@ -20,48 +24,472 @@ def debug_print(message):
|
||||
try:
|
||||
# 确保消息是字符串格式
|
||||
safe_message = str(message)
|
||||
print(f"🌀 [SEPARATE] {safe_message}", flush=True)
|
||||
logger.info(f"[SEPARATE] {safe_message}")
|
||||
except UnicodeEncodeError:
|
||||
# 如果编码失败，尝试替换不支持的字符
|
||||
safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
|
||||
print(f"🌀 [SEPARATE] {safe_message}", flush=True)
|
||||
logger.info(f"[SEPARATE] {safe_message}")
|
||||
except Exception as e:
|
||||
# 最后的安全措施
|
||||
fallback_message = f"日志输出错误: {repr(message)}"
|
||||
print(f"🌀 [SEPARATE] {fallback_message}", flush=True)
|
||||
logger.info(f"[SEPARATE] {fallback_message}")
|
||||
|
||||
def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
|
||||
"""创建一个动作日志 - 支持中文和emoji"""
|
||||
create_action_log = partial(action_log, prefix="[SEPARATE]")
|
||||
|
||||
|
||||
def generate_separate_protocol(
|
||||
G: nx.DiGraph,
|
||||
# 🔧 基础参数，支持XDL的vessel参数
|
||||
vessel: dict = None, # 🔧 修改：从字符串改为字典类型
|
||||
purpose: str = "separate", # 分离目的
|
||||
product_phase: str = "top", # 产物相
|
||||
# 🔧 可选的详细参数
|
||||
from_vessel: Union[str, dict] = "", # 源容器（通常在separate前已经transfer了）
|
||||
separation_vessel: Union[str, dict] = "", # 分离容器（与vessel同义）
|
||||
to_vessel: Union[str, dict] = "", # 目标容器（可选）
|
||||
waste_phase_to_vessel: Union[str, dict] = "", # 废相目标容器
|
||||
product_vessel: Union[str, dict] = "", # XDL: 产物容器（与to_vessel同义）
|
||||
waste_vessel: Union[str, dict] = "", # XDL: 废液容器（与waste_phase_to_vessel同义）
|
||||
# 🔧 溶剂相关参数
|
||||
solvent: str = "", # 溶剂名称
|
||||
solvent_volume: Union[str, float] = 0.0, # 溶剂体积
|
||||
volume: Union[str, float] = 0.0, # XDL: 体积（与solvent_volume同义）
|
||||
# 🔧 操作参数
|
||||
through: str = "", # 通过材料
|
||||
repeats: int = 1, # 重复次数
|
||||
stir_time: float = 30.0, # 搅拌时间（秒）
|
||||
stir_speed: float = 300.0, # 搅拌速度
|
||||
settling_time: float = 300.0, # 沉降时间（秒）
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成分离操作的协议序列 - 支持vessel字典和体积运算
|
||||
|
||||
支持XDL参数格式：
|
||||
- vessel: 分离容器字典（必需）
|
||||
- purpose: "wash", "extract", "separate"
|
||||
- product_phase: "top", "bottom"
|
||||
- product_vessel: 产物收集容器
|
||||
- waste_vessel: 废液收集容器
|
||||
- solvent: 溶剂名称
|
||||
- volume: "200 mL", "?" 或数值
|
||||
- repeats: 重复次数
|
||||
|
||||
分离流程：
|
||||
1. （可选）添加溶剂到分离容器
|
||||
2. 搅拌混合
|
||||
3. 静置分层
|
||||
4. 收集指定相到目标容器
|
||||
5. 重复指定次数
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：vessel参数兼容处理
|
||||
if vessel is None:
|
||||
if isinstance(separation_vessel, dict):
|
||||
vessel = separation_vessel
|
||||
else:
|
||||
raise ValueError("必须提供vessel字典参数")
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
debug_print("🌀" * 20)
|
||||
debug_print("🚀 开始生成分离协议（支持vessel字典和体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 🎯 分离目的: '{purpose}'")
|
||||
debug_print(f" 📊 产物相: '{product_phase}'")
|
||||
debug_print(f" 💧 溶剂: '{solvent}'")
|
||||
debug_print(f" 📏 体积: {volume} (类型: {type(volume)})")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
debug_print(f" 🎯 产物容器: '{product_vessel}'")
|
||||
debug_print(f" 🗑️ 废液容器: '{waste_vessel}'")
|
||||
debug_print(f" 📦 其他参数: {kwargs}")
|
||||
debug_print("🌀" * 20)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 🔧 新增：记录分离前的容器状态
|
||||
debug_print("🔍 记录分离前容器状态...")
|
||||
original_liquid_volume = get_vessel_liquid_volume(vessel)
|
||||
debug_print(f"📊 分离前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# === 参数验证和标准化 ===
|
||||
debug_print("🔍 步骤1: 参数验证和标准化...")
|
||||
action_sequence.append(create_action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬"))
|
||||
action_sequence.append(create_action_log(f"分离目的: {purpose}", "🧪"))
|
||||
action_sequence.append(create_action_log(f"产物相: {product_phase}", "📊"))
|
||||
|
||||
# 统一容器参数 - 支持字典和字符串
|
||||
def extract_vessel_id(vessel_param):
|
||||
if isinstance(vessel_param, dict):
|
||||
return vessel_param.get("id", "")
|
||||
elif isinstance(vessel_param, str):
|
||||
return vessel_param
|
||||
else:
|
||||
return ""
|
||||
|
||||
final_vessel_id, _ = vessel_id
|
||||
final_to_vessel_id, _ = get_vessel(to_vessel) or get_vessel(product_vessel)
|
||||
final_waste_vessel_id, _ = get_vessel(waste_phase_to_vessel) or get_vessel(waste_vessel)
|
||||
|
||||
# 统一体积参数
|
||||
final_volume = parse_volume_input(volume or solvent_volume)
|
||||
|
||||
# 🔧 修复：确保repeats至少为1
|
||||
if repeats <= 0:
|
||||
repeats = 1
|
||||
debug_print(f"⚠️ 重复次数参数 <= 0，自动设置为 1")
|
||||
|
||||
debug_print(f"🔧 标准化后的参数:")
|
||||
debug_print(f" 🥼 分离容器: '{final_vessel_id}'")
|
||||
debug_print(f" 🎯 产物容器: '{final_to_vessel_id}'")
|
||||
debug_print(f" 🗑️ 废液容器: '{final_waste_vessel_id}'")
|
||||
debug_print(f" 📏 溶剂体积: {final_volume}mL")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
|
||||
action_sequence.append(create_action_log(f"分离容器: {final_vessel_id}", "🧪"))
|
||||
action_sequence.append(create_action_log(f"溶剂体积: {final_volume}mL", "📏"))
|
||||
action_sequence.append(create_action_log(f"重复次数: {repeats}", "🔄"))
|
||||
|
||||
# 验证必需参数
|
||||
if not purpose:
|
||||
purpose = "separate"
|
||||
if not product_phase:
|
||||
product_phase = "top"
|
||||
if purpose not in ["wash", "extract", "separate"]:
|
||||
debug_print(f"⚠️ 未知的分离目的 '{purpose}'，使用默认值 'separate'")
|
||||
purpose = "separate"
|
||||
action_sequence.append(create_action_log(f"未知目的，使用: {purpose}", "⚠️"))
|
||||
if product_phase not in ["top", "bottom"]:
|
||||
debug_print(f"⚠️ 未知的产物相 '{product_phase}'，使用默认值 'top'")
|
||||
product_phase = "top"
|
||||
action_sequence.append(create_action_log(f"未知相别，使用: {product_phase}", "⚠️"))
|
||||
|
||||
debug_print("✅ 参数验证通过")
|
||||
action_sequence.append(create_action_log("参数验证通过", "✅"))
|
||||
|
||||
# === 查找设备 ===
|
||||
debug_print("🔍 步骤2: 查找设备...")
|
||||
action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
|
||||
|
||||
# 查找分离器设备
|
||||
separator_device = find_separator_device(G, final_vessel_id) # 🔧 使用 final_vessel_id
|
||||
if separator_device:
|
||||
action_sequence.append(create_action_log(f"找到分离器设备: {separator_device}", "🧪"))
|
||||
else:
|
||||
debug_print("⚠️ 未找到分离器设备，可能无法执行分离")
|
||||
action_sequence.append(create_action_log("未找到分离器设备", "⚠️"))
|
||||
|
||||
# 查找搅拌器
|
||||
stirrer_device = find_connected_stirrer(G, final_vessel_id) # 🔧 使用 final_vessel_id
|
||||
if stirrer_device:
|
||||
action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_device}", "🌪️"))
|
||||
else:
|
||||
action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
|
||||
|
||||
# 查找溶剂容器（如果需要）
|
||||
solvent_vessel = ""
|
||||
if solvent and solvent.strip():
|
||||
solvent_vessel = find_solvent_vessel(G, solvent)
|
||||
if solvent_vessel:
|
||||
action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "💧"))
|
||||
else:
|
||||
action_sequence.append(create_action_log(f"未找到溶剂容器: {solvent}", "⚠️"))
|
||||
|
||||
debug_print(f"📊 设备配置:")
|
||||
debug_print(f" 🧪 分离器设备: '{separator_device}'")
|
||||
debug_print(f" 🌪️ 搅拌器设备: '{stirrer_device}'")
|
||||
debug_print(f" 💧 溶剂容器: '{solvent_vessel}'")
|
||||
|
||||
# === 执行分离流程 ===
|
||||
debug_print("🔍 步骤3: 执行分离流程...")
|
||||
action_sequence.append(create_action_log("开始分离工作流程", "🎯"))
|
||||
|
||||
# 🔧 新增：体积变化跟踪变量
|
||||
current_volume = original_liquid_volume
|
||||
|
||||
try:
|
||||
full_message = f"{emoji} {message}"
|
||||
debug_print(full_message)
|
||||
logger.info(full_message)
|
||||
for repeat_idx in range(repeats):
|
||||
cycle_num = repeat_idx + 1
|
||||
debug_print(f"🔄 第{cycle_num}轮: 开始分离循环 {cycle_num}/{repeats}")
|
||||
action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄"))
|
||||
|
||||
# 步骤3.1: 添加溶剂（如果需要）
|
||||
if solvent_vessel and final_volume > 0:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤1: 添加溶剂 {solvent} ({final_volume}mL)")
|
||||
action_sequence.append(create_action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧"))
|
||||
|
||||
try:
|
||||
# 使用pump protocol添加溶剂
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent_vessel,
|
||||
to_vessel=final_vessel_id, # 🔧 使用 final_vessel_id
|
||||
volume=final_volume,
|
||||
amount="",
|
||||
time=0.0,
|
||||
viscous=False,
|
||||
rinsing_solvent="",
|
||||
rinsing_volume=0.0,
|
||||
rinsing_repeats=0,
|
||||
solid=False,
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5,
|
||||
rate_spec="",
|
||||
event="",
|
||||
through="",
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
debug_print(f"✅ 溶剂添加完成，添加了 {len(pump_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
|
||||
|
||||
# 🔧 新增：更新体积 - 添加溶剂后
|
||||
current_volume += final_volume
|
||||
update_vessel_volume(vessel, G, current_volume, f"添加{final_volume}mL {solvent}后")
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message,
|
||||
"progress_message": full_message
|
||||
}
|
||||
}
|
||||
except Exception as e:
|
||||
# 如果emoji有问题，使用纯文本
|
||||
safe_message = f"[日志] {message}"
|
||||
debug_print(safe_message)
|
||||
logger.info(safe_message)
|
||||
debug_print(f"❌ 溶剂添加失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"溶剂添加失败: {str(e)}", "❌"))
|
||||
else:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤1: 无需添加溶剂")
|
||||
action_sequence.append(create_action_log("无需添加溶剂", "⏭️"))
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
# 步骤3.2: 启动搅拌（如果有搅拌器）
|
||||
if stirrer_device and stir_time > 0:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤2: 开始搅拌 ({stir_speed}rpm，持续 {stir_time}s)")
|
||||
action_sequence.append(create_action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️"))
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_device,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": safe_message,
|
||||
"progress_message": safe_message
|
||||
"vessel": final_vessel_id, # 🔧 使用 final_vessel_id
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"分离混合 - {purpose}"
|
||||
}
|
||||
})
|
||||
|
||||
# 搅拌等待
|
||||
stir_minutes = stir_time / 60
|
||||
action_sequence.append(create_action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": stir_time}
|
||||
})
|
||||
|
||||
# 停止搅拌
|
||||
action_sequence.append(create_action_log("停止搅拌器", "🛑"))
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_device,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {"vessel": final_vessel_id} # 🔧 使用 final_vessel_id
|
||||
})
|
||||
|
||||
else:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤2: 无需搅拌")
|
||||
action_sequence.append(create_action_log("无需搅拌", "⏭️"))
|
||||
|
||||
# 步骤3.3: 静置分层
|
||||
if settling_time > 0:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤3: 静置分层 ({settling_time}s)")
|
||||
settling_minutes = settling_time / 60
|
||||
action_sequence.append(create_action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": settling_time}
|
||||
})
|
||||
else:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤3: 未指定静置时间")
|
||||
action_sequence.append(create_action_log("未指定静置时间", "⏭️"))
|
||||
|
||||
# 步骤3.4: 执行分离操作
|
||||
if separator_device:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤4: 执行分离操作")
|
||||
action_sequence.append(create_action_log(f"执行分离: 收集{product_phase}相", "🧪"))
|
||||
|
||||
# 🔧 替换为具体的分离操作逻辑（基于old版本）
|
||||
|
||||
# 首先进行分液判断（电导突跃）
|
||||
action_sequence.append({
|
||||
"device_id": separator_device,
|
||||
"action_name": "valve_open",
|
||||
"action_kwargs": {
|
||||
"command": "delta > 0.05"
|
||||
}
|
||||
})
|
||||
|
||||
# 估算每相的体积（假设大致平分）
|
||||
phase_volume = current_volume / 2
|
||||
|
||||
# 智能查找分离容器底部
|
||||
separation_vessel_bottom = find_separation_vessel_bottom(G, final_vessel_id) # ✅
|
||||
|
||||
if product_phase == "bottom":
|
||||
debug_print(f"🔄 收集底相产物到 {final_to_vessel_id}")
|
||||
action_sequence.append(create_action_log("收集底相产物", "📦"))
|
||||
|
||||
# 产物转移到目标瓶
|
||||
if final_to_vessel_id:
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=separation_vessel_bottom,
|
||||
to_vessel=final_to_vessel_id,
|
||||
volume=current_volume,
|
||||
flowrate=2.5,
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
# 放出上面那一相，60秒后关阀门
|
||||
action_sequence.append({
|
||||
"device_id": separator_device,
|
||||
"action_name": "valve_open",
|
||||
"action_kwargs": {
|
||||
"command": "time > 60"
|
||||
}
|
||||
})
|
||||
|
||||
# 弃去上面那一相进废液
|
||||
if final_waste_vessel_id:
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=separation_vessel_bottom,
|
||||
to_vessel=final_waste_vessel_id,
|
||||
volume=current_volume,
|
||||
flowrate=2.5,
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
elif product_phase == "top":
|
||||
debug_print(f"🔄 收集上相产物到 {final_to_vessel_id}")
|
||||
action_sequence.append(create_action_log("收集上相产物", "📦"))
|
||||
|
||||
# 弃去下面那一相进废液
|
||||
if final_waste_vessel_id:
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=separation_vessel_bottom,
|
||||
to_vessel=final_waste_vessel_id,
|
||||
volume=phase_volume,
|
||||
flowrate=2.5,
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
# 放出上面那一相，60秒后关阀门
|
||||
action_sequence.append({
|
||||
"device_id": separator_device,
|
||||
"action_name": "valve_open",
|
||||
"action_kwargs": {
|
||||
"command": "time > 60"
|
||||
}
|
||||
})
|
||||
|
||||
# 产物转移到目标瓶
|
||||
if final_to_vessel_id:
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=separation_vessel_bottom,
|
||||
to_vessel=final_to_vessel_id,
|
||||
volume=phase_volume,
|
||||
flowrate=2.5,
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
debug_print(f"✅ 分离操作已完成")
|
||||
action_sequence.append(create_action_log("分离操作完成", "✅"))
|
||||
|
||||
# 🔧 新增：分离后体积估算
|
||||
separated_volume = phase_volume * 0.95 # 假设5%损失，只保留产物相体积
|
||||
update_vessel_volume(vessel, G, separated_volume, f"分离操作后（第{cycle_num}轮）")
|
||||
current_volume = separated_volume
|
||||
|
||||
# 收集结果
|
||||
if final_to_vessel_id:
|
||||
action_sequence.append(
|
||||
create_action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦"))
|
||||
if final_waste_vessel_id:
|
||||
action_sequence.append(create_action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️"))
|
||||
|
||||
else:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤4: 无分离器设备，跳过分离")
|
||||
action_sequence.append(create_action_log("无分离器设备可用", "❌"))
|
||||
# 添加等待时间模拟分离
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 10.0}
|
||||
})
|
||||
|
||||
# 🔧 新增：如果不是最后一次，从中转瓶转移回分液漏斗（基于old版本逻辑）
|
||||
if repeat_idx < repeats - 1 and final_to_vessel_id and final_to_vessel_id != final_vessel_id:
|
||||
debug_print(f"🔄 第{cycle_num}轮: 产物转移回分离容器准备下一轮")
|
||||
action_sequence.append(create_action_log("产物转回分离容器，准备下一轮", "🔄"))
|
||||
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=final_to_vessel_id,
|
||||
to_vessel=final_vessel_id,
|
||||
volume=current_volume,
|
||||
flowrate=2.5,
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
# 更新体积回到分离容器
|
||||
update_vessel_volume(vessel, G, current_volume, f"产物转回分离容器（第{cycle_num}轮后）")
|
||||
|
||||
# 循环间等待（除了最后一次）
|
||||
if repeat_idx < repeats - 1:
|
||||
debug_print(f"🔄 第{cycle_num}轮: 等待下一次循环...")
|
||||
action_sequence.append(create_action_log("等待下一次循环...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5}
|
||||
})
|
||||
else:
|
||||
action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟"))
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 分离工作流程执行失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"分离工作流程失败: {str(e)}", "❌"))
|
||||
|
||||
# 🔧 新增：分离完成后的最终状态报告
|
||||
final_liquid_volume = get_vessel_liquid_volume(vessel)
|
||||
|
||||
# === 最终结果 ===
|
||||
total_time = (stir_time + settling_time + 15) * repeats # 估算总时间
|
||||
|
||||
debug_print("🌀" * 20)
|
||||
debug_print(f"🎉 分离协议生成完成")
|
||||
debug_print(f"📊 协议统计:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)}")
|
||||
debug_print(f" ⏱️ 预计总时间: {total_time:.0f}s ({total_time / 60:.1f} 分钟)")
|
||||
debug_print(f" 🥼 分离容器: {final_vessel_id}")
|
||||
debug_print(f" 🎯 分离目的: {purpose}")
|
||||
debug_print(f" 📊 产物相: {product_phase}")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
debug_print(f"💧 体积变化统计:")
|
||||
debug_print(f" - 分离前体积: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 分离后体积: {final_liquid_volume:.2f}mL")
|
||||
if solvent:
|
||||
debug_print(f" 💧 溶剂: {solvent} ({final_volume}mL × {repeats}轮 = {final_volume * repeats:.2f}mL)")
|
||||
if final_to_vessel_id:
|
||||
debug_print(f" 🎯 产物容器: {final_to_vessel_id}")
|
||||
if final_waste_vessel_id:
|
||||
debug_print(f" 🗑️ 废液容器: {final_waste_vessel_id}")
|
||||
debug_print("🌀" * 20)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"分离协议完成: {final_vessel_id} ({purpose}，{repeats} 次循环)"
|
||||
if solvent:
|
||||
summary_msg += f"，使用 {final_volume * repeats:.2f}mL {solvent}"
|
||||
action_sequence.append(create_action_log(summary_msg, "🎉"))
|
||||
|
||||
return action_sequence
|
||||
|
||||
def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
"""
|
||||
@@ -364,386 +792,54 @@ def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, descrip
|
||||
|
||||
debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
|
||||
|
||||
def generate_separate_protocol(
|
||||
G: nx.DiGraph,
|
||||
# 🔧 基础参数，支持XDL的vessel参数
|
||||
vessel: dict = None, # 🔧 修改：从字符串改为字典类型
|
||||
purpose: str = "separate", # 分离目的
|
||||
product_phase: str = "top", # 产物相
|
||||
# 🔧 可选的详细参数
|
||||
from_vessel: Union[str, dict] = "", # 源容器（通常在separate前已经transfer了）
|
||||
separation_vessel: Union[str, dict] = "", # 分离容器（与vessel同义）
|
||||
to_vessel: Union[str, dict] = "", # 目标容器（可选）
|
||||
waste_phase_to_vessel: Union[str, dict] = "", # 废相目标容器
|
||||
product_vessel: Union[str, dict] = "", # XDL: 产物容器（与to_vessel同义）
|
||||
waste_vessel: Union[str, dict] = "", # XDL: 废液容器（与waste_phase_to_vessel同义）
|
||||
# 🔧 溶剂相关参数
|
||||
solvent: str = "", # 溶剂名称
|
||||
solvent_volume: Union[str, float] = 0.0, # 溶剂体积
|
||||
volume: Union[str, float] = 0.0, # XDL: 体积（与solvent_volume同义）
|
||||
# 🔧 操作参数
|
||||
through: str = "", # 通过材料
|
||||
repeats: int = 1, # 重复次数
|
||||
stir_time: float = 30.0, # 搅拌时间（秒）
|
||||
stir_speed: float = 300.0, # 搅拌速度
|
||||
settling_time: float = 300.0, # 沉降时间（秒）
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
|
||||
def find_separation_vessel_bottom(G: nx.DiGraph, vessel_id: str) -> str:
|
||||
"""
|
||||
生成分离操作的协议序列 - 支持vessel字典和体积运算
|
||||
智能查找分离容器的底部容器（假设为flask或vessel类型）
|
||||
|
||||
支持XDL参数格式：
|
||||
- vessel: 分离容器字典（必需）
|
||||
- purpose: "wash", "extract", "separate"
|
||||
- product_phase: "top", "bottom"
|
||||
- product_vessel: 产物收集容器
|
||||
- waste_vessel: 废液收集容器
|
||||
- solvent: 溶剂名称
|
||||
- volume: "200 mL", "?" 或数值
|
||||
- repeats: 重复次数
|
||||
Args:
|
||||
G: 网络图
|
||||
vessel_id: 分离容器ID
|
||||
|
||||
分离流程：
|
||||
1. （可选）添加溶剂到分离容器
|
||||
2. 搅拌混合
|
||||
3. 静置分层
|
||||
4. 收集指定相到目标容器
|
||||
5. 重复指定次数
|
||||
Returns:
|
||||
str: 底部容器ID
|
||||
"""
|
||||
debug_print(f"🔍 查找分离容器 {vessel_id} 的底部容器...")
|
||||
|
||||
# 🔧 核心修改：vessel参数兼容处理
|
||||
if vessel is None:
|
||||
if isinstance(separation_vessel, dict):
|
||||
vessel = separation_vessel
|
||||
else:
|
||||
raise ValueError("必须提供vessel字典参数")
|
||||
# 方法1：根据命名规则推测
|
||||
possible_bottoms = [
|
||||
f"{vessel_id}_bottom",
|
||||
f"flask_{vessel_id}",
|
||||
f"vessel_{vessel_id}",
|
||||
f"{vessel_id}_flask",
|
||||
f"{vessel_id}_vessel"
|
||||
]
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
debug_print(f"📋 尝试的底部容器名称: {possible_bottoms}")
|
||||
|
||||
debug_print("🌀" * 20)
|
||||
debug_print("🚀 开始生成分离协议（支持vessel字典和体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 🎯 分离目的: '{purpose}'")
|
||||
debug_print(f" 📊 产物相: '{product_phase}'")
|
||||
debug_print(f" 💧 溶剂: '{solvent}'")
|
||||
debug_print(f" 📏 体积: {volume} (类型: {type(volume)})")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
debug_print(f" 🎯 产物容器: '{product_vessel}'")
|
||||
debug_print(f" 🗑️ 废液容器: '{waste_vessel}'")
|
||||
debug_print(f" 📦 其他参数: {kwargs}")
|
||||
debug_print("🌀" * 20)
|
||||
for bottom_id in possible_bottoms:
|
||||
if bottom_id in G.nodes():
|
||||
node_type = G.nodes[bottom_id].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"✅ 通过命名规则找到底部容器: {bottom_id}")
|
||||
return bottom_id
|
||||
|
||||
action_sequence = []
|
||||
# 方法2：查找与分离器相连的容器（假设底部容器会与分离器相连）
|
||||
debug_print(f"📋 方法2: 查找连接的容器...")
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
# 🔧 新增：记录分离前的容器状态
|
||||
debug_print("🔍 记录分离前容器状态...")
|
||||
original_liquid_volume = get_vessel_liquid_volume(vessel)
|
||||
debug_print(f"📊 分离前液体体积: {original_liquid_volume:.2f}mL")
|
||||
if 'separator' in node_class.lower():
|
||||
# 检查分离器的输入端
|
||||
if G.has_edge(node, vessel_id):
|
||||
for neighbor in G.neighbors(node):
|
||||
if neighbor != vessel_id:
|
||||
neighbor_type = G.nodes[neighbor].get('type', '')
|
||||
if neighbor_type == 'container':
|
||||
debug_print(f"✅ 通过连接找到底部容器: {neighbor}")
|
||||
return neighbor
|
||||
|
||||
# === 参数验证和标准化 ===
|
||||
debug_print("🔍 步骤1: 参数验证和标准化...")
|
||||
action_sequence.append(create_action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬"))
|
||||
action_sequence.append(create_action_log(f"分离目的: {purpose}", "🧪"))
|
||||
action_sequence.append(create_action_log(f"产物相: {product_phase}", "📊"))
|
||||
|
||||
# 统一容器参数 - 支持字典和字符串
|
||||
def extract_vessel_id(vessel_param):
|
||||
if isinstance(vessel_param, dict):
|
||||
return vessel_param.get("id", "")
|
||||
elif isinstance(vessel_param, str):
|
||||
return vessel_param
|
||||
else:
|
||||
debug_print(f"❌ 无法找到分离容器 {vessel_id} 的底部容器")
|
||||
return ""
|
||||
|
||||
final_vessel_id = vessel_id
|
||||
final_to_vessel_id = extract_vessel_id(to_vessel) or extract_vessel_id(product_vessel)
|
||||
final_waste_vessel_id = extract_vessel_id(waste_phase_to_vessel) or extract_vessel_id(waste_vessel)
|
||||
|
||||
# 统一体积参数
|
||||
final_volume = parse_volume_input(volume or solvent_volume)
|
||||
|
||||
# 🔧 修复：确保repeats至少为1
|
||||
if repeats <= 0:
|
||||
repeats = 1
|
||||
debug_print(f"⚠️ 重复次数参数 <= 0，自动设置为 1")
|
||||
|
||||
debug_print(f"🔧 标准化后的参数:")
|
||||
debug_print(f" 🥼 分离容器: '{final_vessel_id}'")
|
||||
debug_print(f" 🎯 产物容器: '{final_to_vessel_id}'")
|
||||
debug_print(f" 🗑️ 废液容器: '{final_waste_vessel_id}'")
|
||||
debug_print(f" 📏 溶剂体积: {final_volume}mL")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
|
||||
action_sequence.append(create_action_log(f"分离容器: {final_vessel_id}", "🧪"))
|
||||
action_sequence.append(create_action_log(f"溶剂体积: {final_volume}mL", "📏"))
|
||||
action_sequence.append(create_action_log(f"重复次数: {repeats}", "🔄"))
|
||||
|
||||
# 验证必需参数
|
||||
if not purpose:
|
||||
purpose = "separate"
|
||||
if not product_phase:
|
||||
product_phase = "top"
|
||||
if purpose not in ["wash", "extract", "separate"]:
|
||||
debug_print(f"⚠️ 未知的分离目的 '{purpose}'，使用默认值 'separate'")
|
||||
purpose = "separate"
|
||||
action_sequence.append(create_action_log(f"未知目的，使用: {purpose}", "⚠️"))
|
||||
if product_phase not in ["top", "bottom"]:
|
||||
debug_print(f"⚠️ 未知的产物相 '{product_phase}'，使用默认值 'top'")
|
||||
product_phase = "top"
|
||||
action_sequence.append(create_action_log(f"未知相别，使用: {product_phase}", "⚠️"))
|
||||
|
||||
debug_print("✅ 参数验证通过")
|
||||
action_sequence.append(create_action_log("参数验证通过", "✅"))
|
||||
|
||||
# === 查找设备 ===
|
||||
debug_print("🔍 步骤2: 查找设备...")
|
||||
action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
|
||||
|
||||
# 查找分离器设备
|
||||
separator_device = find_separator_device(G, final_vessel_id) # 🔧 使用 final_vessel_id
|
||||
if separator_device:
|
||||
action_sequence.append(create_action_log(f"找到分离器设备: {separator_device}", "🧪"))
|
||||
else:
|
||||
debug_print("⚠️ 未找到分离器设备，可能无法执行分离")
|
||||
action_sequence.append(create_action_log("未找到分离器设备", "⚠️"))
|
||||
|
||||
# 查找搅拌器
|
||||
stirrer_device = find_connected_stirrer(G, final_vessel_id) # 🔧 使用 final_vessel_id
|
||||
if stirrer_device:
|
||||
action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_device}", "🌪️"))
|
||||
else:
|
||||
action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
|
||||
|
||||
# 查找溶剂容器（如果需要）
|
||||
solvent_vessel = ""
|
||||
if solvent and solvent.strip():
|
||||
solvent_vessel = find_solvent_vessel(G, solvent)
|
||||
if solvent_vessel:
|
||||
action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "💧"))
|
||||
else:
|
||||
action_sequence.append(create_action_log(f"未找到溶剂容器: {solvent}", "⚠️"))
|
||||
|
||||
debug_print(f"📊 设备配置:")
|
||||
debug_print(f" 🧪 分离器设备: '{separator_device}'")
|
||||
debug_print(f" 🌪️ 搅拌器设备: '{stirrer_device}'")
|
||||
debug_print(f" 💧 溶剂容器: '{solvent_vessel}'")
|
||||
|
||||
# === 执行分离流程 ===
|
||||
debug_print("🔍 步骤3: 执行分离流程...")
|
||||
action_sequence.append(create_action_log("开始分离工作流程", "🎯"))
|
||||
|
||||
# 🔧 新增：体积变化跟踪变量
|
||||
current_volume = original_liquid_volume
|
||||
|
||||
try:
|
||||
for repeat_idx in range(repeats):
|
||||
cycle_num = repeat_idx + 1
|
||||
debug_print(f"🔄 第{cycle_num}轮: 开始分离循环 {cycle_num}/{repeats}")
|
||||
action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄"))
|
||||
|
||||
# 步骤3.1: 添加溶剂（如果需要）
|
||||
if solvent_vessel and final_volume > 0:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤1: 添加溶剂 {solvent} ({final_volume}mL)")
|
||||
action_sequence.append(create_action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧"))
|
||||
|
||||
try:
|
||||
# 使用pump protocol添加溶剂
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent_vessel,
|
||||
to_vessel=final_vessel_id, # 🔧 使用 final_vessel_id
|
||||
volume=final_volume,
|
||||
amount="",
|
||||
time=0.0,
|
||||
viscous=False,
|
||||
rinsing_solvent="",
|
||||
rinsing_volume=0.0,
|
||||
rinsing_repeats=0,
|
||||
solid=False,
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5,
|
||||
rate_spec="",
|
||||
event="",
|
||||
through="",
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
debug_print(f"✅ 溶剂添加完成，添加了 {len(pump_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
|
||||
|
||||
# 🔧 新增：更新体积 - 添加溶剂后
|
||||
current_volume += final_volume
|
||||
update_vessel_volume(vessel, G, current_volume, f"添加{final_volume}mL {solvent}后")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 溶剂添加失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"溶剂添加失败: {str(e)}", "❌"))
|
||||
else:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤1: 无需添加溶剂")
|
||||
action_sequence.append(create_action_log("无需添加溶剂", "⏭️"))
|
||||
|
||||
# 步骤3.2: 启动搅拌（如果有搅拌器）
|
||||
if stirrer_device and stir_time > 0:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤2: 开始搅拌 ({stir_speed}rpm，持续 {stir_time}s)")
|
||||
action_sequence.append(create_action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️"))
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_device,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": final_vessel_id, # 🔧 使用 final_vessel_id
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"分离混合 - {purpose}"
|
||||
}
|
||||
})
|
||||
|
||||
# 搅拌等待
|
||||
stir_minutes = stir_time / 60
|
||||
action_sequence.append(create_action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": stir_time}
|
||||
})
|
||||
|
||||
# 停止搅拌
|
||||
action_sequence.append(create_action_log("停止搅拌器", "🛑"))
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_device,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {"vessel": final_vessel_id} # 🔧 使用 final_vessel_id
|
||||
})
|
||||
|
||||
else:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤2: 无需搅拌")
|
||||
action_sequence.append(create_action_log("无需搅拌", "⏭️"))
|
||||
|
||||
# 步骤3.3: 静置分层
|
||||
if settling_time > 0:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤3: 静置分层 ({settling_time}s)")
|
||||
settling_minutes = settling_time / 60
|
||||
action_sequence.append(create_action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": settling_time}
|
||||
})
|
||||
else:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤3: 未指定静置时间")
|
||||
action_sequence.append(create_action_log("未指定静置时间", "⏭️"))
|
||||
|
||||
# 步骤3.4: 执行分离操作
|
||||
if separator_device:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤4: 执行分离操作")
|
||||
action_sequence.append(create_action_log(f"执行分离: 收集{product_phase}相", "🧪"))
|
||||
|
||||
# 调用分离器设备的separate方法
|
||||
separate_action = {
|
||||
"device_id": separator_device,
|
||||
"action_name": "separate",
|
||||
"action_kwargs": {
|
||||
"purpose": purpose,
|
||||
"product_phase": product_phase,
|
||||
"from_vessel": extract_vessel_id(from_vessel) or final_vessel_id, # 🔧 使用vessel_id
|
||||
"separation_vessel": final_vessel_id, # 🔧 使用 final_vessel_id
|
||||
"to_vessel": final_to_vessel_id or final_vessel_id, # 🔧 使用vessel_id
|
||||
"waste_phase_to_vessel": final_waste_vessel_id or final_vessel_id, # 🔧 使用vessel_id
|
||||
"solvent": solvent,
|
||||
"solvent_volume": final_volume,
|
||||
"through": through,
|
||||
"repeats": 1, # 每次调用只做一次分离
|
||||
"stir_time": 0, # 已经在上面完成
|
||||
"stir_speed": stir_speed,
|
||||
"settling_time": 0 # 已经在上面完成
|
||||
}
|
||||
}
|
||||
action_sequence.append(separate_action)
|
||||
debug_print(f"✅ 分离操作已添加")
|
||||
action_sequence.append(create_action_log("分离操作完成", "✅"))
|
||||
|
||||
# 🔧 新增：分离后体积估算（分离通常不改变总体积，但会重新分配）
|
||||
# 假设分离后保持体积（实际情况可能有少量损失）
|
||||
separated_volume = current_volume * 0.95 # 假设5%损失
|
||||
update_vessel_volume(vessel, G, separated_volume, f"分离操作后（第{cycle_num}轮）")
|
||||
current_volume = separated_volume
|
||||
|
||||
# 收集结果
|
||||
if final_to_vessel_id:
|
||||
action_sequence.append(create_action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦"))
|
||||
if final_waste_vessel_id:
|
||||
action_sequence.append(create_action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️"))
|
||||
|
||||
else:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤4: 无分离器设备，跳过分离")
|
||||
action_sequence.append(create_action_log("无分离器设备可用", "❌"))
|
||||
# 添加等待时间模拟分离
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 10.0}
|
||||
})
|
||||
|
||||
# 循环间等待（除了最后一次）
|
||||
if repeat_idx < repeats - 1:
|
||||
debug_print(f"🔄 第{cycle_num}轮: 等待下一次循环...")
|
||||
action_sequence.append(create_action_log("等待下一次循环...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5}
|
||||
})
|
||||
else:
|
||||
action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟"))
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 分离工作流程执行失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"分离工作流程失败: {str(e)}", "❌"))
|
||||
# 添加错误日志
|
||||
action_sequence.append({
|
||||
"device_id": "system",
|
||||
"action_name": "log_message",
|
||||
"action_kwargs": {
|
||||
"message": f"分离操作失败: {str(e)}"
|
||||
}
|
||||
})
|
||||
|
||||
# 🔧 新增：分离完成后的最终状态报告
|
||||
final_liquid_volume = get_vessel_liquid_volume(vessel)
|
||||
|
||||
# === 最终结果 ===
|
||||
total_time = (stir_time + settling_time + 15) * repeats # 估算总时间
|
||||
|
||||
debug_print("🌀" * 20)
|
||||
debug_print(f"🎉 分离协议生成完成")
|
||||
debug_print(f"📊 协议统计:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)}")
|
||||
debug_print(f" ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f} 分钟)")
|
||||
debug_print(f" 🥼 分离容器: {final_vessel_id}")
|
||||
debug_print(f" 🎯 分离目的: {purpose}")
|
||||
debug_print(f" 📊 产物相: {product_phase}")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
debug_print(f"💧 体积变化统计:")
|
||||
debug_print(f" - 分离前体积: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 分离后体积: {final_liquid_volume:.2f}mL")
|
||||
if solvent:
|
||||
debug_print(f" 💧 溶剂: {solvent} ({final_volume}mL × {repeats}轮 = {final_volume * repeats:.2f}mL)")
|
||||
if final_to_vessel_id:
|
||||
debug_print(f" 🎯 产物容器: {final_to_vessel_id}")
|
||||
if final_waste_vessel_id:
|
||||
debug_print(f" 🗑️ 废液容器: {final_waste_vessel_id}")
|
||||
debug_print("🌀" * 20)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"分离协议完成: {final_vessel_id} ({purpose}，{repeats} 次循环)"
|
||||
if solvent:
|
||||
summary_msg += f"，使用 {final_volume * repeats:.2f}mL {solvent}"
|
||||
action_sequence.append(create_action_log(summary_msg, "🎉"))
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
@@ -3,81 +3,14 @@ import networkx as nx
|
||||
import logging
|
||||
import re
|
||||
|
||||
from .utils.unit_parser import parse_time_input
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"🌪️ [STIR] {message}", flush=True)
|
||||
logger.info(f"[STIR] {message}")
|
||||
|
||||
def parse_time_input(time_input: Union[str, float, int], default_unit: str = "s") -> float:
|
||||
"""
|
||||
统一的时间解析函数（精简版）
|
||||
|
||||
Args:
|
||||
time_input: 时间输入（如 "30 min", "1 h", "300", "?", 60.0）
|
||||
default_unit: 默认单位（默认为秒）
|
||||
|
||||
Returns:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if not time_input:
|
||||
return 100.0 # 默认100秒
|
||||
|
||||
# 🔢 处理数值输入
|
||||
if isinstance(time_input, (int, float)):
|
||||
result = float(time_input)
|
||||
debug_print(f"⏰ 数值时间: {time_input} → {result}s")
|
||||
return result
|
||||
|
||||
# 📝 处理字符串输入
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"🔍 解析时间: '{time_str}'")
|
||||
|
||||
# ❓ 特殊值处理
|
||||
special_times = {
|
||||
'?': 300.0, 'unknown': 300.0, 'tbd': 300.0,
|
||||
'briefly': 30.0, 'quickly': 60.0, 'slowly': 600.0,
|
||||
'several minutes': 300.0, 'few minutes': 180.0, 'overnight': 3600.0
|
||||
}
|
||||
|
||||
if time_str in special_times:
|
||||
result = special_times[time_str]
|
||||
debug_print(f"🎯 特殊时间: '{time_str}' → {result}s ({result/60:.1f}分钟)")
|
||||
return result
|
||||
|
||||
# 🔢 纯数字处理
|
||||
try:
|
||||
result = float(time_str)
|
||||
debug_print(f"⏰ 纯数字: {time_str} → {result}s")
|
||||
return result
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
# 📐 正则表达式解析
|
||||
pattern = r'(\d+\.?\d*)\s*([a-z]*)'
|
||||
match = re.match(pattern, time_str)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析时间: '{time_str}'，使用默认值: 100s")
|
||||
return 100.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or default_unit
|
||||
|
||||
# 📏 单位转换
|
||||
unit_multipliers = {
|
||||
's': 1.0, 'sec': 1.0, 'second': 1.0, 'seconds': 1.0,
|
||||
'm': 60.0, 'min': 60.0, 'mins': 60.0, 'minute': 60.0, 'minutes': 60.0,
|
||||
'h': 3600.0, 'hr': 3600.0, 'hrs': 3600.0, 'hour': 3600.0, 'hours': 3600.0,
|
||||
'd': 86400.0, 'day': 86400.0, 'days': 86400.0
|
||||
}
|
||||
|
||||
multiplier = unit_multipliers.get(unit, 1.0)
|
||||
result = value * multiplier
|
||||
|
||||
debug_print(f"✅ 时间解析: '{time_str}' → {value} {unit} → {result}s ({result/60:.1f}分钟)")
|
||||
return result
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str = None) -> str:
|
||||
"""查找与指定容器相连的搅拌设备"""
|
||||
|
||||
@@ -1,79 +0,0 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
|
||||
def generate_transfer_protocol(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
amount: str = "",
|
||||
time: float = 0,
|
||||
viscous: bool = False,
|
||||
rinsing_solvent: str = "",
|
||||
rinsing_volume: float = 0.0,
|
||||
rinsing_repeats: int = 0,
|
||||
solid: bool = False
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成液体转移操作的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
from_vessel: 源容器
|
||||
to_vessel: 目标容器
|
||||
volume: 转移体积 (mL)
|
||||
amount: 数量描述 (可选)
|
||||
time: 转移时间 (秒，可选)
|
||||
viscous: 是否为粘性液体
|
||||
rinsing_solvent: 冲洗溶剂 (可选)
|
||||
rinsing_volume: 冲洗体积 (mL，可选)
|
||||
rinsing_repeats: 冲洗重复次数
|
||||
solid: 是否涉及固体
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 转移操作的动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 当找不到合适的转移设备时抛出异常
|
||||
|
||||
Examples:
|
||||
transfer_protocol = generate_transfer_protocol(G, "flask_1", "reactor", 10.0)
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 查找虚拟转移泵设备用于液体转移 - 修复：应该查找 virtual_transfer_pump
|
||||
pump_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_transfer_pump']
|
||||
|
||||
if not pump_nodes:
|
||||
raise ValueError("没有找到可用的转移泵设备进行液体转移")
|
||||
|
||||
# 使用第一个可用的泵
|
||||
pump_id = pump_nodes[0]
|
||||
|
||||
# 验证容器是否存在
|
||||
if from_vessel not in G.nodes():
|
||||
raise ValueError(f"源容器 {from_vessel} 不存在于图中")
|
||||
|
||||
if to_vessel not in G.nodes():
|
||||
raise ValueError(f"目标容器 {to_vessel} 不存在于图中")
|
||||
|
||||
# 执行液体转移操作 - 参数完全匹配Transfer.action
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": from_vessel,
|
||||
"to_vessel": to_vessel,
|
||||
"volume": volume,
|
||||
"amount": amount,
|
||||
"time": time,
|
||||
"viscous": viscous,
|
||||
"rinsing_solvent": rinsing_solvent,
|
||||
"rinsing_volume": rinsing_volume,
|
||||
"rinsing_repeats": rinsing_repeats,
|
||||
"solid": solid
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
36
unilabos/compile/utils/logger_util.py
Normal file
36
unilabos/compile/utils/logger_util.py
Normal file
@@ -0,0 +1,36 @@
|
||||
# 🆕 创建进度日志动作
|
||||
import logging
|
||||
from typing import Dict, Any
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message, prefix="[UNIT_PARSER]"):
|
||||
"""调试输出"""
|
||||
logger.info(f"{prefix} {message}")
|
||||
|
||||
|
||||
def action_log(message: str, emoji: str = "📝", prefix="[HIGH-LEVEL OPERATION]") -> Dict[str, Any]:
|
||||
"""创建一个动作日志 - 支持中文和emoji"""
|
||||
try:
|
||||
full_message = f"{prefix} {emoji} {message}"
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message,
|
||||
"progress_message": full_message
|
||||
}
|
||||
}
|
||||
except Exception as e:
|
||||
# 如果emoji有问题，使用纯文本
|
||||
safe_message = f"{prefix} {message}"
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": safe_message,
|
||||
"progress_message": safe_message
|
||||
}
|
||||
}
|
||||
@@ -4,108 +4,12 @@
|
||||
"""
|
||||
|
||||
import re
|
||||
import logging
|
||||
from typing import Union
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
from .logger_util import debug_print
|
||||
|
||||
def debug_print(message, prefix="[UNIT_PARSER]"):
|
||||
"""调试输出"""
|
||||
print(f"{prefix} {message}", flush=True)
|
||||
logger.info(f"{prefix} {message}")
|
||||
|
||||
def parse_time_with_units(time_input: Union[str, float, int], default_unit: str = "s") -> float:
|
||||
"""
|
||||
解析带单位的时间输入
|
||||
|
||||
Args:
|
||||
time_input: 时间输入（如 "30 min", "1 h", "300", "?", 60.0）
|
||||
default_unit: 默认单位（默认为秒）
|
||||
|
||||
Returns:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if not time_input:
|
||||
return 0.0
|
||||
|
||||
# 处理数值输入
|
||||
if isinstance(time_input, (int, float)):
|
||||
result = float(time_input)
|
||||
debug_print(f"数值时间输入: {time_input} → {result}s（默认单位）")
|
||||
return result
|
||||
|
||||
# 处理字符串输入
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"解析时间字符串: '{time_str}'")
|
||||
|
||||
# 处理特殊值
|
||||
if time_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
default_time = 300.0 # 5分钟默认值
|
||||
debug_print(f"检测到未知时间，使用默认值: {default_time}s")
|
||||
return default_time
|
||||
|
||||
# 如果是纯数字，使用默认单位
|
||||
try:
|
||||
value = float(time_str)
|
||||
if default_unit == "s":
|
||||
result = value
|
||||
elif default_unit in ["min", "minute"]:
|
||||
result = value * 60.0
|
||||
elif default_unit in ["h", "hour"]:
|
||||
result = value * 3600.0
|
||||
else:
|
||||
result = value # 默认秒
|
||||
debug_print(f"纯数字输入: {time_str} → {result}s（单位: {default_unit}）")
|
||||
return result
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
# 使用正则表达式匹配数字和单位
|
||||
pattern = r'(\d+\.?\d*)\s*([a-z]*)'
|
||||
match = re.match(pattern, time_str)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析时间: '{time_str}'，使用默认值: 60s")
|
||||
return 60.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or default_unit
|
||||
|
||||
# 单位转换映射
|
||||
unit_multipliers = {
|
||||
# 秒
|
||||
's': 1.0,
|
||||
'sec': 1.0,
|
||||
'second': 1.0,
|
||||
'seconds': 1.0,
|
||||
|
||||
# 分钟
|
||||
'm': 60.0,
|
||||
'min': 60.0,
|
||||
'mins': 60.0,
|
||||
'minute': 60.0,
|
||||
'minutes': 60.0,
|
||||
|
||||
# 小时
|
||||
'h': 3600.0,
|
||||
'hr': 3600.0,
|
||||
'hrs': 3600.0,
|
||||
'hour': 3600.0,
|
||||
'hours': 3600.0,
|
||||
|
||||
# 天
|
||||
'd': 86400.0,
|
||||
'day': 86400.0,
|
||||
'days': 86400.0,
|
||||
}
|
||||
|
||||
multiplier = unit_multipliers.get(unit, 1.0)
|
||||
result = value * multiplier
|
||||
|
||||
debug_print(f"时间解析: '{time_str}' → {value} {unit} → {result}s")
|
||||
return result
|
||||
|
||||
def parse_volume_with_units(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
|
||||
def parse_volume_input(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
|
||||
"""
|
||||
解析带单位的体积输入
|
||||
|
||||
@@ -175,6 +79,111 @@ def parse_volume_with_units(volume_input: Union[str, float, int], default_unit:
|
||||
debug_print(f"体积解析: '{volume_str}' → {value} {unit} → {volume}mL")
|
||||
return volume
|
||||
|
||||
|
||||
def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析质量输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
mass_input: 质量输入（如 "19.3 g", "4.5 g", 2.5）
|
||||
|
||||
Returns:
|
||||
float: 质量（克）
|
||||
"""
|
||||
if isinstance(mass_input, (int, float)):
|
||||
debug_print(f"⚖️ 质量输入为数值: {mass_input}g")
|
||||
return float(mass_input)
|
||||
|
||||
if not mass_input or not str(mass_input).strip():
|
||||
debug_print(f"⚠️ 质量输入为空，返回0.0g")
|
||||
return 0.0
|
||||
|
||||
mass_str = str(mass_input).lower().strip()
|
||||
debug_print(f"🔍 解析质量输入: '{mass_str}'")
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
mass_clean = re.sub(r'\s+', '', mass_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(g|mg|kg|gram|milligram|kilogram)?', mass_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"❌ 无法解析质量: '{mass_str}'，返回0.0g")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 'g' # 默认单位为克
|
||||
|
||||
# 转换为克
|
||||
if unit in ['mg', 'milligram']:
|
||||
mass = value / 1000.0 # mg -> g
|
||||
debug_print(f"🔄 质量转换: {value}mg → {mass}g")
|
||||
elif unit in ['kg', 'kilogram']:
|
||||
mass = value * 1000.0 # kg -> g
|
||||
debug_print(f"🔄 质量转换: {value}kg → {mass}g")
|
||||
else: # g, gram 或默认
|
||||
mass = value # 已经是g
|
||||
debug_print(f"✅ 质量已为g: {mass}g")
|
||||
|
||||
return mass
|
||||
|
||||
|
||||
def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析时间输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
time_input: 时间输入（如 "1 h", "20 min", "30 s", 60.0）
|
||||
|
||||
Returns:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if isinstance(time_input, (int, float)):
|
||||
debug_print(f"⏱️ 时间输入为数值: {time_input}秒")
|
||||
return float(time_input)
|
||||
|
||||
if not time_input or not str(time_input).strip():
|
||||
debug_print(f"⚠️ 时间输入为空，返回0秒")
|
||||
return 0.0
|
||||
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"🔍 解析时间输入: '{time_str}'")
|
||||
|
||||
# 处理未知时间
|
||||
if time_str in ['?', 'unknown', 'tbd']:
|
||||
default_time = 60.0 # 默认1分钟
|
||||
debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (1分钟) ⏰")
|
||||
return default_time
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
time_clean = re.sub(r'\s+', '', time_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"❌ 无法解析时间: '{time_str}'，返回0s")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 's' # 默认单位为秒
|
||||
|
||||
# 转换为秒
|
||||
if unit in ['m', 'min', 'minute', 'mins', 'minutes']:
|
||||
time_sec = value * 60.0 # min -> s
|
||||
debug_print(f"🔄 时间转换: {value}分钟 → {time_sec}秒")
|
||||
elif unit in ['h', 'hr', 'hour', 'hrs', 'hours']:
|
||||
time_sec = value * 3600.0 # h -> s
|
||||
debug_print(f"🔄 时间转换: {value}小时 → {time_sec}秒")
|
||||
elif unit in ['d', 'day', 'days']:
|
||||
time_sec = value * 86400.0 # d -> s
|
||||
debug_print(f"🔄 时间转换: {value}天 → {time_sec}秒")
|
||||
else: # s, sec, second 或默认
|
||||
time_sec = value # 已经是s
|
||||
debug_print(f"✅ 时间已为秒: {time_sec}秒")
|
||||
|
||||
return time_sec
|
||||
|
||||
# 测试函数
|
||||
def test_unit_parser():
|
||||
"""测试单位解析功能"""
|
||||
@@ -187,7 +196,7 @@ def test_unit_parser():
|
||||
|
||||
print("\n时间解析测试:")
|
||||
for time_input in time_tests:
|
||||
result = parse_time_with_units(time_input)
|
||||
result = parse_time_input(time_input)
|
||||
print(f" {time_input} → {result}s ({result/60:.1f}min)")
|
||||
|
||||
# 测试体积解析
|
||||
@@ -197,7 +206,7 @@ def test_unit_parser():
|
||||
|
||||
print("\n体积解析测试:")
|
||||
for volume_input in volume_tests:
|
||||
result = parse_volume_with_units(volume_input)
|
||||
result = parse_volume_input(volume_input)
|
||||
print(f" {volume_input} → {result}mL")
|
||||
|
||||
print("\n✅ 测试完成")
|
||||
|
||||
281
unilabos/compile/utils/vessel_parser.py
Normal file
281
unilabos/compile/utils/vessel_parser.py
Normal file
@@ -0,0 +1,281 @@
|
||||
import networkx as nx
|
||||
|
||||
from .logger_util import debug_print
|
||||
|
||||
|
||||
def get_vessel(vessel):
|
||||
"""
|
||||
统一处理vessel参数，返回vessel_id和vessel_data。
|
||||
|
||||
Args:
|
||||
vessel: 可以是一个字典或字符串，表示vessel的ID或数据。
|
||||
|
||||
Returns:
|
||||
tuple: 包含vessel_id和vessel_data。
|
||||
"""
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = {}
|
||||
return vessel_id, vessel_data
|
||||
|
||||
|
||||
def find_reagent_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
"""增强版试剂容器查找，支持固体和液体"""
|
||||
debug_print(f"🔍 开始查找试剂 '{reagent}' 的容器...")
|
||||
|
||||
# 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
|
||||
debug_print(f"📋 方法1: 搜索reagent字段...")
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node].get('data', {})
|
||||
node_type = G.nodes[node].get('type', '')
|
||||
config_data = G.nodes[node].get('config', {})
|
||||
|
||||
# 只搜索容器类型的节点
|
||||
if node_type == 'container':
|
||||
reagent_name = node_data.get('reagent_name', '').lower()
|
||||
config_reagent = config_data.get('reagent', '').lower()
|
||||
|
||||
# 精确匹配
|
||||
if reagent_name == reagent.lower() or config_reagent == reagent.lower():
|
||||
debug_print(f"✅ 通过reagent字段精确匹配到容器: {node} 🎯")
|
||||
return node
|
||||
|
||||
# 模糊匹配
|
||||
if (reagent.lower() in reagent_name and reagent_name) or \
|
||||
(reagent.lower() in config_reagent and config_reagent):
|
||||
debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node} 🔍")
|
||||
return node
|
||||
|
||||
# 🔧 方法2：常见的容器命名规则
|
||||
debug_print(f"📋 方法2: 使用命名规则查找...")
|
||||
reagent_clean = reagent.lower().replace(' ', '_').replace('-', '_')
|
||||
possible_names = [
|
||||
reagent_clean,
|
||||
f"flask_{reagent_clean}",
|
||||
f"bottle_{reagent_clean}",
|
||||
f"vessel_{reagent_clean}",
|
||||
f"{reagent_clean}_flask",
|
||||
f"{reagent_clean}_bottle",
|
||||
f"reagent_{reagent_clean}",
|
||||
f"reagent_bottle_{reagent_clean}",
|
||||
f"solid_reagent_bottle_{reagent_clean}",
|
||||
f"reagent_bottle_1", # 通用试剂瓶
|
||||
f"reagent_bottle_2",
|
||||
f"reagent_bottle_3"
|
||||
]
|
||||
|
||||
debug_print(f"🔍 尝试的容器名称: {possible_names[:5]}... (共{len(possible_names)}个)")
|
||||
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
node_type = G.nodes[name].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"✅ 通过命名规则找到容器: {name} 📝")
|
||||
return name
|
||||
|
||||
# 🔧 方法3：节点名称模糊匹配
|
||||
debug_print(f"📋 方法3: 节点名称模糊匹配...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
if node_data.get('type') == 'container':
|
||||
# 检查节点名称是否包含试剂名称
|
||||
if reagent_clean in node_id.lower():
|
||||
debug_print(f"✅ 通过节点名称模糊匹配到容器: {node_id} 🔍")
|
||||
return node_id
|
||||
|
||||
# 检查液体类型匹配
|
||||
vessel_data = node_data.get('data', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
|
||||
if liquid_type.lower() == reagent.lower():
|
||||
debug_print(f"✅ 通过液体类型匹配到容器: {node_id} 💧")
|
||||
return node_id
|
||||
|
||||
# 🔧 方法4：使用第一个试剂瓶作为备选
|
||||
debug_print(f"📋 方法4: 查找备选试剂瓶...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
if (node_data.get('type') == 'container' and
|
||||
('reagent' in node_id.lower() or 'bottle' in node_id.lower())):
|
||||
debug_print(f"⚠️ 未找到专用容器，使用备选试剂瓶: {node_id} 🔄")
|
||||
return node_id
|
||||
|
||||
debug_print(f"❌ 所有方法都失败了，无法找到容器!")
|
||||
raise ValueError(f"找不到试剂 '{reagent}' 对应的容器")
|
||||
|
||||
|
||||
def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""
|
||||
查找溶剂容器
|
||||
|
||||
Args:
|
||||
G: 网络图
|
||||
solvent: 溶剂名称
|
||||
|
||||
Returns:
|
||||
str: 溶剂容器ID
|
||||
"""
|
||||
debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器... 🧪")
|
||||
|
||||
# 第四步：通过数据中的试剂信息匹配
|
||||
debug_print(" 🧪 步骤1: 数据试剂信息匹配...")
|
||||
for node_id in G.nodes():
|
||||
debug_print(f"查找 id {node_id}, type={G.nodes[node_id].get('type')}, data={G.nodes[node_id].get('data', {})} 的容器...")
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
|
||||
# 检查 data 中的 reagent_name 字段
|
||||
reagent_name = vessel_data.get('reagent_name', '').lower()
|
||||
if reagent_name and solvent.lower() == reagent_name:
|
||||
debug_print(f" 🎉 通过data.reagent_name匹配找到容器: {node_id} (试剂: {reagent_name}) ✨")
|
||||
return node_id
|
||||
|
||||
# 检查 data 中的液体信息
|
||||
liquids = vessel_data.get('liquid', []) or vessel_data.get('liquids', [])
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
|
||||
|
||||
if solvent.lower() == liquid_type or solvent.lower() in liquid_type:
|
||||
debug_print(f" 🎉 通过液体类型匹配找到容器: {node_id} (液体类型: {liquid_type}) ✨")
|
||||
return node_id
|
||||
|
||||
# 构建可能的容器名称
|
||||
possible_names = [
|
||||
f"flask_{solvent}",
|
||||
f"bottle_{solvent}",
|
||||
f"reagent_{solvent}",
|
||||
f"reagent_bottle_{solvent}",
|
||||
f"{solvent}_flask",
|
||||
f"{solvent}_bottle",
|
||||
f"{solvent}",
|
||||
f"vessel_{solvent}",
|
||||
]
|
||||
|
||||
debug_print(f"📋 候选容器名称: {possible_names[:3]}... (共{len(possible_names)}个) 📝")
|
||||
|
||||
# 第一步：通过容器名称匹配
|
||||
debug_print(" 🎯 步骤2: 精确名称匹配...")
|
||||
for vessel_name in possible_names:
|
||||
if vessel_name in G.nodes():
|
||||
debug_print(f" 🎉 通过名称匹配找到容器: {vessel_name} ✨")
|
||||
return vessel_name
|
||||
|
||||
# 第二步：通过模糊匹配（节点ID和名称）
|
||||
debug_print(" 🔍 步骤3: 模糊名称匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
|
||||
if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
|
||||
debug_print(f" 🎉 通过模糊匹配找到容器: {node_id} (名称: {node_name}) ✨")
|
||||
return node_id
|
||||
|
||||
# 第三步：通过配置中的试剂信息匹配
|
||||
debug_print(" 🧪 步骤4: 配置试剂信息匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
# 检查 config 中的 reagent 字段
|
||||
node_config = G.nodes[node_id].get('config', {})
|
||||
config_reagent = node_config.get('reagent', '').lower()
|
||||
|
||||
if config_reagent and solvent.lower() == config_reagent:
|
||||
debug_print(f" 🎉 通过config.reagent匹配找到容器: {node_id} (试剂: {config_reagent}) ✨")
|
||||
return node_id
|
||||
|
||||
# 第五步：部分匹配（如果前面都没找到）
|
||||
debug_print(" 🔍 步骤5: 部分匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_config = G.nodes[node_id].get('config', {})
|
||||
node_data = G.nodes[node_id].get('data', {})
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
|
||||
config_reagent = node_config.get('reagent', '').lower()
|
||||
data_reagent = node_data.get('reagent_name', '').lower()
|
||||
|
||||
# 检查是否包含溶剂名称
|
||||
if (solvent.lower() in config_reagent or
|
||||
solvent.lower() in data_reagent or
|
||||
solvent.lower() in node_name or
|
||||
solvent.lower() in node_id.lower()):
|
||||
debug_print(f" 🎉 通过部分匹配找到容器: {node_id} ✨")
|
||||
debug_print(f" - 节点名称: {node_name}")
|
||||
debug_print(f" - 配置试剂: {config_reagent}")
|
||||
debug_print(f" - 数据试剂: {data_reagent}")
|
||||
return node_id
|
||||
|
||||
# 调试信息：列出所有容器
|
||||
debug_print(" 🔎 调试信息：列出所有容器...")
|
||||
container_list = []
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_config = G.nodes[node_id].get('config', {})
|
||||
node_data = G.nodes[node_id].get('data', {})
|
||||
node_name = G.nodes[node_id].get('name', '')
|
||||
|
||||
container_info = {
|
||||
'id': node_id,
|
||||
'name': node_name,
|
||||
'config_reagent': node_config.get('reagent', ''),
|
||||
'data_reagent': node_data.get('reagent_name', '')
|
||||
}
|
||||
container_list.append(container_info)
|
||||
debug_print(
|
||||
f" - 容器: {node_id}, 名称: {node_name}, config试剂: {node_config.get('reagent', '')}, data试剂: {node_data.get('reagent_name', '')}")
|
||||
|
||||
debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器 😭")
|
||||
debug_print(f"🔍 查找的溶剂: '{solvent}' (小写: '{solvent.lower()}')")
|
||||
debug_print(f"📊 总共发现 {len(container_list)} 个容器")
|
||||
|
||||
raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
|
||||
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找连接到指定容器的搅拌器"""
|
||||
debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
|
||||
|
||||
stirrer_nodes = []
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'stirrer' in node_class:
|
||||
stirrer_nodes.append(node)
|
||||
debug_print(f"📋 发现搅拌器: {node}")
|
||||
|
||||
debug_print(f"📊 共找到 {len(stirrer_nodes)} 个搅拌器")
|
||||
|
||||
# 查找连接到容器的搅拌器
|
||||
for stirrer in stirrer_nodes:
|
||||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||||
debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
|
||||
return stirrer
|
||||
|
||||
# 返回第一个搅拌器
|
||||
if stirrer_nodes:
|
||||
debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
|
||||
return stirrer_nodes[0]
|
||||
|
||||
debug_print(f"❌ 未找到任何搅拌器")
|
||||
return ""
|
||||
|
||||
|
||||
def find_solid_dispenser(G: nx.DiGraph) -> str:
|
||||
"""查找固体加样器"""
|
||||
debug_print(f"🔍 查找固体加样器...")
|
||||
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'solid_dispenser' in node_class or 'dispenser' in node_class:
|
||||
debug_print(f"✅ 找到固体加样器: {node} 🥄")
|
||||
return node
|
||||
|
||||
debug_print(f"❌ 未找到固体加样器")
|
||||
return ""
|
||||
@@ -3,118 +3,14 @@ import networkx as nx
|
||||
import logging
|
||||
import re
|
||||
|
||||
from .utils.unit_parser import parse_time_input, parse_volume_input
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"🧼 [WASH_SOLID] {message}", flush=True)
|
||||
logger.info(f"[WASH_SOLID] {message}")
|
||||
|
||||
def parse_time_input(time_input: Union[str, float, int]) -> float:
|
||||
"""统一时间解析函数（精简版）"""
|
||||
if not time_input:
|
||||
return 0.0
|
||||
|
||||
# 🔢 处理数值输入
|
||||
if isinstance(time_input, (int, float)):
|
||||
result = float(time_input)
|
||||
debug_print(f"⏰ 数值时间: {time_input} → {result}s")
|
||||
return result
|
||||
|
||||
# 📝 处理字符串输入
|
||||
time_str = str(time_input).lower().strip()
|
||||
|
||||
# ❓ 特殊值快速处理
|
||||
special_times = {
|
||||
'?': 60.0, 'unknown': 60.0, 'briefly': 30.0,
|
||||
'quickly': 45.0, 'slowly': 120.0
|
||||
}
|
||||
|
||||
if time_str in special_times:
|
||||
result = special_times[time_str]
|
||||
debug_print(f"🎯 特殊时间: '{time_str}' → {result}s")
|
||||
return result
|
||||
|
||||
# 🔢 数字提取（简化正则）
|
||||
try:
|
||||
# 提取数字
|
||||
numbers = re.findall(r'\d+\.?\d*', time_str)
|
||||
if numbers:
|
||||
value = float(numbers[0])
|
||||
|
||||
# 简化单位判断
|
||||
if any(unit in time_str for unit in ['min', 'm']):
|
||||
result = value * 60.0
|
||||
elif any(unit in time_str for unit in ['h', 'hour']):
|
||||
result = value * 3600.0
|
||||
else:
|
||||
result = value # 默认秒
|
||||
|
||||
debug_print(f"✅ 时间解析: '{time_str}' → {result}s")
|
||||
return result
|
||||
except:
|
||||
pass
|
||||
|
||||
debug_print(f"⚠️ 时间解析失败: '{time_str}'，使用默认60s")
|
||||
return 60.0
|
||||
|
||||
def parse_volume_input(volume: Union[float, str], volume_spec: str = "", mass: str = "") -> float:
|
||||
"""统一体积解析函数（精简版）"""
|
||||
debug_print(f"💧 解析体积: volume={volume}, spec='{volume_spec}', mass='{mass}'")
|
||||
|
||||
# 🎯 优先级1：volume_spec（快速映射）
|
||||
if volume_spec:
|
||||
spec_map = {
|
||||
'small': 20.0, 'medium': 50.0, 'large': 100.0,
|
||||
'minimal': 10.0, 'normal': 50.0, 'generous': 150.0
|
||||
}
|
||||
for key, val in spec_map.items():
|
||||
if key in volume_spec.lower():
|
||||
debug_print(f"🎯 规格匹配: '{volume_spec}' → {val}mL")
|
||||
return val
|
||||
|
||||
# 🧮 优先级2：mass转体积（简化：1g=1mL）
|
||||
if mass:
|
||||
try:
|
||||
numbers = re.findall(r'\d+\.?\d*', mass)
|
||||
if numbers:
|
||||
value = float(numbers[0])
|
||||
if 'mg' in mass.lower():
|
||||
result = value / 1000.0
|
||||
elif 'kg' in mass.lower():
|
||||
result = value * 1000.0
|
||||
else:
|
||||
result = value # 默认g
|
||||
debug_print(f"⚖️ 质量转换: {mass} → {result}mL")
|
||||
return result
|
||||
except:
|
||||
pass
|
||||
|
||||
# 📦 优先级3：volume
|
||||
if volume:
|
||||
if isinstance(volume, (int, float)):
|
||||
result = float(volume)
|
||||
debug_print(f"💧 数值体积: {volume} → {result}mL")
|
||||
return result
|
||||
elif isinstance(volume, str):
|
||||
try:
|
||||
# 提取数字
|
||||
numbers = re.findall(r'\d+\.?\d*', volume)
|
||||
if numbers:
|
||||
value = float(numbers[0])
|
||||
# 简化单位判断
|
||||
if 'l' in volume.lower() and 'ml' not in volume.lower():
|
||||
result = value * 1000.0 # L转mL
|
||||
else:
|
||||
result = value # 默认mL
|
||||
debug_print(f"💧 字符串体积: '{volume}' → {result}mL")
|
||||
return result
|
||||
except:
|
||||
pass
|
||||
|
||||
# 默认值
|
||||
debug_print(f"⚠️ 体积解析失败，使用默认50mL")
|
||||
return 50.0
|
||||
|
||||
def find_solvent_source(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""查找溶剂源（精简版）"""
|
||||
|
||||
@@ -138,6 +138,8 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
offsets: Optional[List[Coordinate]] = None,
|
||||
**backend_kwargs,
|
||||
):
|
||||
if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)):
|
||||
offsets = [Coordinate.zero()] * len(use_channels)
|
||||
if self._simulator:
|
||||
return await self._simulate_handler.discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
|
||||
return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
|
||||
|
||||
@@ -67,7 +67,7 @@ class PRCXI9300Deck(Deck):
|
||||
|
||||
|
||||
class PRCXI9300Container(Plate, TipRack):
|
||||
"""PRCXI 9300 的专用 Deck 类，继承自 Deck。
|
||||
"""PRCXI 9300 的专用 Container 类，继承自 Plate和TipRack。
|
||||
|
||||
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
||||
"""
|
||||
|
||||
44
unilabos/devices/liquid_handling/prcxi/prcxi_res.py
Normal file
44
unilabos/devices/liquid_handling/prcxi/prcxi_res.py
Normal file
@@ -0,0 +1,44 @@
|
||||
import collections
|
||||
|
||||
from pylabrobot.resources import opentrons_96_tiprack_10ul
|
||||
from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
|
||||
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container, PRCXI9300Trash
|
||||
|
||||
|
||||
def get_well_container(name: str) -> PRCXI9300Container:
|
||||
well_containers = corning_96_wellplate_360ul_flat(name).serialize()
|
||||
plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
|
||||
ordering=collections.OrderedDict())
|
||||
plate_serialized = plate.serialize()
|
||||
well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
|
||||
new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
|
||||
return new_plate
|
||||
|
||||
def get_tip_rack(name: str) -> PRCXI9300Container:
|
||||
tip_racks = opentrons_96_tiprack_10ul("name").serialize()
|
||||
tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
|
||||
ordering=collections.OrderedDict())
|
||||
tip_rack_serialized = tip_rack.serialize()
|
||||
tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
|
||||
new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
|
||||
return new_tip_rack
|
||||
|
||||
def prcxi_96_wellplate_360ul_flat(name: str):
|
||||
return get_well_container(name)
|
||||
|
||||
def prcxi_opentrons_96_tiprack_10ul(name: str):
|
||||
return get_tip_rack(name)
|
||||
|
||||
def prcxi_trash(name: str = None):
|
||||
return PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
|
||||
|
||||
if __name__ == "__main__":
|
||||
# Example usage
|
||||
test_plate = prcxi_96_wellplate_360ul_flat("test_plate")
|
||||
test_rack = prcxi_opentrons_96_tiprack_10ul("test_rack")
|
||||
tash = prcxi_trash("trash")
|
||||
print(test_plate)
|
||||
print(test_rack)
|
||||
print(tash)
|
||||
# Output will be a dictionary representation of the PRCXI9300Container with well details
|
||||
@@ -1,177 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
|
||||
|
||||
class MockChiller:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
self.port = port
|
||||
self._current_temperature: float = 25.0 # 室温开始
|
||||
self._target_temperature: float = 25.0
|
||||
self._status: str = "Idle"
|
||||
self._is_cooling: bool = False
|
||||
self._is_heating: bool = False
|
||||
self._vessel = "Unknown"
|
||||
self._purpose = "Unknown"
|
||||
|
||||
# 模拟温度变化的线程
|
||||
self._temperature_thread = None
|
||||
self._running = True
|
||||
self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
|
||||
self._temperature_thread.daemon = True
|
||||
self._temperature_thread.start()
|
||||
|
||||
@property
|
||||
def current_temperature(self) -> float:
|
||||
"""当前温度 - 会被自动识别的设备属性"""
|
||||
return self._current_temperature
|
||||
|
||||
@property
|
||||
def target_temperature(self) -> float:
|
||||
"""目标温度"""
|
||||
return self._target_temperature
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
"""设备状态 - 会被自动识别的设备属性"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def is_cooling(self) -> bool:
|
||||
"""是否正在冷却"""
|
||||
return self._is_cooling
|
||||
|
||||
@property
|
||||
def is_heating(self) -> bool:
|
||||
"""是否正在加热"""
|
||||
return self._is_heating
|
||||
|
||||
@property
|
||||
def vessel(self) -> str:
|
||||
"""当前操作的容器名称"""
|
||||
return self._vessel
|
||||
|
||||
@property
|
||||
def purpose(self) -> str:
|
||||
"""当前操作目的"""
|
||||
return self._purpose
|
||||
|
||||
def heat_chill_start(self, vessel: str, temp: float, purpose: str):
|
||||
"""设置目标温度并记录容器和目的"""
|
||||
self._vessel = str(vessel)
|
||||
self._purpose = str(purpose)
|
||||
self._target_temperature = float(temp)
|
||||
|
||||
diff = self._target_temperature - self._current_temperature
|
||||
if abs(diff) < 0.1:
|
||||
self._status = "At Target Temperature"
|
||||
self._is_cooling = False
|
||||
self._is_heating = False
|
||||
elif diff < 0:
|
||||
self._status = "Cooling"
|
||||
self._is_cooling = True
|
||||
self._is_heating = False
|
||||
else:
|
||||
self._status = "Heating"
|
||||
self._is_heating = True
|
||||
self._is_cooling = False
|
||||
|
||||
self._start_temperature_control()
|
||||
return True
|
||||
|
||||
def heat_chill_stop(self, vessel: str):
|
||||
"""停止加热/制冷"""
|
||||
if vessel != self._vessel:
|
||||
return {"success": False, "status": f"Wrong vessel: expected {self._vessel}, got {vessel}"}
|
||||
|
||||
# 停止温度控制线程，锁定当前温度
|
||||
self._stop_temperature_control()
|
||||
|
||||
# 更新状态
|
||||
self._status = "Stopped"
|
||||
self._is_cooling = False
|
||||
self._is_heating = False
|
||||
|
||||
# 重新启动线程但保持温度
|
||||
self._running = True
|
||||
self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
|
||||
self._temperature_thread.daemon = True
|
||||
self._temperature_thread.start()
|
||||
|
||||
return {"success": True, "status": self._status}
|
||||
|
||||
def _start_temperature_control(self):
|
||||
"""启动温度控制线程"""
|
||||
self._running = True
|
||||
if self._temperature_thread is None or not self._temperature_thread.is_alive():
|
||||
self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
|
||||
self._temperature_thread.daemon = True
|
||||
self._temperature_thread.start()
|
||||
|
||||
def _stop_temperature_control(self):
|
||||
"""停止温度控制"""
|
||||
self._running = False
|
||||
if self._temperature_thread:
|
||||
self._temperature_thread.join(timeout=1.0)
|
||||
|
||||
def _temperature_control_loop(self):
|
||||
"""温度控制循环 - 模拟真实冷却器的温度变化"""
|
||||
while self._running:
|
||||
# 如果状态是 Stopped，不改变温度
|
||||
if self._status == "Stopped":
|
||||
time.sleep(1.0)
|
||||
continue
|
||||
|
||||
temp_diff = self._target_temperature - self._current_temperature
|
||||
|
||||
if abs(temp_diff) < 0.1:
|
||||
self._status = "At Target Temperature"
|
||||
self._is_cooling = False
|
||||
self._is_heating = False
|
||||
elif temp_diff < 0:
|
||||
self._status = "Cooling"
|
||||
self._is_cooling = True
|
||||
self._is_heating = False
|
||||
self._current_temperature -= 0.5
|
||||
else:
|
||||
self._status = "Heating"
|
||||
self._is_heating = True
|
||||
self._is_cooling = False
|
||||
self._current_temperature += 0.3
|
||||
|
||||
time.sleep(1.0)
|
||||
|
||||
def emergency_stop(self):
|
||||
"""紧急停止"""
|
||||
self._status = "Emergency Stop"
|
||||
self._stop_temperature_control()
|
||||
self._is_cooling = False
|
||||
self._is_heating = False
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""获取完整状态信息"""
|
||||
return {
|
||||
"current_temperature": self._current_temperature,
|
||||
"target_temperature": self._target_temperature,
|
||||
"status": self._status,
|
||||
"is_cooling": self._is_cooling,
|
||||
"is_heating": self._is_heating,
|
||||
"vessel": self._vessel,
|
||||
"purpose": self._purpose,
|
||||
}
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
chiller = MockChiller()
|
||||
|
||||
# 测试基本功能
|
||||
print("启动冷却器测试...")
|
||||
print(f"初始状态: {chiller.get_status_info()}")
|
||||
|
||||
# 模拟运行10秒
|
||||
for i in range(10):
|
||||
time.sleep(1)
|
||||
print(f"第{i+1}秒: 当前温度={chiller.current_temperature:.1f}°C, 状态={chiller.status}")
|
||||
|
||||
chiller.emergency_stop()
|
||||
print("测试完成")
|
||||
@@ -1,235 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
|
||||
|
||||
class MockFilter:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
# 基本参数初始化
|
||||
self.port = port
|
||||
self._status: str = "Idle"
|
||||
self._is_filtering: bool = False
|
||||
|
||||
# 过滤性能参数
|
||||
self._flow_rate: float = 1.0 # 流速(L/min)
|
||||
self._pressure_drop: float = 0.0 # 压降(Pa)
|
||||
self._filter_life: float = 100.0 # 滤芯寿命(%)
|
||||
|
||||
# 过滤操作参数
|
||||
self._vessel: str = "" # 源容器
|
||||
self._filtrate_vessel: str = "" # 目标容器
|
||||
self._stir: bool = False # 是否搅拌
|
||||
self._stir_speed: float = 0.0 # 搅拌速度
|
||||
self._temperature: float = 25.0 # 温度(℃)
|
||||
self._continue_heatchill: bool = False # 是否继续加热/制冷
|
||||
self._target_volume: float = 0.0 # 目标过滤体积(L)
|
||||
self._filtered_volume: float = 0.0 # 已过滤体积(L)
|
||||
self._progress: float = 0.0 # 过滤进度(%)
|
||||
|
||||
# 线程控制
|
||||
self._filter_thread = None
|
||||
self._running = False
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def is_filtering(self) -> bool:
|
||||
return self._is_filtering
|
||||
|
||||
@property
|
||||
def flow_rate(self) -> float:
|
||||
return self._flow_rate
|
||||
|
||||
@property
|
||||
def pressure_drop(self) -> float:
|
||||
return self._pressure_drop
|
||||
|
||||
@property
|
||||
def filter_life(self) -> float:
|
||||
return self._filter_life
|
||||
# 新增 property
|
||||
@property
|
||||
def vessel(self) -> str:
|
||||
return self._vessel
|
||||
|
||||
@property
|
||||
def filtrate_vessel(self) -> str:
|
||||
return self._filtrate_vessel
|
||||
|
||||
@property
|
||||
def filtered_volume(self) -> float:
|
||||
return self._filtered_volume
|
||||
|
||||
@property
|
||||
def progress(self) -> float:
|
||||
return self._progress
|
||||
|
||||
@property
|
||||
def stir(self) -> bool:
|
||||
return self._stir
|
||||
|
||||
@property
|
||||
def stir_speed(self) -> float:
|
||||
return self._stir_speed
|
||||
|
||||
@property
|
||||
def temperature(self) -> float:
|
||||
return self._temperature
|
||||
|
||||
@property
|
||||
def continue_heatchill(self) -> bool:
|
||||
return self._continue_heatchill
|
||||
|
||||
@property
|
||||
def target_volume(self) -> float:
|
||||
return self._target_volume
|
||||
|
||||
def filter(self, vessel: str, filtrate_vessel: str, stir: bool = False, stir_speed: float = 0.0, temp: float = 25.0, continue_heatchill: bool = False, volume: float = 0.0) -> dict:
|
||||
"""新的过滤操作"""
|
||||
# 停止任何正在进行的过滤
|
||||
if self._is_filtering:
|
||||
self.stop_filtering()
|
||||
# 验证参数
|
||||
if volume <= 0:
|
||||
return {"success": False, "message": "Target volume must be greater than 0"}
|
||||
# 设置新的过滤参数
|
||||
self._vessel = vessel
|
||||
self._filtrate_vessel = filtrate_vessel
|
||||
self._stir = stir
|
||||
self._stir_speed = stir_speed
|
||||
self._temperature = temp
|
||||
self._continue_heatchill = continue_heatchill
|
||||
self._target_volume = volume
|
||||
# 重置过滤状态
|
||||
self._filtered_volume = 0.0
|
||||
self._progress = 0.0
|
||||
self._status = "Starting Filter"
|
||||
# 启动过滤过程
|
||||
self._flow_rate = 1.0 # 设置默认流速
|
||||
self._start_filter_process()
|
||||
|
||||
return {"success": True, "message": "Filter started"}
|
||||
|
||||
def stop_filtering(self):
|
||||
"""停止过滤"""
|
||||
self._status = "Stopping Filter"
|
||||
self._stop_filter_process()
|
||||
self._flow_rate = 0.0
|
||||
self._is_filtering = False
|
||||
self._status = "Stopped"
|
||||
return True
|
||||
|
||||
def replace_filter(self):
|
||||
"""更换滤芯"""
|
||||
self._filter_life = 100.0
|
||||
self._status = "Filter Replaced"
|
||||
return True
|
||||
|
||||
def _start_filter_process(self):
|
||||
"""启动过滤过程线程"""
|
||||
if not self._running:
|
||||
self._running = True
|
||||
self._is_filtering = True
|
||||
self._filter_thread = threading.Thread(target=self._filter_loop)
|
||||
self._filter_thread.daemon = True
|
||||
self._filter_thread.start()
|
||||
|
||||
def _stop_filter_process(self):
|
||||
"""停止过滤过程"""
|
||||
self._running = False
|
||||
if self._filter_thread:
|
||||
self._filter_thread.join(timeout=1.0)
|
||||
|
||||
def _filter_loop(self):
|
||||
"""过滤进程主循环"""
|
||||
update_interval = 1.0 # 更新间隔(秒)
|
||||
|
||||
while self._running and self._is_filtering:
|
||||
try:
|
||||
self._status = "Filtering"
|
||||
|
||||
# 计算这一秒过滤的体积 (L/min -> L/s)
|
||||
volume_increment = (self._flow_rate / 60.0) * update_interval
|
||||
|
||||
# 更新已过滤体积
|
||||
self._filtered_volume += volume_increment
|
||||
|
||||
# 更新进度 (避免除零错误)
|
||||
if self._target_volume > 0:
|
||||
self._progress = min(100.0, (self._filtered_volume / self._target_volume) * 100.0)
|
||||
|
||||
# 更新滤芯寿命 (每过滤1L减少0.5%寿命)
|
||||
self._filter_life = max(0.0, self._filter_life - (volume_increment * 0.5))
|
||||
|
||||
# 更新压降 (根据滤芯寿命和流速动态计算)
|
||||
life_factor = self._filter_life / 100.0 # 将寿命转换为0-1的因子
|
||||
flow_factor = self._flow_rate / 2.0 # 将流速标准化(假设2L/min是标准流速)
|
||||
base_pressure = 100.0 # 基础压降
|
||||
# 压降随滤芯寿命降低而增加，随流速增加而增加
|
||||
self._pressure_drop = base_pressure * (2 - life_factor) * flow_factor
|
||||
|
||||
# 检查是否完成目标体积
|
||||
if self._target_volume > 0 and self._filtered_volume >= self._target_volume:
|
||||
self._status = "Completed"
|
||||
self._progress = 100.0
|
||||
self.stop_filtering()
|
||||
break
|
||||
|
||||
# 检查滤芯寿命
|
||||
if self._filter_life <= 10.0:
|
||||
self._status = "Filter Needs Replacement"
|
||||
|
||||
time.sleep(update_interval)
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error in filter loop: {e}")
|
||||
self.emergency_stop()
|
||||
break
|
||||
|
||||
def emergency_stop(self):
|
||||
"""紧急停止"""
|
||||
self._status = "Emergency Stop"
|
||||
self._stop_filter_process()
|
||||
self._is_filtering = False
|
||||
self._flow_rate = 0.0
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""扩展的状态信息"""
|
||||
return {
|
||||
"status": self._status,
|
||||
"is_filtering": self._is_filtering,
|
||||
"flow_rate": self._flow_rate,
|
||||
"pressure_drop": self._pressure_drop,
|
||||
"filter_life": self._filter_life,
|
||||
"vessel": self._vessel,
|
||||
"filtrate_vessel": self._filtrate_vessel,
|
||||
"filtered_volume": self._filtered_volume,
|
||||
"target_volume": self._target_volume,
|
||||
"progress": self._progress,
|
||||
"temperature": self._temperature,
|
||||
"stir": self._stir,
|
||||
"stir_speed": self._stir_speed
|
||||
}
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
filter_device = MockFilter()
|
||||
|
||||
# 测试基本功能
|
||||
print("启动过滤器测试...")
|
||||
print(f"初始状态: {filter_device.get_status_info()}")
|
||||
|
||||
|
||||
|
||||
# 模拟运行10秒
|
||||
for i in range(10):
|
||||
time.sleep(1)
|
||||
print(
|
||||
f"第{i+1}秒: "
|
||||
f"寿命={filter_device.filter_life:.1f}%, 状态={filter_device.status}"
|
||||
)
|
||||
|
||||
filter_device.emergency_stop()
|
||||
print("测试完成")
|
||||
@@ -1,247 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
|
||||
class MockHeater:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
self.port = port
|
||||
self._current_temperature: float = 25.0 # 室温开始
|
||||
self._target_temperature: float = 25.0
|
||||
self._status: str = "Idle"
|
||||
self._is_heating: bool = False
|
||||
self._heating_power: float = 0.0 # 加热功率百分比 0-100
|
||||
self._max_temperature: float = 300.0 # 最大加热温度
|
||||
|
||||
# 新增加的属性
|
||||
self._vessel: str = "Unknown"
|
||||
self._purpose: str = "Unknown"
|
||||
self._stir: bool = False
|
||||
self._stir_speed: float = 0.0
|
||||
|
||||
# 模拟加热过程的线程
|
||||
self._heating_thread = None
|
||||
self._running = True
|
||||
self._heating_thread = threading.Thread(target=self._heating_control_loop)
|
||||
self._heating_thread.daemon = True
|
||||
self._heating_thread.start()
|
||||
|
||||
@property
|
||||
def current_temperature(self) -> float:
|
||||
"""当前温度 - 会被自动识别的设备属性"""
|
||||
return self._current_temperature
|
||||
|
||||
@property
|
||||
def target_temperature(self) -> float:
|
||||
"""目标温度"""
|
||||
return self._target_temperature
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
"""设备状态 - 会被自动识别的设备属性"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def is_heating(self) -> bool:
|
||||
"""是否正在加热"""
|
||||
return self._is_heating
|
||||
|
||||
@property
|
||||
def heating_power(self) -> float:
|
||||
"""加热功率百分比"""
|
||||
return self._heating_power
|
||||
|
||||
@property
|
||||
def max_temperature(self) -> float:
|
||||
"""最大加热温度"""
|
||||
return self._max_temperature
|
||||
|
||||
@property
|
||||
def vessel(self) -> str:
|
||||
"""当前操作的容器名称"""
|
||||
return self._vessel
|
||||
|
||||
@property
|
||||
def purpose(self) -> str:
|
||||
"""操作目的"""
|
||||
return self._purpose
|
||||
|
||||
@property
|
||||
def stir(self) -> bool:
|
||||
"""是否搅拌"""
|
||||
return self._stir
|
||||
|
||||
@property
|
||||
def stir_speed(self) -> float:
|
||||
"""搅拌速度"""
|
||||
return self._stir_speed
|
||||
|
||||
def heat_chill_start(self, vessel: str, temp: float, purpose: str) -> dict:
|
||||
"""开始加热/制冷过程"""
|
||||
self._vessel = str(vessel)
|
||||
self._purpose = str(purpose)
|
||||
self._target_temperature = float(temp)
|
||||
|
||||
diff = self._target_temperature - self._current_temperature
|
||||
if abs(diff) < 0.1:
|
||||
self._status = "At Target Temperature"
|
||||
self._is_heating = False
|
||||
elif diff > 0:
|
||||
self._status = "Heating"
|
||||
self._is_heating = True
|
||||
else:
|
||||
self._status = "Cooling Down"
|
||||
self._is_heating = False
|
||||
|
||||
return {"success": True, "status": self._status}
|
||||
|
||||
def heat_chill_stop(self, vessel: str) -> dict:
|
||||
"""停止加热/制冷"""
|
||||
if vessel != self._vessel:
|
||||
return {"success": False, "status": f"Wrong vessel: expected {self._vessel}, got {vessel}"}
|
||||
|
||||
self._status = "Stopped"
|
||||
self._is_heating = False
|
||||
self._heating_power = 0.0
|
||||
|
||||
return {"success": True, "status": self._status}
|
||||
|
||||
def heat_chill(self, vessel: str, temp: float, time: float,
|
||||
stir: bool = False, stir_speed: float = 0.0,
|
||||
purpose: str = "Unknown") -> dict:
|
||||
"""完整的加热/制冷控制"""
|
||||
self._vessel = str(vessel)
|
||||
self._target_temperature = float(temp)
|
||||
self._purpose = str(purpose)
|
||||
self._stir = stir
|
||||
self._stir_speed = stir_speed
|
||||
|
||||
diff = self._target_temperature - self._current_temperature
|
||||
if abs(diff) < 0.1:
|
||||
self._status = "At Target Temperature"
|
||||
self._is_heating = False
|
||||
elif diff > 0:
|
||||
self._status = "Heating"
|
||||
self._is_heating = True
|
||||
else:
|
||||
self._status = "Cooling Down"
|
||||
self._is_heating = False
|
||||
|
||||
return {"success": True, "status": self._status}
|
||||
|
||||
def set_temperature(self, temperature: float):
|
||||
"""设置目标温度 - 需要在注册表添加的设备动作"""
|
||||
try:
|
||||
temperature = float(temperature)
|
||||
except ValueError:
|
||||
self._status = "Error: Invalid temperature value"
|
||||
return False
|
||||
|
||||
if temperature > self._max_temperature:
|
||||
self._status = f"Error: Temperature exceeds maximum ({self._max_temperature}°C)"
|
||||
return False
|
||||
|
||||
self._target_temperature = temperature
|
||||
self._status = "Setting Temperature"
|
||||
|
||||
# 启动加热控制
|
||||
self._start_heating_control()
|
||||
return True
|
||||
|
||||
def set_heating_power(self, power: float):
|
||||
"""设置加热功率"""
|
||||
try:
|
||||
power = float(power)
|
||||
except ValueError:
|
||||
self._status = "Error: Invalid power value"
|
||||
return False
|
||||
|
||||
self._heating_power = max(0.0, min(100.0, power)) # 限制在0-100%
|
||||
return True
|
||||
|
||||
def _start_heating_control(self):
|
||||
"""启动加热控制线程"""
|
||||
if not self._running:
|
||||
self._running = True
|
||||
self._heating_thread = threading.Thread(target=self._heating_control_loop)
|
||||
self._heating_thread.daemon = True
|
||||
self._heating_thread.start()
|
||||
|
||||
def _stop_heating_control(self):
|
||||
"""停止加热控制"""
|
||||
self._running = False
|
||||
if self._heating_thread:
|
||||
self._heating_thread.join(timeout=1.0)
|
||||
|
||||
def _heating_control_loop(self):
|
||||
"""加热控制循环"""
|
||||
while self._running:
|
||||
# 如果状态是 Stopped，不改变温度
|
||||
if self._status == "Stopped":
|
||||
time.sleep(1.0)
|
||||
continue
|
||||
|
||||
temp_diff = self._target_temperature - self._current_temperature
|
||||
|
||||
if abs(temp_diff) < 0.1:
|
||||
self._status = "At Target Temperature"
|
||||
self._is_heating = False
|
||||
self._heating_power = 10.0
|
||||
elif temp_diff > 0:
|
||||
self._status = "Heating"
|
||||
self._is_heating = True
|
||||
self._heating_power = min(100.0, abs(temp_diff) * 2)
|
||||
self._current_temperature += 0.5
|
||||
else:
|
||||
self._status = "Cooling Down"
|
||||
self._is_heating = False
|
||||
self._heating_power = 0.0
|
||||
self._current_temperature -= 0.2
|
||||
|
||||
time.sleep(1.0)
|
||||
|
||||
def emergency_stop(self):
|
||||
"""紧急停止"""
|
||||
self._status = "Emergency Stop"
|
||||
self._stop_heating_control()
|
||||
self._is_heating = False
|
||||
self._heating_power = 0.0
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""获取完整状态信息"""
|
||||
return {
|
||||
"current_temperature": self._current_temperature,
|
||||
"target_temperature": self._target_temperature,
|
||||
"status": self._status,
|
||||
"is_heating": self._is_heating,
|
||||
"heating_power": self._heating_power,
|
||||
"max_temperature": self._max_temperature,
|
||||
"vessel": self._vessel,
|
||||
"purpose": self._purpose,
|
||||
"stir": self._stir,
|
||||
"stir_speed": self._stir_speed
|
||||
}
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
heater = MockHeater()
|
||||
|
||||
print("启动加热器测试...")
|
||||
print(f"初始状态: {heater.get_status_info()}")
|
||||
|
||||
# 设置目标温度为80度
|
||||
heater.set_temperature(80.0)
|
||||
|
||||
# 模拟运行15秒
|
||||
try:
|
||||
for i in range(15):
|
||||
time.sleep(1)
|
||||
status = heater.get_status_info()
|
||||
print(
|
||||
f"\r温度: {status['current_temperature']:.1f}°C / {status['target_temperature']:.1f}°C | "
|
||||
f"功率: {status['heating_power']:.1f}% | 状态: {status['status']}",
|
||||
end=""
|
||||
)
|
||||
except KeyboardInterrupt:
|
||||
heater.emergency_stop()
|
||||
print("\n测试被手动停止")
|
||||
|
||||
print("\n测试完成")
|
||||
@@ -1,360 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
from datetime import datetime, timedelta
|
||||
|
||||
class MockPump:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
self.port = port
|
||||
|
||||
# 设备基本状态属性
|
||||
self._current_device = "MockPump1" # 设备标识符
|
||||
self._status: str = "Idle" # 设备状态：Idle, Running, Error, Stopped
|
||||
self._pump_state: str = "Stopped" # 泵运行状态：Running, Stopped, Paused
|
||||
|
||||
# 流量相关属性
|
||||
self._flow_rate: float = 0.0 # 当前流速 (mL/min)
|
||||
self._target_flow_rate: float = 0.0 # 目标流速 (mL/min)
|
||||
self._max_flow_rate: float = 100.0 # 最大流速 (mL/min)
|
||||
self._total_volume: float = 0.0 # 累计流量 (mL)
|
||||
|
||||
# 压力相关属性
|
||||
self._pressure: float = 0.0 # 当前压力 (bar)
|
||||
self._max_pressure: float = 10.0 # 最大压力 (bar)
|
||||
|
||||
# 运行控制线程
|
||||
self._pump_thread = None
|
||||
self._running = False
|
||||
self._thread_lock = threading.Lock()
|
||||
|
||||
# 新增 PumpTransfer 相关属性
|
||||
self._from_vessel: str = ""
|
||||
self._to_vessel: str = ""
|
||||
self._transfer_volume: float = 0.0
|
||||
self._amount: str = ""
|
||||
self._transfer_time: float = 0.0
|
||||
self._is_viscous: bool = False
|
||||
self._rinsing_solvent: str = ""
|
||||
self._rinsing_volume: float = 0.0
|
||||
self._rinsing_repeats: int = 0
|
||||
self._is_solid: bool = False
|
||||
|
||||
# 时间追踪
|
||||
self._start_time: datetime = None
|
||||
self._time_spent: timedelta = timedelta()
|
||||
self._time_remaining: timedelta = timedelta()
|
||||
|
||||
# ==================== 状态属性 ====================
|
||||
# 这些属性会被Uni-Lab系统自动识别并定时对外广播
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def current_device(self) -> str:
|
||||
"""当前设备标识符"""
|
||||
return self._current_device
|
||||
|
||||
@property
|
||||
def pump_state(self) -> str:
|
||||
return self._pump_state
|
||||
|
||||
@property
|
||||
def flow_rate(self) -> float:
|
||||
return self._flow_rate
|
||||
|
||||
@property
|
||||
def target_flow_rate(self) -> float:
|
||||
return self._target_flow_rate
|
||||
|
||||
@property
|
||||
def pressure(self) -> float:
|
||||
return self._pressure
|
||||
|
||||
@property
|
||||
def total_volume(self) -> float:
|
||||
return self._total_volume
|
||||
|
||||
@property
|
||||
def max_flow_rate(self) -> float:
|
||||
return self._max_flow_rate
|
||||
|
||||
@property
|
||||
def max_pressure(self) -> float:
|
||||
return self._max_pressure
|
||||
|
||||
# 添加新的属性访问器
|
||||
@property
|
||||
def from_vessel(self) -> str:
|
||||
return self._from_vessel
|
||||
|
||||
@property
|
||||
def to_vessel(self) -> str:
|
||||
return self._to_vessel
|
||||
|
||||
@property
|
||||
def transfer_volume(self) -> float:
|
||||
return self._transfer_volume
|
||||
|
||||
@property
|
||||
def amount(self) -> str:
|
||||
return self._amount
|
||||
|
||||
@property
|
||||
def transfer_time(self) -> float:
|
||||
return self._transfer_time
|
||||
|
||||
@property
|
||||
def is_viscous(self) -> bool:
|
||||
return self._is_viscous
|
||||
|
||||
@property
|
||||
def rinsing_solvent(self) -> str:
|
||||
return self._rinsing_solvent
|
||||
|
||||
@property
|
||||
def rinsing_volume(self) -> float:
|
||||
return self._rinsing_volume
|
||||
|
||||
@property
|
||||
def rinsing_repeats(self) -> int:
|
||||
return self._rinsing_repeats
|
||||
|
||||
@property
|
||||
def is_solid(self) -> bool:
|
||||
return self._is_solid
|
||||
|
||||
# 修改这两个属性装饰器
|
||||
@property
|
||||
def time_spent(self) -> float:
|
||||
"""已用时间（秒）"""
|
||||
if isinstance(self._time_spent, timedelta):
|
||||
return self._time_spent.total_seconds()
|
||||
return float(self._time_spent)
|
||||
|
||||
@property
|
||||
def time_remaining(self) -> float:
|
||||
"""剩余时间（秒）"""
|
||||
if isinstance(self._time_remaining, timedelta):
|
||||
return self._time_remaining.total_seconds()
|
||||
return float(self._time_remaining)
|
||||
|
||||
# ==================== 设备控制方法 ====================
|
||||
# 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
|
||||
def pump_transfer(self, from_vessel: str, to_vessel: str, volume: float,
|
||||
amount: str = "", time: float = 0.0, viscous: bool = False,
|
||||
rinsing_solvent: str = "", rinsing_volume: float = 0.0,
|
||||
rinsing_repeats: int = 0, solid: bool = False) -> dict:
|
||||
"""Execute pump transfer operation"""
|
||||
# Stop any existing operation first
|
||||
self._stop_pump_operation()
|
||||
|
||||
# Set transfer parameters
|
||||
self._from_vessel = from_vessel
|
||||
self._to_vessel = to_vessel
|
||||
self._transfer_volume = float(volume)
|
||||
self._amount = amount
|
||||
self._transfer_time = float(time)
|
||||
self._is_viscous = viscous
|
||||
self._rinsing_solvent = rinsing_solvent
|
||||
self._rinsing_volume = float(rinsing_volume)
|
||||
self._rinsing_repeats = int(rinsing_repeats)
|
||||
self._is_solid = solid
|
||||
|
||||
# Calculate flow rate
|
||||
if self._transfer_time > 0 and self._transfer_volume > 0:
|
||||
self._target_flow_rate = (self._transfer_volume / self._transfer_time) * 60.0
|
||||
else:
|
||||
self._target_flow_rate = 10.0 if not self._is_viscous else 5.0
|
||||
|
||||
# Reset timers and counters
|
||||
self._start_time = datetime.now()
|
||||
self._time_spent = timedelta()
|
||||
self._time_remaining = timedelta(seconds=self._transfer_time)
|
||||
self._total_volume = 0.0
|
||||
self._flow_rate = 0.0
|
||||
|
||||
# Start pump operation
|
||||
self._pump_state = "Running"
|
||||
self._status = "Starting Transfer"
|
||||
self._running = True
|
||||
|
||||
# Start pump operation thread
|
||||
self._pump_thread = threading.Thread(target=self._pump_operation_loop)
|
||||
self._pump_thread.daemon = True
|
||||
self._pump_thread.start()
|
||||
|
||||
# Wait briefly to ensure thread starts
|
||||
time.sleep(0.1)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"status": self._status,
|
||||
"current_device": self._current_device,
|
||||
"time_spent": 0.0,
|
||||
"time_remaining": float(self._transfer_time)
|
||||
}
|
||||
|
||||
def pause_pump(self) -> str:
|
||||
|
||||
if self._pump_state != "Running":
|
||||
self._status = "Error: Pump not running"
|
||||
return "Error"
|
||||
|
||||
self._pump_state = "Paused"
|
||||
self._status = "Pump Paused"
|
||||
self._stop_pump_operation()
|
||||
|
||||
return "Success"
|
||||
|
||||
def resume_pump(self) -> str:
|
||||
|
||||
if self._pump_state != "Paused":
|
||||
self._status = "Error: Pump not paused"
|
||||
return "Error"
|
||||
|
||||
self._pump_state = "Running"
|
||||
self._status = "Resuming Pump"
|
||||
self._start_pump_operation()
|
||||
|
||||
return "Success"
|
||||
|
||||
def reset_volume_counter(self) -> str:
|
||||
self._total_volume = 0.0
|
||||
self._status = "Volume counter reset"
|
||||
return "Success"
|
||||
|
||||
def emergency_stop(self) -> str:
|
||||
self._status = "Emergency Stop"
|
||||
self._pump_state = "Stopped"
|
||||
self._stop_pump_operation()
|
||||
self._flow_rate = 0.0
|
||||
self._pressure = 0.0
|
||||
self._target_flow_rate = 0.0
|
||||
|
||||
return "Success"
|
||||
|
||||
# ==================== 内部控制方法 ====================
|
||||
|
||||
def _start_pump_operation(self):
|
||||
with self._thread_lock:
|
||||
if not self._running:
|
||||
self._running = True
|
||||
self._pump_thread = threading.Thread(target=self._pump_operation_loop)
|
||||
self._pump_thread.daemon = True
|
||||
self._pump_thread.start()
|
||||
|
||||
def _stop_pump_operation(self):
|
||||
with self._thread_lock:
|
||||
self._running = False
|
||||
if self._pump_thread and self._pump_thread.is_alive():
|
||||
self._pump_thread.join(timeout=2.0)
|
||||
|
||||
def _pump_operation_loop(self):
|
||||
"""泵运行主循环"""
|
||||
print("Pump operation loop started") # Debug print
|
||||
|
||||
while self._running and self._pump_state == "Running":
|
||||
try:
|
||||
# Calculate flow rate adjustment
|
||||
flow_diff = self._target_flow_rate - self._flow_rate
|
||||
|
||||
# Adjust flow rate more aggressively (50% of difference)
|
||||
adjustment = flow_diff * 0.5
|
||||
self._flow_rate += adjustment
|
||||
|
||||
# Ensure flow rate is within bounds
|
||||
self._flow_rate = max(0.1, min(self._max_flow_rate, self._flow_rate))
|
||||
|
||||
# Update status based on flow rate
|
||||
if abs(flow_diff) < 0.1:
|
||||
self._status = "Running at Target Flow Rate"
|
||||
else:
|
||||
self._status = "Adjusting Flow Rate"
|
||||
|
||||
# Calculate volume increment
|
||||
volume_increment = (self._flow_rate / 60.0) # mL/s
|
||||
self._total_volume += volume_increment
|
||||
|
||||
# Update time tracking
|
||||
self._time_spent = datetime.now() - self._start_time
|
||||
if self._transfer_time > 0:
|
||||
remaining = self._transfer_time - self._time_spent.total_seconds()
|
||||
self._time_remaining = timedelta(seconds=max(0, remaining))
|
||||
|
||||
# Check completion
|
||||
if self._total_volume >= self._transfer_volume:
|
||||
self._status = "Transfer Completed"
|
||||
self._pump_state = "Stopped"
|
||||
self._running = False
|
||||
break
|
||||
|
||||
# Update pressure
|
||||
self._pressure = (self._flow_rate / self._max_flow_rate) * self._max_pressure
|
||||
|
||||
print(f"Debug - Flow: {self._flow_rate:.1f}, Volume: {self._total_volume:.1f}") # Debug print
|
||||
|
||||
time.sleep(1.0)
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error in pump operation: {str(e)}")
|
||||
self._status = "Error in pump operation"
|
||||
self._pump_state = "Stopped"
|
||||
self._running = False
|
||||
break
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""
|
||||
获取完整的设备状态信息
|
||||
|
||||
Returns:
|
||||
dict: 包含所有设备状态的字典
|
||||
"""
|
||||
return {
|
||||
"status": self._status,
|
||||
"pump_state": self._pump_state,
|
||||
"flow_rate": self._flow_rate,
|
||||
"target_flow_rate": self._target_flow_rate,
|
||||
"pressure": self._pressure,
|
||||
"total_volume": self._total_volume,
|
||||
"max_flow_rate": self._max_flow_rate,
|
||||
"max_pressure": self._max_pressure,
|
||||
"current_device": self._current_device,
|
||||
"from_vessel": self._from_vessel,
|
||||
"to_vessel": self._to_vessel,
|
||||
"transfer_volume": self._transfer_volume,
|
||||
"amount": self._amount,
|
||||
"transfer_time": self._transfer_time,
|
||||
"is_viscous": self._is_viscous,
|
||||
"rinsing_solvent": self._rinsing_solvent,
|
||||
"rinsing_volume": self._rinsing_volume,
|
||||
"rinsing_repeats": self._rinsing_repeats,
|
||||
"is_solid": self._is_solid,
|
||||
"time_spent": self._time_spent.total_seconds(),
|
||||
"time_remaining": self._time_remaining.total_seconds()
|
||||
}
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
pump = MockPump()
|
||||
|
||||
# 测试基本功能
|
||||
print("启动泵设备测试...")
|
||||
print(f"初始状态: {pump.get_status_info()}")
|
||||
|
||||
# 设置流速并启动
|
||||
pump.set_flow_rate(50.0)
|
||||
pump.start_pump()
|
||||
|
||||
# 模拟运行10秒
|
||||
for i in range(10):
|
||||
time.sleep(1)
|
||||
print(f"第{i+1}秒: 流速={pump.flow_rate:.1f}mL/min, 压力={pump.pressure:.2f}bar, 状态={pump.status}")
|
||||
|
||||
# 测试方向切换
|
||||
print("切换泵方向...")
|
||||
|
||||
|
||||
pump.emergency_stop()
|
||||
print("测试完成")
|
||||
@@ -1,390 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
import json
|
||||
|
||||
|
||||
class MockRotavap:
|
||||
"""
|
||||
模拟旋转蒸发器设备类
|
||||
|
||||
这个类模拟了一个实验室旋转蒸发器的行为，包括旋转控制、
|
||||
真空泵控制、温度控制等功能。参考了现有的 RotavapOne 实现。
|
||||
"""
|
||||
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
"""
|
||||
初始化MockRotavap实例
|
||||
|
||||
Args:
|
||||
port (str): 设备端口，默认为"MOCK"表示模拟设备
|
||||
"""
|
||||
self.port = port
|
||||
|
||||
# 设备基本状态属性
|
||||
self._status: str = "Idle" # 设备状态：Idle, Running, Error, Stopped
|
||||
|
||||
# 旋转相关属性
|
||||
self._rotate_state: str = "Stopped" # 旋转状态：Running, Stopped
|
||||
self._rotate_time: float = 0.0 # 旋转剩余时间 (秒)
|
||||
self._rotate_speed: float = 0.0 # 旋转速度 (rpm)
|
||||
self._max_rotate_speed: float = 300.0 # 最大旋转速度 (rpm)
|
||||
|
||||
# 真空泵相关属性
|
||||
self._pump_state: str = "Stopped" # 泵状态：Running, Stopped
|
||||
self._pump_time: float = 0.0 # 泵剩余时间 (秒)
|
||||
self._vacuum_level: float = 0.0 # 真空度 (mbar)
|
||||
self._target_vacuum: float = 50.0 # 目标真空度 (mbar)
|
||||
|
||||
# 温度相关属性
|
||||
self._temperature: float = 25.0 # 水浴温度 (°C)
|
||||
self._target_temperature: float = 25.0 # 目标温度 (°C)
|
||||
self._max_temperature: float = 180.0 # 最大温度 (°C)
|
||||
|
||||
# 运行控制线程
|
||||
self._operation_thread = None
|
||||
self._running = False
|
||||
self._thread_lock = threading.Lock()
|
||||
|
||||
# 操作成功标志
|
||||
self.success: str = "True" # 使用字符串而不是布尔值
|
||||
|
||||
# ==================== 状态属性 ====================
|
||||
# 这些属性会被Uni-Lab系统自动识别并定时对外广播
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def rotate_state(self) -> str:
|
||||
return self._rotate_state
|
||||
|
||||
@property
|
||||
def rotate_time(self) -> float:
|
||||
return self._rotate_time
|
||||
|
||||
@property
|
||||
def rotate_speed(self) -> float:
|
||||
return self._rotate_speed
|
||||
|
||||
@property
|
||||
def pump_state(self) -> str:
|
||||
return self._pump_state
|
||||
|
||||
@property
|
||||
def pump_time(self) -> float:
|
||||
return self._pump_time
|
||||
|
||||
@property
|
||||
def vacuum_level(self) -> float:
|
||||
return self._vacuum_level
|
||||
|
||||
@property
|
||||
def temperature(self) -> float:
|
||||
return self._temperature
|
||||
|
||||
@property
|
||||
def target_temperature(self) -> float:
|
||||
return self._target_temperature
|
||||
|
||||
# ==================== 设备控制方法 ====================
|
||||
# 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
|
||||
|
||||
def set_timer(self, command: str) -> str:
|
||||
"""
|
||||
设置定时器 - 兼容现有RotavapOne接口
|
||||
|
||||
Args:
|
||||
command (str): JSON格式的命令字符串，包含rotate_time和pump_time
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
try:
|
||||
timer = json.loads(command)
|
||||
rotate_time = timer.get("rotate_time", 0)
|
||||
pump_time = timer.get("pump_time", 0)
|
||||
|
||||
self.success = "False"
|
||||
self._rotate_time = float(rotate_time)
|
||||
self._pump_time = float(pump_time)
|
||||
self.success = "True"
|
||||
|
||||
self._status = "Timer Set"
|
||||
return "Success"
|
||||
|
||||
except (json.JSONDecodeError, ValueError, KeyError) as e:
|
||||
self._status = f"Error: Invalid command format - {str(e)}"
|
||||
self.success = "False"
|
||||
return "Error"
|
||||
|
||||
def set_rotate_time(self, time_seconds: float) -> str:
|
||||
"""
|
||||
设置旋转时间
|
||||
|
||||
Args:
|
||||
time_seconds (float): 旋转时间 (秒)
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
self.success = "False"
|
||||
self._rotate_time = max(0.0, float(time_seconds))
|
||||
self.success = "True"
|
||||
self._status = "Rotate time set"
|
||||
return "Success"
|
||||
|
||||
def set_pump_time(self, time_seconds: float) -> str:
|
||||
"""
|
||||
设置泵时间
|
||||
|
||||
Args:
|
||||
time_seconds (float): 泵时间 (秒)
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
self.success = "False"
|
||||
self._pump_time = max(0.0, float(time_seconds))
|
||||
self.success = "True"
|
||||
self._status = "Pump time set"
|
||||
return "Success"
|
||||
|
||||
def set_rotate_speed(self, speed: float) -> str:
|
||||
"""
|
||||
设置旋转速度
|
||||
|
||||
Args:
|
||||
speed (float): 旋转速度 (rpm)
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
if speed < 0 or speed > self._max_rotate_speed:
|
||||
self._status = f"Error: Speed out of range (0-{self._max_rotate_speed})"
|
||||
return "Error"
|
||||
|
||||
self._rotate_speed = speed
|
||||
self._status = "Rotate speed set"
|
||||
return "Success"
|
||||
|
||||
def set_temperature(self, temperature: float) -> str:
|
||||
"""
|
||||
设置水浴温度
|
||||
|
||||
Args:
|
||||
temperature (float): 目标温度 (°C)
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
if temperature < 0 or temperature > self._max_temperature:
|
||||
self._status = f"Error: Temperature out of range (0-{self._max_temperature})"
|
||||
return "Error"
|
||||
|
||||
self._target_temperature = temperature
|
||||
self._status = "Temperature set"
|
||||
|
||||
# 启动操作线程以开始温度控制
|
||||
self._start_operation()
|
||||
|
||||
return "Success"
|
||||
|
||||
def start_rotation(self) -> str:
|
||||
"""
|
||||
启动旋转
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
if self._rotate_time <= 0:
|
||||
self._status = "Error: No rotate time set"
|
||||
return "Error"
|
||||
|
||||
self._rotate_state = "Running"
|
||||
self._status = "Rotation started"
|
||||
return "Success"
|
||||
|
||||
def start_pump(self) -> str:
|
||||
"""
|
||||
启动真空泵
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
if self._pump_time <= 0:
|
||||
self._status = "Error: No pump time set"
|
||||
return "Error"
|
||||
|
||||
self._pump_state = "Running"
|
||||
self._status = "Pump started"
|
||||
return "Success"
|
||||
|
||||
def stop_all_operations(self) -> str:
|
||||
"""
|
||||
停止所有操作
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
self._rotate_state = "Stopped"
|
||||
self._pump_state = "Stopped"
|
||||
self._stop_operation()
|
||||
self._rotate_time = 0.0
|
||||
self._pump_time = 0.0
|
||||
self._vacuum_level = 0.0
|
||||
self._status = "All operations stopped"
|
||||
return "Success"
|
||||
|
||||
def emergency_stop(self) -> str:
|
||||
"""
|
||||
紧急停止
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
self._status = "Emergency Stop"
|
||||
self.stop_all_operations()
|
||||
return "Success"
|
||||
|
||||
# ==================== 内部控制方法 ====================
|
||||
|
||||
def _start_operation(self):
|
||||
"""
|
||||
启动操作线程
|
||||
|
||||
这个方法启动一个后台线程来模拟旋蒸的实际运行过程。
|
||||
"""
|
||||
with self._thread_lock:
|
||||
if not self._running:
|
||||
self._running = True
|
||||
self._operation_thread = threading.Thread(target=self._operation_loop)
|
||||
self._operation_thread.daemon = True
|
||||
self._operation_thread.start()
|
||||
|
||||
def _stop_operation(self):
|
||||
"""
|
||||
停止操作线程
|
||||
|
||||
安全地停止后台运行线程并等待其完成。
|
||||
"""
|
||||
with self._thread_lock:
|
||||
self._running = False
|
||||
if self._operation_thread and self._operation_thread.is_alive():
|
||||
self._operation_thread.join(timeout=2.0)
|
||||
|
||||
def _operation_loop(self):
|
||||
"""
|
||||
操作主循环
|
||||
|
||||
这个方法在后台线程中运行，模拟真实旋蒸的工作过程：
|
||||
1. 时间倒计时
|
||||
2. 温度控制
|
||||
3. 真空度控制
|
||||
4. 状态更新
|
||||
"""
|
||||
while self._running:
|
||||
try:
|
||||
# 处理旋转时间倒计时
|
||||
if self._rotate_time > 0:
|
||||
self._rotate_state = "Running"
|
||||
self._rotate_time = max(0.0, self._rotate_time - 1.0)
|
||||
else:
|
||||
self._rotate_state = "Stopped"
|
||||
|
||||
# 处理泵时间倒计时
|
||||
if self._pump_time > 0:
|
||||
self._pump_state = "Running"
|
||||
self._pump_time = max(0.0, self._pump_time - 1.0)
|
||||
# 模拟真空度变化
|
||||
if self._vacuum_level > self._target_vacuum:
|
||||
self._vacuum_level = max(self._target_vacuum, self._vacuum_level - 5.0)
|
||||
else:
|
||||
self._pump_state = "Stopped"
|
||||
# 真空度逐渐回升
|
||||
self._vacuum_level = min(1013.25, self._vacuum_level + 2.0)
|
||||
|
||||
# 模拟温度控制
|
||||
temp_diff = self._target_temperature - self._temperature
|
||||
if abs(temp_diff) > 0.5:
|
||||
if temp_diff > 0:
|
||||
self._temperature += min(1.0, temp_diff * 0.1)
|
||||
else:
|
||||
self._temperature += max(-1.0, temp_diff * 0.1)
|
||||
|
||||
# 更新整体状态
|
||||
if self._rotate_state == "Running" or self._pump_state == "Running":
|
||||
self._status = "Operating"
|
||||
elif self._rotate_time > 0 or self._pump_time > 0:
|
||||
self._status = "Ready"
|
||||
else:
|
||||
self._status = "Idle"
|
||||
|
||||
# 等待1秒后继续下一次循环
|
||||
time.sleep(1.0)
|
||||
|
||||
except Exception as e:
|
||||
self._status = f"Error in operation: {str(e)}"
|
||||
break
|
||||
|
||||
# 循环结束时的清理工作
|
||||
self._status = "Idle"
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""
|
||||
获取完整的设备状态信息
|
||||
|
||||
Returns:
|
||||
dict: 包含所有设备状态的字典
|
||||
"""
|
||||
return {
|
||||
"status": self._status,
|
||||
"rotate_state": self._rotate_state,
|
||||
"rotate_time": self._rotate_time,
|
||||
"rotate_speed": self._rotate_speed,
|
||||
"pump_state": self._pump_state,
|
||||
"pump_time": self._pump_time,
|
||||
"vacuum_level": self._vacuum_level,
|
||||
"temperature": self._temperature,
|
||||
"target_temperature": self._target_temperature,
|
||||
"success": self.success,
|
||||
}
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
rotavap = MockRotavap()
|
||||
|
||||
# 测试基本功能
|
||||
print("启动旋转蒸发器测试...")
|
||||
print(f"初始状态: {rotavap.get_status_info()}")
|
||||
|
||||
# 设置定时器
|
||||
timer_command = '{"rotate_time": 300, "pump_time": 600}'
|
||||
rotavap.set_timer(timer_command)
|
||||
|
||||
# 设置温度和转速
|
||||
rotavap.set_temperature(60.0)
|
||||
rotavap.set_rotate_speed(120.0)
|
||||
|
||||
# 启动操作
|
||||
rotavap.start_rotation()
|
||||
rotavap.start_pump()
|
||||
|
||||
# 模拟运行10秒
|
||||
for i in range(10):
|
||||
time.sleep(1)
|
||||
print(
|
||||
f"第{i+1}秒: 旋转={rotavap.rotate_time:.0f}s, 泵={rotavap.pump_time:.0f}s, "
|
||||
f"温度={rotavap.temperature:.1f}°C, 真空={rotavap.vacuum_level:.1f}mbar"
|
||||
)
|
||||
|
||||
rotavap.emergency_stop()
|
||||
print("测试完成")
|
||||
@@ -1,399 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
from datetime import datetime, timedelta
|
||||
|
||||
class MockSeparator:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
self.port = port
|
||||
|
||||
# 基本状态属性
|
||||
self._status: str = "Idle" # 当前总体状态
|
||||
self._valve_state: str = "Closed" # 阀门状态：Open 或 Closed
|
||||
self._settling_time: float = 0.0 # 静置时间（秒）
|
||||
|
||||
# 搅拌相关属性
|
||||
self._shake_time: float = 0.0 # 剩余摇摆时间（秒）
|
||||
self._shake_status: str = "Not Shaking" # 摇摆状态
|
||||
|
||||
# 用于后台模拟 shake 动作
|
||||
self._operation_thread = None
|
||||
self._thread_lock = threading.Lock()
|
||||
self._running = False
|
||||
|
||||
# Separate action 相关属性
|
||||
self._current_device: str = "MockSeparator1"
|
||||
self._purpose: str = "" # wash or extract
|
||||
self._product_phase: str = "" # top or bottom
|
||||
self._from_vessel: str = ""
|
||||
self._separation_vessel: str = ""
|
||||
self._to_vessel: str = ""
|
||||
self._waste_phase_to_vessel: str = ""
|
||||
self._solvent: str = ""
|
||||
self._solvent_volume: float = 0.0
|
||||
self._through: str = ""
|
||||
self._repeats: int = 1
|
||||
self._stir_time: float = 0.0
|
||||
self._stir_speed: float = 0.0
|
||||
self._time_spent = timedelta()
|
||||
self._time_remaining = timedelta()
|
||||
self._start_time = datetime.now() # 添加这一行
|
||||
|
||||
@property
|
||||
def current_device(self) -> str:
|
||||
return self._current_device
|
||||
|
||||
@property
|
||||
def purpose(self) -> str:
|
||||
return self._purpose
|
||||
|
||||
@property
|
||||
def valve_state(self) -> str:
|
||||
return self._valve_state
|
||||
|
||||
@property
|
||||
def settling_time(self) -> float:
|
||||
return self._settling_time
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def shake_time(self) -> float:
|
||||
with self._thread_lock:
|
||||
return self._shake_time
|
||||
|
||||
@property
|
||||
def shake_status(self) -> str:
|
||||
with self._thread_lock:
|
||||
return self._shake_status
|
||||
|
||||
@property
|
||||
def product_phase(self) -> str:
|
||||
return self._product_phase
|
||||
|
||||
@property
|
||||
def from_vessel(self) -> str:
|
||||
return self._from_vessel
|
||||
|
||||
@property
|
||||
def separation_vessel(self) -> str:
|
||||
return self._separation_vessel
|
||||
|
||||
@property
|
||||
def to_vessel(self) -> str:
|
||||
return self._to_vessel
|
||||
|
||||
@property
|
||||
def waste_phase_to_vessel(self) -> str:
|
||||
return self._waste_phase_to_vessel
|
||||
|
||||
@property
|
||||
def solvent(self) -> str:
|
||||
return self._solvent
|
||||
|
||||
@property
|
||||
def solvent_volume(self) -> float:
|
||||
return self._solvent_volume
|
||||
|
||||
@property
|
||||
def through(self) -> str:
|
||||
return self._through
|
||||
|
||||
@property
|
||||
def repeats(self) -> int:
|
||||
return self._repeats
|
||||
|
||||
@property
|
||||
def stir_time(self) -> float:
|
||||
return self._stir_time
|
||||
|
||||
@property
|
||||
def stir_speed(self) -> float:
|
||||
return self._stir_speed
|
||||
|
||||
@property
|
||||
def time_spent(self) -> float:
|
||||
if self._running:
|
||||
self._time_spent = datetime.now() - self._start_time
|
||||
return self._time_spent.total_seconds()
|
||||
|
||||
@property
|
||||
def time_remaining(self) -> float:
|
||||
if self._running:
|
||||
elapsed = (datetime.now() - self._start_time).total_seconds()
|
||||
total_time = (self._stir_time + self._settling_time + 10) * self._repeats
|
||||
remain = max(0, total_time - elapsed)
|
||||
self._time_remaining = timedelta(seconds=remain)
|
||||
return self._time_remaining.total_seconds()
|
||||
|
||||
def separate(self, purpose: str, product_phase: str, from_vessel: str,
|
||||
separation_vessel: str, to_vessel: str, waste_phase_to_vessel: str = "",
|
||||
solvent: str = "", solvent_volume: float = 0.0, through: str = "",
|
||||
repeats: int = 1, stir_time: float = 0.0, stir_speed: float = 0.0,
|
||||
settling_time: float = 60.0) -> dict:
|
||||
"""
|
||||
执行分离操作
|
||||
"""
|
||||
with self._thread_lock:
|
||||
# 检查是否已经在运行
|
||||
if self._running:
|
||||
return {
|
||||
"success": False,
|
||||
"status": "Error: Operation already in progress"
|
||||
}
|
||||
# 必填参数验证
|
||||
if not all([from_vessel, separation_vessel, to_vessel]):
|
||||
self._status = "Error: Missing required vessel parameters"
|
||||
return {"success": False}
|
||||
# 验证参数
|
||||
if purpose not in ["wash", "extract"]:
|
||||
self._status = "Error: Invalid purpose"
|
||||
return {"success": False}
|
||||
|
||||
if product_phase not in ["top", "bottom"]:
|
||||
self._status = "Error: Invalid product phase"
|
||||
return {"success": False}
|
||||
# 数值参数验证
|
||||
try:
|
||||
solvent_volume = float(solvent_volume)
|
||||
repeats = int(repeats)
|
||||
stir_time = float(stir_time)
|
||||
stir_speed = float(stir_speed)
|
||||
settling_time = float(settling_time)
|
||||
except ValueError:
|
||||
self._status = "Error: Invalid numeric parameters"
|
||||
return {"success": False}
|
||||
|
||||
# 设置参数
|
||||
self._purpose = purpose
|
||||
self._product_phase = product_phase
|
||||
self._from_vessel = from_vessel
|
||||
self._separation_vessel = separation_vessel
|
||||
self._to_vessel = to_vessel
|
||||
self._waste_phase_to_vessel = waste_phase_to_vessel
|
||||
self._solvent = solvent
|
||||
self._solvent_volume = float(solvent_volume)
|
||||
self._through = through
|
||||
self._repeats = int(repeats)
|
||||
self._stir_time = float(stir_time)
|
||||
self._stir_speed = float(stir_speed)
|
||||
self._settling_time = float(settling_time)
|
||||
|
||||
# 重置计时器
|
||||
self._start_time = datetime.now()
|
||||
self._time_spent = timedelta()
|
||||
total_time = (self._stir_time + self._settling_time + 10) * self._repeats
|
||||
self._time_remaining = timedelta(seconds=total_time)
|
||||
|
||||
# 启动分离操作
|
||||
self._status = "Starting Separation"
|
||||
self._running = True
|
||||
|
||||
# 在锁内创建和启动线程
|
||||
self._operation_thread = threading.Thread(target=self._operation_loop)
|
||||
self._operation_thread.daemon = True
|
||||
self._operation_thread.start()
|
||||
|
||||
# 等待确认操作已经开始
|
||||
time.sleep(0.1) # 短暂等待确保操作线程已启动
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"status": self._status,
|
||||
"current_device": self._current_device,
|
||||
"time_spent": self._time_spent.total_seconds(),
|
||||
"time_remaining": self._time_remaining.total_seconds()
|
||||
}
|
||||
|
||||
def shake(self, shake_time: float) -> str:
|
||||
"""
|
||||
模拟 shake（搅拌）操作：
|
||||
- 进入 "Shaking" 状态，倒计时 shake_time 秒
|
||||
- shake 结束后，进入 "Settling" 状态，静置时间固定为 5 秒
|
||||
- 最后恢复为 Idle
|
||||
"""
|
||||
try:
|
||||
shake_time = float(shake_time)
|
||||
except ValueError:
|
||||
self._status = "Error: Invalid shake time"
|
||||
return "Error"
|
||||
|
||||
with self._thread_lock:
|
||||
self._status = "Shaking"
|
||||
self._settling_time = 0.0
|
||||
self._shake_time = shake_time
|
||||
self._shake_status = "Shaking"
|
||||
|
||||
def _run_shake():
|
||||
remaining = shake_time
|
||||
while remaining > 0:
|
||||
time.sleep(1)
|
||||
remaining -= 1
|
||||
with self._thread_lock:
|
||||
self._shake_time = remaining
|
||||
with self._thread_lock:
|
||||
self._status = "Settling"
|
||||
self._settling_time = 60.0 # 固定静置时间为60秒
|
||||
self._shake_status = "Settling"
|
||||
while True:
|
||||
with self._thread_lock:
|
||||
if self._settling_time <= 0:
|
||||
self._status = "Idle"
|
||||
self._shake_status = "Idle"
|
||||
break
|
||||
time.sleep(1)
|
||||
with self._thread_lock:
|
||||
self._settling_time = max(0.0, self._settling_time - 1)
|
||||
|
||||
self._operation_thread = threading.Thread(target=_run_shake)
|
||||
self._operation_thread.daemon = True
|
||||
self._operation_thread.start()
|
||||
return "Success"
|
||||
|
||||
def set_valve(self, command: str) -> str:
|
||||
"""
|
||||
阀门控制命令：传入 "open" 或 "close"
|
||||
"""
|
||||
|
||||
command = command.lower()
|
||||
if command == "open":
|
||||
self._valve_state = "Open"
|
||||
self._status = "Valve Opened"
|
||||
elif command == "close":
|
||||
self._valve_state = "Closed"
|
||||
self._status = "Valve Closed"
|
||||
else:
|
||||
self._status = "Error: Invalid valve command"
|
||||
return "Error"
|
||||
return "Success"
|
||||
|
||||
def _operation_loop(self):
|
||||
"""分离操作主循环"""
|
||||
try:
|
||||
current_repeat = 1
|
||||
|
||||
# 立即更新状态，确保不会停留在Starting Separation
|
||||
with self._thread_lock:
|
||||
self._status = f"Separation Cycle {current_repeat}/{self._repeats}"
|
||||
|
||||
while self._running and current_repeat <= self._repeats:
|
||||
# 第一步：搅拌
|
||||
if self._stir_time > 0:
|
||||
with self._thread_lock:
|
||||
self._status = f"Stirring (Repeat {current_repeat}/{self._repeats})"
|
||||
remaining_stir = self._stir_time
|
||||
while remaining_stir > 0 and self._running:
|
||||
time.sleep(1)
|
||||
remaining_stir -= 1
|
||||
|
||||
# 第二步：静置
|
||||
if self._settling_time > 0:
|
||||
with self._thread_lock:
|
||||
self._status = f"Settling (Repeat {current_repeat}/{self._repeats})"
|
||||
remaining_settle = self._settling_time
|
||||
while remaining_settle > 0 and self._running:
|
||||
time.sleep(1)
|
||||
remaining_settle -= 1
|
||||
|
||||
# 第三步：打开阀门排出
|
||||
with self._thread_lock:
|
||||
self._valve_state = "Open"
|
||||
self._status = f"Draining (Repeat {current_repeat}/{self._repeats})"
|
||||
|
||||
# 模拟排出时间（5秒）
|
||||
time.sleep(10)
|
||||
|
||||
# 关闭阀门
|
||||
with self._thread_lock:
|
||||
self._valve_state = "Closed"
|
||||
|
||||
# 检查是否继续下一次重复
|
||||
if current_repeat < self._repeats:
|
||||
current_repeat += 1
|
||||
else:
|
||||
with self._thread_lock:
|
||||
self._status = "Separation Complete"
|
||||
break
|
||||
|
||||
except Exception as e:
|
||||
with self._thread_lock:
|
||||
self._status = f"Error in separation: {str(e)}"
|
||||
finally:
|
||||
with self._thread_lock:
|
||||
self._running = False
|
||||
self._valve_state = "Closed"
|
||||
if self._status == "Starting Separation":
|
||||
self._status = "Error: Operation failed to start"
|
||||
elif self._status != "Separation Complete":
|
||||
self._status = "Stopped"
|
||||
|
||||
def stop_operations(self) -> str:
|
||||
"""停止任何正在执行的操作"""
|
||||
with self._thread_lock:
|
||||
self._running = False
|
||||
if self._operation_thread and self._operation_thread.is_alive():
|
||||
self._operation_thread.join(timeout=1.0)
|
||||
self._operation_thread = None
|
||||
self._settling_time = 0.0
|
||||
self._status = "Idle"
|
||||
self._shake_status = "Idle"
|
||||
self._shake_time = 0.0
|
||||
self._time_remaining = timedelta()
|
||||
return "Success"
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""获取当前设备状态信息"""
|
||||
with self._thread_lock:
|
||||
current_time = datetime.now()
|
||||
if self._start_time:
|
||||
self._time_spent = current_time - self._start_time
|
||||
|
||||
return {
|
||||
"status": self._status,
|
||||
"valve_state": self._valve_state,
|
||||
"settling_time": self._settling_time,
|
||||
"shake_time": self._shake_time,
|
||||
"shake_status": self._shake_status,
|
||||
"current_device": self._current_device,
|
||||
"purpose": self._purpose,
|
||||
"product_phase": self._product_phase,
|
||||
"from_vessel": self._from_vessel,
|
||||
"separation_vessel": self._separation_vessel,
|
||||
"to_vessel": self._to_vessel,
|
||||
"waste_phase_to_vessel": self._waste_phase_to_vessel,
|
||||
"solvent": self._solvent,
|
||||
"solvent_volume": self._solvent_volume,
|
||||
"through": self._through,
|
||||
"repeats": self._repeats,
|
||||
"stir_time": self._stir_time,
|
||||
"stir_speed": self._stir_speed,
|
||||
"time_spent": self._time_spent.total_seconds(),
|
||||
"time_remaining": self._time_remaining.total_seconds()
|
||||
}
|
||||
|
||||
|
||||
# 主函数用于测试
|
||||
if __name__ == "__main__":
|
||||
separator = MockSeparator()
|
||||
|
||||
print("启动简单版分离器测试...")
|
||||
print("初始状态:", separator.get_status_info())
|
||||
|
||||
# 触发 shake 操作，模拟 10 秒的搅拌
|
||||
print("执行 shake 操作...")
|
||||
print(separator.shake(10.0))
|
||||
|
||||
# 循环显示状态变化
|
||||
for i in range(20):
|
||||
time.sleep(1)
|
||||
info = separator.get_status_info()
|
||||
print(
|
||||
f"第{i+1}秒: 状态={info['status']}, 静置时间={info['settling_time']:.1f}秒, "
|
||||
f"阀门状态={info['valve_state']}, shake_time={info['shake_time']:.1f}, "
|
||||
f"shake_status={info['shake_status']}"
|
||||
)
|
||||
|
||||
# 模拟打开阀门
|
||||
print("打开阀门...", separator.set_valve("open"))
|
||||
print("最终状态:", separator.get_status_info())
|
||||
@@ -1,89 +0,0 @@
|
||||
import time
|
||||
|
||||
|
||||
class MockSolenoidValve:
|
||||
"""
|
||||
模拟电磁阀设备类 - 简化版本
|
||||
|
||||
这个类提供了电磁阀的基本功能：开启、关闭和状态查询
|
||||
"""
|
||||
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
"""
|
||||
初始化MockSolenoidValve实例
|
||||
|
||||
Args:
|
||||
port (str): 设备端口，默认为"MOCK"表示模拟设备
|
||||
"""
|
||||
self.port = port
|
||||
self._status: str = "Idle"
|
||||
self._valve_status: str = "Closed" # 阀门位置：Open, Closed
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
"""设备状态 - 会被自动识别的设备属性"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def valve_status(self) -> str:
|
||||
"""阀门状态"""
|
||||
return self._valve_status
|
||||
|
||||
def set_valve_status(self, status: str) -> str:
|
||||
"""
|
||||
设置阀门位置
|
||||
|
||||
Args:
|
||||
position (str): 阀门位置，可选值："Open", "Closed"
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
if status not in ["Open", "Closed"]:
|
||||
self._status = "Error: Invalid position"
|
||||
return "Error"
|
||||
|
||||
self._status = "Moving"
|
||||
time.sleep(1) # 模拟阀门动作时间
|
||||
|
||||
self._valve_status = status
|
||||
self._status = "Idle"
|
||||
return "Success"
|
||||
|
||||
def open_valve(self) -> str:
|
||||
"""打开阀门"""
|
||||
return self.set_valve_status("Open")
|
||||
|
||||
def close_valve(self) -> str:
|
||||
"""关闭阀门"""
|
||||
return self.set_valve_status("Closed")
|
||||
|
||||
def get_valve_status(self) -> str:
|
||||
"""获取阀门位置"""
|
||||
return self._valve_status
|
||||
|
||||
def is_open(self) -> bool:
|
||||
"""检查阀门是否打开"""
|
||||
return self._valve_status == "Open"
|
||||
|
||||
def is_closed(self) -> bool:
|
||||
"""检查阀门是否关闭"""
|
||||
return self._valve_status == "Closed"
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
valve = MockSolenoidValve()
|
||||
|
||||
print("启动电磁阀测试...")
|
||||
print(f"初始状态: 位置={valve.valve_status}, 状态={valve.status}")
|
||||
|
||||
# 测试开启阀门
|
||||
valve.open_valve()
|
||||
print(f"开启后: 位置={valve.valve_status}, 状态={valve.status}")
|
||||
|
||||
# 测试关闭阀门
|
||||
valve.close_valve()
|
||||
print(f"关闭后: 位置={valve.valve_status}, 状态={valve.status}")
|
||||
|
||||
print("测试完成")
|
||||
@@ -1,307 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
|
||||
|
||||
class MockStirrer:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
self.port = port
|
||||
|
||||
# 设备基本状态属性
|
||||
self._status: str = "Idle" # 设备状态：Idle, Running, Error, Stopped
|
||||
|
||||
# 搅拌相关属性
|
||||
self._stir_speed: float = 0.0 # 当前搅拌速度 (rpm)
|
||||
self._target_stir_speed: float = 0.0 # 目标搅拌速度 (rpm)
|
||||
self._max_stir_speed: float = 2000.0 # 最大搅拌速度 (rpm)
|
||||
self._stir_state: str = "Stopped" # 搅拌状态：Running, Stopped
|
||||
|
||||
# 温度相关属性
|
||||
self._temperature: float = 25.0 # 当前温度 (°C)
|
||||
self._target_temperature: float = 25.0 # 目标温度 (°C)
|
||||
self._max_temperature: float = 300.0 # 最大温度 (°C)
|
||||
self._heating_state: str = "Off" # 加热状态：On, Off
|
||||
self._heating_power: float = 0.0 # 加热功率百分比 0-100
|
||||
|
||||
# 运行控制线程
|
||||
self._operation_thread = None
|
||||
self._running = False
|
||||
self._thread_lock = threading.Lock()
|
||||
|
||||
# ==================== 状态属性 ====================
|
||||
# 这些属性会被Uni-Lab系统自动识别并定时对外广播
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def stir_speed(self) -> float:
|
||||
return self._stir_speed
|
||||
|
||||
@property
|
||||
def target_stir_speed(self) -> float:
|
||||
return self._target_stir_speed
|
||||
|
||||
@property
|
||||
def stir_state(self) -> str:
|
||||
return self._stir_state
|
||||
|
||||
@property
|
||||
def temperature(self) -> float:
|
||||
"""
|
||||
当前温度
|
||||
|
||||
Returns:
|
||||
float: 当前温度 (°C)
|
||||
"""
|
||||
return self._temperature
|
||||
|
||||
@property
|
||||
def target_temperature(self) -> float:
|
||||
"""
|
||||
目标温度
|
||||
|
||||
Returns:
|
||||
float: 目标温度 (°C)
|
||||
"""
|
||||
return self._target_temperature
|
||||
|
||||
@property
|
||||
def heating_state(self) -> str:
|
||||
return self._heating_state
|
||||
|
||||
@property
|
||||
def heating_power(self) -> float:
|
||||
return self._heating_power
|
||||
|
||||
@property
|
||||
def max_stir_speed(self) -> float:
|
||||
return self._max_stir_speed
|
||||
|
||||
@property
|
||||
def max_temperature(self) -> float:
|
||||
return self._max_temperature
|
||||
|
||||
# ==================== 设备控制方法 ====================
|
||||
# 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
|
||||
|
||||
def set_stir_speed(self, speed: float) -> str:
|
||||
|
||||
speed = float(speed) # 确保传入的速度是浮点数
|
||||
|
||||
if speed < 0 or speed > self._max_stir_speed:
|
||||
self._status = f"Error: Speed out of range (0-{self._max_stir_speed})"
|
||||
return "Error"
|
||||
|
||||
self._target_stir_speed = speed
|
||||
self._status = "Setting Stir Speed"
|
||||
|
||||
# 如果设置了非零速度，启动搅拌
|
||||
if speed > 0:
|
||||
self._stir_state = "Running"
|
||||
else:
|
||||
self._stir_state = "Stopped"
|
||||
|
||||
return "Success"
|
||||
|
||||
def set_temperature(self, temperature: float) -> str:
|
||||
temperature = float(temperature) # 确保传入的温度是浮点数
|
||||
|
||||
if temperature < 0 or temperature > self._max_temperature:
|
||||
self._status = f"Error: Temperature out of range (0-{self._max_temperature})"
|
||||
return "Error"
|
||||
|
||||
self._target_temperature = temperature
|
||||
self._status = "Setting Temperature"
|
||||
|
||||
return "Success"
|
||||
|
||||
def start_stirring(self) -> str:
|
||||
|
||||
if self._target_stir_speed <= 0:
|
||||
self._status = "Error: No target speed set"
|
||||
return "Error"
|
||||
|
||||
self._stir_state = "Running"
|
||||
self._status = "Stirring Started"
|
||||
return "Success"
|
||||
|
||||
def stop_stirring(self) -> str:
|
||||
self._stir_state = "Stopped"
|
||||
self._target_stir_speed = 0.0
|
||||
self._status = "Stirring Stopped"
|
||||
return "Success"
|
||||
|
||||
def heating_control(self, heating_state: str = "On") -> str:
|
||||
|
||||
if heating_state not in ["On", "Off"]:
|
||||
self._status = "Error: Invalid heating state"
|
||||
return "Error"
|
||||
|
||||
self._heating_state = heating_state
|
||||
|
||||
if heating_state == "On":
|
||||
self._status = "Heating On"
|
||||
else:
|
||||
self._status = "Heating Off"
|
||||
self._heating_power = 0.0
|
||||
|
||||
return "Success"
|
||||
|
||||
def stop_all_operations(self) -> str:
|
||||
self._stir_state = "Stopped"
|
||||
self._heating_state = "Off"
|
||||
self._stop_operation()
|
||||
self._stir_speed = 0.0
|
||||
self._target_stir_speed = 0.0
|
||||
self._heating_power = 0.0
|
||||
self._status = "All operations stopped"
|
||||
return "Success"
|
||||
|
||||
def emergency_stop(self) -> str:
|
||||
"""
|
||||
紧急停止
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
self._status = "Emergency Stop"
|
||||
self.stop_all_operations()
|
||||
return "Success"
|
||||
|
||||
# ==================== 内部控制方法 ====================
|
||||
|
||||
def _start_operation(self):
|
||||
with self._thread_lock:
|
||||
if not self._running:
|
||||
self._running = True
|
||||
self._operation_thread = threading.Thread(target=self._operation_loop)
|
||||
self._operation_thread.daemon = True
|
||||
self._operation_thread.start()
|
||||
|
||||
def _stop_operation(self):
|
||||
"""
|
||||
停止操作线程
|
||||
|
||||
安全地停止后台运行线程并等待其完成。
|
||||
"""
|
||||
with self._thread_lock:
|
||||
self._running = False
|
||||
if self._operation_thread and self._operation_thread.is_alive():
|
||||
self._operation_thread.join(timeout=2.0)
|
||||
|
||||
def _operation_loop(self):
|
||||
while self._running:
|
||||
try:
|
||||
# 处理搅拌速度控制
|
||||
if self._stir_state == "Running":
|
||||
speed_diff = self._target_stir_speed - self._stir_speed
|
||||
|
||||
if abs(speed_diff) < 1.0: # 速度接近目标值
|
||||
self._stir_speed = self._target_stir_speed
|
||||
if self._stir_speed > 0:
|
||||
self._status = "Stirring at Target Speed"
|
||||
else:
|
||||
# 模拟速度调节，每秒调整10%的差值
|
||||
adjustment = speed_diff * 0.1
|
||||
self._stir_speed += adjustment
|
||||
self._status = "Adjusting Stir Speed"
|
||||
|
||||
# 确保速度在合理范围内
|
||||
self._stir_speed = max(0.0, min(self._max_stir_speed, self._stir_speed))
|
||||
else:
|
||||
# 搅拌停止时，速度逐渐降为0
|
||||
if self._stir_speed > 0:
|
||||
self._stir_speed = max(0.0, self._stir_speed - 50.0) # 每秒减少50rpm
|
||||
|
||||
# 处理温度控制
|
||||
if self._heating_state == "On":
|
||||
temp_diff = self._target_temperature - self._temperature
|
||||
|
||||
if abs(temp_diff) < 0.5: # 温度接近目标值
|
||||
self._heating_power = 20.0 # 维持温度的最小功率
|
||||
elif temp_diff > 0: # 需要加热
|
||||
# 根据温差调整加热功率
|
||||
if temp_diff > 50:
|
||||
self._heating_power = 100.0
|
||||
elif temp_diff > 20:
|
||||
self._heating_power = 80.0
|
||||
elif temp_diff > 10:
|
||||
self._heating_power = 60.0
|
||||
else:
|
||||
self._heating_power = 40.0
|
||||
|
||||
# 模拟加热过程
|
||||
heating_rate = self._heating_power / 100.0 * 1.5 # 最大每秒升温1.5度
|
||||
self._temperature += heating_rate
|
||||
else: # 目标温度低于当前温度
|
||||
self._heating_power = 0.0
|
||||
# 自然冷却
|
||||
self._temperature -= 0.1
|
||||
else:
|
||||
self._heating_power = 0.0
|
||||
# 自然冷却到室温
|
||||
if self._temperature > 25.0:
|
||||
self._temperature -= 0.2
|
||||
|
||||
# 限制温度范围
|
||||
self._temperature = max(20.0, min(self._max_temperature, self._temperature))
|
||||
|
||||
# 更新整体状态
|
||||
if self._stir_state == "Running" and self._heating_state == "On":
|
||||
self._status = "Stirring and Heating"
|
||||
elif self._stir_state == "Running":
|
||||
self._status = "Stirring Only"
|
||||
elif self._heating_state == "On":
|
||||
self._status = "Heating Only"
|
||||
else:
|
||||
self._status = "Idle"
|
||||
|
||||
# 等待1秒后继续下一次循环
|
||||
time.sleep(1.0)
|
||||
|
||||
except Exception as e:
|
||||
self._status = f"Error in operation: {str(e)}"
|
||||
break
|
||||
|
||||
# 循环结束时的清理工作
|
||||
self._status = "Idle"
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
return {
|
||||
"status": self._status,
|
||||
"stir_speed": self._stir_speed,
|
||||
"target_stir_speed": self._target_stir_speed,
|
||||
"stir_state": self._stir_state,
|
||||
"temperature": self._temperature,
|
||||
"target_temperature": self._target_temperature,
|
||||
"heating_state": self._heating_state,
|
||||
"heating_power": self._heating_power,
|
||||
"max_stir_speed": self._max_stir_speed,
|
||||
"max_temperature": self._max_temperature,
|
||||
}
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
stirrer = MockStirrer()
|
||||
|
||||
# 测试基本功能
|
||||
print("启动搅拌器测试...")
|
||||
print(f"初始状态: {stirrer.get_status_info()}")
|
||||
|
||||
# 设置搅拌速度和温度
|
||||
stirrer.set_stir_speed(800.0)
|
||||
stirrer.set_temperature(60.0)
|
||||
stirrer.heating_control("On")
|
||||
|
||||
# 模拟运行15秒
|
||||
for i in range(15):
|
||||
time.sleep(1)
|
||||
print(
|
||||
f"第{i+1}秒: 速度={stirrer.stir_speed:.0f}rpm, 温度={stirrer.temperature:.1f}°C, "
|
||||
f"功率={stirrer.heating_power:.1f}%, 状态={stirrer.status}"
|
||||
)
|
||||
|
||||
stirrer.emergency_stop()
|
||||
print("测试完成")
|
||||
@@ -1,229 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
from datetime import datetime, timedelta
|
||||
|
||||
class MockStirrer_new:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
self.port = port
|
||||
|
||||
# 基本状态属性
|
||||
self._status: str = "Idle"
|
||||
self._vessel: str = ""
|
||||
self._purpose: str = ""
|
||||
|
||||
# 搅拌相关属性
|
||||
self._stir_speed: float = 0.0
|
||||
self._target_stir_speed: float = 0.0
|
||||
self._max_stir_speed: float = 2000.0
|
||||
self._stir_state: str = "Stopped"
|
||||
|
||||
# 计时相关
|
||||
self._stir_time: float = 0.0
|
||||
self._settling_time: float = 0.0
|
||||
self._start_time = datetime.now()
|
||||
self._time_remaining = timedelta()
|
||||
|
||||
# 运行控制
|
||||
self._operation_thread = None
|
||||
self._running = False
|
||||
self._thread_lock = threading.Lock()
|
||||
|
||||
# 创建操作线程
|
||||
self._operation_thread = threading.Thread(target=self._operation_loop)
|
||||
self._operation_thread.daemon = True
|
||||
self._operation_thread.start()
|
||||
|
||||
# ==================== 状态属性 ====================
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def stir_speed(self) -> float:
|
||||
return self._stir_speed
|
||||
|
||||
@property
|
||||
def target_stir_speed(self) -> float:
|
||||
return self._target_stir_speed
|
||||
|
||||
@property
|
||||
def stir_state(self) -> str:
|
||||
return self._stir_state
|
||||
|
||||
@property
|
||||
def vessel(self) -> str:
|
||||
return self._vessel
|
||||
|
||||
@property
|
||||
def purpose(self) -> str:
|
||||
return self._purpose
|
||||
|
||||
@property
|
||||
def stir_time(self) -> float:
|
||||
return self._stir_time
|
||||
|
||||
@property
|
||||
def settling_time(self) -> float:
|
||||
return self._settling_time
|
||||
|
||||
@property
|
||||
def max_stir_speed(self) -> float:
|
||||
return self._max_stir_speed
|
||||
|
||||
@property
|
||||
def progress(self) -> float:
|
||||
"""返回当前操作的进度（0-100）"""
|
||||
if not self._running:
|
||||
return 0.0
|
||||
elapsed = (datetime.now() - self._start_time).total_seconds()
|
||||
total_time = self._stir_time + self._settling_time
|
||||
if total_time <= 0:
|
||||
return 100.0
|
||||
return min(100.0, (elapsed / total_time) * 100)
|
||||
|
||||
# ==================== Action Server 方法 ====================
|
||||
def start_stir(self, vessel: str, stir_speed: float = 0.0, purpose: str = "") -> dict:
|
||||
"""
|
||||
StartStir.action 对应的方法
|
||||
"""
|
||||
with self._thread_lock:
|
||||
if self._running:
|
||||
return {
|
||||
"success": False,
|
||||
"message": "Operation already in progress"
|
||||
}
|
||||
|
||||
try:
|
||||
# 重置所有参数
|
||||
self._vessel = vessel
|
||||
self._purpose = purpose
|
||||
self._stir_time = 0.0 # 连续搅拌模式下不设置搅拌时间
|
||||
self._settling_time = 0.0
|
||||
self._start_time = datetime.now() # 重置开始时间
|
||||
|
||||
if stir_speed > 0:
|
||||
self._target_stir_speed = min(stir_speed, self._max_stir_speed)
|
||||
|
||||
self._stir_state = "Running"
|
||||
self._status = "Stirring Started"
|
||||
self._running = True
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"message": "Stirring started successfully"
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
return {
|
||||
"success": False,
|
||||
"message": f"Error: {str(e)}"
|
||||
}
|
||||
|
||||
def stir(self, stir_time: float, stir_speed: float, settling_time: float) -> dict:
|
||||
"""
|
||||
Stir.action 对应的方法
|
||||
"""
|
||||
with self._thread_lock:
|
||||
try:
|
||||
# 如果已经在运行，先停止当前操作
|
||||
if self._running:
|
||||
self._running = False
|
||||
self._stir_state = "Stopped"
|
||||
self._target_stir_speed = 0.0
|
||||
time.sleep(0.1) # 给一个短暂的停止时间
|
||||
|
||||
|
||||
# 重置所有参数
|
||||
self._stir_time = float(stir_time)
|
||||
self._settling_time = float(settling_time)
|
||||
self._target_stir_speed = min(float(stir_speed), self._max_stir_speed)
|
||||
self._start_time = datetime.now() # 重置开始时间
|
||||
self._stir_state = "Running"
|
||||
self._status = "Stirring"
|
||||
self._running = True
|
||||
|
||||
return {"success": True}
|
||||
|
||||
except ValueError:
|
||||
self._status = "Error: Invalid parameters"
|
||||
return {"success": False}
|
||||
|
||||
def stop_stir(self, vessel: str) -> dict:
|
||||
"""
|
||||
StopStir.action 对应的方法
|
||||
"""
|
||||
with self._thread_lock:
|
||||
if vessel != self._vessel:
|
||||
return {
|
||||
"success": False,
|
||||
"message": "Vessel mismatch"
|
||||
}
|
||||
|
||||
self._running = False
|
||||
self._stir_state = "Stopped"
|
||||
self._target_stir_speed = 0.0
|
||||
self._status = "Stirring Stopped"
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"message": "Stirring stopped successfully"
|
||||
}
|
||||
|
||||
# ==================== 内部控制方法 ====================
|
||||
|
||||
def _operation_loop(self):
|
||||
"""操作主循环"""
|
||||
while True:
|
||||
try:
|
||||
current_time = datetime.now()
|
||||
|
||||
with self._thread_lock: # 添加锁保护
|
||||
if self._stir_state == "Running":
|
||||
# 实际搅拌逻辑
|
||||
speed_diff = self._target_stir_speed - self._stir_speed
|
||||
if abs(speed_diff) > 0.1:
|
||||
adjustment = speed_diff * 0.1
|
||||
self._stir_speed += adjustment
|
||||
else:
|
||||
self._stir_speed = self._target_stir_speed
|
||||
|
||||
# 更新进度
|
||||
if self._running:
|
||||
if self._stir_time > 0: # 定时搅拌模式
|
||||
elapsed = (current_time - self._start_time).total_seconds()
|
||||
if elapsed >= self._stir_time + self._settling_time:
|
||||
self._running = False
|
||||
self._stir_state = "Stopped"
|
||||
self._target_stir_speed = 0.0
|
||||
self._stir_speed = 0.0
|
||||
self._status = "Stirring Complete"
|
||||
elif elapsed >= self._stir_time:
|
||||
self._status = "Settling"
|
||||
else: # 连续搅拌模式
|
||||
self._status = "Stirring"
|
||||
else:
|
||||
# 停止状态下慢慢降低速度
|
||||
if self._stir_speed > 0:
|
||||
self._stir_speed = max(0, self._stir_speed - 20.0)
|
||||
|
||||
time.sleep(0.1)
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error in operation loop: {str(e)}") # 添加错误输出
|
||||
self._status = f"Error: {str(e)}"
|
||||
time.sleep(1.0) # 错误发生时等待较长时间
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""获取设备状态信息"""
|
||||
return {
|
||||
"status": self._status,
|
||||
"vessel": self._vessel,
|
||||
"purpose": self._purpose,
|
||||
"stir_speed": self._stir_speed,
|
||||
"target_stir_speed": self._target_stir_speed,
|
||||
"stir_state": self._stir_state,
|
||||
"stir_time": self._stir_time, # 添加
|
||||
"settling_time": self._settling_time, # 添加
|
||||
"progress": self.progress,
|
||||
"max_stir_speed": self._max_stir_speed
|
||||
}
|
||||
@@ -1,410 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
|
||||
|
||||
class MockVacuum:
|
||||
"""
|
||||
模拟真空泵设备类
|
||||
|
||||
这个类模拟了一个实验室真空泵的行为，包括真空度控制、
|
||||
压力监测、运行状态管理等功能。参考了现有的 VacuumPumpMock 实现。
|
||||
"""
|
||||
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
"""
|
||||
初始化MockVacuum实例
|
||||
|
||||
Args:
|
||||
port (str): 设备端口，默认为"MOCK"表示模拟设备
|
||||
"""
|
||||
self.port = port
|
||||
|
||||
# 设备基本状态属性
|
||||
self._status: str = "Idle" # 设备状态：Idle, Running, Error, Stopped
|
||||
self._power_state: str = "Off" # 电源状态：On, Off
|
||||
self._pump_state: str = "Stopped" # 泵运行状态：Running, Stopped, Paused
|
||||
|
||||
# 真空相关属性
|
||||
self._vacuum_level: float = 1013.25 # 当前真空度 (mbar) - 大气压开始
|
||||
self._target_vacuum: float = 50.0 # 目标真空度 (mbar)
|
||||
self._min_vacuum: float = 1.0 # 最小真空度 (mbar)
|
||||
self._max_vacuum: float = 1013.25 # 最大真空度 (mbar) - 大气压
|
||||
|
||||
# 泵性能相关属性
|
||||
self._pump_speed: float = 0.0 # 泵速 (L/s)
|
||||
self._max_pump_speed: float = 100.0 # 最大泵速 (L/s)
|
||||
self._pump_efficiency: float = 95.0 # 泵效率百分比
|
||||
|
||||
# 运行控制线程
|
||||
self._vacuum_thread = None
|
||||
self._running = False
|
||||
self._thread_lock = threading.Lock()
|
||||
|
||||
# ==================== 状态属性 ====================
|
||||
# 这些属性会被Uni-Lab系统自动识别并定时对外广播
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
"""
|
||||
设备状态 - 会被自动识别的设备属性
|
||||
|
||||
Returns:
|
||||
str: 当前设备状态 (Idle, Running, Error, Stopped)
|
||||
"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def power_state(self) -> str:
|
||||
"""
|
||||
电源状态
|
||||
|
||||
Returns:
|
||||
str: 电源状态 (On, Off)
|
||||
"""
|
||||
return self._power_state
|
||||
|
||||
@property
|
||||
def pump_state(self) -> str:
|
||||
"""
|
||||
泵运行状态
|
||||
|
||||
Returns:
|
||||
str: 泵状态 (Running, Stopped, Paused)
|
||||
"""
|
||||
return self._pump_state
|
||||
|
||||
@property
|
||||
def vacuum_level(self) -> float:
|
||||
"""
|
||||
当前真空度
|
||||
|
||||
Returns:
|
||||
float: 当前真空度 (mbar)
|
||||
"""
|
||||
return self._vacuum_level
|
||||
|
||||
@property
|
||||
def target_vacuum(self) -> float:
|
||||
"""
|
||||
目标真空度
|
||||
|
||||
Returns:
|
||||
float: 目标真空度 (mbar)
|
||||
"""
|
||||
return self._target_vacuum
|
||||
|
||||
@property
|
||||
def pump_speed(self) -> float:
|
||||
"""
|
||||
泵速
|
||||
|
||||
Returns:
|
||||
float: 泵速 (L/s)
|
||||
"""
|
||||
return self._pump_speed
|
||||
|
||||
@property
|
||||
def pump_efficiency(self) -> float:
|
||||
"""
|
||||
泵效率
|
||||
|
||||
Returns:
|
||||
float: 泵效率百分比
|
||||
"""
|
||||
return self._pump_efficiency
|
||||
|
||||
@property
|
||||
def max_pump_speed(self) -> float:
|
||||
"""
|
||||
最大泵速
|
||||
|
||||
Returns:
|
||||
float: 最大泵速 (L/s)
|
||||
"""
|
||||
return self._max_pump_speed
|
||||
|
||||
# ==================== 设备控制方法 ====================
|
||||
# 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
|
||||
|
||||
def power_control(self, power_state: str = "On") -> str:
|
||||
"""
|
||||
电源控制方法
|
||||
|
||||
Args:
|
||||
power_state (str): 电源状态，可选值："On", "Off"
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
if power_state not in ["On", "Off"]:
|
||||
self._status = "Error: Invalid power state"
|
||||
return "Error"
|
||||
|
||||
self._power_state = power_state
|
||||
|
||||
if power_state == "On":
|
||||
self._status = "Power On"
|
||||
self._start_vacuum_operation()
|
||||
else:
|
||||
self._status = "Power Off"
|
||||
self.stop_vacuum()
|
||||
|
||||
return "Success"
|
||||
|
||||
def set_vacuum_level(self, vacuum_level: float) -> str:
|
||||
"""
|
||||
设置目标真空度
|
||||
|
||||
Args:
|
||||
vacuum_level (float): 目标真空度 (mbar)
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
try:
|
||||
vacuum_level = float(vacuum_level)
|
||||
except ValueError:
|
||||
self._status = "Error: Invalid vacuum level"
|
||||
return "Error"
|
||||
if self._power_state != "On":
|
||||
self._status = "Error: Power Off"
|
||||
return "Error"
|
||||
|
||||
if vacuum_level < self._min_vacuum or vacuum_level > self._max_vacuum:
|
||||
self._status = f"Error: Vacuum level out of range ({self._min_vacuum}-{self._max_vacuum})"
|
||||
return "Error"
|
||||
|
||||
self._target_vacuum = vacuum_level
|
||||
self._status = "Setting Vacuum Level"
|
||||
|
||||
return "Success"
|
||||
|
||||
def start_vacuum(self) -> str:
|
||||
"""
|
||||
启动真空泵
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
if self._power_state != "On":
|
||||
self._status = "Error: Power Off"
|
||||
return "Error"
|
||||
|
||||
self._pump_state = "Running"
|
||||
self._status = "Starting Vacuum Pump"
|
||||
self._start_vacuum_operation()
|
||||
|
||||
return "Success"
|
||||
|
||||
def stop_vacuum(self) -> str:
|
||||
"""
|
||||
停止真空泵
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
self._pump_state = "Stopped"
|
||||
self._status = "Stopping Vacuum Pump"
|
||||
self._stop_vacuum_operation()
|
||||
self._pump_speed = 0.0
|
||||
|
||||
return "Success"
|
||||
|
||||
def pause_vacuum(self) -> str:
|
||||
"""
|
||||
暂停真空泵
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
if self._pump_state != "Running":
|
||||
self._status = "Error: Pump not running"
|
||||
return "Error"
|
||||
|
||||
self._pump_state = "Paused"
|
||||
self._status = "Vacuum Pump Paused"
|
||||
self._stop_vacuum_operation()
|
||||
|
||||
return "Success"
|
||||
|
||||
def resume_vacuum(self) -> str:
|
||||
"""
|
||||
恢复真空泵运行
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
if self._pump_state != "Paused":
|
||||
self._status = "Error: Pump not paused"
|
||||
return "Error"
|
||||
|
||||
if self._power_state != "On":
|
||||
self._status = "Error: Power Off"
|
||||
return "Error"
|
||||
|
||||
self._pump_state = "Running"
|
||||
self._status = "Resuming Vacuum Pump"
|
||||
self._start_vacuum_operation()
|
||||
|
||||
return "Success"
|
||||
|
||||
def vent_to_atmosphere(self) -> str:
|
||||
"""
|
||||
通大气 - 将真空度恢复到大气压
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
self._target_vacuum = self._max_vacuum # 设置为大气压
|
||||
self._status = "Venting to Atmosphere"
|
||||
return "Success"
|
||||
|
||||
def emergency_stop(self) -> str:
|
||||
"""
|
||||
紧急停止
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
self._status = "Emergency Stop"
|
||||
self._pump_state = "Stopped"
|
||||
self._stop_vacuum_operation()
|
||||
self._pump_speed = 0.0
|
||||
|
||||
return "Success"
|
||||
|
||||
# ==================== 内部控制方法 ====================
|
||||
|
||||
def _start_vacuum_operation(self):
|
||||
"""
|
||||
启动真空操作线程
|
||||
|
||||
这个方法启动一个后台线程来模拟真空泵的实际运行过程。
|
||||
"""
|
||||
with self._thread_lock:
|
||||
if not self._running and self._power_state == "On":
|
||||
self._running = True
|
||||
self._vacuum_thread = threading.Thread(target=self._vacuum_operation_loop)
|
||||
self._vacuum_thread.daemon = True
|
||||
self._vacuum_thread.start()
|
||||
|
||||
def _stop_vacuum_operation(self):
|
||||
"""
|
||||
停止真空操作线程
|
||||
|
||||
安全地停止后台运行线程并等待其完成。
|
||||
"""
|
||||
with self._thread_lock:
|
||||
self._running = False
|
||||
if self._vacuum_thread and self._vacuum_thread.is_alive():
|
||||
self._vacuum_thread.join(timeout=2.0)
|
||||
|
||||
def _vacuum_operation_loop(self):
|
||||
"""
|
||||
真空操作主循环
|
||||
|
||||
这个方法在后台线程中运行，模拟真空泵的工作过程：
|
||||
1. 检查电源状态和运行状态
|
||||
2. 如果泵状态为 "Running"，根据目标真空调整泵速和真空度
|
||||
3. 否则等待
|
||||
"""
|
||||
while self._running and self._power_state == "On":
|
||||
try:
|
||||
with self._thread_lock:
|
||||
# 只有泵状态为 Running 时才进行更新
|
||||
if self._pump_state == "Running":
|
||||
vacuum_diff = self._vacuum_level - self._target_vacuum
|
||||
|
||||
if abs(vacuum_diff) < 1.0: # 真空度接近目标值
|
||||
self._status = "At Target Vacuum"
|
||||
self._pump_speed = self._max_pump_speed * 0.2 # 维持真空的最小泵速
|
||||
elif vacuum_diff > 0: # 需要抽真空（降低压力）
|
||||
self._status = "Pumping Down"
|
||||
if vacuum_diff > 500:
|
||||
self._pump_speed = self._max_pump_speed
|
||||
elif vacuum_diff > 100:
|
||||
self._pump_speed = self._max_pump_speed * 0.8
|
||||
elif vacuum_diff > 50:
|
||||
self._pump_speed = self._max_pump_speed * 0.6
|
||||
else:
|
||||
self._pump_speed = self._max_pump_speed * 0.4
|
||||
|
||||
# 根据泵速和效率计算真空降幅
|
||||
pump_rate = (self._pump_speed / self._max_pump_speed) * self._pump_efficiency / 100.0
|
||||
vacuum_reduction = pump_rate * 10.0 # 每秒最大降低10 mbar
|
||||
self._vacuum_level = max(self._target_vacuum, self._vacuum_level - vacuum_reduction)
|
||||
else: # 目标真空度高于当前值，需要通气
|
||||
self._status = "Venting"
|
||||
self._pump_speed = 0.0
|
||||
self._vacuum_level = min(self._target_vacuum, self._vacuum_level + 5.0)
|
||||
|
||||
# 限制真空度范围
|
||||
self._vacuum_level = max(self._min_vacuum, min(self._max_vacuum, self._vacuum_level))
|
||||
else:
|
||||
# 当泵状态不是 Running 时，可保持原状态
|
||||
self._status = "Vacuum Pump Not Running"
|
||||
# 释放锁后等待1秒钟
|
||||
time.sleep(1.0)
|
||||
except Exception as e:
|
||||
with self._thread_lock:
|
||||
self._status = f"Error in vacuum operation: {str(e)}"
|
||||
break
|
||||
|
||||
# 循环结束后的清理工作
|
||||
if self._pump_state == "Running":
|
||||
self._status = "Idle"
|
||||
# 停止泵后，真空度逐渐回升到大气压
|
||||
while self._vacuum_level < self._max_vacuum * 0.9:
|
||||
with self._thread_lock:
|
||||
self._vacuum_level += 2.0
|
||||
time.sleep(0.1)
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""
|
||||
获取完整的设备状态信息
|
||||
|
||||
Returns:
|
||||
dict: 包含所有设备状态的字典
|
||||
"""
|
||||
return {
|
||||
"status": self._status,
|
||||
"power_state": self._power_state,
|
||||
"pump_state": self._pump_state,
|
||||
"vacuum_level": self._vacuum_level,
|
||||
"target_vacuum": self._target_vacuum,
|
||||
"pump_speed": self._pump_speed,
|
||||
"pump_efficiency": self._pump_efficiency,
|
||||
"max_pump_speed": self._max_pump_speed,
|
||||
}
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
vacuum = MockVacuum()
|
||||
|
||||
# 测试基本功能
|
||||
print("启动真空泵测试...")
|
||||
vacuum.power_control("On")
|
||||
print(f"初始状态: {vacuum.get_status_info()}")
|
||||
|
||||
# 设置目标真空度并启动
|
||||
vacuum.set_vacuum_level(10.0) # 设置为10mbar
|
||||
vacuum.start_vacuum()
|
||||
|
||||
# 模拟运行15秒
|
||||
for i in range(15):
|
||||
time.sleep(1)
|
||||
print(
|
||||
f"第{i+1}秒: 真空度={vacuum.vacuum_level:.1f}mbar, 泵速={vacuum.pump_speed:.1f}L/s, 状态={vacuum.status}"
|
||||
)
|
||||
# 测试通大气
|
||||
print("测试通大气...")
|
||||
vacuum.vent_to_atmosphere()
|
||||
|
||||
# 继续运行5秒观察通大气过程
|
||||
for i in range(5):
|
||||
time.sleep(1)
|
||||
print(f"通大气第{i+1}秒: 真空度={vacuum.vacuum_level:.1f}mbar, 状态={vacuum.status}")
|
||||
|
||||
vacuum.emergency_stop()
|
||||
print("测试完成")
|
||||
@@ -3,6 +3,7 @@ from threading import Lock, Event
|
||||
from enum import Enum
|
||||
from dataclasses import dataclass
|
||||
import time
|
||||
import traceback
|
||||
from typing import Any, Union, Optional, overload
|
||||
|
||||
import serial.tools.list_ports
|
||||
@@ -386,3 +387,8 @@ class RunzeSyringePump:
|
||||
def list():
|
||||
for item in serial.tools.list_ports.comports():
|
||||
yield RunzeSyringePumpInfo(port=item.device)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
r = RunzeSyringePump("/dev/tty.usbserial-D30JUGG5", "1", 25.0)
|
||||
r.initialize()
|
||||
282
unilabos/devices/separator/chinwe.py
Normal file
282
unilabos/devices/separator/chinwe.py
Normal file
@@ -0,0 +1,282 @@
|
||||
import sys
|
||||
import threading
|
||||
import serial
|
||||
import serial.tools.list_ports
|
||||
import re
|
||||
import time
|
||||
from typing import Optional, List, Dict, Tuple
|
||||
|
||||
class ChinweDevice:
|
||||
"""
|
||||
ChinWe设备控制类
|
||||
提供串口通信、电机控制、传感器数据读取等功能
|
||||
"""
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 115200, debug: bool = False):
|
||||
"""
|
||||
初始化ChinWe设备
|
||||
|
||||
Args:
|
||||
port: 串口名称，如果为None则自动检测
|
||||
baudrate: 波特率，默认115200
|
||||
"""
|
||||
self.debug = debug
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.serial_port: Optional[serial.Serial] = None
|
||||
self._voltage: float = 0.0
|
||||
self._ec_value: float = 0.0
|
||||
self._ec_adc_value: int = 0
|
||||
self._is_connected = False
|
||||
self.connect()
|
||||
|
||||
@property
|
||||
def is_connected(self) -> bool:
|
||||
"""获取连接状态"""
|
||||
return self._is_connected and self.serial_port and self.serial_port.is_open
|
||||
|
||||
@property
|
||||
def voltage(self) -> float:
|
||||
"""获取电源电压值"""
|
||||
return self._voltage
|
||||
|
||||
@property
|
||||
def ec_value(self) -> float:
|
||||
"""获取电导率值 (ms/cm)"""
|
||||
return self._ec_value
|
||||
|
||||
@property
|
||||
def ec_adc_value(self) -> int:
|
||||
"""获取EC ADC原始值"""
|
||||
return self._ec_adc_value
|
||||
|
||||
|
||||
@property
|
||||
def device_status(self) -> Dict[str, any]:
|
||||
"""
|
||||
获取设备状态信息
|
||||
|
||||
Returns:
|
||||
包含设备状态的字典
|
||||
"""
|
||||
return {
|
||||
"connected": self.is_connected,
|
||||
"port": self.port,
|
||||
"baudrate": self.baudrate,
|
||||
"voltage": self.voltage,
|
||||
"ec_value": self.ec_value,
|
||||
"ec_adc_value": self.ec_adc_value
|
||||
}
|
||||
|
||||
def connect(self, port: Optional[str] = None, baudrate: Optional[int] = None) -> bool:
|
||||
"""
|
||||
连接到串口设备
|
||||
|
||||
Args:
|
||||
port: 串口名称，如果为None则使用初始化时的port或自动检测
|
||||
baudrate: 波特率，如果为None则使用初始化时的baudrate
|
||||
|
||||
Returns:
|
||||
连接是否成功
|
||||
"""
|
||||
if self.is_connected:
|
||||
return True
|
||||
|
||||
target_port = port or self.port
|
||||
target_baudrate = baudrate or self.baudrate
|
||||
|
||||
try:
|
||||
self.serial_port = serial.Serial(target_port, target_baudrate, timeout=0.5)
|
||||
self._is_connected = True
|
||||
self.port = target_port
|
||||
self.baudrate = target_baudrate
|
||||
connect_allow_times = 5
|
||||
while not self.serial_port.is_open and connect_allow_times > 0:
|
||||
time.sleep(0.5)
|
||||
connect_allow_times -= 1
|
||||
print(f"尝试连接到 {target_port} @ {target_baudrate}，剩余尝试次数: {connect_allow_times}", self.debug)
|
||||
raise ValueError("串口未打开，请检查设备连接")
|
||||
print(f"已连接到 {target_port} @ {target_baudrate}", self.debug)
|
||||
threading.Thread(target=self._read_data, daemon=True).start()
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"ChinweDevice连接失败: {e}")
|
||||
self._is_connected = False
|
||||
return False
|
||||
|
||||
def disconnect(self) -> bool:
|
||||
"""
|
||||
断开串口连接
|
||||
|
||||
Returns:
|
||||
断开是否成功
|
||||
"""
|
||||
if self.serial_port and self.serial_port.is_open:
|
||||
try:
|
||||
self.serial_port.close()
|
||||
self._is_connected = False
|
||||
print("已断开串口连接")
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"断开连接失败: {e}")
|
||||
return False
|
||||
return True
|
||||
|
||||
def _send_motor_command(self, command: str) -> bool:
|
||||
"""
|
||||
发送电机控制命令
|
||||
|
||||
Args:
|
||||
command: 电机命令字符串，例如 "M 1 CW 1.5"
|
||||
|
||||
Returns:
|
||||
发送是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
print("设备未连接")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.serial_port.write((command + "\n").encode('utf-8'))
|
||||
print(f"发送命令: {command}")
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"发送命令失败: {e}")
|
||||
return False
|
||||
|
||||
def rotate_motor(self, motor_id: int, turns: float, clockwise: bool = True) -> bool:
|
||||
"""
|
||||
使电机转动指定圈数
|
||||
|
||||
Args:
|
||||
motor_id: 电机ID（1, 2, 3...）
|
||||
turns: 转动圈数，支持小数
|
||||
clockwise: True为顺时针，False为逆时针
|
||||
|
||||
Returns:
|
||||
命令发送是否成功
|
||||
"""
|
||||
if clockwise:
|
||||
command = f"M {motor_id} CW {turns}"
|
||||
else:
|
||||
command = f"M {motor_id} CCW {turns}"
|
||||
return self._send_motor_command(command)
|
||||
|
||||
def set_motor_speed(self, motor_id: int, speed: float) -> bool:
|
||||
"""
|
||||
设置电机转速（如果设备支持）
|
||||
|
||||
Args:
|
||||
motor_id: 电机ID（1, 2, 3...）
|
||||
speed: 转速值
|
||||
|
||||
Returns:
|
||||
命令发送是否成功
|
||||
"""
|
||||
command = f"M {motor_id} SPEED {speed}"
|
||||
return self._send_motor_command(command)
|
||||
|
||||
def _read_data(self) -> List[str]:
|
||||
"""
|
||||
读取串口数据并解析
|
||||
|
||||
Returns:
|
||||
读取到的数据行列表
|
||||
"""
|
||||
print("开始读取串口数据...")
|
||||
if not self.is_connected:
|
||||
return []
|
||||
|
||||
data_lines = []
|
||||
try:
|
||||
while self.serial_port.in_waiting:
|
||||
time.sleep(0.1) # 等待数据稳定
|
||||
try:
|
||||
line = self.serial_port.readline().decode('utf-8', errors='ignore').strip()
|
||||
if line:
|
||||
data_lines.append(line)
|
||||
self._parse_sensor_data(line)
|
||||
except Exception as ex:
|
||||
print(f"解码数据错误: {ex}")
|
||||
except Exception as e:
|
||||
print(f"读取串口数据错误: {e}")
|
||||
|
||||
return data_lines
|
||||
|
||||
def _parse_sensor_data(self, line: str) -> None:
|
||||
"""
|
||||
解析传感器数据
|
||||
|
||||
Args:
|
||||
line: 接收到的数据行
|
||||
"""
|
||||
# 解析电源电压
|
||||
if "电源电压" in line:
|
||||
try:
|
||||
val = float(line.split("：")[1].replace("V", "").strip())
|
||||
self._voltage = val
|
||||
if self.debug:
|
||||
print(f"电源电压更新: {val}V")
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
# 解析电导率和ADC原始值（支持两种格式）
|
||||
if "电导率" in line and "ADC原始值" in line:
|
||||
try:
|
||||
# 支持格式如：电导率：2.50ms/cm, ADC原始值：2052
|
||||
ec_match = re.search(r"电导率[:：]\s*([\d\.]+)", line)
|
||||
adc_match = re.search(r"ADC原始值[:：]\s*(\d+)", line)
|
||||
if ec_match:
|
||||
ec_val = float(ec_match.group(1))
|
||||
self._ec_value = ec_val
|
||||
if self.debug:
|
||||
print(f"电导率更新: {ec_val:.2f} ms/cm")
|
||||
if adc_match:
|
||||
adc_val = int(adc_match.group(1))
|
||||
self._ec_adc_value = adc_val
|
||||
if self.debug:
|
||||
print(f"EC ADC原始值更新: {adc_val}")
|
||||
except Exception:
|
||||
pass
|
||||
# 仅电导率，无ADC原始值
|
||||
elif "电导率" in line:
|
||||
try:
|
||||
val = float(line.split("：")[1].replace("ms/cm", "").strip())
|
||||
self._ec_value = val
|
||||
if self.debug:
|
||||
print(f"电导率更新: {val:.2f} ms/cm")
|
||||
except Exception:
|
||||
pass
|
||||
# 仅ADC原始值（如有分开回传场景）
|
||||
elif "ADC原始值" in line:
|
||||
try:
|
||||
adc_val = int(line.split("：")[1].strip())
|
||||
self._ec_adc_value = adc_val
|
||||
if self.debug:
|
||||
print(f"EC ADC原始值更新: {adc_val}")
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
def spin_when_ec_ge_0():
|
||||
pass
|
||||
|
||||
|
||||
def main():
|
||||
"""测试函数"""
|
||||
print("=== ChinWe设备测试 ===")
|
||||
|
||||
# 创建设备实例
|
||||
device = ChinweDevice("/dev/tty.usbserial-A5069RR4", debug=True)
|
||||
try:
|
||||
# 测试5: 发送电机命令
|
||||
print("\n5. 发送电机命令测试:")
|
||||
print(" 5.3 使用通用函数控制电机20顺时针转2圈:")
|
||||
device.rotate_motor(2, 20.0, clockwise=True)
|
||||
time.sleep(0.5)
|
||||
finally:
|
||||
time.sleep(10)
|
||||
# 测试7: 断开连接
|
||||
print("\n7. 断开连接:")
|
||||
device.disconnect()
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -3,6 +3,8 @@ import logging
|
||||
import time as time_module
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
from unilabos.compile.utils.vessel_parser import get_vessel
|
||||
|
||||
|
||||
class VirtualFilter:
|
||||
"""Virtual filter device - 完全按照 Filter.action 规范 🌊"""
|
||||
@@ -40,7 +42,6 @@ class VirtualFilter:
|
||||
"progress": 0.0, # Filter.action feedback
|
||||
"current_temp": 25.0, # Filter.action feedback
|
||||
"filtered_volume": 0.0, # Filter.action feedback
|
||||
"current_status": "Ready for filtration", # Filter.action feedback
|
||||
"message": "Ready for filtration"
|
||||
})
|
||||
|
||||
@@ -52,9 +53,7 @@ class VirtualFilter:
|
||||
self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
|
||||
|
||||
self.data.update({
|
||||
"status": "Offline",
|
||||
"current_status": "System offline",
|
||||
"message": "System offline"
|
||||
"status": "Offline"
|
||||
})
|
||||
|
||||
self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
|
||||
@@ -62,8 +61,8 @@ class VirtualFilter:
|
||||
|
||||
async def filter(
|
||||
self,
|
||||
vessel: str,
|
||||
filtrate_vessel: str = "",
|
||||
vessel: dict,
|
||||
filtrate_vessel: dict = {},
|
||||
stir: bool = False,
|
||||
stir_speed: float = 300.0,
|
||||
temp: float = 25.0,
|
||||
@@ -71,6 +70,8 @@ class VirtualFilter:
|
||||
volume: float = 0.0
|
||||
) -> bool:
|
||||
"""Execute filter action - 完全按照 Filter.action 参数 🌊"""
|
||||
vessel_id, _ = get_vessel(vessel)
|
||||
filtrate_vessel_id, _ = get_vessel(filtrate_vessel) if filtrate_vessel else (f"{vessel_id}_filtrate", {})
|
||||
|
||||
# 🔧 新增：温度自动调整
|
||||
original_temp = temp
|
||||
@@ -81,7 +82,7 @@ class VirtualFilter:
|
||||
temp = 4.0 # 小于4度自动设置为4度
|
||||
self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️")
|
||||
|
||||
self.logger.info(f"🌊 开始过滤操作: {vessel} → {filtrate_vessel} 🚰")
|
||||
self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰")
|
||||
self.logger.info(f" 🌪️ 搅拌: {stir} ({stir_speed} RPM)")
|
||||
self.logger.info(f" 🌡️ 温度: {temp}°C")
|
||||
self.logger.info(f" 💧 体积: {volume}mL")
|
||||
@@ -93,7 +94,6 @@ class VirtualFilter:
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update({
|
||||
"status": f"Error: 温度超出范围 ⚠️",
|
||||
"current_status": f"Error: 温度超出范围 ⚠️",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
@@ -103,7 +103,6 @@ class VirtualFilter:
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update({
|
||||
"status": f"Error: 搅拌速度超出范围 ⚠️",
|
||||
"current_status": f"Error: 搅拌速度超出范围 ⚠️",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
@@ -112,8 +111,7 @@ class VirtualFilter:
|
||||
error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update({
|
||||
"status": f"Error: 体积超出范围 ⚠️",
|
||||
"current_status": f"Error: 体积超出范围 ⚠️",
|
||||
"status": f"Error",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
@@ -123,12 +121,11 @@ class VirtualFilter:
|
||||
self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
|
||||
|
||||
self.data.update({
|
||||
"status": f"🌊 过滤中: {vessel}",
|
||||
"status": f"Running",
|
||||
"current_temp": temp,
|
||||
"filtered_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"current_status": f"🌊 Filtering {vessel} → {filtrate_vessel}",
|
||||
"message": f"🚀 Starting filtration: {vessel} → {filtrate_vessel}"
|
||||
"message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}"
|
||||
})
|
||||
|
||||
try:
|
||||
@@ -164,8 +161,7 @@ class VirtualFilter:
|
||||
"progress": progress, # Filter.action feedback
|
||||
"current_temp": temp, # Filter.action feedback
|
||||
"filtered_volume": current_filtered, # Filter.action feedback
|
||||
"current_status": f"🌊 Filtering: {progress:.1f}% complete", # Filter.action feedback
|
||||
"status": status_msg,
|
||||
"status": "Running",
|
||||
"message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered"
|
||||
})
|
||||
|
||||
@@ -190,11 +186,10 @@ class VirtualFilter:
|
||||
"progress": 100.0, # Filter.action feedback
|
||||
"current_temp": final_temp, # Filter.action feedback
|
||||
"filtered_volume": filter_volume, # Filter.action feedback
|
||||
"current_status": f"✅ Filtration completed: {filter_volume}mL", # Filter.action feedback
|
||||
"message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel}"
|
||||
"message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}"
|
||||
})
|
||||
|
||||
self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel} 过滤到 {filtrate_vessel} ✨")
|
||||
self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
|
||||
self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
|
||||
return True
|
||||
|
||||
@@ -202,8 +197,7 @@ class VirtualFilter:
|
||||
error_msg = f"过滤过程中发生错误: {str(e)} 💥"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update({
|
||||
"status": f"❌ 过滤错误: {str(e)}",
|
||||
"current_status": f"❌ Filtration failed: {str(e)}",
|
||||
"status": f"Error",
|
||||
"message": f"❌ Filtration failed: {str(e)}"
|
||||
})
|
||||
return False
|
||||
@@ -223,16 +217,16 @@ class VirtualFilter:
|
||||
"""Filter.action feedback 字段 🌡️"""
|
||||
return self.data.get("current_temp", 25.0)
|
||||
|
||||
@property
|
||||
def filtered_volume(self) -> float:
|
||||
"""Filter.action feedback 字段 💧"""
|
||||
return self.data.get("filtered_volume", 0.0)
|
||||
|
||||
@property
|
||||
def current_status(self) -> str:
|
||||
"""Filter.action feedback 字段 📋"""
|
||||
return self.data.get("current_status", "")
|
||||
|
||||
@property
|
||||
def filtered_volume(self) -> float:
|
||||
"""Filter.action feedback 字段 💧"""
|
||||
return self.data.get("filtered_volume", 0.0)
|
||||
|
||||
@property
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -21,19 +21,6 @@ class VirtualMultiwayValve:
|
||||
self._current_position = 0 # 默认在0号位（transfer pump位置）
|
||||
self._target_position = 0
|
||||
|
||||
# 位置映射说明
|
||||
self.position_map = {
|
||||
0: "transfer_pump", # 0号位连接转移泵
|
||||
1: "port_1", # 1号位
|
||||
2: "port_2", # 2号位
|
||||
3: "port_3", # 3号位
|
||||
4: "port_4", # 4号位
|
||||
5: "port_5", # 5号位
|
||||
6: "port_6", # 6号位
|
||||
7: "port_7", # 7号位
|
||||
8: "port_8" # 8号位
|
||||
}
|
||||
|
||||
print(f"🔄 === 虚拟多通阀门已创建 === ✨")
|
||||
print(f"🎯 端口: {port} | 📊 位置范围: 0-{self.max_positions} | 🏠 初始位置: 0 (transfer_pump)")
|
||||
self.logger.info(f"🔧 多通阀门初始化: 端口={port}, 最大位置={self.max_positions}")
|
||||
@@ -60,7 +47,7 @@ class VirtualMultiwayValve:
|
||||
|
||||
def get_current_port(self) -> str:
|
||||
"""获取当前连接的端口名称 🔌"""
|
||||
return self.position_map.get(self._current_position, "unknown")
|
||||
return self._current_position
|
||||
|
||||
def set_position(self, command: Union[int, str]):
|
||||
"""
|
||||
@@ -115,7 +102,7 @@ class VirtualMultiwayValve:
|
||||
old_position = self._current_position
|
||||
old_port = self.get_current_port()
|
||||
|
||||
self.logger.info(f"🔄 阀门切换: {old_position}({old_port}) → {pos}({self.position_map.get(pos, 'unknown')}) {pos_emoji}")
|
||||
self.logger.info(f"🔄 阀门切换: {old_position}({old_port}) → {pos} {pos_emoji}")
|
||||
|
||||
self._status = "Busy"
|
||||
self._valve_state = "Moving"
|
||||
@@ -190,6 +177,17 @@ class VirtualMultiwayValve:
|
||||
"""获取阀门位置 - 兼容性方法 📍"""
|
||||
return self._current_position
|
||||
|
||||
def set_valve_position(self, command: Union[int, str]):
|
||||
"""
|
||||
设置阀门位置 - 兼容pump_protocol调用 🎯
|
||||
这是set_position的别名方法，用于兼容pump_protocol.py
|
||||
|
||||
Args:
|
||||
command: 目标位置 (0-8) 或位置字符串
|
||||
"""
|
||||
# 删除debug日志：self.logger.debug(f"🎯 兼容性调用: set_valve_position({command})")
|
||||
return self.set_position(command)
|
||||
|
||||
def is_at_position(self, position: int) -> bool:
|
||||
"""检查是否在指定位置 🎯"""
|
||||
result = self._current_position == position
|
||||
@@ -210,17 +208,6 @@ class VirtualMultiwayValve:
|
||||
# 删除debug日志：self.logger.debug(f"🔌 端口{port_number}检查: {port_status} (当前位置: {self._current_position})")
|
||||
return result
|
||||
|
||||
def get_available_positions(self) -> list:
|
||||
"""获取可用位置列表 📋"""
|
||||
positions = list(range(0, self.max_positions + 1))
|
||||
# 删除debug日志：self.logger.debug(f"📋 可用位置: {positions}")
|
||||
return positions
|
||||
|
||||
def get_available_ports(self) -> Dict[int, str]:
|
||||
"""获取可用端口映射 🗺️"""
|
||||
# 删除debug日志：self.logger.debug(f"🗺️ 端口映射: {self.position_map}")
|
||||
return self.position_map.copy()
|
||||
|
||||
def reset(self):
|
||||
"""重置阀门到transfer pump位置（0号位）🔄"""
|
||||
self.logger.info(f"🔄 重置阀门到泵位置...")
|
||||
@@ -253,41 +240,12 @@ class VirtualMultiwayValve:
|
||||
# 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
|
||||
return flow_path
|
||||
|
||||
def get_info(self) -> dict:
|
||||
"""获取阀门详细信息 📊"""
|
||||
info = {
|
||||
"port": self.port,
|
||||
"max_positions": self.max_positions,
|
||||
"total_positions": self.total_positions,
|
||||
"current_position": self._current_position,
|
||||
"current_port": self.get_current_port(),
|
||||
"target_position": self._target_position,
|
||||
"status": self._status,
|
||||
"valve_state": self._valve_state,
|
||||
"flow_path": self.get_flow_path(),
|
||||
"position_map": self.position_map
|
||||
}
|
||||
|
||||
# 删除debug日志：self.logger.debug(f"📊 阀门信息: 位置={self._current_position}, 状态={self._status}, 端口={self.get_current_port()}")
|
||||
return info
|
||||
|
||||
def __str__(self):
|
||||
current_port = self.get_current_port()
|
||||
status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
|
||||
|
||||
return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
|
||||
|
||||
def set_valve_position(self, command: Union[int, str]):
|
||||
"""
|
||||
设置阀门位置 - 兼容pump_protocol调用 🎯
|
||||
这是set_position的别名方法，用于兼容pump_protocol.py
|
||||
|
||||
Args:
|
||||
command: 目标位置 (0-8) 或位置字符串
|
||||
"""
|
||||
# 删除debug日志：self.logger.debug(f"🎯 兼容性调用: set_valve_position({command})")
|
||||
return self.set_position(command)
|
||||
|
||||
|
||||
# 使用示例
|
||||
if __name__ == "__main__":
|
||||
@@ -309,13 +267,6 @@ if __name__ == "__main__":
|
||||
print(f"\n🔌 切换到2号位: {valve.set_to_port(2)}")
|
||||
print(f"📍 当前状态: {valve}")
|
||||
|
||||
# 显示所有可用位置
|
||||
print(f"\n📋 可用位置: {valve.get_available_positions()}")
|
||||
print(f"🗺️ 端口映射: {valve.get_available_ports()}")
|
||||
|
||||
# 获取详细信息
|
||||
print(f"\n📊 详细信息: {valve.get_info()}")
|
||||
|
||||
# 测试切换功能
|
||||
print(f"\n🔄 智能切换测试:")
|
||||
print(f"当前位置: {valve._current_position}")
|
||||
|
||||
@@ -1,197 +0,0 @@
|
||||
import asyncio
|
||||
import logging
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
class VirtualPump:
|
||||
"""Virtual pump device for transfer and cleaning operations"""
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
if device_id is None and 'id' in kwargs:
|
||||
device_id = kwargs.pop('id')
|
||||
if config is None and 'config' in kwargs:
|
||||
config = kwargs.pop('config')
|
||||
|
||||
# 设置默认值
|
||||
self.device_id = device_id or "unknown_pump"
|
||||
self.config = config or {}
|
||||
|
||||
self.logger = logging.getLogger(f"VirtualPump.{self.device_id}")
|
||||
self.data = {}
|
||||
|
||||
# 从config或kwargs中获取配置参数
|
||||
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
|
||||
self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 50.0)
|
||||
self._transfer_rate = self.config.get('transfer_rate') or kwargs.get('transfer_rate', 10.0)
|
||||
|
||||
print(f"=== VirtualPump {self.device_id} created with max_volume={self._max_volume}, transfer_rate={self._transfer_rate} ===")
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual pump"""
|
||||
self.logger.info(f"Initializing virtual pump {self.device_id}")
|
||||
self.data.update({
|
||||
"status": "Idle",
|
||||
"valve_position": 0,
|
||||
"current_volume": 0.0,
|
||||
"max_volume": self._max_volume,
|
||||
"transfer_rate": self._transfer_rate,
|
||||
"from_vessel": "",
|
||||
"to_vessel": "",
|
||||
"progress": 0.0,
|
||||
"transferred_volume": 0.0,
|
||||
"current_status": "Ready"
|
||||
})
|
||||
return True
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""Cleanup virtual pump"""
|
||||
self.logger.info(f"Cleaning up virtual pump {self.device_id}")
|
||||
return True
|
||||
|
||||
async def transfer(self, from_vessel: str, to_vessel: str, volume: float,
|
||||
amount: str = "", time: float = 0.0, viscous: bool = False,
|
||||
rinsing_solvent: str = "", rinsing_volume: float = 0.0,
|
||||
rinsing_repeats: int = 0, solid: bool = False) -> bool:
|
||||
"""Execute transfer operation"""
|
||||
self.logger.info(f"Transferring {volume}mL from {from_vessel} to {to_vessel}")
|
||||
|
||||
# 计算转移时间
|
||||
transfer_time = volume / self._transfer_rate if time == 0 else time
|
||||
|
||||
self.data.update({
|
||||
"status": "Running",
|
||||
"from_vessel": from_vessel,
|
||||
"to_vessel": to_vessel,
|
||||
"current_status": "Transferring",
|
||||
"progress": 0.0,
|
||||
"transferred_volume": 0.0
|
||||
})
|
||||
|
||||
# 模拟转移过程
|
||||
steps = 10
|
||||
step_time = transfer_time / steps
|
||||
step_volume = volume / steps
|
||||
|
||||
for i in range(steps):
|
||||
await asyncio.sleep(step_time)
|
||||
progress = (i + 1) / steps * 100
|
||||
current_volume = step_volume * (i + 1)
|
||||
|
||||
self.data.update({
|
||||
"progress": progress,
|
||||
"transferred_volume": current_volume,
|
||||
"current_status": f"Transferring: {progress:.1f}%"
|
||||
})
|
||||
|
||||
self.logger.info(f"Transfer progress: {progress:.1f}%")
|
||||
|
||||
self.data.update({
|
||||
"status": "Idle",
|
||||
"current_status": "Transfer completed",
|
||||
"progress": 100.0,
|
||||
"transferred_volume": volume
|
||||
})
|
||||
|
||||
return True
|
||||
|
||||
async def clean_vessel(self, vessel: str, solvent: str, volume: float,
|
||||
temp: float, repeats: int = 1) -> bool:
|
||||
"""Execute vessel cleaning operation - matches CleanVessel action"""
|
||||
self.logger.info(f"Starting vessel cleaning: {vessel} with {solvent} ({volume}mL at {temp}°C, {repeats} repeats)")
|
||||
|
||||
# 更新设备状态
|
||||
self.data.update({
|
||||
"status": "Running",
|
||||
"from_vessel": f"flask_{solvent}",
|
||||
"to_vessel": vessel,
|
||||
"current_status": "Cleaning in progress",
|
||||
"progress": 0.0,
|
||||
"transferred_volume": 0.0
|
||||
})
|
||||
|
||||
# 计算清洗时间（基于体积和重复次数）
|
||||
# 假设清洗速度为 transfer_rate 的一半（因为需要加载和排放）
|
||||
cleaning_rate = self._transfer_rate / 2
|
||||
cleaning_time_per_cycle = volume / cleaning_rate
|
||||
total_cleaning_time = cleaning_time_per_cycle * repeats
|
||||
|
||||
# 模拟清洗过程
|
||||
steps_per_repeat = 10 # 每次重复清洗分10个步骤
|
||||
total_steps = steps_per_repeat * repeats
|
||||
step_time = total_cleaning_time / total_steps
|
||||
|
||||
for repeat in range(repeats):
|
||||
self.logger.info(f"Starting cleaning cycle {repeat + 1}/{repeats}")
|
||||
|
||||
for step in range(steps_per_repeat):
|
||||
await asyncio.sleep(step_time)
|
||||
|
||||
# 计算当前进度
|
||||
current_step = repeat * steps_per_repeat + step + 1
|
||||
progress = (current_step / total_steps) * 100
|
||||
|
||||
# 计算已处理的体积
|
||||
volume_processed = (current_step / total_steps) * volume * repeats
|
||||
|
||||
# 更新状态
|
||||
self.data.update({
|
||||
"progress": progress,
|
||||
"transferred_volume": volume_processed,
|
||||
"current_status": f"Cleaning cycle {repeat + 1}/{repeats} - Step {step + 1}/{steps_per_repeat} ({progress:.1f}%)"
|
||||
})
|
||||
|
||||
self.logger.info(f"Cleaning progress: {progress:.1f}% (Cycle {repeat + 1}/{repeats})")
|
||||
|
||||
# 清洗完成
|
||||
self.data.update({
|
||||
"status": "Idle",
|
||||
"current_status": "Cleaning completed successfully",
|
||||
"progress": 100.0,
|
||||
"transferred_volume": volume * repeats,
|
||||
"from_vessel": "",
|
||||
"to_vessel": ""
|
||||
})
|
||||
|
||||
self.logger.info(f"Vessel cleaning completed: {vessel}")
|
||||
return True
|
||||
|
||||
# 状态属性
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Unknown")
|
||||
|
||||
@property
|
||||
def valve_position(self) -> int:
|
||||
return self.data.get("valve_position", 0)
|
||||
|
||||
@property
|
||||
def current_volume(self) -> float:
|
||||
return self.data.get("current_volume", 0.0)
|
||||
|
||||
@property
|
||||
def max_volume(self) -> float:
|
||||
return self.data.get("max_volume", 0.0)
|
||||
|
||||
@property
|
||||
def transfer_rate(self) -> float:
|
||||
return self.data.get("transfer_rate", 0.0)
|
||||
|
||||
@property
|
||||
def from_vessel(self) -> str:
|
||||
return self.data.get("from_vessel", "")
|
||||
|
||||
@property
|
||||
def to_vessel(self) -> str:
|
||||
return self.data.get("to_vessel", "")
|
||||
|
||||
@property
|
||||
def progress(self) -> float:
|
||||
return self.data.get("progress", 0.0)
|
||||
|
||||
@property
|
||||
def transferred_volume(self) -> float:
|
||||
return self.data.get("transferred_volume", 0.0)
|
||||
|
||||
@property
|
||||
def current_status(self) -> str:
|
||||
return self.data.get("current_status", "Ready")
|
||||
@@ -99,8 +99,8 @@ class VirtualRotavap:
|
||||
self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
|
||||
time = 180.0
|
||||
|
||||
# 确保time是float类型
|
||||
time = float(time)
|
||||
# 确保time是float类型; 并加速
|
||||
time = float(time) / 10.0
|
||||
|
||||
# 🔧 简化处理：如果vessel就是设备自己，直接操作
|
||||
if vessel == self.device_id:
|
||||
|
||||
@@ -48,20 +48,6 @@ class VirtualSolenoidValve:
|
||||
"""获取阀门位置状态"""
|
||||
return "OPEN" if self._is_open else "CLOSED"
|
||||
|
||||
@property
|
||||
def state(self) -> dict:
|
||||
"""获取阀门完整状态"""
|
||||
return {
|
||||
"device_id": self.device_id,
|
||||
"port": self.port,
|
||||
"voltage": self.voltage,
|
||||
"response_time": self.response_time,
|
||||
"is_open": self._is_open,
|
||||
"valve_state": self._valve_state,
|
||||
"status": self._status,
|
||||
"position": self.valve_position
|
||||
}
|
||||
|
||||
async def set_valve_position(self, command: str = None, **kwargs):
|
||||
"""
|
||||
设置阀门位置 - ROS动作接口
|
||||
|
||||
@@ -319,21 +319,6 @@ class VirtualSolidDispenser:
|
||||
def total_operations(self) -> int:
|
||||
return self._total_operations
|
||||
|
||||
def get_device_info(self) -> Dict[str, Any]:
|
||||
"""获取设备状态信息 📊"""
|
||||
info = {
|
||||
"device_id": self.device_id,
|
||||
"status": self._status,
|
||||
"current_reagent": self._current_reagent,
|
||||
"last_dispensed_amount": self._dispensed_amount,
|
||||
"total_operations": self._total_operations,
|
||||
"max_capacity": self.max_capacity,
|
||||
"precision": self.precision
|
||||
}
|
||||
|
||||
self.logger.debug(f"📊 设备信息: 状态={self._status}, 试剂={self._current_reagent}, 加样量={self._dispensed_amount:.6f}g")
|
||||
return info
|
||||
|
||||
def __str__(self):
|
||||
status_emoji = "✅" if self._status == "Ready" else "🔄" if self._status == "Dispensing" else "❌" if self._status == "Error" else "🏠"
|
||||
return f"⚗️ VirtualSolidDispenser({status_emoji} {self.device_id}: {self._status}, 最后加样 {self._dispensed_amount:.3f}g)"
|
||||
@@ -380,8 +365,6 @@ async def test_solid_dispenser():
|
||||
mass="150 g" # 超过100g限制
|
||||
)
|
||||
print(f"📊 测试4结果: {result4}")
|
||||
|
||||
print(f"\n📊 最终设备信息: {dispenser.get_device_info()}")
|
||||
print(f"✅ === 测试完成 === 🎉")
|
||||
|
||||
|
||||
|
||||
@@ -321,7 +321,7 @@ class VirtualStirrer:
|
||||
"min_speed": self._min_speed
|
||||
}
|
||||
|
||||
self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
|
||||
# self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
|
||||
return info
|
||||
|
||||
def __str__(self):
|
||||
|
||||
@@ -380,22 +380,6 @@ class VirtualTransferPump:
|
||||
"""检查是否已满"""
|
||||
return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
|
||||
|
||||
# 调试和状态信息
|
||||
def get_pump_info(self) -> dict:
|
||||
"""获取泵的详细信息"""
|
||||
return {
|
||||
"device_id": self.device_id,
|
||||
"status": self._status,
|
||||
"position": self._position,
|
||||
"current_volume": self._current_volume,
|
||||
"max_volume": self.max_volume,
|
||||
"max_velocity": self._max_velocity,
|
||||
"mode": self.mode.name,
|
||||
"is_empty": self.is_empty(),
|
||||
"is_full": self.is_full(),
|
||||
"remaining_capacity": self.get_remaining_capacity()
|
||||
}
|
||||
|
||||
def __str__(self):
|
||||
return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
|
||||
|
||||
@@ -426,8 +410,6 @@ async def demo():
|
||||
print(f"Empty result: {result}")
|
||||
print(f"After emptying: {pump}")
|
||||
|
||||
print("\nPump info:", pump.get_pump_info())
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
asyncio.run(demo())
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
serial:
|
||||
category:
|
||||
- serial
|
||||
- communication_devices
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-handle_serial_request:
|
||||
@@ -1,4 +1,4 @@
|
||||
camera:
|
||||
camera.USB:
|
||||
category:
|
||||
- camera
|
||||
class:
|
||||
|
||||
404
unilabos/registry/devices/characterization_chromatic.yaml
Normal file
404
unilabos/registry/devices/characterization_chromatic.yaml
Normal file
@@ -0,0 +1,404 @@
|
||||
hplc.agilent:
|
||||
category:
|
||||
- characterization_chromatic
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_status参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-extract_data_from_txt:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file_path: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
file_path:
|
||||
type: string
|
||||
required:
|
||||
- file_path
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: extract_data_from_txt参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start_sequence:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
params: null
|
||||
resource: null
|
||||
wf_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
params:
|
||||
type: string
|
||||
resource:
|
||||
type: object
|
||||
wf_name:
|
||||
type: string
|
||||
required:
|
||||
- wf_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: start_sequence参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-try_close_sub_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_name:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: try_close_sub_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-try_open_sub_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_name:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: try_open_sub_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
execute_command_from_outer:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
|
||||
status_types:
|
||||
could_run: bool
|
||||
data_file: list
|
||||
device_status: str
|
||||
driver_init_ok: bool
|
||||
finish_status: str
|
||||
is_running: bool
|
||||
status_text: str
|
||||
success: bool
|
||||
type: python
|
||||
config_info: []
|
||||
description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
driver_debug:
|
||||
default: false
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
could_run:
|
||||
type: boolean
|
||||
data_file:
|
||||
type: array
|
||||
device_status:
|
||||
type: string
|
||||
driver_init_ok:
|
||||
type: boolean
|
||||
finish_status:
|
||||
type: string
|
||||
is_running:
|
||||
type: boolean
|
||||
status_text:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- status_text
|
||||
- device_status
|
||||
- could_run
|
||||
- driver_init_ok
|
||||
- is_running
|
||||
- success
|
||||
- finish_status
|
||||
- data_file
|
||||
type: object
|
||||
version: 1.0.0
|
||||
hplc.agilent-zhida:
|
||||
category:
|
||||
- characterization_chromatic
|
||||
class:
|
||||
action_value_mappings:
|
||||
abort:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: HPLC设备连接关闭函数。安全地断开与智达HPLC设备的TCP socket连接，释放网络资源。该函数确保连接的正确关闭，避免网络资源泄露。通常在设备使用完毕或系统关闭时调用。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-connect:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: HPLC设备连接建立函数。与智达HPLC设备建立TCP socket通信连接，配置通信超时参数。该函数是设备使用前的必要步骤，建立成功后可进行状态查询、方法获取、任务启动等操作。连接失败时会抛出异常。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: connect参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
get_methods:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
start:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
|
||||
status_types:
|
||||
methods: dict
|
||||
status: dict
|
||||
type: python
|
||||
config_info: []
|
||||
description: 智达高效液相色谱（HPLC）分析设备，用于实验室样品的分离、检测和定量分析。该设备通过TCP socket与HPLC控制系统通信，支持远程控制和状态监控。具备自动进样、梯度洗脱、多检测器数据采集等功能，可执行复杂的色谱分析方法。适用于化学分析、药物检测、环境监测、生物样品分析等需要高精度分离分析的实验室应用场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
host:
|
||||
default: 192.168.1.47
|
||||
type: string
|
||||
port:
|
||||
default: 5792
|
||||
type: string
|
||||
timeout:
|
||||
default: 10.0
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
methods:
|
||||
type: object
|
||||
status:
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
- methods
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -1,225 +1,4 @@
|
||||
hplc.agilent:
|
||||
category:
|
||||
- characterization_optic
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_status参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-extract_data_from_txt:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file_path: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
file_path:
|
||||
type: string
|
||||
required:
|
||||
- file_path
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: extract_data_from_txt参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start_sequence:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
params: null
|
||||
resource: null
|
||||
wf_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
params:
|
||||
type: string
|
||||
resource:
|
||||
type: object
|
||||
wf_name:
|
||||
type: string
|
||||
required:
|
||||
- wf_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: start_sequence参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-try_close_sub_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_name:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: try_close_sub_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-try_open_sub_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_name:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: try_open_sub_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
execute_command_from_outer:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
|
||||
status_types:
|
||||
could_run: bool
|
||||
data_file: list
|
||||
device_status: str
|
||||
driver_init_ok: bool
|
||||
finish_status: str
|
||||
is_running: bool
|
||||
status_text: str
|
||||
success: bool
|
||||
type: python
|
||||
config_info: []
|
||||
description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
driver_debug:
|
||||
default: false
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
could_run:
|
||||
type: boolean
|
||||
data_file:
|
||||
type: array
|
||||
device_status:
|
||||
type: string
|
||||
driver_init_ok:
|
||||
type: boolean
|
||||
finish_status:
|
||||
type: string
|
||||
is_running:
|
||||
type: boolean
|
||||
status_text:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- status_text
|
||||
- device_status
|
||||
- could_run
|
||||
- driver_init_ok
|
||||
- is_running
|
||||
- success
|
||||
- finish_status
|
||||
- data_file
|
||||
type: object
|
||||
version: 1.0.0
|
||||
raman_home_made:
|
||||
raman.home_made:
|
||||
category:
|
||||
- characterization_optic
|
||||
class:
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
gas_source.mock:
|
||||
category:
|
||||
- vacuum_and_purge
|
||||
- gas_handler
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-is_closed:
|
||||
@@ -180,6 +180,7 @@ gas_source.mock:
|
||||
vacuum_pump.mock:
|
||||
category:
|
||||
- vacuum_and_purge
|
||||
- gas_handler
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-is_closed:
|
||||
@@ -978,6 +978,8 @@ liquid_handler:
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
placeholder_keys:
|
||||
tip_spots: unilabos_resources
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -3995,7 +3997,34 @@ liquid_handler:
|
||||
touch_tip: false
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
handles:
|
||||
input:
|
||||
- data_key: liquid
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: sources
|
||||
label: sources
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: targets
|
||||
label: targets
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: tip_rack
|
||||
label: tip_rack
|
||||
output:
|
||||
- data_key: liquid
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: sources_out
|
||||
label: sources
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: targets_out
|
||||
label: targets
|
||||
placeholder_keys:
|
||||
sources: unilabos_resources
|
||||
targets: unilabos_resources
|
||||
@@ -4361,21 +4390,7 @@ liquid_handler:
|
||||
type: python
|
||||
config_info: []
|
||||
description: Liquid handler device controlled by pylabrobot
|
||||
handles:
|
||||
input:
|
||||
- data_key: liquid
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: liquid-input
|
||||
io_type: target
|
||||
label: Liquid Input
|
||||
output:
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: liquid-output
|
||||
io_type: source
|
||||
label: Liquid Output
|
||||
handles: []
|
||||
icon: icon_yiyezhan.webp
|
||||
init_param_schema:
|
||||
config:
|
||||
@@ -6014,36 +6029,6 @@ liquid_handler.prcxi:
|
||||
title: custom_delay参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-discard_tips:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
allow_nonzero_volume: true
|
||||
offsets: null
|
||||
use_channels: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: discard_tips的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
allow_nonzero_volume:
|
||||
default: true
|
||||
type: boolean
|
||||
offsets:
|
||||
type: string
|
||||
use_channels:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: discard_tips参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-iter_tips:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -6144,6 +6129,51 @@ liquid_handler.prcxi:
|
||||
title: touch_tip参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
discard_tips:
|
||||
feedback: {}
|
||||
goal:
|
||||
use_channels: use_channels
|
||||
goal_default:
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: LiquidHandlerDiscardTips_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
use_channels:
|
||||
items:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
type: array
|
||||
required:
|
||||
- use_channels
|
||||
title: LiquidHandlerDiscardTips_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: LiquidHandlerDiscardTips_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: LiquidHandlerDiscardTips
|
||||
type: object
|
||||
type: LiquidHandlerDiscardTips
|
||||
dispense:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -6343,7 +6373,11 @@ liquid_handler.prcxi:
|
||||
type: LiquidHandlerDispense
|
||||
drop_tips:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal:
|
||||
allow_nonzero_volume: allow_nonzero_volume
|
||||
offsets: offsets
|
||||
tip_spots: tip_spots
|
||||
use_channels: use_channels
|
||||
goal_default:
|
||||
allow_nonzero_volume: false
|
||||
offsets:
|
||||
@@ -6373,6 +6407,8 @@ liquid_handler.prcxi:
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
placeholder_keys:
|
||||
tip_spots: unilabos_resources
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,704 +0,0 @@
|
||||
moveit.arm_slider:
|
||||
category:
|
||||
- moveit_config
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_tf_update_actions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: check_tf_update_actions的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_tf_update_actions参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_joint_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
joint_names: null
|
||||
joint_positions: null
|
||||
move_group: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_joint_task的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
joint_names:
|
||||
type: string
|
||||
joint_positions:
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- joint_positions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_joint_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cartesian: false
|
||||
move_group: null
|
||||
offsets:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
position: null
|
||||
quaternion: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
target_link: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_task的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
cartesian:
|
||||
default: false
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
offsets:
|
||||
default:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
type: string
|
||||
position:
|
||||
type: string
|
||||
quaternion:
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
type: string
|
||||
target_link:
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- position
|
||||
- quaternion
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: post_init的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_manager:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
parent_link: null
|
||||
resource: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: resource_manager的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
parent_link:
|
||||
type: string
|
||||
resource:
|
||||
type: string
|
||||
required:
|
||||
- resource
|
||||
- parent_link
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_manager参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_resource_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_resource_action的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_resource_action参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pick_and_place:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_status:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: 机械臂与滑块运动系统，基于MoveIt2运动规划框架的多自由度机械臂控制设备。该系统集成机械臂和线性滑块，通过ROS2和MoveIt2实现精确的轨迹规划和协调运动控制。支持笛卡尔空间和关节空间的运动规划、碰撞检测、逆运动学求解等功能。适用于复杂的pick-and-place操作、精密装配、多工位协作等需要高精度多轴协调运动的实验室自动化应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
device_config:
|
||||
type: string
|
||||
joint_poses:
|
||||
type: string
|
||||
moveit_type:
|
||||
type: string
|
||||
rotation:
|
||||
type: string
|
||||
required:
|
||||
- moveit_type
|
||||
- joint_poses
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
model:
|
||||
mesh: arm_slider
|
||||
type: device
|
||||
version: 1.0.0
|
||||
moveit.toyo_xyz:
|
||||
category:
|
||||
- moveit_config
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_tf_update_actions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: check_tf_update_actions的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_tf_update_actions参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_joint_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
joint_names: null
|
||||
joint_positions: null
|
||||
move_group: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_joint_task的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
joint_names:
|
||||
type: string
|
||||
joint_positions:
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- joint_positions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_joint_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cartesian: false
|
||||
move_group: null
|
||||
offsets:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
position: null
|
||||
quaternion: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
target_link: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_task的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
cartesian:
|
||||
default: false
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
offsets:
|
||||
default:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
type: string
|
||||
position:
|
||||
type: string
|
||||
quaternion:
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
type: string
|
||||
target_link:
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- position
|
||||
- quaternion
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: post_init的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_manager:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
parent_link: null
|
||||
resource: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: resource_manager的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
parent_link:
|
||||
type: string
|
||||
resource:
|
||||
type: string
|
||||
required:
|
||||
- resource
|
||||
- parent_link
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_manager参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_resource_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_resource_action的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_resource_action参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pick_and_place:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_status:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: 东洋XYZ三轴运动平台，基于MoveIt2运动规划框架的精密定位设备。该设备通过ROS2和MoveIt2实现三维空间的精确运动控制，支持复杂轨迹规划、多点定位、速度控制等功能。具备高精度定位、平稳运动、实时轨迹监控等特性。适用于精密加工、样品定位、检测扫描、自动化装配等需要高精度三维运动控制的实验室和工业应用场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
device_config:
|
||||
type: string
|
||||
joint_poses:
|
||||
type: string
|
||||
moveit_type:
|
||||
type: string
|
||||
rotation:
|
||||
type: string
|
||||
required:
|
||||
- moveit_type
|
||||
- joint_poses
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
model:
|
||||
mesh: toyo_xyz
|
||||
type: device
|
||||
version: 1.0.0
|
||||
@@ -366,7 +366,7 @@ solenoid_valve.mock:
|
||||
- valve_position
|
||||
type: object
|
||||
version: 1.0.0
|
||||
syringe_pump_with_valve.runze:
|
||||
syringe_pump_with_valve.runze.SY03B-T06:
|
||||
category:
|
||||
- pump_and_valve
|
||||
class:
|
||||
@@ -764,7 +764,583 @@ syringe_pump_with_valve.runze:
|
||||
type: python
|
||||
config_info: []
|
||||
description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
|
||||
handles: []
|
||||
handles:
|
||||
- data_key: fluid_port_1
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口1
|
||||
handler_key: '1'
|
||||
io_type: source
|
||||
label: '1'
|
||||
side: NORTH
|
||||
- data_key: fluid_port_2
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口2
|
||||
handler_key: '2'
|
||||
io_type: source
|
||||
label: '2'
|
||||
side: EAST
|
||||
- data_key: fluid_port_3
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口3
|
||||
handler_key: '3'
|
||||
io_type: source
|
||||
label: '3'
|
||||
side: SOUTH
|
||||
- data_key: fluid_port_4
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口4
|
||||
handler_key: '4'
|
||||
io_type: source
|
||||
label: '4'
|
||||
side: SOUTH
|
||||
- data_key: fluid_port_5
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口5
|
||||
handler_key: '5'
|
||||
io_type: source
|
||||
label: '5'
|
||||
side: EAST
|
||||
- data_key: fluid_port_6
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口6
|
||||
handler_key: '6'
|
||||
io_type: source
|
||||
label: '6'
|
||||
side: NORTH
|
||||
- data_key: fluid_port_6
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 六通阀门端口6-特殊输入
|
||||
handler_key: '6'
|
||||
io_type: target
|
||||
label: 6-in
|
||||
side: WEST
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
address:
|
||||
default: '1'
|
||||
type: string
|
||||
max_volume:
|
||||
default: 25.0
|
||||
type: number
|
||||
mode:
|
||||
type: string
|
||||
port:
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
max_velocity:
|
||||
type: number
|
||||
mode:
|
||||
type: integer
|
||||
plunger_position:
|
||||
type: string
|
||||
position:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
valve_position:
|
||||
type: string
|
||||
velocity_end:
|
||||
type: string
|
||||
velocity_grade:
|
||||
type: string
|
||||
velocity_init:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- mode
|
||||
- max_velocity
|
||||
- velocity_grade
|
||||
- velocity_init
|
||||
- velocity_end
|
||||
- valve_position
|
||||
- position
|
||||
- plunger_position
|
||||
type: object
|
||||
version: 1.0.0
|
||||
syringe_pump_with_valve.runze.SY03B-T08:
|
||||
category:
|
||||
- pump_and_valve
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: close的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-initialize:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-pull_plunger:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
volume: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: pull_plunger的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
volume:
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pull_plunger参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-push_plunger:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
volume: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: push_plunger的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
volume:
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: push_plunger参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_aux_input_status_1:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: query_aux_input_status_1的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_aux_input_status_1参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_aux_input_status_2:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: query_aux_input_status_2的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_aux_input_status_2参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_backlash_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: query_backlash_position的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_backlash_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_command_buffer_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: query_command_buffer_status的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_command_buffer_status参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_software_version:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: query_software_version的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_software_version参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_command:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
full_command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: send_command的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
full_command:
|
||||
type: string
|
||||
required:
|
||||
- full_command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_command参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_baudrate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
baudrate: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_baudrate的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
baudrate:
|
||||
type: string
|
||||
required:
|
||||
- baudrate
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_baudrate参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_max_velocity:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_max_velocity的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
velocity:
|
||||
type: number
|
||||
required:
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_max_velocity参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
max_velocity: null
|
||||
position: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_position的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
max_velocity:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_valve_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_valve_position的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
position:
|
||||
type: string
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_valve_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_velocity_grade:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_velocity_grade的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
velocity:
|
||||
type: string
|
||||
required:
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_velocity_grade参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop_operation:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: stop_operation的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop_operation参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_error:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_error的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_error参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
hardware_interface:
|
||||
name: hardware_interface
|
||||
read: send_command
|
||||
write: send_command
|
||||
module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
|
||||
status_types:
|
||||
max_velocity: float
|
||||
mode: int
|
||||
plunger_position: String
|
||||
position: float
|
||||
status: str
|
||||
valve_position: str
|
||||
velocity_end: String
|
||||
velocity_grade: String
|
||||
velocity_init: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
|
||||
handles:
|
||||
- data_key: fluid_port_1
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口1
|
||||
handler_key: '1'
|
||||
io_type: source
|
||||
label: '1'
|
||||
side: NORTH
|
||||
- data_key: fluid_port_2
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口2
|
||||
handler_key: '2'
|
||||
io_type: source
|
||||
label: '2'
|
||||
side: EAST
|
||||
- data_key: fluid_port_3
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口3
|
||||
handler_key: '3'
|
||||
io_type: source
|
||||
label: '3'
|
||||
side: EAST
|
||||
- data_key: fluid_port_4
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口4
|
||||
handler_key: '4'
|
||||
io_type: source
|
||||
label: '4'
|
||||
side: SOUTH
|
||||
- data_key: fluid_port_5
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口5
|
||||
handler_key: '5'
|
||||
io_type: source
|
||||
label: '5'
|
||||
side: SOUTH
|
||||
- data_key: fluid_port_6
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口6
|
||||
handler_key: '6'
|
||||
io_type: source
|
||||
label: '6'
|
||||
side: WEST
|
||||
- data_key: fluid_port_7
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口7
|
||||
handler_key: '7'
|
||||
io_type: source
|
||||
label: '7'
|
||||
side: WEST
|
||||
- data_key: fluid_port_8
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口8-特殊输入
|
||||
handler_key: '8'
|
||||
io_type: target
|
||||
label: '8'
|
||||
side: WEST
|
||||
- data_key: fluid_port_8
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口8
|
||||
handler_key: '8'
|
||||
io_type: source
|
||||
label: '8'
|
||||
side: NORTH
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
|
||||
@@ -1,3 +1,355 @@
|
||||
robotic_arm.SCARA_with_slider.virtual:
|
||||
category:
|
||||
- robot_arm
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_tf_update_actions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: check_tf_update_actions的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_tf_update_actions参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_joint_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
joint_names: null
|
||||
joint_positions: null
|
||||
move_group: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_joint_task的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
joint_names:
|
||||
type: string
|
||||
joint_positions:
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- joint_positions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_joint_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cartesian: false
|
||||
move_group: null
|
||||
offsets:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
position: null
|
||||
quaternion: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
target_link: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_task的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
cartesian:
|
||||
default: false
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
offsets:
|
||||
default:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
type: string
|
||||
position:
|
||||
type: string
|
||||
quaternion:
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
type: string
|
||||
target_link:
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- position
|
||||
- quaternion
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: post_init的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_manager:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
parent_link: null
|
||||
resource: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: resource_manager的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
parent_link:
|
||||
type: string
|
||||
resource:
|
||||
type: string
|
||||
required:
|
||||
- resource
|
||||
- parent_link
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_manager参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_resource_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_resource_action的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_resource_action参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pick_and_place:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_status:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: 机械臂与滑块运动系统，基于MoveIt2运动规划框架的多自由度机械臂控制设备。该系统集成机械臂和线性滑块，通过ROS2和MoveIt2实现精确的轨迹规划和协调运动控制。支持笛卡尔空间和关节空间的运动规划、碰撞检测、逆运动学求解等功能。适用于复杂的pick-and-place操作、精密装配、多工位协作等需要高精度多轴协调运动的实验室自动化应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
device_config:
|
||||
type: string
|
||||
joint_poses:
|
||||
type: string
|
||||
moveit_type:
|
||||
type: string
|
||||
rotation:
|
||||
type: string
|
||||
required:
|
||||
- moveit_type
|
||||
- joint_poses
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
model:
|
||||
mesh: arm_slider
|
||||
type: device
|
||||
version: 1.0.0
|
||||
robotic_arm.UR:
|
||||
category:
|
||||
- robot_arm
|
||||
|
||||
@@ -470,6 +470,358 @@ linear_motion.grbl:
|
||||
- spindle_speed
|
||||
type: object
|
||||
version: 1.0.0
|
||||
linear_motion.toyo_xyz.sim:
|
||||
category:
|
||||
- robot_linear_motion
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_tf_update_actions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: check_tf_update_actions的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_tf_update_actions参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_joint_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
joint_names: null
|
||||
joint_positions: null
|
||||
move_group: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_joint_task的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
joint_names:
|
||||
type: string
|
||||
joint_positions:
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- joint_positions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_joint_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cartesian: false
|
||||
move_group: null
|
||||
offsets:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
position: null
|
||||
quaternion: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
target_link: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_task的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
cartesian:
|
||||
default: false
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
offsets:
|
||||
default:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
type: string
|
||||
position:
|
||||
type: string
|
||||
quaternion:
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
type: string
|
||||
target_link:
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- position
|
||||
- quaternion
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: post_init的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_manager:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
parent_link: null
|
||||
resource: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: resource_manager的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
parent_link:
|
||||
type: string
|
||||
resource:
|
||||
type: string
|
||||
required:
|
||||
- resource
|
||||
- parent_link
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_manager参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_resource_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_resource_action的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_resource_action参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pick_and_place:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_status:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: 东洋XYZ三轴运动平台，基于MoveIt2运动规划框架的精密定位设备。该设备通过ROS2和MoveIt2实现三维空间的精确运动控制，支持复杂轨迹规划、多点定位、速度控制等功能。具备高精度定位、平稳运动、实时轨迹监控等特性。适用于精密加工、样品定位、检测扫描、自动化装配等需要高精度三维运动控制的实验室和工业应用场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
device_config:
|
||||
type: string
|
||||
joint_poses:
|
||||
type: string
|
||||
moveit_type:
|
||||
type: string
|
||||
rotation:
|
||||
type: string
|
||||
required:
|
||||
- moveit_type
|
||||
- joint_poses
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
model:
|
||||
mesh: toyo_xyz
|
||||
type: device
|
||||
version: 1.0.0
|
||||
motor.iCL42:
|
||||
category:
|
||||
- robot_linear_motion
|
||||
|
||||
@@ -1,315 +0,0 @@
|
||||
lh_joint_publisher:
|
||||
category:
|
||||
- sim_nodes
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_tf_update_actions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: check_tf_update_actions的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_tf_update_actions参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-find_resource_parent:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
resource_id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: find_resource_parent的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
resource_id:
|
||||
type: string
|
||||
required:
|
||||
- resource_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: find_resource_parent参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-inverse_kinematics:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
parent_id: null
|
||||
x: null
|
||||
x_joint: null
|
||||
y: null
|
||||
y_joint: null
|
||||
z: null
|
||||
z_joint: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: inverse_kinematics的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
parent_id:
|
||||
type: string
|
||||
x:
|
||||
type: string
|
||||
x_joint:
|
||||
type: object
|
||||
y:
|
||||
type: string
|
||||
y_joint:
|
||||
type: object
|
||||
z:
|
||||
type: string
|
||||
z_joint:
|
||||
type: object
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- parent_id
|
||||
- x_joint
|
||||
- y_joint
|
||||
- z_joint
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: inverse_kinematics参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-lh_joint_action_callback:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
goal_handle: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: lh_joint_action_callback的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
goal_handle:
|
||||
type: string
|
||||
required:
|
||||
- goal_handle
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: lh_joint_action_callback参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-lh_joint_pub_callback:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: lh_joint_pub_callback的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: lh_joint_pub_callback参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_joints:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
option: null
|
||||
resource_names: null
|
||||
speed: 0.1
|
||||
x: null
|
||||
x_joint: null
|
||||
y: null
|
||||
y_joint: null
|
||||
z: null
|
||||
z_joint: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: move_joints的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
option:
|
||||
type: string
|
||||
resource_names:
|
||||
type: string
|
||||
speed:
|
||||
default: 0.1
|
||||
type: string
|
||||
x:
|
||||
type: string
|
||||
x_joint:
|
||||
type: string
|
||||
y:
|
||||
type: string
|
||||
y_joint:
|
||||
type: string
|
||||
z:
|
||||
type: string
|
||||
z_joint:
|
||||
type: string
|
||||
required:
|
||||
- resource_names
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- option
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_joints参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
joint_positions: null
|
||||
parent_id: null
|
||||
speed: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: move_to的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
joint_positions:
|
||||
type: string
|
||||
parent_id:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
required:
|
||||
- joint_positions
|
||||
- speed
|
||||
- parent_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_move:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
channels: null
|
||||
link_name: null
|
||||
resource_id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: resource_move的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
channels:
|
||||
type: array
|
||||
link_name:
|
||||
type: string
|
||||
resource_id:
|
||||
type: string
|
||||
required:
|
||||
- resource_id
|
||||
- link_name
|
||||
- channels
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_move参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_resource_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
link_name: null
|
||||
resource_id_list: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: send_resource_action的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
link_name:
|
||||
type: string
|
||||
resource_id_list:
|
||||
type: array
|
||||
required:
|
||||
- resource_id_list
|
||||
- link_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_resource_action参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
|
||||
status_types: {}
|
||||
type: ros2
|
||||
config_info: []
|
||||
description: 液体处理器关节发布器，用于ROS2仿真系统中的液体处理设备运动控制。该节点通过发布关节状态驱动仿真模型中的机械臂运动，支持三维坐标到关节空间的逆运动学转换、多关节协调控制、资源跟踪和TF变换。具备精确的位置控制、速度调节、pick-and-place操作等功能。适用于液体处理系统的虚拟仿真、运动规划验证、系统集成测试等应用场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
device_id:
|
||||
default: lh_joint_publisher
|
||||
type: string
|
||||
rate:
|
||||
default: 50
|
||||
type: string
|
||||
resource_tracker:
|
||||
type: string
|
||||
resources_config:
|
||||
type: array
|
||||
required:
|
||||
- resources_config
|
||||
- resource_tracker
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -1,6 +1,6 @@
|
||||
laiyu_add_solid:
|
||||
solid_dispenser.laiyu:
|
||||
category:
|
||||
- laiyu_add_solid
|
||||
- solid_dispenser
|
||||
class:
|
||||
action_value_mappings:
|
||||
add_powder_tube:
|
||||
@@ -353,7 +353,7 @@ laiyu_add_solid:
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
|
||||
module: unilabos.devices.powder_dispense.laiyu:Laiyu
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
@@ -2161,12 +2161,9 @@ virtual_multiway_valve:
|
||||
type: SendCmd
|
||||
module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve
|
||||
status_types:
|
||||
available_ports: dict
|
||||
available_positions: list
|
||||
current_port: str
|
||||
current_position: int
|
||||
flow_path: str
|
||||
info: dict
|
||||
status: str
|
||||
target_position: int
|
||||
valve_position: int
|
||||
@@ -2239,6 +2236,14 @@ virtual_multiway_valve:
|
||||
io_type: source
|
||||
label: '7'
|
||||
side: WEST
|
||||
- data_key: fluid_port_8
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口8-特殊输入
|
||||
handler_key: '8'
|
||||
io_type: target
|
||||
label: '8'
|
||||
side: WEST
|
||||
- data_key: fluid_port_8
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
@@ -2261,18 +2266,12 @@ virtual_multiway_valve:
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
available_ports:
|
||||
type: object
|
||||
available_positions:
|
||||
type: array
|
||||
current_port:
|
||||
type: string
|
||||
current_position:
|
||||
type: integer
|
||||
flow_path:
|
||||
type: string
|
||||
info:
|
||||
type: object
|
||||
status:
|
||||
type: string
|
||||
target_position:
|
||||
@@ -2288,532 +2287,7 @@ virtual_multiway_valve:
|
||||
- target_position
|
||||
- current_port
|
||||
- valve_position
|
||||
- available_positions
|
||||
- available_ports
|
||||
- flow_path
|
||||
- info
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_pump:
|
||||
category:
|
||||
- virtual_device
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-clean_vessel:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
repeats: 1
|
||||
solvent: null
|
||||
temp: null
|
||||
vessel: null
|
||||
volume: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: clean_vessel的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
repeats:
|
||||
default: 1
|
||||
type: integer
|
||||
solvent:
|
||||
type: string
|
||||
temp:
|
||||
type: number
|
||||
vessel:
|
||||
type: string
|
||||
volume:
|
||||
type: number
|
||||
required:
|
||||
- vessel
|
||||
- solvent
|
||||
- volume
|
||||
- temp
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: clean_vessel参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-cleanup:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: cleanup参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-initialize:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
set_valve_position:
|
||||
feedback:
|
||||
status: status
|
||||
goal:
|
||||
float_in: valve_position
|
||||
goal_default:
|
||||
float_in: 0.0
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: FloatSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
float_in:
|
||||
type: number
|
||||
required:
|
||||
- float_in
|
||||
title: FloatSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: FloatSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: FloatSingleInput
|
||||
type: object
|
||||
type: FloatSingleInput
|
||||
transfer:
|
||||
feedback:
|
||||
status: status
|
||||
goal:
|
||||
amount: amount
|
||||
from_vessel: from_vessel
|
||||
rinsing_repeats: rinsing_repeats
|
||||
rinsing_solvent: rinsing_solvent
|
||||
rinsing_volume: rinsing_volume
|
||||
solid: solid
|
||||
time: time
|
||||
to_vessel: to_vessel
|
||||
viscous: viscous
|
||||
volume: volume
|
||||
goal_default:
|
||||
amount: ''
|
||||
event: ''
|
||||
flowrate: 0.0
|
||||
from_vessel:
|
||||
category: ''
|
||||
children: []
|
||||
config: ''
|
||||
data: ''
|
||||
id: ''
|
||||
name: ''
|
||||
parent: ''
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
rate_spec: ''
|
||||
rinsing_repeats: 0
|
||||
rinsing_solvent: ''
|
||||
rinsing_volume: 0.0
|
||||
solid: false
|
||||
through: ''
|
||||
time: 0.0
|
||||
to_vessel:
|
||||
category: ''
|
||||
children: []
|
||||
config: ''
|
||||
data: ''
|
||||
id: ''
|
||||
name: ''
|
||||
parent: ''
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
transfer_flowrate: 0.0
|
||||
viscous: false
|
||||
volume: 0.0
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
current_device:
|
||||
type: string
|
||||
status:
|
||||
type: string
|
||||
time_remaining:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
time_spent:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
- current_device
|
||||
- time_spent
|
||||
- time_remaining
|
||||
title: PumpTransfer_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
amount:
|
||||
type: string
|
||||
event:
|
||||
type: string
|
||||
flowrate:
|
||||
type: number
|
||||
from_vessel:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
type: object
|
||||
rate_spec:
|
||||
type: string
|
||||
rinsing_repeats:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
rinsing_solvent:
|
||||
type: string
|
||||
rinsing_volume:
|
||||
type: number
|
||||
solid:
|
||||
type: boolean
|
||||
through:
|
||||
type: string
|
||||
time:
|
||||
type: number
|
||||
to_vessel:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
type: object
|
||||
transfer_flowrate:
|
||||
type: number
|
||||
viscous:
|
||||
type: boolean
|
||||
volume:
|
||||
type: number
|
||||
required:
|
||||
- from_vessel
|
||||
- to_vessel
|
||||
- volume
|
||||
- amount
|
||||
- time
|
||||
- viscous
|
||||
- rinsing_solvent
|
||||
- rinsing_volume
|
||||
- rinsing_repeats
|
||||
- solid
|
||||
- flowrate
|
||||
- transfer_flowrate
|
||||
- rate_spec
|
||||
- event
|
||||
- through
|
||||
title: PumpTransfer_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: PumpTransfer_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: PumpTransfer
|
||||
type: object
|
||||
type: PumpTransfer
|
||||
module: unilabos.devices.virtual.virtual_pump:VirtualPump
|
||||
status_types:
|
||||
current_status: str
|
||||
current_volume: float
|
||||
from_vessel: str
|
||||
max_volume: float
|
||||
progress: float
|
||||
status: str
|
||||
to_vessel: str
|
||||
transfer_rate: float
|
||||
transferred_volume: float
|
||||
valve_position: int
|
||||
type: python
|
||||
config_info: []
|
||||
description: Virtual Pump for PumpTransferProtocol Testing
|
||||
handles:
|
||||
- data_key: fluid_in
|
||||
data_source: handle
|
||||
data_type: fluid
|
||||
description: 泵的输出口
|
||||
handler_key: pumpio
|
||||
io_type: source
|
||||
label: pumpio
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: object
|
||||
device_id:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
current_status:
|
||||
type: string
|
||||
current_volume:
|
||||
type: number
|
||||
from_vessel:
|
||||
type: string
|
||||
max_volume:
|
||||
type: number
|
||||
progress:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
to_vessel:
|
||||
type: string
|
||||
transfer_rate:
|
||||
type: number
|
||||
transferred_volume:
|
||||
type: number
|
||||
valve_position:
|
||||
type: integer
|
||||
required:
|
||||
- status
|
||||
- valve_position
|
||||
- current_volume
|
||||
- max_volume
|
||||
- transfer_rate
|
||||
- from_vessel
|
||||
- to_vessel
|
||||
- progress
|
||||
- transferred_volume
|
||||
- current_status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_rotavap:
|
||||
@@ -3983,14 +3457,6 @@ virtual_separator:
|
||||
io_type: source
|
||||
label: bottom_phase_out
|
||||
side: SOUTH
|
||||
- data_key: top_outlet
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 上相（轻相）液体输出口
|
||||
handler_key: topphaseout
|
||||
io_type: source
|
||||
label: top_phase_out
|
||||
side: EAST
|
||||
- data_key: mechanical_port
|
||||
data_source: handle
|
||||
data_type: mechanical
|
||||
@@ -4301,7 +3767,6 @@ virtual_solenoid_valve:
|
||||
module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve
|
||||
status_types:
|
||||
is_open: bool
|
||||
state: dict
|
||||
status: str
|
||||
valve_position: str
|
||||
valve_state: str
|
||||
@@ -4339,8 +3804,6 @@ virtual_solenoid_valve:
|
||||
properties:
|
||||
is_open:
|
||||
type: boolean
|
||||
state:
|
||||
type: object
|
||||
status:
|
||||
type: string
|
||||
valve_position:
|
||||
@@ -4352,7 +3815,6 @@ virtual_solenoid_valve:
|
||||
- valve_state
|
||||
- is_open
|
||||
- valve_position
|
||||
- state
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_solid_dispenser:
|
||||
@@ -4683,7 +4145,6 @@ virtual_solid_dispenser:
|
||||
module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
|
||||
status_types:
|
||||
current_reagent: str
|
||||
device_info: dict
|
||||
dispensed_amount: float
|
||||
status: str
|
||||
total_operations: int
|
||||
@@ -4722,8 +4183,6 @@ virtual_solid_dispenser:
|
||||
properties:
|
||||
current_reagent:
|
||||
type: string
|
||||
device_info:
|
||||
type: object
|
||||
dispensed_amount:
|
||||
type: number
|
||||
status:
|
||||
@@ -4735,7 +4194,6 @@ virtual_solid_dispenser:
|
||||
- current_reagent
|
||||
- dispensed_amount
|
||||
- total_operations
|
||||
- device_info
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_stirrer:
|
||||
@@ -5246,7 +4704,6 @@ virtual_stirrer:
|
||||
status_types:
|
||||
current_speed: float
|
||||
current_vessel: str
|
||||
device_info: dict
|
||||
is_stirring: bool
|
||||
max_speed: float
|
||||
min_speed: float
|
||||
@@ -5281,8 +4738,6 @@ virtual_stirrer:
|
||||
type: number
|
||||
current_vessel:
|
||||
type: string
|
||||
device_info:
|
||||
type: object
|
||||
is_stirring:
|
||||
type: boolean
|
||||
max_speed:
|
||||
@@ -5304,7 +4759,6 @@ virtual_stirrer:
|
||||
- remaining_time
|
||||
- max_speed
|
||||
- min_speed
|
||||
- device_info
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_transfer_pump:
|
||||
@@ -5761,7 +5215,6 @@ virtual_transfer_pump:
|
||||
current_volume: float
|
||||
max_velocity: float
|
||||
position: float
|
||||
pump_info: dict
|
||||
remaining_capacity: float
|
||||
status: str
|
||||
transfer_rate: float
|
||||
@@ -5795,8 +5248,6 @@ virtual_transfer_pump:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
pump_info:
|
||||
type: object
|
||||
remaining_capacity:
|
||||
type: number
|
||||
status:
|
||||
@@ -5810,7 +5261,6 @@ virtual_transfer_pump:
|
||||
- max_velocity
|
||||
- transfer_rate
|
||||
- remaining_capacity
|
||||
- pump_info
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_vacuum_pump:
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,183 +0,0 @@
|
||||
zhida_hplc:
|
||||
category:
|
||||
- zhida_hplc
|
||||
class:
|
||||
action_value_mappings:
|
||||
abort:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: HPLC设备连接关闭函数。安全地断开与智达HPLC设备的TCP socket连接，释放网络资源。该函数确保连接的正确关闭，避免网络资源泄露。通常在设备使用完毕或系统关闭时调用。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-connect:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: HPLC设备连接建立函数。与智达HPLC设备建立TCP socket通信连接，配置通信超时参数。该函数是设备使用前的必要步骤，建立成功后可进行状态查询、方法获取、任务启动等操作。连接失败时会抛出异常。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: connect参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
get_methods:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
start:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
|
||||
status_types:
|
||||
methods: dict
|
||||
status: dict
|
||||
type: python
|
||||
config_info: []
|
||||
description: 智达高效液相色谱（HPLC）分析设备，用于实验室样品的分离、检测和定量分析。该设备通过TCP socket与HPLC控制系统通信，支持远程控制和状态监控。具备自动进样、梯度洗脱、多检测器数据采集等功能，可执行复杂的色谱分析方法。适用于化学分析、药物检测、环境监测、生物样品分析等需要高精度分离分析的实验室应用场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
host:
|
||||
default: 192.168.1.47
|
||||
type: string
|
||||
port:
|
||||
default: 5792
|
||||
type: string
|
||||
timeout:
|
||||
default: 10.0
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
methods:
|
||||
type: object
|
||||
status:
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
- methods
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -24,11 +24,12 @@ DEFAULT_PATHS = [Path(__file__).absolute().parent]
|
||||
class Registry:
|
||||
def __init__(self, registry_paths=None):
|
||||
import ctypes
|
||||
|
||||
try:
|
||||
import unilabos_msgs
|
||||
except ImportError:
|
||||
logger.error("[UniLab Registry] unilabos_msgs模块未找到，请确保已根据官方文档安装unilabos_msgs包。")
|
||||
logger.error(
|
||||
"[UniLab Registry] unilabos_msgs模块未找到，请确保已根据官方文档安装unilabos_msgs包。"
|
||||
)
|
||||
sys.exit(1)
|
||||
try:
|
||||
ctypes.CDLL(str(Path(unilabos_msgs.__file__).parent / "unilabos_msgs_s__rosidl_typesupport_c.pyd"))
|
||||
@@ -218,7 +219,7 @@ class Registry:
|
||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||
|
||||
self.resource_type_registry.update(data)
|
||||
logger.trace( # type: ignore
|
||||
logger.trace(
|
||||
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
|
||||
+ f"Add {list(data.keys())}"
|
||||
)
|
||||
@@ -405,7 +406,7 @@ class Registry:
|
||||
devices_path = abs_path / "devices"
|
||||
device_comms_path = abs_path / "device_comms"
|
||||
files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
|
||||
logger.trace( # type: ignore
|
||||
logger.trace(
|
||||
f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
|
||||
+ f"total: {len(files)}"
|
||||
)
|
||||
@@ -522,12 +523,6 @@ class Registry:
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if "handles" not in action_config:
|
||||
action_config["handles"] = {}
|
||||
elif isinstance(action_config["handles"], list):
|
||||
if len(action_config["handles"]):
|
||||
logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
|
||||
continue
|
||||
else:
|
||||
action_config["handles"] = {}
|
||||
if "type" in action_config:
|
||||
action_type_str: str = action_config["type"]
|
||||
# 通过Json发放指令，而不是通过特殊的ros action进行处理
|
||||
|
||||
@@ -4,9 +4,7 @@ hplc_plate:
|
||||
class:
|
||||
module: unilabos.devices.resource_container.container:PlateContainer
|
||||
type: python
|
||||
config_info: []
|
||||
description: HPLC板
|
||||
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/common/resource_container.yaml
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
@@ -28,9 +26,7 @@ plate_96_high:
|
||||
class:
|
||||
module: unilabos.devices.resource_container.container:PlateContainer
|
||||
type: python
|
||||
config_info: []
|
||||
description: 96孔板
|
||||
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/common/resource_container.yaml
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
@@ -52,9 +48,7 @@ tiprack_96_high:
|
||||
class:
|
||||
module: unilabos.devices.resource_container.container:TipRackContainer
|
||||
type: python
|
||||
config_info: []
|
||||
description: 96孔板
|
||||
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/common/resource_container.yaml
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
|
||||
@@ -4,9 +4,7 @@ OTDeck:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.deck:OTDeck
|
||||
type: pylabrobot
|
||||
config_info: []
|
||||
description: Opentrons deck
|
||||
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/deck.yaml
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
@@ -21,9 +19,7 @@ hplc_station:
|
||||
class:
|
||||
module: unilabos.devices.resource_container.container:DeckContainer
|
||||
type: python
|
||||
config_info: []
|
||||
description: hplc_station deck
|
||||
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/deck.yaml
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
|
||||
@@ -4,34 +4,7 @@ Opentrons_96_adapter_Vb:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plate_adapters:Opentrons_96_adapter_Vb
|
||||
type: pylabrobot
|
||||
config_info:
|
||||
- children: []
|
||||
class: ''
|
||||
config:
|
||||
barcode: null
|
||||
category: plate_adapter
|
||||
model: Opentrons_96_adapter_Vb
|
||||
rotation:
|
||||
type: Rotation
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
size_x: 127.76
|
||||
size_y: 85.48
|
||||
size_z: 18.55
|
||||
type: PlateAdapter
|
||||
data: {}
|
||||
id: Opentrons_96_adapter_Vb
|
||||
name: Opentrons_96_adapter_Vb
|
||||
parent: null
|
||||
position:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
sample_id: null
|
||||
type: container
|
||||
description: Opentrons 96 adapter Vb
|
||||
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/plate_adapters.yaml
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -4,9 +4,7 @@ container:
|
||||
class:
|
||||
module: unilabos.resources.container:RegularContainer
|
||||
type: unilabos
|
||||
config_info: []
|
||||
description: regular organic container
|
||||
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/organic/container.yaml
|
||||
handles:
|
||||
- data_key: fluid_in
|
||||
data_source: handle
|
||||
@@ -28,7 +26,7 @@ container:
|
||||
handler_key: bind
|
||||
io_type: target
|
||||
label: bind
|
||||
side: SOUTH
|
||||
side: WEST
|
||||
icon: Flask.webp
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
|
||||
@@ -1,12 +1,12 @@
|
||||
#get_workstation_plate_resource:
|
||||
# category:
|
||||
# - workstation
|
||||
# class:
|
||||
# module: unilabos.devices.workstation.workstation_base:get_workstation_plate_resource
|
||||
# type: pylabrobot
|
||||
# description: workstation example resource
|
||||
# handles: []
|
||||
# icon: ''
|
||||
# init_param_schema: {}
|
||||
# registry_type: resource
|
||||
# version: 1.0.0
|
||||
get_workstation_plate_resource:
|
||||
category:
|
||||
- workstation
|
||||
class:
|
||||
module: unilabos.ros.nodes.presets.workstation:get_workstation_plate_resource
|
||||
type: pylabrobot
|
||||
description: workstation example resource
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
12
unilabos/registry/resources/prcxi/plates.yaml
Normal file
12
unilabos/registry/resources/prcxi/plates.yaml
Normal file
@@ -0,0 +1,12 @@
|
||||
prcxi_96_wellplate_360ul_flat:
|
||||
category:
|
||||
- plates
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_96_wellplate_360ul_flat
|
||||
type: pylabrobot
|
||||
description: prcxi_96_wellplate_360ul_flat
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
12
unilabos/registry/resources/prcxi/tip_racks.yaml
Normal file
12
unilabos/registry/resources/prcxi/tip_racks.yaml
Normal file
@@ -0,0 +1,12 @@
|
||||
prcxi_opentrons_96_tiprack_10ul:
|
||||
category:
|
||||
- tip_racks
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_opentrons_96_tiprack_10ul
|
||||
type: pylabrobot
|
||||
description: prcxi_opentrons_96_tiprack_10ul
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
12
unilabos/registry/resources/prcxi/trash.yaml
Normal file
12
unilabos/registry/resources/prcxi/trash.yaml
Normal file
@@ -0,0 +1,12 @@
|
||||
prcxi_trash:
|
||||
category:
|
||||
- trash
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_trash
|
||||
type: pylabrobot
|
||||
description: prcxi_trash
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
@@ -340,7 +340,7 @@ def convert_resources_to_type(
|
||||
Returns:
|
||||
List of resources in the given type.
|
||||
"""
|
||||
if resource_type == dict:
|
||||
if resource_type == dict or resource_type == str:
|
||||
return list_to_nested_dict(resources_list)
|
||||
elif isinstance(resource_type, type) and issubclass(resource_type, ResourcePLR):
|
||||
if isinstance(resources_list, dict):
|
||||
|
||||
9
unilabos/resources/plr_additional_res_reg.py
Normal file
9
unilabos/resources/plr_additional_res_reg.py
Normal file
@@ -0,0 +1,9 @@
|
||||
|
||||
|
||||
def register():
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.ros.nodes.presets.workstation import WorkStationContainer
|
||||
@@ -52,7 +52,7 @@ def main(
|
||||
visual: str = "disable",
|
||||
resources_mesh_config: dict = {},
|
||||
rclpy_init_args: List[str] = ["--log-level", "debug"],
|
||||
discovery_interval: float = 5.0,
|
||||
discovery_interval: float = 15.0,
|
||||
) -> None:
|
||||
"""主函数"""
|
||||
|
||||
|
||||
@@ -31,6 +31,7 @@ from unilabos.resources.graphio import (
|
||||
resource_plr_to_ulab,
|
||||
tree_to_list,
|
||||
)
|
||||
from unilabos.resources.plr_additional_res_reg import register
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
convert_to_ros_msg,
|
||||
convert_from_ros_msg,
|
||||
@@ -51,7 +52,7 @@ from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.ros.x.rclpyx import get_event_loop
|
||||
from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
|
||||
from unilabos.utils.async_util import run_async_func
|
||||
from unilabos.utils.log import info, debug, warning, error, critical, logger
|
||||
from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
|
||||
from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info
|
||||
|
||||
T = TypeVar("T")
|
||||
@@ -82,6 +83,7 @@ class ROSLoggerAdapter:
|
||||
self.level_2_logger_func = {
|
||||
"info": info,
|
||||
"debug": debug,
|
||||
"trace": trace,
|
||||
"warning": warning,
|
||||
"error": error,
|
||||
"critical": critical,
|
||||
@@ -96,6 +98,10 @@ class ROSLoggerAdapter:
|
||||
ros_log_func(msg)
|
||||
self.level_2_logger_func[level](msg, *args, stack_level=1, **kwargs)
|
||||
|
||||
def trace(self, msg, *args, **kwargs):
|
||||
"""记录TRACE级别日志"""
|
||||
self._log("trace", msg, *args, **kwargs)
|
||||
|
||||
def debug(self, msg, *args, **kwargs):
|
||||
"""记录DEBUG级别日志"""
|
||||
self._log("debug", msg, *args, **kwargs)
|
||||
@@ -175,47 +181,46 @@ class PropertyPublisher:
|
||||
self.timer = node.create_timer(self.timer_period, self.publish_property)
|
||||
self.__loop = get_event_loop()
|
||||
str_msg_type = str(msg_type)[8:-2]
|
||||
self.node.lab_logger().debug(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒")
|
||||
self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒")
|
||||
|
||||
def get_property(self):
|
||||
if asyncio.iscoroutinefunction(self.get_method):
|
||||
# 如果是异步函数，运行事件循环并等待结果
|
||||
self.node.get_logger().debug(f"【PropertyPublisher.get_property】获取异步属性: {self.name}")
|
||||
self.node.lab_logger().trace(f"【PropertyPublisher.get_property】获取异步属性: {self.name}")
|
||||
loop = self.__loop
|
||||
if loop:
|
||||
future = asyncio.run_coroutine_threadsafe(self.get_method(), loop)
|
||||
self._value = future.result()
|
||||
return self._value
|
||||
else:
|
||||
self.node.get_logger().error(f"【PropertyPublisher.get_property】事件循环未初始化")
|
||||
self.node.lab_logger().error(f"【PropertyPublisher.get_property】事件循环未初始化")
|
||||
return None
|
||||
else:
|
||||
# 如果是同步函数，直接调用并返回结果
|
||||
self.node.get_logger().debug(f"【PropertyPublisher.get_property】获取同步属性: {self.name}")
|
||||
self.node.lab_logger().trace(f"【PropertyPublisher.get_property】获取同步属性: {self.name}")
|
||||
self._value = self.get_method()
|
||||
return self._value
|
||||
|
||||
async def get_property_async(self):
|
||||
try:
|
||||
# 获取异步属性值
|
||||
self.node.get_logger().debug(f"【PropertyPublisher.get_property_async】异步获取属性: {self.name}")
|
||||
self.node.lab_logger().trace(f"【PropertyPublisher.get_property_async】异步获取属性: {self.name}")
|
||||
self._value = await self.get_method()
|
||||
except Exception as e:
|
||||
self.node.get_logger().error(f"【PropertyPublisher.get_property_async】获取异步属性出错: {str(e)}")
|
||||
self.node.lab_logger().error(f"【PropertyPublisher.get_property_async】获取异步属性出错: {str(e)}")
|
||||
|
||||
def publish_property(self):
|
||||
try:
|
||||
self.node.get_logger().debug(f"【PropertyPublisher.publish_property】开始发布属性: {self.name}")
|
||||
self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】开始发布属性: {self.name}")
|
||||
value = self.get_property()
|
||||
if self.print_publish:
|
||||
self.node.get_logger().info(f"【PropertyPublisher.publish_property】发布 {self.msg_type}: {value}")
|
||||
self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】发布 {self.msg_type}: {value}")
|
||||
if value is not None:
|
||||
msg = convert_to_ros_msg(self.msg_type, value)
|
||||
self.publisher_.publish(msg)
|
||||
self.node.get_logger().debug(f"【PropertyPublisher.publish_property】属性 {self.name} 发布成功")
|
||||
self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】属性 {self.name} 发布成功")
|
||||
except Exception as e:
|
||||
traceback.print_exc()
|
||||
self.node.get_logger().error(f"【PropertyPublisher.publish_property】发布属性出错: {str(e)}")
|
||||
self.node.lab_logger().error(f"【PropertyPublisher.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}")
|
||||
|
||||
def change_frequency(self, period):
|
||||
# 动态改变定时器频率
|
||||
@@ -331,7 +336,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
res.response = ""
|
||||
return res
|
||||
|
||||
def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
|
||||
async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
|
||||
# 物料传输到对应的node节点
|
||||
rclient = self.create_client(ResourceAdd, "/resources/add")
|
||||
rclient.wait_for_service()
|
||||
@@ -390,10 +395,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
if "data" not in resource:
|
||||
resource["data"] = {}
|
||||
resource["data"].update(json.loads(container_instance.data))
|
||||
request.resources[0].name = resource["name"]
|
||||
logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict")
|
||||
else:
|
||||
logger.info(f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}")
|
||||
response = rclient.call(request)
|
||||
response = await rclient.call_async(request)
|
||||
# 应该先add_resource了
|
||||
res.response = "OK"
|
||||
# 如果driver自己就有assign的方法，那就使用driver自己的assign方法
|
||||
@@ -607,7 +613,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
)
|
||||
|
||||
self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")
|
||||
self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
|
||||
|
||||
def get_real_function(self, instance, attr_name):
|
||||
if hasattr(instance.__class__, attr_name):
|
||||
@@ -649,7 +655,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
|
||||
|
||||
action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
|
||||
self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")
|
||||
self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
|
||||
error_skip = False
|
||||
# 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
|
||||
if action_name not in ["create_resource_detailed", "create_resource"]:
|
||||
for k, v in goal.get_fields_and_field_types().items():
|
||||
@@ -659,7 +666,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
# TODO: resource后面需要分组
|
||||
only_one_resource = False
|
||||
try:
|
||||
if len(action_kwargs[k]) > 1:
|
||||
if isinstance(action_kwargs[k], list) and len(action_kwargs[k]) > 1:
|
||||
for i in action_kwargs[k]:
|
||||
r = ResourceGet.Request()
|
||||
r.id = i["id"] # splash optional
|
||||
@@ -689,12 +696,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
final_resource = convert_resources_to_type(resources_list, final_type)
|
||||
else:
|
||||
final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
|
||||
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
|
||||
try:
|
||||
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource, try_mode=True)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"物料实例获取失败: {e}\n{traceback.format_exc()}")
|
||||
error_skip = True
|
||||
execution_error = traceback.format_exc()
|
||||
break
|
||||
|
||||
##### self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
|
||||
time_start = time.time()
|
||||
time_overall = 100
|
||||
|
||||
future = None
|
||||
if not error_skip:
|
||||
# 将阻塞操作放入线程池执行
|
||||
if asyncio.iscoroutinefunction(ACTION):
|
||||
try:
|
||||
@@ -708,13 +722,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
execution_success = True
|
||||
except Exception as e:
|
||||
execution_error = traceback.format_exc()
|
||||
##### error(f"异步任务 {ACTION.__name__} 报错了")
|
||||
error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
|
||||
error(traceback.format_exc())
|
||||
|
||||
future.add_done_callback(_handle_future_exception)
|
||||
except Exception as e:
|
||||
execution_error = traceback.format_exc()
|
||||
execution_success = False
|
||||
self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
|
||||
raise e
|
||||
else:
|
||||
##### self.lab_logger().info(f"同步执行动作 {ACTION}")
|
||||
future = self._executor.submit(ACTION, **action_kwargs)
|
||||
@@ -725,9 +740,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
action_return_value = fut.result()
|
||||
execution_success = True
|
||||
except Exception as e:
|
||||
execution_error = traceback.format_exc()
|
||||
error(f"同步任务 {ACTION.__name__} 报错了")
|
||||
error(traceback.format_exc())
|
||||
error(f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
|
||||
|
||||
future.add_done_callback(_handle_future_exception)
|
||||
|
||||
@@ -735,7 +748,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
feedback_msg_types = action_type.Feedback.get_fields_and_field_types()
|
||||
result_msg_types = action_type.Result.get_fields_and_field_types()
|
||||
|
||||
while not future.done():
|
||||
while future is not None and not future.done():
|
||||
if goal_handle.is_cancel_requested:
|
||||
self.lab_logger().info(f"取消动作: {action_name}")
|
||||
future.cancel() # 尝试取消线程池中的任务
|
||||
@@ -767,7 +780,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
goal_handle.publish_feedback(feedback_msg)
|
||||
time.sleep(0.5)
|
||||
|
||||
if future.cancelled():
|
||||
if future is not None and future.cancelled():
|
||||
self.lab_logger().info(f"动作 {action_name} 已取消")
|
||||
return action_type.Result()
|
||||
|
||||
@@ -937,17 +950,14 @@ class ROS2DeviceNode:
|
||||
if use_pylabrobot_creator:
|
||||
# 先对pylabrobot的子资源进行加载，不然subclass无法认出
|
||||
# 在下方对于加载Deck等Resource要手动import
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
|
||||
register()
|
||||
self._driver_creator = PyLabRobotCreator(
|
||||
driver_class, children=children, resource_tracker=self.resource_tracker
|
||||
)
|
||||
else:
|
||||
from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
|
||||
|
||||
if self._driver_class is ROS2ProtocolNode:
|
||||
if issubclass(self._driver_class, ROS2ProtocolNode): # 是ProtocolNode的子节点，就要调用ProtocolNodeCreator
|
||||
self._driver_creator = ProtocolNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
|
||||
else:
|
||||
self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
|
||||
|
||||
@@ -1,10 +1,11 @@
|
||||
import collections
|
||||
import copy
|
||||
import json
|
||||
import threading
|
||||
import time
|
||||
import traceback
|
||||
import uuid
|
||||
from typing import Optional, Dict, Any, List, ClassVar, Set
|
||||
from typing import Optional, Dict, Any, List, ClassVar, Set, Union
|
||||
|
||||
from action_msgs.msg import GoalStatus
|
||||
from geometry_msgs.msg import Point
|
||||
@@ -38,6 +39,7 @@ from unilabos.ros.msgs.message_converter import (
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
|
||||
from unilabos.ros.nodes.presets.controller_node import ControllerNode
|
||||
from unilabos.utils.exception import DeviceClassInvalid
|
||||
from unilabos.utils.type_check import serialize_result_info
|
||||
|
||||
|
||||
class HostNode(BaseROS2DeviceNode):
|
||||
@@ -254,7 +256,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
检测ROS2网络中的所有设备节点，并为它们创建ActionClient
|
||||
同时检测设备离线情况
|
||||
"""
|
||||
self.lab_logger().debug("[Host Node] Discovering devices in the network...")
|
||||
self.lab_logger().trace("[Host Node] Discovering devices in the network...")
|
||||
|
||||
# 获取当前所有设备
|
||||
nodes_and_names = self.get_node_names_and_namespaces()
|
||||
@@ -303,7 +305,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
# 更新在线设备列表
|
||||
self._online_devices = current_devices
|
||||
self.lab_logger().debug(f"[Host Node] Total online devices: {len(self._online_devices)}")
|
||||
self.lab_logger().trace(f"[Host Node] Total online devices: {len(self._online_devices)}")
|
||||
|
||||
def _discovery_devices_callback(self) -> None:
|
||||
"""
|
||||
@@ -335,7 +337,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self._action_clients[action_id] = ActionClient(
|
||||
self, action_type, action_id, callback_group=self.callback_group
|
||||
)
|
||||
self.lab_logger().debug(f"[Host Node] Created ActionClient (Discovery): {action_id}")
|
||||
self.lab_logger().trace(f"[Host Node] Created ActionClient (Discovery): {action_id}")
|
||||
action_name = action_id[len(namespace) + 1 :]
|
||||
edge_device_id = namespace[9:]
|
||||
# from unilabos.app.mq import mqtt_client
|
||||
@@ -349,9 +351,9 @@ class HostNode(BaseROS2DeviceNode):
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
|
||||
|
||||
def create_resource_detailed(
|
||||
async def create_resource_detailed(
|
||||
self,
|
||||
resources: list["Resource"],
|
||||
resources: list[Union[list["Resource"], "Resource"]],
|
||||
device_ids: list[str],
|
||||
bind_parent_ids: list[str],
|
||||
bind_locations: list[Point],
|
||||
@@ -391,26 +393,28 @@ class HostNode(BaseROS2DeviceNode):
|
||||
},
|
||||
ensure_ascii=False,
|
||||
)
|
||||
response = sclient.call(request)
|
||||
response = await sclient.call_async(request)
|
||||
responses.append(response)
|
||||
return responses
|
||||
|
||||
def create_resource(
|
||||
async def create_resource(
|
||||
self,
|
||||
device_id: str,
|
||||
res_id: str,
|
||||
class_name: str,
|
||||
parent: str,
|
||||
bind_locations: Point,
|
||||
liquid_input_slot: list[int],
|
||||
liquid_type: list[str],
|
||||
liquid_volume: list[int],
|
||||
slot_on_deck: str,
|
||||
liquid_input_slot: list[int] = [],
|
||||
liquid_type: list[str] = [],
|
||||
liquid_volume: list[int] = [],
|
||||
slot_on_deck: str = "",
|
||||
):
|
||||
# 暂不支持多对同名父子同时存在
|
||||
res_creation_input = {
|
||||
"name": res_id,
|
||||
"id": res_id.split("/")[-1],
|
||||
"name": res_id.split("/")[-1],
|
||||
"class": class_name,
|
||||
"parent": parent,
|
||||
"parent": parent.split("/")[-1],
|
||||
"position": {
|
||||
"x": bind_locations.x,
|
||||
"y": bind_locations.y,
|
||||
@@ -418,16 +422,22 @@ class HostNode(BaseROS2DeviceNode):
|
||||
},
|
||||
}
|
||||
if len(liquid_input_slot) and liquid_input_slot[0] == -1: # 目前container只逐个创建
|
||||
res_creation_input.update({
|
||||
res_creation_input.update(
|
||||
{
|
||||
"data": {
|
||||
"liquids": [{
|
||||
"liquid_type": liquid_type[0] if liquid_type else None,
|
||||
"liquid_volume": liquid_volume[0] if liquid_volume else None,
|
||||
}]
|
||||
}
|
||||
})
|
||||
}
|
||||
)
|
||||
init_new_res = initialize_resource(res_creation_input) # flatten的格式
|
||||
resources = init_new_res # initialize_resource已经返回list[dict]
|
||||
if len(init_new_res) > 1: # 一个物料，多个子节点
|
||||
init_new_res = [init_new_res]
|
||||
resources: List[Resource] | List[List[Resource]] = init_new_res # initialize_resource已经返回list[dict]
|
||||
device_ids = [device_id]
|
||||
bind_parent_id = [parent]
|
||||
bind_parent_id = [res_creation_input["parent"]]
|
||||
bind_location = [bind_locations]
|
||||
other_calling_param = [
|
||||
json.dumps(
|
||||
@@ -441,7 +451,9 @@ class HostNode(BaseROS2DeviceNode):
|
||||
)
|
||||
]
|
||||
|
||||
return self.create_resource_detailed(resources, device_ids, bind_parent_id, bind_location, other_calling_param)
|
||||
response = await self.create_resource_detailed(resources, device_ids, bind_parent_id, bind_location, other_calling_param)
|
||||
|
||||
return response
|
||||
|
||||
def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
|
||||
"""
|
||||
@@ -476,7 +488,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
if action_id not in self._action_clients:
|
||||
action_type = action_value_mapping["type"]
|
||||
self._action_clients[action_id] = ActionClient(self, action_type, action_id)
|
||||
self.lab_logger().debug(
|
||||
self.lab_logger().trace(
|
||||
f"[Host Node] Created ActionClient (Local): {action_id}"
|
||||
) # 子设备再创建用的是Discover发现的
|
||||
# from unilabos.app.mq import mqtt_client
|
||||
@@ -521,7 +533,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self.device_status_timestamps[device_id] = {}
|
||||
|
||||
# 默认初始化属性值为 None
|
||||
self.device_status[device_id][property_name] = None
|
||||
self.device_status[device_id] = collections.defaultdict()
|
||||
self.device_status_timestamps[device_id][property_name] = 0 # 初始化时间戳
|
||||
|
||||
# 动态创建订阅
|
||||
@@ -539,7 +551,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
)
|
||||
# 标记为已订阅
|
||||
self._subscribed_topics.add(topic)
|
||||
self.lab_logger().debug(f"[Host Node] Subscribed to new topic: {topic}")
|
||||
self.lab_logger().trace(f"[Host Node] Subscribed to new topic: {topic}")
|
||||
except (NameError, SyntaxError) as e:
|
||||
self.lab_logger().error(f"[Host Node] Failed to create subscription for topic {topic}: {e}")
|
||||
|
||||
@@ -557,8 +569,13 @@ class HostNode(BaseROS2DeviceNode):
|
||||
# 更新设备状态字典
|
||||
if hasattr(msg, "data"):
|
||||
bChange = False
|
||||
bCreate = False
|
||||
if isinstance(msg.data, (float, int, str)):
|
||||
if self.device_status[device_id][property_name] != msg.data:
|
||||
if property_name not in self.device_status[device_id]:
|
||||
bCreate = True
|
||||
bChange = True
|
||||
self.device_status[device_id][property_name] = msg.data
|
||||
elif self.device_status[device_id][property_name] != msg.data:
|
||||
bChange = True
|
||||
self.device_status[device_id][property_name] = msg.data
|
||||
# 更新时间戳
|
||||
@@ -573,8 +590,13 @@ class HostNode(BaseROS2DeviceNode):
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_device_status"):
|
||||
bridge.publish_device_status(self.device_status, device_id, property_name)
|
||||
if bCreate:
|
||||
self.lab_logger().trace(
|
||||
f"Status created: {device_id}.{property_name} = {msg.data}"
|
||||
)
|
||||
else:
|
||||
self.lab_logger().debug(
|
||||
f"[Host Node] Status updated: {device_id}.{property_name} = {msg.data}"
|
||||
f"Status updated: {device_id}.{property_name} = {msg.data}"
|
||||
)
|
||||
|
||||
def send_goal(
|
||||
@@ -667,20 +689,34 @@ class HostNode(BaseROS2DeviceNode):
|
||||
result_msg = future.result().result
|
||||
result_data = convert_from_ros_msg(result_msg)
|
||||
status = "success"
|
||||
return_info_str = result_data.get("return_info")
|
||||
|
||||
if return_info_str is not None:
|
||||
try:
|
||||
ret = json.loads(result_data.get("return_info", "{}")) # 确保返回信息是有效的JSON
|
||||
ret = json.loads(return_info_str)
|
||||
suc = ret.get("suc", False)
|
||||
if not suc:
|
||||
status = "failed"
|
||||
except json.JSONDecodeError:
|
||||
status = "failed"
|
||||
self.lab_logger().info(f"[Host Node] Result for {action_id} ({uuid_str}): success")
|
||||
else:
|
||||
# 无 return_info 字段时，回退到 success 字段（若存在）
|
||||
suc_field = result_data.get("success")
|
||||
if isinstance(suc_field, bool):
|
||||
status = "success" if suc_field else "failed"
|
||||
return_info_str = serialize_result_info("", suc_field, result_data)
|
||||
else:
|
||||
# 最保守的回退：标记失败并返回空JSON
|
||||
status = "failed"
|
||||
return_info_str = serialize_result_info("缺少return_info", False, result_data)
|
||||
|
||||
self.lab_logger().info(f"[Host Node] Result for {action_id} ({uuid_str}): {status}")
|
||||
self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
|
||||
|
||||
if uuid_str:
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_job_status"):
|
||||
bridge.publish_job_status(result_data, uuid_str, status, result_data.get("return_info", "{}"))
|
||||
bridge.publish_job_status(result_data, uuid_str, status, return_info_str)
|
||||
|
||||
def cancel_goal(self, goal_uuid: str) -> None:
|
||||
"""取消目标"""
|
||||
@@ -809,10 +845,19 @@ class HostNode(BaseROS2DeviceNode):
|
||||
success = bool(r)
|
||||
|
||||
response.success = success
|
||||
|
||||
if success:
|
||||
from unilabos.resources.graphio import physical_setup_graph
|
||||
for resource in resources:
|
||||
if resource.get("id") not in physical_setup_graph.nodes:
|
||||
physical_setup_graph.add_node(resource["id"], **resource)
|
||||
else:
|
||||
physical_setup_graph.nodes[resource["id"]]["data"].update(resource["data"])
|
||||
|
||||
self.lab_logger().info(f"[Host Node-Resource] Add request completed, success: {success}")
|
||||
return response
|
||||
|
||||
def _resource_get_callback(self, request, response):
|
||||
def _resource_get_callback(self, request: ResourceGet.Request, response: ResourceGet.Response):
|
||||
"""
|
||||
获取资源回调
|
||||
|
||||
|
||||
@@ -1,8 +1,12 @@
|
||||
import json
|
||||
import time
|
||||
import traceback
|
||||
from pprint import pprint, saferepr, pformat
|
||||
from typing import Union
|
||||
|
||||
import rclpy
|
||||
from rosidl_runtime_py import message_to_ordereddict
|
||||
|
||||
from unilabos.messages import * # type: ignore # protocol names
|
||||
from rclpy.action import ActionServer, ActionClient
|
||||
from rclpy.action.server import ServerGoalHandle
|
||||
@@ -88,6 +92,9 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
if device_config.get("type", "device") != "device":
|
||||
continue
|
||||
# 设置硬件接口代理
|
||||
if device_id not in self.sub_devices:
|
||||
self.lab_logger().error(f"[Protocol Node] {device_id} 还没有正确初始化，跳过...")
|
||||
continue
|
||||
d = self.sub_devices[device_id]
|
||||
if d:
|
||||
hardware_interface = d.ros_node_instance._hardware_interface
|
||||
@@ -139,6 +146,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
# 为子设备的每个动作创建动作客户端
|
||||
if d is not None and hasattr(d, "ros_node_instance"):
|
||||
node = d.ros_node_instance
|
||||
node.resource_tracker = self.resource_tracker # 站内应当共享资源跟踪器
|
||||
for action_name, action_mapping in node._action_value_mappings.items():
|
||||
if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith("UniLabJsonCommand"):
|
||||
continue
|
||||
@@ -151,7 +159,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
except Exception as ex:
|
||||
self.lab_logger().error(f"创建动作客户端失败: {action_id}, 错误: {ex}")
|
||||
continue
|
||||
self.lab_logger().debug(f"为子设备 {device_id} 创建动作客户端: {action_name}")
|
||||
self.lab_logger().trace(f"为子设备 {device_id} 创建动作客户端: {action_name}")
|
||||
return d
|
||||
|
||||
def create_ros_action_server(self, action_name, action_value_mapping):
|
||||
@@ -171,7 +179,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
)
|
||||
|
||||
self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")
|
||||
self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
|
||||
|
||||
def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
|
||||
async def execute_protocol(goal_handle: ServerGoalHandle):
|
||||
@@ -182,6 +190,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
protocol_return_value = None
|
||||
self.get_logger().info(f"Executing {protocol_name} action...")
|
||||
action_value_mapping = self._action_value_mappings[protocol_name]
|
||||
step_results = []
|
||||
try:
|
||||
print("+" * 30)
|
||||
print(protocol_steps_generator)
|
||||
@@ -209,22 +218,26 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
[convert_from_ros_msg(rs) for rs in response.resources]
|
||||
)
|
||||
|
||||
self.lab_logger().info(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
|
||||
self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
|
||||
|
||||
from unilabos.resources.graphio import physical_setup_graph
|
||||
|
||||
self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
|
||||
protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
|
||||
|
||||
self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")
|
||||
logs = []
|
||||
for step in protocol_steps:
|
||||
if isinstance(step, dict) and "log_message" in step.get("action_kwargs", {}):
|
||||
logs.append(step)
|
||||
elif isinstance(step, list):
|
||||
logs.append(step)
|
||||
self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: "
|
||||
f"{json.dumps(logs, indent=4, ensure_ascii=False)}")
|
||||
|
||||
time_start = time.time()
|
||||
time_overall = 100
|
||||
self._busy = True
|
||||
|
||||
# 逐步执行工作流
|
||||
step_results = []
|
||||
for i, action in enumerate(protocol_steps):
|
||||
# self.get_logger().info(f"Running step {i + 1}: {action}")
|
||||
if isinstance(action, dict):
|
||||
@@ -235,6 +248,9 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
else:
|
||||
result = await self.execute_single_action(**action)
|
||||
step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
|
||||
ret_info = json.loads(getattr(result, "return_info", "{}"))
|
||||
if not ret_info.get("suc", False):
|
||||
raise RuntimeError(f"Step {i + 1} failed.")
|
||||
elif isinstance(action, list):
|
||||
# 如果是并行动作，同时执行
|
||||
actions = action
|
||||
@@ -272,11 +288,10 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
|
||||
except Exception as e:
|
||||
# 捕获并记录错误信息
|
||||
execution_error = traceback.format_exc()
|
||||
str_step_results = [{k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v for k, v in i.items()} for i in step_results]
|
||||
execution_error = f"{traceback.format_exc()}\n\nStep Result: {pformat(str_step_results)}"
|
||||
execution_success = False
|
||||
error(f"协议 {protocol_name} 执行失败")
|
||||
error(traceback.format_exc())
|
||||
self.lab_logger().error(f"协议执行出错: {str(e)}")
|
||||
self.lab_logger().error(f"协议 {protocol_name} 执行出错: {str(e)} \n{traceback.format_exc()}")
|
||||
|
||||
# 设置动作失败
|
||||
goal_handle.abort()
|
||||
@@ -302,7 +317,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
serialize_result_info(execution_error, execution_success, protocol_return_value),
|
||||
)
|
||||
|
||||
self.lab_logger().info(f"🤩🤩🤩🤩🤩🤩协议 {protocol_name} 完成并返回结果😎😎😎😎😎😎")
|
||||
self.lab_logger().info(f"协议 {protocol_name} 完成并返回结果")
|
||||
return result
|
||||
|
||||
return execute_protocol
|
||||
|
||||
86
unilabos/ros/nodes/presets/workstation.py
Normal file
86
unilabos/ros/nodes/presets/workstation.py
Normal file
@@ -0,0 +1,86 @@
|
||||
import collections
|
||||
from typing import Union, Dict, Any, Optional
|
||||
|
||||
from unilabos_msgs.msg import Resource
|
||||
from pylabrobot.resources import Resource as PLRResource, Plate, TipRack, Coordinate
|
||||
from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||||
|
||||
|
||||
class WorkStationContainer(Plate, TipRack):
|
||||
"""
|
||||
WorkStation 专用 Container 类，继承自 Plate和TipRack
|
||||
注意这个物料必须通过plr_additional_res_reg.py注册到edge，才能正常序列化
|
||||
"""
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, ordering: collections.OrderedDict, model: Optional[str] = None,):
|
||||
"""
|
||||
这里的初始化入参要和plr的保持一致
|
||||
"""
|
||||
super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
|
||||
self._unilabos_state = {} # 必须有此行，自己的类描述的是物料的
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""从给定的状态加载工作台信息。"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
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）
|
||||
return data
|
||||
|
||||
|
||||
def get_workstation_plate_resource(name: str) -> PLRResource: # 要给定一个返回plr的方法
|
||||
"""
|
||||
用于获取一些模板，例如返回一个带有特定信息/子物料的 Plate，这里需要到注册表注册，例如unilabos/registry/resources/organic/workstation.yaml
|
||||
可以直接运行该函数或者利用注册表补全机制，来检查是否资源出错
|
||||
:param name: 资源名称
|
||||
:return: Resource对象
|
||||
"""
|
||||
plate = WorkStationContainer(name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
|
||||
tip_rack = WorkStationContainer("tip_rack_inside_plate", size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict())
|
||||
plate.assign_child_resource(tip_rack, Coordinate.zero())
|
||||
return plate
|
||||
|
||||
|
||||
class WorkStationExample(ROS2ProtocolNode):
|
||||
def __init__(self,
|
||||
# 你可以在这里增加任意的参数，对应启动json填写相应的参数内容
|
||||
device_id: str,
|
||||
children: dict,
|
||||
protocol_type: Union[str, list[str]],
|
||||
resource_tracker: DeviceNodeResourceTracker
|
||||
):
|
||||
super().__init__(device_id, children, protocol_type, resource_tracker)
|
||||
|
||||
def create_resource(
|
||||
self,
|
||||
resource_tracker: DeviceNodeResourceTracker,
|
||||
resources: list[Resource],
|
||||
bind_parent_id: str,
|
||||
bind_location: dict[str, float],
|
||||
liquid_input_slot: list[int],
|
||||
liquid_type: list[str],
|
||||
liquid_volume: list[int],
|
||||
slot_on_deck: int,
|
||||
) -> Dict[str, Any]:
|
||||
return { # edge侧返回给前端的创建物料的结果。云端调用初始化瓶子等。执行该函数时，物料已经上报给云端，一般不需要继承使用
|
||||
|
||||
}
|
||||
|
||||
def transfer_bottle(self, tip_rack: PLRResource, base_plate: PLRResource): # 使用自定义物料的举例
|
||||
"""
|
||||
将tip_rack assign给base_plate，两个入参都得是PLRResource，unilabos会代替当前物料操作，自动刷新他们的父子关系等状态
|
||||
"""
|
||||
pass
|
||||
|
||||
def trigger_resource_update(self, from_plate: PLRResource, to_base_plate: PLRResource):
|
||||
"""
|
||||
有些时候物料发生了子设备的迁移，一般对该设备的最大一级的物料进行操作，例如要将A物料搬移到B物料上，他们不共同拥有一个物料
|
||||
该步骤操作结束后，会主动刷新from_plate的父物料，与to_base_plate的父物料（如没有则刷新自身）
|
||||
|
||||
"""
|
||||
to_base_plate.assign_child_resource(from_plate, Coordinate.zero())
|
||||
pass
|
||||
|
||||
@@ -36,7 +36,9 @@ class DeviceNodeResourceTracker(object):
|
||||
|
||||
def figure_resource(self, query_resource, try_mode=False):
|
||||
if isinstance(query_resource, list):
|
||||
return [self.figure_resource(r) for r in query_resource]
|
||||
return [self.figure_resource(r, try_mode) for r in query_resource]
|
||||
elif isinstance(query_resource, dict) and "id" not in query_resource and "name" not in query_resource: # 临时处理，要删除的，driver有太多类型错误标注
|
||||
return [self.figure_resource(r, try_mode) for r in query_resource.values()]
|
||||
res_id = query_resource.id if hasattr(query_resource, "id") else (query_resource.get("id") if isinstance(query_resource, dict) else None)
|
||||
res_name = query_resource.name if hasattr(query_resource, "name") else (query_resource.get("name") if isinstance(query_resource, dict) else None)
|
||||
res_identifier = res_id if res_id else res_name
|
||||
|
||||
@@ -51,7 +51,7 @@ class DeviceClassCreator(Generic[T]):
|
||||
"""
|
||||
if self.device_instance is not None:
|
||||
for c in self.children.values():
|
||||
if c["type"] == "container":
|
||||
if c["type"] != "device":
|
||||
self.resource_tracker.add_resource(c)
|
||||
|
||||
|
||||
|
||||
@@ -17,6 +17,7 @@ class EnvironmentChecker:
|
||||
# 定义必需的包及其安装名称的映射
|
||||
self.required_packages = {
|
||||
# 包导入名 : pip安装名
|
||||
# "pymodbus.framer.FramerType": "pymodbus==3.9.2",
|
||||
"paho.mqtt": "paho-mqtt",
|
||||
"opentrons_shared_data": "opentrons_shared_data",
|
||||
}
|
||||
|
||||
@@ -7,6 +7,10 @@ import atexit
|
||||
import inspect
|
||||
from typing import Tuple, cast
|
||||
|
||||
# 添加TRACE级别到logging模块
|
||||
TRACE_LEVEL = 5
|
||||
logging.addLevelName(TRACE_LEVEL, "TRACE")
|
||||
|
||||
|
||||
class CustomRecord:
|
||||
custom_stack_info: Tuple[str, int, str, str]
|
||||
@@ -44,11 +48,13 @@ class ColoredFormatter(logging.Formatter):
|
||||
"GRAY": "\033[37m", # 灰色
|
||||
"WHITE": "\033[97m", # 白色
|
||||
"BLACK": "\033[30m", # 黑色
|
||||
"TRACE_LEVEL": "\033[1;90m", # 加粗深灰色
|
||||
"DEBUG_LEVEL": "\033[1;36m", # 加粗青色
|
||||
"INFO_LEVEL": "\033[1;32m", # 加粗绿色
|
||||
"WARNING_LEVEL": "\033[1;33m", # 加粗黄色
|
||||
"ERROR_LEVEL": "\033[1;31m", # 加粗红色
|
||||
"CRITICAL_LEVEL": "\033[1;35m", # 加粗紫色
|
||||
"TRACE_TEXT": "\033[90m", # 深灰色
|
||||
"DEBUG_TEXT": "\033[37m", # 灰色
|
||||
"INFO_TEXT": "\033[97m", # 白色
|
||||
"WARNING_TEXT": "\033[33m", # 黄色
|
||||
@@ -148,8 +154,8 @@ def configure_logger(loglevel=None):
|
||||
"""配置日志记录器
|
||||
|
||||
Args:
|
||||
loglevel: 日志级别，可以是字符串（'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'）
|
||||
或logging模块的常量（如logging.DEBUG）
|
||||
loglevel: 日志级别，可以是字符串（'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'）
|
||||
或logging模块的常量（如logging.DEBUG）或TRACE_LEVEL
|
||||
"""
|
||||
# 获取根日志记录器
|
||||
root_logger = logging.getLogger()
|
||||
@@ -158,6 +164,9 @@ def configure_logger(loglevel=None):
|
||||
if loglevel is not None:
|
||||
if isinstance(loglevel, str):
|
||||
# 将字符串转换为logging级别
|
||||
if loglevel.upper() == "TRACE":
|
||||
numeric_level = TRACE_LEVEL
|
||||
else:
|
||||
numeric_level = getattr(logging, loglevel.upper(), None)
|
||||
if not isinstance(numeric_level, int):
|
||||
print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG")
|
||||
@@ -318,9 +327,29 @@ def critical(msg, *args, stack_level=0, **kwargs):
|
||||
logger.critical(msg, *args, **kwargs)
|
||||
|
||||
|
||||
def trace(msg, *args, stack_level=0, **kwargs):
|
||||
"""
|
||||
记录TRACE级别日志（比DEBUG级别更低）
|
||||
|
||||
Args:
|
||||
msg: 日志消息
|
||||
stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
|
||||
*args, **kwargs: 传递给logger.log的其他参数
|
||||
"""
|
||||
if stack_level > 0:
|
||||
caller_info = _get_caller_info(stack_level)
|
||||
extra = kwargs.get("extra", {})
|
||||
extra["custom_stack_info"] = caller_info
|
||||
kwargs["extra"] = extra
|
||||
logger.log(TRACE_LEVEL, msg, *args, **kwargs)
|
||||
|
||||
|
||||
logger.trace = trace
|
||||
|
||||
# 测试日志输出（如果直接运行此文件）
|
||||
if __name__ == "__main__":
|
||||
print("测试不同日志级别的颜色输出:")
|
||||
trace("这是一条跟踪日志 (TRACE级别显示为深灰色，其他文本也为深灰色)")
|
||||
debug("这是一条调试日志 (DEBUG级别显示为蓝色，其他文本为灰色)")
|
||||
info("这是一条信息日志 (INFO级别显示为绿色，其他文本为白色)")
|
||||
warning("这是一条警告日志 (WARNING级别显示为黄色，其他文本也为黄色)")
|
||||
|
||||
Reference in New Issue
Block a user