From 0e2fdb5695897e4eff9b5ce5e679060ec0928cc7 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Thu, 5 Jun 2025 23:00:41 +0800 Subject: [PATCH] =?UTF-8?q?=E8=A7=84=E8=8C=83=E6=A8=A1=E6=8B=9F=E8=AE=BE?= =?UTF-8?q?=E5=A4=87=E4=BB=A3=E7=A0=81=E4=B8=8E=E6=B3=A8=E5=86=8C=E8=A1=A8?= =?UTF-8?q?=E4=BF=A1=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- test/experiments/mock_devices/mock_all.json | 235 ++++++ .../mock_chiller.json} | 2 +- .../mock_filter.json} | 2 +- .../mock_heater.json} | 2 +- .../mock_pump.json} | 0 .../mock_rotavap.json} | 2 +- .../mock_separator.json} | 2 +- .../mock_solenoid_valve.json} | 2 +- .../mock_stirrer.json} | 2 +- .../mock_vacuum.json} | 2 +- unilabos/devices/Mock/MockChiller/__init__.py | 0 .../devices/Mock/MockFilter/MockFilter.py | 167 ----- unilabos/devices/Mock/MockFilter/__init__.py | 0 .../devices/Mock/MockHeater/MockHeater.py | 199 ----- unilabos/devices/Mock/MockHeater/__init__.py | 0 unilabos/devices/Mock/MockPump/MockPump.py | 414 ---------- unilabos/devices/Mock/MockPump/__init__.py | 0 .../devices/Mock/MockRotavap/MockRotavap.py | 439 ----------- unilabos/devices/Mock/MockRotavap/__init__.py | 0 .../devices/Mock/MockSeparator/__init__.py | 0 .../MockSolenoidValve/MockSolenoidValve.py | 89 --- .../Mock/MockSolenoidValve/__init__.py | 0 .../devices/Mock/MockStirrer/MockStirrer.py | 479 ------------ unilabos/devices/Mock/MockStirrer/__init__.py | 0 .../devices/Mock/MockVacuum/MockVacuum.py | 408 ---------- unilabos/devices/Mock/MockVacuum/__init__.py | 0 .../MockChiller.py => mock_chiller.py} | 202 ++--- unilabos/devices/Mock/mock_filter.py | 170 +++++ unilabos/devices/Mock/mock_heater.py | 202 +++++ unilabos/devices/Mock/mock_pump.py | 414 ++++++++++ unilabos/devices/Mock/mock_rotavap.py | 443 +++++++++++ .../MockSeparator.py => mock_separator.py} | 22 +- unilabos/devices/Mock/mock_solenoid_valve.py | 89 +++ unilabos/devices/Mock/mock_stirrer.py | 482 ++++++++++++ unilabos/devices/Mock/mock_vacuum.py | 410 ++++++++++ unilabos/registry/devices/MockFilter.yaml | 70 -- unilabos/registry/devices/MockHeater.yaml | 65 -- unilabos/registry/devices/MockPump.yaml | 107 --- unilabos/registry/devices/MockRotavap.yaml | 114 --- unilabos/registry/devices/MockSeparator.yaml | 61 -- .../registry/devices/MockSolenoidValve.yaml | 41 - unilabos/registry/devices/MockStirrer.yaml | 100 --- unilabos/registry/devices/MockVacuum.yaml | 92 --- unilabos/registry/devices/mock_devices.yaml | 708 ++++++++++++++++++ unilabos/registry/devices/temperature.yaml | 54 -- 45 files changed, 3276 insertions(+), 3016 deletions(-) create mode 100644 test/experiments/mock_devices/mock_all.json rename test/experiments/{MockChiller.json => mock_devices/mock_chiller.json} (95%) rename test/experiments/{MockFilter.json => mock_devices/mock_filter.json} (95%) rename test/experiments/{MockHeater.json => mock_devices/mock_heater.json} (95%) rename test/experiments/{MockPump.json => mock_devices/mock_pump.json} (100%) rename test/experiments/{MockRotavap.json => mock_devices/mock_rotavap.json} (96%) rename test/experiments/{MockSeperator.json => mock_devices/mock_separator.json} (94%) rename test/experiments/{MockSolenoidValve.json => mock_devices/mock_solenoid_valve.json} (92%) rename test/experiments/{MockStirrer.json => mock_devices/mock_stirrer.json} (96%) rename test/experiments/{MockVacuum.json => mock_devices/mock_vacuum.json} (95%) delete mode 100644 unilabos/devices/Mock/MockChiller/__init__.py delete mode 100644 unilabos/devices/Mock/MockFilter/MockFilter.py delete mode 100644 unilabos/devices/Mock/MockFilter/__init__.py delete mode 100644 unilabos/devices/Mock/MockHeater/MockHeater.py delete mode 100644 unilabos/devices/Mock/MockHeater/__init__.py delete mode 100644 unilabos/devices/Mock/MockPump/MockPump.py delete mode 100644 unilabos/devices/Mock/MockPump/__init__.py delete mode 100644 unilabos/devices/Mock/MockRotavap/MockRotavap.py delete mode 100644 unilabos/devices/Mock/MockRotavap/__init__.py delete mode 100644 unilabos/devices/Mock/MockSeparator/__init__.py delete mode 100644 unilabos/devices/Mock/MockSolenoidValve/MockSolenoidValve.py delete mode 100644 unilabos/devices/Mock/MockSolenoidValve/__init__.py delete mode 100644 unilabos/devices/Mock/MockStirrer/MockStirrer.py delete mode 100644 unilabos/devices/Mock/MockStirrer/__init__.py delete mode 100644 unilabos/devices/Mock/MockVacuum/MockVacuum.py delete mode 100644 unilabos/devices/Mock/MockVacuum/__init__.py rename unilabos/devices/Mock/{MockChiller/MockChiller.py => mock_chiller.py} (51%) create mode 100644 unilabos/devices/Mock/mock_filter.py create mode 100644 unilabos/devices/Mock/mock_heater.py create mode 100644 unilabos/devices/Mock/mock_pump.py create mode 100644 unilabos/devices/Mock/mock_rotavap.py rename unilabos/devices/Mock/{MockSeparator/MockSeparator.py => mock_separator.py} (89%) create mode 100644 unilabos/devices/Mock/mock_solenoid_valve.py create mode 100644 unilabos/devices/Mock/mock_stirrer.py create mode 100644 unilabos/devices/Mock/mock_vacuum.py delete mode 100644 unilabos/registry/devices/MockFilter.yaml delete mode 100644 unilabos/registry/devices/MockHeater.yaml delete mode 100644 unilabos/registry/devices/MockPump.yaml delete mode 100644 unilabos/registry/devices/MockRotavap.yaml delete mode 100644 unilabos/registry/devices/MockSeparator.yaml delete mode 100644 unilabos/registry/devices/MockSolenoidValve.yaml delete mode 100644 unilabos/registry/devices/MockStirrer.yaml delete mode 100644 unilabos/registry/devices/MockVacuum.yaml create mode 100644 unilabos/registry/devices/mock_devices.yaml diff --git a/test/experiments/mock_devices/mock_all.json b/test/experiments/mock_devices/mock_all.json new file mode 100644 index 0000000..242e87d --- /dev/null +++ b/test/experiments/mock_devices/mock_all.json @@ -0,0 +1,235 @@ +{ + "nodes": [ + { + "id": "MockStirrer1", + "name": "模拟搅拌器", + "children": [], + "parent": null, + "type": "device", + "class": "mock_stirrer", + "position": { + "x": 100, + "y": 100, + "z": 0 + }, + "config": { + "port": "MOCK" + }, + "data": { + "status": "Idle", + "power_state": "Off", + "stir_speed": 0.0, + "target_stir_speed": 0.0, + "stir_state": "Stopped", + "temperature": 25.0, + "target_temperature": 25.0, + "heating_state": "Off", + "heating_power": 0.0, + "max_stir_speed": 2000.0, + "max_temperature": 300.0 + } + }, + { + "id": "MockVacuum1", + "name": "模拟真空泵", + "children": [], + "parent": null, + "type": "device", + "class": "mock_vacuum", + "position": { + "x": 300, + "y": 100, + "z": 0 + }, + "config": { + "port": "MOCK" + }, + "data": { + "status": "Idle", + "power_state": "Off", + "pump_state": "Stopped", + "vacuum_level": 1013.25, + "target_vacuum": 50.0, + "pump_speed": 0.0, + "pump_efficiency": 95.0, + "max_pump_speed": 100.0 + } + }, + { + "id": "MockSeparator1", + "name": "模拟分离器", + "children": [], + "parent": null, + "type": "device", + "class": "mock_separator", + "position": { + "x": 500, + "y": 100, + "z": 0 + }, + "config": { + "port": "MOCK" + }, + "data": { + "status": "Idle", + "power_state": "Off", + "settling_time": 0.0, + "valve_state": "Closed", + "shake_time": 0.0, + "shake_status": "Not Shaking" + } + }, + { + "id": "MockSolenoidValve1", + "name": "模拟电磁阀", + "children": [], + "parent": null, + "type": "device", + "class": "mock_solenoid_valve", + "position": { + "x": 700, + "y": 100, + "z": 0 + }, + "config": { + "port": "MOCK" + }, + "data": { + "status": "Idle", + "valve_status": "Closed" + } + }, + { + "id": "MockRotavap1", + "name": "模拟旋转蒸发器", + "children": [], + "parent": null, + "type": "device", + "class": "mock_rotavap", + "position": { + "x": 100, + "y": 300, + "z": 0 + }, + "config": { + "port": "MOCK" + }, + "data": { + "status": "Idle", + "power_state": "Off", + "rotate_state": "Stopped", + "rotate_time": 0.0, + "rotate_speed": 0.0, + "pump_state": "Stopped", + "pump_time": 0.0, + "vacuum_level": 1013.25, + "temperature": 25.0, + "target_temperature": 25.0, + "success": "True" + } + }, + { + "id": "MockHeater1", + "name": "模拟加热器", + "children": [], + "parent": null, + "type": "device", + "class": "mock_heater", + "position": { + "x": 300, + "y": 300, + "z": 0 + }, + "config": { + "port": "MOCK" + }, + "data": { + "current_temperature": 25.0, + "target_temperature": 25.0, + "status": "Idle", + "power_on": false, + "is_heating": false, + "heating_power": 0.0, + "max_temperature": 300.0 + } + }, + { + "id": "MockPump1", + "name": "模拟泵设备", + "children": [], + "parent": null, + "type": "device", + "class": "mock_pump", + "position": { + "x": 500, + "y": 300, + "z": 0 + }, + "config": { + "port": "MOCK" + }, + "data": { + "status": "Idle", + "power_state": "Off", + "pump_state": "Stopped", + "flow_rate": 0.0, + "target_flow_rate": 0.0, + "pressure": 0.0, + "total_volume": 0.0, + "direction": "Forward", + "max_flow_rate": 100.0, + "max_pressure": 10.0 + } + }, + { + "id": "MockChiller1", + "name": "模拟冷却器", + "children": [], + "parent": null, + "type": "device", + "class": "mock_chiller", + "position": { + "x": 700, + "y": 300, + "z": 0 + }, + "config": { + "port": "MOCK" + }, + "data": { + "current_temperature": 25.0, + "target_temperature": 25.0, + "status": "Idle", + "power_on": false, + "is_cooling": false, + "is_heating": false + } + }, + { + "id": "MockFilter1", + "name": "模拟过滤器", + "children": [], + "parent": null, + "type": "device", + "class": "mock_filter", + "position": { + "x": 400, + "y": 500, + "z": 0 + }, + "config": { + "port": "MOCK" + }, + "data": { + "status": "Idle", + "is_filtering": false, + "filter_efficiency": 95.0, + "flow_rate": 0.0, + "pressure_drop": 0.0, + "filter_life": 100.0, + "power_on": false + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/test/experiments/MockChiller.json b/test/experiments/mock_devices/mock_chiller.json similarity index 95% rename from test/experiments/MockChiller.json rename to test/experiments/mock_devices/mock_chiller.json index 793a98c..ae765c0 100644 --- a/test/experiments/MockChiller.json +++ b/test/experiments/mock_devices/mock_chiller.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "MockChiller", + "class": "mock_chiller", "position": { "x": 620.6111111111111, "y": 171, diff --git a/test/experiments/MockFilter.json b/test/experiments/mock_devices/mock_filter.json similarity index 95% rename from test/experiments/MockFilter.json rename to test/experiments/mock_devices/mock_filter.json index 338ecb4..9cf56f3 100644 --- a/test/experiments/MockFilter.json +++ b/test/experiments/mock_devices/mock_filter.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "MockFilter", + "class": "mock_filter", "position": { "x": 620.6111111111111, "y": 171, diff --git a/test/experiments/MockHeater.json b/test/experiments/mock_devices/mock_heater.json similarity index 95% rename from test/experiments/MockHeater.json rename to test/experiments/mock_devices/mock_heater.json index 680dbc5..13bfd47 100644 --- a/test/experiments/MockHeater.json +++ b/test/experiments/mock_devices/mock_heater.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "MockHeater", + "class": "mock_heater", "position": { "x": 620.6111111111111, "y": 171, diff --git a/test/experiments/MockPump.json b/test/experiments/mock_devices/mock_pump.json similarity index 100% rename from test/experiments/MockPump.json rename to test/experiments/mock_devices/mock_pump.json diff --git a/test/experiments/MockRotavap.json b/test/experiments/mock_devices/mock_rotavap.json similarity index 96% rename from test/experiments/MockRotavap.json rename to test/experiments/mock_devices/mock_rotavap.json index 8693f23..74a8f92 100644 --- a/test/experiments/MockRotavap.json +++ b/test/experiments/mock_devices/mock_rotavap.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "MockRotavap", + "class": "mock_rotavap", "position": { "x": 620.6111111111111, "y": 171, diff --git a/test/experiments/MockSeperator.json b/test/experiments/mock_devices/mock_separator.json similarity index 94% rename from test/experiments/MockSeperator.json rename to test/experiments/mock_devices/mock_separator.json index 85a9cc6..79d854e 100644 --- a/test/experiments/MockSeperator.json +++ b/test/experiments/mock_devices/mock_separator.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "MockSeparator", + "class": "mock_separator", "position": { "x": 620.6111111111111, "y": 171, diff --git a/test/experiments/MockSolenoidValve.json b/test/experiments/mock_devices/mock_solenoid_valve.json similarity index 92% rename from test/experiments/MockSolenoidValve.json rename to test/experiments/mock_devices/mock_solenoid_valve.json index cdf124f..e4e23cc 100644 --- a/test/experiments/MockSolenoidValve.json +++ b/test/experiments/mock_devices/mock_solenoid_valve.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "MockSolenoidValve", + "class": "mock_solenoid_valve", "position": { "x": 620.6111111111111, "y": 171, diff --git a/test/experiments/MockStirrer.json b/test/experiments/mock_devices/mock_stirrer.json similarity index 96% rename from test/experiments/MockStirrer.json rename to test/experiments/mock_devices/mock_stirrer.json index 967a765..201a77f 100644 --- a/test/experiments/MockStirrer.json +++ b/test/experiments/mock_devices/mock_stirrer.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "MockStirrer", + "class": "mock_stirrer", "position": { "x": 620.6111111111111, "y": 171, diff --git a/test/experiments/MockVacuum.json b/test/experiments/mock_devices/mock_vacuum.json similarity index 95% rename from test/experiments/MockVacuum.json rename to test/experiments/mock_devices/mock_vacuum.json index 702832a..31406ae 100644 --- a/test/experiments/MockVacuum.json +++ b/test/experiments/mock_devices/mock_vacuum.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "MockVacuum", + "class": "mock_vacuum", "position": { "x": 620.6111111111111, "y": 171, diff --git a/unilabos/devices/Mock/MockChiller/__init__.py b/unilabos/devices/Mock/MockChiller/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/unilabos/devices/Mock/MockFilter/MockFilter.py b/unilabos/devices/Mock/MockFilter/MockFilter.py deleted file mode 100644 index ce34b8c..0000000 --- a/unilabos/devices/Mock/MockFilter/MockFilter.py +++ /dev/null @@ -1,167 +0,0 @@ -import time -import threading - - -class MockFilter: - def __init__(self, port: str = "MOCK"): - self.port = port - self._status: str = "Idle" - self._is_filtering: bool = False - self._filter_efficiency: float = 95.0 # 过滤效率百分比 - self._flow_rate: float = 0.0 # 流速 L/min - self._pressure_drop: float = 0.0 # 压降 Pa - self._filter_life: float = 100.0 # 滤芯寿命百分比 - self._power_on: bool = False - - # 模拟过滤过程的线程 - self._filter_thread = None - self._running = False - - @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_filtering(self) -> bool: - """是否正在过滤""" - return self._is_filtering - - @property - def filter_efficiency(self) -> float: - """过滤效率""" - return self._filter_efficiency - - @property - def flow_rate(self) -> float: - """流速""" - return self._flow_rate - - @property - def pressure_drop(self) -> float: - """压降""" - return self._pressure_drop - - @property - def filter_life(self) -> float: - """滤芯寿命""" - return self._filter_life - - @property - def power_on(self) -> bool: - """电源状态""" - return self._power_on - - def start_filtering(self, flow_rate: float = 1.0): - """开始过滤 - 需要在注册表添加的设备动作""" - if not self._power_on: - self._status = "Error: Power Off" - return False - - self._flow_rate = flow_rate - self._status = "Starting Filter" - self._start_filter_process() - return True - - 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 = "Idle" - return True - - def power_on_off(self, power_state: str): - """开关机控制""" - if power_state == "on": - self._power_on = True - self._status = "Power On" - else: - self._power_on = False - self._status = "Power Off" - self._stop_filter_process() - self._is_filtering = False - self._flow_rate = 0.0 - - def replace_filter(self): - """更换滤芯""" - self._filter_life = 100.0 - self._filter_efficiency = 95.0 - self._status = "Filter Replaced" - return True - - def _start_filter_process(self): - """启动过滤过程线程""" - if not self._running and self._power_on: - 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): - """过滤过程循环 - 模拟真实过滤器的工作过程""" - while self._running and self._power_on and self._is_filtering: - self._status = "Filtering" - - # 模拟滤芯磨损 - if self._filter_life > 0: - self._filter_life -= 0.1 # 每秒减少0.1%寿命 - - # 根据滤芯寿命调整效率和压降 - life_factor = self._filter_life / 100.0 - self._filter_efficiency = 95.0 * life_factor + 50.0 * (1 - life_factor) - self._pressure_drop = 100.0 + (200.0 * (1 - life_factor)) # 压降随磨损增加 - - # 检查滤芯是否需要更换 - if self._filter_life <= 10.0: - self._status = "Filter Needs Replacement" - - time.sleep(1.0) # 每秒更新一次 - - 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: - """获取完整状态信息""" - return { - "status": self._status, - "is_filtering": self._is_filtering, - "filter_efficiency": self._filter_efficiency, - "flow_rate": self._flow_rate, - "pressure_drop": self._pressure_drop, - "filter_life": self._filter_life, - "power_on": self._power_on - } - - -# 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...") - filter_device.power_on_off("on") - print(f"初始状态: {filter_device.get_status_info()}") - - # 开始过滤 - filter_device.start_filtering(2.0) - - # 模拟运行10秒 - for i in range(10): - time.sleep(1) - print(f"第{i+1}秒: 效率={filter_device.filter_efficiency:.1f}%, 寿命={filter_device.filter_life:.1f}%, 状态={filter_device.status}") - - filter_device.emergency_stop() - print("测试完成") \ No newline at end of file diff --git a/unilabos/devices/Mock/MockFilter/__init__.py b/unilabos/devices/Mock/MockFilter/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/unilabos/devices/Mock/MockHeater/MockHeater.py b/unilabos/devices/Mock/MockHeater/MockHeater.py deleted file mode 100644 index be67353..0000000 --- a/unilabos/devices/Mock/MockHeater/MockHeater.py +++ /dev/null @@ -1,199 +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._power_on: 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 - - # 模拟加热过程的线程 - self._heating_thread = None - self._running = False - - @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 power_on(self) -> bool: - """电源状态""" - return self._power_on - - @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 - - 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 not self._power_on: - self._status = "Error: Power Off" - 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 - - if not self._power_on: - self._status = "Error: Power Off" - return False - - self._heating_power = max(0.0, min(100.0, power)) # 限制在0-100% - return True - - def power_on_off(self, power_state: str): - """开关机控制，接收字符串命令 "On" 或 "Off" """ - power_state = power_state.capitalize() - if power_state not in ["On", "Off"]: - self._status = "Error: Invalid power state" - return "Error" - self._power_on = True if power_state == "On" else False - if self._power_on: - self._status = "Power On" - self._start_heating_control() - else: - self._status = "Power Off" - self._stop_heating_control() - self._is_heating = False - self._heating_power = 0.0 - return "Success" - - def _start_heating_control(self): - """启动加热控制线程""" - if not self._running and self._power_on: - 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 - 模拟真实加热器的温度变化""" - while self._running and self._power_on: - temp_diff = self._target_temperature - self._current_temperature - - if abs(temp_diff) < 0.5: # 温度接近目标值 - self._status = "At Target Temperature" - self._is_heating = False - self._heating_power = 10.0 # 维持温度的最小功率 - elif temp_diff > 0: # 需要加热 - self._status = "Heating" - self._is_heating = True - # 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，加热速度与功率成正比 - heating_rate = self._heating_power / 100.0 * 2.0 # 最大每秒升温2度 - self._current_temperature += heating_rate - else: # 目标温度低于当前温度，自然冷却 - self._status = "Cooling Down" - self._is_heating = False - self._heating_power = 0.0 - # 模拟自然冷却，每秒降低0.2度 - self._current_temperature -= 0.2 - - # 限制温度范围 - self._current_temperature = max(20.0, min(self._max_temperature, self._current_temperature)) - - time.sleep(1.0) # 每秒更新一次 - - 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, - "power_on": self._power_on, - "is_heating": self._is_heating, - "heating_power": self._heating_power, - "max_temperature": self._max_temperature - } - - -# 用于测试的主函数 -if __name__ == "__main__": - heater = MockHeater() - - # 测试基本功能 - print("启动加热器测试...") - heater.power_on_off(True) - 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 - for i in range(15): - time.sleep(1) - print(f"第{i+1}秒: 当前温度={heater.current_temperature:.1f}°C, 功率={heater.heating_power:.1f}%, 状态={heater.status}") - - heater.emergency_stop() - print("测试完成") \ No newline at end of file diff --git a/unilabos/devices/Mock/MockHeater/__init__.py b/unilabos/devices/Mock/MockHeater/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/unilabos/devices/Mock/MockPump/MockPump.py b/unilabos/devices/Mock/MockPump/MockPump.py deleted file mode 100644 index fd8c569..0000000 --- a/unilabos/devices/Mock/MockPump/MockPump.py +++ /dev/null @@ -1,414 +0,0 @@ -import time -import threading - - -class MockPump: - """ - 模拟泵设备类 - - 这个类模拟了一个实验室泵设备的行为，包括流量控制、压力监测、 - 运行状态管理等功能。所有的控制参数都使用字符串类型以提供更好的 - 可读性和扩展性。 - """ - - def __init__(self, port: str = "MOCK"): - """ - 初始化MockPump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 - - # 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) - - # 方向控制属性 - self._direction: str = "Forward" # 泵方向：Forward, Reverse - - # 运行控制线程 - self._pump_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 power_state(self) -> str: - return self._power_state - - @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 direction(self) -> str: - return self._direction - - @property - def max_flow_rate(self) -> float: - return self._max_flow_rate - - @property - def max_pressure(self) -> float: - return self._max_pressure - - # ==================== 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" - else: - self._status = "Power Off" - # 关机时停止所有运行 - self.stop_pump() - - return "Success" - - def set_flow_rate(self, flow_rate: float) -> str: - """ - 设置目标流速 - - Args: - flow_rate (float): 目标流速 (mL/min) - - Returns: - str: 操作结果状态 ("Success", "Error") - """ - try: - flow_rate = float(flow_rate) - except ValueError: - self._status = "Error: Invalid flow rate" - return "Error" - - if self._power_state != "On": - self._status = "Error: Power Off" - return "Error" - - if flow_rate < 0 or flow_rate > self._max_flow_rate: - self._status = f"Error: Flow rate out of range (0-{self._max_flow_rate})" - return "Error" - - self._target_flow_rate = flow_rate - self._status = "Setting Flow Rate" - - # 如果设置了非零流速，自动启动泵 - if flow_rate > 0: - # 自动切换泵状态为 "Running" 以触发操作循环 - self._pump_state = "Running" - self._start_pump_operation() - else: - self.stop_pump() - - return "Success" - - def start_pump(self) -> str: - """ - 启动泵运行 - - Returns: - str: 操作结果状态 ("Success", "Error") - """ - if self._power_state != "On": - self._status = "Error: Power Off" - return "Error" - - if self._target_flow_rate <= 0: - self._status = "Error: No target flow rate set" - return "Error" - - self._pump_state = "Running" - self._status = "Starting Pump" - self._start_pump_operation() - - return "Success" - - def stop_pump(self) -> str: - """ - 停止泵运行 - - Returns: - str: 操作结果状态 ("Success", "Error") - """ - self._pump_state = "Stopped" - self._status = "Stopping Pump" - self._stop_pump_operation() - self._flow_rate = 0.0 - self._pressure = 0.0 - - return "Success" - - def pause_pump(self) -> str: - """ - 暂停泵运行 - - 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 = "Pump Paused" - self._stop_pump_operation() - - return "Success" - - def resume_pump(self) -> str: - """ - 恢复泵运行 - - 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 Pump" - self._start_pump_operation() - - return "Success" - - def set_direction(self, direction: str = "Forward") -> str: - """ - 设置泵方向 - - Args: - direction (str): 泵方向，可选值："Forward", "Reverse" - - Returns: - str: 操作结果状态 ("Success", "Error") - """ - if direction not in ["Forward", "Reverse"]: - self._status = "Error: Invalid direction" - return "Error" - - # 如果泵正在运行，需要先停止 - was_running = self._pump_state == "Running" - if was_running: - self.stop_pump() - time.sleep(0.5) # 等待停止完成 - - self._direction = direction - self._status = f"Direction set to {direction}" - - # 如果之前在运行，重新启动 - if was_running: - self.start_pump() - - return "Success" - - def reset_volume_counter(self) -> str: - """ - 重置累计流量计数器 - - Returns: - str: 操作结果状态 ("Success", "Error") - """ - self._total_volume = 0.0 - self._status = "Volume counter reset" - 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_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): - """ - 启动泵运行线程 - - 这个方法启动一个后台线程来模拟泵的实际运行过程， - 包括流速控制、压力变化和累计流量计算。 - """ - with self._thread_lock: - if not self._running and self._power_state == "On": - 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): - """ - 停止泵运行线程 - - 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._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 - - 这个方法在后台线程中运行，模拟真实泵的工作过程： - 1. 逐步调整流速到目标值 - 2. 根据流速计算压力 - 3. 累计流量统计 - 4. 状态更新 - """ - while self._running and self._power_state == "On" and self._pump_state == "Running": - try: - # 模拟流速调节过程（逐步接近目标流速） - flow_diff = self._target_flow_rate - self._flow_rate - - if abs(flow_diff) < 0.1: # 流速接近目标值 - self._flow_rate = self._target_flow_rate - self._status = "At Target Flow Rate" - else: - # 模拟流速调节，每秒调整10%的差值 - adjustment = flow_diff * 0.1 - self._flow_rate += adjustment - self._status = "Adjusting Flow Rate" - - # 确保流速在合理范围内 - self._flow_rate = max(0.0, min(self._max_flow_rate, self._flow_rate)) - - # 模拟压力变化（压力与流速成正比，加上一些随机波动） - base_pressure = (self._flow_rate / self._max_flow_rate) * self._max_pressure - pressure_variation = 0.1 * base_pressure * (time.time() % 1.0 - 0.5) # ±5%波动 - self._pressure = max(0.0, base_pressure + pressure_variation) - - # 累计流量计算（每秒更新） - if self._flow_rate > 0: - volume_increment = self._flow_rate / 60.0 # 转换为mL/s - if self._direction == "Reverse": - volume_increment = -volume_increment - self._total_volume += volume_increment - - # 压力保护检查 - if self._pressure > self._max_pressure * 0.95: - self._status = "Warning: High Pressure" - - # 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 pump operation: {str(e)}" - break - - # 循环结束时的清理工作 - if self._pump_state == "Running": - 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, - "power_state": self._power_state, - "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, - "direction": self._direction, - "max_flow_rate": self._max_flow_rate, - "max_pressure": self._max_pressure - } - - -# 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...") - pump.power_control("On") - 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.set_direction("Reverse") - - # 继续运行5秒 - for i in range(5): - time.sleep(1) - print(f"反向第{i+1}秒: 累计流量={pump.total_volume:.1f}mL, 方向={pump.direction}") - - pump.emergency_stop() - print("测试完成") - \ No newline at end of file diff --git a/unilabos/devices/Mock/MockPump/__init__.py b/unilabos/devices/Mock/MockPump/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/unilabos/devices/Mock/MockRotavap/MockRotavap.py b/unilabos/devices/Mock/MockRotavap/MockRotavap.py deleted file mode 100644 index 1be4f4c..0000000 --- a/unilabos/devices/Mock/MockRotavap/MockRotavap.py +++ /dev/null @@ -1,439 +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 - self._power_state: str = "Off" # 电源状态：On, Off - - # 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 power_state(self) -> str: - return self._power_state - - @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 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" - self.success = "False" - return "Error" - - self._power_state = power_state - - if power_state == "On": - self._status = "Power On" - self._start_operation() - else: - self._status = "Power Off" - self.stop_all_operations() - - self.success = "True" - return "Success" - - 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") - """ - if self._power_state != "On": - self._status = "Error: Power Off" - self.success = "False" - return "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") - """ - if self._power_state != "On": - self._status = "Error: Power Off" - return "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") - """ - if self._power_state != "On": - self._status = "Error: Power Off" - return "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 self._power_state != "On": - self._status = "Error: Power Off" - return "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 self._power_state != "On": - self._status = "Error: Power Off" - return "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" - return "Success" - - def start_rotation(self) -> str: - """ - 启动旋转 - - Returns: - str: 操作结果状态 ("Success", "Error") - """ - if self._power_state != "On": - self._status = "Error: Power Off" - return "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._power_state != "On": - self._status = "Error: Power Off" - return "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 and self._power_state == "On": - 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 and self._power_state == "On": - 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 - if self._power_state == "On": - 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, - "power_state": self._power_state, - "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...") - rotavap.power_control("On") - 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, 温度={rotavap.temperature:.1f}°C, 真空={rotavap.vacuum_level:.1f}mbar") - - rotavap.emergency_stop() - print("测试完成") \ No newline at end of file diff --git a/unilabos/devices/Mock/MockRotavap/__init__.py b/unilabos/devices/Mock/MockRotavap/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/unilabos/devices/Mock/MockSeparator/__init__.py b/unilabos/devices/Mock/MockSeparator/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/unilabos/devices/Mock/MockSolenoidValve/MockSolenoidValve.py b/unilabos/devices/Mock/MockSolenoidValve/MockSolenoidValve.py deleted file mode 100644 index e8cb79e..0000000 --- a/unilabos/devices/Mock/MockSolenoidValve/MockSolenoidValve.py +++ /dev/null @@ -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") \ No newline at end of file diff --git a/unilabos/devices/Mock/MockSolenoidValve/__init__.py b/unilabos/devices/Mock/MockSolenoidValve/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/unilabos/devices/Mock/MockStirrer/MockStirrer.py b/unilabos/devices/Mock/MockStirrer/MockStirrer.py deleted file mode 100644 index 27f508b..0000000 --- a/unilabos/devices/Mock/MockStirrer/MockStirrer.py +++ /dev/null @@ -1,479 +0,0 @@ -import time -import threading - - -class MockStirrer: - """ - 模拟搅拌器设备类 - - 这个类模拟了一个实验室搅拌器的行为，包括搅拌速度控制、 - 温度监测、加热控制等功能。参考了现有的 HeaterStirrer_DaLong 实现。 - """ - - def __init__(self, port: str = "MOCK"): - """ - 初始化MockStirrer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 - - # 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: - """ - 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 stir_speed(self) -> float: - """ - 当前搅拌速度 - - Returns: - float: 当前搅拌速度 (rpm) - """ - return self._stir_speed - - @property - def target_stir_speed(self) -> float: - """ - 目标搅拌速度 - - Returns: - float: 目标搅拌速度 (rpm) - """ - return self._target_stir_speed - - @property - def stir_state(self) -> str: - """ - 搅拌状态 - - Returns: - str: 搅拌状态 (Running, Stopped) - """ - 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: - """ - 加热状态 - - Returns: - str: 加热状态 (On, Off) - """ - return self._heating_state - - @property - def heating_power(self) -> float: - """ - 加热功率 - - Returns: - float: 加热功率百分比 (0-100) - """ - return self._heating_power - - @property - def max_stir_speed(self) -> float: - """ - 最大搅拌速度 - - Returns: - float: 最大搅拌速度 (rpm) - """ - return self._max_stir_speed - - @property - def max_temperature(self) -> float: - """ - 最大温度 - - Returns: - float: 最大温度 (°C) - """ - 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 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_operation() - else: - self._status = "Power Off" - self.stop_all_operations() - - return "Success" - - def set_stir_speed(self, speed: float) -> str: - """ - 设置搅拌速度 - - Args: - speed (float): 目标搅拌速度 (rpm) - - Returns: - str: 操作结果状态 ("Success", "Error") - """ - speed = float(speed) # 确保传入的速度是浮点数 - if self._power_state != "On": - self._status = "Error: Power Off" - return "Error" - - 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: - """ - 设置目标温度 - - Args: - temperature (float): 目标温度 (°C) - - Returns: - str: 操作结果状态 ("Success", "Error") - """ - temperature = float(temperature) # 确保传入的温度是浮点数 - if self._power_state != "On": - self._status = "Error: Power Off" - return "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 = "Setting Temperature" - - return "Success" - - def start_stirring(self) -> str: - """ - 启动搅拌 - - Returns: - str: 操作结果状态 ("Success", "Error") - """ - if self._power_state != "On": - self._status = "Error: Power Off" - return "Error" - - 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: - """ - 停止搅拌 - - Returns: - str: 操作结果状态 ("Success", "Error") - """ - 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: - """ - 加热控制 - - Args: - heating_state (str): 加热状态，可选值："On", "Off" - - Returns: - str: 操作结果状态 ("Success", "Error") - """ - if self._power_state != "On": - self._status = "Error: Power Off" - return "Error" - - 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: - """ - 停止所有操作 - - Returns: - str: 操作结果状态 ("Success", "Error") - """ - 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): - """ - 启动操作线程 - - 这个方法启动一个后台线程来模拟搅拌器的实际运行过程。 - """ - with self._thread_lock: - if not self._running and self._power_state == "On": - 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，模拟真实搅拌器的工作过程： - 1. 搅拌速度控制 - 2. 温度控制和加热 - 3. 状态更新 - """ - while self._running and self._power_state == "On": - 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 - if self._power_state == "On": - 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, - "power_state": self._power_state, - "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...") - stirrer.power_control("On") - 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, 功率={stirrer.heating_power:.1f}%, 状态={stirrer.status}") - - stirrer.emergency_stop() - print("测试完成") \ No newline at end of file diff --git a/unilabos/devices/Mock/MockStirrer/__init__.py b/unilabos/devices/Mock/MockStirrer/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/unilabos/devices/Mock/MockVacuum/MockVacuum.py b/unilabos/devices/Mock/MockVacuum/MockVacuum.py deleted file mode 100644 index 41bb8ff..0000000 --- a/unilabos/devices/Mock/MockVacuum/MockVacuum.py +++ /dev/null @@ -1,408 +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") \ No newline at end of file diff --git a/unilabos/devices/Mock/MockVacuum/__init__.py b/unilabos/devices/Mock/MockVacuum/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/unilabos/devices/Mock/MockChiller/MockChiller.py b/unilabos/devices/Mock/mock_chiller.py similarity index 51% rename from unilabos/devices/Mock/MockChiller/MockChiller.py rename to unilabos/devices/Mock/mock_chiller.py index faa6ff8..46bb7f0 100644 --- a/unilabos/devices/Mock/MockChiller/MockChiller.py +++ b/unilabos/devices/Mock/mock_chiller.py @@ -1,51 +1,51 @@ -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._power_on: bool = False - - # 模拟温度变化的线程 - self._temperature_thread = None - self._running = False - - @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 power_on(self) -> bool: - """电源状态""" - return self._power_on - - @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 - +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._power_on: bool = False + + # 模拟温度变化的线程 + self._temperature_thread = None + self._running = False + + @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 power_on(self) -> bool: + """电源状态""" + return self._power_on + + @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 + 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""" if not self._power_on: @@ -74,7 +74,7 @@ class MockChiller: # 启动温度控制 self._start_temperature_control() return True - + def power_on_off(self, power_state: str): """开关机控制""" if power_state == "on": @@ -87,27 +87,27 @@ class MockChiller: self._stop_temperature_control() self._is_cooling = False self._is_heating = False - - def _start_temperature_control(self): + + def _start_temperature_control(self): """启动温度控制线程""" if self._power_on: # 移除 not self._running 检查 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) - + 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 and self._power_on: temp_diff = self._target_temperature - self._current_temperature - + if abs(temp_diff) < 0.1: # 将判断范围从0.5改小到0.1 self._status = "At Target Temperature" self._is_cooling = False @@ -124,47 +124,47 @@ class MockChiller: self._is_cooling = False # 模拟加热过程，每秒升高0.3度 self._current_temperature += 0.3 - + # 限制温度范围 self._current_temperature = max(-20.0, min(80.0, self._current_temperature)) - + time.sleep(1.0) # 每秒更新一次 - - 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, - "power_on": self._power_on, - "is_cooling": self._is_cooling, - "is_heating": self._is_heating - } - - -# 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...") - chiller.power_on_off("on") - print(f"初始状态: {chiller.get_status_info()}") - - # 设置目标温度为5度 - chiller.set_temperature(5.0) - - # 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") \ No newline at end of file + + 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, + "power_on": self._power_on, + "is_cooling": self._is_cooling, + "is_heating": self._is_heating, + } + + +# 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...") + chiller.power_on_off("on") + print(f"初始状态: {chiller.get_status_info()}") + + # 设置目标温度为5度 + chiller.set_temperature(5.0) + + # 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") diff --git a/unilabos/devices/Mock/mock_filter.py b/unilabos/devices/Mock/mock_filter.py new file mode 100644 index 0000000..6581ac4 --- /dev/null +++ b/unilabos/devices/Mock/mock_filter.py @@ -0,0 +1,170 @@ +import time +import threading + + +class MockFilter: + def __init__(self, port: str = "MOCK"): + self.port = port + self._status: str = "Idle" + self._is_filtering: bool = False + self._filter_efficiency: float = 95.0 # 过滤效率百分比 + self._flow_rate: float = 0.0 # 流速 L/min + self._pressure_drop: float = 0.0 # 压降 Pa + self._filter_life: float = 100.0 # 滤芯寿命百分比 + self._power_on: bool = False + + # 模拟过滤过程的线程 + self._filter_thread = None + self._running = False + + @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_filtering(self) -> bool: + """是否正在过滤""" + return self._is_filtering + + @property + def filter_efficiency(self) -> float: + """过滤效率""" + return self._filter_efficiency + + @property + def flow_rate(self) -> float: + """流速""" + return self._flow_rate + + @property + def pressure_drop(self) -> float: + """压降""" + return self._pressure_drop + + @property + def filter_life(self) -> float: + """滤芯寿命""" + return self._filter_life + + @property + def power_on(self) -> bool: + """电源状态""" + return self._power_on + + def start_filtering(self, flow_rate: float = 1.0): + """开始过滤 - 需要在注册表添加的设备动作""" + if not self._power_on: + self._status = "Error: Power Off" + return False + + self._flow_rate = flow_rate + self._status = "Starting Filter" + self._start_filter_process() + return True + + 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 = "Idle" + return True + + def power_on_off(self, power_state: str): + """开关机控制""" + if power_state == "on": + self._power_on = True + self._status = "Power On" + else: + self._power_on = False + self._status = "Power Off" + self._stop_filter_process() + self._is_filtering = False + self._flow_rate = 0.0 + + def replace_filter(self): + """更换滤芯""" + self._filter_life = 100.0 + self._filter_efficiency = 95.0 + self._status = "Filter Replaced" + return True + + def _start_filter_process(self): + """启动过滤过程线程""" + if not self._running and self._power_on: + 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): + """过滤过程循环 - 模拟真实过滤器的工作过程""" + while self._running and self._power_on and self._is_filtering: + self._status = "Filtering" + + # 模拟滤芯磨损 + if self._filter_life > 0: + self._filter_life -= 0.1 # 每秒减少0.1%寿命 + + # 根据滤芯寿命调整效率和压降 + life_factor = self._filter_life / 100.0 + self._filter_efficiency = 95.0 * life_factor + 50.0 * (1 - life_factor) + self._pressure_drop = 100.0 + (200.0 * (1 - life_factor)) # 压降随磨损增加 + + # 检查滤芯是否需要更换 + if self._filter_life <= 10.0: + self._status = "Filter Needs Replacement" + + time.sleep(1.0) # 每秒更新一次 + + 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: + """获取完整状态信息""" + return { + "status": self._status, + "is_filtering": self._is_filtering, + "filter_efficiency": self._filter_efficiency, + "flow_rate": self._flow_rate, + "pressure_drop": self._pressure_drop, + "filter_life": self._filter_life, + "power_on": self._power_on, + } + + +# 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...") + filter_device.power_on_off("on") + print(f"初始状态: {filter_device.get_status_info()}") + + # 开始过滤 + filter_device.start_filtering(2.0) + + # 模拟运行10秒 + for i in range(10): + time.sleep(1) + print( + f"第{i+1}秒: 效率={filter_device.filter_efficiency:.1f}%, " + f"寿命={filter_device.filter_life:.1f}%, 状态={filter_device.status}" + ) + + filter_device.emergency_stop() + print("测试完成") diff --git a/unilabos/devices/Mock/mock_heater.py b/unilabos/devices/Mock/mock_heater.py new file mode 100644 index 0000000..6d9abff --- /dev/null +++ b/unilabos/devices/Mock/mock_heater.py @@ -0,0 +1,202 @@ +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._power_on: 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 + + # 模拟加热过程的线程 + self._heating_thread = None + self._running = False + + @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 power_on(self) -> bool: + """电源状态""" + return self._power_on + + @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 + + 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 not self._power_on: + self._status = "Error: Power Off" + 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 + + if not self._power_on: + self._status = "Error: Power Off" + return False + + self._heating_power = max(0.0, min(100.0, power)) # 限制在0-100% + return True + + def power_on_off(self, power_state: str): + """开关机控制，接收字符串命令 "On" 或 "Off" """ + power_state = power_state.capitalize() + if power_state not in ["On", "Off"]: + self._status = "Error: Invalid power state" + return "Error" + self._power_on = True if power_state == "On" else False + if self._power_on: + self._status = "Power On" + self._start_heating_control() + else: + self._status = "Power Off" + self._stop_heating_control() + self._is_heating = False + self._heating_power = 0.0 + return "Success" + + def _start_heating_control(self): + """启动加热控制线程""" + if not self._running and self._power_on: + 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 - 模拟真实加热器的温度变化""" + while self._running and self._power_on: + temp_diff = self._target_temperature - self._current_temperature + + if abs(temp_diff) < 0.5: # 温度接近目标值 + self._status = "At Target Temperature" + self._is_heating = False + self._heating_power = 10.0 # 维持温度的最小功率 + elif temp_diff > 0: # 需要加热 + self._status = "Heating" + self._is_heating = True + # 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，加热速度与功率成正比 + heating_rate = self._heating_power / 100.0 * 2.0 # 最大每秒升温2度 + self._current_temperature += heating_rate + else: # 目标温度低于当前温度，自然冷却 + self._status = "Cooling Down" + self._is_heating = False + self._heating_power = 0.0 + # 模拟自然冷却，每秒降低0.2度 + self._current_temperature -= 0.2 + + # 限制温度范围 + self._current_temperature = max(20.0, min(self._max_temperature, self._current_temperature)) + + time.sleep(1.0) # 每秒更新一次 + + 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, + "power_on": self._power_on, + "is_heating": self._is_heating, + "heating_power": self._heating_power, + "max_temperature": self._max_temperature, + } + + +# 用于测试的主函数 +if __name__ == "__main__": + heater = MockHeater() + + # 测试基本功能 + print("启动加热器测试...") + heater.power_on_off("On") + 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 + for i in range(15): + time.sleep(1) + print( + f"第{i+1}秒: 当前温度={heater.current_temperature:.1f}°C, 功率={heater.heating_power:.1f}%, " + f"状态={heater.status}" + ) + + heater.emergency_stop() + print("测试完成") diff --git a/unilabos/devices/Mock/mock_pump.py b/unilabos/devices/Mock/mock_pump.py new file mode 100644 index 0000000..68acd85 --- /dev/null +++ b/unilabos/devices/Mock/mock_pump.py @@ -0,0 +1,414 @@ +import time +import threading + + +class MockPump: + """ + 模拟泵设备类 + + 这个类模拟了一个实验室泵设备的行为，包括流量控制、压力监测、 + 运行状态管理等功能。所有的控制参数都使用字符串类型以提供更好的 + 可读性和扩展性。 + """ + + def __init__(self, port: str = "MOCK"): + """ + 初始化MockPump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 + + # 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) + + # 方向控制属性 + self._direction: str = "Forward" # 泵方向：Forward, Reverse + + # 运行控制线程 + self._pump_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 power_state(self) -> str: + return self._power_state + + @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 direction(self) -> str: + return self._direction + + @property + def max_flow_rate(self) -> float: + return self._max_flow_rate + + @property + def max_pressure(self) -> float: + return self._max_pressure + + # ==================== 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" + else: + self._status = "Power Off" + # 关机时停止所有运行 + self.stop_pump() + + return "Success" + + def set_flow_rate(self, flow_rate: float) -> str: + """ + 设置目标流速 + + Args: + flow_rate (float): 目标流速 (mL/min) + + Returns: + str: 操作结果状态 ("Success", "Error") + """ + try: + flow_rate = float(flow_rate) + except ValueError: + self._status = "Error: Invalid flow rate" + return "Error" + + if self._power_state != "On": + self._status = "Error: Power Off" + return "Error" + + if flow_rate < 0 or flow_rate > self._max_flow_rate: + self._status = f"Error: Flow rate out of range (0-{self._max_flow_rate})" + return "Error" + + self._target_flow_rate = flow_rate + self._status = "Setting Flow Rate" + + # 如果设置了非零流速，自动启动泵 + if flow_rate > 0: + # 自动切换泵状态为 "Running" 以触发操作循环 + self._pump_state = "Running" + self._start_pump_operation() + else: + self.stop_pump() + + return "Success" + + def start_pump(self) -> str: + """ + 启动泵运行 + + Returns: + str: 操作结果状态 ("Success", "Error") + """ + if self._power_state != "On": + self._status = "Error: Power Off" + return "Error" + + if self._target_flow_rate <= 0: + self._status = "Error: No target flow rate set" + return "Error" + + self._pump_state = "Running" + self._status = "Starting Pump" + self._start_pump_operation() + + return "Success" + + def stop_pump(self) -> str: + """ + 停止泵运行 + + Returns: + str: 操作结果状态 ("Success", "Error") + """ + self._pump_state = "Stopped" + self._status = "Stopping Pump" + self._stop_pump_operation() + self._flow_rate = 0.0 + self._pressure = 0.0 + + return "Success" + + def pause_pump(self) -> str: + """ + 暂停泵运行 + + 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 = "Pump Paused" + self._stop_pump_operation() + + return "Success" + + def resume_pump(self) -> str: + """ + 恢复泵运行 + + 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 Pump" + self._start_pump_operation() + + return "Success" + + def set_direction(self, direction: str = "Forward") -> str: + """ + 设置泵方向 + + Args: + direction (str): 泵方向，可选值："Forward", "Reverse" + + Returns: + str: 操作结果状态 ("Success", "Error") + """ + if direction not in ["Forward", "Reverse"]: + self._status = "Error: Invalid direction" + return "Error" + + # 如果泵正在运行，需要先停止 + was_running = self._pump_state == "Running" + if was_running: + self.stop_pump() + time.sleep(0.5) # 等待停止完成 + + self._direction = direction + self._status = f"Direction set to {direction}" + + # 如果之前在运行，重新启动 + if was_running: + self.start_pump() + + return "Success" + + def reset_volume_counter(self) -> str: + """ + 重置累计流量计数器 + + Returns: + str: 操作结果状态 ("Success", "Error") + """ + self._total_volume = 0.0 + self._status = "Volume counter reset" + 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_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): + """ + 启动泵运行线程 + + 这个方法启动一个后台线程来模拟泵的实际运行过程， + 包括流速控制、压力变化和累计流量计算。 + """ + with self._thread_lock: + if not self._running and self._power_state == "On": + 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): + """ + 停止泵运行线程 + + 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._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 + + 这个方法在后台线程中运行，模拟真实泵的工作过程： + 1. 逐步调整流速到目标值 + 2. 根据流速计算压力 + 3. 累计流量统计 + 4. 状态更新 + """ + while self._running and self._power_state == "On" and self._pump_state == "Running": + try: + # 模拟流速调节过程（逐步接近目标流速） + flow_diff = self._target_flow_rate - self._flow_rate + + if abs(flow_diff) < 0.1: # 流速接近目标值 + self._flow_rate = self._target_flow_rate + self._status = "At Target Flow Rate" + else: + # 模拟流速调节，每秒调整10%的差值 + adjustment = flow_diff * 0.1 + self._flow_rate += adjustment + self._status = "Adjusting Flow Rate" + + # 确保流速在合理范围内 + self._flow_rate = max(0.0, min(self._max_flow_rate, self._flow_rate)) + + # 模拟压力变化（压力与流速成正比，加上一些随机波动） + base_pressure = (self._flow_rate / self._max_flow_rate) * self._max_pressure + pressure_variation = 0.1 * base_pressure * (time.time() % 1.0 - 0.5) # ±5%波动 + self._pressure = max(0.0, base_pressure + pressure_variation) + + # 累计流量计算（每秒更新） + if self._flow_rate > 0: + volume_increment = self._flow_rate / 60.0 # 转换为mL/s + if self._direction == "Reverse": + volume_increment = -volume_increment + self._total_volume += volume_increment + + # 压力保护检查 + if self._pressure > self._max_pressure * 0.95: + self._status = "Warning: High Pressure" + + # 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 pump operation: {str(e)}" + break + + # 循环结束时的清理工作 + if self._pump_state == "Running": + 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, + "power_state": self._power_state, + "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, + "direction": self._direction, + "max_flow_rate": self._max_flow_rate, + "max_pressure": self._max_pressure, + } + + +# 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...") + pump.power_control("On") + 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.set_direction("Reverse") + + # 继续运行5秒 + for i in range(5): + time.sleep(1) + print(f"反向第{i+1}秒: 累计流量={pump.total_volume:.1f}mL, 方向={pump.direction}") + + pump.emergency_stop() + print("测试完成") diff --git a/unilabos/devices/Mock/mock_rotavap.py b/unilabos/devices/Mock/mock_rotavap.py new file mode 100644 index 0000000..bd2f2f8 --- /dev/null +++ b/unilabos/devices/Mock/mock_rotavap.py @@ -0,0 +1,443 @@ +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 + self._power_state: str = "Off" # 电源状态：On, Off + + # 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 power_state(self) -> str: + return self._power_state + + @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 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" + self.success = "False" + return "Error" + + self._power_state = power_state + + if power_state == "On": + self._status = "Power On" + self._start_operation() + else: + self._status = "Power Off" + self.stop_all_operations() + + self.success = "True" + return "Success" + + 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") + """ + if self._power_state != "On": + self._status = "Error: Power Off" + self.success = "False" + return "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") + """ + if self._power_state != "On": + self._status = "Error: Power Off" + return "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") + """ + if self._power_state != "On": + self._status = "Error: Power Off" + return "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 self._power_state != "On": + self._status = "Error: Power Off" + return "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 self._power_state != "On": + self._status = "Error: Power Off" + return "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" + return "Success" + + def start_rotation(self) -> str: + """ + 启动旋转 + + Returns: + str: 操作结果状态 ("Success", "Error") + """ + if self._power_state != "On": + self._status = "Error: Power Off" + return "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._power_state != "On": + self._status = "Error: Power Off" + return "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 and self._power_state == "On": + 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 and self._power_state == "On": + 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 + if self._power_state == "On": + 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, + "power_state": self._power_state, + "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...") + rotavap.power_control("On") + 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") diff --git a/unilabos/devices/Mock/MockSeparator/MockSeparator.py b/unilabos/devices/Mock/mock_separator.py similarity index 89% rename from unilabos/devices/Mock/MockSeparator/MockSeparator.py rename to unilabos/devices/Mock/mock_separator.py index 6e55da9..fdda4ba 100644 --- a/unilabos/devices/Mock/MockSeparator/MockSeparator.py +++ b/unilabos/devices/Mock/mock_separator.py @@ -1,18 +1,19 @@ import time import threading + class MockSeparator: def __init__(self, port: str = "MOCK"): self.port = port # 基本状态属性 - self._power_state: str = "Off" # 电源：On 或 Off - self._status: str = "Idle" # 当前总体状态 + self._power_state: str = "Off" # 电源：On 或 Off + 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） + 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_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 @@ -104,7 +105,7 @@ class MockSeparator: 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() @@ -152,9 +153,10 @@ class MockSeparator: "valve_state": self._valve_state, "settling_time": self._settling_time, "shake_time": self._shake_time, - "shake_status": self._shake_status + "shake_status": self._shake_status, } + # 主函数用于测试 if __name__ == "__main__": separator = MockSeparator() @@ -171,8 +173,12 @@ if __name__ == "__main__": 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, 阀门状态={info['valve_state']}, shake_time={info['shake_time']:.1f}, shake_status={info['shake_status']}") + 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()) \ No newline at end of file + print("最终状态:", separator.get_status_info()) diff --git a/unilabos/devices/Mock/mock_solenoid_valve.py b/unilabos/devices/Mock/mock_solenoid_valve.py new file mode 100644 index 0000000..0f0fbe5 --- /dev/null +++ b/unilabos/devices/Mock/mock_solenoid_valve.py @@ -0,0 +1,89 @@ +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") diff --git a/unilabos/devices/Mock/mock_stirrer.py b/unilabos/devices/Mock/mock_stirrer.py new file mode 100644 index 0000000..6907f7e --- /dev/null +++ b/unilabos/devices/Mock/mock_stirrer.py @@ -0,0 +1,482 @@ +import time +import threading + + +class MockStirrer: + """ + 模拟搅拌器设备类 + + 这个类模拟了一个实验室搅拌器的行为，包括搅拌速度控制、 + 温度监测、加热控制等功能。参考了现有的 HeaterStirrer_DaLong 实现。 + """ + + def __init__(self, port: str = "MOCK"): + """ + 初始化MockStirrer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 + + # 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: + """ + 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 stir_speed(self) -> float: + """ + 当前搅拌速度 + + Returns: + float: 当前搅拌速度 (rpm) + """ + return self._stir_speed + + @property + def target_stir_speed(self) -> float: + """ + 目标搅拌速度 + + Returns: + float: 目标搅拌速度 (rpm) + """ + return self._target_stir_speed + + @property + def stir_state(self) -> str: + """ + 搅拌状态 + + Returns: + str: 搅拌状态 (Running, Stopped) + """ + 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: + """ + 加热状态 + + Returns: + str: 加热状态 (On, Off) + """ + return self._heating_state + + @property + def heating_power(self) -> float: + """ + 加热功率 + + Returns: + float: 加热功率百分比 (0-100) + """ + return self._heating_power + + @property + def max_stir_speed(self) -> float: + """ + 最大搅拌速度 + + Returns: + float: 最大搅拌速度 (rpm) + """ + return self._max_stir_speed + + @property + def max_temperature(self) -> float: + """ + 最大温度 + + Returns: + float: 最大温度 (°C) + """ + 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 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_operation() + else: + self._status = "Power Off" + self.stop_all_operations() + + return "Success" + + def set_stir_speed(self, speed: float) -> str: + """ + 设置搅拌速度 + + Args: + speed (float): 目标搅拌速度 (rpm) + + Returns: + str: 操作结果状态 ("Success", "Error") + """ + speed = float(speed) # 确保传入的速度是浮点数 + if self._power_state != "On": + self._status = "Error: Power Off" + return "Error" + + 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: + """ + 设置目标温度 + + Args: + temperature (float): 目标温度 (°C) + + Returns: + str: 操作结果状态 ("Success", "Error") + """ + temperature = float(temperature) # 确保传入的温度是浮点数 + if self._power_state != "On": + self._status = "Error: Power Off" + return "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 = "Setting Temperature" + + return "Success" + + def start_stirring(self) -> str: + """ + 启动搅拌 + + Returns: + str: 操作结果状态 ("Success", "Error") + """ + if self._power_state != "On": + self._status = "Error: Power Off" + return "Error" + + 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: + """ + 停止搅拌 + + Returns: + str: 操作结果状态 ("Success", "Error") + """ + 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: + """ + 加热控制 + + Args: + heating_state (str): 加热状态，可选值："On", "Off" + + Returns: + str: 操作结果状态 ("Success", "Error") + """ + if self._power_state != "On": + self._status = "Error: Power Off" + return "Error" + + 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: + """ + 停止所有操作 + + Returns: + str: 操作结果状态 ("Success", "Error") + """ + 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): + """ + 启动操作线程 + + 这个方法启动一个后台线程来模拟搅拌器的实际运行过程。 + """ + with self._thread_lock: + if not self._running and self._power_state == "On": + 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，模拟真实搅拌器的工作过程： + 1. 搅拌速度控制 + 2. 温度控制和加热 + 3. 状态更新 + """ + while self._running and self._power_state == "On": + 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 + if self._power_state == "On": + 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, + "power_state": self._power_state, + "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...") + stirrer.power_control("On") + 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") diff --git a/unilabos/devices/Mock/mock_vacuum.py b/unilabos/devices/Mock/mock_vacuum.py new file mode 100644 index 0000000..9e368a9 --- /dev/null +++ b/unilabos/devices/Mock/mock_vacuum.py @@ -0,0 +1,410 @@ +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") diff --git a/unilabos/registry/devices/MockFilter.yaml b/unilabos/registry/devices/MockFilter.yaml deleted file mode 100644 index cb652c9..0000000 --- a/unilabos/registry/devices/MockFilter.yaml +++ /dev/null @@ -1,70 +0,0 @@ -MockFilter: - description: Mock Filter Device - class: - module: unilabos.devices.Mock.MockFilter.MockFilter:MockFilter - type: python - status_types: - status: String - is_filtering: Bool - filter_efficiency: Float64 - flow_rate: Float64 - pressure_drop: Float64 - filter_life: Float64 - power_on: Bool - action_value_mappings: - start_filtering: - type: SendCmd - goal: - command: flow_rate - feedback: {} - result: - success: success - stop_filtering: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - power_on_off: - type: SendCmd - goal: - command: power_state - feedback: {} - result: - success: success - replace_filter: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - schema: - type: object - properties: - status: - type: string - description: Current status of the filter - is_filtering: - type: boolean - description: Whether the filter is actively filtering - filter_efficiency: - type: number - description: Filter efficiency percentage - flow_rate: - type: number - description: Current flow rate in L/min - pressure_drop: - type: number - description: Pressure drop across the filter in Pa - filter_life: - type: number - description: Remaining filter life percentage - power_on: - type: boolean - description: Power state of the device - required: - - status - - is_filtering - - filter_efficiency - - power_on - additionalProperties: false \ No newline at end of file diff --git a/unilabos/registry/devices/MockHeater.yaml b/unilabos/registry/devices/MockHeater.yaml deleted file mode 100644 index b366401..0000000 --- a/unilabos/registry/devices/MockHeater.yaml +++ /dev/null @@ -1,65 +0,0 @@ -MockHeater: - description: Mock Heater Device - class: - module: unilabos.devices.Mock.MockHeater.MockHeater:MockHeater - type: python - status_types: - current_temperature: Float64 - target_temperature: Float64 - status: String - power_on: Bool - is_heating: Bool - heating_power: Float64 - max_temperature: Float64 - action_value_mappings: - set_temperature: - type: SendCmd - goal: - command: temperature - feedback: {} - result: - success: success - set_heating_power: - type: SendCmd - goal: - command: power - feedback: {} - result: - success: success - power_on_off: - type: SendCmd - goal: - command: power_state - feedback: {} - result: - success: success - schema: - type: object - properties: - current_temperature: - type: number - description: Current temperature of the heater - target_temperature: - type: number - description: Target temperature setting - status: - type: string - description: Current status of the device - power_on: - type: boolean - description: Power state of the device - is_heating: - type: boolean - description: Whether the device is actively heating - heating_power: - type: number - description: Current heating power percentage - max_temperature: - type: number - description: Maximum heating temperature limit - required: - - current_temperature - - target_temperature - - status - - power_on - additionalProperties: false \ No newline at end of file diff --git a/unilabos/registry/devices/MockPump.yaml b/unilabos/registry/devices/MockPump.yaml deleted file mode 100644 index 103f3ed..0000000 --- a/unilabos/registry/devices/MockPump.yaml +++ /dev/null @@ -1,107 +0,0 @@ -mock_pump: - description: Mock Pump Device - class: - module: unilabos.devices.Mock.MockPump.MockPump:MockPump - type: python - status_types: - status: String - power_state: String - pump_state: String - flow_rate: Float64 - target_flow_rate: Float64 - pressure: Float64 - total_volume: Float64 - direction: String - max_flow_rate: Float64 - max_pressure: Float64 - action_value_mappings: - power_control: - type: SendCmd - goal: - command: power_state - feedback: {} - result: - success: success - set_flow_rate: - type: SendCmd - goal: - command: flow_rate - feedback: {} - result: - success: success - start_pump: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - stop_pump: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - pause_pump: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - resume_pump: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - set_direction: - type: SendCmd - goal: - command: direction - feedback: {} - result: - success: success - reset_volume_counter: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - schema: - type: object - properties: - status: - type: string - description: Current status of the pump - power_state: - type: string - description: Power state (On/Off) - pump_state: - type: string - description: Pump operation state (Running/Stopped/Paused) - flow_rate: - type: number - description: Current flow rate in mL/min - target_flow_rate: - type: number - description: Target flow rate in mL/min - pressure: - type: number - description: Current pressure in bar - total_volume: - type: number - description: Total accumulated volume in mL - direction: - type: string - description: Pump direction (Forward/Reverse) - max_flow_rate: - type: number - description: Maximum flow rate in mL/min - max_pressure: - type: number - description: Maximum pressure in bar - required: - - status - - power_state - - pump_state - - flow_rate - additionalProperties: false \ No newline at end of file diff --git a/unilabos/registry/devices/MockRotavap.yaml b/unilabos/registry/devices/MockRotavap.yaml deleted file mode 100644 index 61855a1..0000000 --- a/unilabos/registry/devices/MockRotavap.yaml +++ /dev/null @@ -1,114 +0,0 @@ -mock_rotavap: - description: Mock Rotavap Device - class: - module: unilabos.devices.Mock.MockRotavap.MockRotavap:MockRotavap - type: python - status_types: - status: String - power_state: String - rotate_state: String - rotate_time: Float64 - rotate_speed: Float64 - pump_state: String - pump_time: Float64 - vacuum_level: Float64 - temperature: Float64 - target_temperature: Float64 - success: String - action_value_mappings: - set_timer: - type: SendCmd - goal: - command: command - feedback: {} - result: - success: success - power_control: - type: SendCmd - goal: - command: power_state - feedback: {} - result: - success: success - set_rotate_time: - type: SendCmd - goal: - command: time_seconds - feedback: {} - result: - success: success - set_pump_time: - type: SendCmd - goal: - command: time_seconds - feedback: {} - result: - success: success - set_rotate_speed: - type: SendCmd - goal: - command: speed - feedback: {} - result: - success: success - set_temperature: - type: SendCmd - goal: - command: temperature - feedback: {} - result: - success: success - start_rotation: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - start_pump: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - schema: - type: object - properties: - status: - type: string - description: Current status of the rotavap - power_state: - type: string - description: Power state (On/Off) - rotate_state: - type: string - description: Rotation state (Running/Stopped) - rotate_time: - type: number - description: Remaining rotation time in seconds - rotate_speed: - type: number - description: Rotation speed in rpm - pump_state: - type: string - description: Pump state (Running/Stopped) - pump_time: - type: number - description: Remaining pump time in seconds - vacuum_level: - type: number - description: Current vacuum level in mbar - temperature: - type: number - description: Current water bath temperature - target_temperature: - type: number - description: Target water bath temperature - success: - type: string - description: Operation success status - required: - - status - - rotate_time - - pump_time - - temperature - additionalProperties: false \ No newline at end of file diff --git a/unilabos/registry/devices/MockSeparator.yaml b/unilabos/registry/devices/MockSeparator.yaml deleted file mode 100644 index 9c326e9..0000000 --- a/unilabos/registry/devices/MockSeparator.yaml +++ /dev/null @@ -1,61 +0,0 @@ -MockSeparator: - description: Simplified Mock Separator Device - class: - module: unilabos.devices.Mock.MockSeparator.MockSeparator:MockSeparator - type: python - status_types: - status: String - power_state: String - settling_time: Float64 - valve_state: String - shake_time: Float64 - shake_status: String - action_value_mappings: - shake: - type: SendCmd - goal: - command: shake_time - feedback: - status: status - result: - success: success - valve_open_cmd: - type: SendCmd - goal: - command: command - feedback: - status: status - result: - success: success - power_control: - type: SendCmd - goal: - command: power_state - feedback: {} - result: - success: success - schema: - type: object - properties: - status: - type: string - description: Current status of the separator - power_state: - type: string - description: Power state (On/Off) - settling_time: - type: number - description: Settling time in seconds - valve_state: - type: string - description: Valve state (Open/Closed) - shake_time: - type: number - description: Remaining shake time in seconds - shake_status: - type: string - description: Current shake state (e.g. Shaking, Settling, Idle) - required: - - status - - power_state - additionalProperties: false \ No newline at end of file diff --git a/unilabos/registry/devices/MockSolenoidValve.yaml b/unilabos/registry/devices/MockSolenoidValve.yaml deleted file mode 100644 index ca4cbd5..0000000 --- a/unilabos/registry/devices/MockSolenoidValve.yaml +++ /dev/null @@ -1,41 +0,0 @@ -MockSolenoidValve: - description: Mock Solenoid Valve Device - class: - module: unilabos.devices.Mock.MockSolenoidValve.MockSolenoidValve:MockSolenoidValve - type: python - status_types: - status: String - valve_status: String - action_value_mappings: - set_valve_status: - type: SendCmd - goal: - command: status - feedback: {} - result: - success: success - open_valve: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - close_valve: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - schema: - type: object - properties: - status: - type: string - description: Current status of the valve - valve_status: - type: string - description: Valve status (Open/Closed) - required: - - status - - valve_status - additionalProperties: false \ No newline at end of file diff --git a/unilabos/registry/devices/MockStirrer.yaml b/unilabos/registry/devices/MockStirrer.yaml deleted file mode 100644 index 5179b82..0000000 --- a/unilabos/registry/devices/MockStirrer.yaml +++ /dev/null @@ -1,100 +0,0 @@ -MockStirrer: - description: Mock Stirrer Device - class: - module: unilabos.devices.Mock.MockStirrer.MockStirrer:MockStirrer - type: python - status_types: - status: String - power_state: String - stir_speed: Float64 - target_stir_speed: Float64 - stir_state: String - temperature: Float64 - target_temperature: Float64 - heating_state: String - heating_power: Float64 - max_stir_speed: Float64 - max_temperature: Float64 - action_value_mappings: - power_control: - type: SendCmd - goal: - command: power_state - feedback: {} - result: - success: success - set_stir_speed: - type: SendCmd - goal: - command: speed - feedback: {} - result: - success: success - set_temperature: - type: SendCmd - goal: - command: temperature - feedback: {} - result: - success: success - start_stirring: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - stop_stirring: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - heating_control: - type: SendCmd - goal: - command: heating_state - feedback: {} - result: - success: success - schema: - type: object - properties: - status: - type: string - description: Current status of the stirrer - power_state: - type: string - description: Power state (On/Off) - stir_speed: - type: number - description: Current stirring speed in rpm - target_stir_speed: - type: number - description: Target stirring speed in rpm - stir_state: - type: string - description: Stirring state (Running/Stopped) - temperature: - type: number - description: Current temperature in °C - target_temperature: - type: number - description: Target temperature in °C - heating_state: - type: string - description: Heating state (On/Off) - heating_power: - type: number - description: Current heating power percentage - max_stir_speed: - type: number - description: Maximum stirring speed in rpm - max_temperature: - type: number - description: Maximum temperature in °C - required: - - status - - stir_speed - - temperature - - power_state - additionalProperties: false \ No newline at end of file diff --git a/unilabos/registry/devices/MockVacuum.yaml b/unilabos/registry/devices/MockVacuum.yaml deleted file mode 100644 index d5a5b83..0000000 --- a/unilabos/registry/devices/MockVacuum.yaml +++ /dev/null @@ -1,92 +0,0 @@ -MockVacuum: - description: Mock Vacuum Pump Device - class: - module: unilabos.devices.Mock.MockVacuum.MockVacuum:MockVacuum - type: python - status_types: - status: String - power_state: String - pump_state: String - vacuum_level: Float64 - target_vacuum: Float64 - pump_speed: Float64 - pump_efficiency: Float64 - max_pump_speed: Float64 - action_value_mappings: - power_control: - type: SendCmd - goal: - command: power_state - feedback: {} - result: - success: success - set_vacuum_level: - type: SendCmd - goal: - command: vacuum_level - feedback: {} - result: - success: success - start_vacuum: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - stop_vacuum: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - pause_vacuum: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - resume_vacuum: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - vent_to_atmosphere: - type: SendCmd - goal: {} - feedback: {} - result: - success: success - schema: - type: object - properties: - status: - type: string - description: Current status of the vacuum pump - power_state: - type: string - description: Power state (On/Off) - pump_state: - type: string - description: Pump operation state (Running/Stopped/Paused) - vacuum_level: - type: number - description: Current vacuum level in mbar - target_vacuum: - type: number - description: Target vacuum level in mbar - pump_speed: - type: number - description: Current pump speed in L/s - pump_efficiency: - type: number - description: Pump efficiency percentage - max_pump_speed: - type: number - description: Maximum pump speed in L/s - required: - - status - - power_state - - pump_state - - vacuum_level - additionalProperties: false \ No newline at end of file diff --git a/unilabos/registry/devices/mock_devices.yaml b/unilabos/registry/devices/mock_devices.yaml new file mode 100644 index 0000000..ec6b184 --- /dev/null +++ b/unilabos/registry/devices/mock_devices.yaml @@ -0,0 +1,708 @@ +mock_chiller: + description: Mock Chiller Device + class: + module: unilabos.devices.mock.mock_chiller:MockChiller + type: python + status_types: + current_temperature: Float64 + target_temperature: Float64 + status: String + power_on: Bool + is_cooling: Bool + is_heating: Bool + action_value_mappings: + set_temperature: + type: FloatSingleInput + goal: + float_in: temperature + feedback: {} + result: + success: success + power_on_off: + type: StrSingleInput + goal: + string: power_state + feedback: {} + result: + success: success + emergency_stop: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + schema: + type: object + properties: + current_temperature: + type: number + description: Current temperature of the chiller in °C + target_temperature: + type: number + description: Target temperature setting in °C + status: + type: string + description: Current status of the device + power_on: + type: boolean + description: Power state of the device + is_cooling: + type: boolean + description: Whether the device is actively cooling + is_heating: + type: boolean + description: Whether the device is actively heating + required: + - current_temperature + - target_temperature + - status + - power_on + additionalProperties: false +mock_filter: + description: Mock Filter Device + class: + module: unilabos.devices.mock.mock_filter:MockFilter + type: python + status_types: + status: String + is_filtering: Bool + filter_efficiency: Float64 + flow_rate: Float64 + pressure_drop: Float64 + filter_life: Float64 + power_on: Bool + action_value_mappings: + start_filtering: + type: FloatSingleInput + goal: + float_in: flow_rate + feedback: {} + result: + success: success + stop_filtering: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + power_on_off: + type: StrSingleInput + goal: + string: power_state + feedback: {} + result: + success: success + replace_filter: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + schema: + type: object + properties: + status: + type: string + description: Current status of the filter + is_filtering: + type: boolean + description: Whether the filter is actively filtering + filter_efficiency: + type: number + description: Filter efficiency percentage + flow_rate: + type: number + description: Current flow rate in L/min + pressure_drop: + type: number + description: Pressure drop across the filter in Pa + filter_life: + type: number + description: Remaining filter life percentage + power_on: + type: boolean + description: Power state of the device + required: + - status + - is_filtering + - filter_efficiency + - power_on + additionalProperties: false +mock_heater: + description: Mock Heater Device + class: + module: unilabos.devices.mock.mock_heater:MockHeater + type: python + status_types: + current_temperature: Float64 + target_temperature: Float64 + status: String + power_on: Bool + is_heating: Bool + heating_power: Float64 + max_temperature: Float64 + action_value_mappings: + set_temperature: + type: FloatSingleInput + goal: + float_in: temperature + feedback: {} + result: + success: success + set_heating_power: + type: FloatSingleInput + goal: + float_in: power + feedback: {} + result: + success: success + power_on_off: + type: StrSingleInput + goal: + string: power_state + feedback: {} + result: + success: success + schema: + type: object + properties: + current_temperature: + type: number + description: Current temperature of the heater + target_temperature: + type: number + description: Target temperature setting + status: + type: string + description: Current status of the device + power_on: + type: boolean + description: Power state of the device + is_heating: + type: boolean + description: Whether the device is actively heating + heating_power: + type: number + description: Current heating power percentage + max_temperature: + type: number + description: Maximum heating temperature limit + required: + - current_temperature + - target_temperature + - status + - power_on + additionalProperties: false +mock_pump: + description: Mock Pump Device + class: + module: unilabos.devices.mock.mock_pump:MockPump + type: python + status_types: + status: String + power_state: String + pump_state: String + flow_rate: Float64 + target_flow_rate: Float64 + pressure: Float64 + total_volume: Float64 + direction: String + max_flow_rate: Float64 + max_pressure: Float64 + action_value_mappings: + power_control: + type: StrSingleInput + goal: + string: power_state + feedback: {} + result: + success: success + set_flow_rate: + type: FloatSingleInput + goal: + float_in: flow_rate + feedback: {} + result: + success: success + start_pump: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + stop_pump: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + pause_pump: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + resume_pump: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + set_direction: + type: StrSingleInput + goal: + string: direction + feedback: {} + result: + success: success + reset_volume_counter: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + schema: + type: object + properties: + status: + type: string + description: Current status of the pump + power_state: + type: string + description: Power state (On/Off) + pump_state: + type: string + description: Pump operation state (Running/Stopped/Paused) + flow_rate: + type: number + description: Current flow rate in mL/min + target_flow_rate: + type: number + description: Target flow rate in mL/min + pressure: + type: number + description: Current pressure in bar + total_volume: + type: number + description: Total accumulated volume in mL + direction: + type: string + description: Pump direction (Forward/Reverse) + max_flow_rate: + type: number + description: Maximum flow rate in mL/min + max_pressure: + type: number + description: Maximum pressure in bar + required: + - status + - power_state + - pump_state + - flow_rate + additionalProperties: false +mock_rotavap: + description: Mock Rotavap Device + class: + module: unilabos.devices.mock.mock_rotavap:MockRotavap + type: python + status_types: + status: String + power_state: String + rotate_state: String + rotate_time: Float64 + rotate_speed: Float64 + pump_state: String + pump_time: Float64 + vacuum_level: Float64 + temperature: Float64 + target_temperature: Float64 + success: String + action_value_mappings: + set_timer: + type: StrSingleInput + goal: + string: command + feedback: {} + result: + success: success + power_control: + type: StrSingleInput + goal: + string: power_state + feedback: {} + result: + success: success + set_rotate_time: + type: FloatSingleInput + goal: + float_in: time_seconds + feedback: {} + result: + success: success + set_pump_time: + type: FloatSingleInput + goal: + float_in: time_seconds + feedback: {} + result: + success: success + set_rotate_speed: + type: FloatSingleInput + goal: + float_in: speed + feedback: {} + result: + success: success + set_temperature: + type: FloatSingleInput + goal: + float_in: temperature + feedback: {} + result: + success: success + start_rotation: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + start_pump: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + schema: + type: object + properties: + status: + type: string + description: Current status of the rotavap + power_state: + type: string + description: Power state (On/Off) + rotate_state: + type: string + description: Rotation state (Running/Stopped) + rotate_time: + type: number + description: Remaining rotation time in seconds + rotate_speed: + type: number + description: Rotation speed in rpm + pump_state: + type: string + description: Pump state (Running/Stopped) + pump_time: + type: number + description: Remaining pump time in seconds + vacuum_level: + type: number + description: Current vacuum level in mbar + temperature: + type: number + description: Current water bath temperature + target_temperature: + type: number + description: Target water bath temperature + success: + type: string + description: Operation success status + required: + - status + - rotate_time + - pump_time + - temperature + additionalProperties: false +mock_separator: + description: Simplified Mock Separator Device + class: + module: unilabos.devices.mock.mock_separator:MockSeparator + type: python + status_types: + status: String + power_state: String + settling_time: Float64 + valve_state: String + shake_time: Float64 + shake_status: String + action_value_mappings: + shake: + type: FloatSingleInput + goal: + float_in: shake_time + feedback: + status: status + result: + success: success + power_control: + type: StrSingleInput + goal: + string: power_state + feedback: {} + result: + success: success + stop_operations: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + schema: + type: object + properties: + status: + type: string + description: Current status of the separator + power_state: + type: string + description: Power state (On/Off) + settling_time: + type: number + description: Settling time in seconds + valve_state: + type: string + description: Valve state (Open/Closed) + shake_time: + type: number + description: Remaining shake time in seconds + shake_status: + type: string + description: Current shake state (e.g. Shaking, Settling, Idle) + required: + - status + - power_state + additionalProperties: false +mock_solenoid_valve: + description: Mock Solenoid Valve Device + class: + module: unilabos.devices.mock.mock_solenoid_valve:MockSolenoidValve + type: python + status_types: + status: String + valve_status: String + action_value_mappings: + set_valve_status: + type: StrSingleInput + goal: + string: status + feedback: {} + result: + success: success + open_valve: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + close_valve: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + schema: + type: object + properties: + status: + type: string + description: Current status of the valve + valve_status: + type: string + description: Valve status (Open/Closed) + required: + - status + - valve_status + additionalProperties: false +mock_stirrer: + description: Mock Stirrer Device + class: + module: unilabos.devices.mock.mock_stirrer:MockStirrer + type: python + status_types: + status: String + power_state: String + stir_speed: Float64 + target_stir_speed: Float64 + stir_state: String + temperature: Float64 + target_temperature: Float64 + heating_state: String + heating_power: Float64 + max_stir_speed: Float64 + max_temperature: Float64 + action_value_mappings: + power_control: + type: StrSingleInput + goal: + string: power_state + feedback: {} + result: + success: success + set_stir_speed: + type: FloatSingleInput + goal: + float_in: speed + feedback: {} + result: + success: success + set_temperature: + type: FloatSingleInput + goal: + float_in: temperature + feedback: {} + result: + success: success + start_stirring: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + stop_stirring: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + heating_control: + type: StrSingleInput + goal: + string: heating_state + feedback: {} + result: + success: success + schema: + type: object + properties: + status: + type: string + description: Current status of the stirrer + power_state: + type: string + description: Power state (On/Off) + stir_speed: + type: number + description: Current stirring speed in rpm + target_stir_speed: + type: number + description: Target stirring speed in rpm + stir_state: + type: string + description: Stirring state (Running/Stopped) + temperature: + type: number + description: Current temperature in °C + target_temperature: + type: number + description: Target temperature in °C + heating_state: + type: string + description: Heating state (On/Off) + heating_power: + type: number + description: Current heating power percentage + max_stir_speed: + type: number + description: Maximum stirring speed in rpm + max_temperature: + type: number + description: Maximum temperature in °C + required: + - status + - stir_speed + - temperature + - power_state + additionalProperties: false +mock_vacuum: + description: Mock Vacuum Pump Device + class: + module: unilabos.devices.mock.mock_vacuum:MockVacuum + type: python + status_types: + status: String + power_state: String + pump_state: String + vacuum_level: Float64 + target_vacuum: Float64 + pump_speed: Float64 + pump_efficiency: Float64 + max_pump_speed: Float64 + action_value_mappings: + power_control: + type: StrSingleInput + goal: + string: power_state + feedback: {} + result: + success: success + set_vacuum_level: + type: FloatSingleInput + goal: + float_in: vacuum_level + feedback: {} + result: + success: success + start_vacuum: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + stop_vacuum: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + pause_vacuum: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + resume_vacuum: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + vent_to_atmosphere: + type: EmptyIn + goal: {} + feedback: {} + result: + success: success + schema: + type: object + properties: + status: + type: string + description: Current status of the vacuum pump + power_state: + type: string + description: Power state (On/Off) + pump_state: + type: string + description: Pump operation state (Running/Stopped/Paused) + vacuum_level: + type: number + description: Current vacuum level in mbar + target_vacuum: + type: number + description: Target vacuum level in mbar + pump_speed: + type: number + description: Current pump speed in L/s + pump_efficiency: + type: number + description: Pump efficiency percentage + max_pump_speed: + type: number + description: Maximum pump speed in L/s + required: + - status + - power_state + - pump_state + - vacuum_level + additionalProperties: false diff --git a/unilabos/registry/devices/temperature.yaml b/unilabos/registry/devices/temperature.yaml index daaddc6..662ee01 100644 --- a/unilabos/registry/devices/temperature.yaml +++ b/unilabos/registry/devices/temperature.yaml @@ -63,57 +63,3 @@ tempsensor: feedback: {} result: success: success -MockChiller: - description: Mock Chiller Device - class: - module: unilabos.devices.Mock.MockChiller.MockChiller:MockChiller - type: python - status_types: - current_temperature: Float64 - target_temperature: Float64 - status: String - power_on: Bool - is_cooling: Bool - is_heating: Bool - action_value_mappings: - set_temperature: - type: SendCmd - goal: - command: temperature - feedback: {} - result: - success: success - power_on_off: - type: SendCmd - goal: - command: power_state - feedback: {} - result: - success: success - schema: - type: object - properties: - current_temperature: - type: number - description: Current temperature of the chiller - target_temperature: - type: number - description: Target temperature setting - status: - type: string - description: Current status of the device - power_on: - type: boolean - description: Power state of the device - is_cooling: - type: boolean - description: Whether the device is actively cooling - is_heating: - type: boolean - description: Whether the device is actively heating - required: - - current_temperature - - target_temperature - - status - - power_on - additionalProperties: false