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modify devices to use correct executor (sleep, create_task)

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This commit is contained in:
Xuwznln
2025-11-03 15:49:11 +08:00
parent 4c3972820b
commit 0f341e9b4d
16 changed files with 597 additions and 456 deletions
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33
test/registry/example_devices.py
View File

@@ -3,7 +3,8 @@
""" """
import asyncio import asyncio
from typing import Dict, Any, Optional, List from typing import Dict, Any, List
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class SmartPumpController: class SmartPumpController:
@@ -14,6 +15,8 @@ class SmartPumpController:
适用于实验室自动化系统中的液体处理任务。 适用于实验室自动化系统中的液体处理任务。
""" """
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"): def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
""" """
初始化智能泵控制器 初始化智能泵控制器
@@ -30,6 +33,9 @@ class SmartPumpController:
self.calibration_factor = 1.0 self.calibration_factor = 1.0
self.pump_mode = "continuous" # continuous, volume, rate self.pump_mode = "continuous" # continuous, volume, rate
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def connect_device(self, timeout: int = 10) -> bool: def connect_device(self, timeout: int = 10) -> bool:
""" """
连接到泵设备 连接到泵设备
@@ -90,7 +96,7 @@ class SmartPumpController:
pump_time = (volume / flow_rate) * 60 # 转换为秒 pump_time = (volume / flow_rate) * 60 # 转换为秒
self.current_flow_rate = flow_rate self.current_flow_rate = flow_rate
await asyncio.sleep(min(pump_time, 3.0)) # 模拟泵送过程 await self._ros_node.sleep(min(pump_time, 3.0)) # 模拟泵送过程
self.total_volume_pumped += volume self.total_volume_pumped += volume
self.current_flow_rate = 0.0 self.current_flow_rate = 0.0
@@ -170,6 +176,8 @@ class AdvancedTemperatureController:
适用于需要精确温度控制的化学反应和材料处理过程。 适用于需要精确温度控制的化学反应和材料处理过程。
""" """
_ros_node: BaseROS2DeviceNode
def __init__(self, controller_id: str = "temp_controller_01"): def __init__(self, controller_id: str = "temp_controller_01"):
""" """
初始化温度控制器 初始化温度控制器
@@ -185,6 +193,9 @@ class AdvancedTemperatureController:
self.pid_enabled = True self.pid_enabled = True
self.temperature_history: List[Dict] = [] self.temperature_history: List[Dict] = []
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool: def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
""" """
设置目标温度 设置目标温度
@@ -238,7 +249,7 @@ class AdvancedTemperatureController:
} }
) )
await asyncio.sleep(step_time) await self._ros_node.sleep(step_time)
# 保持历史记录不超过100条 # 保持历史记录不超过100条
if len(self.temperature_history) > 100: if len(self.temperature_history) > 100:
@@ -330,6 +341,8 @@ class MultiChannelAnalyzer:
常用于光谱分析、电化学测量等应用场景。 常用于光谱分析、电化学测量等应用场景。
""" """
_ros_node: BaseROS2DeviceNode
def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8): def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
""" """
初始化多通道分析仪 初始化多通道分析仪
@@ -344,6 +357,9 @@ class MultiChannelAnalyzer:
self.is_measuring = False self.is_measuring = False
self.sample_rate = 1000 # Hz self.sample_rate = 1000 # Hz
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool: def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
""" """
配置通道 配置通道
@@ -376,7 +392,7 @@ class MultiChannelAnalyzer:
# 模拟数据采集 # 模拟数据采集
measurements = [] measurements = []
for second in range(duration): for _ in range(duration):
timestamp = asyncio.get_event_loop().time() timestamp = asyncio.get_event_loop().time()
frame_data = {} frame_data = {}
@@ -391,7 +407,7 @@ class MultiChannelAnalyzer:
measurements.append({"timestamp": timestamp, "data": frame_data}) measurements.append({"timestamp": timestamp, "data": frame_data})
await asyncio.sleep(1.0) # 每秒采集一次 await self._ros_node.sleep(1.0) # 每秒采集一次
self.is_measuring = False self.is_measuring = False
@@ -465,6 +481,8 @@ class AutomatedDispenser:
集成称重功能，确保分配精度和重现性。 集成称重功能，确保分配精度和重现性。
""" """
_ros_node: BaseROS2DeviceNode
def __init__(self, dispenser_id: str = "dispenser_01"): def __init__(self, dispenser_id: str = "dispenser_01"):
""" """
初始化自动分配器 初始化自动分配器
@@ -479,6 +497,9 @@ class AutomatedDispenser:
self.container_capacity = 1000.0 # mL self.container_capacity = 1000.0 # mL
self.precision_mode = True self.precision_mode = True
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def move_to_position(self, x: float, y: float, z: float) -> bool: def move_to_position(self, x: float, y: float, z: float) -> bool:
""" """
移动到指定位置 移动到指定位置
@@ -517,7 +538,7 @@ class AutomatedDispenser:
if viscosity == "high": if viscosity == "high":
dispense_time *= 2 # 高粘度液体需要更长时间 dispense_time *= 2 # 高粘度液体需要更长时间
await asyncio.sleep(min(dispense_time, 5.0)) # 最多等待5秒 await self._ros_node.sleep(min(dispense_time, 5.0)) # 最多等待5秒
self.dispensed_total += volume self.dispensed_total += volume

11
unilabos/devices/cnc/grbl_async.py
View File

@@ -12,6 +12,7 @@ from serial import Serial
from serial.serialutil import SerialException from serial.serialutil import SerialException
from unilabos.messages import Point3D from unilabos.messages import Point3D
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class GrblCNCConnectionError(Exception): class GrblCNCConnectionError(Exception):
@@ -32,6 +33,7 @@ class GrblCNCInfo:
class GrblCNCAsync: class GrblCNCAsync:
_status: str = "Offline" _status: str = "Offline"
_position: Point3D = Point3D(x=0.0, y=0.0, z=0.0) _position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
_ros_node: BaseROS2DeviceNode
def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)): def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)):
self.port = port self.port = port
@@ -58,6 +60,9 @@ class GrblCNCAsync:
self._run_future: Optional[Future[Any]] = None self._run_future: Optional[Future[Any]] = None
self._run_lock = Lock() self._run_lock = Lock()
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def _read_all(self): def _read_all(self):
data = self._serial.read_until(b"\n") data = self._serial.read_until(b"\n")
data_decoded = data.decode() data_decoded = data.decode()
@@ -148,7 +153,7 @@ class GrblCNCAsync:
try: try:
await self._query(command) await self._query(command)
while True: while True:
await asyncio.sleep(0.2) # Wait for 0.5 seconds before polling again await self._ros_node.sleep(0.2) # Wait for 0.5 seconds before polling again
status = await self.get_status() status = await self.get_status()
if "Idle" in status: if "Idle" in status:
@@ -214,7 +219,7 @@ class GrblCNCAsync:
self._pose_number = i self._pose_number = i
self.pose_number_remaining = len(points) - i self.pose_number_remaining = len(points) - i
await self.set_position(point) await self.set_position(point)
await asyncio.sleep(0.5) await self._ros_node.sleep(0.5)
self._step_number = -1 self._step_number = -1
async def stop_operation(self): async def stop_operation(self):
@@ -235,7 +240,7 @@ class GrblCNCAsync:
async def open(self): async def open(self):
if self._read_task: if self._read_task:
raise GrblCNCConnectionError raise GrblCNCConnectionError
self._read_task = asyncio.create_task(self._read_loop()) self._read_task = self._ros_node.create_task(self._read_loop())
try: try:
await self.get_status() await self.get_status()

9
unilabos/devices/cnc/mock.py
View File

@@ -2,6 +2,8 @@ import time
import asyncio import asyncio
from pydantic import BaseModel from pydantic import BaseModel
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class Point3D(BaseModel): class Point3D(BaseModel):
x: float x: float
@@ -14,10 +16,15 @@ def d(a: Point3D, b: Point3D) -> float:
class MockCNCAsync: class MockCNCAsync:
_ros_node: BaseROS2DeviceNode["MockCNCAsync"]
def __init__(self): def __init__(self):
self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0) self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
self._status = "Idle" self._status = "Idle"
def post_create(self, ros_node):
self._ros_node = ros_node
@property @property
def position(self) -> Point3D: def position(self) -> Point3D:
return self._position return self._position
@@ -38,5 +45,5 @@ class MockCNCAsync:
self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1) self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1)
self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1) self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1)
self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1) self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1)
await asyncio.sleep(move_time / 20) await self._ros_node.sleep(move_time / 20)
self._status = "Idle" self._status = "Idle"

145
unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
View File

@@ -15,9 +15,12 @@ from typing import List, Optional, Dict, Any, Union, Tuple
from dataclasses import dataclass from dataclasses import dataclass
from abc import ABC, abstractmethod from abc import ABC, abstractmethod
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
# 基础导入 # 基础导入
try: try:
from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well
PYLABROBOT_AVAILABLE = True PYLABROBOT_AVAILABLE = True
except ImportError: except ImportError:
# 如果 pylabrobot 不可用，创建基础的模拟类 # 如果 pylabrobot 不可用，创建基础的模拟类
@@ -42,17 +45,16 @@ except ImportError:
class Well(Resource): class Well(Resource):
pass pass
# LaiYu_Liquid 控制器导入 # LaiYu_Liquid 控制器导入
try: try:
from .controllers.pipette_controller import ( from .controllers.pipette_controller import PipetteController, TipStatus, LiquidClass, LiquidParameters
PipetteController, TipStatus, LiquidClass, LiquidParameters from .controllers.xyz_controller import XYZController, MachineConfig, CoordinateOrigin, MotorAxis
)
from .controllers.xyz_controller import (
XYZController, MachineConfig, CoordinateOrigin, MotorAxis
)
CONTROLLERS_AVAILABLE = True CONTROLLERS_AVAILABLE = True
except ImportError: except ImportError:
CONTROLLERS_AVAILABLE = False CONTROLLERS_AVAILABLE = False
# 创建模拟的控制器类 # 创建模拟的控制器类
class PipetteController: class PipetteController:
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
@@ -71,17 +73,20 @@ except ImportError:
def connect_device(self): def connect_device(self):
return True return True
logger = logging.getLogger(__name__) logger = logging.getLogger(__name__)
class LaiYuLiquidError(RuntimeError): class LaiYuLiquidError(RuntimeError):
"""LaiYu_Liquid 设备异常""" """LaiYu_Liquid 设备异常"""
pass pass
@dataclass @dataclass
class LaiYuLiquidConfig: class LaiYuLiquidConfig:
"""LaiYu_Liquid 设备配置""" """LaiYu_Liquid 设备配置"""
port: str = "/dev/cu.usbserial-3130" # RS485转USB端口 port: str = "/dev/cu.usbserial-3130" # RS485转USB端口
address: int = 1 # 设备地址 address: int = 1 # 设备地址
baudrate: int = 9600 # 波特率 baudrate: int = 9600 # 波特率
@@ -155,7 +160,17 @@ class LaiYuLiquidDeck:
class LaiYuLiquidContainer: class LaiYuLiquidContainer:
"""LaiYu_Liquid 容器类""" """LaiYu_Liquid 容器类"""
def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, container_type: str = "", volume: float = 0.0, max_volume: float = 1000.0, lid_height: float = 0.0): def __init__(
self,
name: str,
size_x: float = 0,
size_y: float = 0,
size_z: float = 0,
container_type: str = "",
volume: float = 0.0,
max_volume: float = 1000.0,
lid_height: float = 0.0,
):
self.name = name self.name = name
self.size_x = size_x self.size_x = size_x
self.size_y = size_y self.size_y = size_y
@@ -197,17 +212,22 @@ class LaiYuLiquidContainer:
def assign_child_resource(self, resource, location=None): def assign_child_resource(self, resource, location=None):
"""分配子资源 - 与 PyLabRobot 资源管理系统兼容""" """分配子资源 - 与 PyLabRobot 资源管理系统兼容"""
if hasattr(resource, 'name'): if hasattr(resource, "name"):
self.child_resources[resource.name] = { self.child_resources[resource.name] = {"resource": resource, "location": location}
'resource': resource,
'location': location
}
class LaiYuLiquidTipRack: class LaiYuLiquidTipRack:
"""LaiYu_Liquid 吸头架类""" """LaiYu_Liquid 吸头架类"""
def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, tip_count: int = 96, tip_volume: float = 1000.0): def __init__(
self,
name: str,
size_x: float = 0,
size_y: float = 0,
size_z: float = 0,
tip_count: int = 96,
tip_volume: float = 1000.0,
):
self.name = name self.name = name
self.size_x = size_x self.size_x = size_x
self.size_y = size_y self.size_y = size_y
@@ -240,10 +260,7 @@ class LaiYuLiquidTipRack:
def assign_child_resource(self, resource, location=None): def assign_child_resource(self, resource, location=None):
"""分配子资源到指定位置""" """分配子资源到指定位置"""
self.child_resources[resource.name] = { self.child_resources[resource.name] = {"resource": resource, "location": location}
'resource': resource,
'location': location
}
def get_module_info(): def get_module_info():
@@ -253,24 +270,17 @@ def get_module_info():
"version": "1.0.0", "version": "1.0.0",
"description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能", "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能",
"author": "UniLabOS Team", "author": "UniLabOS Team",
"capabilities": [ "capabilities": ["移液器控制", "XYZ轴运动控制", "吸头架管理", "板和容器管理", "资源位置管理"],
"移液器控制", "dependencies": {"required": ["serial"], "optional": ["pylabrobot"]},
"XYZ轴运动控制",
"吸头架管理",
"板和容器管理",
"资源位置管理"
],
"dependencies": {
"required": ["serial"],
"optional": ["pylabrobot"]
}
} }
class LaiYuLiquidBackend: class LaiYuLiquidBackend:
"""LaiYu_Liquid 硬件通信后端""" """LaiYu_Liquid 硬件通信后端"""
def __init__(self, config: LaiYuLiquidConfig, deck: Optional['LaiYuLiquidDeck'] = None): _ros_node: BaseROS2DeviceNode
def __init__(self, config: LaiYuLiquidConfig, deck: Optional["LaiYuLiquidDeck"] = None):
self.config = config self.config = config
self.deck = deck # 工作台引用，用于获取资源位置信息 self.deck = deck # 工作台引用，用于获取资源位置信息
self.pipette_controller = None self.pipette_controller = None
@@ -283,6 +293,9 @@ class LaiYuLiquidBackend:
self.tip_attached = False self.tip_attached = False
self.current_volume = 0.0 self.current_volume = 0.0
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def _validate_position(self, x: float, y: float, z: float) -> bool: def _validate_position(self, x: float, y: float, z: float) -> bool:
"""验证位置是否在安全范围内""" """验证位置是否在安全范围内"""
try: try:
@@ -348,7 +361,7 @@ class LaiYuLiquidBackend:
safe_position = ( safe_position = (
self.config.deck_width / 2, # 工作台中心X self.config.deck_width / 2, # 工作台中心X
self.config.deck_height / 2, # 工作台中心Y self.config.deck_height / 2, # 工作台中心Y
self.config.safe_height # 安全高度Z self.config.safe_height, # 安全高度Z
) )
if not self._validate_position(*safe_position): if not self._validate_position(*safe_position):
@@ -375,17 +388,12 @@ class LaiYuLiquidBackend:
try: try:
if CONTROLLERS_AVAILABLE: if CONTROLLERS_AVAILABLE:
# 初始化移液器控制器 # 初始化移液器控制器
self.pipette_controller = PipetteController( self.pipette_controller = PipetteController(port=self.config.port, address=self.config.address)
port=self.config.port,
address=self.config.address
)
# 初始化XYZ控制器 # 初始化XYZ控制器
machine_config = MachineConfig() machine_config = MachineConfig()
self.xyz_controller = XYZController( self.xyz_controller = XYZController(
port=self.config.port, port=self.config.port, baudrate=self.config.baudrate, machine_config=machine_config
baudrate=self.config.baudrate,
machine_config=machine_config
) )
# 连接设备 # 连接设备
@@ -412,10 +420,10 @@ class LaiYuLiquidBackend:
async def stop(self): async def stop(self):
"""停止设备""" """停止设备"""
try: try:
if self.pipette_controller and hasattr(self.pipette_controller, 'disconnect'): if self.pipette_controller and hasattr(self.pipette_controller, "disconnect"):
await asyncio.to_thread(self.pipette_controller.disconnect) await asyncio.to_thread(self.pipette_controller.disconnect)
if self.xyz_controller and hasattr(self.xyz_controller, 'disconnect'): if self.xyz_controller and hasattr(self.xyz_controller, "disconnect"):
await asyncio.to_thread(self.xyz_controller.disconnect) await asyncio.to_thread(self.xyz_controller.disconnect)
self.is_connected = False self.is_connected = False
@@ -432,7 +440,7 @@ class LaiYuLiquidBackend:
raise LaiYuLiquidError("设备未连接") raise LaiYuLiquidError("设备未连接")
# 模拟移动 # 模拟移动
await asyncio.sleep(0.1) # 模拟移动时间 await self._ros_node.sleep(0.1) # 模拟移动时间
self.current_position = (x, y, z) self.current_position = (x, y, z)
logger.debug(f"移动到位置: ({x}, {y}, {z})") logger.debug(f"移动到位置: ({x}, {y}, {z})")
return True return True
@@ -472,9 +480,11 @@ class LaiYuLiquidBackend:
pickup_z = tip_z - self.config.tip_pickup_force_depth pickup_z = tip_z - self.config.tip_pickup_force_depth
retract_z = tip_z + self.config.tip_pickup_retract_height retract_z = tip_z + self.config.tip_pickup_retract_height
if not (self._validate_position(tip_x, tip_y, safe_z) and if not (
self._validate_position(tip_x, tip_y, pickup_z) and self._validate_position(tip_x, tip_y, safe_z)
self._validate_position(tip_x, tip_y, retract_z)): and self._validate_position(tip_x, tip_y, pickup_z)
and self._validate_position(tip_x, tip_y, retract_z)
):
logger.error("枪头拾取位置超出安全范围") logger.error("枪头拾取位置超出安全范围")
return False return False
@@ -487,8 +497,7 @@ class LaiYuLiquidBackend:
safe_z = tip_z + self.config.tip_approach_height safe_z = tip_z + self.config.tip_approach_height
logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})") logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})")
move_success = await asyncio.to_thread( move_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord, self.xyz_controller.move_to_work_coord, tip_x, tip_y, safe_z
tip_x, tip_y, safe_z
) )
if not move_success: if not move_success:
logger.error("移动到枪头上方失败") logger.error("移动到枪头上方失败")
@@ -498,22 +507,20 @@ class LaiYuLiquidBackend:
pickup_z = tip_z - self.config.tip_pickup_force_depth pickup_z = tip_z - self.config.tip_pickup_force_depth
logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm") logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm")
z_down_success = await asyncio.to_thread( z_down_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord, self.xyz_controller.move_to_work_coord, tip_x, tip_y, pickup_z
tip_x, tip_y, pickup_z
) )
if not z_down_success: if not z_down_success:
logger.error("Z轴下降到枪头位置失败") logger.error("Z轴下降到枪头位置失败")
return False return False
# 3. 等待一小段时间确保枪头牢固附着 # 3. 等待一小段时间确保枪头牢固附着
await asyncio.sleep(0.2) await self._ros_node.sleep(0.2)
# 4. Z轴上升到回退高度 # 4. Z轴上升到回退高度
retract_z = tip_z + self.config.tip_pickup_retract_height retract_z = tip_z + self.config.tip_pickup_retract_height
logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm") logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm")
z_up_success = await asyncio.to_thread( z_up_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord, self.xyz_controller.move_to_work_coord, tip_x, tip_y, retract_z
tip_x, tip_y, retract_z
) )
if not z_up_success: if not z_up_success:
logger.error("Z轴上升失败") logger.error("Z轴上升失败")
@@ -533,7 +540,7 @@ class LaiYuLiquidBackend:
else: else:
# 模拟模式 # 模拟模式
logger.info("模拟模式：执行枪头拾取动作") logger.info("模拟模式：执行枪头拾取动作")
await asyncio.sleep(1.0) # 模拟整个拾取过程的时间 await self._ros_node.sleep(1.0) # 模拟整个拾取过程的时间
self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height) self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height)
# 6. 标记枪头已附着 # 6. 标记枪头已附着
@@ -578,8 +585,10 @@ class LaiYuLiquidBackend:
safe_z = drop_z + self.config.safe_height safe_z = drop_z + self.config.safe_height
drop_height_z = drop_z + self.config.tip_drop_height drop_height_z = drop_z + self.config.tip_drop_height
if not (self._validate_position(drop_x, drop_y, safe_z) and if not (
self._validate_position(drop_x, drop_y, drop_height_z)): self._validate_position(drop_x, drop_y, safe_z)
and self._validate_position(drop_x, drop_y, drop_height_z)
):
logger.error("枪头丢弃位置超出安全范围") logger.error("枪头丢弃位置超出安全范围")
return False return False
@@ -592,8 +601,7 @@ class LaiYuLiquidBackend:
safe_z = drop_z + self.config.tip_drop_height safe_z = drop_z + self.config.tip_drop_height
logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})") logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})")
move_success = await asyncio.to_thread( move_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord, self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
drop_x, drop_y, safe_z
) )
if not move_success: if not move_success:
logger.error("移动到丢弃位置上方失败") logger.error("移动到丢弃位置上方失败")
@@ -602,8 +610,7 @@ class LaiYuLiquidBackend:
# 2. Z轴下降到丢弃高度 # 2. Z轴下降到丢弃高度
logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm") logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm")
z_down_success = await asyncio.to_thread( z_down_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord, self.xyz_controller.move_to_work_coord, drop_x, drop_y, drop_z
drop_x, drop_y, drop_z
) )
if not z_down_success: if not z_down_success:
logger.error("Z轴下降到丢弃位置失败") logger.error("Z轴下降到丢弃位置失败")
@@ -619,13 +626,12 @@ class LaiYuLiquidBackend:
logger.warning(f"枪头弹出命令失败: {e}") logger.warning(f"枪头弹出命令失败: {e}")
# 4. 等待一小段时间确保枪头完全脱离 # 4. 等待一小段时间确保枪头完全脱离
await asyncio.sleep(0.3) await self._ros_node.sleep(0.3)
# 5. Z轴上升到安全高度 # 5. Z轴上升到安全高度
logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm") logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm")
z_up_success = await asyncio.to_thread( z_up_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord, self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
drop_x, drop_y, safe_z
) )
if not z_up_success: if not z_up_success:
logger.error("Z轴上升失败") logger.error("Z轴上升失败")
@@ -645,7 +651,7 @@ class LaiYuLiquidBackend:
else: else:
# 模拟模式 # 模拟模式
logger.info("模拟模式：执行枪头丢弃动作") logger.info("模拟模式：执行枪头丢弃动作")
await asyncio.sleep(0.8) # 模拟整个丢弃过程的时间 await self._ros_node.sleep(0.8) # 模拟整个丢弃过程的时间
self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height) self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height)
# 7. 标记枪头已脱离，清空体积 # 7. 标记枪头已脱离，清空体积
@@ -671,7 +677,7 @@ class LaiYuLiquidBackend:
raise LaiYuLiquidError(f"体积超出范围: {volume}") raise LaiYuLiquidError(f"体积超出范围: {volume}")
# 模拟吸取 # 模拟吸取
await asyncio.sleep(0.3) await self._ros_node.sleep(0.3)
self.current_volume += volume self.current_volume += volume
logger.debug(f"从 {location} 吸取 {volume} μL") logger.debug(f"从 {location} 吸取 {volume} μL")
return True return True
@@ -693,7 +699,7 @@ class LaiYuLiquidBackend:
raise LaiYuLiquidError(f"分配体积无效: {volume}") raise LaiYuLiquidError(f"分配体积无效: {volume}")
# 模拟分配 # 模拟分配
await asyncio.sleep(0.3) await self._ros_node.sleep(0.3)
self.current_volume -= volume self.current_volume -= volume
logger.debug(f"向 {location} 分配 {volume} μL") logger.debug(f"向 {location} 分配 {volume} μL")
return True return True
@@ -765,8 +771,9 @@ class LaiYuLiquid:
await self.backend.stop() await self.backend.stop()
self.is_setup = False self.is_setup = False
async def transfer(self, source: str, target: str, volume: float, async def transfer(
tip_rack: str = "tip_rack_1", tip_position: int = 0) -> bool: self, source: str, target: str, volume: float, tip_rack: str = "tip_rack_1", tip_position: int = 0
) -> bool:
"""液体转移""" """液体转移"""
try: try:
if not self.is_setup: if not self.is_setup:
@@ -788,7 +795,7 @@ class LaiYuLiquid:
("吸取液体", self.backend.aspirate(volume, source)), ("吸取液体", self.backend.aspirate(volume, source)),
("移动到目标位置", self.backend.move_to(*target_pos)), ("移动到目标位置", self.backend.move_to(*target_pos)),
("分配液体", self.backend.dispense(volume, target)), ("分配液体", self.backend.dispense(volume, target)),
("丢弃吸头", self.backend.drop_tip()) ("丢弃吸头", self.backend.drop_tip()),
] ]
for step_name, step_coro in steps: for step_name, step_coro in steps:
@@ -823,7 +830,7 @@ class LaiYuLiquid:
"current_position": self.backend.current_position, "current_position": self.backend.current_position,
"tip_attached": self.backend.tip_attached, "tip_attached": self.backend.tip_attached,
"current_volume": self.backend.current_volume, "current_volume": self.backend.current_volume,
"resources": self.deck.list_resources() "resources": self.deck.list_resources(),
} }
@@ -846,7 +853,7 @@ def create_quick_setup() -> LaiYuLiquidDeck:
create_tip_rack_1000ul, create_tip_rack_1000ul,
create_tip_rack_200ul, create_tip_rack_200ul,
create_96_well_plate, create_96_well_plate,
create_waste_container create_waste_container,
) )
# 添加基本资源 # 添加基本资源
@@ -877,5 +884,5 @@ __all__ = [
"LaiYuLiquidTipRack", "LaiYuLiquidTipRack",
"LaiYuLiquidError", "LaiYuLiquidError",
"create_quick_setup", "create_quick_setup",
"get_module_info" "get_module_info",
] ]

10
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -25,6 +25,8 @@ from pylabrobot.resources import (
Tip, Tip,
) )
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class LiquidHandlerMiddleware(LiquidHandler): class LiquidHandlerMiddleware(LiquidHandler):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8): def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
@@ -536,6 +538,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
class LiquidHandlerAbstract(LiquidHandlerMiddleware): class LiquidHandlerAbstract(LiquidHandlerMiddleware):
"""Extended LiquidHandler with additional operations.""" """Extended LiquidHandler with additional operations."""
support_touch_tip = True support_touch_tip = True
_ros_node: BaseROS2DeviceNode
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8): def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
"""Initialize a LiquidHandler. """Initialize a LiquidHandler.
@@ -548,8 +551,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
self.group_info = dict() self.group_info = dict()
super().__init__(backend, deck, simulator, channel_num) super().__init__(backend, deck, simulator, channel_num)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
@classmethod @classmethod
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
"""Set the liquid in a well.""" """Set the liquid in a well."""
for well, liquid_name, volume in zip(wells, liquid_names, volumes): for well, liquid_name, volume in zip(wells, liquid_names, volumes):
well.set_liquids([(liquid_name, volume)]) # type: ignore well.set_liquids([(liquid_name, volume)]) # type: ignore
@@ -1081,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
print(f"Waiting time: {msg}") print(f"Waiting time: {msg}")
print(f"Current time: {time.strftime('%H:%M:%S')}") print(f"Current time: {time.strftime('%H:%M:%S')}")
print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}") print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
await asyncio.sleep(seconds) await self._ros_node.sleep(seconds)
if msg: if msg:
print(f"Done: {msg}") print(f"Done: {msg}")
print(f"Current time: {time.strftime('%H:%M:%S')}") print(f"Current time: {time.strftime('%H:%M:%S')}")

11
unilabos/devices/pump_and_valve/runze_async.py
View File

@@ -8,6 +8,8 @@ import serial.tools.list_ports
from serial import Serial from serial import Serial
from serial.serialutil import SerialException from serial.serialutil import SerialException
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class RunzeSyringePumpMode(Enum): class RunzeSyringePumpMode(Enum):
Normal = 0 Normal = 0
@@ -77,6 +79,8 @@ class RunzeSyringePumpInfo:
class RunzeSyringePumpAsync: class RunzeSyringePumpAsync:
_ros_node: BaseROS2DeviceNode
def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None): def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None):
self.port = port self.port = port
self.address = address self.address = address
@@ -102,6 +106,9 @@ class RunzeSyringePumpAsync:
self._run_future: Optional[Future[Any]] = None self._run_future: Optional[Future[Any]] = None
self._run_lock = Lock() self._run_lock = Lock()
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def _adjust_total_steps(self): def _adjust_total_steps(self):
self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000 self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000 self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
@@ -182,7 +189,7 @@ class RunzeSyringePumpAsync:
try: try:
await self._query(command) await self._query(command)
while True: while True:
await asyncio.sleep(0.5) # Wait for 0.5 seconds before polling again await self._ros_node.sleep(0.5) # Wait for 0.5 seconds before polling again
status = await self.query_device_status() status = await self.query_device_status()
if status == '`': if status == '`':
@@ -364,7 +371,7 @@ class RunzeSyringePumpAsync:
if self._read_task: if self._read_task:
raise RunzeSyringePumpConnectionError raise RunzeSyringePumpConnectionError
self._read_task = asyncio.create_task(self._read_loop()) self._read_task = self._ros_node.create_task(self._read_loop())
try: try:
await self.query_device_status() await self.query_device_status()

9
unilabos/devices/virtual/virtual_centrifuge.py
View File

@@ -3,10 +3,14 @@ import logging
import time as time_module import time as time_module
from typing import Dict, Any, Optional from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualCentrifuge: class VirtualCentrifuge:
"""Virtual centrifuge device - 简化版，只保留核心功能""" """Virtual centrifuge device - 简化版，只保留核心功能"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
# 处理可能的不同调用方式 # 处理可能的不同调用方式
if device_id is None and "id" in kwargs: if device_id is None and "id" in kwargs:
@@ -33,6 +37,9 @@ class VirtualCentrifuge:
if key not in skip_keys and not hasattr(self, key): if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value) setattr(self, key, value)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual centrifuge""" """Initialize virtual centrifuge"""
self.logger.info(f"Initializing virtual centrifuge {self.device_id}") self.logger.info(f"Initializing virtual centrifuge {self.device_id}")
@@ -132,7 +139,7 @@ class VirtualCentrifuge:
break break
# 每秒更新一次 # 每秒更新一次
await asyncio.sleep(1.0) await self._ros_node.sleep(1.0)
# 离心完成 # 离心完成
self.data.update({ self.data.update({

9
unilabos/devices/virtual/virtual_column.py
View File

@@ -2,9 +2,13 @@ import asyncio
import logging import logging
from typing import Dict, Any, Optional from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualColumn: class VirtualColumn:
"""Virtual column device for RunColumn protocol 🏛️""" """Virtual column device for RunColumn protocol 🏛️"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式 # 处理可能的不同调用方式
if device_id is None and 'id' in kwargs: if device_id is None and 'id' in kwargs:
@@ -28,6 +32,9 @@ class VirtualColumn:
print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨") print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨")
print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬") print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual column 🚀""" """Initialize virtual column 🚀"""
self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨") self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨")
@@ -101,7 +108,7 @@ class VirtualColumn:
step_time = separation_time / steps step_time = separation_time / steps
for i in range(steps): for i in range(steps):
await asyncio.sleep(step_time) await self._ros_node.sleep(step_time)
progress = (i + 1) / steps * 100 progress = (i + 1) / steps * 100
volume_processed = (i + 1) * 5.0 # 假设每步处理5mL volume_processed = (i + 1) * 5.0 # 假设每步处理5mL

118
unilabos/devices/virtual/virtual_filter.py
View File

@@ -4,16 +4,19 @@ import time as time_module
from typing import Dict, Any, Optional from typing import Dict, Any, Optional
from unilabos.compile.utils.vessel_parser import get_vessel from unilabos.compile.utils.vessel_parser import get_vessel
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualFilter: class VirtualFilter:
"""Virtual filter device - 完全按照 Filter.action 规范 🌊""" """Virtual filter device - 完全按照 Filter.action 规范 🌊"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
if device_id is None and 'id' in kwargs: if device_id is None and "id" in kwargs:
device_id = kwargs.pop('id') device_id = kwargs.pop("id")
if config is None and 'config' in kwargs: if config is None and "config" in kwargs:
config = kwargs.pop('config') config = kwargs.pop("config")
self.device_id = device_id or "unknown_filter" self.device_id = device_id or "unknown_filter"
self.config = config or {} self.config = config or {}
@@ -21,29 +24,34 @@ class VirtualFilter:
self.data = {} self.data = {}
# 从config或kwargs中获取配置参数 # 从config或kwargs中获取配置参数
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL') self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0) self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 100.0)
self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0) self._max_stir_speed = self.config.get("max_stir_speed") or kwargs.get("max_stir_speed", 1000.0)
self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0) self._max_volume = self.config.get("max_volume") or kwargs.get("max_volume", 500.0)
# 处理其他kwargs参数 # 处理其他kwargs参数
skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'} skip_keys = {"port", "max_temp", "max_stir_speed", "max_volume"}
for key, value in kwargs.items(): for key, value in kwargs.items():
if key not in skip_keys and not hasattr(self, key): if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value) setattr(self, key, value)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual filter 🚀""" """Initialize virtual filter 🚀"""
self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨") self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨")
# 按照 Filter.action 的 feedback 字段初始化 # 按照 Filter.action 的 feedback 字段初始化
self.data.update({ self.data.update(
"status": "Idle", {
"progress": 0.0, # Filter.action feedback "status": "Idle",
"current_temp": 25.0, # Filter.action feedback "progress": 0.0, # Filter.action feedback
"filtered_volume": 0.0, # Filter.action feedback "current_temp": 25.0, # Filter.action feedback
"message": "Ready for filtration" "filtered_volume": 0.0, # Filter.action feedback
}) "message": "Ready for filtration",
}
)
self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊") self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊")
return True return True
@@ -52,9 +60,7 @@ class VirtualFilter:
"""Cleanup virtual filter 🧹""" """Cleanup virtual filter 🧹"""
self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚") self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
self.data.update({ self.data.update({"status": "Offline"})
"status": "Offline"
})
self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤") self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
return True return True
@@ -67,7 +73,7 @@ class VirtualFilter:
stir_speed: float = 300.0, stir_speed: float = 300.0,
temp: float = 25.0, temp: float = 25.0,
continue_heatchill: bool = False, continue_heatchill: bool = False,
volume: float = 0.0 volume: float = 0.0,
) -> bool: ) -> bool:
"""Execute filter action - 完全按照 Filter.action 参数 🌊""" """Execute filter action - 完全按照 Filter.action 参数 🌊"""
vessel_id, _ = get_vessel(vessel) vessel_id, _ = get_vessel(vessel)
@@ -79,7 +85,7 @@ class VirtualFilter:
temp = 25.0 # 0度自动设置为室温 temp = 25.0 # 0度自动设置为室温
self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (室温) 🏠") self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (室温) 🏠")
elif temp < 4.0: elif temp < 4.0:
temp = 4.0 # 小于4度自动设置为4度 temp = 4.0 # 小于4度自动设置为4度
self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️") self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️")
self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰") self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰")
@@ -92,41 +98,34 @@ class VirtualFilter:
if temp > self._max_temp or temp < 4.0: if temp > self._max_temp or temp < 4.0:
error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️" error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update({"status": f"Error: 温度超出范围 ⚠️", "message": error_msg})
"status": f"Error: 温度超出范围 ⚠️",
"message": error_msg
})
return False return False
if stir and stir_speed > self._max_stir_speed: if stir and stir_speed > self._max_stir_speed:
error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️" error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update({"status": f"Error: 搅拌速度超出范围 ⚠️", "message": error_msg})
"status": f"Error: 搅拌速度超出范围 ⚠️",
"message": error_msg
})
return False return False
if volume > self._max_volume: if volume > self._max_volume:
error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️" error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update({"status": f"Error", "message": error_msg})
"status": f"Error",
"message": error_msg
})
return False return False
# 开始过滤 # 开始过滤
filter_volume = volume if volume > 0 else 50.0 filter_volume = volume if volume > 0 else 50.0
self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧") self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
self.data.update({ self.data.update(
"status": f"Running", {
"current_temp": temp, "status": f"Running",
"filtered_volume": 0.0, "current_temp": temp,
"progress": 0.0, "filtered_volume": 0.0,
"message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}" "progress": 0.0,
}) "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}",
}
)
try: try:
# 过滤过程 - 实时更新进度 # 过滤过程 - 实时更新进度
@@ -157,13 +156,15 @@ class VirtualFilter:
status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM" status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM"
status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL" status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL"
self.data.update({ self.data.update(
"progress": progress, # Filter.action feedback {
"current_temp": temp, # Filter.action feedback "progress": progress, # Filter.action feedback
"filtered_volume": current_filtered, # Filter.action feedback "current_temp": temp, # Filter.action feedback
"status": "Running", "filtered_volume": current_filtered, # Filter.action feedback
"message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered" "status": "Running",
}) "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered",
}
)
# 进度日志（每25%打印一次） # 进度日志（每25%打印一次）
if progress >= 25 and progress % 25 < 1: if progress >= 25 and progress % 25 < 1:
@@ -172,7 +173,7 @@ class VirtualFilter:
if remaining <= 0: if remaining <= 0:
break break
await asyncio.sleep(1.0) await self._ros_node.sleep(1.0)
# 过滤完成 # 过滤完成
final_temp = temp if continue_heatchill else 25.0 final_temp = temp if continue_heatchill else 25.0
@@ -181,13 +182,15 @@ class VirtualFilter:
final_status += " | 🔥 继续加热搅拌" final_status += " | 🔥 继续加热搅拌"
self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️") self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️")
self.data.update({ self.data.update(
"status": final_status, {
"progress": 100.0, # Filter.action feedback "status": final_status,
"current_temp": final_temp, # Filter.action feedback "progress": 100.0, # Filter.action feedback
"filtered_volume": filter_volume, # Filter.action feedback "current_temp": final_temp, # Filter.action feedback
"message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}" "filtered_volume": filter_volume, # Filter.action feedback
}) "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}",
}
)
self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨") self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁") self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
@@ -196,10 +199,7 @@ class VirtualFilter:
except Exception as e: except Exception as e:
error_msg = f"过滤过程中发生错误: {str(e)} 💥" error_msg = f"过滤过程中发生错误: {str(e)} 💥"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update({"status": f"Error", "message": f"❌ Filtration failed: {str(e)}"})
"status": f"Error",
"message": f"❌ Filtration failed: {str(e)}"
})
return False return False
# === 核心状态属性 - 按照 Filter.action feedback 字段 === # === 核心状态属性 - 按照 Filter.action feedback 字段 ===

9
unilabos/devices/virtual/virtual_heatchill.py
View File

@@ -3,9 +3,13 @@ import logging
import time as time_module # 重命名time模块，避免与参数冲突 import time as time_module # 重命名time模块，避免与参数冲突
from typing import Dict, Any from typing import Dict, Any
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualHeatChill: class VirtualHeatChill:
"""Virtual heat chill device for HeatChillProtocol testing 🌡️""" """Virtual heat chill device for HeatChillProtocol testing 🌡️"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式 # 处理可能的不同调用方式
if device_id is None and 'id' in kwargs: if device_id is None and 'id' in kwargs:
@@ -35,6 +39,9 @@ class VirtualHeatChill:
print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨") print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨")
print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM") print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual heat chill 🚀""" """Initialize virtual heat chill 🚀"""
self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨") self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨")
@@ -177,7 +184,7 @@ class VirtualHeatChill:
break break
# 等待1秒后再次检查 # 等待1秒后再次检查
await asyncio.sleep(1.0) await self._ros_node.sleep(1.0)
# 操作完成 # 操作完成
final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else "" final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""

221
unilabos/devices/virtual/virtual_rotavap.py
View File

@@ -3,13 +3,19 @@ import logging
import time as time_module import time as time_module
from typing import Dict, Any, Optional from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
def debug_print(message): def debug_print(message):
"""调试输出 🔍""" """调试输出 🔍"""
print(f"🌪️ [ROTAVAP] {message}", flush=True) print(f"🌪️ [ROTAVAP] {message}", flush=True)
class VirtualRotavap: class VirtualRotavap:
"""Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️""" """Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
# 处理可能的不同调用方式 # 处理可能的不同调用方式
if device_id is None and "id" in kwargs: if device_id is None and "id" in kwargs:
@@ -38,40 +44,49 @@ class VirtualRotavap:
print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨") print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨")
print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM") print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual rotary evaporator 🚀""" """Initialize virtual rotary evaporator 🚀"""
self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨") self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨")
# 只保留核心状态 # 只保留核心状态
self.data.update({ self.data.update(
"status": "🏠 待机中", {
"rotavap_state": "Ready", # Ready, Evaporating, Completed, Error "status": "🏠 待机中",
"current_temp": 25.0, "rotavap_state": "Ready", # Ready, Evaporating, Completed, Error
"target_temp": 25.0, "current_temp": 25.0,
"rotation_speed": 0.0, "target_temp": 25.0,
"vacuum_pressure": 1.0, # 大气压 "rotation_speed": 0.0,
"evaporated_volume": 0.0, "vacuum_pressure": 1.0, # 大气压
"progress": 0.0, "evaporated_volume": 0.0,
"remaining_time": 0.0, "progress": 0.0,
"message": "🌪️ Ready for evaporation" "remaining_time": 0.0,
}) "message": "🌪️ Ready for evaporation",
}
)
self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️") self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️")
self.logger.info(f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM") self.logger.info(
f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM"
)
return True return True
async def cleanup(self) -> bool: async def cleanup(self) -> bool:
"""Cleanup virtual rotary evaporator 🧹""" """Cleanup virtual rotary evaporator 🧹"""
self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚") self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚")
self.data.update({ self.data.update(
"status": "💤 离线", {
"rotavap_state": "Offline", "status": "💤 离线",
"current_temp": 25.0, "rotavap_state": "Offline",
"rotation_speed": 0.0, "current_temp": 25.0,
"vacuum_pressure": 1.0, "rotation_speed": 0.0,
"message": "💤 System offline" "vacuum_pressure": 1.0,
}) "message": "💤 System offline",
}
)
self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤") self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤")
return True return True
@@ -84,7 +99,7 @@ class VirtualRotavap:
time: float = 180.0, time: float = 180.0,
stir_speed: float = 100.0, stir_speed: float = 100.0,
solvent: str = "", solvent: str = "",
**kwargs **kwargs,
) -> bool: ) -> bool:
"""Execute evaporate action - 简化版 🌪️""" """Execute evaporate action - 简化版 🌪️"""
@@ -114,11 +129,11 @@ class VirtualRotavap:
self.logger.info(f"🧪 识别到溶剂: {solvent}") self.logger.info(f"🧪 识别到溶剂: {solvent}")
# 根据溶剂调整参数 # 根据溶剂调整参数
solvent_lower = solvent.lower() solvent_lower = solvent.lower()
if any(s in solvent_lower for s in ['water', 'aqueous']): if any(s in solvent_lower for s in ["water", "aqueous"]):
temp = max(temp, 80.0) temp = max(temp, 80.0)
pressure = max(pressure, 0.2) pressure = max(pressure, 0.2)
self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar") self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']): elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]):
temp = min(temp, 50.0) temp = min(temp, 50.0)
pressure = min(pressure, 0.05) pressure = min(pressure, 0.05)
self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar") self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
@@ -136,57 +151,65 @@ class VirtualRotavap:
if temp > self._max_temp or temp < 10.0: if temp > self._max_temp or temp < 10.0:
error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️" error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update(
"status": f"❌ 错误: 温度超出范围", {
"rotavap_state": "Error", "status": f"❌ 错误: 温度超出范围",
"current_temp": 25.0, "rotavap_state": "Error",
"progress": 0.0, "current_temp": 25.0,
"evaporated_volume": 0.0, "progress": 0.0,
"message": error_msg "evaporated_volume": 0.0,
}) "message": error_msg,
}
)
return False return False
if stir_speed > self._max_rotation_speed or stir_speed < 10.0: if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️" error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update(
"status": f"❌ 错误: 转速超出范围", {
"rotavap_state": "Error", "status": f"❌ 错误: 转速超出范围",
"current_temp": 25.0, "rotavap_state": "Error",
"progress": 0.0, "current_temp": 25.0,
"evaporated_volume": 0.0, "progress": 0.0,
"message": error_msg "evaporated_volume": 0.0,
}) "message": error_msg,
}
)
return False return False
if pressure < 0.01 or pressure > 1.0: if pressure < 0.01 or pressure > 1.0:
error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️" error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update(
"status": f"❌ 错误: 压力超出范围", {
"rotavap_state": "Error", "status": f"❌ 错误: 压力超出范围",
"current_temp": 25.0, "rotavap_state": "Error",
"progress": 0.0, "current_temp": 25.0,
"evaporated_volume": 0.0, "progress": 0.0,
"message": error_msg "evaporated_volume": 0.0,
}) "message": error_msg,
}
)
return False return False
# 开始蒸发 - 🔧 现在time已经确保是float类型 # 开始蒸发 - 🔧 现在time已经确保是float类型
self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️") self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
self.data.update({ self.data.update(
"status": f"🌪️ 蒸发中: {actual_vessel}", {
"rotavap_state": "Evaporating", "status": f"🌪️ 蒸发中: {actual_vessel}",
"current_temp": temp, "rotavap_state": "Evaporating",
"target_temp": temp, "current_temp": temp,
"rotation_speed": stir_speed, "target_temp": temp,
"vacuum_pressure": pressure, "rotation_speed": stir_speed,
"remaining_time": time, "vacuum_pressure": pressure,
"progress": 0.0, "remaining_time": time,
"evaporated_volume": 0.0, "progress": 0.0,
"message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM" "evaporated_volume": 0.0,
}) "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM",
}
)
try: try:
# 蒸发过程 - 实时更新进度 # 蒸发过程 - 实时更新进度
@@ -201,9 +224,9 @@ class VirtualRotavap:
progress = min(100.0, (elapsed / total_time) * 100) progress = min(100.0, (elapsed / total_time) * 100)
# 模拟蒸发体积 - 根据溶剂类型调整 # 模拟蒸发体积 - 根据溶剂类型调整
if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']): if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
evaporated_vol = progress * 0.6 # 水系溶剂蒸发慢 evaporated_vol = progress * 0.6 # 水系溶剂蒸发慢
elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']): elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
evaporated_vol = progress * 1.0 # 易挥发溶剂蒸发快 evaporated_vol = progress * 1.0 # 易挥发溶剂蒸发快
else: else:
evaporated_vol = progress * 0.8 # 默认蒸发量 evaporated_vol = progress * 0.8 # 默认蒸发量
@@ -211,18 +234,22 @@ class VirtualRotavap:
# 🔧 更新状态 - 确保包含所有必需字段 # 🔧 更新状态 - 确保包含所有必需字段
status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s" status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s"
self.data.update({ self.data.update(
"remaining_time": remaining, {
"progress": progress, "remaining_time": remaining,
"evaporated_volume": evaporated_vol, "progress": progress,
"current_temp": temp, "evaporated_volume": evaporated_vol,
"status": status_msg, "current_temp": temp,
"message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining" "status": status_msg,
}) "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining",
}
)
# 进度日志（每25%打印一次） # 进度日志（每25%打印一次）
if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress: if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress:
self.logger.info(f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨") self.logger.info(
f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨"
)
last_logged_progress = int(progress) last_logged_progress = int(progress)
# 时间到了，退出循环 # 时间到了，退出循环
@@ -230,27 +257,29 @@ class VirtualRotavap:
break break
# 每秒更新一次 # 每秒更新一次
await asyncio.sleep(1.0) await self._ros_node.sleep(1.0)
# 蒸发完成 # 蒸发完成
if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']): if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
final_evaporated = 60.0 # 水系溶剂 final_evaporated = 60.0 # 水系溶剂
elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']): elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
final_evaporated = 100.0 # 易挥发溶剂 final_evaporated = 100.0 # 易挥发溶剂
else: else:
final_evaporated = 80.0 # 默认 final_evaporated = 80.0 # 默认
self.data.update({ self.data.update(
"status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL", {
"rotavap_state": "Completed", "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
"evaporated_volume": final_evaporated, "rotavap_state": "Completed",
"progress": 100.0, "evaporated_volume": final_evaporated,
"current_temp": temp, "progress": 100.0,
"remaining_time": 0.0, "current_temp": temp,
"rotation_speed": 0.0, "remaining_time": 0.0,
"vacuum_pressure": 1.0, "rotation_speed": 0.0,
"message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}" "vacuum_pressure": 1.0,
}) "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}",
}
)
self.logger.info(f"🎉 蒸发操作完成! ✨") self.logger.info(f"🎉 蒸发操作完成! ✨")
self.logger.info(f"📊 蒸发结果:") self.logger.info(f"📊 蒸发结果:")
@@ -270,16 +299,18 @@ class VirtualRotavap:
error_msg = f"蒸发过程中发生错误: {str(e)} 💥" error_msg = f"蒸发过程中发生错误: {str(e)} 💥"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update(
"status": f"❌ 蒸发错误: {str(e)}", {
"rotavap_state": "Error", "status": f"❌ 蒸发错误: {str(e)}",
"current_temp": 25.0, "rotavap_state": "Error",
"progress": 0.0, "current_temp": 25.0,
"evaporated_volume": 0.0, "progress": 0.0,
"rotation_speed": 0.0, "evaporated_volume": 0.0,
"vacuum_pressure": 1.0, "rotation_speed": 0.0,
"message": f"❌ Evaporation failed: {str(e)}" "vacuum_pressure": 1.0,
}) "message": f"❌ Evaporation failed: {str(e)}",
}
)
return False return False
# === 核心状态属性 === # === 核心状态属性 ===

11
unilabos/devices/virtual/virtual_separator.py
View File

@@ -2,10 +2,14 @@ import asyncio
import logging import logging
from typing import Dict, Any, Optional from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualSeparator: class VirtualSeparator:
"""Virtual separator device for SeparateProtocol testing""" """Virtual separator device for SeparateProtocol testing"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
# 处理可能的不同调用方式 # 处理可能的不同调用方式
if device_id is None and "id" in kwargs: if device_id is None and "id" in kwargs:
@@ -36,6 +40,9 @@ class VirtualSeparator:
if key not in skip_keys and not hasattr(self, key): if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value) setattr(self, key, value)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual separator""" """Initialize virtual separator"""
print(f"=== VirtualSeparator {self.device_id} initialize() called! ===") print(f"=== VirtualSeparator {self.device_id} initialize() called! ===")
@@ -119,14 +126,14 @@ class VirtualSeparator:
for repeat in range(repeats): for repeat in range(repeats):
# 搅拌阶段 # 搅拌阶段
for progress in range(0, 51, 10): for progress in range(0, 51, 10):
await asyncio.sleep(simulation_time / (repeats * 10)) await self._ros_node.sleep(simulation_time / (repeats * 10))
overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
self.data["progress"] = overall_progress self.data["progress"] = overall_progress
self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)" self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)"
# 静置分相阶段 # 静置分相阶段
for progress in range(50, 101, 10): for progress in range(50, 101, 10):
await asyncio.sleep(simulation_time / (repeats * 10)) await self._ros_node.sleep(simulation_time / (repeats * 10))
overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
self.data["progress"] = overall_progress self.data["progress"] = overall_progress
self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)" self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)"

10
unilabos/devices/virtual/virtual_solenoid_valve.py
View File

@@ -2,11 +2,16 @@ import time
import asyncio import asyncio
from typing import Union from typing import Union
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualSolenoidValve: class VirtualSolenoidValve:
""" """
虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态 虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态
""" """
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: dict = None, **kwargs): def __init__(self, device_id: str = None, config: dict = None, **kwargs):
# 从配置中获取参数，提供默认值 # 从配置中获取参数，提供默认值
if config is None: if config is None:
@@ -22,6 +27,9 @@ class VirtualSolenoidValve:
self._valve_state = "Closed" # "Open" or "Closed" self._valve_state = "Closed" # "Open" or "Closed"
self._is_open = False self._is_open = False
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""初始化设备""" """初始化设备"""
self._status = "Idle" self._status = "Idle"
@@ -63,7 +71,7 @@ class VirtualSolenoidValve:
self._status = "Busy" self._status = "Busy"
# 模拟阀门响应时间 # 模拟阀门响应时间
await asyncio.sleep(self.response_time) await self._ros_node.sleep(self.response_time)
# 处理不同的命令格式 # 处理不同的命令格式
if isinstance(command, str): if isinstance(command, str):

9
unilabos/devices/virtual/virtual_solid_dispenser.py
View File

@@ -3,6 +3,8 @@ import logging
import re import re
from typing import Dict, Any, Optional from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualSolidDispenser: class VirtualSolidDispenser:
""" """
虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️ 虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️
@@ -13,6 +15,8 @@ class VirtualSolidDispenser:
- 简单反馈：成功/失败 + 消息 📊 - 简单反馈：成功/失败 + 消息 📊
""" """
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
self.device_id = device_id or "virtual_solid_dispenser" self.device_id = device_id or "virtual_solid_dispenser"
self.config = config or {} self.config = config or {}
@@ -32,6 +36,9 @@ class VirtualSolidDispenser:
print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨") print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨")
print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯") print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""初始化固体加样器 🚀""" """初始化固体加样器 🚀"""
self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨") self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨")
@@ -263,7 +270,7 @@ class VirtualSolidDispenser:
for i in range(steps): for i in range(steps):
progress = (i + 1) / steps * 100 progress = (i + 1) / steps * 100
await asyncio.sleep(step_time) await self._ros_node.sleep(step_time)
if i % 2 == 0: # 每隔一步显示进度 if i % 2 == 0: # 每隔一步显示进度
self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...") self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...")

11
unilabos/devices/virtual/virtual_stirrer.py
View File

@@ -3,9 +3,13 @@ import logging
import time as time_module import time as time_module
from typing import Dict, Any from typing import Dict, Any
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualStirrer: class VirtualStirrer:
"""Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️""" """Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式 # 处理可能的不同调用方式
if device_id is None and 'id' in kwargs: if device_id is None and 'id' in kwargs:
@@ -34,6 +38,9 @@ class VirtualStirrer:
print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨") print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨")
print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}") print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual stirrer 🚀""" """Initialize virtual stirrer 🚀"""
self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨") self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨")
@@ -134,7 +141,7 @@ class VirtualStirrer:
if remaining <= 0: if remaining <= 0:
break break
await asyncio.sleep(1.0) await self._ros_node.sleep(1.0)
self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s") self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s")
@@ -176,7 +183,7 @@ class VirtualStirrer:
if remaining <= 0: if remaining <= 0:
break break
await asyncio.sleep(1.0) await self._ros_node.sleep(1.0)
self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s") self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s")

13
unilabos/devices/virtual/virtual_transferpump.py
View File

@@ -4,6 +4,8 @@ from enum import Enum
from typing import Union, Optional from typing import Union, Optional
import logging import logging
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualPumpMode(Enum): class VirtualPumpMode(Enum):
Normal = 0 Normal = 0
@@ -14,6 +16,8 @@ class VirtualPumpMode(Enum):
class VirtualTransferPump: class VirtualTransferPump:
"""虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰""" """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: dict = None, **kwargs): def __init__(self, device_id: str = None, config: dict = None, **kwargs):
""" """
初始化虚拟转移泵 初始化虚拟转移泵
@@ -53,6 +57,9 @@ class VirtualTransferPump:
print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s") print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}") print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""初始化虚拟泵 🚀""" """初始化虚拟泵 🚀"""
self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨") self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -104,7 +111,7 @@ class VirtualTransferPump:
async def _simulate_operation(self, duration: float): async def _simulate_operation(self, duration: float):
"""模拟操作延时 ⏱️""" """模拟操作延时 ⏱️"""
self._status = "Busy" self._status = "Busy"
await asyncio.sleep(duration) await self._ros_node.sleep(duration)
self._status = "Idle" self._status = "Idle"
def _calculate_duration(self, volume: float, velocity: float = None) -> float: def _calculate_duration(self, volume: float, velocity: float = None) -> float:
@@ -223,7 +230,7 @@ class VirtualTransferPump:
# 等待一小步时间 # 等待一小步时间
if i < steps and step_duration > 0: if i < steps and step_duration > 0:
await asyncio.sleep(step_duration) await self._ros_node.sleep(step_duration)
else: else:
# 移动距离很小，直接完成 # 移动距离很小，直接完成
self._position = target_position self._position = target_position
@@ -341,7 +348,7 @@ class VirtualTransferPump:
# 短暂停顿 # 短暂停顿
self.logger.debug("⏸️ 短暂停顿...") self.logger.debug("⏸️ 短暂停顿...")
await asyncio.sleep(0.1) await self._ros_node.sleep(0.1)
# 排液 # 排液
await self.dispense(volume, dispense_velocity) await self.dispense(volume, dispense_velocity)