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Version 0.10.1 (#66)
* add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * 37-biomek-i5i7 (#40) * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * Refine biomek * Refine copy issue * Refine --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#39) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#41) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * fix move it * fix move it * create_resource * bump ver modify slot type * 增加modbus支持 调整protocol node以更好支持多种类型的read和write * 调整protocol node以更好支持多种类型的read和write * 补充日志 * Device visualization (#42) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43) * Add Device MockChiller Add device MockChiller * Add Device MockFilter * Add Device MockPump * Add Device MockRotavap * Add Device MockSeparator * Add Device MockStirrer * Add Device MockHeater * Add Device MockVacuum * Add Device MockSolenoidValve * Add Device Mock \_init_.py * 规范模拟设备代码与注册表信息 * 更改Mock大写文件夹名 * 删除大写目录 * Edited Mock device json * Match mock device with action * Edit mock device yaml * Add new action * Add Virtual Device, Action, YAML, Protocol for Organic Syn * 单独分类测试的protocol文件夹 * 更名Action --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * bump version & protocol fix * hotfix: Add macos_sdk_config (#46) Co-authored-by: quehh <scienceol@outlook.com> * include device_mesh when pip install * 测试自动构建 * try build fix * try build * test artifacts * hotfix: Add .certs in .gitignore * create container * container 添加和更新完成 * Device registry port (#49) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * unify liquid_handler definition * Update virtual_device.yaml * 更正了stir和heater的连接方式 * 区分了虚拟仪器中的八通阀和电磁阀，添加了两个阀门的驱动 * 修改了add protocol * 修复了阀门更新版的bug * 修复了添加protocol前缀导致的不能启动的bug * Fix handles * bump version to 0.9.6 * add resource edge upload * update container registry and handles * add virtual_separator virtual_rotavap fix transfer_pump * fix container value add parent_name to edge device id * 大图的问题都修复好了，添加了gassource和vacuum pump的驱动以及注册表 * default resource upload mode is false * 添加了icon的文件名在注册表里面 * 修改了json图中link的格式 * fix resource and edge upload * fix device ports * Fix edge id * 移除device的父节点关联 * separate registry sync and resource_add * 默认不进行注册表报送，通过命令unilabos-register或者增加启动参数 * 完善tip * protocol node不再嵌套显示 * bump version to 0.9.7 新增一个测试PumpTransferProtocol的teststation，亲测可以运行，将八通阀们和转移泵与pump_protocol适配 * protocol node 执行action不应携带自身device id * 添加了一套简易双八通阀工作站JSON，亲测能跑 * 修复了很多protocol，亲测能跑 * 添加了run column和filter through的protocol，亲测能跑 * fix mock_reactor * 修改了大图和小图的json，但是在前端上没看到改变 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * 更新workstation注册表 * 添加了两个protocol的检索功能 (#51) * 添加了两个protocol的检索liquid type功能 * fix workstation registry * 修复了没连接的几个仪器的link，添加了container的icon * 修改了json和注册表，现在大图全部的device都链接上了 * 修复了小图的json图，线全部连上了 * add work_station protocol handles (ports) * fix workstation action handle --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@dp.tech> * 新增注册表补全功能，修复Protocol执行失败 * 支持通过导入方式补全注册表，新增工作流unilabos_device_id字段 * 修复不启用注册表补充就无法启动的bug * 修复部分识别error * 修复静态方法识别get status，注册表支持python类型 * status types对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换 * 支持通过list[int]，list[float]进行Int64MultiArray，Float64MultiArray的替换 * 成功动态导入的不再需要使用静态导入 * Fix handle names (#55) * fix handle names * improve evacuateAndRefill gas source finding * add camera and dependency (#56) * 修复auto-的Action在protocol node下错误注册 * 匹配init param schema格式 * Add channel_sources config in conda_build_config.yaml (#58) * 修复任务执行传参 * Create 5 new protocols & bump version 0.9.8 (#59) * 添加了5个缺失的protocol，验证了可以运行 * bump version to 0.9.8 * 修复新增的Action的字段缺失 --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * 转换到ros消息时，要进行基础类型转换 * Update work_station.yaml (#60) * Update work_station.yaml * Checklist里面有XDL跟protocol之间没对齐的问题，工作量有点大找时间写完 * Create prcxi.py * Update prcxi.py * Update Prcxi * 更新中析仪器，以及启动示例 * 修改moveit_interface，并在mqtt上报时发送一个时间戳，方便网页端对数据的筛选 (#62) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error * 修改moveit_interface，并在mqtt上报时发送一个时间戳 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * 更新实例 * 更新实例 * 更新实例 * 修正prcxi启动 * 更新PRCXI配置，修改主机地址和设置状态，并添加示例用法 * add pickup tips for prcxi * 任意执行错误都应该返回failed * 任意执行错误都应该返回failed * Add plateT6 to PRCXI configuration and enhance error handling in liquid handling * prcxi blending * assert blending_times > 0 * update prcxi * update prcxi registry * Update prcxi.py to fit the function in unilabos. * 不生成已配置action的动作，增加prcxi的debug模式 * 增加注册表版本参数，支持将auto-指令人工检查后非auto，不生成人工已检查的指令，取消不必要的description生成 * 增加注册表版本参数，支持将auto-指令人工检查后非auto，不生成人工已检查的指令，取消不必要的description生成 * Update prcxi.py * 修复了部分的protocol因为XDL更新导致的问题 (#61) * 修复了部分的protocol因为XDL更新导致的问题 但是pumptransfer，add，dissolve，separate还没修，后续还需要写virtual固体加料器 * 补充了四个action * 添加了固体加样器，丰富了json，修改了add protocol * bump version to 0.9.9 * fix bugs from new actions * protocol完整修复版本& bump version to 0.9.10 * 修补了一些单位处理，bump version to 0.9.11 * 优化了全protocol的运行时间，除了pumptransfer相关的还没 * 补充了剩下的几个protocol --------- Co-authored-by: Junhan Chang <changjh@dp.tech> Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * 修复action移除时的报错，更新注册表 * Update prcxi.py * Update prcxi.py * 新增simulator * Update prcxi.py * Update trash * Update prcxi.py * Update prcxi.py * Update for discard tips * Update prcxi.py * Update PRCXI * 更新axis等参数 * Update 9320 * get_well_container&get_tip_rack * update * Update 9320 * update * deck * 更新注册表&增加资源，parent应为resources字段 * Update 9320 * update * 新增set liquid方法 * 新增set liquid方法 * action to resource & 0.9.12 (#64) * action to resource & 0.9.12 * stir和adjustph的中的bug修不好 * modify prcxi * 0.9.12 update registry * update * update * registry upadte * Update * update * container_for_nothing * mix * registry fix * registry fix * registry fix * Update * Update prcxi.py * SET TIP RACK * bump version * update registry version & category * update set tip rack * yaml dump支持ordered dict，支持config_info * fix devices * fix resource check serialize * fix: Protocol node resource run (#65) * stir和adjustph的中的bug修不好 * fix sub-resource query in protocol node compiling * add resource placeholder to vessels * add the rest yaml * Update work_station.yaml --------- Co-authored-by: KCFeng425 <2100011801@stu.pku.edu.cn> * 采用http报送resource * 采用http报送resource * update * Update .gitignore * bump version to 0.10.0 * default param simulator * slim * Update * Update for prcxi * Update * Update * Refactor PRCXI9300Deck initialization and update plate configurations - Changed deck name from "PRCXI_Deck" to "PRCXI_Deck_9300". - Updated plate4 initialization to use get_well_container instead of get_tip_rack. - Modified plate4 material details with new UUID, code, and name. - Renamed output JSON file to "deck_9300_new.json". - Uncommented and adjusted liquid handling operations for clarity and future use. * test * update * Update prcxi_9300.json This one is good * update * fix protocol_node communication transfer * 修复注册表handles类型错误的问题 * 物料添加失败应该直接raise ValueError，不要等待 * 更正注册表中的数字类型 * Delete unnecessary files. * 新增lab_id直接传入 * fix vessel_id param passing in protocols * 新增dll预载，保证部分设备可正常使用unilabos_msgs * 修复可能的web template找不到的问题 新增联网获取json启动 删除非-g传入启动json的方式 兼容传参参数名短横线与下划线 * 修复可能的web template找不到的问题 新增联网获取json启动 删除非-g传入启动json的方式 兼容传参参数名短横线与下划线 更新版本到0.10.1 修复Upload Registry镜像不匹配 * 新增用户引导 * Device visualization (#67) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error * 修改moveit_interface，并在mqtt上报时发送一个时间戳 * 添加机械臂和移液站 * 添加 * 添加硬件 * update * 添加 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * 更新注册表 --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Kongchang Feng <2100011801@stu.pku.edu.cn> Co-authored-by: hh. <103566763+Mile-Away@users.noreply.github.com> Co-authored-by: quehh <scienceol@outlook.com> Co-authored-by: Harvey Que <quehaohui@dp.tech> Co-authored-by: Junhan Chang <changjh@dp.tech> Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
This commit is contained in:
Xuwznln
GitHub
@@ -1,216 +1,652 @@
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from typing import List, Dict, Any
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from typing import List, Dict, Any, Union
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import networkx as nx
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import logging
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import re
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logger = logging.getLogger(__name__)
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def debug_print(message):
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"""调试输出"""
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print(f"🧼 [WASH_SOLID] {message}", flush=True)
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logger.info(f"[WASH_SOLID] {message}")
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def parse_time_input(time_input: Union[str, float, int]) -> float:
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"""统一时间解析函数（精简版）"""
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if not time_input:
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return 0.0
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# 🔢 处理数值输入
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if isinstance(time_input, (int, float)):
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result = float(time_input)
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debug_print(f"⏰ 数值时间: {time_input} → {result}s")
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return result
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# 📝 处理字符串输入
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time_str = str(time_input).lower().strip()
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# ❓ 特殊值快速处理
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special_times = {
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'?': 60.0, 'unknown': 60.0, 'briefly': 30.0,
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'quickly': 45.0, 'slowly': 120.0
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}
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if time_str in special_times:
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result = special_times[time_str]
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debug_print(f"🎯 特殊时间: '{time_str}' → {result}s")
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return result
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# 🔢 数字提取（简化正则）
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try:
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# 提取数字
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numbers = re.findall(r'\d+\.?\d*', time_str)
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if numbers:
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value = float(numbers[0])
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# 简化单位判断
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if any(unit in time_str for unit in ['min', 'm']):
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result = value * 60.0
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elif any(unit in time_str for unit in ['h', 'hour']):
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result = value * 3600.0
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else:
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result = value # 默认秒
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debug_print(f"✅ 时间解析: '{time_str}' → {result}s")
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return result
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except:
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pass
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debug_print(f"⚠️ 时间解析失败: '{time_str}'，使用默认60s")
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return 60.0
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def parse_volume_input(volume: Union[float, str], volume_spec: str = "", mass: str = "") -> float:
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"""统一体积解析函数（精简版）"""
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debug_print(f"💧 解析体积: volume={volume}, spec='{volume_spec}', mass='{mass}'")
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# 🎯 优先级1：volume_spec（快速映射）
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if volume_spec:
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spec_map = {
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'small': 20.0, 'medium': 50.0, 'large': 100.0,
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'minimal': 10.0, 'normal': 50.0, 'generous': 150.0
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}
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for key, val in spec_map.items():
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if key in volume_spec.lower():
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debug_print(f"🎯 规格匹配: '{volume_spec}' → {val}mL")
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return val
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# 🧮 优先级2：mass转体积（简化：1g=1mL）
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if mass:
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try:
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numbers = re.findall(r'\d+\.?\d*', mass)
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if numbers:
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value = float(numbers[0])
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if 'mg' in mass.lower():
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result = value / 1000.0
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elif 'kg' in mass.lower():
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result = value * 1000.0
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else:
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result = value # 默认g
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debug_print(f"⚖️ 质量转换: {mass} → {result}mL")
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return result
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except:
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pass
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# 📦 优先级3：volume
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if volume:
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if isinstance(volume, (int, float)):
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result = float(volume)
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debug_print(f"💧 数值体积: {volume} → {result}mL")
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return result
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elif isinstance(volume, str):
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try:
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# 提取数字
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numbers = re.findall(r'\d+\.?\d*', volume)
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if numbers:
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value = float(numbers[0])
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# 简化单位判断
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if 'l' in volume.lower() and 'ml' not in volume.lower():
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result = value * 1000.0 # L转mL
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else:
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result = value # 默认mL
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debug_print(f"💧 字符串体积: '{volume}' → {result}mL")
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return result
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except:
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pass
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# 默认值
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debug_print(f"⚠️ 体积解析失败，使用默认50mL")
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return 50.0
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def find_solvent_source(G: nx.DiGraph, solvent: str) -> str:
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"""查找溶剂源（精简版）"""
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debug_print(f"🔍 查找溶剂源: {solvent}")
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# 简化搜索列表
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search_patterns = [
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f"flask_{solvent}", f"bottle_{solvent}", f"reagent_{solvent}",
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"liquid_reagent_bottle_1", "flask_1", "solvent_bottle"
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]
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for pattern in search_patterns:
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if pattern in G.nodes():
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debug_print(f"🎉 找到溶剂源: {pattern}")
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return pattern
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debug_print(f"⚠️ 使用默认溶剂源: flask_{solvent}")
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return f"flask_{solvent}"
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def find_filtrate_vessel(G: nx.DiGraph, filtrate_vessel: str = "") -> str:
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"""查找滤液容器（精简版）"""
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debug_print(f"🔍 查找滤液容器: {filtrate_vessel}")
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# 如果指定了且存在，直接使用
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if filtrate_vessel and filtrate_vessel in G.nodes():
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debug_print(f"✅ 使用指定容器: {filtrate_vessel}")
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return filtrate_vessel
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# 简化搜索列表
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default_vessels = ["waste_workup", "filtrate_vessel", "flask_1", "collection_bottle_1"]
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for vessel in default_vessels:
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if vessel in G.nodes():
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debug_print(f"🎉 找到滤液容器: {vessel}")
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return vessel
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debug_print(f"⚠️ 使用默认滤液容器: waste_workup")
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return "waste_workup"
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def extract_vessel_id(vessel: Union[str, dict]) -> str:
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"""
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从vessel参数中提取vessel_id
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Args:
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vessel: vessel字典或vessel_id字符串
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Returns:
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str: vessel_id
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"""
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if isinstance(vessel, dict):
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vessel_id = list(vessel.values())[0].get("id", "")
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debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
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return vessel_id
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elif isinstance(vessel, str):
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debug_print(f"🔧 vessel参数为字符串: {vessel}")
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return vessel
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else:
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debug_print(f"⚠️ 无效的vessel参数类型: {type(vessel)}")
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return ""
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def get_vessel_display_info(vessel: Union[str, dict]) -> str:
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"""
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获取容器的显示信息（用于日志）
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Args:
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vessel: vessel字典或vessel_id字符串
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Returns:
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str: 显示信息
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"""
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if isinstance(vessel, dict):
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vessel_id = vessel.get("id", "unknown")
|
||||
vessel_name = vessel.get("name", "")
|
||||
if vessel_name:
|
||||
return f"{vessel_id} ({vessel_name})"
|
||||
else:
|
||||
return vessel_id
|
||||
else:
|
||||
return str(vessel)
|
||||
|
||||
def get_vessel_liquid_volume(vessel: dict) -> float:
|
||||
"""
|
||||
获取容器中的液体体积 - 支持vessel字典
|
||||
|
||||
Args:
|
||||
vessel: 容器字典
|
||||
|
||||
Returns:
|
||||
float: 液体体积（mL）
|
||||
"""
|
||||
if not vessel or "data" not in vessel:
|
||||
debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
|
||||
return 0.0
|
||||
|
||||
vessel_data = vessel["data"]
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
|
||||
debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
|
||||
|
||||
# 检查liquid_volume字段
|
||||
if "liquid_volume" in vessel_data:
|
||||
liquid_volume = vessel_data["liquid_volume"]
|
||||
|
||||
# 处理列表格式
|
||||
if isinstance(liquid_volume, list):
|
||||
if len(liquid_volume) > 0:
|
||||
volume = liquid_volume[0]
|
||||
if isinstance(volume, (int, float)):
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
|
||||
return float(volume)
|
||||
|
||||
# 处理直接数值格式
|
||||
elif isinstance(liquid_volume, (int, float)):
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
|
||||
return float(liquid_volume)
|
||||
|
||||
# 检查其他可能的体积字段
|
||||
volume_keys = ['current_volume', 'total_volume', 'volume']
|
||||
for key in volume_keys:
|
||||
if key in vessel_data:
|
||||
try:
|
||||
volume = float(vessel_data[key])
|
||||
if volume > 0:
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
|
||||
return volume
|
||||
except (ValueError, TypeError):
|
||||
continue
|
||||
|
||||
debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 0.0mL")
|
||||
return 0.0
|
||||
|
||||
def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
|
||||
"""
|
||||
更新容器体积（同时更新vessel字典和图节点）
|
||||
|
||||
Args:
|
||||
vessel: 容器字典
|
||||
G: 网络图
|
||||
new_volume: 新体积
|
||||
description: 更新描述
|
||||
"""
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
|
||||
if description:
|
||||
debug_print(f"🔧 更新容器体积 - {description}")
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel:
|
||||
if "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [new_volume]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"] = {"liquid_volume": new_volume}
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
|
||||
|
||||
debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
|
||||
|
||||
def generate_wash_solid_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: Union[str, dict], # 🔧 修改：支持vessel字典
|
||||
solvent: str,
|
||||
volume: float,
|
||||
filtrate_vessel: str = "",
|
||||
volume: Union[float, str] = "50",
|
||||
filtrate_vessel: Union[str, dict] = "", # 🔧 修改：支持vessel字典
|
||||
temp: float = 25.0,
|
||||
stir: bool = False,
|
||||
stir_speed: float = 0.0,
|
||||
time: float = 0.0,
|
||||
repeats: int = 1
|
||||
time: Union[str, float] = "0",
|
||||
repeats: int = 1,
|
||||
volume_spec: str = "",
|
||||
repeats_spec: str = "",
|
||||
mass: str = "",
|
||||
event: str = "",
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成固体清洗的协议序列
|
||||
生成固体清洗协议 - 支持vessel字典和体积运算
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
vessel: 装有固体物质的容器名称
|
||||
solvent: 用于清洗固体的溶剂名称
|
||||
volume: 清洗溶剂的体积
|
||||
filtrate_vessel: 滤液要收集到的容器名称，可选参数
|
||||
temp: 清洗时的温度，可选参数
|
||||
stir: 是否在清洗过程中搅拌，默认为 False
|
||||
stir_speed: 搅拌速度，可选参数
|
||||
time: 清洗的时间，可选参数
|
||||
repeats: 清洗操作的重复次数，默认为 1
|
||||
G: 有向图，节点为设备和容器，边为流体管道
|
||||
vessel: 清洗容器字典（从XDL传入）或容器ID字符串
|
||||
solvent: 清洗溶剂名称
|
||||
volume: 溶剂体积（每次清洗）
|
||||
filtrate_vessel: 滤液收集容器字典或容器ID字符串
|
||||
temp: 清洗温度（°C）
|
||||
stir: 是否搅拌
|
||||
stir_speed: 搅拌速度（RPM）
|
||||
time: 搅拌时间
|
||||
repeats: 清洗重复次数
|
||||
volume_spec: 体积规格（small/medium/large）
|
||||
repeats_spec: 重复次数规格（few/several/many）
|
||||
mass: 固体质量（用于计算溶剂用量）
|
||||
event: 事件描述
|
||||
**kwargs: 其他可选参数
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 固体清洗操作的动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 当找不到必要的设备时抛出异常
|
||||
|
||||
Examples:
|
||||
wash_solid_protocol = generate_wash_solid_protocol(
|
||||
G, "reactor", "ethanol", 100.0, "waste_flask", 60.0, True, 300.0, 600.0, 3
|
||||
)
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从vessel参数中提取vessel_id
|
||||
vessel_id = extract_vessel_id(vessel)
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
|
||||
# 🔧 处理filtrate_vessel参数
|
||||
filtrate_vessel_id = extract_vessel_id(filtrate_vessel) if filtrate_vessel else ""
|
||||
|
||||
debug_print("🧼" * 20)
|
||||
debug_print("🚀 开始生成固体清洗协议（支持vessel字典和体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel_display} (ID: {vessel_id})")
|
||||
debug_print(f" 🧪 solvent: {solvent}")
|
||||
debug_print(f" 💧 volume: {volume}")
|
||||
debug_print(f" 🗑️ filtrate_vessel: {filtrate_vessel_id}")
|
||||
debug_print(f" ⏰ time: {time}")
|
||||
debug_print(f" 🔄 repeats: {repeats}")
|
||||
debug_print("🧼" * 20)
|
||||
|
||||
# 🔧 新增：记录清洗前的容器状态
|
||||
debug_print("🔍 记录清洗前容器状态...")
|
||||
if isinstance(vessel, dict):
|
||||
original_volume = get_vessel_liquid_volume(vessel)
|
||||
debug_print(f"📊 清洗前液体体积: {original_volume:.2f}mL")
|
||||
else:
|
||||
original_volume = 0.0
|
||||
debug_print(f"📊 vessel为字符串格式，无法获取体积信息")
|
||||
|
||||
# 📋 快速验证
|
||||
if not vessel_id or vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print("❌ 容器验证失败! 😱")
|
||||
raise ValueError("vessel 参数无效")
|
||||
|
||||
if not solvent:
|
||||
debug_print("❌ 溶剂不能为空! 😱")
|
||||
raise ValueError("solvent 参数不能为空")
|
||||
|
||||
debug_print("✅ 基础验证通过 🎯")
|
||||
|
||||
# 🔄 参数解析
|
||||
debug_print("📍 步骤1: 参数解析... ⚡")
|
||||
final_volume = parse_volume_input(volume, volume_spec, mass)
|
||||
final_time = parse_time_input(time)
|
||||
|
||||
# 重复次数处理（简化）
|
||||
if repeats_spec:
|
||||
spec_map = {'few': 2, 'several': 3, 'many': 4, 'thorough': 5}
|
||||
final_repeats = next((v for k, v in spec_map.items() if k in repeats_spec.lower()), repeats)
|
||||
else:
|
||||
final_repeats = max(1, min(repeats, 5)) # 限制1-5次
|
||||
|
||||
# 🕐 模拟时间优化
|
||||
debug_print(" ⏱️ 模拟时间优化...")
|
||||
original_time = final_time
|
||||
if final_time > 60.0:
|
||||
final_time = 60.0 # 限制最长60秒
|
||||
debug_print(f" 🎮 时间优化: {original_time}s → {final_time}s ⚡")
|
||||
|
||||
# 参数修正
|
||||
temp = max(25.0, min(temp, 80.0)) # 温度范围25-80°C
|
||||
stir_speed = max(0.0, min(stir_speed, 300.0)) if stir else 0.0 # 速度范围0-300
|
||||
|
||||
debug_print(f"🎯 最终参数: 体积={final_volume}mL, 时间={final_time}s, 重复={final_repeats}次")
|
||||
|
||||
# 🔍 查找设备
|
||||
debug_print("📍 步骤2: 查找设备... 🔍")
|
||||
try:
|
||||
solvent_source = find_solvent_source(G, solvent)
|
||||
actual_filtrate_vessel = find_filtrate_vessel(G, filtrate_vessel_id)
|
||||
debug_print(f"🎉 设备配置完成 ✨")
|
||||
debug_print(f" 🧪 溶剂源: {solvent_source}")
|
||||
debug_print(f" 🗑️ 滤液容器: {actual_filtrate_vessel}")
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 设备查找失败: {str(e)} 😭")
|
||||
raise ValueError(f"设备查找失败: {str(e)}")
|
||||
|
||||
# 🚀 生成动作序列
|
||||
debug_print("📍 步骤3: 生成清洗动作... 🧼")
|
||||
action_sequence = []
|
||||
|
||||
# 验证容器是否存在
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"固体容器 {vessel} 不存在于图中")
|
||||
# 🔧 新增：体积变化跟踪变量
|
||||
current_volume = original_volume
|
||||
total_solvent_used = 0.0
|
||||
|
||||
if filtrate_vessel and filtrate_vessel not in G.nodes():
|
||||
raise ValueError(f"滤液容器 {filtrate_vessel} 不存在于图中")
|
||||
|
||||
# 查找转移泵设备（用于添加溶剂和转移滤液）
|
||||
pump_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_transfer_pump']
|
||||
|
||||
if not pump_nodes:
|
||||
raise ValueError("没有找到可用的转移泵设备")
|
||||
|
||||
pump_id = pump_nodes[0]
|
||||
|
||||
# 查找加热设备（如果需要加热）
|
||||
heatchill_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_heatchill']
|
||||
|
||||
heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
|
||||
|
||||
# 查找搅拌设备（如果需要搅拌）
|
||||
stirrer_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_stirrer']
|
||||
|
||||
stirrer_id = stirrer_nodes[0] if stirrer_nodes else None
|
||||
|
||||
# 查找过滤设备（用于分离固体和滤液）
|
||||
filter_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_filter']
|
||||
|
||||
filter_id = filter_nodes[0] if filter_nodes else None
|
||||
|
||||
# 查找溶剂容器
|
||||
solvent_vessel = f"flask_{solvent}"
|
||||
if solvent_vessel not in G.nodes():
|
||||
# 如果没有找到特定溶剂容器，查找可用的源容器
|
||||
available_vessels = [node for node in G.nodes()
|
||||
if node.startswith('flask_') and
|
||||
G.nodes[node].get('type') == 'container']
|
||||
if available_vessels:
|
||||
solvent_vessel = available_vessels[0]
|
||||
else:
|
||||
raise ValueError(f"没有找到溶剂容器 {solvent}")
|
||||
|
||||
# 如果没有指定滤液容器，使用废液容器
|
||||
if not filtrate_vessel:
|
||||
waste_vessels = [node for node in G.nodes()
|
||||
if 'waste' in node.lower() and
|
||||
G.nodes[node].get('type') == 'container']
|
||||
filtrate_vessel = waste_vessels[0] if waste_vessels else "waste_flask"
|
||||
|
||||
# 重复清洗操作
|
||||
for repeat in range(repeats):
|
||||
repeat_num = repeat + 1
|
||||
for cycle in range(final_repeats):
|
||||
debug_print(f" 🔄 第{cycle+1}/{final_repeats}次清洗...")
|
||||
|
||||
# 步骤1：如果需要加热，先设置温度
|
||||
if temp > 25.0 and heatchill_id:
|
||||
action_sequence.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
# 1. 转移溶剂
|
||||
try:
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
debug_print(f" 💧 添加溶剂: {final_volume}mL {solvent}")
|
||||
transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent_source,
|
||||
to_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
volume=final_volume,
|
||||
amount="",
|
||||
time=0.0,
|
||||
viscous=False,
|
||||
rinsing_solvent="",
|
||||
rinsing_volume=0.0,
|
||||
rinsing_repeats=0,
|
||||
solid=False,
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5
|
||||
)
|
||||
|
||||
if transfer_actions:
|
||||
action_sequence.extend(transfer_actions)
|
||||
debug_print(f" ✅ 转移动作: {len(transfer_actions)}个 🚚")
|
||||
|
||||
# 🔧 新增：更新体积 - 添加溶剂后
|
||||
current_volume += final_volume
|
||||
total_solvent_used += final_volume
|
||||
|
||||
if isinstance(vessel, dict):
|
||||
update_vessel_volume(vessel, G, current_volume,
|
||||
f"第{cycle+1}次清洗添加{final_volume}mL溶剂后")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f" ❌ 转移失败: {str(e)} 😞")
|
||||
|
||||
# 2. 搅拌（如果需要）
|
||||
if stir and final_time > 0:
|
||||
debug_print(f" 🌪️ 搅拌: {final_time}s @ {stir_speed}RPM")
|
||||
stir_action = {
|
||||
"device_id": "stirrer_1",
|
||||
"action_name": "stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"temp": temp,
|
||||
"purpose": f"固体清洗 - 第 {repeat_num} 次"
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"time": str(time),
|
||||
"stir_time": final_time,
|
||||
"stir_speed": stir_speed,
|
||||
"settling_time": 10.0 # 🕐 缩短沉降时间
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤2：添加清洗溶剂到固体容器
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": solvent_vessel,
|
||||
"to_vessel": vessel,
|
||||
"volume": volume,
|
||||
"amount": f"清洗溶剂 {solvent} - 第 {repeat_num} 次",
|
||||
"time": 0.0,
|
||||
"viscous": False,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"solid": False
|
||||
}
|
||||
action_sequence.append(stir_action)
|
||||
debug_print(f" ✅ 搅拌动作: {final_time}s, {stir_speed}RPM 🌪️")
|
||||
|
||||
# 3. 过滤
|
||||
debug_print(f" 🌊 过滤到: {actual_filtrate_vessel}")
|
||||
filter_action = {
|
||||
"device_id": "filter_1",
|
||||
"action_name": "filter",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"filtrate_vessel": actual_filtrate_vessel,
|
||||
"temp": temp,
|
||||
"volume": final_volume
|
||||
}
|
||||
}
|
||||
action_sequence.append(filter_action)
|
||||
debug_print(f" ✅ 过滤动作: → {actual_filtrate_vessel} 🌊")
|
||||
|
||||
# 🔧 新增：更新体积 - 过滤后（液体被滤除）
|
||||
# 假设滤液完全被移除，固体残留在容器中
|
||||
filtered_volume = current_volume * 0.9 # 假设90%的液体被过滤掉
|
||||
current_volume = current_volume - filtered_volume
|
||||
|
||||
if isinstance(vessel, dict):
|
||||
update_vessel_volume(vessel, G, current_volume,
|
||||
f"第{cycle+1}次清洗过滤后")
|
||||
|
||||
# 4. 等待（缩短时间）
|
||||
wait_time = 5.0 # 🕐 缩短等待时间：10s → 5s
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": wait_time}
|
||||
})
|
||||
|
||||
# 步骤3：如果需要搅拌，开始搅拌
|
||||
if stir and stir_speed > 0 and stirrer_id:
|
||||
if time > 0:
|
||||
# 定时搅拌
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stir",
|
||||
"action_kwargs": {
|
||||
"stir_time": time,
|
||||
"stir_speed": stir_speed,
|
||||
"settling_time": 30.0 # 搅拌后静置30秒
|
||||
}
|
||||
})
|
||||
else:
|
||||
# 开始搅拌（需要手动停止）
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"固体清洗搅拌 - 第 {repeat_num} 次"
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤4：如果指定了清洗时间但没有搅拌，等待清洗时间
|
||||
if time > 0 and (not stir or stir_speed == 0):
|
||||
# 这里可以添加等待操作，暂时跳过
|
||||
pass
|
||||
|
||||
# 步骤5：如果有搅拌且没有定时，停止搅拌
|
||||
if stir and stir_speed > 0 and time == 0 and stirrer_id:
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤6：过滤分离固体和滤液
|
||||
if filter_id:
|
||||
action_sequence.append({
|
||||
"device_id": filter_id,
|
||||
"action_name": "filter_sample",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"filtrate_vessel": filtrate_vessel,
|
||||
"stir": False,
|
||||
"stir_speed": 0.0,
|
||||
"temp": temp,
|
||||
"continue_heatchill": temp > 25.0,
|
||||
"volume": volume
|
||||
}
|
||||
})
|
||||
else:
|
||||
# 没有专门的过滤设备，使用转移泵模拟过滤过程
|
||||
# 将滤液转移到滤液容器
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": vessel,
|
||||
"to_vessel": filtrate_vessel,
|
||||
"volume": volume,
|
||||
"amount": f"转移滤液 - 第 {repeat_num} 次清洗",
|
||||
"time": 0.0,
|
||||
"viscous": False,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"solid": False
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤7：如果加热了，停止加热（在最后一次清洗后）
|
||||
if temp > 25.0 and heatchill_id and repeat_num == repeats:
|
||||
action_sequence.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
}
|
||||
})
|
||||
debug_print(f" ✅ 等待: {wait_time}s ⏰")
|
||||
|
||||
return action_sequence
|
||||
# 🔧 新增：清洗完成后的最终状态报告
|
||||
if isinstance(vessel, dict):
|
||||
final_volume_vessel = get_vessel_liquid_volume(vessel)
|
||||
else:
|
||||
final_volume_vessel = current_volume
|
||||
|
||||
# 🎊 总结
|
||||
debug_print("🧼" * 20)
|
||||
debug_print(f"🎉 固体清洗协议生成完成! ✨")
|
||||
debug_print(f"📊 协议统计:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)} 个")
|
||||
debug_print(f" 🥽 清洗容器: {vessel_display}")
|
||||
debug_print(f" 🧪 使用溶剂: {solvent}")
|
||||
debug_print(f" 💧 单次体积: {final_volume}mL")
|
||||
debug_print(f" 🔄 清洗次数: {final_repeats}次")
|
||||
debug_print(f" 💧 总溶剂用量: {total_solvent_used:.2f}mL")
|
||||
debug_print(f"📊 体积变化统计:")
|
||||
debug_print(f" - 清洗前体积: {original_volume:.2f}mL")
|
||||
debug_print(f" - 清洗后体积: {final_volume_vessel:.2f}mL")
|
||||
debug_print(f" - 溶剂总用量: {total_solvent_used:.2f}mL")
|
||||
debug_print(f"⏱️ 预计总时间: {(final_time + 5) * final_repeats / 60:.1f} 分钟")
|
||||
debug_print("🧼" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
# 🔧 新增：便捷函数
|
||||
def wash_with_water(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
volume: Union[float, str] = "50",
|
||||
repeats: int = 2) -> List[Dict[str, Any]]:
|
||||
"""用水清洗固体"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"💧 水洗固体: {vessel_display} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, "water", volume=volume, repeats=repeats)
|
||||
|
||||
def wash_with_ethanol(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
volume: Union[float, str] = "30",
|
||||
repeats: int = 1) -> List[Dict[str, Any]]:
|
||||
"""用乙醇清洗固体"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"🍺 乙醇洗固体: {vessel_display} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, "ethanol", volume=volume, repeats=repeats)
|
||||
|
||||
def wash_with_acetone(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
volume: Union[float, str] = "25",
|
||||
repeats: int = 1) -> List[Dict[str, Any]]:
|
||||
"""用丙酮清洗固体"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"💨 丙酮洗固体: {vessel_display} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, "acetone", volume=volume, repeats=repeats)
|
||||
|
||||
def wash_with_ether(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
volume: Union[float, str] = "40",
|
||||
repeats: int = 2) -> List[Dict[str, Any]]:
|
||||
"""用乙醚清洗固体"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"🌬️ 乙醚洗固体: {vessel_display} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, "diethyl_ether", volume=volume, repeats=repeats)
|
||||
|
||||
def wash_with_cold_solvent(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "30",
|
||||
repeats: int = 1) -> List[Dict[str, Any]]:
|
||||
"""用冷溶剂清洗固体"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"❄️ 冷{solvent}洗固体: {vessel_display} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
|
||||
temp=5.0, repeats=repeats)
|
||||
|
||||
def wash_with_hot_solvent(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "50",
|
||||
repeats: int = 1) -> List[Dict[str, Any]]:
|
||||
"""用热溶剂清洗固体"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"🔥 热{solvent}洗固体: {vessel_display} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
|
||||
temp=60.0, repeats=repeats)
|
||||
|
||||
def wash_with_stirring(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "50",
|
||||
stir_time: Union[str, float] = "5 min",
|
||||
repeats: int = 1) -> List[Dict[str, Any]]:
|
||||
"""带搅拌的溶剂清洗"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"🌪️ 搅拌清洗: {vessel_display} with {solvent} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
|
||||
stir=True, stir_speed=200.0,
|
||||
time=stir_time, repeats=repeats)
|
||||
|
||||
def thorough_wash(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "50") -> List[Dict[str, Any]]:
|
||||
"""彻底清洗（多次重复）"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"🔄 彻底清洗: {vessel_display} with {solvent} (5 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, repeats=5)
|
||||
|
||||
def quick_rinse(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "20") -> List[Dict[str, Any]]:
|
||||
"""快速冲洗（单次，小体积）"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"⚡ 快速冲洗: {vessel_display} with {solvent}")
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, repeats=1)
|
||||
|
||||
def sequential_wash(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvents: list, volume: Union[float, str] = "40") -> List[Dict[str, Any]]:
|
||||
"""连续多溶剂清洗"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"📝 连续清洗: {vessel_display} with {' → '.join(solvents)}")
|
||||
|
||||
action_sequence = []
|
||||
for solvent in solvents:
|
||||
wash_actions = generate_wash_solid_protocol(G, vessel, solvent,
|
||||
volume=volume, repeats=1)
|
||||
action_sequence.extend(wash_actions)
|
||||
|
||||
return action_sequence
|
||||
|
||||
# 测试函数
|
||||
def test_wash_solid_protocol():
|
||||
"""测试固体清洗协议"""
|
||||
debug_print("🧪 === WASH SOLID PROTOCOL 测试 === ✨")
|
||||
|
||||
# 测试vessel参数处理
|
||||
debug_print("🔧 测试vessel参数处理...")
|
||||
|
||||
# 测试字典格式
|
||||
vessel_dict = {"id": "filter_flask_1", "name": "过滤瓶1",
|
||||
"data": {"liquid_volume": 25.0}}
|
||||
vessel_id = extract_vessel_id(vessel_dict)
|
||||
vessel_display = get_vessel_display_info(vessel_dict)
|
||||
volume = get_vessel_liquid_volume(vessel_dict)
|
||||
debug_print(f" 字典格式: {vessel_dict}")
|
||||
debug_print(f" → ID: {vessel_id}, 显示: {vessel_display}, 体积: {volume}mL")
|
||||
|
||||
# 测试字符串格式
|
||||
vessel_str = "filter_flask_2"
|
||||
vessel_id = extract_vessel_id(vessel_str)
|
||||
vessel_display = get_vessel_display_info(vessel_str)
|
||||
debug_print(f" 字符串格式: {vessel_str}")
|
||||
debug_print(f" → ID: {vessel_id}, 显示: {vessel_display}")
|
||||
|
||||
debug_print("✅ 测试完成 🎉")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_wash_solid_protocol()
|
||||
Reference in New Issue
Block a user