open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-06 06:25:06 +00:00
Code Issues Packages Projects Releases Wiki Activity

Adapt to new scheduler, sampels, and edge upload format (#230)

Browse Source 
* add sample_material

* adapt to new samples sys

* fix pump transfer. fix resource update when protocol & ros callback

* Adapt to new scheduler.
This commit is contained in:
Xuwznln
2026-02-06 00:49:53 +08:00
committed by GitHub
parent 957fb41a6f
commit 341a1b537c
16 changed files with 631 additions and 233 deletions
Download Patch File Download Diff File Expand all files Collapse all files

200
unilabos/devices/virtual/virtual_transferpump.py
View File

@@ -15,35 +15,35 @@ class VirtualPumpMode(Enum):
class VirtualTransferPump:
"""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):
"""
初始化虚拟转移泵
Args:
device_id: 设备ID
config: 配置字典，包含max_volume, port等参数
**kwargs: 其他参数，确保兼容性
"""
self.device_id = device_id or "virtual_transfer_pump"
# 从config或kwargs中获取参数，确保类型正确
if config:
self.max_volume = float(config.get('max_volume', 25.0))
self.port = config.get('port', 'VIRTUAL')
self.max_volume = float(config.get("max_volume", 25.0))
self.port = config.get("port", "VIRTUAL")
else:
self.max_volume = float(kwargs.get('max_volume', 25.0))
self.port = kwargs.get('port', 'VIRTUAL')
self._transfer_rate = float(kwargs.get('transfer_rate', 0))
self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
self.max_volume = float(kwargs.get("max_volume", 25.0))
self.port = kwargs.get("port", "VIRTUAL")
self._transfer_rate = float(kwargs.get("transfer_rate", 0))
self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
# 状态变量 - 确保都是正确类型
self._status = "Idle"
self._position = 0.0 # float
self._max_velocity = 5.0 # float
self._max_velocity = 5.0 # float
self._current_volume = 0.0 # float
# 🚀 新增：快速模式设置 - 大幅缩短执行时间
@@ -52,14 +52,16 @@ class VirtualTransferPump:
self._fast_dispense_time = 1.0 # 快速喷射时间（秒）
self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
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}")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool:
"""初始化虚拟泵 🚀"""
self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -68,33 +70,33 @@ class VirtualTransferPump:
self._current_volume = 0.0
self.logger.info(f"✅ 转移泵 {self.device_id} 初始化完成 🚰")
return True
async def cleanup(self) -> bool:
"""清理虚拟泵 🧹"""
self.logger.info(f"🧹 清理虚拟转移泵 {self.device_id} 🔚")
self._status = "Idle"
self.logger.info(f"✅ 转移泵 {self.device_id} 清理完成 💤")
return True
# 基本属性
@property
def status(self) -> str:
return self._status
@property
def position(self) -> float:
"""当前柱塞位置 (ml) 📍"""
return self._position
@property
def current_volume(self) -> float:
"""当前注射器中的体积 (ml) 💧"""
return self._current_volume
@property
def max_velocity(self) -> float:
return self._max_velocity
@property
def transfer_rate(self) -> float:
return self._transfer_rate
@@ -103,17 +105,17 @@ class VirtualTransferPump:
"""设置最大速度 (ml/s) 🌊"""
self._max_velocity = max(0.1, min(50.0, velocity)) # 限制在合理范围内
self.logger.info(f"🌊 设置最大速度为 {self._max_velocity} mL/s")
def get_status(self) -> str:
"""获取泵状态 📋"""
return self._status
async def _simulate_operation(self, duration: float):
"""模拟操作延时 ⏱️"""
self._status = "Busy"
await self._ros_node.sleep(duration)
self._status = "Idle"
def _calculate_duration(self, volume: float, velocity: float = None) -> float:
"""
计算操作持续时间 ⏰
@@ -121,10 +123,10 @@ class VirtualTransferPump:
"""
if velocity is None:
velocity = self._max_velocity
# 📊 计算理论时间（用于日志显示）
theoretical_duration = abs(volume) / velocity
# 🚀 如果启用快速模式，使用固定的快速时间
if self._fast_mode:
# 根据操作类型选择快速时间
@@ -132,13 +134,13 @@ class VirtualTransferPump:
actual_duration = self._fast_move_time
else: # 很小的操作
actual_duration = 0.5
self.logger.debug(f"⚡ 快速模式: 理论时间 {theoretical_duration:.2f}s → 实际时间 {actual_duration:.2f}s")
return actual_duration
else:
# 正常模式使用理论时间
return theoretical_duration
def _calculate_display_duration(self, volume: float, velocity: float = None) -> float:
"""
计算显示用的持续时间（用于日志） 📊
@@ -147,16 +149,16 @@ class VirtualTransferPump:
if velocity is None:
velocity = self._max_velocity
return abs(volume) / velocity
# 新的set_position方法 - 专门用于SetPumpPosition动作
async def set_position(self, position: float, max_velocity: float = None):
"""
移动到绝对位置 - 专门用于SetPumpPosition动作 🎯
Args:
position (float): 目标位置 (ml)
max_velocity (float): 移动速度 (ml/s)
Returns:
dict: 符合SetPumpPosition.action定义的结果
"""
@@ -164,19 +166,19 @@ class VirtualTransferPump:
# 验证并转换参数
target_position = float(position)
velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
# 限制位置在有效范围内
target_position = max(0.0, min(float(self.max_volume), target_position))
# 计算移动距离
volume_to_move = abs(target_position - self._position)
# 📊 计算显示用的时间（用于日志）
display_duration = self._calculate_display_duration(volume_to_move, velocity)
# ⚡ 计算实际执行时间（快速模式）
actual_duration = self._calculate_duration(volume_to_move, velocity)
# 🎯 确定操作类型和emoji
if target_position > self._position:
operation_type = "吸液"
@@ -187,28 +189,34 @@ class VirtualTransferPump:
else:
operation_type = "保持"
operation_emoji = "📍"
self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
self.logger.info(
f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)"
)
self.logger.info(f" 🌊 速度: {velocity:.2f} mL/s")
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
if self._fast_mode:
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
# 🚀 模拟移动过程
if volume_to_move > 0.01: # 只有当移动距离足够大时才显示进度
start_position = self._position
steps = 5 if actual_duration > 0.5 else 2 # 根据实际时间调整步数
step_duration = actual_duration / steps
self.logger.info(f"🚀 开始{operation_type}... {operation_emoji}")
for i in range(steps + 1):
# 计算当前位置和进度
progress = (i / steps) * 100 if steps > 0 else 100
current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
current_pos = (
start_position + (target_position - start_position) * (i / steps)
if steps > 0
else target_position
)
# 更新状态
if i < steps:
self._status = f"{operation_type}中"
@@ -216,10 +224,10 @@ class VirtualTransferPump:
else:
self._status = "Idle"
status_emoji = "✅"
self._position = current_pos
self._current_volume = current_pos
# 显示进度（每25%或最后一步）
if i == 0:
self.logger.debug(f" 🔄 {operation_type}开始: {progress:.0f}%")
@@ -227,7 +235,7 @@ class VirtualTransferPump:
self.logger.debug(f" 🔄 {operation_type}进度: {progress:.0f}%")
elif i == steps:
self.logger.info(f" ✅ {operation_type}完成: {progress:.0f}% | 当前位置: {current_pos:.2f}mL")
# 等待一小步时间
if i < steps and step_duration > 0:
await self._ros_node.sleep(step_duration)
@@ -236,25 +244,27 @@ class VirtualTransferPump:
self._position = target_position
self._current_volume = target_position
self.logger.info(f" 📍 微调完成: {target_position:.2f}mL")
# 确保最终位置准确
self._position = target_position
self._current_volume = target_position
self._status = "Idle"
# 📊 最终状态日志
if volume_to_move > 0.01:
self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
self.logger.info(
f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL"
)
# 返回符合action定义的结果
return {
"success": True,
"message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
"final_position": self._position,
"final_volume": self._current_volume,
"operation_type": operation_type
"operation_type": operation_type,
}
except Exception as e:
error_msg = f"❌ 设置位置失败: {str(e)}"
self.logger.error(error_msg)
@@ -262,134 +272,136 @@ class VirtualTransferPump:
"success": False,
"message": error_msg,
"final_position": self._position,
"final_volume": self._current_volume
"final_volume": self._current_volume,
}
# 其他泵操作方法
async def pull_plunger(self, volume: float, velocity: float = None):
"""
拉取柱塞（吸液） 📥
Args:
volume (float): 要拉取的体积 (ml)
velocity (float): 拉取速度 (ml/s)
"""
new_position = min(self.max_volume, self._position + volume)
actual_volume = new_position - self._position
if actual_volume <= 0:
self.logger.warning("⚠️ 无法吸液 - 已达到最大容量")
return
display_duration = self._calculate_display_duration(actual_volume, velocity)
actual_duration = self._calculate_duration(actual_volume, velocity)
self.logger.info(f"📥 开始吸液: {actual_volume:.2f}mL")
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
if self._fast_mode:
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
await self._simulate_operation(actual_duration)
self._position = new_position
self._current_volume = new_position
self.logger.info(f"✅ 吸液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
async def push_plunger(self, volume: float, velocity: float = None):
"""
推出柱塞（排液） 📤
Args:
volume (float): 要推出的体积 (ml)
velocity (float): 推出速度 (ml/s)
"""
new_position = max(0, self._position - volume)
actual_volume = self._position - new_position
if actual_volume <= 0:
self.logger.warning("⚠️ 无法排液 - 已达到最小容量")
return
display_duration = self._calculate_display_duration(actual_volume, velocity)
actual_duration = self._calculate_duration(actual_volume, velocity)
self.logger.info(f"📤 开始排液: {actual_volume:.2f}mL")
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
if self._fast_mode:
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
await self._simulate_operation(actual_duration)
self._position = new_position
self._current_volume = new_position
self.logger.info(f"✅ 排液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
# 便捷操作方法
async def aspirate(self, volume: float, velocity: float = None):
"""吸液操作 📥"""
await self.pull_plunger(volume, velocity)
async def dispense(self, volume: float, velocity: float = None):
"""排液操作 📤"""
await self.push_plunger(volume, velocity)
async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
"""转移操作（先吸后排） 🔄"""
self.logger.info(f"🔄 开始转移操作: {volume:.2f}mL")
# 吸液
await self.aspirate(volume, aspirate_velocity)
# 短暂停顿
self.logger.debug("⏸️ 短暂停顿...")
await self._ros_node.sleep(0.1)
# 排液
await self.dispense(volume, dispense_velocity)
async def empty_syringe(self, velocity: float = None):
"""清空注射器"""
await self.set_position(0, velocity)
async def fill_syringe(self, velocity: float = None):
"""充满注射器"""
await self.set_position(self.max_volume, velocity)
async def stop_operation(self):
"""停止当前操作"""
self._status = "Idle"
self.logger.info("Operation stopped")
# 状态查询方法
def get_position(self) -> float:
"""获取当前位置"""
return self._position
def get_current_volume(self) -> float:
"""获取当前体积"""
return self._current_volume
def get_remaining_capacity(self) -> float:
"""获取剩余容量"""
return self.max_volume - self._current_volume
def is_empty(self) -> bool:
"""检查是否为空"""
return self._current_volume <= 0.01 # 允许小量误差
def is_full(self) -> bool:
"""检查是否已满"""
return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
def __str__(self):
return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
return (
f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
)
def __repr__(self):
return self.__str__()
@@ -398,20 +410,20 @@ class VirtualTransferPump:
async def demo():
"""虚拟泵使用示例"""
pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
await pump.initialize()
print(f"Initial state: {pump}")
# 测试set_position方法
result = await pump.set_position(10.0, max_velocity=2.0)
print(f"Set position result: {result}")
print(f"After setting position to 10ml: {pump}")
# 吸液测试
await pump.aspirate(5.0, velocity=2.0)
print(f"After aspirating 5ml: {pump}")
# 清空测试
result = await pump.set_position(0.0)
print(f"Empty result: {result}")