Add Device MockStirrer

test/experiments/MockStirrer.json

@@ -0,0 +1,34 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockStirrer1",  
+            "name": "模拟搅拌器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "MockStirrer",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "power_state": "Off",  
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "heating_state": "Off",  
+                "heating_power": 0.0,  
+                "max_stir_speed": 2000.0,  
+                "max_temperature": 300.0  
+            }  
+        }  
+    ],  
+    "links": []  
+}

unilabos/devices/Mock/MockStirrer/MockStirrer.py

@@ -0,0 +1,479 @@
+import time  
+import threading  
+  
+  
+class MockStirrer:  
+    """  
+    模拟搅拌器设备类  
+      
+    这个类模拟了一个实验室搅拌器的行为，包括搅拌速度控制、  
+    温度监测、加热控制等功能。参考了现有的 HeaterStirrer_DaLong 实现。  
+    """  
+      
+    def __init__(self, port: str = "MOCK"):  
+        """  
+        初始化MockStirrer实例  
+          
+        Args:  
+            port (str): 设备端口，默认为"MOCK"表示模拟设备  
+        """  
+        self.port = port  
+          
+        # 设备基本状态属性  
+        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped  
+        self._power_state: str = "Off"  # 电源状态：On, Off  
+          
+        # 搅拌相关属性  
+        self._stir_speed: float = 0.0  # 当前搅拌速度 (rpm)  
+        self._target_stir_speed: float = 0.0  # 目标搅拌速度 (rpm)  
+        self._max_stir_speed: float = 2000.0  # 最大搅拌速度 (rpm)  
+        self._stir_state: str = "Stopped"  # 搅拌状态：Running, Stopped  
+          
+        # 温度相关属性  
+        self._temperature: float = 25.0  # 当前温度 (°C)  
+        self._target_temperature: float = 25.0  # 目标温度 (°C)  
+        self._max_temperature: float = 300.0  # 最大温度 (°C)  
+        self._heating_state: str = "Off"  # 加热状态：On, Off  
+        self._heating_power: float = 0.0  # 加热功率百分比 0-100  
+          
+        # 运行控制线程  
+        self._operation_thread = None  
+        self._running = False  
+        self._thread_lock = threading.Lock()  
+      
+    # ==================== 状态属性 ====================  
+    # 这些属性会被Uni-Lab系统自动识别并定时对外广播  
+      
+    @property  
+    def status(self) -> str:  
+        """  
+        设备状态 - 会被自动识别的设备属性  
+          
+        Returns:  
+            str: 当前设备状态 (Idle, Running, Error, Stopped)  
+        """  
+        return self._status  
+      
+    @property  
+    def power_state(self) -> str:  
+        """  
+        电源状态  
+          
+        Returns:  
+            str: 电源状态 (On, Off)  
+        """  
+        return self._power_state  
+      
+    @property  
+    def stir_speed(self) -> float:  
+        """  
+        当前搅拌速度  
+          
+        Returns:  
+            float: 当前搅拌速度 (rpm)  
+        """  
+        return self._stir_speed  
+      
+    @property  
+    def target_stir_speed(self) -> float:  
+        """  
+        目标搅拌速度  
+          
+        Returns:  
+            float: 目标搅拌速度 (rpm)  
+        """  
+        return self._target_stir_speed  
+      
+    @property  
+    def stir_state(self) -> str:  
+        """  
+        搅拌状态  
+          
+        Returns:  
+            str: 搅拌状态 (Running, Stopped)  
+        """  
+        return self._stir_state  
+      
+    @property  
+    def temperature(self) -> float:  
+        """  
+        当前温度  
+          
+        Returns:  
+            float: 当前温度 (°C)  
+        """  
+        return self._temperature  
+      
+    @property  
+    def target_temperature(self) -> float:  
+        """  
+        目标温度  
+          
+        Returns:  
+            float: 目标温度 (°C)  
+        """  
+        return self._target_temperature  
+      
+    @property  
+    def heating_state(self) -> str:  
+        """  
+        加热状态  
+          
+        Returns:  
+            str: 加热状态 (On, Off)  
+        """  
+        return self._heating_state  
+      
+    @property  
+    def heating_power(self) -> float:  
+        """  
+        加热功率  
+          
+        Returns:  
+            float: 加热功率百分比 (0-100)  
+        """  
+        return self._heating_power  
+      
+    @property  
+    def max_stir_speed(self) -> float:  
+        """  
+        最大搅拌速度  
+          
+        Returns:  
+            float: 最大搅拌速度 (rpm)  
+        """  
+        return self._max_stir_speed  
+      
+    @property  
+    def max_temperature(self) -> float:  
+        """  
+        最大温度  
+          
+        Returns:  
+            float: 最大温度 (°C)  
+        """  
+        return self._max_temperature  
+      
+    # ==================== 设备控制方法 ====================  
+    # 这些方法需要在注册表中添加，会作为ActionServer接受控制指令  
+      
+    def power_control(self, power_state: str = "On") -> str:  
+        """  
+        电源控制方法  
+          
+        Args:  
+            power_state (str): 电源状态，可选值："On", "Off"  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if power_state not in ["On", "Off"]:  
+            self._status = "Error: Invalid power state"  
+            return "Error"  
+          
+        self._power_state = power_state  
+          
+        if power_state == "On":  
+            self._status = "Power On"  
+            self._start_operation()  
+        else:  
+            self._status = "Power Off"  
+            self.stop_all_operations()  
+              
+        return "Success"  
+      
+    def set_stir_speed(self, speed: float) -> str:  
+        """  
+        设置搅拌速度  
+          
+        Args:  
+            speed (float): 目标搅拌速度 (rpm)  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        speed = float(speed)  # 确保传入的速度是浮点数
+        if self._power_state != "On":  
+            self._status = "Error: Power Off"  
+            return "Error"  
+          
+        if speed < 0 or speed > self._max_stir_speed:  
+            self._status = f"Error: Speed out of range (0-{self._max_stir_speed})"  
+            return "Error"  
+          
+        self._target_stir_speed = speed  
+        self._status = "Setting Stir Speed"  
+          
+        # 如果设置了非零速度，启动搅拌  
+        if speed > 0:  
+            self._stir_state = "Running"  
+        else:  
+            self._stir_state = "Stopped"  
+              
+        return "Success"  
+      
+    def set_temperature(self, temperature: float) -> str:  
+        """  
+        设置目标温度  
+          
+        Args:  
+            temperature (float): 目标温度 (°C)  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        temperature = float(temperature)  # 确保传入的温度是浮点数
+        if self._power_state != "On":  
+            self._status = "Error: Power Off"  
+            return "Error"  
+          
+        if temperature < 0 or temperature > self._max_temperature:  
+            self._status = f"Error: Temperature out of range (0-{self._max_temperature})"  
+            return "Error"  
+          
+        self._target_temperature = temperature  
+        self._status = "Setting Temperature"  
+          
+        return "Success"  
+      
+    def start_stirring(self) -> str:  
+        """  
+        启动搅拌  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if self._power_state != "On":  
+            self._status = "Error: Power Off"  
+            return "Error"  
+          
+        if self._target_stir_speed <= 0:  
+            self._status = "Error: No target speed set"  
+            return "Error"  
+          
+        self._stir_state = "Running"  
+        self._status = "Stirring Started"  
+        return "Success"  
+      
+    def stop_stirring(self) -> str:  
+        """  
+        停止搅拌  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        self._stir_state = "Stopped"  
+        self._target_stir_speed = 0.0  
+        self._status = "Stirring Stopped"  
+        return "Success"  
+      
+    def heating_control(self, heating_state: str = "On") -> str:  
+        """  
+        加热控制  
+          
+        Args:  
+            heating_state (str): 加热状态，可选值："On", "Off"  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if self._power_state != "On":  
+            self._status = "Error: Power Off"  
+            return "Error"  
+          
+        if heating_state not in ["On", "Off"]:  
+            self._status = "Error: Invalid heating state"  
+            return "Error"  
+          
+        self._heating_state = heating_state  
+          
+        if heating_state == "On":  
+            self._status = "Heating On"  
+        else:  
+            self._status = "Heating Off"  
+            self._heating_power = 0.0  
+              
+        return "Success"  
+      
+    def stop_all_operations(self) -> str:  
+        """  
+        停止所有操作  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        self._stir_state = "Stopped"  
+        self._heating_state = "Off"  
+        self._stop_operation()  
+        self._stir_speed = 0.0  
+        self._target_stir_speed = 0.0  
+        self._heating_power = 0.0  
+        self._status = "All operations stopped"  
+        return "Success"  
+      
+    def emergency_stop(self) -> str:  
+        """  
+        紧急停止  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        self._status = "Emergency Stop"  
+        self.stop_all_operations()  
+        return "Success"  
+      
+    # ==================== 内部控制方法 ====================  
+      
+    def _start_operation(self):  
+        """  
+        启动操作线程  
+          
+        这个方法启动一个后台线程来模拟搅拌器的实际运行过程。  
+        """  
+        with self._thread_lock:  
+            if not self._running and self._power_state == "On":  
+                self._running = True  
+                self._operation_thread = threading.Thread(target=self._operation_loop)  
+                self._operation_thread.daemon = True  
+                self._operation_thread.start()  
+      
+    def _stop_operation(self):  
+        """  
+        停止操作线程  
+          
+        安全地停止后台运行线程并等待其完成。  
+        """  
+        with self._thread_lock:  
+            self._running = False  
+            if self._operation_thread and self._operation_thread.is_alive():  
+                self._operation_thread.join(timeout=2.0)  
+      
+    def _operation_loop(self):  
+        """  
+        操作主循环  
+          
+        这个方法在后台线程中运行，模拟真实搅拌器的工作过程：  
+        1. 搅拌速度控制  
+        2. 温度控制和加热  
+        3. 状态更新  
+        """  
+        while self._running and self._power_state == "On":  
+            try:  
+                # 处理搅拌速度控制  
+                if self._stir_state == "Running":  
+                    speed_diff = self._target_stir_speed - self._stir_speed  
+                      
+                    if abs(speed_diff) < 1.0:  # 速度接近目标值  
+                        self._stir_speed = self._target_stir_speed  
+                        if self._stir_speed > 0:  
+                            self._status = "Stirring at Target Speed"  
+                    else:  
+                        # 模拟速度调节，每秒调整10%的差值  
+                        adjustment = speed_diff * 0.1  
+                        self._stir_speed += adjustment  
+                        self._status = "Adjusting Stir Speed"  
+                      
+                    # 确保速度在合理范围内  
+                    self._stir_speed = max(0.0, min(self._max_stir_speed, self._stir_speed))  
+                else:  
+                    # 搅拌停止时，速度逐渐降为0  
+                    if self._stir_speed > 0:  
+                        self._stir_speed = max(0.0, self._stir_speed - 50.0)  # 每秒减少50rpm  
+                  
+                # 处理温度控制  
+                if self._heating_state == "On":  
+                    temp_diff = self._target_temperature - self._temperature  
+                      
+                    if abs(temp_diff) < 0.5:  # 温度接近目标值  
+                        self._heating_power = 20.0  # 维持温度的最小功率  
+                    elif temp_diff > 0:  # 需要加热  
+                        # 根据温差调整加热功率  
+                        if temp_diff > 50:  
+                            self._heating_power = 100.0  
+                        elif temp_diff > 20:  
+                            self._heating_power = 80.0  
+                        elif temp_diff > 10:  
+                            self._heating_power = 60.0  
+                        else:  
+                            self._heating_power = 40.0  
+                          
+                        # 模拟加热过程  
+                        heating_rate = self._heating_power / 100.0 * 1.5  # 最大每秒升温1.5度  
+                        self._temperature += heating_rate  
+                    else:  # 目标温度低于当前温度  
+                        self._heating_power = 0.0  
+                        # 自然冷却  
+                        self._temperature -= 0.1  
+                else:  
+                    self._heating_power = 0.0  
+                    # 自然冷却到室温  
+                    if self._temperature > 25.0:  
+                        self._temperature -= 0.2  
+                  
+                # 限制温度范围  
+                self._temperature = max(20.0, min(self._max_temperature, self._temperature))  
+                  
+                # 更新整体状态
+                if self._stir_state == "Running" and self._heating_state == "On":  
+                    self._status = "Stirring and Heating"  
+                elif self._stir_state == "Running":  
+                    self._status = "Stirring Only"  
+                elif self._heating_state == "On":  
+                    self._status = "Heating Only"  
+                else:  
+                    self._status = "Idle"  
+                  
+                # 等待1秒后继续下一次循环  
+                time.sleep(1.0)  
+                  
+            except Exception as e:  
+                self._status = f"Error in operation: {str(e)}"  
+                break  
+          
+        # 循环结束时的清理工作  
+        if self._power_state == "On":  
+            self._status = "Idle"  
+      
+    def get_status_info(self) -> dict:  
+        """  
+        获取完整的设备状态信息  
+          
+        Returns:  
+            dict: 包含所有设备状态的字典  
+        """  
+        return {  
+            "status": self._status,  
+            "power_state": self._power_state,  
+            "stir_speed": self._stir_speed,  
+            "target_stir_speed": self._target_stir_speed,  
+            "stir_state": self._stir_state,  
+            "temperature": self._temperature,  
+            "target_temperature": self._target_temperature,  
+            "heating_state": self._heating_state,  
+            "heating_power": self._heating_power,  
+            "max_stir_speed": self._max_stir_speed,  
+            "max_temperature": self._max_temperature  
+        }  
+  
+  
+# 用于测试的主函数  
+if __name__ == "__main__":  
+    stirrer = MockStirrer()  
+      
+    # 测试基本功能  
+    print("启动搅拌器测试...")  
+    stirrer.power_control("On")  
+    print(f"初始状态: {stirrer.get_status_info()}")  
+      
+    # 设置搅拌速度和温度  
+    stirrer.set_stir_speed(800.0)  
+    stirrer.set_temperature(60.0)  
+    stirrer.heating_control("On")  
+      
+    # 模拟运行15秒  
+    for i in range(15):  
+        time.sleep(1)  
+        print(f"第{i+1}秒: 速度={stirrer.stir_speed:.0f}rpm, 温度={stirrer.temperature:.1f}°C, 功率={stirrer.heating_power:.1f}%, 状态={stirrer.status}")  
+      
+    stirrer.emergency_stop()  
+    print("测试完成")  

unilabos/registry/devices/MockStirrer.yaml

@@ -0,0 +1,100 @@
+MockStirrer:  
+  description: Mock Stirrer Device  
+  class:  
+    module: unilabos.devices.Mock.MockStirrer.MockStirrer:MockStirrer  
+    type: python  
+    status_types:  
+      status: String  
+      power_state: String  
+      stir_speed: Float64  
+      target_stir_speed: Float64  
+      stir_state: String  
+      temperature: Float64  
+      target_temperature: Float64  
+      heating_state: String  
+      heating_power: Float64  
+      max_stir_speed: Float64  
+      max_temperature: Float64  
+    action_value_mappings:  
+      power_control:  
+        type: SendCmd  
+        goal:  
+          command: power_state  
+        feedback: {}  
+        result:  
+          success: success  
+      set_stir_speed:  
+        type: SendCmd  
+        goal:  
+          command: speed  
+        feedback: {}  
+        result:  
+          success: success  
+      set_temperature:  
+        type: SendCmd  
+        goal:  
+          command: temperature  
+        feedback: {}  
+        result:  
+          success: success  
+      start_stirring:  
+        type: SendCmd  
+        goal: {}  
+        feedback: {}  
+        result:  
+          success: success  
+      stop_stirring:  
+        type: SendCmd  
+        goal: {}  
+        feedback: {}  
+        result:  
+          success: success  
+      heating_control:  
+        type: SendCmd  
+        goal:  
+          command: heating_state  
+        feedback: {}  
+        result:  
+          success: success  
+  schema:  
+    type: object  
+    properties:  
+      status:  
+        type: string  
+        description: Current status of the stirrer  
+      power_state:  
+        type: string  
+        description: Power state (On/Off)  
+      stir_speed:  
+        type: number  
+        description: Current stirring speed in rpm  
+      target_stir_speed:  
+        type: number  
+        description: Target stirring speed in rpm  
+      stir_state:  
+        type: string  
+        description: Stirring state (Running/Stopped)  
+      temperature:  
+        type: number  
+        description: Current temperature in °C  
+      target_temperature:  
+        type: number  
+        description: Target temperature in °C  
+      heating_state:  
+        type: string  
+        description: Heating state (On/Off)  
+      heating_power:  
+        type: number  
+        description: Current heating power percentage  
+      max_stir_speed:  
+        type: number  
+        description: Maximum stirring speed in rpm  
+      max_temperature:  
+        type: number  
+        description: Maximum temperature in °C  
+    required:  
+      - status  
+      - stir_speed  
+      - temperature  
+      - power_state  
+    additionalProperties: false