mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-07 15:35:10 +00:00
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>
This commit is contained in:
Kongchang Feng
GitHub
@@ -1,158 +1,213 @@
|
||||
import asyncio
|
||||
import logging
|
||||
from typing import Dict, Any
|
||||
import time as time_module
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
|
||||
class VirtualCentrifuge:
|
||||
"""Virtual centrifuge device for CentrifugeProtocol testing"""
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
"""Virtual centrifuge device - 简化版，只保留核心功能"""
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
if device_id is None and 'id' in kwargs:
|
||||
device_id = kwargs.pop('id')
|
||||
if config is None and 'config' in kwargs:
|
||||
config = kwargs.pop('config')
|
||||
|
||||
if device_id is None and "id" in kwargs:
|
||||
device_id = kwargs.pop("id")
|
||||
if config is None and "config" in kwargs:
|
||||
config = kwargs.pop("config")
|
||||
|
||||
# 设置默认值
|
||||
self.device_id = device_id or "unknown_centrifuge"
|
||||
self.config = config or {}
|
||||
|
||||
|
||||
self.logger = logging.getLogger(f"VirtualCentrifuge.{self.device_id}")
|
||||
self.data = {}
|
||||
|
||||
# 添加调试信息
|
||||
print(f"=== VirtualCentrifuge {self.device_id} is being created! ===")
|
||||
print(f"=== Config: {self.config} ===")
|
||||
print(f"=== Kwargs: {kwargs} ===")
|
||||
|
||||
|
||||
# 从config或kwargs中获取配置参数
|
||||
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
|
||||
self._max_speed = self.config.get('max_speed') or kwargs.get('max_speed', 15000.0)
|
||||
self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 40.0)
|
||||
self._min_temp = self.config.get('min_temp') or kwargs.get('min_temp', 4.0)
|
||||
|
||||
# 处理其他kwargs参数，但跳过已知的配置参数
|
||||
skip_keys = {'port', 'max_speed', 'max_temp', 'min_temp'}
|
||||
self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
|
||||
self._max_speed = self.config.get("max_speed") or kwargs.get("max_speed", 15000.0)
|
||||
self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 40.0)
|
||||
self._min_temp = self.config.get("min_temp") or kwargs.get("min_temp", 4.0)
|
||||
|
||||
# 处理其他kwargs参数
|
||||
skip_keys = {"port", "max_speed", "max_temp", "min_temp"}
|
||||
for key, value in kwargs.items():
|
||||
if key not in skip_keys and not hasattr(self, key):
|
||||
setattr(self, key, value)
|
||||
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual centrifuge"""
|
||||
print(f"=== VirtualCentrifuge {self.device_id} initialize() called! ===")
|
||||
self.logger.info(f"Initializing virtual centrifuge {self.device_id}")
|
||||
|
||||
# 只保留核心状态
|
||||
self.data.update({
|
||||
"status": "Idle",
|
||||
"centrifuge_state": "Stopped", # Stopped, Running, Completed, Error
|
||||
"current_speed": 0.0,
|
||||
"target_speed": 0.0,
|
||||
"current_temp": 25.0,
|
||||
"target_temp": 25.0,
|
||||
"max_speed": self._max_speed,
|
||||
"max_temp": self._max_temp,
|
||||
"min_temp": self._min_temp,
|
||||
"centrifuge_state": "Stopped",
|
||||
"time_remaining": 0.0,
|
||||
"progress": 0.0,
|
||||
"message": ""
|
||||
"message": "Ready for centrifugation"
|
||||
})
|
||||
return True
|
||||
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""Cleanup virtual centrifuge"""
|
||||
self.logger.info(f"Cleaning up virtual centrifuge {self.device_id}")
|
||||
|
||||
self.data.update({
|
||||
"status": "Offline",
|
||||
"centrifuge_state": "Offline",
|
||||
"current_speed": 0.0,
|
||||
"current_temp": 25.0,
|
||||
"message": "System offline"
|
||||
})
|
||||
return True
|
||||
|
||||
async def centrifuge(self, vessel: str, speed: float, time: float, temp: float = 25.0) -> bool:
|
||||
"""Execute centrifuge action - matches Centrifuge action"""
|
||||
self.logger.info(f"Centrifuge: vessel={vessel}, speed={speed} RPM, time={time}s, temp={temp}°C")
|
||||
|
||||
|
||||
async def centrifuge(
|
||||
self,
|
||||
vessel: str,
|
||||
speed: float,
|
||||
time: float,
|
||||
temp: float = 25.0
|
||||
) -> bool:
|
||||
"""Execute centrifuge action - 简化的离心流程"""
|
||||
self.logger.info(f"Centrifuge: vessel={vessel}, speed={speed} rpm, time={time}s, temp={temp}°C")
|
||||
|
||||
# 验证参数
|
||||
if speed > self._max_speed:
|
||||
self.logger.error(f"Speed {speed} exceeds maximum {self._max_speed}")
|
||||
self.data["message"] = f"速度 {speed} 超过最大值 {self._max_speed}"
|
||||
if speed > self._max_speed or speed < 100.0:
|
||||
error_msg = f"离心速度 {speed} rpm 超出范围 (100-{self._max_speed} rpm)"
|
||||
self.logger.error(error_msg)
|
||||
self.data.update({
|
||||
"status": f"Error: {error_msg}",
|
||||
"centrifuge_state": "Error",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
|
||||
if temp > self._max_temp or temp < self._min_temp:
|
||||
self.logger.error(f"Temperature {temp} outside range {self._min_temp}-{self._max_temp}")
|
||||
self.data["message"] = f"温度 {temp} 超出范围 {self._min_temp}-{self._max_temp}"
|
||||
error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}-{self._max_temp}°C)"
|
||||
self.logger.error(error_msg)
|
||||
self.data.update({
|
||||
"status": f"Error: {error_msg}",
|
||||
"centrifuge_state": "Error",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
|
||||
# 开始离心
|
||||
self.data.update({
|
||||
"status": "Running",
|
||||
"centrifuge_state": "Centrifuging",
|
||||
"target_speed": speed,
|
||||
"status": f"离心中: {vessel}",
|
||||
"centrifuge_state": "Running",
|
||||
"current_speed": speed,
|
||||
"target_temp": temp,
|
||||
"target_speed": speed,
|
||||
"current_temp": temp,
|
||||
"target_temp": temp,
|
||||
"time_remaining": time,
|
||||
"vessel": vessel,
|
||||
"progress": 0.0,
|
||||
"message": f"离心中: {vessel} at {speed} RPM"
|
||||
"message": f"Centrifuging {vessel} at {speed} rpm, {temp}°C"
|
||||
})
|
||||
|
||||
# 模拟离心过程
|
||||
simulation_time = min(time, 5.0) # 最多等待5秒用于测试
|
||||
await asyncio.sleep(simulation_time)
|
||||
|
||||
# 离心完成
|
||||
self.data.update({
|
||||
"status": "Idle",
|
||||
"centrifuge_state": "Stopped",
|
||||
"current_speed": 0.0,
|
||||
"target_speed": 0.0,
|
||||
"time_remaining": 0.0,
|
||||
"progress": 100.0,
|
||||
"message": f"离心完成: {vessel}"
|
||||
})
|
||||
|
||||
self.logger.info(f"Centrifuge completed for vessel {vessel}")
|
||||
return True
|
||||
|
||||
# 状态属性
|
||||
|
||||
try:
|
||||
# 离心过程 - 实时更新进度
|
||||
start_time = time_module.time()
|
||||
total_time = time
|
||||
|
||||
while True:
|
||||
current_time = time_module.time()
|
||||
elapsed = current_time - start_time
|
||||
remaining = max(0, total_time - elapsed)
|
||||
progress = min(100.0, (elapsed / total_time) * 100)
|
||||
|
||||
# 更新状态
|
||||
self.data.update({
|
||||
"time_remaining": remaining,
|
||||
"progress": progress,
|
||||
"status": f"离心中: {vessel} | {speed} rpm | {temp}°C | {progress:.1f}% | 剩余: {remaining:.0f}s",
|
||||
"message": f"Centrifuging: {progress:.1f}% complete, {remaining:.0f}s remaining"
|
||||
})
|
||||
|
||||
# 时间到了，退出循环
|
||||
if remaining <= 0:
|
||||
break
|
||||
|
||||
# 每秒更新一次
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# 离心完成
|
||||
self.data.update({
|
||||
"status": f"离心完成: {vessel} | {speed} rpm | {time}s",
|
||||
"centrifuge_state": "Completed",
|
||||
"progress": 100.0,
|
||||
"time_remaining": 0.0,
|
||||
"current_speed": 0.0, # 停止旋转
|
||||
"current_temp": 25.0, # 恢复室温
|
||||
"message": f"Centrifugation completed: {vessel} at {speed} rpm for {time}s"
|
||||
})
|
||||
|
||||
self.logger.info(f"Centrifugation completed: {vessel} at {speed} rpm for {time}s")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
# 出错处理
|
||||
self.logger.error(f"Error during centrifugation: {str(e)}")
|
||||
|
||||
self.data.update({
|
||||
"status": f"离心错误: {str(e)}",
|
||||
"centrifuge_state": "Error",
|
||||
"current_speed": 0.0,
|
||||
"current_temp": 25.0,
|
||||
"progress": 0.0,
|
||||
"time_remaining": 0.0,
|
||||
"message": f"Centrifugation failed: {str(e)}"
|
||||
})
|
||||
return False
|
||||
|
||||
# === 核心状态属性 ===
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Unknown")
|
||||
|
||||
@property
|
||||
def current_speed(self) -> float:
|
||||
return self.data.get("current_speed", 0.0)
|
||||
|
||||
@property
|
||||
def target_speed(self) -> float:
|
||||
return self.data.get("target_speed", 0.0)
|
||||
|
||||
@property
|
||||
def current_temp(self) -> float:
|
||||
return self.data.get("current_temp", 25.0)
|
||||
|
||||
@property
|
||||
def target_temp(self) -> float:
|
||||
return self.data.get("target_temp", 25.0)
|
||||
|
||||
@property
|
||||
def max_speed(self) -> float:
|
||||
return self.data.get("max_speed", self._max_speed)
|
||||
|
||||
@property
|
||||
def max_temp(self) -> float:
|
||||
return self.data.get("max_temp", self._max_temp)
|
||||
|
||||
@property
|
||||
def min_temp(self) -> float:
|
||||
return self.data.get("min_temp", self._min_temp)
|
||||
|
||||
|
||||
@property
|
||||
def centrifuge_state(self) -> str:
|
||||
return self.data.get("centrifuge_state", "Unknown")
|
||||
|
||||
|
||||
@property
|
||||
def current_speed(self) -> float:
|
||||
return self.data.get("current_speed", 0.0)
|
||||
|
||||
@property
|
||||
def target_speed(self) -> float:
|
||||
return self.data.get("target_speed", 0.0)
|
||||
|
||||
@property
|
||||
def current_temp(self) -> float:
|
||||
return self.data.get("current_temp", 25.0)
|
||||
|
||||
@property
|
||||
def target_temp(self) -> float:
|
||||
return self.data.get("target_temp", 25.0)
|
||||
|
||||
@property
|
||||
def max_speed(self) -> float:
|
||||
return self._max_speed
|
||||
|
||||
@property
|
||||
def max_temp(self) -> float:
|
||||
return self._max_temp
|
||||
|
||||
@property
|
||||
def min_temp(self) -> float:
|
||||
return self._min_temp
|
||||
|
||||
@property
|
||||
def time_remaining(self) -> float:
|
||||
return self.data.get("time_remaining", 0.0)
|
||||
|
||||
|
||||
@property
|
||||
def progress(self) -> float:
|
||||
return self.data.get("progress", 0.0)
|
||||
|
||||
|
||||
@property
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
Reference in New Issue
Block a user