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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
@@ -1,5 +1,6 @@
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import asyncio
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import logging
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import time as time_module # 重命名time模块，避免与参数冲突
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from typing import Dict, Any
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class VirtualHeatChill:
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@@ -19,18 +20,13 @@ class VirtualHeatChill:
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self.logger = logging.getLogger(f"VirtualHeatChill.{self.device_id}")
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self.data = {}
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# 添加调试信息
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print(f"=== VirtualHeatChill {self.device_id} is being created! ===")
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print(f"=== Config: {self.config} ===")
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print(f"=== Kwargs: {kwargs} ===")
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# 从config或kwargs中获取配置参数
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self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
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self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 200.0)
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self._min_temp = self.config.get('min_temp') or kwargs.get('min_temp', -80.0)
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self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
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# 处理其他kwargs参数，但跳过已知的配置参数
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# 处理其他kwargs参数
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skip_keys = {'port', 'max_temp', 'min_temp', 'max_stir_speed'}
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for key, value in kwargs.items():
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if key not in skip_keys and not hasattr(self, key):
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@@ -38,70 +34,177 @@ class VirtualHeatChill:
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async def initialize(self) -> bool:
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"""Initialize virtual heat chill"""
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print(f"=== VirtualHeatChill {self.device_id} initialize() called! ===")
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self.logger.info(f"Initializing virtual heat chill {self.device_id}")
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# 初始化状态信息
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self.data.update({
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"status": "Idle"
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"status": "Idle",
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"operation_mode": "Idle",
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"is_stirring": False,
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"stir_speed": 0.0,
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"remaining_time": 0.0,
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})
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return True
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async def cleanup(self) -> bool:
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"""Cleanup virtual heat chill"""
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self.logger.info(f"Cleaning up virtual heat chill {self.device_id}")
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self.data.update({
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"status": "Offline",
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"operation_mode": "Offline",
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"is_stirring": False,
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"stir_speed": 0.0,
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"remaining_time": 0.0
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})
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return True
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async def heat_chill(self, vessel: str, temp: float, time: float, stir: bool,
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stir_speed: float, purpose: str) -> bool:
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"""Execute heat chill action - matches HeatChill action exactly"""
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self.logger.info(f"HeatChill: vessel={vessel}, temp={temp}°C, time={time}s, stir={stir}, stir_speed={stir_speed}, purpose={purpose}")
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"""Execute heat chill action - 按实际时间运行，实时更新剩余时间"""
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self.logger.info(f"HeatChill: vessel={vessel}, temp={temp}°C, time={time}s, stir={stir}, stir_speed={stir_speed}")
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# 验证参数
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if temp > self._max_temp or temp < self._min_temp:
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self.logger.error(f"Temperature {temp} outside range {self._min_temp}-{self._max_temp}")
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self.data["status"] = f"温度 {temp} 超出范围"
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error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}°C - {self._max_temp}°C)"
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self.logger.error(error_msg)
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self.data.update({
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"status": f"Error: {error_msg}",
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"operation_mode": "Error"
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})
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return False
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if stir and stir_speed > self._max_stir_speed:
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self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_stir_speed}")
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self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
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error_msg = f"搅拌速度 {stir_speed} RPM 超出最大值 {self._max_stir_speed} RPM"
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self.logger.error(error_msg)
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self.data.update({
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"status": f"Error: {error_msg}",
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"operation_mode": "Error"
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})
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return False
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# 开始加热/冷却
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# 确定操作模式
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if temp > 25.0:
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operation_mode = "Heating"
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status_action = "加热"
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elif temp < 25.0:
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operation_mode = "Cooling"
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status_action = "冷却"
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else:
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operation_mode = "Maintaining"
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status_action = "保温"
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# **修复**: 使用重命名的time模块
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start_time = time_module.time()
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total_time = time
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# 开始操作
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stir_info = f" | 搅拌: {stir_speed} RPM" if stir else ""
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self.data.update({
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"status": f"加热/冷却中: {vessel} 至 {temp}°C"
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"status": f"运行中: {status_action} {vessel} 至 {temp}°C | 剩余: {total_time:.0f}s{stir_info}",
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"operation_mode": operation_mode,
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"is_stirring": stir,
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"stir_speed": stir_speed if stir else 0.0,
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"remaining_time": total_time,
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})
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# 模拟加热/冷却时间
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simulation_time = min(time, 10.0) # 最多等待10秒用于测试
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await asyncio.sleep(simulation_time)
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# **修复**: 在等待过程中每秒更新剩余时间
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while True:
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current_time = time_module.time() # 使用重命名的time模块
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elapsed = current_time - start_time
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remaining = max(0, total_time - elapsed)
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# 更新剩余时间和状态
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self.data.update({
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"remaining_time": remaining,
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"status": f"运行中: {status_action} {vessel} 至 {temp}°C | 剩余: {remaining:.0f}s{stir_info}"
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})
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# 如果时间到了，退出循环
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if remaining <= 0:
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break
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# 等待1秒后再次检查
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await asyncio.sleep(1.0)
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# 加热/冷却完成
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self.data["status"] = f"完成: {vessel} 已达到 {temp}°C"
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# 操作完成
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final_stir_info = f" | 搅拌: {stir_speed} RPM" if stir else ""
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self.data.update({
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"status": f"完成: {vessel} 已达到 {temp}°C | 用时: {total_time:.0f}s{final_stir_info}",
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"operation_mode": "Completed",
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"remaining_time": 0.0,
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"is_stirring": False,
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"stir_speed": 0.0
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})
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self.logger.info(f"HeatChill completed for vessel {vessel} at {temp}°C")
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self.logger.info(f"HeatChill completed for vessel {vessel} at {temp}°C after {total_time}s")
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return True
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async def heat_chill_start(self, vessel: str, temp: float, purpose: str) -> bool:
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"""Start heat chill - matches HeatChillStart action exactly"""
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self.logger.info(f"HeatChillStart: vessel={vessel}, temp={temp}°C, purpose={purpose}")
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"""Start continuous heat chill"""
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self.logger.info(f"HeatChillStart: vessel={vessel}, temp={temp}°C")
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# 验证参数
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if temp > self._max_temp or temp < self._min_temp:
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self.logger.error(f"Temperature {temp} outside range {self._min_temp}-{self._max_temp}")
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self.data["status"] = f"温度 {temp} 超出范围"
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error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}°C - {self._max_temp}°C)"
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self.logger.error(error_msg)
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self.data.update({
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"status": f"Error: {error_msg}",
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"operation_mode": "Error"
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})
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return False
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self.data["status"] = f"开始加热/冷却: {vessel} 至 {temp}°C"
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# 确定操作模式
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if temp > 25.0:
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operation_mode = "Heating"
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status_action = "持续加热"
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elif temp < 25.0:
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operation_mode = "Cooling"
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status_action = "持续冷却"
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else:
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operation_mode = "Maintaining"
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status_action = "恒温保持"
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self.data.update({
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"status": f"启动: {status_action} {vessel} 至 {temp}°C | 持续运行",
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"operation_mode": operation_mode,
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"is_stirring": False,
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"stir_speed": 0.0,
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"remaining_time": -1.0, # -1 表示持续运行
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})
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return True
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async def heat_chill_stop(self, vessel: str) -> bool:
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"""Stop heat chill - matches HeatChillStop action exactly"""
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"""Stop heat chill"""
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self.logger.info(f"HeatChillStop: vessel={vessel}")
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self.data["status"] = f"停止加热/冷却: {vessel}"
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self.data.update({
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"status": f"已停止: {vessel} 温控停止",
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"operation_mode": "Stopped",
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"is_stirring": False,
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"stir_speed": 0.0,
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"remaining_time": 0.0,
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})
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return True
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# 状态属性 - 只保留 action 中定义的 feedback
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# 状态属性
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@property
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def status(self) -> str:
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return self.data.get("status", "Idle")
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return self.data.get("status", "Idle")
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@property
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def operation_mode(self) -> str:
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return self.data.get("operation_mode", "Idle")
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@property
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def is_stirring(self) -> bool:
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return self.data.get("is_stirring", False)
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@property
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def stir_speed(self) -> float:
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return self.data.get("stir_speed", 0.0)
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@property
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def remaining_time(self) -> float:
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return self.data.get("remaining_time", 0.0)
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