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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
184
unilabos/devices/virtual/virtual_separator.py
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184
unilabos/devices/virtual/virtual_separator.py
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import asyncio
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import logging
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from typing import Dict, Any, Optional
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class VirtualSeparator:
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"""Virtual separator device for SeparateProtocol testing"""
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def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
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# 处理可能的不同调用方式
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if device_id is None and "id" in kwargs:
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device_id = kwargs.pop("id")
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if config is None and "config" in kwargs:
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config = kwargs.pop("config")
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# 设置默认值
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self.device_id = device_id or "unknown_separator"
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self.config = config or {}
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self.logger = logging.getLogger(f"VirtualSeparator.{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"=== VirtualSeparator {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._volume = self.config.get("volume") or kwargs.get("volume", 250.0)
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self._has_phases = self.config.get("has_phases") or kwargs.get("has_phases", True)
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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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skip_keys = {"port", "volume", "has_phases"}
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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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setattr(self, key, value)
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async def initialize(self) -> bool:
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"""Initialize virtual separator"""
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print(f"=== VirtualSeparator {self.device_id} initialize() called! ===")
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self.logger.info(f"Initializing virtual separator {self.device_id}")
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self.data.update(
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{
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"status": "Ready",
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"separator_state": "Ready",
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"volume": self._volume,
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"has_phases": self._has_phases,
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"phase_separation": False,
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"stir_speed": 0.0,
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"settling_time": 0.0,
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"progress": 0.0,
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"message": "",
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}
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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 separator"""
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self.logger.info(f"Cleaning up virtual separator {self.device_id}")
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return True
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async def separate(
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self,
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purpose: str,
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product_phase: str,
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from_vessel: str,
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separation_vessel: str,
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to_vessel: str,
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waste_phase_to_vessel: str = "",
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solvent: str = "",
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solvent_volume: float = 50.0,
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through: str = "",
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repeats: int = 1,
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stir_time: float = 30.0,
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stir_speed: float = 300.0,
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settling_time: float = 300.0,
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) -> bool:
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"""Execute separate action - matches Separate action"""
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self.logger.info(f"Separate: purpose={purpose}, product_phase={product_phase}, from_vessel={from_vessel}")
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# 验证参数
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if product_phase not in ["top", "bottom"]:
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self.logger.error(f"Invalid product_phase {product_phase}, must be 'top' or 'bottom'")
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self.data["message"] = f"产物相位 {product_phase} 无效，必须是 'top' 或 'bottom'"
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return False
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if purpose not in ["wash", "extract"]:
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self.logger.error(f"Invalid purpose {purpose}, must be 'wash' or 'extract'")
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self.data["message"] = f"分离目的 {purpose} 无效，必须是 'wash' 或 'extract'"
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return False
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# 开始分离
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self.data.update(
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{
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"status": "Running",
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"separator_state": "Separating",
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"purpose": purpose,
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"product_phase": product_phase,
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"from_vessel": from_vessel,
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"separation_vessel": separation_vessel,
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"to_vessel": to_vessel,
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"waste_phase_to_vessel": waste_phase_to_vessel,
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"solvent": solvent,
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"solvent_volume": solvent_volume,
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"repeats": repeats,
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"stir_speed": stir_speed,
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"settling_time": settling_time,
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"phase_separation": True,
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"progress": 0.0,
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"message": f"正在分离: {from_vessel} -> {to_vessel}",
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}
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)
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# 模拟分离过程
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total_time = (stir_time + settling_time) * repeats
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simulation_time = min(total_time / 60.0, 15.0) # 最多模拟15秒
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for repeat in range(repeats):
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# 搅拌阶段
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for progress in range(0, 51, 10):
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await asyncio.sleep(simulation_time / (repeats * 10))
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overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
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self.data["progress"] = overall_progress
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self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)"
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# 静置分相阶段
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for progress in range(50, 101, 10):
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await asyncio.sleep(simulation_time / (repeats * 10))
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overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
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self.data["progress"] = overall_progress
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self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)"
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# 分离完成
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self.data.update(
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{
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"status": "Ready",
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"separator_state": "Ready",
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"phase_separation": False,
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"stir_speed": 0.0,
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"progress": 100.0,
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"message": f"分离完成: {repeats}次分离操作",
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}
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)
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self.logger.info(f"Separation completed: {repeats} cycles from {from_vessel} to {to_vessel}")
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return True
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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", "Unknown")
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@property
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def separator_state(self) -> str:
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return self.data.get("separator_state", "Unknown")
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@property
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def volume(self) -> float:
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return self.data.get("volume", self._volume)
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@property
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def has_phases(self) -> bool:
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return self.data.get("has_phases", self._has_phases)
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@property
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def phase_separation(self) -> bool:
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return self.data.get("phase_separation", 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 settling_time(self) -> float:
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return self.data.get("settling_time", 0.0)
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@property
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def progress(self) -> float:
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return self.data.get("progress", 0.0)
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@property
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def message(self) -> str:
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return self.data.get("message", "")
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