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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
@@ -1,9 +1,10 @@
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import asyncio
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import logging
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import time as time_module
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from typing import Dict, Any
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class VirtualStirrer:
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"""Virtual stirrer device for StirProtocol testing"""
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"""Virtual stirrer device for StirProtocol testing - 功能完整版"""
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def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
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# 处理可能的不同调用方式
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@@ -19,86 +20,196 @@ class VirtualStirrer:
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self.logger = logging.getLogger(f"VirtualStirrer.{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"=== VirtualStirrer {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', 100.0)
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self._max_speed = self.config.get('max_speed') or kwargs.get('max_speed', 1000.0)
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self._max_speed = self.config.get('max_speed') or kwargs.get('max_speed', 1500.0)
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self._min_speed = self.config.get('min_speed') or kwargs.get('min_speed', 50.0)
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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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skip_keys = {'port', 'max_temp', 'max_speed'}
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# 处理其他kwargs参数
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skip_keys = {'port', 'max_speed', 'min_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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setattr(self, key, value)
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async def initialize(self) -> bool:
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"""Initialize virtual stirrer"""
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print(f"=== VirtualStirrer {self.device_id} initialize() called! ===")
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self.logger.info(f"Initializing virtual stirrer {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", # 操作模式: Idle, Stirring, Settling, Completed, Error
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"current_vessel": "", # 当前搅拌的容器
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"current_speed": 0.0, # 当前搅拌速度
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"is_stirring": False, # 是否正在搅拌
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"remaining_time": 0.0, # 剩余时间
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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 stirrer"""
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self.logger.info(f"Cleaning up virtual stirrer {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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"current_vessel": "",
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"current_speed": 0.0,
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"is_stirring": False,
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"remaining_time": 0.0,
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})
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return True
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async def stir(self, stir_time: float, stir_speed: float, settling_time: float) -> bool:
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"""Execute stir action - matches Stir action exactly"""
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"""Execute stir action - 定时搅拌 + 沉降"""
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self.logger.info(f"Stir: speed={stir_speed} RPM, time={stir_time}s, settling={settling_time}s")
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# 验证参数
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if stir_speed > self._max_speed:
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self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_speed}")
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self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
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if stir_speed > self._max_speed or stir_speed < self._min_speed:
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error_msg = f"搅拌速度 {stir_speed} RPM 超出范围 ({self._min_speed} - {self._max_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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# 开始搅拌
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self.data["status"] = f"搅拌中: {stir_speed} RPM, {stir_time}s"
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# === 第一阶段：搅拌 ===
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start_time = time_module.time()
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total_stir_time = stir_time
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# 模拟搅拌时间
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simulation_time = min(stir_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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self.data.update({
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"status": f"搅拌中: {stir_speed} RPM | 剩余: {total_stir_time:.0f}s",
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"operation_mode": "Stirring",
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"current_speed": stir_speed,
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"is_stirring": True,
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"remaining_time": total_stir_time,
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})
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# 搅拌完成，开始沉降
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# 搅拌过程 - 实时更新剩余时间
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while True:
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current_time = time_module.time()
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elapsed = current_time - start_time
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remaining = max(0, total_stir_time - elapsed)
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# 更新状态
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self.data.update({
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"remaining_time": remaining,
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"status": f"搅拌中: {stir_speed} RPM | 剩余: {remaining:.0f}s"
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})
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# 搅拌时间到了
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if remaining <= 0:
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break
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await asyncio.sleep(1.0)
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# === 第二阶段：沉降（如果需要）===
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if settling_time > 0:
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self.data["status"] = f"沉降中: {settling_time}s"
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settling_simulation = min(settling_time, 5.0) # 最多等待5秒
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await asyncio.sleep(settling_simulation)
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start_settling_time = time_module.time()
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total_settling_time = settling_time
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self.data.update({
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"status": f"沉降中: 停止搅拌 | 剩余: {total_settling_time:.0f}s",
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"operation_mode": "Settling",
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"current_speed": 0.0,
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"is_stirring": False,
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"remaining_time": total_settling_time,
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})
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# 沉降过程 - 实时更新剩余时间
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while True:
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current_time = time_module.time()
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elapsed = current_time - start_settling_time
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remaining = max(0, total_settling_time - elapsed)
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# 更新状态
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self.data.update({
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"remaining_time": remaining,
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"status": f"沉降中: 停止搅拌 | 剩余: {remaining:.0f}s"
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})
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# 沉降时间到了
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if remaining <= 0:
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break
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await asyncio.sleep(1.0)
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# 操作完成
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self.data["status"] = "搅拌完成"
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# === 操作完成 ===
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settling_info = f" | 沉降: {settling_time:.0f}s" if settling_time > 0 else ""
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self.data.update({
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"status": f"完成: 搅拌 {stir_speed} RPM, {stir_time:.0f}s{settling_info}",
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"operation_mode": "Completed",
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"current_speed": 0.0,
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"is_stirring": False,
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"remaining_time": 0.0,
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})
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self.logger.info(f"Stir completed: {stir_speed} RPM for {stir_time}s")
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self.logger.info(f"Stir completed: {stir_speed} RPM for {stir_time}s + settling {settling_time}s")
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return True
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async def start_stir(self, vessel: str, stir_speed: float, purpose: str) -> bool:
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"""Start stir action - matches StartStir action exactly"""
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"""Start stir action - 开始持续搅拌"""
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self.logger.info(f"StartStir: vessel={vessel}, speed={stir_speed} RPM, purpose={purpose}")
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# 验证参数
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if stir_speed > self._max_speed:
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self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_speed}")
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self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
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if stir_speed > self._max_speed or stir_speed < self._min_speed:
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error_msg = f"搅拌速度 {stir_speed} RPM 超出范围 ({self._min_speed} - {self._max_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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self.data["status"] = f"开始搅拌: {vessel} at {stir_speed} RPM"
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self.data.update({
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"status": f"启动: 持续搅拌 {vessel} at {stir_speed} RPM | {purpose}",
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"operation_mode": "Stirring",
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"current_vessel": vessel,
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"current_speed": stir_speed,
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"is_stirring": True,
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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 stop_stir(self, vessel: str) -> bool:
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"""Stop stir action - matches StopStir action exactly"""
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"""Stop stir action - 停止搅拌"""
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self.logger.info(f"StopStir: vessel={vessel}")
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self.data["status"] = f"停止搅拌: {vessel}"
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current_speed = self.data.get("current_speed", 0.0)
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self.data.update({
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"status": f"已停止: {vessel} 搅拌停止 | 之前速度: {current_speed} RPM",
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"operation_mode": "Stopped",
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"current_vessel": "",
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"current_speed": 0.0,
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"is_stirring": False,
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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 current_vessel(self) -> str:
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return self.data.get("current_vessel", "")
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@property
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def current_speed(self) -> float:
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return self.data.get("current_speed", 0.0)
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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 remaining_time(self) -> float:
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return self.data.get("remaining_time", 0.0)
|
||||
Reference in New Issue
Block a user