update docs, test examples

fix liquid_handler init bug
2025-12-17 21:11:12 +00:00 · 2025-11-18 13:32:09 +08:00
parent 549a50220b
commit 75f09034ff
120 changed files with 7713 additions and 1026 deletions
--- a/unilabos/test/registry/init.py
+++ b/unilabos/test/registry/init.py
--- a/unilabos/test/registry/example_devices.py
+++ b/unilabos/test/registry/example_devices.py
@@ -0,0 +1,609 @@
+"""
+示例设备类文件，用于测试注册表编辑器
+"""
+
+import asyncio
+from typing import Dict, Any, List
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
+
+class SmartPumpController:
+    """
+    智能泵控制器
+
+    支持多种泵送模式，具有高精度流量控制和自动校准功能。
+    适用于实验室自动化系统中的液体处理任务。
+    """
+
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
+        """
+        初始化智能泵控制器
+
+        Args:
+            device_id: 设备唯一标识符
+            port: 通信端口
+        """
+        self.device_id = device_id
+        self.port = port
+        self.is_connected = False
+        self.current_flow_rate = 0.0
+        self.total_volume_pumped = 0.0
+        self.calibration_factor = 1.0
+        self.pump_mode = "continuous"  # continuous, volume, rate
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
+    def connect_device(self, timeout: int = 10) -> bool:
+        """
+        连接到泵设备
+
+        Args:
+            timeout: 连接超时时间（秒）
+
+        Returns:
+            bool: 连接是否成功
+        """
+        # 模拟连接过程
+        self.is_connected = True
+        return True
+
+    def disconnect_device(self) -> bool:
+        """
+        断开设备连接
+
+        Returns:
+            bool: 断开连接是否成功
+        """
+        self.is_connected = False
+        self.current_flow_rate = 0.0
+        return True
+
+    def set_flow_rate(self, flow_rate: float, units: str = "ml/min") -> bool:
+        """
+        设置泵流速
+
+        Args:
+            flow_rate: 流速值
+            units: 流速单位
+
+        Returns:
+            bool: 设置是否成功
+        """
+        if not self.is_connected:
+            return False
+
+        self.current_flow_rate = flow_rate
+        return True
+
+    async def pump_volume_async(self, volume: float, flow_rate: float) -> Dict[str, Any]:
+        """
+        异步泵送指定体积的液体
+
+        Args:
+            volume: 目标体积 (mL)
+            flow_rate: 泵送流速 (mL/min)
+
+        Returns:
+            Dict: 包含操作结果的字典
+        """
+        if not self.is_connected:
+            return {"success": False, "error": "设备未连接"}
+
+        # 计算泵送时间
+        pump_time = (volume / flow_rate) * 60  # 转换为秒
+
+        self.current_flow_rate = flow_rate
+        await self._ros_node.sleep(min(pump_time, 3.0))  # 模拟泵送过程
+
+        self.total_volume_pumped += volume
+        self.current_flow_rate = 0.0
+
+        return {
+            "success": True,
+            "pumped_volume": volume,
+            "actual_time": min(pump_time, 3.0),
+            "total_volume": self.total_volume_pumped,
+        }
+
+    def emergency_stop(self) -> bool:
+        """
+        紧急停止泵
+
+        Returns:
+            bool: 停止是否成功
+        """
+        self.current_flow_rate = 0.0
+        return True
+
+    def perform_calibration(self, reference_volume: float, measured_volume: float) -> bool:
+        """
+        执行泵校准
+
+        Args:
+            reference_volume: 参考体积
+            measured_volume: 实际测量体积
+
+        Returns:
+            bool: 校准是否成功
+        """
+        if measured_volume > 0:
+            self.calibration_factor = reference_volume / measured_volume
+            return True
+        return False
+
+    # 状态查询方法
+    def get_connection_status(self) -> str:
+        """获取连接状态"""
+        return "connected" if self.is_connected else "disconnected"
+
+    def get_current_flow_rate(self) -> float:
+        """获取当前流速 (mL/min)"""
+        return self.current_flow_rate
+
+    def get_total_volume(self) -> float:
+        """获取累计泵送体积 (mL)"""
+        return self.total_volume_pumped
+
+    def get_calibration_factor(self) -> float:
+        """获取校准因子"""
+        return self.calibration_factor
+
+    def get_pump_mode(self) -> str:
+        """获取泵送模式"""
+        return self.pump_mode
+
+    def get_device_status(self) -> Dict[str, Any]:
+        """获取设备完整状态信息"""
+        return {
+            "device_id": self.device_id,
+            "connected": self.is_connected,
+            "flow_rate": self.current_flow_rate,
+            "total_volume": self.total_volume_pumped,
+            "calibration_factor": self.calibration_factor,
+            "mode": self.pump_mode,
+            "running": self.current_flow_rate > 0,
+        }
+
+
+class AdvancedTemperatureController:
+    """
+    高级温度控制器
+
+    支持PID控制、多点温度监控和程序化温度曲线。
+    适用于需要精确温度控制的化学反应和材料处理过程。
+    """
+
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(self, controller_id: str = "temp_controller_01"):
+        """
+        初始化温度控制器
+
+        Args:
+            controller_id: 控制器ID
+        """
+        self.controller_id = controller_id
+        self.current_temperature = 25.0
+        self.target_temperature = 25.0
+        self.is_heating = False
+        self.is_cooling = False
+        self.pid_enabled = True
+        self.temperature_history: List[Dict] = []
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
+    def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
+        """
+        设置目标温度
+
+        Args:
+            temperature: 目标温度 (°C)
+            rate: 升温/降温速率 (°C/min)
+
+        Returns:
+            bool: 设置是否成功
+        """
+        self.target_temperature = temperature
+        return True
+
+    async def heat_to_temperature_async(
+        self, temperature: float, tolerance: float = 0.5, timeout: int = 600
+    ) -> Dict[str, Any]:
+        """
+        异步加热到指定温度
+
+        Args:
+            temperature: 目标温度 (°C)
+            tolerance: 温度容差 (°C)
+            timeout: 最大等待时间 (秒)
+
+        Returns:
+            Dict: 操作结果
+        """
+        self.target_temperature = temperature
+        start_temp = self.current_temperature
+
+        if temperature > start_temp:
+            self.is_heating = True
+        elif temperature < start_temp:
+            self.is_cooling = True
+
+        # 模拟温度变化过程
+        steps = min(abs(temperature - start_temp) * 2, 20)  # 计算步数
+        step_time = min(timeout / steps if steps > 0 else 1, 2.0)  # 每步最多2秒
+
+        for step in range(int(steps)):
+            progress = (step + 1) / steps
+            self.current_temperature = start_temp + (temperature - start_temp) * progress
+
+            # 记录温度历史
+            self.temperature_history.append(
+                {
+                    "timestamp": asyncio.get_event_loop().time(),
+                    "temperature": self.current_temperature,
+                    "target": self.target_temperature,
+                }
+            )
+
+            await self._ros_node.sleep(step_time)
+
+            # 保持历史记录不超过100条
+            if len(self.temperature_history) > 100:
+                self.temperature_history.pop(0)
+
+        # 最终设置为目标温度
+        self.current_temperature = temperature
+        self.is_heating = False
+        self.is_cooling = False
+
+        return {
+            "success": True,
+            "final_temperature": self.current_temperature,
+            "start_temperature": start_temp,
+            "time_taken": steps * step_time,
+        }
+
+    def enable_pid_control(self, kp: float = 1.0, ki: float = 0.1, kd: float = 0.05) -> bool:
+        """
+        启用PID控制
+
+        Args:
+            kp: 比例增益
+            ki: 积分增益
+            kd: 微分增益
+
+        Returns:
+            bool: 启用是否成功
+        """
+        self.pid_enabled = True
+        return True
+
+    def run_temperature_program(self, program: List[Dict]) -> bool:
+        """
+        运行温度程序
+
+        Args:
+            program: 温度程序列表，每个元素包含温度和持续时间
+
+        Returns:
+            bool: 程序启动是否成功
+        """
+        # 模拟程序启动
+        return True
+
+    # 状态查询方法
+    def get_current_temperature(self) -> float:
+        """获取当前温度 (°C)"""
+        return round(self.current_temperature, 2)
+
+    def get_target_temperature(self) -> float:
+        """获取目标温度 (°C)"""
+        return self.target_temperature
+
+    def get_heating_status(self) -> bool:
+        """获取加热状态"""
+        return self.is_heating
+
+    def get_cooling_status(self) -> bool:
+        """获取制冷状态"""
+        return self.is_cooling
+
+    def get_pid_status(self) -> bool:
+        """获取PID控制状态"""
+        return self.pid_enabled
+
+    def get_temperature_history(self) -> List[Dict]:
+        """获取温度历史记录"""
+        return self.temperature_history[-10:]  # 返回最近10条记录
+
+    def get_controller_status(self) -> Dict[str, Any]:
+        """获取控制器完整状态"""
+        return {
+            "controller_id": self.controller_id,
+            "current_temp": self.current_temperature,
+            "target_temp": self.target_temperature,
+            "is_heating": self.is_heating,
+            "is_cooling": self.is_cooling,
+            "pid_enabled": self.pid_enabled,
+            "history_count": len(self.temperature_history),
+        }
+
+
+class MultiChannelAnalyzer:
+    """
+    多通道分析仪
+
+    支持同时监测多个通道的信号，提供实时数据采集和分析功能。
+    常用于光谱分析、电化学测量等应用场景。
+    """
+
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
+        """
+        初始化多通道分析仪
+
+        Args:
+            analyzer_id: 分析仪ID
+            channels: 通道数量
+        """
+        self.analyzer_id = analyzer_id
+        self.channel_count = channels
+        self.channel_data = {i: {"value": 0.0, "unit": "V", "enabled": True} for i in range(channels)}
+        self.is_measuring = False
+        self.sample_rate = 1000  # Hz
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
+    def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
+        """
+        配置通道
+
+        Args:
+            channel: 通道编号
+            enabled: 是否启用
+            unit: 测量单位
+
+        Returns:
+            bool: 配置是否成功
+        """
+        if 0 <= channel < self.channel_count:
+            self.channel_data[channel]["enabled"] = enabled
+            self.channel_data[channel]["unit"] = unit
+            return True
+        return False
+
+    async def start_measurement_async(self, duration: int = 10) -> Dict[str, Any]:
+        """
+        开始异步测量
+
+        Args:
+            duration: 测量持续时间（秒）
+
+        Returns:
+            Dict: 测量结果
+        """
+        self.is_measuring = True
+
+        # 模拟数据采集
+        measurements = []
+        for _ in range(duration):
+            timestamp = asyncio.get_event_loop().time()
+            frame_data = {}
+
+            for channel in range(self.channel_count):
+                if self.channel_data[channel]["enabled"]:
+                    # 模拟传感器数据
+                    import random
+
+                    value = random.uniform(-5.0, 5.0)
+                    frame_data[f"channel_{channel}"] = value
+                    self.channel_data[channel]["value"] = value
+
+            measurements.append({"timestamp": timestamp, "data": frame_data})
+
+            await self._ros_node.sleep(1.0)  # 每秒采集一次
+
+        self.is_measuring = False
+
+        return {
+            "success": True,
+            "duration": duration,
+            "samples_count": len(measurements),
+            "measurements": measurements[-5:],  # 只返回最后5个样本
+            "channels_active": len([ch for ch in self.channel_data.values() if ch["enabled"]]),
+        }
+
+    def stop_measurement(self) -> bool:
+        """
+        停止测量
+
+        Returns:
+            bool: 停止是否成功
+        """
+        self.is_measuring = False
+        return True
+
+    def reset_channels(self) -> bool:
+        """
+        重置所有通道
+
+        Returns:
+            bool: 重置是否成功
+        """
+        for channel in self.channel_data:
+            self.channel_data[channel]["value"] = 0.0
+        return True
+
+    # 状态查询方法
+    def get_measurement_status(self) -> bool:
+        """获取测量状态"""
+        return self.is_measuring
+
+    def get_channel_count(self) -> int:
+        """获取通道数量"""
+        return self.channel_count
+
+    def get_sample_rate(self) -> float:
+        """获取采样率 (Hz)"""
+        return self.sample_rate
+
+    def get_channel_values(self) -> Dict[int, float]:
+        """获取所有通道的当前值"""
+        return {ch: data["value"] for ch, data in self.channel_data.items() if data["enabled"]}
+
+    def get_enabled_channels(self) -> List[int]:
+        """获取已启用的通道列表"""
+        return [ch for ch, data in self.channel_data.items() if data["enabled"]]
+
+    def get_analyzer_status(self) -> Dict[str, Any]:
+        """获取分析仪完整状态"""
+        return {
+            "analyzer_id": self.analyzer_id,
+            "channel_count": self.channel_count,
+            "is_measuring": self.is_measuring,
+            "sample_rate": self.sample_rate,
+            "active_channels": len(self.get_enabled_channels()),
+            "channel_data": self.channel_data,
+        }
+
+
+class AutomatedDispenser:
+    """
+    自动分配器
+
+    精确控制固体和液体材料的分配，支持多种分配模式和容器管理。
+    集成称重功能，确保分配精度和重现性。
+    """
+
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(self, dispenser_id: str = "dispenser_01"):
+        """
+        初始化自动分配器
+
+        Args:
+            dispenser_id: 分配器ID
+        """
+        self.dispenser_id = dispenser_id
+        self.is_ready = True
+        self.current_position = {"x": 0.0, "y": 0.0, "z": 0.0}
+        self.dispensed_total = 0.0
+        self.container_capacity = 1000.0  # mL
+        self.precision_mode = True
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
+    def move_to_position(self, x: float, y: float, z: float) -> bool:
+        """
+        移动到指定位置
+
+        Args:
+            x: X坐标 (mm)
+            y: Y坐标 (mm)
+            z: Z坐标 (mm)
+
+        Returns:
+            bool: 移动是否成功
+        """
+        self.current_position = {"x": x, "y": y, "z": z}
+        return True
+
+    async def dispense_liquid_async(self, volume: float, container_id: str, viscosity: str = "low") -> Dict[str, Any]:
+        """
+        异步分配液体
+
+        Args:
+            volume: 分配体积 (mL)
+            container_id: 容器ID
+            viscosity: 液体粘度等级
+
+        Returns:
+            Dict: 分配结果
+        """
+        if not self.is_ready:
+            return {"success": False, "error": "设备未就绪"}
+
+        if volume <= 0:
+            return {"success": False, "error": "体积必须大于0"}
+
+        # 模拟分配过程
+        dispense_time = volume * 0.1  # 每mL需要0.1秒
+        if viscosity == "high":
+            dispense_time *= 2  # 高粘度液体需要更长时间
+
+        await self._ros_node.sleep(min(dispense_time, 5.0))  # 最多等待5秒
+
+        self.dispensed_total += volume
+
+        return {
+            "success": True,
+            "dispensed_volume": volume,
+            "container_id": container_id,
+            "actual_time": min(dispense_time, 5.0),
+            "total_dispensed": self.dispensed_total,
+        }
+
+    def clean_dispenser(self, wash_volume: float = 5.0) -> bool:
+        """
+        清洗分配器
+
+        Args:
+            wash_volume: 清洗液体积 (mL)
+
+        Returns:
+            bool: 清洗是否成功
+        """
+        # 模拟清洗过程
+        return True
+
+    def calibrate_volume(self, target_volume: float) -> bool:
+        """
+        校准分配体积
+
+        Args:
+            target_volume: 校准目标体积 (mL)
+
+        Returns:
+            bool: 校准是否成功
+        """
+        # 模拟校准过程
+        return True
+
+    # 状态查询方法
+    def get_ready_status(self) -> bool:
+        """获取就绪状态"""
+        return self.is_ready
+
+    def get_current_position(self) -> Dict[str, float]:
+        """获取当前位置坐标"""
+        return self.current_position.copy()
+
+    def get_dispensed_total(self) -> float:
+        """获取累计分配体积 (mL)"""
+        return self.dispensed_total
+
+    def get_container_capacity(self) -> float:
+        """获取容器容量 (mL)"""
+        return self.container_capacity
+
+    def get_precision_mode(self) -> bool:
+        """获取精密模式状态"""
+        return self.precision_mode
+
+    def get_dispenser_status(self) -> Dict[str, Any]:
+        """获取分配器完整状态"""
+        return {
+            "dispenser_id": self.dispenser_id,
+            "ready": self.is_ready,
+            "position": self.current_position,
+            "dispensed_total": self.dispensed_total,
+            "capacity": self.container_capacity,
+            "precision_mode": self.precision_mode,
+        }