diff --git a/examples/dh_7000_eis.py b/examples/dh_7000_eis.py new file mode 100644 index 0000000..6a84a75 --- /dev/null +++ b/examples/dh_7000_eis.py @@ -0,0 +1,34 @@ +import rclpy + +# Initialize ROS communications for a given context +if(rclpy.ok() == False): + rclpy.init() +else: + print("rclpy already initiated") + +from unilabos.devices.electrochem.dh_7000 import DH7000 +from unilabos_msgs.action import SendCmd +from std_msgs.msg import Float64, String, Int16 +from unilabos.ros.device_node_wrapper import ros2_device_node +import clr +import os + +# dll_path = r'D:\UniLab\code\DHElecChem\release64' +# eccore_dll_path = os.path.join(dll_path, 'ECCore.dll') +# os.environ["PATH"] = dll_path + os.pathsep + os.environ["PATH"] +# clr.AddReference(eccore_dll_path) +# from ECCore import ElecMachines + +ROS2_DH7000 = ros2_device_node( + DH7000, + status_types={'machine_id': Int16, 'status': String}, + action_value_mappings={'dh_cmd': { + 'type': SendCmd, + 'goal': {'command': 'command'}, + 'feedback': {}, + 'result': {'success': 'success'}} + } +) + +device = ROS2_DH7000(device_id='DH7000_1') +rclpy.spin(device.ros_node_instance) \ No newline at end of file diff --git a/examples/opsky_30007_raman.py b/examples/opsky_30007_raman.py new file mode 100644 index 0000000..84c673e --- /dev/null +++ b/examples/opsky_30007_raman.py @@ -0,0 +1,31 @@ +import rclpy + +# Initialize ROS communications for a given context +if(rclpy.ok() == False): + rclpy.init() +else: + print("rclpy already initiated") + +from unilabos.devices.raman_uv.opsky_ATR30007 import ATR30007 +from unilabos_msgs.action import SendCmd +from unilabos.ros.device_node_wrapper import ros2_device_node + +# dll_path = r'D:\UniLab\code\DHElecChem\release64' +# eccore_dll_path = os.path.join(dll_path, 'ECCore.dll') +# os.environ["PATH"] = dll_path + os.pathsep + os.environ["PATH"] +# clr.AddReference(eccore_dll_path) +# from ECCore import ElecMachines + +ROS2_ATR30007 = ros2_device_node( + ATR30007, + #status_types={'machine_id': Int16, 'status': String}, + action_value_mappings={'opsky_cmd': { + 'type': SendCmd, + 'goal': {'command': 'command'}, + 'feedback': {}, + 'result': {'success': 'success'}} + } +) + +device = ROS2_ATR30007(device_id='ATR30007_1') +rclpy.spin(device.ros_node_instance) \ No newline at end of file diff --git a/unilabos/devices/NMR/NMR.py b/unilabos/devices/NMR/NMR.py new file mode 100644 index 0000000..2b105cc --- /dev/null +++ b/unilabos/devices/NMR/NMR.py @@ -0,0 +1,61 @@ +import os +import time +import pandas as pd +import json +import shutil +import sys +import time + +# define class ATR30007 +# this class is used to control the ATR30007 Raman workstation + +class NMR_400: + def __init__(self): + self.machine = None + + def start_NMR(self, user: str = "admin", holder: int = 1, + name: str = "Samplename1", expno: int = 1, + solvent: str = "D2O", experiment: str = "PROTON16", + title: str = "test_1H", save_root: str = None,): + #打开仪器 + content = f"""USER {user} +HOLDER {holder} +NAME {name} +EXPNO {expno} +SOLVENT {solvent} +EXPERIMENT {experiment} +TITLE {title} +END +""" + # 生成文件名（当前日期） + filename = datetime.now().strftime("%Y%m%d%H%M") + ".txt" + + # 创建输出目录（如果不存在） + os.makedirs(save_root, exist_ok=True) + + # 写入文件 + filepath = os.path.join(save_root, filename) + with open(filepath, "w") as f: + f.write(content) + + print(f'文件{filename}保存到{save_root}') + + def NMR_cmd(self, command: str): + print(f"接收到命令: {command}") + # replace !=! to " + command = command.replace("!=!", "\"") + command = command.replace('\\', '\\\\') + command = command.replace("True", "true").replace("False", "false") + try: + cmd_dict = json.loads(command) + print(f"命令参数: {cmd_dict}") + # 解析命令参数 + save_root = cmd_dict.get("save_root", r"D:\UniLab\results\250414") + # FIXME: use EIS for test. Add parameter for other tests + + self.start_NMR(**cmd_dict) # , file_name=file_name, save_root=save_root + print(f"实验完成，数据已保存到 {save_root}") + except Exception as e: + print(f"命令执行失败: {e}") + raise f"error: {e}" + \ No newline at end of file diff --git a/unilabos/devices/NMR/__init__.py b/unilabos/devices/NMR/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/unilabos/devices/XRD/XRD_Aolong_AL_Y3500.py b/unilabos/devices/XRD/XRD_Aolong_AL_Y3500.py new file mode 100644 index 0000000..6f512d7 --- /dev/null +++ b/unilabos/devices/XRD/XRD_Aolong_AL_Y3500.py @@ -0,0 +1,109 @@ + +### test Ao long AL-Y3500 XRD device ##### +''' +注意： 复制前删除同名文件 + (1) 首先要在D盘创建Aolong Save文件夹。 + 在D盘Aolong Save文件夹里创建Hardware.txt（参数控制文件）, 即D:\Aolong Save\Hardware.txt。 + + (2) 除了停止和开始命令，其它参数要在命令符后面输入一位空格字符（同一行不能输入多位空格）。 + 所有命令符英文都要大写。 + 在D盘Aolong Save文件夹里创建Jade文件夹，测量结果自动保存在D:\Aolong Save\Jade里面。 + + (3) `远程控制.exe`的主界面要勾选远程控制，才能实现远程操作功能。 + + +输入参数`Hardware.txt`解读： + +命令符 参数 + +USER 用户名 +SAMPLE 样品编号 +TIME 采集时间 +STEP 步进角度 +START 起始角度 +C_END 结束角度 +RUN 开始命令 +STOP 停止命令 +END + + +示例： +建议采用(1)的写法，XRD机器保持开启状态（参数RUN），启动`远程控制.exe`, 保持界面中的高压电源（30 kV）开启状态， + +(1). 测量Aolong 513 样品。在20-50度范围内，以0.2秒速度采集0.02步进角度的样品数据！ + +USER Aolong +SAMPLE 513 +TIME 0.2 +STEP 0.02 +START 20 +C_END 50 +RUN +END + + +(2). 停止测量 + +USER Aolong +SAMPLE 513 +STOP +END + +''' + +class XRD_Aolong_AL_Y3500: + + def __init__(self, name:str, time:float, step_angle:float, start_angle:float, end_angle:float, status:str): + self.name = name + self.time = time + self.step_angle = step_angle + self.start_angle = start_angle + self.end_angle = end_angle + self.status = status + + + def setup_run_XRD(self, name:str, time:float, step_angle:float, start_angle:float, end_angle:float, status:str): + ''' + setup input parameter of `aolong XRD AL-Y3500` + ''' + + ### default input parameters ## + parameter_path = "D:/Aolong Save/Hardware.txt" + + ret = "USER Aolong" + ret += "\n" + + ret += f"SAMPLE {name}" + ret += "\n" + + ret += f"TIME {time}" + ret += "\n" + + ret += f"STEP {step_angle}" + ret += "\n" + + ret += f"START {start_angle}" + ret += "\n" + + ret += f"C_END {end_angle}" + ret += "\n" + + ret += f"{status}" + ret += "\n" + + ret += "END" + ret += "\n" + + fp = open(parameter_path, "w") + fp.write(ret) + fp.close() + + ## 文件`parameter_path = "D:/Aolong Save/Hardware.txt"` 一旦发生改动，仪器开启自动开始XRD测试 + ## 并将测试结果自动保存到 `default save path` 中 + save_path = "D:/Aolong Save/Jade" + + +#if __name__ == "__main__": +# setup_run_XRD("smc-20250515-test", 0.2, 0.02, 20, 40, "RUN" ) + + diff --git a/unilabos/devices/XRD/XRD_test.py b/unilabos/devices/XRD/XRD_test.py new file mode 100644 index 0000000..e69de29 diff --git a/unilabos/devices/electrochem/__init__.py b/unilabos/devices/electrochem/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/unilabos/devices/electrochem/dh_7000.py b/unilabos/devices/electrochem/dh_7000.py new file mode 100644 index 0000000..9926310 --- /dev/null +++ b/unilabos/devices/electrochem/dh_7000.py @@ -0,0 +1,552 @@ +import clr +import os +import time +import pandas as pd +import json +import shutil +import sys +import time +from System import Environment + + +# define class DH7000 +# this class is used to control the DH7000 electrochemical workstation +class DH7000: + def __init__(self, dll_path: str = r'D:\DH_release64'): + self.dll_path = dll_path + self.machine = None + self._load_dll() + self._initialize_machine() + self._status = "PowerOff" # otherwise it will be "Running", "Overload", "Idle" + self._machine_id = None + + @property + def status(self) -> str: + return self._status + + @property + def machine_id(self) -> int: + return self._machine_id + + def _load_dll(self): + # Check if ECCore.dll exists + eccore_dll_path = os.path.join(self.dll_path, 'ECCore.dll') + if not os.path.exists(eccore_dll_path): + raise FileNotFoundError(f"ECCore.dll不存在于路径 {eccore_dll_path}") + # Prepend DLL path to system PATH + os.environ["PATH"] = self.dll_path + os.pathsep + os.environ["PATH"] + + # Add reference + try: + clr.AddReference(eccore_dll_path) + from ECCore import ElecMachines + self.machine = ElecMachines() + print("成功添加ECCore.dll引用，导入ElecMachines类，并创建实例") + except Exception as e: + raise RuntimeError(f"添加DLL引用或导入ElecMachines类时出错: {e}") + + def _initialize_machine(self): + interface_dir = os.path.join(self.dll_path, 'DHInterface') + if not os.path.exists(interface_dir): + raise FileNotFoundError(f"DHInterface文件夹不存在于路径 {interface_dir}") + + init_success = self.machine.Init(interface_dir) + if not init_success: + raise RuntimeError("工作站初始化失败") + print("工作站初始化成功") + self.check_status() + + def check_status(self): + Flag_isexp = self.machine.IsExperimenting() + if Flag_isexp: + Flag_isover = self.machine.IsOverLoad() + if Flag_isover: + self._status = "Overload" + else: + self._status = "Running" + else: + self._status = "Idle" + + def set_current_machineid(self, machine_id: int): + machineid_list = list(self.machine.GetMachineId()) + if machine_id not in machineid_list: + raise ValueError(f"工作站ID {machine_id} 不在可用ID列表中: {machineid_list}") + self.machine.SetCurrentMachineId(machine_id) + self._machine_id = machine_id + print(f"选择的工作站ID: {self._machine_id}") + + def start_eis( + self, + isVolEIS: bool = True, + StartFreq: float = 1E5, + EndFreq: float = 1E-1, + Amplitude: float = 10, + IntervalType: int = 1, + PointCount: int = 10, + Voltage: float = 0.0, + VoltageVSType: float = 1.0, + isVoltageRandAuto: int = 1, + VoltageRand: str = "10", + isCurrentRandAuto: int = 1, + CurrentRand: str = "10", + file_name: str = 'test_eis', + save_root: str = r"D:\UniLab\results" + ): + """ + EIS test + """ + self.machine.Start_EIS( + isVolEIS, + StartFreq, + EndFreq, + Amplitude, + IntervalType, + PointCount, + Voltage, + VoltageVSType, + isVoltageRandAuto, + VoltageRand, + isCurrentRandAuto, + CurrentRand + ) + self._status = "Running" + + # Wait for experiment to finish + while self._status == "Running": + time.sleep(5) + self.check_status() + print(f"当前状态: {self._status}") + + # Retrieve data + datatype = self.machine.GetResultDataType() + data_result = self.machine.GetData(datatype) + splitCount = 6 + + timeData = list(self.machine.SplitData(data_result, splitCount, 0)) + ZreData = list(self.machine.SplitData(data_result, splitCount, 1)) + ZimData = list(self.machine.SplitData(data_result, splitCount, 2)) + ZData = list(self.machine.SplitData(data_result, splitCount, 3)) + FreqData = list(self.machine.SplitData(data_result, splitCount, 4)) + PhaseData = list(self.machine.SplitData(data_result, splitCount, 5)) + + data_to_dataframe = { + "TimeData": timeData, + "ZreData": ZreData, + "ZimData": ZimData, + "ZData": ZData, + "FreqData": FreqData, + "PhaseData": PhaseData, + } + + # Convert to DataFrame + df = pd.DataFrame(data_to_dataframe) + self.save_data(df, file_name, save_root) + self.check_status() + + def start_lsv( + self, + InitialPotential: float = 0.0, + InitialPotentialVSType: int = 1, + FinallyPotential: float = 1.0, + FinallyPotentialVSType: int = 1, + ScanRate: float = 0.05, + isVoltageRandAuto: int = 1, + VoltageRand: str = "10", + isCurrentRandAuto: int = 1, + CurrentRand: str = "10", + file_name: str = 'lsv_test', + save_root: str = r"D:\UniLab\results" + ): + """ + LSV test + """ + self.machine.Start_Linear_Scan_Voltammetry( + InitialPotential, + InitialPotentialVSType, + FinallyPotential, + FinallyPotentialVSType, + ScanRate, + isVoltageRandAuto, + VoltageRand, + isCurrentRandAuto, + CurrentRand + ) + self._status = "Running" + + # Wait for experiment to finish + while self._status == "Running": + time.sleep(5) + self.check_status() + print(f"当前状态: {self._status}") + + # Retrieve data + datatype = self.machine.GetResultDataType() + data_result = self.machine.GetData(datatype) + splitCount = 3 + + timeData = list(self.machine.SplitData(data_result, splitCount, 0)) + VolData = list(self.machine.SplitData(data_result, splitCount, 1)) + CurData = list(self.machine.SplitData(data_result, splitCount, 2)) + + data_to_dataframe = { + "TimeData": timeData, + "VolData": VolData, + "CurData": CurData, + } + # Convert to DataFrame + df = pd.DataFrame(data_to_dataframe) + self.save_data(df, file_name, save_root) + self.check_status() + + def start_cv_single( + self, + InitialPotential: float = 0.0, + InitialPotentialVSType: int = 0, + TopPotential: float = 1.0, + TopPotentialVSType: int = 0, + FinallyPotential: float = 0.0, + FinallyPotentialVSType: int = 0, + ScanRate: float = 0.1, + isVoltageRandAuto: int = 1, + VoltageRand: str = "10", + isCurrentRandAuto: int = 1, + CurrentRand: str = "10", + isVoltageFilterAuto: int = 1, + VoltageFilter: str = "", + isCurrentFilterAuto: int = 1, + currentFilter: str = "", + machineId: int = 0, + delayTime: float = 0.0, + file_name: str = 'cv_single_test', + save_root: str = r"D:\UniLab\results" + ): + """ + Single cyclic voltammetry (Single CV) + """ + + # Call underlying DLL function + self.machine.Start_Circle_Voltammetry_Single( + InitialPotential, + InitialPotentialVSType, + TopPotential, + TopPotentialVSType, + FinallyPotential, + FinallyPotentialVSType, + ScanRate, + isVoltageRandAuto, + VoltageRand, + isCurrentRandAuto, + CurrentRand, + isVoltageFilterAuto, + VoltageFilter, + isCurrentFilterAuto, + currentFilter, + machineId, + delayTime + ) + + # Wait for experiment to finish + self._status = "Running" + while self._status == "Running": + time.sleep(5) + self.check_status() + print(f"当前状态: {self._status}") + + # Retrieve and parse data + datatype = self.machine.GetResultDataType() + data_result = self.machine.GetData(datatype) + # Same as LSV, usually three columns: Time, Voltage, Current + splitCount = 3 + + timeData = list(self.machine.SplitData(data_result, splitCount, 0)) + volData = list(self.machine.SplitData(data_result, splitCount, 1)) + curData = list(self.machine.SplitData(data_result, splitCount, 2)) + + data_to_dataframe = { + "TimeData": timeData, + "VolData": volData, + "CurData": curData, + } + df = pd.DataFrame(data_to_dataframe) + + # Save data + self.save_data(df, file_name, save_root) + self.check_status() + + def start_cv_multi( + self, + IsUseInitialPotential: bool = True, + InitialPotential: float = 0.0, + InitialPotentialVSType: int = 0, + TopPotential1: float = 1.0, + TopPotential1VSType: int = 0, + TopPotential2: float = -1.0, + TopPotential2VSType: int = 0, + IsUseFinallyPotential: bool = True, + FinallyPotential: float = 0.0, + FinallyPotentialVSType: int = 0, + ScanRate: float = 0.1, + cycleCount: int = 3, + isVoltageRandAuto: int = 1, + VoltageRand: str = "10", + isCurrentRandAuto: int = 1, + CurrentRand: str = "10", + isVoltageFilterAuto: int = 1, + VoltageFilter: str = "", + isCurrentFilterAuto: int = 1, + currentFilter: str = "", + machineId: int = 0, + delayTime: float = 0.0, + file_name: str = "cv_multi_test", + save_root: str = r"D:\UniLab\results", + ): + """ + Multiple cyclic voltammetry (Multiple CV). + """ + # Call underlying DLL + self.machine.Start_Circle_Voltammetry_Multi( + IsUseInitialPotential, + InitialPotential, + InitialPotentialVSType, + TopPotential1, + TopPotential1VSType, + TopPotential2, + TopPotential2VSType, + IsUseFinallyPotential, + FinallyPotential, + FinallyPotentialVSType, + ScanRate, + cycleCount, + isVoltageRandAuto, + VoltageRand, + isCurrentRandAuto, + CurrentRand, + isVoltageFilterAuto, + VoltageFilter, + isCurrentFilterAuto, + currentFilter, + machineId, + delayTime, + ) + + # Wait for experiment to finish + self._status = "Running" + while self._status == "Running": + time.sleep(5) + self.check_status() + print(f"当前状态: {self._status}") + + # Fetch data and split + datatype = self.machine.GetResultDataType() + data_result = self.machine.GetData(datatype) + + splitCount = 3 # Assume still three columns: Time/Voltage/Current + timeData = list(self.machine.SplitData(data_result, splitCount, 0)) + volData = list(self.machine.SplitData(data_result, splitCount, 1)) + curData = list(self.machine.SplitData(data_result, splitCount, 2)) + + df = pd.DataFrame( + { + "TimeData": timeData, + "VolData": volData, + "CurData": curData, + } + ) + + # Save + self.save_data(df, file_name, save_root) + self.check_status() + + def start_ca( + self, + timePerPoint: float = 0.1, + continueTime: float = 100.0, + InitialPotential: float = 0.0, + InitialPotentialVSType: int = 0, + isVoltageRandAuto: int = 1, + VoltageRand: str = "10", + isCurrentRandAuto: int = 1, + CurrentRand: str = "10", + isVoltageFilterAuto: int = 1, + VoltageFilter: str = "", + isCurrentFilterAuto: int = 1, + currentFilter: str = "", + machineId: int = 0, + file_name: str = "ca_test", + save_root: str = r"D:\UniLab\results", + ): + """ + Chrono‑Amperometry (CA) — constant potential + """ + # Call DLL + self.machine.Start_ChronoamperonetryParam( + timePerPoint, + continueTime, + InitialPotential, + InitialPotentialVSType, + isVoltageRandAuto, + VoltageRand, + isCurrentRandAuto, + CurrentRand, + isVoltageFilterAuto, + VoltageFilter, + isCurrentFilterAuto, + currentFilter, + machineId, + ) + + # Wait for experiment to finish + self._status = "Running" + while self._status == "Running": + time.sleep(5) + self.check_status() + print(f"当前状态: {self._status}") + + # Fetch and split data (commonly three columns: Time / Voltage / Current) + datatype = self.machine.GetResultDataType() + data_result = self.machine.GetData(datatype) + + splitCount = 3 + timeData = list(self.machine.SplitData(data_result, splitCount, 0)) + volData = list(self.machine.SplitData(data_result, splitCount, 1)) + curData = list(self.machine.SplitData(data_result, splitCount, 2)) + + df = pd.DataFrame( + { + "TimeData": timeData, + "VolData": volData, + "CurData": curData, + } + ) + + # Save + self.save_data(df, file_name, save_root) + self.check_status() + + def start_cp( + self, + timePerPoint: float = 0.1, + continueTime: float = 100.0, + current: float = 1.0, + VoltageRand: str = "100", + isCurrentRandAuto: int = 1, + CurrentRand: str = "10", + isVoltageFilterAuto: int = 1, + VoltageFilter: str = "", + isCurrentFilterAuto: int = 1, + currentFilter: str = "", + machineId: int = 0, + file_name: str = "cp_test", + save_root: str = r"D:\UniLab\results", + ): + """ + Chrono‑Potentiometry (CP) — constant current + """ + # Call DLL + self.machine.Start_ChronopotentiometryParam( + timePerPoint, + continueTime, + current, + VoltageRand, + isCurrentRandAuto, + CurrentRand, + isVoltageFilterAuto, + VoltageFilter, + isCurrentFilterAuto, + currentFilter, + machineId, + ) + + # Wait for experiment to finish + self._status = "Running" + while self._status == "Running": + time.sleep(5) + self.check_status() + print(f"当前状态: {self._status}") + + # Fetch and split data (Time / Voltage / Current) + datatype = self.machine.GetResultDataType() + data_result = self.machine.GetData(datatype) + + splitCount = 3 + timeData = list(self.machine.SplitData(data_result, splitCount, 0)) + volData = list(self.machine.SplitData(data_result, splitCount, 1)) + curData = list(self.machine.SplitData(data_result, splitCount, 2)) + + df = pd.DataFrame( + { + "TimeData": timeData, + "VolData": volData, + "CurData": curData, + } + ) + + # Save + self.save_data(df, file_name, save_root) + self.check_status() + + + def stop_experiment(self): + self.machine.StopExperiment() + self.check_status() + print("实验已停止") + + def save_data(self, data: pd.DataFrame, file_name: str, save_root: str): + if not os.path.exists(save_root): + os.makedirs(save_root) + data.to_csv(os.path.join(save_root, f"{file_name}.csv"), index=False) + print(f"数据已保存到 {save_root}") + + # === Core: a unified dh_cmd method that calls start_eis or start_lsv according to methods === + def dh_cmd(self, method: str, command: str, resource: dict): + """ + Unified handler for different commands such as EIS / LSV / CV / CA. + In the incoming command JSON, use the key "methods" to specify the measurement type: "eis", "lsv", etc. + """ + self.success = False + print(f"接收到命令: {command}") + + # Replace "!=!" with quotes and fix True/False and path separators + command = command.replace("!=!", "\"") + command = command.replace('\\', '\\\\') + command = command.replace("True", "true").replace("False", "false") + + try: + cmd_dict = json.loads(command) + print(f"命令参数: {cmd_dict}") + + # Extract measurement method, default to "EIS" if not specified + # method = cmd_dict.pop("methods", "eis").lower() + # Extract file save path (may not be provided) + save_root = cmd_dict.get("save_root", r"D:\UniLab\results\test") + + if method in ("cv_single", "cvs"): + # CV (cyclic voltammetry, single cycle) + print("执行 EIS 测试...") + self.start_cv_single(**cmd_dict) + elif method in ("cv_multi", "cvm"): + # CV (cyclic voltammetry, multiple cycles) + print("执行多循环伏安测试...") + self.start_cv_multi(**cmd_dict) + elif method == "lsv": + # LSV + print("执行 LSV 测试...") + self.start_lsv(**cmd_dict) + elif method == "ca": + # CA + self.start_ca(**cmd_dict) + elif method == "cp": + # CP + self.start_cp(**cmd_dict) + else: + # Default to EIS + print("执行 EIS 测试...") + self.start_eis(**cmd_dict) + + + print(f"实验完成，数据已保存到 {save_root}") + self.success = True + + except Exception as e: + print(f"命令执行失败: {e}") + raise RuntimeError(f"error: {e}") \ No newline at end of file diff --git a/unilabos/devices/raman_uv/opsky_ATR30007.py b/unilabos/devices/raman_uv/opsky_ATR30007.py new file mode 100644 index 0000000..3e943f6 --- /dev/null +++ b/unilabos/devices/raman_uv/opsky_ATR30007.py @@ -0,0 +1,115 @@ +import json +import os + +import clr +import pandas as pd + + +# define class ATR30007 +# this class is used to control the ATR30007 Raman workstation + +class ATR30007: + def __init__(self, dll_path: str = r'D:\Raman_RS'): + self.dll_path = dll_path + self.machine = None + self.status = "Idle" + self._load_dll() + + def _load_dll(self): + # 检查ECCore.dll是否存在 + eccore_dll_path = os.path.join(self.dll_path, 'ATRWrapper.dll') + if not os.path.exists(eccore_dll_path): + raise FileNotFoundError(f"ATRWrapper.dll不存在于路径 {eccore_dll_path}") + + # 将DLL路径添加到系统PATH的最前面 + os.environ["PATH"] = self.dll_path + os.pathsep + os.environ["PATH"] + + # 添加引用 + try: + clr.AddReference(eccore_dll_path) + from Optosky.Wrapper import ATRWrapper + self.machine = ATRWrapper() + print("成功添加ATRWrapper.dll引用，导入ATRWrapper类，并创建实例") + except Exception as e: + raise RuntimeError(f"添加DLL引用或导入ATRWrapper类时出错: {e}") + + + def get_machineSn(self): + machineSn = self.machine.GetSn() + print(f"选择的工作站ID: {machineSn}") + + def start_Raman(self, IntegTime: int = 5000, LdPower: int = 200, + Ldwave: int = 1, CCDTemp: int = -5, + file_name: str = 'test_raman', save_root: str = None): + #打开仪器 + On_flag = self.machine.OpenDevice() + print(f"On_flag: {On_flag}") + #获取仪器SN + wrapper_Sn = self.machine.GetSn() + print(f"wrapper_Sn: {wrapper_Sn}") + #设置当前设备的积分时间， 单位为毫秒 + Integ_flag = self.machine.SetIntegrationTime(IntegTime) + print(f"Integ_flag:{Integ_flag}") + #设置激光功率， 单位mW + LdP_flag = self.machine.SetLdPower(LdPower,Ldwave) + print(f"LdP_flag:{LdP_flag}") + #设置 CCD 制冷温度 + SetC_flag = self.machine.SetCool(CCDTemp) + print(f"SetC_flag:{SetC_flag}") + #开始采集光谱 + self.status = "Running" + Spect = self.machine.AcquireSpectrum() + #开始采集光谱谱图数据转换 + Spect_data = list(Spect.get_Data()) + Spect_suss_flag = Spect.get_Success() + print(f"Spect_suss_flag:{Spect_suss_flag}") + #获取波数 + WaveNum = list(self.machine.GetWaveNum()) + #光谱数据基线校正 + Spect_bLC = list(self.machine.BaseLineCorrect(Spect_data)) + #对数据进行boxcar 平滑 + Spect_StB = list(self.machine.SmoothBoxcar(Spect_bLC, 10)) + + self.status = "Idle" + #关闭仪器 + OFF_flag = wrapper.CloseDevice() + print(f"OFF_flag: {OFF_flag}") + + data_to_dataframe = { + "WaveNum": WaveNum, + "Spect_data": Spect_data, + "Spect_bLC": Spect_bLC, + "Spect_StB": Spect_StB + } + # 将数据转换为DataFrame格式 + df = pd.DataFrame(data_to_dataframe) + self.save_data(df, file_name, save_root) + self.check_status() + + + def save_data(self, data: pd.DataFrame, file_name: str, save_root: str): + if not os.path.exists(save_root): + os.makedirs(save_root) + data.to_csv(os.path.join(save_root, f"{file_name}.csv"), index=False) + print(f"数据已保存到 {save_root}") + + def opsky_cmd(self, command: str): + print(f"接收到命令: {command}") + # replace !=! to " + command = command.replace("!=!", "\"") + command = command.replace('\\', '\\\\') + command = command.replace("True", "true").replace("False", "false") + try: + cmd_dict = json.loads(command) + print(f"命令参数: {cmd_dict}") + # 解析命令参数 + # file_name = cmd_dict.get("file_name", "test") + save_root = cmd_dict.get("save_root", r"D:\UniLab\results\250414") + # FIXME: use EIS for test. Add parameter for other tests + + self.start_Raman(**cmd_dict) # , file_name=file_name, save_root=save_root + print(f"实验完成，数据已保存到 {save_root}") + except Exception as e: + print(f"命令执行失败: {e}") + raise f"error: {e}" + \ No newline at end of file diff --git a/unilabos/registry/devices/characterization_XRD.yaml b/unilabos/registry/devices/characterization_XRD.yaml new file mode 100644 index 0000000..7798c85 --- /dev/null +++ b/unilabos/registry/devices/characterization_XRD.yaml @@ -0,0 +1,20 @@ +# 电化学表征设备：电化学工作站、电池测试柜 +XRD_station.Aolong: + description: Aolong XRD_station test + class: + module: unilabos.devices.XRD.XRD_test:XRD_Aolong_AL_Y3500 + type: python + status_types: + samplein_status: Bool + sampleout_status: Bool + action_value_mappings: + NMR_cmd: + type: SendCmd + goal: + #command: wf_name + params: command + #resource: resource + feedback: + status: status + result: + success: success \ No newline at end of file diff --git a/unilabos/registry/devices/characterization_chromatographic.yaml b/unilabos/registry/devices/characterization_chromatographic.yaml new file mode 100644 index 0000000..1c21ce0 --- /dev/null +++ b/unilabos/registry/devices/characterization_chromatographic.yaml @@ -0,0 +1,44 @@ +# 色谱表征设备 +hplc.agilent: + description: HPLC device + class: + module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver + type: python + status_types: + device_status: String + could_run: Bool + driver_init_ok: Bool + is_running: Bool + finish_status: String + status_text: String + action_value_mappings: + execute_command_from_outer: + type: SendCmd + goal: + command: command + feedback: {} + result: + success: success + schema: + properties: + device_status: + type: string + could_run: + type: boolean + driver_init_ok: + type: boolean + is_running: + type: boolean + finish_status: + type: string + status_text: + type: string + required: + - device_status + - could_run + - driver_init_ok + - is_running + - finish_status + - status_text + additionalProperties: false + type: object diff --git a/unilabos/registry/devices/characterization_electric.yaml b/unilabos/registry/devices/characterization_electric.yaml new file mode 100644 index 0000000..39c3f4d --- /dev/null +++ b/unilabos/registry/devices/characterization_electric.yaml @@ -0,0 +1,19 @@ +# 电化学表征设备：电化学工作站、电池测试柜 +electrochem_station.DongHua: + description: Donghua electrochem_station + class: + module: unilabos.devices.electrochem.dh_7000:DH7000 + type: python + status_types: + status: String + action_value_mappings: + dh_cmd: + type: WorkStationRun + goal: + wf_name: method + params: command + resource: resource + feedback: + status: status + result: + success: success \ No newline at end of file diff --git a/unilabos/registry/devices/characterization_optic.yaml b/unilabos/registry/devices/characterization_optic.yaml index 52ffc87..1e8d623 100644 --- a/unilabos/registry/devices/characterization_optic.yaml +++ b/unilabos/registry/devices/characterization_optic.yaml @@ -1,5 +1,5 @@ # 光学表征设备：红外、紫外可见、拉曼等 -raman_home_made: +raman.home_made: description: Raman spectroscopy device class: module: unilabos.devices.raman_uv.home_made_raman:RamanObj @@ -22,46 +22,24 @@ raman_home_made: - status additionalProperties: false type: object -hplc.agilent: - description: HPLC device + +raman.opsky_ATR30007: + description: Raman spectroscopy device class: - module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver + module: unilabos.devices.raman_uv.opsky_raman:ATR30007 type: python status_types: - device_status: String - could_run: Bool - driver_init_ok: Bool - is_running: Bool - finish_status: String - status_text: String + status: String action_value_mappings: - execute_command_from_outer: - type: SendCmd + start_Raman: + type: GetRaman goal: - command: command - feedback: {} - result: - success: success - schema: - properties: - device_status: - type: string - could_run: - type: boolean - driver_init_ok: - type: boolean - is_running: - type: boolean - finish_status: - type: string - status_text: - type: string - required: - - device_status - - could_run - - driver_init_ok - - is_running - - finish_status - - status_text - additionalProperties: false - type: object + integtime: IntegTime + ldpower: LdPower + ldwave: LdWave + ccdtemp: CCDTemp + filename: filename + saveroot: saveroot + feedback: + status: status + result: {} diff --git a/unilabos_msgs/CMakeLists.txt b/unilabos_msgs/CMakeLists.txt index db64116..7135bff 100644 --- a/unilabos_msgs/CMakeLists.txt +++ b/unilabos_msgs/CMakeLists.txt @@ -90,6 +90,8 @@ set(action_files "action/Evaporate.action" "action/EvacuateAndRefill.action" + "action/GetRaman.action" + "action/WorkStationRun.action" "action/AGVTransfer.action" ) diff --git a/unilabos_msgs/action/GetRaman.action b/unilabos_msgs/action/GetRaman.action new file mode 100644 index 0000000..3b548c0 --- /dev/null +++ b/unilabos_msgs/action/GetRaman.action @@ -0,0 +1,13 @@ +# Goal +int32 integtime +int32 ldpower +bool ldwave +float64 ccdtemp +string filename +string saveroot +--- +# Result +string success +--- +# Feedback +string status \ No newline at end of file