Merge 2bc9d62aaf into 4139e079f4

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)

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)

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}" 
+        

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" )
+
+

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}")

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}" 
+        

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

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

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

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
+      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:
+      start_Raman:
-        type: SendCmd
+        type: GetRaman
         goal:
-          command: command
+          integtime: IntegTime
-        feedback: {}
+          ldpower: LdPower
-        result:
+          ldwave: LdWave
-          success: success
+          ccdtemp: CCDTemp
-  schema:
+          filename: filename
-    properties:
+          saveroot: saveroot
-      device_status:
+        feedback:
-        type: string
+          status: status
-      could_run:
+        result: {}
-        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

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"
 )

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