mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 14:05:12 +00:00
修复了很多protocol，亲测能跑
This commit is contained in:
KCFeng425
@@ -1,158 +1,213 @@
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import asyncio
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import logging
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from typing import Dict, Any
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import time as time_module
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from typing import Dict, Any, Optional
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class VirtualCentrifuge:
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"""Virtual centrifuge device for CentrifugeProtocol testing"""
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def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
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"""Virtual centrifuge device - 简化版，只保留核心功能"""
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def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
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# 处理可能的不同调用方式
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if device_id is None and 'id' in kwargs:
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device_id = kwargs.pop('id')
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if config is None and 'config' in kwargs:
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config = kwargs.pop('config')
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if device_id is None and "id" in kwargs:
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device_id = kwargs.pop("id")
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if config is None and "config" in kwargs:
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config = kwargs.pop("config")
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# 设置默认值
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self.device_id = device_id or "unknown_centrifuge"
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self.config = config or {}
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self.logger = logging.getLogger(f"VirtualCentrifuge.{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"=== VirtualCentrifuge {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_speed = self.config.get('max_speed') or kwargs.get('max_speed', 15000.0)
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self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 40.0)
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self._min_temp = self.config.get('min_temp') or kwargs.get('min_temp', 4.0)
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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_speed', 'max_temp', 'min_temp'}
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self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
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self._max_speed = self.config.get("max_speed") or kwargs.get("max_speed", 15000.0)
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self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 40.0)
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self._min_temp = self.config.get("min_temp") or kwargs.get("min_temp", 4.0)
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# 处理其他kwargs参数
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skip_keys = {"port", "max_speed", "max_temp", "min_temp"}
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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 centrifuge"""
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print(f"=== VirtualCentrifuge {self.device_id} initialize() called! ===")
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self.logger.info(f"Initializing virtual centrifuge {self.device_id}")
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# 只保留核心状态
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self.data.update({
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"status": "Idle",
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"centrifuge_state": "Stopped", # Stopped, Running, Completed, Error
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"current_speed": 0.0,
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"target_speed": 0.0,
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"current_temp": 25.0,
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"target_temp": 25.0,
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"max_speed": self._max_speed,
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"max_temp": self._max_temp,
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"min_temp": self._min_temp,
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"centrifuge_state": "Stopped",
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"time_remaining": 0.0,
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"progress": 0.0,
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"message": ""
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"message": "Ready for centrifugation"
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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 centrifuge"""
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self.logger.info(f"Cleaning up virtual centrifuge {self.device_id}")
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self.data.update({
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"status": "Offline",
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"centrifuge_state": "Offline",
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"current_speed": 0.0,
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"current_temp": 25.0,
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"message": "System offline"
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})
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return True
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async def centrifuge(self, vessel: str, speed: float, time: float, temp: float = 25.0) -> bool:
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"""Execute centrifuge action - matches Centrifuge action"""
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self.logger.info(f"Centrifuge: vessel={vessel}, speed={speed} RPM, time={time}s, temp={temp}°C")
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async def centrifuge(
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self,
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vessel: str,
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speed: float,
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time: float,
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temp: float = 25.0
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) -> bool:
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"""Execute centrifuge action - 简化的离心流程"""
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self.logger.info(f"Centrifuge: vessel={vessel}, speed={speed} rpm, time={time}s, temp={temp}°C")
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# 验证参数
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if speed > self._max_speed:
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self.logger.error(f"Speed {speed} exceeds maximum {self._max_speed}")
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self.data["message"] = f"速度 {speed} 超过最大值 {self._max_speed}"
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if speed > self._max_speed or speed < 100.0:
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error_msg = f"离心速度 {speed} rpm 超出范围 (100-{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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"centrifuge_state": "Error",
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"message": error_msg
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})
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return False
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if temp > self._max_temp or temp < self._min_temp:
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self.logger.error(f"Temperature {temp} outside range {self._min_temp}-{self._max_temp}")
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self.data["message"] = f"温度 {temp} 超出范围 {self._min_temp}-{self._max_temp}"
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error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}-{self._max_temp}°C)"
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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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"centrifuge_state": "Error",
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"message": error_msg
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})
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return False
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# 开始离心
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self.data.update({
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"status": "Running",
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"centrifuge_state": "Centrifuging",
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"target_speed": speed,
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"status": f"离心中: {vessel}",
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"centrifuge_state": "Running",
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"current_speed": speed,
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"target_temp": temp,
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"target_speed": speed,
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"current_temp": temp,
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"target_temp": temp,
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"time_remaining": time,
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"vessel": vessel,
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"progress": 0.0,
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"message": f"离心中: {vessel} at {speed} RPM"
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"message": f"Centrifuging {vessel} at {speed} rpm, {temp}°C"
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})
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# 模拟离心过程
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simulation_time = min(time, 5.0) # 最多等待5秒用于测试
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await asyncio.sleep(simulation_time)
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# 离心完成
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self.data.update({
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"status": "Idle",
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"centrifuge_state": "Stopped",
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"current_speed": 0.0,
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"target_speed": 0.0,
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"time_remaining": 0.0,
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"progress": 100.0,
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"message": f"离心完成: {vessel}"
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})
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self.logger.info(f"Centrifuge completed for vessel {vessel}")
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return True
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# 状态属性
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try:
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# 离心过程 - 实时更新进度
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start_time = time_module.time()
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total_time = time
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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_time - elapsed)
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progress = min(100.0, (elapsed / total_time) * 100)
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# 更新状态
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self.data.update({
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"time_remaining": remaining,
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"progress": progress,
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"status": f"离心中: {vessel} | {speed} rpm | {temp}°C | {progress:.1f}% | 剩余: {remaining:.0f}s",
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"message": f"Centrifuging: {progress:.1f}% complete, {remaining:.0f}s remaining"
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})
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# 时间到了，退出循环
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if remaining <= 0:
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break
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# 每秒更新一次
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await asyncio.sleep(1.0)
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# 离心完成
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self.data.update({
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"status": f"离心完成: {vessel} | {speed} rpm | {time}s",
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"centrifuge_state": "Completed",
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"progress": 100.0,
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"time_remaining": 0.0,
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"current_speed": 0.0, # 停止旋转
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"current_temp": 25.0, # 恢复室温
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"message": f"Centrifugation completed: {vessel} at {speed} rpm for {time}s"
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})
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self.logger.info(f"Centrifugation completed: {vessel} at {speed} rpm for {time}s")
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return True
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except Exception as e:
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# 出错处理
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self.logger.error(f"Error during centrifugation: {str(e)}")
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self.data.update({
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"status": f"离心错误: {str(e)}",
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"centrifuge_state": "Error",
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"current_speed": 0.0,
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"current_temp": 25.0,
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"progress": 0.0,
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"time_remaining": 0.0,
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"message": f"Centrifugation failed: {str(e)}"
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})
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return False
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# === 核心状态属性 ===
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@property
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def status(self) -> str:
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return self.data.get("status", "Unknown")
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@property
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def 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 target_speed(self) -> float:
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return self.data.get("target_speed", 0.0)
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@property
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def current_temp(self) -> float:
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return self.data.get("current_temp", 25.0)
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@property
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def target_temp(self) -> float:
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return self.data.get("target_temp", 25.0)
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@property
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def max_speed(self) -> float:
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return self.data.get("max_speed", self._max_speed)
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@property
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def max_temp(self) -> float:
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return self.data.get("max_temp", self._max_temp)
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@property
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def min_temp(self) -> float:
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return self.data.get("min_temp", self._min_temp)
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@property
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def centrifuge_state(self) -> str:
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return self.data.get("centrifuge_state", "Unknown")
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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 target_speed(self) -> float:
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return self.data.get("target_speed", 0.0)
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@property
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def current_temp(self) -> float:
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return self.data.get("current_temp", 25.0)
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@property
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def target_temp(self) -> float:
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return self.data.get("target_temp", 25.0)
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@property
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def max_speed(self) -> float:
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return self._max_speed
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@property
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def max_temp(self) -> float:
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return self._max_temp
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@property
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def min_temp(self) -> float:
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return self._min_temp
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@property
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def time_remaining(self) -> float:
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return self.data.get("time_remaining", 0.0)
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@property
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def progress(self) -> float:
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return self.data.get("progress", 0.0)
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@property
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def message(self) -> str:
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return self.data.get("message", "")
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@@ -1,151 +1,221 @@
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import asyncio
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import logging
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from typing import Dict, Any
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import time as time_module
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from typing import Dict, Any, Optional
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class VirtualFilter:
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"""Virtual filter device for FilterProtocol testing"""
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"""Virtual filter device - 完全按照 Filter.action 规范"""
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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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def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
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if device_id is None and 'id' in kwargs:
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device_id = kwargs.pop('id')
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if config is None and 'config' in kwargs:
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config = kwargs.pop('config')
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# 设置默认值
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self.device_id = device_id or "unknown_filter"
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self.config = config or {}
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self.logger = logging.getLogger(f"VirtualFilter.{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"=== VirtualFilter {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_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
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self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0)
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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_stir_speed'}
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# 处理其他kwargs参数
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skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'}
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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 filter"""
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print(f"=== VirtualFilter {self.device_id} initialize() called! ===")
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self.logger.info(f"Initializing virtual filter {self.device_id}")
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# 按照 Filter.action 的 feedback 字段初始化
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self.data.update({
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"status": "Idle",
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"filter_state": "Ready",
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"current_temp": 25.0,
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"target_temp": 25.0,
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"max_temp": self._max_temp,
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"stir_speed": 0.0,
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"max_stir_speed": self._max_stir_speed,
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"filtered_volume": 0.0,
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"progress": 0.0,
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"message": ""
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"progress": 0.0, # Filter.action feedback
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"current_temp": 25.0, # Filter.action feedback
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"filtered_volume": 0.0, # Filter.action feedback
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"current_status": "Ready for filtration", # Filter.action feedback
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"message": "Ready for filtration"
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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 filter"""
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self.logger.info(f"Cleaning up virtual filter {self.device_id}")
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self.data.update({
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"status": "Offline",
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"current_status": "System offline",
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"message": "System offline"
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})
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return True
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async def filter_sample(self, vessel: str, filtrate_vessel: str = "", stir: bool = False,
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stir_speed: float = 300.0, temp: float = 25.0,
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continue_heatchill: bool = False, volume: float = 0.0) -> bool:
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"""Execute filter action - matches Filter action"""
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self.logger.info(f"Filter: vessel={vessel}, filtrate_vessel={filtrate_vessel}, stir={stir}, volume={volume}")
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async def filter(
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self,
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vessel: str,
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filtrate_vessel: str = "",
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stir: bool = False,
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stir_speed: float = 300.0,
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temp: float = 25.0,
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continue_heatchill: bool = False,
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volume: float = 0.0
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) -> bool:
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"""Execute filter action - 完全按照 Filter.action 参数"""
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self.logger.info(f"Filter: vessel={vessel}, filtrate_vessel={filtrate_vessel}")
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self.logger.info(f" stir={stir}, stir_speed={stir_speed}, temp={temp}")
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self.logger.info(f" continue_heatchill={continue_heatchill}, volume={volume}")
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# 验证参数
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if temp > self._max_temp:
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self.logger.error(f"Temperature {temp} exceeds maximum {self._max_temp}")
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self.data["message"] = f"温度 {temp} 超过最大值 {self._max_temp}"
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if temp > self._max_temp or temp < 4.0:
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error_msg = f"温度 {temp}°C 超出范围 (4-{self._max_temp}°C)"
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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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"current_status": f"Error: {error_msg}",
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"message": error_msg
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})
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return False
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if stir and stir_speed > self._max_stir_speed:
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self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_stir_speed}")
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self.data["message"] = f"搅拌速度 {stir_speed} 超过最大值 {self._max_stir_speed}"
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error_msg = f"搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM)"
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||||
self.logger.error(error_msg)
|
||||
self.data.update({
|
||||
"status": f"Error: {error_msg}",
|
||||
"current_status": f"Error: {error_msg}",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
if volume > self._max_volume:
|
||||
error_msg = f"过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL)"
|
||||
self.logger.error(error_msg)
|
||||
self.data.update({
|
||||
"status": f"Error: {error_msg}",
|
||||
"current_status": f"Error: {error_msg}",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
# 开始过滤
|
||||
filter_volume = volume if volume > 0 else 50.0
|
||||
|
||||
self.data.update({
|
||||
"status": "Running",
|
||||
"filter_state": "Filtering",
|
||||
"target_temp": temp,
|
||||
"status": f"过滤中: {vessel}",
|
||||
"current_temp": temp,
|
||||
"stir_speed": stir_speed if stir else 0.0,
|
||||
"vessel": vessel,
|
||||
"filtrate_vessel": filtrate_vessel,
|
||||
"target_volume": volume,
|
||||
"filtered_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"message": f"过滤中: {vessel}"
|
||||
"current_status": f"Filtering {vessel} → {filtrate_vessel}",
|
||||
"message": f"Starting filtration: {vessel} → {filtrate_vessel}"
|
||||
})
|
||||
|
||||
# 模拟过滤过程
|
||||
simulation_time = min(volume / 10.0 if volume > 0 else 5.0, 10.0)
|
||||
await asyncio.sleep(simulation_time)
|
||||
|
||||
# 过滤完成
|
||||
filtered_vol = volume if volume > 0 else 50.0 # 默认过滤量
|
||||
self.data.update({
|
||||
"status": "Idle",
|
||||
"filter_state": "Ready",
|
||||
"current_temp": 25.0 if not continue_heatchill else temp,
|
||||
"target_temp": 25.0 if not continue_heatchill else temp,
|
||||
"stir_speed": 0.0 if not stir else stir_speed,
|
||||
"filtered_volume": filtered_vol,
|
||||
"progress": 100.0,
|
||||
"message": f"过滤完成: {filtered_vol}mL"
|
||||
})
|
||||
|
||||
self.logger.info(f"Filter completed: {filtered_vol}mL from {vessel}")
|
||||
return True
|
||||
try:
|
||||
# 过滤过程 - 实时更新进度
|
||||
start_time = time_module.time()
|
||||
# 根据体积和搅拌估算过滤时间
|
||||
base_time = filter_volume / 5.0 # 5mL/s 基础速度
|
||||
if stir:
|
||||
base_time *= 0.8 # 搅拌加速过滤
|
||||
if temp > 50.0:
|
||||
base_time *= 0.7 # 高温加速过滤
|
||||
filter_time = max(base_time, 10.0) # 最少10秒
|
||||
|
||||
while True:
|
||||
current_time = time_module.time()
|
||||
elapsed = current_time - start_time
|
||||
remaining = max(0, filter_time - elapsed)
|
||||
progress = min(100.0, (elapsed / filter_time) * 100)
|
||||
current_filtered = (progress / 100.0) * filter_volume
|
||||
|
||||
# 更新状态 - 按照 Filter.action feedback 字段
|
||||
status_msg = f"过滤中: {vessel}"
|
||||
if stir:
|
||||
status_msg += f" | 搅拌: {stir_speed} RPM"
|
||||
status_msg += f" | {temp}°C | {progress:.1f}% | 已过滤: {current_filtered:.1f}mL"
|
||||
|
||||
self.data.update({
|
||||
"progress": progress, # Filter.action feedback
|
||||
"current_temp": temp, # Filter.action feedback
|
||||
"filtered_volume": current_filtered, # Filter.action feedback
|
||||
"current_status": f"Filtering: {progress:.1f}% complete", # Filter.action feedback
|
||||
"status": status_msg,
|
||||
"message": f"Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered"
|
||||
})
|
||||
|
||||
if remaining <= 0:
|
||||
break
|
||||
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# 过滤完成
|
||||
final_temp = temp if continue_heatchill else 25.0
|
||||
final_status = f"过滤完成: {vessel} | {filter_volume}mL → {filtrate_vessel}"
|
||||
if continue_heatchill:
|
||||
final_status += " | 继续加热搅拌"
|
||||
|
||||
self.data.update({
|
||||
"status": final_status,
|
||||
"progress": 100.0, # Filter.action feedback
|
||||
"current_temp": final_temp, # Filter.action feedback
|
||||
"filtered_volume": filter_volume, # Filter.action feedback
|
||||
"current_status": f"Filtration completed: {filter_volume}mL", # Filter.action feedback
|
||||
"message": f"Filtration completed: {filter_volume}mL filtered from {vessel}"
|
||||
})
|
||||
|
||||
self.logger.info(f"Filtration completed: {filter_volume}mL from {vessel} to {filtrate_vessel}")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"Error during filtration: {str(e)}")
|
||||
self.data.update({
|
||||
"status": f"过滤错误: {str(e)}",
|
||||
"current_status": f"Filtration failed: {str(e)}",
|
||||
"message": f"Filtration failed: {str(e)}"
|
||||
})
|
||||
return False
|
||||
|
||||
# 状态属性
|
||||
# === 核心状态属性 - 按照 Filter.action feedback 字段 ===
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Unknown")
|
||||
|
||||
@property
|
||||
def filter_state(self) -> str:
|
||||
return self.data.get("filter_state", "Unknown")
|
||||
|
||||
@property
|
||||
def current_temp(self) -> float:
|
||||
return self.data.get("current_temp", 25.0)
|
||||
|
||||
@property
|
||||
def target_temp(self) -> float:
|
||||
return self.data.get("target_temp", 25.0)
|
||||
|
||||
@property
|
||||
def max_temp(self) -> float:
|
||||
return self.data.get("max_temp", self._max_temp)
|
||||
|
||||
@property
|
||||
def stir_speed(self) -> float:
|
||||
return self.data.get("stir_speed", 0.0)
|
||||
|
||||
@property
|
||||
def max_stir_speed(self) -> float:
|
||||
return self.data.get("max_stir_speed", self._max_stir_speed)
|
||||
|
||||
@property
|
||||
def filtered_volume(self) -> float:
|
||||
return self.data.get("filtered_volume", 0.0)
|
||||
|
||||
@property
|
||||
def progress(self) -> float:
|
||||
"""Filter.action feedback 字段"""
|
||||
return self.data.get("progress", 0.0)
|
||||
|
||||
@property
|
||||
def current_temp(self) -> float:
|
||||
"""Filter.action feedback 字段"""
|
||||
return self.data.get("current_temp", 25.0)
|
||||
|
||||
@property
|
||||
def filtered_volume(self) -> float:
|
||||
"""Filter.action feedback 字段"""
|
||||
return self.data.get("filtered_volume", 0.0)
|
||||
|
||||
@property
|
||||
def current_status(self) -> str:
|
||||
"""Filter.action feedback 字段"""
|
||||
return self.data.get("current_status", "")
|
||||
|
||||
@property
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
return self.data.get("message", "")
|
||||
|
||||
@property
|
||||
def max_temp(self) -> float:
|
||||
return self._max_temp
|
||||
|
||||
@property
|
||||
def max_stir_speed(self) -> float:
|
||||
return self._max_stir_speed
|
||||
|
||||
@property
|
||||
def max_volume(self) -> float:
|
||||
return self._max_volume
|
||||
@@ -1,5 +1,6 @@
|
||||
import asyncio
|
||||
import logging
|
||||
import time as time_module # 重命名time模块，避免与参数冲突
|
||||
from typing import Dict, Any
|
||||
|
||||
class VirtualHeatChill:
|
||||
@@ -19,18 +20,13 @@ class VirtualHeatChill:
|
||||
self.logger = logging.getLogger(f"VirtualHeatChill.{self.device_id}")
|
||||
self.data = {}
|
||||
|
||||
# 添加调试信息
|
||||
print(f"=== VirtualHeatChill {self.device_id} is being created! ===")
|
||||
print(f"=== Config: {self.config} ===")
|
||||
print(f"=== Kwargs: {kwargs} ===")
|
||||
|
||||
# 从config或kwargs中获取配置参数
|
||||
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
|
||||
self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 200.0)
|
||||
self._min_temp = self.config.get('min_temp') or kwargs.get('min_temp', -80.0)
|
||||
self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
|
||||
|
||||
# 处理其他kwargs参数，但跳过已知的配置参数
|
||||
# 处理其他kwargs参数
|
||||
skip_keys = {'port', 'max_temp', 'min_temp', 'max_stir_speed'}
|
||||
for key, value in kwargs.items():
|
||||
if key not in skip_keys and not hasattr(self, key):
|
||||
@@ -38,70 +34,177 @@ class VirtualHeatChill:
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual heat chill"""
|
||||
print(f"=== VirtualHeatChill {self.device_id} initialize() called! ===")
|
||||
self.logger.info(f"Initializing virtual heat chill {self.device_id}")
|
||||
|
||||
# 初始化状态信息
|
||||
self.data.update({
|
||||
"status": "Idle"
|
||||
"status": "Idle",
|
||||
"operation_mode": "Idle",
|
||||
"is_stirring": False,
|
||||
"stir_speed": 0.0,
|
||||
"remaining_time": 0.0,
|
||||
})
|
||||
return True
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""Cleanup virtual heat chill"""
|
||||
self.logger.info(f"Cleaning up virtual heat chill {self.device_id}")
|
||||
self.data.update({
|
||||
"status": "Offline",
|
||||
"operation_mode": "Offline",
|
||||
"is_stirring": False,
|
||||
"stir_speed": 0.0,
|
||||
"remaining_time": 0.0
|
||||
})
|
||||
return True
|
||||
|
||||
async def heat_chill(self, vessel: str, temp: float, time: float, stir: bool,
|
||||
stir_speed: float, purpose: str) -> bool:
|
||||
"""Execute heat chill action - matches HeatChill action exactly"""
|
||||
self.logger.info(f"HeatChill: vessel={vessel}, temp={temp}°C, time={time}s, stir={stir}, stir_speed={stir_speed}, purpose={purpose}")
|
||||
"""Execute heat chill action - 按实际时间运行，实时更新剩余时间"""
|
||||
self.logger.info(f"HeatChill: vessel={vessel}, temp={temp}°C, time={time}s, stir={stir}, stir_speed={stir_speed}")
|
||||
|
||||
# 验证参数
|
||||
if temp > self._max_temp or temp < self._min_temp:
|
||||
self.logger.error(f"Temperature {temp} outside range {self._min_temp}-{self._max_temp}")
|
||||
self.data["status"] = f"温度 {temp} 超出范围"
|
||||
error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}°C - {self._max_temp}°C)"
|
||||
self.logger.error(error_msg)
|
||||
self.data.update({
|
||||
"status": f"Error: {error_msg}",
|
||||
"operation_mode": "Error"
|
||||
})
|
||||
return False
|
||||
|
||||
if stir and stir_speed > self._max_stir_speed:
|
||||
self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_stir_speed}")
|
||||
self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
|
||||
error_msg = f"搅拌速度 {stir_speed} RPM 超出最大值 {self._max_stir_speed} RPM"
|
||||
self.logger.error(error_msg)
|
||||
self.data.update({
|
||||
"status": f"Error: {error_msg}",
|
||||
"operation_mode": "Error"
|
||||
})
|
||||
return False
|
||||
|
||||
# 开始加热/冷却
|
||||
# 确定操作模式
|
||||
if temp > 25.0:
|
||||
operation_mode = "Heating"
|
||||
status_action = "加热"
|
||||
elif temp < 25.0:
|
||||
operation_mode = "Cooling"
|
||||
status_action = "冷却"
|
||||
else:
|
||||
operation_mode = "Maintaining"
|
||||
status_action = "保温"
|
||||
|
||||
# **修复**: 使用重命名的time模块
|
||||
start_time = time_module.time()
|
||||
total_time = time
|
||||
|
||||
# 开始操作
|
||||
stir_info = f" | 搅拌: {stir_speed} RPM" if stir else ""
|
||||
self.data.update({
|
||||
"status": f"加热/冷却中: {vessel} 至 {temp}°C"
|
||||
"status": f"运行中: {status_action} {vessel} 至 {temp}°C | 剩余: {total_time:.0f}s{stir_info}",
|
||||
"operation_mode": operation_mode,
|
||||
"is_stirring": stir,
|
||||
"stir_speed": stir_speed if stir else 0.0,
|
||||
"remaining_time": total_time,
|
||||
})
|
||||
|
||||
# 模拟加热/冷却时间
|
||||
simulation_time = min(time, 10.0) # 最多等待10秒用于测试
|
||||
await asyncio.sleep(simulation_time)
|
||||
# **修复**: 在等待过程中每秒更新剩余时间
|
||||
while True:
|
||||
current_time = time_module.time() # 使用重命名的time模块
|
||||
elapsed = current_time - start_time
|
||||
remaining = max(0, total_time - elapsed)
|
||||
|
||||
# 更新剩余时间和状态
|
||||
self.data.update({
|
||||
"remaining_time": remaining,
|
||||
"status": f"运行中: {status_action} {vessel} 至 {temp}°C | 剩余: {remaining:.0f}s{stir_info}"
|
||||
})
|
||||
|
||||
# 如果时间到了，退出循环
|
||||
if remaining <= 0:
|
||||
break
|
||||
|
||||
# 等待1秒后再次检查
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# 加热/冷却完成
|
||||
self.data["status"] = f"完成: {vessel} 已达到 {temp}°C"
|
||||
# 操作完成
|
||||
final_stir_info = f" | 搅拌: {stir_speed} RPM" if stir else ""
|
||||
self.data.update({
|
||||
"status": f"完成: {vessel} 已达到 {temp}°C | 用时: {total_time:.0f}s{final_stir_info}",
|
||||
"operation_mode": "Completed",
|
||||
"remaining_time": 0.0,
|
||||
"is_stirring": False,
|
||||
"stir_speed": 0.0
|
||||
})
|
||||
|
||||
self.logger.info(f"HeatChill completed for vessel {vessel} at {temp}°C")
|
||||
self.logger.info(f"HeatChill completed for vessel {vessel} at {temp}°C after {total_time}s")
|
||||
return True
|
||||
|
||||
async def heat_chill_start(self, vessel: str, temp: float, purpose: str) -> bool:
|
||||
"""Start heat chill - matches HeatChillStart action exactly"""
|
||||
self.logger.info(f"HeatChillStart: vessel={vessel}, temp={temp}°C, purpose={purpose}")
|
||||
"""Start continuous heat chill"""
|
||||
self.logger.info(f"HeatChillStart: vessel={vessel}, temp={temp}°C")
|
||||
|
||||
# 验证参数
|
||||
if temp > self._max_temp or temp < self._min_temp:
|
||||
self.logger.error(f"Temperature {temp} outside range {self._min_temp}-{self._max_temp}")
|
||||
self.data["status"] = f"温度 {temp} 超出范围"
|
||||
error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}°C - {self._max_temp}°C)"
|
||||
self.logger.error(error_msg)
|
||||
self.data.update({
|
||||
"status": f"Error: {error_msg}",
|
||||
"operation_mode": "Error"
|
||||
})
|
||||
return False
|
||||
|
||||
self.data["status"] = f"开始加热/冷却: {vessel} 至 {temp}°C"
|
||||
# 确定操作模式
|
||||
if temp > 25.0:
|
||||
operation_mode = "Heating"
|
||||
status_action = "持续加热"
|
||||
elif temp < 25.0:
|
||||
operation_mode = "Cooling"
|
||||
status_action = "持续冷却"
|
||||
else:
|
||||
operation_mode = "Maintaining"
|
||||
status_action = "恒温保持"
|
||||
|
||||
self.data.update({
|
||||
"status": f"启动: {status_action} {vessel} 至 {temp}°C | 持续运行",
|
||||
"operation_mode": operation_mode,
|
||||
"is_stirring": False,
|
||||
"stir_speed": 0.0,
|
||||
"remaining_time": -1.0, # -1 表示持续运行
|
||||
})
|
||||
|
||||
return True
|
||||
|
||||
async def heat_chill_stop(self, vessel: str) -> bool:
|
||||
"""Stop heat chill - matches HeatChillStop action exactly"""
|
||||
"""Stop heat chill"""
|
||||
self.logger.info(f"HeatChillStop: vessel={vessel}")
|
||||
|
||||
self.data["status"] = f"停止加热/冷却: {vessel}"
|
||||
self.data.update({
|
||||
"status": f"已停止: {vessel} 温控停止",
|
||||
"operation_mode": "Stopped",
|
||||
"is_stirring": False,
|
||||
"stir_speed": 0.0,
|
||||
"remaining_time": 0.0,
|
||||
})
|
||||
|
||||
return True
|
||||
|
||||
# 状态属性 - 只保留 action 中定义的 feedback
|
||||
# 状态属性
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Idle")
|
||||
return self.data.get("status", "Idle")
|
||||
|
||||
@property
|
||||
def operation_mode(self) -> str:
|
||||
return self.data.get("operation_mode", "Idle")
|
||||
|
||||
@property
|
||||
def is_stirring(self) -> bool:
|
||||
return self.data.get("is_stirring", False)
|
||||
|
||||
@property
|
||||
def stir_speed(self) -> float:
|
||||
return self.data.get("stir_speed", 0.0)
|
||||
|
||||
@property
|
||||
def remaining_time(self) -> float:
|
||||
return self.data.get("remaining_time", 0.0)
|
||||
@@ -1,10 +1,11 @@
|
||||
import asyncio
|
||||
import logging
|
||||
import time as time_module
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
|
||||
class VirtualRotavap:
|
||||
"""Virtual rotary evaporator device for EvaporateProtocol testing"""
|
||||
"""Virtual rotary evaporator device - 简化版，只保留核心功能"""
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
@@ -20,17 +21,12 @@ class VirtualRotavap:
|
||||
self.logger = logging.getLogger(f"VirtualRotavap.{self.device_id}")
|
||||
self.data = {}
|
||||
|
||||
# 添加调试信息
|
||||
print(f"=== VirtualRotavap {self.device_id} is being created! ===")
|
||||
print(f"=== Config: {self.config} ===")
|
||||
print(f"=== Kwargs: {kwargs} ===")
|
||||
|
||||
# 从config或kwargs中获取配置参数
|
||||
self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
|
||||
self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 180.0)
|
||||
self._max_rotation_speed = self.config.get("max_rotation_speed") or kwargs.get("max_rotation_speed", 280.0)
|
||||
|
||||
# 处理其他kwargs参数，但跳过已知的配置参数
|
||||
# 处理其他kwargs参数
|
||||
skip_keys = {"port", "max_temp", "max_rotation_speed"}
|
||||
for key, value in kwargs.items():
|
||||
if key not in skip_keys and not hasattr(self, key):
|
||||
@@ -38,95 +34,155 @@ class VirtualRotavap:
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual rotary evaporator"""
|
||||
print(f"=== VirtualRotavap {self.device_id} initialize() called! ===")
|
||||
self.logger.info(f"Initializing virtual rotary evaporator {self.device_id}")
|
||||
self.data.update(
|
||||
{
|
||||
"status": "Idle",
|
||||
"rotavap_state": "Ready",
|
||||
"current_temp": 25.0,
|
||||
"target_temp": 25.0,
|
||||
"max_temp": self._max_temp,
|
||||
"rotation_speed": 0.0,
|
||||
"max_rotation_speed": self._max_rotation_speed,
|
||||
"vacuum_pressure": 1.0, # atmospheric pressure
|
||||
"evaporated_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"message": "",
|
||||
}
|
||||
)
|
||||
|
||||
# 只保留核心状态
|
||||
self.data.update({
|
||||
"status": "Idle",
|
||||
"rotavap_state": "Ready", # Ready, Evaporating, Completed, Error
|
||||
"current_temp": 25.0,
|
||||
"target_temp": 25.0,
|
||||
"rotation_speed": 0.0,
|
||||
"vacuum_pressure": 1.0, # 大气压
|
||||
"evaporated_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"remaining_time": 0.0,
|
||||
"message": "Ready for evaporation"
|
||||
})
|
||||
return True
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""Cleanup virtual rotary evaporator"""
|
||||
self.logger.info(f"Cleaning up virtual rotary evaporator {self.device_id}")
|
||||
|
||||
self.data.update({
|
||||
"status": "Offline",
|
||||
"rotavap_state": "Offline",
|
||||
"current_temp": 25.0,
|
||||
"rotation_speed": 0.0,
|
||||
"vacuum_pressure": 1.0,
|
||||
"message": "System offline"
|
||||
})
|
||||
return True
|
||||
|
||||
async def evaporate(
|
||||
self, vessel: str, pressure: float = 0.5, temp: float = 60.0, time: float = 300.0, stir_speed: float = 100.0
|
||||
self,
|
||||
vessel: str,
|
||||
pressure: float = 0.1,
|
||||
temp: float = 60.0,
|
||||
time: float = 1800.0, # 30分钟默认
|
||||
stir_speed: float = 100.0
|
||||
) -> bool:
|
||||
"""Execute evaporate action - matches Evaporate action"""
|
||||
self.logger.info(f"Evaporate: vessel={vessel}, pressure={pressure}, temp={temp}, time={time}")
|
||||
"""Execute evaporate action - 简化的蒸发流程"""
|
||||
self.logger.info(f"Evaporate: vessel={vessel}, pressure={pressure} bar, temp={temp}°C, time={time}s, rotation={stir_speed} RPM")
|
||||
|
||||
# 验证参数
|
||||
if temp > self._max_temp:
|
||||
self.logger.error(f"Temperature {temp} exceeds maximum {self._max_temp}")
|
||||
self.data["message"] = f"温度 {temp} 超过最大值 {self._max_temp}"
|
||||
if temp > self._max_temp or temp < 10.0:
|
||||
error_msg = f"温度 {temp}°C 超出范围 (10-{self._max_temp}°C)"
|
||||
self.logger.error(error_msg)
|
||||
self.data.update({
|
||||
"status": f"Error: {error_msg}",
|
||||
"rotavap_state": "Error",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
if stir_speed > self._max_rotation_speed:
|
||||
self.logger.error(f"Rotation speed {stir_speed} exceeds maximum {self._max_rotation_speed}")
|
||||
self.data["message"] = f"旋转速度 {stir_speed} 超过最大值 {self._max_rotation_speed}"
|
||||
if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
|
||||
error_msg = f"旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM)"
|
||||
self.logger.error(error_msg)
|
||||
self.data.update({
|
||||
"status": f"Error: {error_msg}",
|
||||
"rotavap_state": "Error",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
if pressure < 0.01 or pressure > 1.0:
|
||||
self.logger.error(f"Pressure {pressure} bar is out of valid range (0.01-1.0)")
|
||||
self.data["message"] = f"真空度 {pressure} bar 超出有效范围 (0.01-1.0)"
|
||||
error_msg = f"真空度 {pressure} bar 超出范围 (0.01-1.0 bar)"
|
||||
self.logger.error(error_msg)
|
||||
self.data.update({
|
||||
"status": f"Error: {error_msg}",
|
||||
"rotavap_state": "Error",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
# 开始蒸发
|
||||
self.data.update(
|
||||
{
|
||||
"status": "Running",
|
||||
"rotavap_state": "Evaporating",
|
||||
"target_temp": temp,
|
||||
"current_temp": temp,
|
||||
"rotation_speed": stir_speed,
|
||||
"vacuum_pressure": pressure,
|
||||
"vessel": vessel,
|
||||
"target_time": time,
|
||||
"progress": 0.0,
|
||||
"message": f"正在蒸发: {vessel}",
|
||||
}
|
||||
)
|
||||
self.data.update({
|
||||
"status": f"蒸发中: {vessel}",
|
||||
"rotavap_state": "Evaporating",
|
||||
"current_temp": temp,
|
||||
"target_temp": temp,
|
||||
"rotation_speed": stir_speed,
|
||||
"vacuum_pressure": pressure,
|
||||
"remaining_time": time,
|
||||
"progress": 0.0,
|
||||
"evaporated_volume": 0.0,
|
||||
"message": f"Evaporating {vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM"
|
||||
})
|
||||
|
||||
# 模拟蒸发过程
|
||||
simulation_time = min(time / 60.0, 10.0) # 最多模拟10秒
|
||||
for progress in range(0, 101, 10):
|
||||
await asyncio.sleep(simulation_time / 10)
|
||||
self.data["progress"] = progress
|
||||
self.data["evaporated_volume"] = progress * 0.5 # 假设最多蒸发50mL
|
||||
try:
|
||||
# 蒸发过程 - 实时更新进度
|
||||
start_time = time_module.time()
|
||||
total_time = time
|
||||
|
||||
while True:
|
||||
current_time = time_module.time()
|
||||
elapsed = current_time - start_time
|
||||
remaining = max(0, total_time - elapsed)
|
||||
progress = min(100.0, (elapsed / total_time) * 100)
|
||||
|
||||
# 模拟蒸发体积
|
||||
evaporated_vol = progress * 0.8 # 假设最多蒸发80mL
|
||||
|
||||
# 更新状态
|
||||
self.data.update({
|
||||
"remaining_time": remaining,
|
||||
"progress": progress,
|
||||
"evaporated_volume": evaporated_vol,
|
||||
"status": f"蒸发中: {vessel} | {temp}°C | {pressure} bar | {progress:.1f}% | 剩余: {remaining:.0f}s",
|
||||
"message": f"Evaporating: {progress:.1f}% complete, {remaining:.0f}s remaining"
|
||||
})
|
||||
|
||||
# 时间到了，退出循环
|
||||
if remaining <= 0:
|
||||
break
|
||||
|
||||
# 每秒更新一次
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# 蒸发完成
|
||||
final_evaporated = 80.0
|
||||
self.data.update({
|
||||
"status": f"蒸发完成: {vessel} | 蒸发量: {final_evaporated:.1f}mL",
|
||||
"rotavap_state": "Completed",
|
||||
"evaporated_volume": final_evaporated,
|
||||
"progress": 100.0,
|
||||
"remaining_time": 0.0,
|
||||
"current_temp": 25.0, # 冷却下来
|
||||
"rotation_speed": 0.0, # 停止旋转
|
||||
"vacuum_pressure": 1.0, # 恢复大气压
|
||||
"message": f"Evaporation completed: {final_evaporated}mL evaporated from {vessel}"
|
||||
})
|
||||
|
||||
# 蒸发完成
|
||||
evaporated_vol = 50.0 # 假设蒸发了50mL
|
||||
self.data.update(
|
||||
{
|
||||
"status": "Idle",
|
||||
"rotavap_state": "Ready",
|
||||
self.logger.info(f"Evaporation completed: {final_evaporated}mL evaporated from {vessel}")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
# 出错处理
|
||||
self.logger.error(f"Error during evaporation: {str(e)}")
|
||||
|
||||
self.data.update({
|
||||
"status": f"蒸发错误: {str(e)}",
|
||||
"rotavap_state": "Error",
|
||||
"current_temp": 25.0,
|
||||
"target_temp": 25.0,
|
||||
"rotation_speed": 0.0,
|
||||
"vacuum_pressure": 1.0,
|
||||
"evaporated_volume": evaporated_vol,
|
||||
"progress": 100.0,
|
||||
"message": f"蒸发完成: {evaporated_vol}mL",
|
||||
}
|
||||
)
|
||||
"message": f"Evaporation failed: {str(e)}"
|
||||
})
|
||||
return False
|
||||
|
||||
self.logger.info(f"Evaporation completed: {evaporated_vol}mL from {vessel}")
|
||||
return True
|
||||
|
||||
# 状态属性
|
||||
# === 核心状态属性 ===
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Unknown")
|
||||
@@ -139,22 +195,10 @@ class VirtualRotavap:
|
||||
def current_temp(self) -> float:
|
||||
return self.data.get("current_temp", 25.0)
|
||||
|
||||
@property
|
||||
def target_temp(self) -> float:
|
||||
return self.data.get("target_temp", 25.0)
|
||||
|
||||
@property
|
||||
def max_temp(self) -> float:
|
||||
return self.data.get("max_temp", self._max_temp)
|
||||
|
||||
@property
|
||||
def rotation_speed(self) -> float:
|
||||
return self.data.get("rotation_speed", 0.0)
|
||||
|
||||
@property
|
||||
def max_rotation_speed(self) -> float:
|
||||
return self.data.get("max_rotation_speed", self._max_rotation_speed)
|
||||
|
||||
@property
|
||||
def vacuum_pressure(self) -> float:
|
||||
return self.data.get("vacuum_pressure", 1.0)
|
||||
@@ -170,3 +214,15 @@ class VirtualRotavap:
|
||||
@property
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
|
||||
@property
|
||||
def max_temp(self) -> float:
|
||||
return self._max_temp
|
||||
|
||||
@property
|
||||
def max_rotation_speed(self) -> float:
|
||||
return self._max_rotation_speed
|
||||
|
||||
@property
|
||||
def remaining_time(self) -> float:
|
||||
return self.data.get("remaining_time", 0.0)
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
import time
|
||||
import asyncio
|
||||
from typing import Union
|
||||
|
||||
|
||||
@@ -6,16 +7,30 @@ class VirtualSolenoidValve:
|
||||
"""
|
||||
虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态
|
||||
"""
|
||||
def __init__(self, port: str = "VIRTUAL", voltage: float = 12.0, response_time: float = 0.1):
|
||||
self.port = port
|
||||
self.voltage = voltage
|
||||
self.response_time = response_time
|
||||
def __init__(self, device_id: str = None, config: dict = None, **kwargs):
|
||||
# 从配置中获取参数，提供默认值
|
||||
if config is None:
|
||||
config = {}
|
||||
|
||||
self.device_id = device_id
|
||||
self.port = config.get("port", "VIRTUAL")
|
||||
self.voltage = config.get("voltage", 12.0)
|
||||
self.response_time = config.get("response_time", 0.1)
|
||||
|
||||
# 状态属性
|
||||
self._status = "Idle"
|
||||
self._valve_state = "Closed" # "Open" or "Closed"
|
||||
self._is_open = False
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""初始化设备"""
|
||||
self._status = "Idle"
|
||||
return True
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""清理资源"""
|
||||
return True
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
@@ -32,55 +47,62 @@ class VirtualSolenoidValve:
|
||||
"""获取阀门位置状态"""
|
||||
return "OPEN" if self._is_open else "CLOSED"
|
||||
|
||||
def set_valve_position(self, position: Union[str, bool]):
|
||||
async def set_valve_position(self, command: str = None, **kwargs):
|
||||
"""
|
||||
设置阀门位置
|
||||
设置阀门位置 - ROS动作接口
|
||||
|
||||
Args:
|
||||
position: "OPEN"/"CLOSED" 或 True/False
|
||||
command: "OPEN"/"CLOSED" 或其他控制命令
|
||||
"""
|
||||
if command is None:
|
||||
return {"success": False, "message": "Missing command parameter"}
|
||||
|
||||
print(f"SOLENOID_VALVE: {self.device_id} 接收到命令: {command}")
|
||||
|
||||
self._status = "Busy"
|
||||
|
||||
# 模拟阀门响应时间
|
||||
time.sleep(self.response_time)
|
||||
await asyncio.sleep(self.response_time)
|
||||
|
||||
if isinstance(position, str):
|
||||
target_open = position.upper() == "OPEN"
|
||||
elif isinstance(position, bool):
|
||||
target_open = position
|
||||
# 处理不同的命令格式
|
||||
if isinstance(command, str):
|
||||
cmd_upper = command.upper()
|
||||
if cmd_upper in ["OPEN", "ON", "TRUE", "1"]:
|
||||
self._is_open = True
|
||||
self._valve_state = "Open"
|
||||
result_msg = f"Valve {self.device_id} opened"
|
||||
elif cmd_upper in ["CLOSED", "CLOSE", "OFF", "FALSE", "0"]:
|
||||
self._is_open = False
|
||||
self._valve_state = "Closed"
|
||||
result_msg = f"Valve {self.device_id} closed"
|
||||
else:
|
||||
# 可能是端口名称，处理路径设置
|
||||
# 对于简单电磁阀，任何非关闭命令都视为开启
|
||||
self._is_open = True
|
||||
self._valve_state = "Open"
|
||||
result_msg = f"Valve {self.device_id} set to position: {command}"
|
||||
else:
|
||||
self._status = "Error"
|
||||
return "Error: Invalid position"
|
||||
return {"success": False, "message": "Invalid command type"}
|
||||
|
||||
self._is_open = target_open
|
||||
self._valve_state = "Open" if target_open else "Closed"
|
||||
self._status = "Idle"
|
||||
print(f"SOLENOID_VALVE: {result_msg}")
|
||||
|
||||
return f"Valve {'opened' if target_open else 'closed'}"
|
||||
return {
|
||||
"success": True,
|
||||
"message": result_msg,
|
||||
"valve_position": self.get_valve_position()
|
||||
}
|
||||
|
||||
def open(self):
|
||||
"""打开电磁阀"""
|
||||
self._status = "Busy"
|
||||
time.sleep(self.response_time)
|
||||
|
||||
self._is_open = True
|
||||
self._valve_state = "Open"
|
||||
self._status = "Idle"
|
||||
|
||||
return "Valve opened"
|
||||
async def open(self, **kwargs):
|
||||
"""打开电磁阀 - ROS动作接口"""
|
||||
return await self.set_valve_position(command="OPEN")
|
||||
|
||||
def close(self):
|
||||
"""关闭电磁阀"""
|
||||
self._status = "Busy"
|
||||
time.sleep(self.response_time)
|
||||
|
||||
self._is_open = False
|
||||
self._valve_state = "Closed"
|
||||
self._status = "Idle"
|
||||
|
||||
return "Valve closed"
|
||||
async def close(self, **kwargs):
|
||||
"""关闭电磁阀 - ROS动作接口"""
|
||||
return await self.set_valve_position(command="CLOSED")
|
||||
|
||||
def set_state(self, command: Union[bool, str]):
|
||||
async def set_state(self, command: Union[bool, str], **kwargs):
|
||||
"""
|
||||
设置阀门状态 - 兼容 SendCmd 类型
|
||||
|
||||
@@ -88,18 +110,13 @@ class VirtualSolenoidValve:
|
||||
command: True/False 或 "open"/"close"
|
||||
"""
|
||||
if isinstance(command, bool):
|
||||
return self.open() if command else self.close()
|
||||
cmd_str = "OPEN" if command else "CLOSED"
|
||||
elif isinstance(command, str):
|
||||
if command.lower() in ["open", "on", "true", "1"]:
|
||||
return self.open()
|
||||
elif command.lower() in ["close", "closed", "off", "false", "0"]:
|
||||
return self.close()
|
||||
else:
|
||||
self._status = "Error"
|
||||
return "Error: Invalid command"
|
||||
cmd_str = command
|
||||
else:
|
||||
self._status = "Error"
|
||||
return "Error: Invalid command type"
|
||||
return {"success": False, "message": "Invalid command type"}
|
||||
|
||||
return await self.set_valve_position(command=cmd_str)
|
||||
|
||||
def toggle(self):
|
||||
"""切换阀门状态"""
|
||||
@@ -115,6 +132,7 @@ class VirtualSolenoidValve:
|
||||
def get_state(self) -> dict:
|
||||
"""获取阀门完整状态"""
|
||||
return {
|
||||
"device_id": self.device_id,
|
||||
"port": self.port,
|
||||
"voltage": self.voltage,
|
||||
"response_time": self.response_time,
|
||||
@@ -124,28 +142,6 @@ class VirtualSolenoidValve:
|
||||
"position": self.get_valve_position()
|
||||
}
|
||||
|
||||
def reset(self):
|
||||
async def reset(self):
|
||||
"""重置阀门到关闭状态"""
|
||||
return self.close()
|
||||
|
||||
def test_cycle(self, cycles: int = 3, delay: float = 1.0):
|
||||
"""
|
||||
测试阀门开关循环
|
||||
|
||||
Args:
|
||||
cycles: 循环次数
|
||||
delay: 每次开关间隔时间(秒)
|
||||
"""
|
||||
results = []
|
||||
for i in range(cycles):
|
||||
# 打开
|
||||
result_open = self.open()
|
||||
results.append(f"Cycle {i+1} - Open: {result_open}")
|
||||
time.sleep(delay)
|
||||
|
||||
# 关闭
|
||||
result_close = self.close()
|
||||
results.append(f"Cycle {i+1} - Close: {result_close}")
|
||||
time.sleep(delay)
|
||||
|
||||
return results
|
||||
return await self.close()
|
||||
@@ -1,9 +1,10 @@
|
||||
import asyncio
|
||||
import logging
|
||||
import time as time_module
|
||||
from typing import Dict, Any
|
||||
|
||||
class VirtualStirrer:
|
||||
"""Virtual stirrer device for StirProtocol testing"""
|
||||
"""Virtual stirrer device for StirProtocol testing - 功能完整版"""
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
@@ -19,86 +20,196 @@ class VirtualStirrer:
|
||||
self.logger = logging.getLogger(f"VirtualStirrer.{self.device_id}")
|
||||
self.data = {}
|
||||
|
||||
# 添加调试信息
|
||||
print(f"=== VirtualStirrer {self.device_id} is being created! ===")
|
||||
print(f"=== Config: {self.config} ===")
|
||||
print(f"=== Kwargs: {kwargs} ===")
|
||||
|
||||
# 从config或kwargs中获取配置参数
|
||||
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
|
||||
self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0)
|
||||
self._max_speed = self.config.get('max_speed') or kwargs.get('max_speed', 1000.0)
|
||||
self._max_speed = self.config.get('max_speed') or kwargs.get('max_speed', 1500.0)
|
||||
self._min_speed = self.config.get('min_speed') or kwargs.get('min_speed', 50.0)
|
||||
|
||||
# 处理其他kwargs参数，但跳过已知的配置参数
|
||||
skip_keys = {'port', 'max_temp', 'max_speed'}
|
||||
# 处理其他kwargs参数
|
||||
skip_keys = {'port', 'max_speed', 'min_speed'}
|
||||
for key, value in kwargs.items():
|
||||
if key not in skip_keys and not hasattr(self, key):
|
||||
setattr(self, key, value)
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual stirrer"""
|
||||
print(f"=== VirtualStirrer {self.device_id} initialize() called! ===")
|
||||
self.logger.info(f"Initializing virtual stirrer {self.device_id}")
|
||||
|
||||
# 初始化状态信息
|
||||
self.data.update({
|
||||
"status": "Idle"
|
||||
"status": "Idle",
|
||||
"operation_mode": "Idle", # 操作模式: Idle, Stirring, Settling, Completed, Error
|
||||
"current_vessel": "", # 当前搅拌的容器
|
||||
"current_speed": 0.0, # 当前搅拌速度
|
||||
"is_stirring": False, # 是否正在搅拌
|
||||
"remaining_time": 0.0, # 剩余时间
|
||||
})
|
||||
return True
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""Cleanup virtual stirrer"""
|
||||
self.logger.info(f"Cleaning up virtual stirrer {self.device_id}")
|
||||
self.data.update({
|
||||
"status": "Offline",
|
||||
"operation_mode": "Offline",
|
||||
"current_vessel": "",
|
||||
"current_speed": 0.0,
|
||||
"is_stirring": False,
|
||||
"remaining_time": 0.0,
|
||||
})
|
||||
return True
|
||||
|
||||
async def stir(self, stir_time: float, stir_speed: float, settling_time: float) -> bool:
|
||||
"""Execute stir action - matches Stir action exactly"""
|
||||
"""Execute stir action - 定时搅拌 + 沉降"""
|
||||
self.logger.info(f"Stir: speed={stir_speed} RPM, time={stir_time}s, settling={settling_time}s")
|
||||
|
||||
# 验证参数
|
||||
if stir_speed > self._max_speed:
|
||||
self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_speed}")
|
||||
self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
|
||||
if stir_speed > self._max_speed or stir_speed < self._min_speed:
|
||||
error_msg = f"搅拌速度 {stir_speed} RPM 超出范围 ({self._min_speed} - {self._max_speed} RPM)"
|
||||
self.logger.error(error_msg)
|
||||
self.data.update({
|
||||
"status": f"Error: {error_msg}",
|
||||
"operation_mode": "Error"
|
||||
})
|
||||
return False
|
||||
|
||||
# 开始搅拌
|
||||
self.data["status"] = f"搅拌中: {stir_speed} RPM, {stir_time}s"
|
||||
# === 第一阶段：搅拌 ===
|
||||
start_time = time_module.time()
|
||||
total_stir_time = stir_time
|
||||
|
||||
# 模拟搅拌时间
|
||||
simulation_time = min(stir_time, 10.0) # 最多等待10秒用于测试
|
||||
await asyncio.sleep(simulation_time)
|
||||
self.data.update({
|
||||
"status": f"搅拌中: {stir_speed} RPM | 剩余: {total_stir_time:.0f}s",
|
||||
"operation_mode": "Stirring",
|
||||
"current_speed": stir_speed,
|
||||
"is_stirring": True,
|
||||
"remaining_time": total_stir_time,
|
||||
})
|
||||
|
||||
# 搅拌完成，开始沉降
|
||||
# 搅拌过程 - 实时更新剩余时间
|
||||
while True:
|
||||
current_time = time_module.time()
|
||||
elapsed = current_time - start_time
|
||||
remaining = max(0, total_stir_time - elapsed)
|
||||
|
||||
# 更新状态
|
||||
self.data.update({
|
||||
"remaining_time": remaining,
|
||||
"status": f"搅拌中: {stir_speed} RPM | 剩余: {remaining:.0f}s"
|
||||
})
|
||||
|
||||
# 搅拌时间到了
|
||||
if remaining <= 0:
|
||||
break
|
||||
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# === 第二阶段：沉降（如果需要）===
|
||||
if settling_time > 0:
|
||||
self.data["status"] = f"沉降中: {settling_time}s"
|
||||
settling_simulation = min(settling_time, 5.0) # 最多等待5秒
|
||||
await asyncio.sleep(settling_simulation)
|
||||
start_settling_time = time_module.time()
|
||||
total_settling_time = settling_time
|
||||
|
||||
self.data.update({
|
||||
"status": f"沉降中: 停止搅拌 | 剩余: {total_settling_time:.0f}s",
|
||||
"operation_mode": "Settling",
|
||||
"current_speed": 0.0,
|
||||
"is_stirring": False,
|
||||
"remaining_time": total_settling_time,
|
||||
})
|
||||
|
||||
# 沉降过程 - 实时更新剩余时间
|
||||
while True:
|
||||
current_time = time_module.time()
|
||||
elapsed = current_time - start_settling_time
|
||||
remaining = max(0, total_settling_time - elapsed)
|
||||
|
||||
# 更新状态
|
||||
self.data.update({
|
||||
"remaining_time": remaining,
|
||||
"status": f"沉降中: 停止搅拌 | 剩余: {remaining:.0f}s"
|
||||
})
|
||||
|
||||
# 沉降时间到了
|
||||
if remaining <= 0:
|
||||
break
|
||||
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# 操作完成
|
||||
self.data["status"] = "搅拌完成"
|
||||
# === 操作完成 ===
|
||||
settling_info = f" | 沉降: {settling_time:.0f}s" if settling_time > 0 else ""
|
||||
self.data.update({
|
||||
"status": f"完成: 搅拌 {stir_speed} RPM, {stir_time:.0f}s{settling_info}",
|
||||
"operation_mode": "Completed",
|
||||
"current_speed": 0.0,
|
||||
"is_stirring": False,
|
||||
"remaining_time": 0.0,
|
||||
})
|
||||
|
||||
self.logger.info(f"Stir completed: {stir_speed} RPM for {stir_time}s")
|
||||
self.logger.info(f"Stir completed: {stir_speed} RPM for {stir_time}s + settling {settling_time}s")
|
||||
return True
|
||||
|
||||
async def start_stir(self, vessel: str, stir_speed: float, purpose: str) -> bool:
|
||||
"""Start stir action - matches StartStir action exactly"""
|
||||
"""Start stir action - 开始持续搅拌"""
|
||||
self.logger.info(f"StartStir: vessel={vessel}, speed={stir_speed} RPM, purpose={purpose}")
|
||||
|
||||
# 验证参数
|
||||
if stir_speed > self._max_speed:
|
||||
self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_speed}")
|
||||
self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
|
||||
if stir_speed > self._max_speed or stir_speed < self._min_speed:
|
||||
error_msg = f"搅拌速度 {stir_speed} RPM 超出范围 ({self._min_speed} - {self._max_speed} RPM)"
|
||||
self.logger.error(error_msg)
|
||||
self.data.update({
|
||||
"status": f"Error: {error_msg}",
|
||||
"operation_mode": "Error"
|
||||
})
|
||||
return False
|
||||
|
||||
self.data["status"] = f"开始搅拌: {vessel} at {stir_speed} RPM"
|
||||
self.data.update({
|
||||
"status": f"启动: 持续搅拌 {vessel} at {stir_speed} RPM | {purpose}",
|
||||
"operation_mode": "Stirring",
|
||||
"current_vessel": vessel,
|
||||
"current_speed": stir_speed,
|
||||
"is_stirring": True,
|
||||
"remaining_time": -1.0, # -1 表示持续运行
|
||||
})
|
||||
|
||||
return True
|
||||
|
||||
async def stop_stir(self, vessel: str) -> bool:
|
||||
"""Stop stir action - matches StopStir action exactly"""
|
||||
"""Stop stir action - 停止搅拌"""
|
||||
self.logger.info(f"StopStir: vessel={vessel}")
|
||||
|
||||
self.data["status"] = f"停止搅拌: {vessel}"
|
||||
current_speed = self.data.get("current_speed", 0.0)
|
||||
|
||||
self.data.update({
|
||||
"status": f"已停止: {vessel} 搅拌停止 | 之前速度: {current_speed} RPM",
|
||||
"operation_mode": "Stopped",
|
||||
"current_vessel": "",
|
||||
"current_speed": 0.0,
|
||||
"is_stirring": False,
|
||||
"remaining_time": 0.0,
|
||||
})
|
||||
|
||||
return True
|
||||
|
||||
# 状态属性 - 只保留 action 中定义的 feedback
|
||||
# 状态属性
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Idle")
|
||||
return self.data.get("status", "Idle")
|
||||
|
||||
@property
|
||||
def operation_mode(self) -> str:
|
||||
return self.data.get("operation_mode", "Idle")
|
||||
|
||||
@property
|
||||
def current_vessel(self) -> str:
|
||||
return self.data.get("current_vessel", "")
|
||||
|
||||
@property
|
||||
def current_speed(self) -> float:
|
||||
return self.data.get("current_speed", 0.0)
|
||||
|
||||
@property
|
||||
def is_stirring(self) -> bool:
|
||||
return self.data.get("is_stirring", False)
|
||||
|
||||
@property
|
||||
def remaining_time(self) -> float:
|
||||
return self.data.get("remaining_time", 0.0)
|
||||
Reference in New Issue
Block a user