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https://github.com/dptech-corp/Uni-Lab-OS.git
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修复了添加protocol前缀导致的不能启动的bug
This commit is contained in:
KCFeng425
@@ -1,149 +1,285 @@
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import asyncio
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import time
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from enum import Enum
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from typing import Union, Optional
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import logging
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from typing import Dict, Any, Optional
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class VirtualTransferPump:
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"""Virtual pump device specifically for Transfer protocol"""
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class VirtualPumpMode(Enum):
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Normal = 0
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AccuratePos = 1
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AccuratePosVel = 2
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class VirtualPump:
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"""虚拟泵类 - 模拟泵的基本功能，无需实际硬件"""
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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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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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def __init__(self, device_id: str = None, max_volume: float = 25.0, mode: VirtualPumpMode = VirtualPumpMode.Normal):
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self.device_id = device_id or "virtual_pump"
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self.max_volume = max_volume
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self.mode = mode
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# 设置默认值
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self.device_id = device_id or "unknown_transfer_pump"
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self.config = config or {}
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# 状态变量
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self._status = "Idle"
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self._position = 0.0 # 当前柱塞位置 (ml)
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self._max_velocity = 5.0 # 默认最大速度 (ml/s)
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self._current_volume = 0.0 # 当前注射器中的体积
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self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
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self.data = {}
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self.logger = logging.getLogger(f"VirtualPump.{self.device_id}")
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# 添加调试信息
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print(f"=== VirtualTransferPump {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_volume = self.config.get('max_volume') or kwargs.get('max_volume', 50.0)
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self._transfer_rate = self.config.get('transfer_rate') or kwargs.get('transfer_rate', 5.0)
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self._current_volume = 0.0
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self.is_running = False
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async def initialize(self) -> bool:
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"""Initialize virtual transfer pump"""
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print(f"=== VirtualTransferPump {self.device_id} initialize() called! ===")
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self.logger.info(f"Initializing virtual transfer pump {self.device_id}")
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self.data.update({
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"status": "Idle",
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"current_volume": 0.0,
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"max_volume": self._max_volume,
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"transfer_rate": self._transfer_rate,
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"from_vessel": "",
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"to_vessel": "",
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"progress": 0.0,
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"transferred_volume": 0.0,
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"current_status": "Ready"
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})
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"""初始化虚拟泵"""
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self.logger.info(f"Initializing virtual pump {self.device_id}")
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self._status = "Idle"
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self._position = 0.0
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self._current_volume = 0.0
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return True
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async def cleanup(self) -> bool:
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"""Cleanup virtual transfer pump"""
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self.logger.info(f"Cleaning up virtual transfer pump {self.device_id}")
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"""清理虚拟泵"""
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self.logger.info(f"Cleaning up virtual pump {self.device_id}")
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self._status = "Idle"
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return True
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async def transfer(self, from_vessel: str, to_vessel: str, volume: float,
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amount: str = "", time: float = 0, viscous: bool = False,
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rinsing_solvent: str = "", rinsing_volume: float = 0.0,
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rinsing_repeats: int = 0, solid: bool = False) -> bool:
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"""Execute liquid transfer - matches Transfer action"""
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self.logger.info(f"Transfer: {volume}mL from {from_vessel} to {to_vessel}")
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# 计算转移时间
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if time > 0:
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transfer_time = time
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else:
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# 如果是粘性液体，降低转移速率
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rate = self._transfer_rate * 0.5 if viscous else self._transfer_rate
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transfer_time = volume / rate
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self.data.update({
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"status": "Running",
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"from_vessel": from_vessel,
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"to_vessel": to_vessel,
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"current_status": "Transferring",
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"progress": 0.0,
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"transferred_volume": 0.0
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})
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# 模拟转移过程
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steps = 10
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step_time = transfer_time / steps
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step_volume = volume / steps
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for i in range(steps):
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await asyncio.sleep(step_time)
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progress = (i + 1) / steps * 100
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transferred = (i + 1) * step_volume
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self.data.update({
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"progress": progress,
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"transferred_volume": transferred,
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"current_status": f"Transferring {progress:.1f}%"
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})
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self.logger.info(f"Transfer progress: {progress:.1f}% ({transferred:.1f}/{volume}mL)")
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# 如果需要冲洗
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if rinsing_solvent and rinsing_volume > 0 and rinsing_repeats > 0:
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self.data["current_status"] = "Rinsing"
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for repeat in range(rinsing_repeats):
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self.logger.info(f"Rinsing cycle {repeat + 1}/{rinsing_repeats} with {rinsing_solvent}")
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await asyncio.sleep(1) # 模拟冲洗时间
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self.data.update({
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"status": "Idle",
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"current_status": "Transfer completed",
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"progress": 100.0,
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"transferred_volume": volume
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})
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return True
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# 添加所有在virtual_device.yaml中定义的状态属性
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# 基本属性
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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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return self._status
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@property
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def position(self) -> float:
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"""当前柱塞位置 (ml)"""
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return self._position
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@property
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def current_volume(self) -> float:
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return self.data.get("current_volume", 0.0)
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"""当前注射器中的体积 (ml)"""
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return self._current_volume
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@property
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def max_volume(self) -> float:
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return self.data.get("max_volume", self._max_volume)
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def max_velocity(self) -> float:
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return self._max_velocity
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@property
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def transfer_rate(self) -> float:
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return self.data.get("transfer_rate", self._transfer_rate)
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def set_max_velocity(self, velocity: float):
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"""设置最大速度 (ml/s)"""
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self._max_velocity = max(0.1, min(50.0, velocity)) # 限制在合理范围内
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self.logger.info(f"Set max velocity to {self._max_velocity} ml/s")
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@property
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def from_vessel(self) -> str:
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return self.data.get("from_vessel", "")
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def get_status(self) -> str:
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"""获取泵状态"""
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return self._status
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@property
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def to_vessel(self) -> str:
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return self.data.get("to_vessel", "")
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async def _simulate_operation(self, duration: float):
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"""模拟操作延时"""
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self._status = "Busy"
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await asyncio.sleep(duration)
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self._status = "Idle"
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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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def _calculate_duration(self, volume: float, velocity: float = None) -> float:
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"""计算操作持续时间"""
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if velocity is None:
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velocity = self._max_velocity
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return abs(volume) / velocity
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@property
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def transferred_volume(self) -> float:
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return self.data.get("transferred_volume", 0.0)
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# 基本泵操作
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async def set_position(self, position: float, velocity: float = None):
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"""
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移动到绝对位置
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Args:
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position (float): 目标位置 (ml)
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velocity (float): 移动速度 (ml/s)
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"""
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position = max(0, min(self.max_volume, position)) # 限制在有效范围内
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volume_to_move = abs(position - self._position)
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duration = self._calculate_duration(volume_to_move, velocity)
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self.logger.info(f"Moving to position {position} ml (current: {self._position} ml)")
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# 模拟移动过程
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await self._simulate_operation(duration)
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self._position = position
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self._current_volume = position # 假设位置等于体积
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self.logger.info(f"Reached position {self._position} ml")
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@property
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def current_status(self) -> str:
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return self.data.get("current_status", "Ready")
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async def pull_plunger(self, volume: float, velocity: float = None):
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"""
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拉取柱塞（吸液）
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Args:
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volume (float): 要拉取的体积 (ml)
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velocity (float): 拉取速度 (ml/s)
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"""
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new_position = min(self.max_volume, self._position + volume)
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actual_volume = new_position - self._position
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if actual_volume <= 0:
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self.logger.warning("Cannot pull - already at maximum volume")
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return
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duration = self._calculate_duration(actual_volume, velocity)
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self.logger.info(f"Pulling {actual_volume} ml (from {self._position} to {new_position})")
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await self._simulate_operation(duration)
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self._position = new_position
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self._current_volume = new_position
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self.logger.info(f"Pulled {actual_volume} ml, current volume: {self._current_volume} ml")
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async def push_plunger(self, volume: float, velocity: float = None):
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"""
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推出柱塞（排液）
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Args:
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volume (float): 要推出的体积 (ml)
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velocity (float): 推出速度 (ml/s)
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"""
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new_position = max(0, self._position - volume)
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actual_volume = self._position - new_position
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if actual_volume <= 0:
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self.logger.warning("Cannot push - already at minimum volume")
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return
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duration = self._calculate_duration(actual_volume, velocity)
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self.logger.info(f"Pushing {actual_volume} ml (from {self._position} to {new_position})")
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await self._simulate_operation(duration)
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self._position = new_position
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self._current_volume = new_position
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self.logger.info(f"Pushed {actual_volume} ml, current volume: {self._current_volume} ml")
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# 便捷操作方法
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async def aspirate(self, volume: float, velocity: float = None):
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"""
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吸液操作
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Args:
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volume (float): 吸液体积 (ml)
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velocity (float): 吸液速度 (ml/s)
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"""
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await self.pull_plunger(volume, velocity)
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async def dispense(self, volume: float, velocity: float = None):
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"""
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排液操作
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Args:
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volume (float): 排液体积 (ml)
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velocity (float): 排液速度 (ml/s)
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"""
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await self.push_plunger(volume, velocity)
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async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
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"""
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转移操作（先吸后排）
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Args:
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volume (float): 转移体积 (ml)
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aspirate_velocity (float): 吸液速度 (ml/s)
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dispense_velocity (float): 排液速度 (ml/s)
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"""
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# 吸液
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await self.aspirate(volume, aspirate_velocity)
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# 短暂停顿
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await asyncio.sleep(0.1)
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# 排液
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await self.dispense(volume, dispense_velocity)
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async def empty_syringe(self, velocity: float = None):
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"""清空注射器"""
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await self.set_position(0, velocity)
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async def fill_syringe(self, velocity: float = None):
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"""充满注射器"""
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await self.set_position(self.max_volume, velocity)
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async def stop_operation(self):
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"""停止当前操作"""
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self._status = "Idle"
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self.logger.info("Operation stopped")
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# 状态查询方法
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def get_position(self) -> float:
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"""获取当前位置"""
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return self._position
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def get_current_volume(self) -> float:
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"""获取当前体积"""
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return self._current_volume
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def get_remaining_capacity(self) -> float:
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"""获取剩余容量"""
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return self.max_volume - self._current_volume
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def is_empty(self) -> bool:
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"""检查是否为空"""
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return self._current_volume <= 0.01 # 允许小量误差
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def is_full(self) -> bool:
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"""检查是否已满"""
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return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
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# 调试和状态信息
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def get_pump_info(self) -> dict:
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"""获取泵的详细信息"""
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return {
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"device_id": self.device_id,
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"status": self._status,
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"position": self._position,
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"current_volume": self._current_volume,
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"max_volume": self.max_volume,
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"max_velocity": self._max_velocity,
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"mode": self.mode.name,
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"is_empty": self.is_empty(),
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"is_full": self.is_full(),
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"remaining_capacity": self.get_remaining_capacity()
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}
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def __str__(self):
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return f"VirtualPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
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def __repr__(self):
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return self.__str__()
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# 使用示例
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async def demo():
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"""虚拟泵使用示例"""
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pump = VirtualPump("demo_pump", max_volume=50.0)
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await pump.initialize()
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print(f"Initial state: {pump}")
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# 吸液测试
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await pump.aspirate(10.0, velocity=2.0)
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print(f"After aspirating 10ml: {pump}")
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# 排液测试
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await pump.dispense(5.0, velocity=3.0)
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print(f"After dispensing 5ml: {pump}")
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# 转移测试
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await pump.transfer(3.0)
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print(f"After transfer 3ml: {pump}")
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# 清空测试
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await pump.empty_syringe()
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print(f"After emptying: {pump}")
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print("\nPump info:", pump.get_pump_info())
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if __name__ == "__main__":
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asyncio.run(demo())
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