protocol完整修复版本& bump version to 0.9.10

unilabos/devices/virtual/virtual_filter.py

@@ -67,6 +67,16 @@ class VirtualFilter:
         volume: float = 0.0
     ) -> bool:
         """Execute filter action - 完全按照 Filter.action 参数"""
+        
+        # 🔧 新增：温度自动调整
+        original_temp = temp
+        if temp == 0.0:
+            temp = 25.0  # 0度自动设置为室温
+            self.logger.info(f"温度自动调整: {original_temp}°C → {temp}°C (室温)")
+        elif temp < 4.0:
+            temp = 4.0   # 小于4度自动设置为4度
+            self.logger.info(f"温度自动调整: {original_temp}°C → {temp}°C (最低温度)")
+        
         self.logger.info(f"Filter: vessel={vessel}, filtrate_vessel={filtrate_vessel}")
         self.logger.info(f"  stir={stir}, stir_speed={stir_speed}, temp={temp}")
         self.logger.info(f"  continue_heatchill={continue_heatchill}, volume={volume}")

unilabos/devices/virtual/virtual_rotavap.py

@@ -3,6 +3,9 @@ import logging
 import time as time_module
 from typing import Dict, Any, Optional
 
+def debug_print(message):
+    """调试输出"""
+    print(f"[ROTAVAP] {message}", flush=True)
 
 class VirtualRotavap:
     """Virtual rotary evaporator device - 简化版，只保留核心功能"""
@@ -70,12 +73,19 @@ class VirtualRotavap:
         vessel: str, 
         pressure: float = 0.1, 
         temp: float = 60.0, 
-        time: float = 1800.0,  # 30分钟默认
+        time: float = 1800.0,
         stir_speed: float = 100.0,
-        solvent: str = "",  # 🔧 新增参数
-        **kwargs  # 🔧 接受额外参数
+        solvent: str = "",
+        **kwargs
     ) -> bool:
-        """Execute evaporate action - 兼容性增强版"""
+        """Execute evaporate action - 简化版"""
+        
+        # 🔧 简化处理：如果vessel就是设备自己，直接操作
+        if vessel == self.device_id:
+            debug_print(f"在设备 {self.device_id} 上直接执行蒸发操作")
+            actual_vessel = self.device_id
+        else:
+            actual_vessel = vessel
         
         # 参数预处理
         if solvent:
@@ -86,8 +96,12 @@ class VirtualRotavap:
                 temp = max(temp, 80.0)
                 pressure = max(pressure, 0.2)
                 self.logger.info("水系溶剂：调整参数")
+            elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
+                temp = min(temp, 50.0)
+                pressure = min(pressure, 0.05)
+                self.logger.info("易挥发溶剂：调整参数")
         
-        self.logger.info(f"Evaporate: vessel={vessel}, pressure={pressure} bar, temp={temp}°C, time={time}s, rotation={stir_speed} RPM, solvent={solvent}")
+        self.logger.info(f"Evaporate: vessel={actual_vessel}, pressure={pressure} bar, temp={temp}°C, time={time}s, rotation={stir_speed} RPM, solvent={solvent}")
         
         # 验证参数
         if temp > self._max_temp or temp < 10.0:
@@ -96,6 +110,9 @@ class VirtualRotavap:
             self.data.update({
                 "status": f"Error: {error_msg}",
                 "rotavap_state": "Error",
+                "current_temp": 25.0,
+                "progress": 0.0,
+                "evaporated_volume": 0.0,
                 "message": error_msg
             })
             return False
@@ -106,6 +123,9 @@ class VirtualRotavap:
             self.data.update({
                 "status": f"Error: {error_msg}",
                 "rotavap_state": "Error",
+                "current_temp": 25.0,
+                "progress": 0.0,
+                "evaporated_volume": 0.0,
                 "message": error_msg
             })
             return False
@@ -116,13 +136,16 @@ class VirtualRotavap:
             self.data.update({
                 "status": f"Error: {error_msg}",
                 "rotavap_state": "Error",
+                "current_temp": 25.0,
+                "progress": 0.0,
+                "evaporated_volume": 0.0,
                 "message": error_msg
             })
             return False
 
         # 开始蒸发
         self.data.update({
-            "status": f"蒸发中: {vessel}",
+            "status": f"蒸发中: {actual_vessel}",
             "rotavap_state": "Evaporating",
             "current_temp": temp,
             "target_temp": temp,
@@ -131,7 +154,7 @@ class VirtualRotavap:
             "remaining_time": time,
             "progress": 0.0,
             "evaporated_volume": 0.0,
-            "message": f"Evaporating {vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM"
+            "message": f"Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM"
         })
 
         try:
@@ -148,12 +171,13 @@ class VirtualRotavap:
                 # 模拟蒸发体积
                 evaporated_vol = progress * 0.8  # 假设最多蒸发80mL
                 
-                # 更新状态
+                # 🔧 更新状态 - 确保包含所有必需字段
                 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",
+                    "progress": progress,  # 确保这个字段存在
+                    "evaporated_volume": evaporated_vol,  # 确保这个字段存在
+                    "current_temp": temp,  # 确保这个字段存在
+                    "status": f"蒸发中: {actual_vessel} | {temp}°C | {pressure} bar | {progress:.1f}% | 剩余: {remaining:.0f}s",
                     "message": f"Evaporating: {progress:.1f}% complete, {remaining:.0f}s remaining"
                 })
                 
@@ -167,18 +191,18 @@ class VirtualRotavap:
             # 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",
+                "status": f"蒸发完成: {actual_vessel} | 蒸发量: {final_evaporated:.1f}mL",
                 "rotavap_state": "Completed",
                 "evaporated_volume": final_evaporated,
                 "progress": 100.0,
+                "current_temp": temp,  # 保持温度信息
                 "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}"
+                "message": f"Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}"
             })
 
-            self.logger.info(f"Evaporation completed: {final_evaporated}mL evaporated from {vessel}")
+            self.logger.info(f"Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}")
             return True
 
         except Exception as e:
@@ -189,6 +213,8 @@ class VirtualRotavap:
                 "status": f"蒸发错误: {str(e)}",
                 "rotavap_state": "Error",
                 "current_temp": 25.0,
+                "progress": 0.0,
+                "evaporated_volume": 0.0,
                 "rotation_speed": 0.0,
                 "vacuum_pressure": 1.0,
                 "message": f"Evaporation failed: {str(e)}"

unilabos/devices/virtual/virtual_solenoid_valve.py

@@ -43,10 +43,25 @@ class VirtualSolenoidValve:
     def is_open(self) -> bool:
         return self._is_open
 
-    def get_valve_position(self) -> str:
+    @property
+    def valve_position(self) -> str:
         """获取阀门位置状态"""
         return "OPEN" if self._is_open else "CLOSED"
 
+    @property
+    def 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,
+            "is_open": self._is_open,
+            "valve_state": self._valve_state,
+            "status": self._status,
+            "position": self.valve_position
+        }
+
     async def set_valve_position(self, command: str = None, **kwargs):
         """
         设置阀门位置 - ROS动作接口
@@ -91,7 +106,7 @@ class VirtualSolenoidValve:
         return {
             "success": True, 
             "message": result_msg,
-            "valve_position": self.get_valve_position()
+            "valve_position": self.valve_position
         }
 
     async def open(self, **kwargs):
@@ -102,21 +117,25 @@ class VirtualSolenoidValve:
         """关闭电磁阀 - ROS动作接口"""
         return await self.set_valve_position(command="CLOSED")
 
-    async def set_state(self, command: Union[bool, str], **kwargs):
+    async def set_status(self, string: str = None, **kwargs):
         """
-        设置阀门状态 - 兼容 SendCmd 类型
+        设置阀门状态 - 兼容 StrSingleInput 类型
     
         Args:
-            command: True/False 或 "open"/"close"
+            string: "ON"/"OFF" 或 "OPEN"/"CLOSED"
         """
-        if isinstance(command, bool):
-            cmd_str = "OPEN" if command else "CLOSED"
-        elif isinstance(command, str):
-            cmd_str = command
-        else:
-            return {"success": False, "message": "Invalid command type"}
+        if string is None:
+            return {"success": False, "message": "Missing string parameter"}
         
-        return await self.set_valve_position(command=cmd_str)
+        # 将 string 参数转换为 command 参数
+        if string.upper() in ["ON", "OPEN"]:
+            command = "OPEN"
+        elif string.upper() in ["OFF", "CLOSED"]:
+            command = "CLOSED"
+        else:
+            command = string
+        
+        return await self.set_valve_position(command=command)
 
     def toggle(self):
         """切换阀门状态"""
@@ -129,19 +148,6 @@ class VirtualSolenoidValve:
         """检查阀门是否关闭"""
         return not self._is_open
 
-    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,
-            "is_open": self._is_open,
-            "valve_state": self._valve_state,
-            "status": self._status,
-            "position": self.get_valve_position()
-        }
-
     async def reset(self):
         """重置阀门到关闭状态"""
         return await self.close()