Add Device MockPump

test/experiments/MockPump.json

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+{  
+    "nodes": [  
+        {  
+            "id": "MockPump1",  
+            "name": "模拟泵设备",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_pump",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "power_state": "Off",  
+                "pump_state": "Stopped",  
+                "flow_rate": 0.0,  
+                "target_flow_rate": 0.0,  
+                "pressure": 0.0,  
+                "total_volume": 0.0,  
+                "direction": "Forward",  
+                "max_flow_rate": 100.0,  
+                "max_pressure": 10.0  
+            }  
+        }  
+    ],  
+    "links": []  
+}

unilabos/devices/Mock/MockPump/MockPump.py

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+import time  
+import threading  
+  
+  
+class MockPump:  
+    """  
+    模拟泵设备类  
+      
+    这个类模拟了一个实验室泵设备的行为，包括流量控制、压力监测、  
+    运行状态管理等功能。所有的控制参数都使用字符串类型以提供更好的  
+    可读性和扩展性。  
+    """  
+      
+    def __init__(self, port: str = "MOCK"):  
+        """  
+        初始化MockPump实例  
+          
+        Args:  
+            port (str): 设备端口，默认为"MOCK"表示模拟设备  
+        """  
+        self.port = port  
+          
+        # 设备基本状态属性  
+        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped  
+        self._power_state: str = "Off"  # 电源状态：On, Off  
+        self._pump_state: str = "Stopped"  # 泵运行状态：Running, Stopped, Paused  
+          
+        # 流量相关属性  
+        self._flow_rate: float = 0.0  # 当前流速 (mL/min)  
+        self._target_flow_rate: float = 0.0  # 目标流速 (mL/min)  
+        self._max_flow_rate: float = 100.0  # 最大流速 (mL/min)  
+        self._total_volume: float = 0.0  # 累计流量 (mL)  
+          
+        # 压力相关属性  
+        self._pressure: float = 0.0  # 当前压力 (bar)  
+        self._max_pressure: float = 10.0  # 最大压力 (bar)  
+          
+        # 方向控制属性  
+        self._direction: str = "Forward"  # 泵方向：Forward, Reverse  
+          
+        # 运行控制线程  
+        self._pump_thread = None  
+        self._running = False  
+        self._thread_lock = threading.Lock()  
+      
+    # ==================== 状态属性 ====================  
+    # 这些属性会被Uni-Lab系统自动识别并定时对外广播  
+      
+    @property  
+    def status(self) -> str:  
+        return self._status  
+      
+    @property  
+    def power_state(self) -> str:  
+        return self._power_state  
+      
+    @property  
+    def pump_state(self) -> str:  
+        return self._pump_state  
+      
+    @property  
+    def flow_rate(self) -> float:  
+        return self._flow_rate  
+      
+    @property  
+    def target_flow_rate(self) -> float:  
+        return self._target_flow_rate  
+      
+    @property  
+    def pressure(self) -> float:  
+        return self._pressure  
+      
+    @property  
+    def total_volume(self) -> float:  
+        return self._total_volume  
+      
+    @property  
+    def direction(self) -> str:  
+        return self._direction  
+      
+    @property  
+    def max_flow_rate(self) -> float:  
+        return self._max_flow_rate  
+      
+    @property  
+    def max_pressure(self) -> float:  
+        return self._max_pressure  
+      
+    # ==================== 设备控制方法 ====================  
+    # 这些方法需要在注册表中添加，会作为ActionServer接受控制指令  
+      
+    def power_control(self, power_state: str = "On") -> str:  
+        """  
+        电源控制方法  
+          
+        Args:  
+            power_state (str): 电源状态，可选值："On", "Off"  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if power_state not in ["On", "Off"]:  
+            self._status = "Error: Invalid power state"  
+            return "Error"  
+        
+        self._power_state = power_state  
+          
+        if power_state == "On":  
+            self._status = "Power On"  
+        else:  
+            self._status = "Power Off"  
+            # 关机时停止所有运行  
+            self.stop_pump()  
+              
+        return "Success"  
+      
+    def set_flow_rate(self, flow_rate: float) -> str:
+        """
+        设置目标流速
+
+        Args:
+            flow_rate (float): 目标流速 (mL/min)
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        try:
+            flow_rate = float(flow_rate)
+        except ValueError:
+            self._status = "Error: Invalid flow rate"
+            return "Error"
+
+        if self._power_state != "On":
+            self._status = "Error: Power Off"
+            return "Error"
+
+        if flow_rate < 0 or flow_rate > self._max_flow_rate:
+            self._status = f"Error: Flow rate out of range (0-{self._max_flow_rate})"
+            return "Error"
+
+        self._target_flow_rate = flow_rate
+        self._status = "Setting Flow Rate"
+
+        # 如果设置了非零流速，自动启动泵
+        if flow_rate > 0:
+            # 自动切换泵状态为 "Running" 以触发操作循环
+            self._pump_state = "Running"
+            self._start_pump_operation()
+        else:
+            self.stop_pump()
+
+        return "Success"
+      
+    def start_pump(self) -> str:  
+        """  
+        启动泵运行  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if self._power_state != "On":  
+            self._status = "Error: Power Off"  
+            return "Error"  
+          
+        if self._target_flow_rate <= 0:  
+            self._status = "Error: No target flow rate set"  
+            return "Error"  
+          
+        self._pump_state = "Running"  
+        self._status = "Starting Pump"  
+        self._start_pump_operation()  
+          
+        return "Success"  
+      
+    def stop_pump(self) -> str:  
+        """  
+        停止泵运行  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        self._pump_state = "Stopped"  
+        self._status = "Stopping Pump"  
+        self._stop_pump_operation()  
+        self._flow_rate = 0.0  
+        self._pressure = 0.0  
+          
+        return "Success"  
+      
+    def pause_pump(self) -> str:  
+        """  
+        暂停泵运行  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if self._pump_state != "Running":  
+            self._status = "Error: Pump not running"  
+            return "Error"  
+          
+        self._pump_state = "Paused"  
+        self._status = "Pump Paused"  
+        self._stop_pump_operation()  
+          
+        return "Success"  
+      
+    def resume_pump(self) -> str:  
+        """  
+        恢复泵运行  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if self._pump_state != "Paused":  
+            self._status = "Error: Pump not paused"  
+            return "Error"  
+          
+        if self._power_state != "On":  
+            self._status = "Error: Power Off"  
+            return "Error"  
+          
+        self._pump_state = "Running"  
+        self._status = "Resuming Pump"  
+        self._start_pump_operation()  
+          
+        return "Success"  
+      
+    def set_direction(self, direction: str = "Forward") -> str:  
+        """  
+        设置泵方向  
+          
+        Args:  
+            direction (str): 泵方向，可选值："Forward", "Reverse"  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if direction not in ["Forward", "Reverse"]:  
+            self._status = "Error: Invalid direction"  
+            return "Error"  
+          
+        # 如果泵正在运行，需要先停止  
+        was_running = self._pump_state == "Running"  
+        if was_running:  
+            self.stop_pump()  
+            time.sleep(0.5)  # 等待停止完成  
+          
+        self._direction = direction  
+        self._status = f"Direction set to {direction}"  
+          
+        # 如果之前在运行，重新启动  
+        if was_running:  
+            self.start_pump()  
+          
+        return "Success"  
+      
+    def reset_volume_counter(self) -> str:  
+        """  
+        重置累计流量计数器  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        self._total_volume = 0.0  
+        self._status = "Volume counter reset"  
+        return "Success"  
+      
+    def emergency_stop(self) -> str:  
+        """  
+        紧急停止  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        self._status = "Emergency Stop"  
+        self._pump_state = "Stopped"  
+        self._stop_pump_operation()  
+        self._flow_rate = 0.0  
+        self._pressure = 0.0  
+        self._target_flow_rate = 0.0  
+          
+        return "Success"  
+      
+    # ==================== 内部控制方法 ====================  
+      
+    def _start_pump_operation(self):  
+        """  
+        启动泵运行线程  
+          
+        这个方法启动一个后台线程来模拟泵的实际运行过程，  
+        包括流速控制、压力变化和累计流量计算。  
+        """  
+        with self._thread_lock:  
+            if not self._running and self._power_state == "On":  
+                self._running = True  
+                self._pump_thread = threading.Thread(target=self._pump_operation_loop)  
+                self._pump_thread.daemon = True  
+                self._pump_thread.start()  
+      
+    def _stop_pump_operation(self):  
+        """  
+        停止泵运行线程  
+          
+        安全地停止后台运行线程并等待其完成。  
+        """  
+        with self._thread_lock:  
+            self._running = False  
+            if self._pump_thread and self._pump_thread.is_alive():  
+                self._pump_thread.join(timeout=2.0)  
+      
+    def _pump_operation_loop(self):  
+        """  
+        泵运行主循环  
+          
+        这个方法在后台线程中运行，模拟真实泵的工作过程：  
+        1. 逐步调整流速到目标值  
+        2. 根据流速计算压力  
+        3. 累计流量统计  
+        4. 状态更新  
+        """  
+        while self._running and self._power_state == "On" and self._pump_state == "Running":  
+            try:  
+                # 模拟流速调节过程（逐步接近目标流速）  
+                flow_diff = self._target_flow_rate - self._flow_rate  
+                  
+                if abs(flow_diff) < 0.1:  # 流速接近目标值  
+                    self._flow_rate = self._target_flow_rate  
+                    self._status = "At Target Flow Rate"  
+                else:  
+                    # 模拟流速调节，每秒调整10%的差值  
+                    adjustment = flow_diff * 0.1  
+                    self._flow_rate += adjustment  
+                    self._status = "Adjusting Flow Rate"  
+                  
+                # 确保流速在合理范围内  
+                self._flow_rate = max(0.0, min(self._max_flow_rate, self._flow_rate))  
+                  
+                # 模拟压力变化（压力与流速成正比，加上一些随机波动）  
+                base_pressure = (self._flow_rate / self._max_flow_rate) * self._max_pressure  
+                pressure_variation = 0.1 * base_pressure * (time.time() % 1.0 - 0.5)  # ±5%波动  
+                self._pressure = max(0.0, base_pressure + pressure_variation)  
+                  
+                # 累计流量计算（每秒更新）  
+                if self._flow_rate > 0:  
+                    volume_increment = self._flow_rate / 60.0  # 转换为mL/s  
+                    if self._direction == "Reverse":  
+                        volume_increment = -volume_increment  
+                    self._total_volume += volume_increment  
+                  
+                # 压力保护检查  
+                if self._pressure > self._max_pressure * 0.95:  
+                    self._status = "Warning: High Pressure"  
+                  
+                # 等待1秒后继续下一次循环  
+                time.sleep(1.0)  
+                  
+            except Exception as e:  
+                self._status = f"Error in pump operation: {str(e)}"  
+                break  
+          
+        # 循环结束时的清理工作  
+        if self._pump_state == "Running":  
+            self._status = "Idle"
+    def get_status_info(self) -> dict:  
+        """  
+        获取完整的设备状态信息  
+          
+        Returns:  
+            dict: 包含所有设备状态的字典  
+        """  
+        return {  
+            "status": self._status,  
+            "power_state": self._power_state,  
+            "pump_state": self._pump_state,  
+            "flow_rate": self._flow_rate,  
+            "target_flow_rate": self._target_flow_rate,  
+            "pressure": self._pressure,  
+            "total_volume": self._total_volume,  
+            "direction": self._direction,  
+            "max_flow_rate": self._max_flow_rate,  
+            "max_pressure": self._max_pressure  
+        }  
+  
+  
+# 用于测试的主函数  
+if __name__ == "__main__":  
+    pump = MockPump()  
+      
+    # 测试基本功能  
+    print("启动泵设备测试...")  
+    pump.power_control("On")  
+    print(f"初始状态: {pump.get_status_info()}")  
+      
+    # 设置流速并启动  
+    pump.set_flow_rate(50.0)  
+    pump.start_pump()  
+      
+    # 模拟运行10秒  
+    for i in range(10):  
+        time.sleep(1)  
+        print(f"第{i+1}秒: 流速={pump.flow_rate:.1f}mL/min, 压力={pump.pressure:.2f}bar, 状态={pump.status}")  
+      
+    # 测试方向切换  
+    print("切换泵方向...")  
+    pump.set_direction("Reverse")  
+      
+    # 继续运行5秒  
+    for i in range(5):  
+        time.sleep(1)  
+        print(f"反向第{i+1}秒: 累计流量={pump.total_volume:.1f}mL, 方向={pump.direction}")  
+      
+    pump.emergency_stop()  
+    print("测试完成")
+    

unilabos/registry/devices/MockPump.yaml

@@ -0,0 +1,107 @@
+mock_pump:  
+  description: Mock Pump Device  
+  class:  
+    module: unilabos.devices.Mock.MockPump.MockPump:MockPump  
+    type: python  
+    status_types:  
+      status: String  
+      power_state: String  
+      pump_state: String  
+      flow_rate: Float64  
+      target_flow_rate: Float64  
+      pressure: Float64  
+      total_volume: Float64  
+      direction: String  
+      max_flow_rate: Float64  
+      max_pressure: Float64  
+    action_value_mappings:  
+      power_control:  
+        type: SendCmd  
+        goal:  
+          command: power_state  
+        feedback: {}  
+        result:  
+          success: success  
+      set_flow_rate:  
+        type: SendCmd  
+        goal:  
+          command: flow_rate  
+        feedback: {}  
+        result:  
+          success: success  
+      start_pump:  
+        type: SendCmd  
+        goal: {}  
+        feedback: {}  
+        result:  
+          success: success  
+      stop_pump:  
+        type: SendCmd  
+        goal: {}  
+        feedback: {}  
+        result:  
+          success: success  
+      pause_pump:  
+        type: SendCmd  
+        goal: {}  
+        feedback: {}  
+        result:  
+          success: success  
+      resume_pump:  
+        type: SendCmd  
+        goal: {}  
+        feedback: {}  
+        result:  
+          success: success  
+      set_direction:  
+        type: SendCmd  
+        goal:  
+          command: direction  
+        feedback: {}  
+        result:  
+          success: success  
+      reset_volume_counter:  
+        type: SendCmd  
+        goal: {}  
+        feedback: {}  
+        result:  
+          success: success  
+  schema:  
+    type: object  
+    properties:  
+      status:  
+        type: string  
+        description: Current status of the pump  
+      power_state:  
+        type: string  
+        description: Power state (On/Off)  
+      pump_state:  
+        type: string  
+        description: Pump operation state (Running/Stopped/Paused)  
+      flow_rate:  
+        type: number  
+        description: Current flow rate in mL/min  
+      target_flow_rate:  
+        type: number  
+        description: Target flow rate in mL/min  
+      pressure:  
+        type: number  
+        description: Current pressure in bar  
+      total_volume:  
+        type: number  
+        description: Total accumulated volume in mL  
+      direction:  
+        type: string  
+        description: Pump direction (Forward/Reverse)  
+      max_flow_rate:  
+        type: number  
+        description: Maximum flow rate in mL/min  
+      max_pressure:  
+        type: number  
+        description: Maximum pressure in bar  
+    required:  
+      - status  
+      - power_state  
+      - pump_state  
+      - flow_rate  
+    additionalProperties: false