Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43)

* Add Device MockChiller

Add device MockChiller

* Add Device MockFilter

* Add Device MockPump

* Add Device MockRotavap

* Add Device MockSeparator

* Add Device MockStirrer

* Add Device MockHeater

* Add Device MockVacuum

* Add Device MockSolenoidValve

* Add Device Mock \_init_.py

* 规范模拟设备代码与注册表信息

* 更改Mock大写文件夹名

* 删除大写目录

* Edited Mock device json

* Match mock device with action

* Edit mock device yaml

* Add new action

* Add Virtual Device, Action, YAML, Protocol for Organic Syn

* 单独分类测试的protocol文件夹

* 更名Action

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>

unilabos/devices/mock/mock_stirrer.py

@@ -0,0 +1,307 @@
+import time
+import threading
+
+
+class MockStirrer:
+    def __init__(self, port: str = "MOCK"):
+        self.port = port
+
+        # 设备基本状态属性
+        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped
+
+        # 搅拌相关属性
+        self._stir_speed: float = 0.0  # 当前搅拌速度 (rpm)
+        self._target_stir_speed: float = 0.0  # 目标搅拌速度 (rpm)
+        self._max_stir_speed: float = 2000.0  # 最大搅拌速度 (rpm)
+        self._stir_state: str = "Stopped"  # 搅拌状态：Running, Stopped
+
+        # 温度相关属性
+        self._temperature: float = 25.0  # 当前温度 (°C)
+        self._target_temperature: float = 25.0  # 目标温度 (°C)
+        self._max_temperature: float = 300.0  # 最大温度 (°C)
+        self._heating_state: str = "Off"  # 加热状态：On, Off
+        self._heating_power: float = 0.0  # 加热功率百分比 0-100
+
+        # 运行控制线程
+        self._operation_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 stir_speed(self) -> float:
+        return self._stir_speed
+
+    @property
+    def target_stir_speed(self) -> float:
+        return self._target_stir_speed
+
+    @property
+    def stir_state(self) -> str:
+        return self._stir_state
+
+    @property
+    def temperature(self) -> float:
+        """
+        当前温度
+
+        Returns:
+            float: 当前温度 (°C)
+        """
+        return self._temperature
+
+    @property
+    def target_temperature(self) -> float:
+        """
+        目标温度
+
+        Returns:
+            float: 目标温度 (°C)
+        """
+        return self._target_temperature
+
+    @property
+    def heating_state(self) -> str:
+        return self._heating_state
+
+    @property
+    def heating_power(self) -> float:
+        return self._heating_power
+
+    @property
+    def max_stir_speed(self) -> float:
+        return self._max_stir_speed
+
+    @property
+    def max_temperature(self) -> float:
+        return self._max_temperature
+
+    # ==================== 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 set_stir_speed(self, speed: float) -> str:
+
+        speed = float(speed)  # 确保传入的速度是浮点数
+
+        if speed < 0 or speed > self._max_stir_speed:
+            self._status = f"Error: Speed out of range (0-{self._max_stir_speed})"
+            return "Error"
+
+        self._target_stir_speed = speed
+        self._status = "Setting Stir Speed"
+
+        # 如果设置了非零速度，启动搅拌
+        if speed > 0:
+            self._stir_state = "Running"
+        else:
+            self._stir_state = "Stopped"
+
+        return "Success"
+
+    def set_temperature(self, temperature: float) -> str:
+        temperature = float(temperature)  # 确保传入的温度是浮点数
+
+        if temperature < 0 or temperature > self._max_temperature:
+            self._status = f"Error: Temperature out of range (0-{self._max_temperature})"
+            return "Error"
+
+        self._target_temperature = temperature
+        self._status = "Setting Temperature"
+
+        return "Success"
+
+    def start_stirring(self) -> str:
+
+        if self._target_stir_speed <= 0:
+            self._status = "Error: No target speed set"
+            return "Error"
+
+        self._stir_state = "Running"
+        self._status = "Stirring Started"
+        return "Success"
+
+    def stop_stirring(self) -> str:
+        self._stir_state = "Stopped"
+        self._target_stir_speed = 0.0
+        self._status = "Stirring Stopped"
+        return "Success"
+
+    def heating_control(self, heating_state: str = "On") -> str:
+
+        if heating_state not in ["On", "Off"]:
+            self._status = "Error: Invalid heating state"
+            return "Error"
+
+        self._heating_state = heating_state
+
+        if heating_state == "On":
+            self._status = "Heating On"
+        else:
+            self._status = "Heating Off"
+            self._heating_power = 0.0
+
+        return "Success"
+
+    def stop_all_operations(self) -> str:
+        self._stir_state = "Stopped"
+        self._heating_state = "Off"
+        self._stop_operation()
+        self._stir_speed = 0.0
+        self._target_stir_speed = 0.0
+        self._heating_power = 0.0
+        self._status = "All operations stopped"
+        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.stop_all_operations()
+        return "Success"
+
+    # ==================== 内部控制方法 ====================
+
+    def _start_operation(self):
+        with self._thread_lock:
+            if not self._running:
+                self._running = True
+                self._operation_thread = threading.Thread(target=self._operation_loop)
+                self._operation_thread.daemon = True
+                self._operation_thread.start()
+
+    def _stop_operation(self):
+        """
+        停止操作线程
+
+        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._operation_thread and self._operation_thread.is_alive():
+                self._operation_thread.join(timeout=2.0)
+
+    def _operation_loop(self):
+        while self._running:
+            try:
+                # 处理搅拌速度控制
+                if self._stir_state == "Running":
+                    speed_diff = self._target_stir_speed - self._stir_speed
+
+                    if abs(speed_diff) < 1.0:  # 速度接近目标值
+                        self._stir_speed = self._target_stir_speed
+                        if self._stir_speed > 0:
+                            self._status = "Stirring at Target Speed"
+                    else:
+                        # 模拟速度调节，每秒调整10%的差值
+                        adjustment = speed_diff * 0.1
+                        self._stir_speed += adjustment
+                        self._status = "Adjusting Stir Speed"
+
+                    # 确保速度在合理范围内
+                    self._stir_speed = max(0.0, min(self._max_stir_speed, self._stir_speed))
+                else:
+                    # 搅拌停止时，速度逐渐降为0
+                    if self._stir_speed > 0:
+                        self._stir_speed = max(0.0, self._stir_speed - 50.0)  # 每秒减少50rpm
+
+                # 处理温度控制
+                if self._heating_state == "On":
+                    temp_diff = self._target_temperature - self._temperature
+
+                    if abs(temp_diff) < 0.5:  # 温度接近目标值
+                        self._heating_power = 20.0  # 维持温度的最小功率
+                    elif temp_diff > 0:  # 需要加热
+                        # 根据温差调整加热功率
+                        if temp_diff > 50:
+                            self._heating_power = 100.0
+                        elif temp_diff > 20:
+                            self._heating_power = 80.0
+                        elif temp_diff > 10:
+                            self._heating_power = 60.0
+                        else:
+                            self._heating_power = 40.0
+
+                        # 模拟加热过程
+                        heating_rate = self._heating_power / 100.0 * 1.5  # 最大每秒升温1.5度
+                        self._temperature += heating_rate
+                    else:  # 目标温度低于当前温度
+                        self._heating_power = 0.0
+                        # 自然冷却
+                        self._temperature -= 0.1
+                else:
+                    self._heating_power = 0.0
+                    # 自然冷却到室温
+                    if self._temperature > 25.0:
+                        self._temperature -= 0.2
+
+                # 限制温度范围
+                self._temperature = max(20.0, min(self._max_temperature, self._temperature))
+
+                # 更新整体状态
+                if self._stir_state == "Running" and self._heating_state == "On":
+                    self._status = "Stirring and Heating"
+                elif self._stir_state == "Running":
+                    self._status = "Stirring Only"
+                elif self._heating_state == "On":
+                    self._status = "Heating Only"
+                else:
+                    self._status = "Idle"
+
+                # 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 operation: {str(e)}"
+                break
+
+        # 循环结束时的清理工作
+            self._status = "Idle"
+
+    def get_status_info(self) -> dict:
+        return {
+            "status": self._status,
+            "stir_speed": self._stir_speed,
+            "target_stir_speed": self._target_stir_speed,
+            "stir_state": self._stir_state,
+            "temperature": self._temperature,
+            "target_temperature": self._target_temperature,
+            "heating_state": self._heating_state,
+            "heating_power": self._heating_power,
+            "max_stir_speed": self._max_stir_speed,
+            "max_temperature": self._max_temperature,
+        }
+
+
+# 用于测试的主函数
+if __name__ == "__main__":
+    stirrer = MockStirrer()
+
+    # 测试基本功能
+    print("启动搅拌器测试...")
+    print(f"初始状态: {stirrer.get_status_info()}")
+
+    # 设置搅拌速度和温度
+    stirrer.set_stir_speed(800.0)
+    stirrer.set_temperature(60.0)
+    stirrer.heating_control("On")
+
+    # 模拟运行15秒
+    for i in range(15):
+        time.sleep(1)
+        print(
+            f"第{i+1}秒: 速度={stirrer.stir_speed:.0f}rpm, 温度={stirrer.temperature:.1f}°C, "
+            f"功率={stirrer.heating_power:.1f}%, 状态={stirrer.status}"
+        )
+
+    stirrer.emergency_stop()
+    print("测试完成")