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Ready for open source (#47)

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* Create app/main API

* create example device

* create ROS backend and example device SDK Wrapper

* Add ROS host and host starting from app.py

* Add gripper device and mock implementation

* add "status_types" & "action_types" to ROS device decorator

* add ActionServer debug example

* [bugfix] complete mock gripper example

* ROS Backend Host for Device action calling and Resource management

* add conda/mamba ENV file

* add host_node communication with app/main.py

* add action message value mappings and converters

* Update ilabos.yaml

* Update issue templates

* example devices.json and resources.json

* Fix Device wrapper to use async property and actions (#7)

* Fix Device wrapper to use async property and actions

* Resolve #1 : support async get methods and actions. Give new examples.

* add both sync/async GRBL controller SDK

* 2 call device actions from appmainpy api to ros hostpy (#8)

* feature: add job

* fix:node start

* feature:add get job status

* fix:get device

* clean

* Resolve #5 device connection diagram and workflow compilation support (#9)

* add syringe pump device and its compilation using device connection diagram

* add RunzeSyringePump real device with ROS2 example

* Prototype machine with 1 pump and 1 CNC

* add ROS2ProtocolNode and related functions

* add ilabos_msgs (to use PumpTransfer action)

* add example device connection graph

* refactor protocol_node code into separate file

* add ROS2SerialNode

* add SerialCommand srv in ilabos_msgs

* add pump_protocol example, and fix bugs

* [fix] serial service: avoid async service deadlock by directly call serial `send_command`

* use SendCmd instead of SingleJointPosition for valve control

* initialize device connection graph when server starts

* Fix #5: async workflow execution (#16)

* add rclpyx and protocol example for async-native workflow

* use async in ROS2ProtocolNode, and host initialization

* add examples of "ros-async" protocol implementation, and `run_in_event_loop` for using native async functions

* use "ros-async" in protocols and device nodes

* fix pump_protocol: push to 0.0 μL

* Envs, docs, and conda recipes (#19)

* update ENV: use python 3.11 and deprecate ros-humble-gazebo-ros

* add ilabos-msgs conda recipe

* Update ilabos.yaml

* fix recipe and env yaml

* Add sphinx docs

* add aichemeco

* add bioyong

* add bioyong

* Support XDL devices & protocols (#20)

* [Feature] support multiple protocols in a single ProtocolNode

* add Junjie's code

* Support "Clean" protocol

* Update Grignard_flow_batchreact_single_pumpvalve.json

* test_grignard_add

* add stir device node and example

* Update device_node.py

add print_publish flag to control the node's log output

* NH4Cl_add

* add "HeaterStirrer" device and "HeatChill" action

* add wait time after each pump action for equilibration

* fix stir

* add Separate protocol

* Refactor Separator device and Stir action

* add rotavap_node

* fix stir

* add chiller node

* Move rinsings into PumpTransfer

* Fix SeparateProtocol under refactored Separator device and Stir action

* Supports automatically add new protocol action_types

* fix PumpTransfer protocol because of rinsing

* Add Rotavap and Chiller devices

* fix SeparateProtocol

* add EvaporateProtocol

* add rotavap devices config

* fix HeaterStirrer and SeparatorController IO

* Fix automatically add new protocol action_types

* Add HeaterStirrer and SeparatorController device config

* fix pump protocols

* Fix Evaporate action

* Update evaporate_protocol.py

* add temp_sensor node and add function remap

* update docs

---------

Co-authored-by: 王俊杰 <1800011822@pku.edu.cn>
Co-authored-by: q434343 <554662886@qq.com>

* fix aichemeco

* [Bugfix] fix Windows conda packaging

* add file upload api

* update dependencies: force to use 3.11 and remove conflict in WIN64 and OSX64

* update dependencies: force to use 3.11 and remove conflict in WIN64 and OSX64

* Create aichemeco_simple.py

* fix

* update

* add aichemeco file

* MQTT [1/2]: action start (#25)

* add mq

* fix

* clean

* add class

* fix excel

* update bioyong

* add api

* fix

---------

Co-authored-by: caok@dp.tech <xiaoyeqiannian@163.com>

* motor & grasp

* Add Grasp motor support and enhance EleGripper class

- Introduced a new motor configuration for Grasp in sjtu.json.
- Updated EleGripper class to inherit from UniversalDriver and added status property.
- Implemented move_and_rotate method for coordinated movement.
- Adjusted threading logic in EleGripper initialization.
- Registered Grasp motor in ROS2 device node configuration.

This commit enhances the motor control capabilities by integrating the Grasp motor and improving the existing EleGripper functionality.

* fix read data lenth

* Update Grasp.py

* MQTT (2/2): publish Device Status, Action Feedback & Results (#27)

* Add bridges in HostNode for device_status publishing

* Add "bridges" selection (fastapi & mqtt) when app start

* add MQ feedback & result publisher, and fix message converter

* fix UUID converting between ROS and MQ

* lint api model.py

* Continuous controllers: PID, MPC, custom controllers etc. (#23)

* add controller config & wrapper

* add controller setup at app.main

* control loop example

* fix com port

* add agv , ur_arm and raman

* MQTT (3/4): Unified Resources and Sync when starting the server (#28)

* update http upload api

* generate uuid when init device

* example resource json

* fix

* add new example full-content json (device, resource, graph)

* fix full-content json and related reading code

* fix

* add json_schema when initialize resources

* fix

* update schema

* refactor heaterstirrer.dalong

* fix

* fix refactor heaterstirrer.dalong

* refactor syringepump.runze: use ml instead of μL

* Update ilabos/ros/host.py

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

---------

Co-authored-by: 王俊杰 <1800011822@pku.edu.cn>
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

* Distributed initialization with self-organizing network (#29)

* add distributed launching option "--without_host"

* fix

---------

Co-authored-by: 王俊杰 <1800011822@pku.edu.cn>

* Refactor Workstation: Add resource service and tracking (#30)

* move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices

* add Resource srv and message_converter

* move graphio to ilabos/resources

* refactor resources type conversion

* add resource clients in device_node

* add mock resources service

* pass Gripper1 resource test

* update http resource services

* add AGV compile function

* add AGV transfer protocol

* update full mock_gripper edit_id example

* update full mock_gripper edit_id example

* get and update resource also in protocol_node

* mock resource update in AichemecoHiwo

* Create HT_hiwo.json

* add children in resources

* bugfixes

* fix rpc

* add Revvity winprep

---------

Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com>
Co-authored-by: 3218923350 <105201755+3218923350@users.noreply.github.com>

* Distributed launch (2/2): distributed resource create (#32)

* add resource_add request to host for slave mode

* add AGV

* fix protocol resources

* optimize host callbacks

* bugfixes

* add revvity registry

---------

Co-authored-by: 王俊杰 <1800011822@pku.edu.cn>
Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com>

* Refactor Driver Files Structure (#33)

* Integration with pywinauto & recorder
Added execute run and initialize procdure

* 酶标仪状态检测、使用示例，整体流程待测试

* nivo ready version

* Add HPLC driver and example script

- Introduced HPLCDriver class for managing HPLC device status and operations.
- Implemented device status monitoring and command execution via ROS2 actions.
- Added example script (hplc.py) demonstrating how to run commands on the HPLC device.
- Created PlayerUtil and UniversalDriver classes for shared functionality across devices.
- Refactored NivoDriver to utilize the new UniversalDriver structure.
- Enhanced error handling and process management in the NivoDriver.

* 修复start的错误定位

* hplc tested ok

* relative path to build msgs

* template_driver & jiageng devices

* fetch correct status type and action type

* fix mtype fetch

* gpc bus integration

* ilab build

* remove chs

* recipe rename

* modbus update 1

* json available

* hplc & modbus rewrite

* Update AgilentHPLC.py

hplc datafile reader

* move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices

* modbus分设备

* gpc

* gpc 2

* fix address

* default register node

* fix MainScreenGPC

* add Resource srv and message_converter

* move graphio to ilabos/resources

* refactor resources type conversion

* add resource clients in device_node

* add mock resources service

* pass Gripper1 resource test

* update http resource services

* add AGV compile function

* add AGV transfer protocol

* update recipe.yaml

* update full mock_gripper edit_id example

* update full mock_gripper edit_id example

* get and update resource also in protocol_node

* mock resource update in AichemecoHiwo

* feat: add other jiageng PLC device code

* ilabos compile

* correct format

* correct recipe format

* correct setup.py format

* remove unnecessary files

* remove unnecessary files

* Create HT_hiwo.json

* add children in resources

* hplc support sample_id

* correct hplc sample_id

* correct hplc sample_id

* hplc upload

* fix type hint

* oss upload tested ver

* recipe yaml fix for linux

* update installation yaml

* refactor: moved all driver files according to its feat

* merge main to dev

---------

Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: jiawei <miaojiawei@dp.tech>

* add: NMR LH and RU device control (#34)

* Add Registry for device drivers and Support GraphML (#35)

* read chemputer graphml

* read graphml in app/main

* add devices in ros/devices

* add schema for devices

* read registry directory and initialize when entry from main

* Delete devices.py

* Update add_protocol.md

* delete unecessary files

* feat: 2278 devices registry yaml (#36)

* read chemputer graphml

* read graphml in app/main

* add devices in ros/devices

* add schema for devices

* read registry directory and initialize when entry from main

* Delete devices.py

* add: NMR LH and RU device control

* fix: modify jiageng devices registry

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>

* Device/Resource Registry and GraphML support (#37)

* add resource type conversion to PLR

* add resource registry and test

* add docs

* fix registry

* add solenoid_valve_mock, its registry and test

* fix registry for directly using examples

* add EvacuateAndRefillProtocol and testcases

* allow function sequence call in ACTION

* add read & write & extra_info for hardware_interface

* Update device_node.py

* add solenoid valve

* add doc developer guide yaml

* fixes for starting IK station

* add graphml grouping parser

* fix graphml grouping parser

* add communication edge parser

* fix io solenoid valve

* Update .gitignore

* Update plates.yaml

---------

Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn>

* Uni-Lab Doc v0.2 (#39)

* add Uni-Lab docs

* change doc name

* Dev (#41)

* Integration with pywinauto & recorder
Added execute run and initialize procdure

* 酶标仪状态检测、使用示例，整体流程待测试

* nivo ready version

* Add HPLC driver and example script

- Introduced HPLCDriver class for managing HPLC device status and operations.
- Implemented device status monitoring and command execution via ROS2 actions.
- Added example script (hplc.py) demonstrating how to run commands on the HPLC device.
- Created PlayerUtil and UniversalDriver classes for shared functionality across devices.
- Refactored NivoDriver to utilize the new UniversalDriver structure.
- Enhanced error handling and process management in the NivoDriver.

* 修复start的错误定位

* hplc tested ok

* relative path to build msgs

* template_driver & jiageng devices

* fetch correct status type and action type

* fix mtype fetch

* gpc bus integration

* ilab build

* remove chs

* recipe rename

* modbus update 1

* json available

* hplc & modbus rewrite

* Update AgilentHPLC.py

hplc datafile reader

* move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices

* modbus分设备

* gpc

* gpc 2

* fix address

* default register node

* fix MainScreenGPC

* add Resource srv and message_converter

* move graphio to ilabos/resources

* refactor resources type conversion

* add resource clients in device_node

* add mock resources service

* pass Gripper1 resource test

* update http resource services

* add AGV compile function

* add AGV transfer protocol

* update recipe.yaml

* update full mock_gripper edit_id example

* update full mock_gripper edit_id example

* get and update resource also in protocol_node

* mock resource update in AichemecoHiwo

* feat: add other jiageng PLC device code

* ilabos compile

* correct format

* correct recipe format

* correct setup.py format

* remove unnecessary files

* remove unnecessary files

* Create HT_hiwo.json

* add children in resources

* hplc support sample_id

* correct hplc sample_id

* correct hplc sample_id

* hplc upload

* fix type hint

* oss upload tested ver

* recipe yaml fix for linux

* update installation yaml

* refactor: moved all driver files according to its feat

* merge main to dev

* add HPLC registry and json

* 升级 ros2-distro-mutex 依赖版本至 0.6

* 修改 ros2-distro-mutex 依赖版本为通配符匹配

* 更新 ros-humble-ilabos-msgs 依赖为 robostack-humble 命名空间

* add resource type conversion to PLR

* add resource registry and test

* feat: 更新oss上传

* fix device id

* add docs

* fix registry

* add solenoid_valve_mock, its registry and test

* fix registry for directly using examples

* add EvacuateAndRefillProtocol and testcases

* allow function sequence call in ACTION

* add read & write & extra_info for hardware_interface

* Update device_node.py

* add solenoid valve

* add doc developer guide yaml

* use robostack-staging

* rclpy version test

* lower rclpy

* ensure 0.6* env

* fixes for starting IK station

* add graphml grouping parser

* fix graphml grouping parser

* add communication edge parser

* fix io solenoid valve

* Update .gitignore

* Update plates.yaml

* Feature/device node later init (#40)

* 修改config路径，方便后续打包
增加device_node打印

* 支持plr序列化/init创建

* 统一命名

* import mgr
logger optimize
banner print

* 日志OK

* fix unicorn frame

* banner print

* correct import format

* file path changes

* 取消后补全，在加载设备的时候直接替换

* converter update

* web page update

* 在线device更新，node继承替换

* 修复动作、状态的类型缺失 和 命令提示

* web功能实现结束

* host节点更改完成
新增status时间戳管理
新增每10s动态发现其他node

* ros2类型的节点也应该被包一次

* 修复类型提示

* websocket 动态显示状态

* add workflow & book theme for docs

* add workflow & book theme for docs

* fix workflow build

* fix workflow build

* 理清启动关系

* stm32 example

* mac . name

* device_instance device_cls

* 新增config添加方式
更新mqtt提示

* plr test

* 移动is_host_mode
新增slave_no_host

* 确保config优先修改生效

* fix graph io

* 支持带参数传入

* 支持物料解析

* 支持物料解析

* device为空的时候不进行绑定或初始化

* protocol node new

* protocol node runnable

* protocol node runnable

---------

Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: jiawei <miaojiawei@dp.tech>
Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn>

* Dev (#45)

* Integration with pywinauto & recorder
Added execute run and initialize procdure

* 酶标仪状态检测、使用示例，整体流程待测试

* nivo ready version

* Add HPLC driver and example script

- Introduced HPLCDriver class for managing HPLC device status and operations.
- Implemented device status monitoring and command execution via ROS2 actions.
- Added example script (hplc.py) demonstrating how to run commands on the HPLC device.
- Created PlayerUtil and UniversalDriver classes for shared functionality across devices.
- Refactored NivoDriver to utilize the new UniversalDriver structure.
- Enhanced error handling and process management in the NivoDriver.

* 修复start的错误定位

* hplc tested ok

* relative path to build msgs

* template_driver & jiageng devices

* fetch correct status type and action type

* fix mtype fetch

* gpc bus integration

* ilab build

* remove chs

* recipe rename

* modbus update 1

* json available

* hplc & modbus rewrite

* Update AgilentHPLC.py

hplc datafile reader

* move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices

* modbus分设备

* gpc

* gpc 2

* fix address

* default register node

* fix MainScreenGPC

* add Resource srv and message_converter

* move graphio to ilabos/resources

* refactor resources type conversion

* add resource clients in device_node

* add mock resources service

* pass Gripper1 resource test

* update http resource services

* add AGV compile function

* add AGV transfer protocol

* update recipe.yaml

* update full mock_gripper edit_id example

* update full mock_gripper edit_id example

* get and update resource also in protocol_node

* mock resource update in AichemecoHiwo

* feat: add other jiageng PLC device code

* ilabos compile

* correct format

* correct recipe format

* correct setup.py format

* remove unnecessary files

* remove unnecessary files

* Create HT_hiwo.json

* add children in resources

* hplc support sample_id

* correct hplc sample_id

* correct hplc sample_id

* hplc upload

* fix type hint

* oss upload tested ver

* recipe yaml fix for linux

* update installation yaml

* refactor: moved all driver files according to its feat

* merge main to dev

* add HPLC registry and json

* 升级 ros2-distro-mutex 依赖版本至 0.6

* 修改 ros2-distro-mutex 依赖版本为通配符匹配

* 更新 ros-humble-ilabos-msgs 依赖为 robostack-humble 命名空间

* add resource type conversion to PLR

* add resource registry and test

* feat: 更新oss上传

* fix device id

* add docs

* fix registry

* add solenoid_valve_mock, its registry and test

* fix registry for directly using examples

* add EvacuateAndRefillProtocol and testcases

* allow function sequence call in ACTION

* add read & write & extra_info for hardware_interface

* Update device_node.py

* add solenoid valve

* add doc developer guide yaml

* use robostack-staging

* rclpy version test

* lower rclpy

* ensure 0.6* env

* fixes for starting IK station

* add graphml grouping parser

* fix graphml grouping parser

* add communication edge parser

* fix io solenoid valve

* Update .gitignore

* Update plates.yaml

* Feature/device node later init (#40)

* 修改config路径，方便后续打包
增加device_node打印

* 支持plr序列化/init创建

* 统一命名

* import mgr
logger optimize
banner print

* 日志OK

* fix unicorn frame

* banner print

* correct import format

* file path changes

* 取消后补全，在加载设备的时候直接替换

* converter update

* web page update

* 在线device更新，node继承替换

* 修复动作、状态的类型缺失 和 命令提示

* web功能实现结束

* host节点更改完成
新增status时间戳管理
新增每10s动态发现其他node

* ros2类型的节点也应该被包一次

* 修复类型提示

* websocket 动态显示状态

* add workflow & book theme for docs

* add workflow & book theme for docs

* fix workflow build

* fix workflow build

* 理清启动关系

* stm32 example

* mac . name

* device_instance device_cls

* 新增config添加方式
更新mqtt提示

* plr test

* 移动is_host_mode
新增slave_no_host

* 确保config优先修改生效

* fix graph io

* 支持带参数传入

* 支持物料解析

* 支持物料解析

* device为空的时候不进行绑定或初始化

* protocol node new

* protocol node runnable

* protocol node runnable

* Feature/device node later init (#42)

* 修改config路径，方便后续打包
增加device_node打印

* 支持plr序列化/init创建

* 统一命名

* import mgr
logger optimize
banner print

* 日志OK

* fix unicorn frame

* banner print

* correct import format

* file path changes

* 取消后补全，在加载设备的时候直接替换

* converter update

* web page update

* 在线device更新，node继承替换

* 修复动作、状态的类型缺失 和 命令提示

* web功能实现结束

* host节点更改完成
新增status时间戳管理
新增每10s动态发现其他node

* ros2类型的节点也应该被包一次

* 修复类型提示

* websocket 动态显示状态

* add workflow & book theme for docs

* add workflow & book theme for docs

* fix workflow build

* fix workflow build

* 理清启动关系

* stm32 example

* mac . name

* device_instance device_cls

* 新增config添加方式
更新mqtt提示

* plr test

* 移动is_host_mode
新增slave_no_host

* 确保config优先修改生效

* fix graph io

* 支持带参数传入

* 支持物料解析

* 支持物料解析

* device为空的时候不进行绑定或初始化

* protocol node new

* protocol node runnable

* protocol node runnable

* action

* plr suc

* plr suc!!

* plr suc!!

* plr suc!!

* plr msgs

* Feature/device node later init (#43)

* 修改config路径，方便后续打包
增加device_node打印

* 支持plr序列化/init创建

* 统一命名

* import mgr
logger optimize
banner print

* 日志OK

* fix unicorn frame

* banner print

* correct import format

* file path changes

* 取消后补全，在加载设备的时候直接替换

* converter update

* web page update

* 在线device更新，node继承替换

* 修复动作、状态的类型缺失 和 命令提示

* web功能实现结束

* host节点更改完成
新增status时间戳管理
新增每10s动态发现其他node

* ros2类型的节点也应该被包一次

* 修复类型提示

* websocket 动态显示状态

* add workflow & book theme for docs

* add workflow & book theme for docs

* fix workflow build

* fix workflow build

* 理清启动关系

* stm32 example

* mac . name

* device_instance device_cls

* 新增config添加方式
更新mqtt提示

* plr test

* 移动is_host_mode
新增slave_no_host

* 确保config优先修改生效

* fix graph io

* 支持带参数传入

* 支持物料解析

* 支持物料解析

* device为空的时候不进行绑定或初始化

* protocol node new

* protocol node runnable

* protocol node runnable

* action

* plr suc

* plr suc!!

* plr suc!!

* plr suc!!

* plr msgs

* plr

* action

* plr reg fix

* Feature/device node later init (#44)

* 修改config路径，方便后续打包
增加device_node打印

* 支持plr序列化/init创建

* 统一命名

* import mgr
logger optimize
banner print

* 日志OK

* fix unicorn frame

* banner print

* correct import format

* file path changes

* 取消后补全，在加载设备的时候直接替换

* converter update

* web page update

* 在线device更新，node继承替换

* 修复动作、状态的类型缺失 和 命令提示

* web功能实现结束

* host节点更改完成
新增status时间戳管理
新增每10s动态发现其他node

* ros2类型的节点也应该被包一次

* 修复类型提示

* websocket 动态显示状态

* add workflow & book theme for docs

* add workflow & book theme for docs

* fix workflow build

* fix workflow build

* 理清启动关系

* stm32 example

* mac . name

* device_instance device_cls

* 新增config添加方式
更新mqtt提示

* plr test

* 移动is_host_mode
新增slave_no_host

* 确保config优先修改生效

* fix graph io

* 支持带参数传入

* 支持物料解析

* 支持物料解析

* device为空的时候不进行绑定或初始化

* protocol node new

* protocol node runnable

* protocol node runnable

* action

* plr suc

* plr suc!!

* plr suc!!

* plr suc!!

* plr msgs

* plr

* fix convert error
fix async logic error
added async error print

* new device test

* test resource add

* test resource add

* test resource add

* test resource add

* local env setup

* node type fix
temp fix root_node error
fix convert res from type error

* resource tracker

* fix bug from qhh

* fix bug from qhh

* fix bug from qhh

* fix bug from qhh

* refactor MQTT client logging and connection handling; update group ID in config

* driver_params allow empty

* allow other init param

* fix driver param and enhance type hint

* refactor MQConfig to use double quotes for string literals

* fix wrong function calling

* fix wrong function calling

* fix log for mac

* fix networkx compatibility

* add mqtt loggers

* add action to jsonschema converter

* random client id

* type converter & registry

* correct conversion

* fix action publish only from discovered devices

* add "Bio" tag for action doc generation

* 改进module提示

* Fix doc

* mqtt不连接也可用
性价样例提示

* add docs

* 更新plr test案例

* Update intro.md

* 更新有机案例

* skip

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: Junhan Chang <1700011741@pku.edu.cn>

---------

Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: jiawei <miaojiawei@dp.tech>
Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn>
Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: Junhan Chang <1700011741@pku.edu.cn>

* Canonicalize before Open Source (#46)

* big big refactor try01

* refactor 02

---------

Co-authored-by: ck <xiaoyeqiannian@163.com>
Co-authored-by: 王俊杰 <1800011822@pku.edu.cn>
Co-authored-by: q434343 <554662886@qq.com>
Co-authored-by: Xuwznln <xuwznln@gmail.com>
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com>
Co-authored-by: 3218923350 <105201755+3218923350@users.noreply.github.com>
Co-authored-by: Xuwznln <1023025701@qq.com>
Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn>
Co-authored-by: jiawei <miaojiawei@dp.tech>
Co-authored-by: Jiawei <91898272+jiawei723@users.noreply.github.com>
Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn>
Co-authored-by: Harvey Que <Q-Query@outlook.com>
This commit is contained in:
Junhan Chang
2025-04-17 15:09:58 +08:00
committed by GitHub
parent 7ccb425e39
commit a62a695812
266 changed files with 40772 additions and 2 deletions
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19
unilabos/compile/__init__.py Normal file
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from unilabos.messages import *
from .pump_protocol import generate_pump_protocol, generate_pump_protocol_with_rinsing
from .clean_protocol import generate_clean_protocol
from .separate_protocol import generate_separate_protocol
from .evaporate_protocol import generate_evaporate_protocol
from .evacuateandrefill_protocol import generate_evacuateandrefill_protocol
from .agv_transfer_protocol import generate_agv_transfer_protocol
# Define a dictionary of protocol generators.
action_protocol_generators = {
PumpTransferProtocol: generate_pump_protocol_with_rinsing,
CleanProtocol: generate_clean_protocol,
SeparateProtocol: generate_separate_protocol,
EvaporateProtocol: generate_evaporate_protocol,
EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,
AGVTransferProtocol: generate_agv_transfer_protocol,
}
# End Protocols

53
unilabos/compile/agv_transfer_protocol.py Normal file
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import networkx as nx
def generate_agv_transfer_protocol(
G: nx.Graph,
from_repo: dict,
from_repo_position: str,
to_repo: dict = {},
to_repo_position: str = ""
):
from_repo_ = list(from_repo.values())[0]
to_repo_ = list(to_repo.values())[0]
resource_to_move = from_repo_["children"].pop(from_repo_position)
resource_to_move["parent"] = to_repo_["id"]
to_repo_["children"][to_repo_position] = resource_to_move
from_repo_id = from_repo_["id"]
to_repo_id = to_repo_["id"]
wf_list = {
("AiChemEcoHiWo", "zhixing_agv"): {"nav_command" : '{"target" : "LM14"}',
"arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
("AiChemEcoHiWo", "AGV"): {"nav_command" : '{"target" : "LM14"}',
"arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
("zhixing_agv", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
"arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
("AGV", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
"arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
("Revvity", "HPLC"): {"nav_command": '{"target" : "LM13"}',
"arm_command": '{"task_name" : "camera/250111_hplc.urp"}'},
("HPLC", "Revvity"): {"nav_command": '{"target" : "LM13"}',
"arm_command": '{"task_name" : "camera/250111_lfp.urp"}'},
}
return [
{
"device_id": "zhixing_agv",
"action_name": "send_nav_task",
"action_kwargs": {
"command": wf_list[(from_repo_id, to_repo_id)]["nav_command"]
}
},
{
"device_id": "zhixing_ur_arm",
"action_name": "move_pos_task",
"action_kwargs": {
"command": wf_list[(from_repo_id, to_repo_id)]["arm_command"]
}
}
]

62
unilabos/compile/clean_protocol.py Normal file
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import numpy as np
import networkx as nx
def generate_clean_protocol(
G: nx.DiGraph,
vessel: str, # Vessel to clean.
solvent: str, # Solvent to clean vessel with.
volume: float = 25000.0, # Optional. Volume of solvent to clean vessel with.
temp: float = 25, # Optional. Temperature to heat vessel to while cleaning.
repeats: int = 1, # Optional. Number of cleaning cycles to perform.
) -> list[dict]:
"""
Generate a protocol to clean a vessel with a solvent.
:param G: Directed graph. Nodes are containers and pumps, edges are fluidic connections.
:param vessel: Vessel to clean.
:param solvent: Solvent to clean vessel with.
:param volume: Volume of solvent to clean vessel with.
:param temp: Temperature to heat vessel to while cleaning.
:param repeats: Number of cleaning cycles to perform.
:return: List of actions to clean vessel.
"""
# 生成泵操作的动作序列
pump_action_sequence = []
from_vessel = f"flask_{solvent}"
waste_vessel = f"waste_workup"
transfer_flowrate = flowrate = 2500.0
# 生成泵操作的动作序列
for i in range(repeats):
# 单泵依次执行阀指令、活塞指令，将液体吸入与之相连的第一台泵
pump_action_sequence.extend([
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": from_vessel,
"to_vessel": vessel,
"volume": volume,
"time": volume / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
])
pump_action_sequence.extend([
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": vessel,
"to_vessel": waste_vessel,
"volume": volume,
"time": volume / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
])
return pump_action_sequence

143
unilabos/compile/evacuateandrefill_protocol.py Normal file
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import numpy as np
import networkx as nx
def generate_evacuateandrefill_protocol(
G: nx.DiGraph,
vessel: str,
gas: str,
repeats: int = 1
) -> list[dict]:
"""
生成泵操作的动作序列。
:param G: 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
:param from_vessel: 容器A
:param to_vessel: 容器B
:param volume: 转移的体积
:param flowrate: 最终注入容器B时的流速
:param transfer_flowrate: 泵骨架中转移流速（若不指定，默认与注入流速相同）
:return: 泵操作的动作序列
"""
# 生成电磁阀、真空泵、气源操作的动作序列
vacuum_action_sequence = []
nodes = G.nodes(data=True)
# 找到和 vessel 相连的电磁阀和真空泵、气源
vacuum_backbone = {"vessel": vessel}
for neighbor in G.neighbors(vessel):
if nodes[neighbor]["class"].startswith("solenoid_valve"):
for neighbor2 in G.neighbors(neighbor):
if neighbor2 == vessel:
continue
if nodes[neighbor2]["class"].startswith("vacuum_pump"):
vacuum_backbone.update({"vacuum_valve": neighbor, "pump": neighbor2})
break
elif nodes[neighbor2]["class"].startswith("gas_source"):
vacuum_backbone.update({"gas_valve": neighbor, "gas": neighbor2})
break
# 判断是否设备齐全
if len(vacuum_backbone) < 5:
print(f"\n\n\n{vacuum_backbone}\n\n\n")
raise ValueError("Not all devices are connected to the vessel.")
# 生成操作的动作序列
for i in range(repeats):
# 打开真空泵阀门、关闭气源阀门
vacuum_action_sequence.append([
{
"device_id": vacuum_backbone["vacuum_valve"],
"action_name": "set_valve_position",
"action_kwargs": {
"command": "OPEN"
}
},
{
"device_id": vacuum_backbone["gas_valve"],
"action_name": "set_valve_position",
"action_kwargs": {
"command": "CLOSED"
}
}
])
# 打开真空泵、关闭气源
vacuum_action_sequence.append([
{
"device_id": vacuum_backbone["pump"],
"action_name": "set_status",
"action_kwargs": {
"command": "ON"
}
},
{
"device_id": vacuum_backbone["gas"],
"action_name": "set_status",
"action_kwargs": {
"command": "OFF"
}
}
])
vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
# 关闭真空泵阀门、打开气源阀门
vacuum_action_sequence.append([
{
"device_id": vacuum_backbone["vacuum_valve"],
"action_name": "set_valve_position",
"action_kwargs": {
"command": "CLOSED"
}
},
{
"device_id": vacuum_backbone["gas_valve"],
"action_name": "set_valve_position",
"action_kwargs": {
"command": "OPEN"
}
}
])
# 关闭真空泵、打开气源
vacuum_action_sequence.append([
{
"device_id": vacuum_backbone["pump"],
"action_name": "set_status",
"action_kwargs": {
"command": "OFF"
}
},
{
"device_id": vacuum_backbone["gas"],
"action_name": "set_status",
"action_kwargs": {
"command": "ON"
}
}
])
vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
# 关闭气源
vacuum_action_sequence.append(
{
"device_id": vacuum_backbone["gas"],
"action_name": "set_status",
"action_kwargs": {
"command": "OFF"
}
}
)
# 关闭阀门
vacuum_action_sequence.append(
{
"device_id": vacuum_backbone["gas_valve"],
"action_name": "set_valve_position",
"action_kwargs": {
"command": "CLOSED"
}
}
)
return vacuum_action_sequence

81
unilabos/compile/evaporate_protocol.py Normal file
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import numpy as np
import networkx as nx
def generate_evaporate_protocol(
G: nx.DiGraph,
vessel: str,
pressure: float,
temp: float,
time: float,
stir_speed: float
) -> list[dict]:
"""
Generate a protocol to evaporate a solution from a vessel.
:param G: Directed graph. Nodes are containers and pumps, edges are fluidic connections.
:param vessel: Vessel to clean.
:param solvent: Solvent to clean vessel with.
:param volume: Volume of solvent to clean vessel with.
:param temp: Temperature to heat vessel to while cleaning.
:param repeats: Number of cleaning cycles to perform.
:return: List of actions to clean vessel.
"""
# 生成泵操作的动作序列
pump_action_sequence = []
reactor_volume = 500000.0
transfer_flowrate = flowrate = 2500.0
# 开启冷凝器
pump_action_sequence.append({
"device_id": "rotavap_chiller",
"action_name": "set_temperature",
"action_kwargs": {
"command": "-40"
}
})
# TODO: 通过温度反馈改为 HeatChillToTemp，而非等待固定时间
pump_action_sequence.append({
"action_name": "wait",
"action_kwargs": {
"time": 1800
}
})
# 开启旋蒸真空泵、旋转，在液体转移后运行time时间
pump_action_sequence.append({
"device_id": "rotavap_controller",
"action_name": "set_pump_time",
"action_kwargs": {
"command": str(time + reactor_volume / flowrate * 3)
}
})
pump_action_sequence.append({
"device_id": "rotavap_controller",
"action_name": "set_pump_time",
"action_kwargs": {
"command": str(time + reactor_volume / flowrate * 3)
}
})
# 液体转入旋转蒸发器
pump_action_sequence.append({
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": vessel,
"to_vessel": "rotavap",
"volume": reactor_volume,
"time": reactor_volume / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
})
pump_action_sequence.append({
"action_name": "wait",
"action_kwargs": {
"time": time
}
})
return pump_action_sequence

213
unilabos/compile/pump_protocol.py Normal file
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import numpy as np
import networkx as nx
def generate_pump_protocol(
G: nx.DiGraph,
from_vessel: str,
to_vessel: str,
volume: float,
flowrate: float = 500.0,
transfer_flowrate: float = 0,
) -> list[dict]:
"""
生成泵操作的动作序列。
:param G: 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
:param from_vessel: 容器A
:param to_vessel: 容器B
:param volume: 转移的体积
:param flowrate: 最终注入容器B时的流速
:param transfer_flowrate: 泵骨架中转移流速（若不指定，默认与注入流速相同）
:return: 泵操作的动作序列
"""
# 生成泵操作的动作序列
pump_action_sequence = []
nodes = G.nodes(data=True)
# 从from_vessel到to_vessel的最短路径
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
print(shortest_path)
pump_backbone = shortest_path
if not from_vessel.startswith("pump"):
pump_backbone = pump_backbone[1:]
if not to_vessel.startswith("pump"):
pump_backbone = pump_backbone[:-1]
if transfer_flowrate == 0:
transfer_flowrate = flowrate
min_transfer_volume = min([nodes[pump]["max_volume"] for pump in pump_backbone])
repeats = int(np.ceil(volume / min_transfer_volume))
if repeats > 1 and (from_vessel.startswith("pump") or to_vessel.startswith("pump")):
raise ValueError("Cannot transfer volume larger than min_transfer_volume between two pumps.")
volume_left = volume
# 生成泵操作的动作序列
for i in range(repeats):
# 单泵依次执行阀指令、活塞指令，将液体吸入与之相连的第一台泵
if not from_vessel.startswith("pump"):
pump_action_sequence.extend([
{
"device_id": pump_backbone[0],
"action_name": "set_valve_position",
"action_kwargs": {
"command": G.get_edge_data(pump_backbone[0], from_vessel)["port"][pump_backbone[0]]
}
},
{
"device_id": pump_backbone[0],
"action_name": "set_position",
"action_kwargs": {
"position": float(min(volume_left, min_transfer_volume)),
"max_velocity": transfer_flowrate
}
}
])
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
for pumpA, pumpB in zip(pump_backbone[:-1], pump_backbone[1:]):
# 相邻两泵同时切换阀门至连通位置
pump_action_sequence.append([
{
"device_id": pumpA,
"action_name": "set_valve_position",
"action_kwargs": {
"command": G.get_edge_data(pumpA, pumpB)["port"][pumpA]
}
},
{
"device_id": pumpB,
"action_name": "set_valve_position",
"action_kwargs": {
"command": G.get_edge_data(pumpB, pumpA)["port"][pumpB],
}
}
])
# 相邻两泵液体转移：泵A排出液体，泵B吸入液体
pump_action_sequence.append([
{
"device_id": pumpA,
"action_name": "set_position",
"action_kwargs": {
"position": 0.0,
"max_velocity": transfer_flowrate
}
},
{
"device_id": pumpB,
"action_name": "set_position",
"action_kwargs": {
"position": float(min(volume_left, min_transfer_volume)),
"max_velocity": transfer_flowrate
}
}
])
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
if not to_vessel.startswith("pump"):
# 单泵依次执行阀指令、活塞指令，将最后一台泵液体缓慢加入容器B
pump_action_sequence.extend([
{
"device_id": pump_backbone[-1],
"action_name": "set_valve_position",
"action_kwargs": {
"command": G.get_edge_data(pump_backbone[-1], to_vessel)["port"][pump_backbone[-1]]
}
},
{
"device_id": pump_backbone[-1],
"action_name": "set_position",
"action_kwargs": {
"position": 0.0,
"max_velocity": flowrate
}
}
])
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
volume_left -= min_transfer_volume
return pump_action_sequence
# Pump protocol compilation
def generate_pump_protocol_with_rinsing(
G: nx.DiGraph,
from_vessel: str,
to_vessel: str,
volume: float,
amount: str = "",
time: float = 0,
viscous: bool = False,
rinsing_solvent: str = "air",
rinsing_volume: float = 5000.0,
rinsing_repeats: int = 2,
solid: bool = False,
flowrate: float = 2500.0,
transfer_flowrate: float = 500.0,
) -> list[dict]:
"""
Generates a pump protocol for transferring a specified volume between vessels, including rinsing steps with a chosen solvent. This function constructs a sequence of pump actions based on the provided parameters and the shortest path in a directed graph.
Args:
G (nx.DiGraph): The directed graph representing the vessels and connections. 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
from_vessel (str): The name of the vessel to transfer from.
to_vessel (str): The name of the vessel to transfer to.
volume (float): The volume to transfer.
amount (str, optional): Additional amount specification (default is "").
time (float, optional): Time over which to perform the transfer (default is 0).
viscous (bool, optional): Indicates if the fluid is viscous (default is False).
rinsing_solvent (str, optional): The solvent to use for rinsing (default is "air").
rinsing_volume (float, optional): The volume of rinsing solvent to use (default is 5000.0).
rinsing_repeats (int, optional): The number of times to repeat rinsing (default is 2).
solid (bool, optional): Indicates if the transfer involves a solid (default is False).
flowrate (float, optional): The flow rate for the transfer (default is 2500.0). 最终注入容器B时的流速
transfer_flowrate (float, optional): The flow rate for the transfer action (default is 500.0). 泵骨架中转移流速（若不指定，默认与注入流速相同）
Returns:
list[dict]: A sequence of pump actions to be executed for the transfer and rinsing process. 泵操作的动作序列.
Raises:
AssertionError: If the number of rinsing solvents does not match the number of rinsing repeats.
Examples:
pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 100.0, rinsing_solvent="water")
"""
air_vessel = "flask_air"
waste_vessel = f"waste_workup"
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
pump_backbone = shortest_path[1: -1]
nodes = G.nodes(data=True)
min_transfer_volume = float(min([nodes[pump]["max_volume"] for pump in pump_backbone]))
if time != 0:
flowrate = transfer_flowrate = volume / time
pump_action_sequence = generate_pump_protocol(G, from_vessel, to_vessel, float(volume), flowrate, transfer_flowrate)
if rinsing_solvent != "air":
if "," in rinsing_solvent:
rinsing_solvents = rinsing_solvent.split(",")
assert len(rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
else:
rinsing_solvents = [rinsing_solvent] * rinsing_repeats
for rinsing_solvent in rinsing_solvents:
solvent_vessel = f"flask_{rinsing_solvent}"
# 清洗泵
pump_action_sequence.extend(
generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate, transfer_flowrate) +
generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate, transfer_flowrate) +
generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate, transfer_flowrate)
)
# 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。
if rinsing_solvent == rinsing_solvents[0]:
pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
return pump_action_sequence
# End Protocols

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unilabos/compile/separate_protocol.py Normal file
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import numpy as np
import networkx as nx
def generate_separate_protocol(
G: nx.DiGraph,
purpose: str, # 'wash' or 'extract'. 'wash' means that product phase will not be the added solvent phase, 'extract' means product phase will be the added solvent phase. If no solvent is added just use 'extract'.
product_phase: str, # 'top' or 'bottom'. Phase that product will be in.
from_vessel: str, #Contents of from_vessel are transferred to separation_vessel and separation is performed.
separation_vessel: str, # Vessel in which separation of phases will be carried out.
to_vessel: str, # Vessel to send product phase to.
waste_phase_to_vessel: str, # Optional. Vessel to send waste phase to.
solvent: str, # Optional. Solvent to add to separation vessel after contents of from_vessel has been transferred to create two phases.
solvent_volume: float = 50000, # Optional. Volume of solvent to add.
through: str = "", # Optional. Solid chemical to send product phase through on way to to_vessel, e.g. 'celite'.
repeats: int = 1, # Optional. Number of separations to perform.
stir_time: float = 30, # Optional. Time stir for after adding solvent, before separation of phases.
stir_speed: float = 300, # Optional. Speed to stir at after adding solvent, before separation of phases.
settling_time: float = 300 # Optional. Time
) -> list[dict]:
"""
Generate a protocol to clean a vessel with a solvent.
:param G: Directed graph. Nodes are containers and pumps, edges are fluidic connections.
:param vessel: Vessel to clean.
:param solvent: Solvent to clean vessel with.
:param volume: Volume of solvent to clean vessel with.
:param temp: Temperature to heat vessel to while cleaning.
:param repeats: Number of cleaning cycles to perform.
:return: List of actions to clean vessel.
"""
# 生成泵操作的动作序列
pump_action_sequence = []
reactor_volume = 500000.0
waste_vessel = waste_phase_to_vessel
# TODO：通过物料管理系统找到溶剂的容器
if "," in solvent:
solvents = solvent.split(",")
assert len(solvents) == repeats, "Number of solvents must match number of repeats."
else:
solvents = [solvent] * repeats
# TODO: 通过设备连接图找到分离容器的控制器、底部出口
separator_controller = f"{separation_vessel}_controller"
separation_vessel_bottom = f"flask_{separation_vessel}"
transfer_flowrate = flowrate = 2500.0
if from_vessel != separation_vessel:
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": from_vessel,
"to_vessel": separation_vessel,
"volume": reactor_volume,
"time": reactor_volume / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
# for i in range(2):
# pump_action_sequence.append(
# {
# "device_id": "",
# "action_name": "CleanProtocol",
# "action_kwargs": {
# "vessel": from_vessel,
# "solvent": "H2O", # Solvent to clean vessel with.
# "volume": solvent_volume, # Optional. Volume of solvent to clean vessel with.
# "temp": 25.0, # Optional. Temperature to heat vessel to while cleaning.
# "repeats": 1
# }
# }
# )
# pump_action_sequence.append(
# {
# "device_id": "",
# "action_name": "CleanProtocol",
# "action_kwargs": {
# "vessel": from_vessel,
# "solvent": "CH2Cl2", # Solvent to clean vessel with.
# "volume": solvent_volume, # Optional. Volume of solvent to clean vessel with.
# "temp": 25.0, # Optional. Temperature to heat vessel to while cleaning.
# "repeats": 1
# }
# }
# )
# 生成泵操作的动作序列
for i in range(repeats):
# 找到当次萃取所用溶剂
solvent_thistime = solvents[i]
solvent_vessel = f"flask_{solvent_thistime}"
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": solvent_vessel,
"to_vessel": separation_vessel,
"volume": solvent_volume,
"time": solvent_volume / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
pump_action_sequence.extend([
# 搅拌、静置
{
"device_id": separator_controller,
"action_name": "stir",
"action_kwargs": {
"stir_time": stir_time,
"stir_speed": stir_speed,
"settling_time": settling_time
}
},
# 分液（判断电导突跃）
{
"device_id": separator_controller,
"action_name": "valve_open",
"action_kwargs": {
"command": "delta > 0.05"
}
}
])
if product_phase == "bottom":
# 产物转移到目标瓶
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": separation_vessel_bottom,
"to_vessel": to_vessel,
"volume": 250000.0,
"time": 250000.0 / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
# 放出上面那一相，60秒后关阀门
pump_action_sequence.append(
{
"device_id": separator_controller,
"action_name": "valve_open",
"action_kwargs": {
"command": "time > 60"
}
}
)
# 弃去上面那一相进废液
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": separation_vessel_bottom,
"to_vessel": waste_vessel,
"volume": 250000.0,
"time": 250000.0 / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
elif product_phase == "top":
# 弃去下面那一相进废液
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": separation_vessel_bottom,
"to_vessel": waste_vessel,
"volume": 250000.0,
"time": 250000.0 / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
# 放出上面那一相
pump_action_sequence.append(
{
"device_id": separator_controller,
"action_name": "valve_open",
"action_kwargs": {
"command": "time > 60"
}
}
)
# 产物转移到目标瓶
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": separation_vessel_bottom,
"to_vessel": to_vessel,
"volume": 250000.0,
"time": 250000.0 / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
elif product_phase == "organic":
pass
# 如果不是最后一次，从中转瓶转移回分液漏斗
if i < repeats - 1:
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": to_vessel,
"to_vessel": separation_vessel,
"volume": 250000.0,
"time": 250000.0 / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
return pump_action_sequence