Ready for open source (#47)

* 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>

unilabos/devices/UV_test/fuxiang2.py

@@ -0,0 +1,333 @@
+import tkinter as tk
+from tkinter import ttk  # 使用 ttk 替换 tk 控件
+from tkinter import messagebox
+from tkinter.font import Font
+from threading import Thread
+from ttkthemes import ThemedTk
+import time
+import matplotlib.pyplot as plt
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+import clr  # pythonnet library
+import sys
+import threading
+import datetime
+
+jifenshijian = 10 #积分时间
+shuaxinshijian = 0.01 #刷新时间
+zihaodaxiao = 16 #字号大小
+ymax = 70000
+ymin = -2000
+
+# 加载DLL
+dll_path = "C:\\auto\\UV_spec\\idea-sdk 3.0.9\\idea-sdk.UPI\\IdeaOptics.dll"
+clr.AddReference(dll_path)
+from IdeaOptics import Wrapper
+
+# 初始化Wrapper对象和光谱仪
+wrapper = Wrapper()
+number_of_spectrometers = wrapper.OpenAllSpectrometers()
+if number_of_spectrometers > 0:
+    spectrometer_index = 0  # 假设使用第一个光谱仪
+    integration_time = jifenshijian  # 设置积分时间
+    wrapper.setIntegrationTime(spectrometer_index, integration_time)
+
+class App:
+    def __init__(self, root):
+        self.root = root
+        self.root.title("光谱测试")
+        self.is_continuous = False
+        self.root.protocol("WM_DELETE_WINDOW", self.on_closing)
+        self.stop_event = threading.Event()  # 使用Event代替布尔标志
+        self.continuous_thread = None  # 在这里初始化
+        self.background_spectrum = None
+        self.correct_background = False
+        self.test_count = 0
+        self.background_count = 0
+
+        self.source_spectrum = None  # 初始化光源强度变量
+        self.transmission_mode = False  # 初始化透射模式标志
+
+        self.data_ready = False
+
+        # 使用 grid 布局
+        self.root.columnconfigure(0, weight=1)
+        self.root.rowconfigure(0, weight=1)
+        self.root.rowconfigure(1, weight=1)
+        self.root.rowconfigure(2, weight=1)
+        self.root.rowconfigure(3, weight=1)
+
+        self.current_ylim = [-100, 1000]  # 初始化y轴范围
+
+        # 创建一个 Style 对象
+        style = ttk.Style()
+
+        # 定义一个新的样式
+        style.configure('Custom.TButton', font=('Helvetica', zihaodaxiao, 'bold'), foreground='white')
+
+        # 创建滑动条和按钮的容器 Frame
+        control_frame = ttk.Frame(self.root)
+        control_frame.grid(row=0, column=0, sticky="ew")
+
+        # 创建一个滑动条来选择平滑次数
+        self.boxcar_width_slider = tk.Scale(control_frame, from_=0, to=10, orient=tk.HORIZONTAL, length=300, label="平滑次数", font=("Helvetica", zihaodaxiao, 'bold'))
+        self.boxcar_width_slider.grid(row=0, column=0, padx=10, pady=10)
+
+        # 创建一个滑动条来选择平均次数
+        self.scans_to_average_slider = tk.Scale(control_frame, from_=1, to=10, orient=tk.HORIZONTAL, length=300, label="平均次数", font=("Helvetica", zihaodaxiao, 'bold'))
+        self.scans_to_average_slider.grid(row=0, column=1, padx=10, pady=10)
+
+        # 调整 Scale 控件的外观
+        self.boxcar_width_slider.config(bg='grey', fg='white')
+        self.scans_to_average_slider.config(bg='grey', fg='white')
+
+        # 字体设置
+        entry_font = ('Helvetica', zihaodaxiao, 'bold')
+
+        # 添加输入框的容器 Frame
+        entry_frame = ttk.Frame(self.root)
+        entry_frame.grid(row=1, column=0, sticky="ew")
+
+        # 创建并放置"积分时间(ms)"输入框
+        ttk.Label(entry_frame, text="积分时间(ms):", font=entry_font).grid(row=0, column=0, padx=10, pady=10)
+        self.integration_time_entry = ttk.Entry(entry_frame, font=entry_font)
+        self.integration_time_entry.grid(row=0, column=1, padx=10, pady=10)
+        self.integration_time_entry.insert(0, "10")  # 设置默认值
+
+        # 创建并放置"刷新间隔(s)"输入框
+        ttk.Label(entry_frame, text="刷新间隔(s):", font=entry_font).grid(row=0, column=2, padx=10, pady=10)
+        self.refresh_interval_entry = ttk.Entry(entry_frame, font=entry_font)
+        self.refresh_interval_entry.grid(row=0, column=3, padx=10, pady=10)
+        self.refresh_interval_entry.insert(0, "0.01")  # 设置默认值
+
+        # 创建按钮的容器 Frame
+        button_frame = ttk.Frame(self.root)
+        button_frame.grid(row=2, column=0, sticky="ew")
+
+        # 创建并放置按钮
+        ttk.Button(button_frame, text="测试一下", style='Custom.TButton', command=self.single_test).grid(row=0, column=0, padx=10, pady=10)
+        ttk.Button(button_frame, text="连续测试", style='Custom.TButton', command=self.start_continuous_test).grid(row=0, column=1, padx=10, pady=10)
+        ttk.Button(button_frame, text="停止测试", style='Custom.TButton', command=self.stop_continuous_test).grid(row=0, column=2, padx=10, pady=10)
+
+        # 创建背景相关按钮的容器 Frame
+        background_frame = ttk.Frame(self.root)
+        background_frame.grid(row=3, column=0, sticky="ew")
+
+        # 创建并放置“采集背景”按钮
+        self.collect_background_button = ttk.Button(background_frame, text="采集背景", style='Custom.TButton', command=self.collect_background)
+        self.collect_background_button.grid(row=0, column=0, padx=10, pady=10)
+
+        # 创建并放置“背景校正”按钮
+        self.correct_background_button = ttk.Button(background_frame, text="背景校正", style='Custom.TButton', command=self.toggle_background_correction)
+        self.correct_background_button.grid(row=0, column=1, padx=10, pady=10)
+
+        # 创建“光源采集”按钮
+        ttk.Button(background_frame, text="光源采集", style='Custom.TButton', command=self.collect_source).grid(row=0, column=2, padx=10, pady=10)
+
+        # 创建“透射模式”按钮
+        self.transmission_button = ttk.Button(background_frame, text="透射模式", style='Custom.TButton', command=self.toggle_transmission_mode)
+        self.transmission_button.grid(row=0, column=3, padx=10, pady=10)
+
+        # 创建 matplotlib 画布
+        plt.style.use('ggplot')  # 使用预定义的样式，如 'ggplot'
+        self.figure, self.ax = plt.subplots(figsize=(10, 8))
+        self.canvas = FigureCanvasTkAgg(self.figure, self.root)
+        self.canvas_widget = self.canvas.get_tk_widget()
+        self.canvas_widget.grid(row=3, column=0, sticky="ew")
+        
+        # 使用 grid 布局来放置 matplotlib 画布
+        self.canvas_widget = self.canvas.get_tk_widget()
+        self.canvas_widget.grid(row=4, column=0, sticky="ew")
+        
+        # 创建文件名并打开文件
+        start_time = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
+        self.data_file = open(f"C:\\auto\\UV_spec\\data\\{start_time}.txt", "w")
+    
+    def get_spectrum_data(self):
+        # 获取波长和光谱值
+        pixels = wrapper.getNumberOfPixels(spectrometer_index)
+        spectrum = wrapper.getSpectrum(spectrometer_index)
+        wavelengths = wrapper.getWavelengths(spectrometer_index)
+        
+        # 转换.NET数组到Python列表
+        spectrum_list = [spectrum[i] for i in range(pixels)]
+        wavelengths_list = [wavelengths[i] for i in range(pixels)]
+
+        self.data_ready = True
+        return wavelengths_list, spectrum_list
+
+    def collect_source(self):
+        # 采集光源强度数据
+        wavelengths, self.source_spectrum = self.get_spectrum_data()
+        conditions = f"jifenshijian = {jifenshijian}  shuaxinshijian = {shuaxinshijian}  zihaodaxiao = {zihaodaxiao}"
+        self.write_data_to_file("source", 1, conditions, self.source_spectrum)
+        self.update_plot(wavelengths, self.source_spectrum)
+
+    def toggle_transmission_mode(self):
+        # 切换透射模式
+        self.transmission_mode = not self.transmission_mode
+        self.transmission_button.config(text="正在透射" if self.transmission_mode else "透射模式")
+
+    def calculate_transmission(self, spectrum):
+        # 计算透射率
+        transmission = []
+        for s, b, src in zip(spectrum, self.background_spectrum, self.source_spectrum):
+            denominator = max(src - b, 0.1)
+            trans_value = (s - b) / denominator * 100
+            trans_value = max(0, min(trans_value, 100))
+            transmission.append(trans_value)
+        return transmission
+
+    def update_plot(self, wavelengths, spectrum, plot_type='spectrum'):
+
+        if not self.data_ready:
+            return
+        
+        self.ax.clear()
+
+        if plot_type == 'transmission':
+            # 透射率模式的绘图设置
+            self.ax.plot(wavelengths, spectrum, label='Transmission (%)')
+            self.ax.set_ylim(-10, 110)  # 设置y轴范围为0%到100%
+            self.ax.set_ylabel('Transmission (%)', fontname='Arial', fontsize=zihaodaxiao)
+        else:
+            # 普通光谱模式的绘图设置
+            self.ax.plot(wavelengths, spectrum)
+            self.ax.set_ylim(self.current_ylim)  # 使用当前y轴范围
+
+            # 计算新的最大值和最小值
+            new_min, new_max = min(spectrum), max(spectrum)
+
+            # 检查新的最大值或最小值是否超过当前y轴范围
+            while new_min < self.current_ylim[0] or new_max > self.current_ylim[1]:
+                # 扩大y轴范围
+                self.current_ylim = [self.current_ylim[0] * 2, self.current_ylim[1] * 2]
+
+                # 确保新的y轴范围不超过最大限制
+                if self.current_ylim[0] < ymin:
+                    self.current_ylim[0] = ymin
+                if self.current_ylim[1] > ymax:
+                    self.current_ylim[1] = ymax
+                break
+
+            self.ax.set_ylabel('Intensity', fontname='Arial', fontsize=zihaodaxiao)
+
+        self.ax.set_xlabel('Wavelength (nm)', fontname='Arial', fontsize=zihaodaxiao)
+        self.ax.set_title('Spectrum', fontname='Arial', fontsize=zihaodaxiao)
+
+        self.canvas.draw()
+
+        self.data_ready = False
+        
+    def draw_plot(self):
+        self.canvas.draw()
+
+    def write_data_to_file(self, test_type, test_number, conditions, spectrum):
+        data_str = " ".join(map(str, spectrum))
+        self.data_file.write(f"{test_type}{test_number}\n{conditions}\n{data_str}\n\n")
+        self.data_file.flush()
+
+    def collect_background(self):
+        # 设置平滑次数
+        boxcar_width = self.boxcar_width_slider.get()
+        wrapper.setBoxcarWidth(spectrometer_index, boxcar_width)
+
+        # 设置平均次数
+        scans_to_average = self.scans_to_average_slider.get()
+        wrapper.setScansToAverage(spectrometer_index, scans_to_average)
+
+        # 采集背景数据
+        wavelengths, self.background_spectrum = self.get_spectrum_data()
+        conditions = f"jifenshijian = {jifenshijian}  shuaxinshijian = {shuaxinshijian}  zihaodaxiao = {zihaodaxiao}  pinghuacishu = {self.boxcar_width_slider.get()}  pingjuncishu = {self.scans_to_average_slider.get()}"
+        self.background_count += 1
+        self.write_data_to_file("background", self.background_count, conditions, self.background_spectrum)
+        self.update_plot(wavelengths, self.background_spectrum)
+
+    def toggle_background_correction(self):
+        self.correct_background = not self.correct_background
+        self.correct_background_button.config(text="正在校正" if self.correct_background else "背景校正")
+    
+    def apply_background_correction(self, spectrum):
+        if self.background_spectrum is not None and self.correct_background:
+            return [s - b for s, b in zip(spectrum, self.background_spectrum)]
+        return spectrum
+    
+    def single_test(self):
+        # 获取输入框的值
+        jifenshijian = float(self.integration_time_entry.get())
+        shuaxinshijian = float(self.refresh_interval_entry.get())
+
+        # 设置平滑次数
+        boxcar_width = self.boxcar_width_slider.get()
+        wrapper.setBoxcarWidth(spectrometer_index, boxcar_width)
+
+        # 设置平均次数
+        scans_to_average = self.scans_to_average_slider.get()
+        wrapper.setScansToAverage(spectrometer_index, scans_to_average)
+
+        conditions = f"jifenshijian = {jifenshijian}  shuaxinshijian = {shuaxinshijian}  zihaodaxiao = {zihaodaxiao}  pinghuacishu = {self.boxcar_width_slider.get()}  pingjuncishu = {self.scans_to_average_slider.get()}"
+        self.test_count += 1
+        
+        wavelengths, spectrum = self.get_spectrum_data()
+
+        # 在透射模式下计算透射率，否则应用背景校正
+        if self.transmission_mode and self.background_spectrum is not None and self.source_spectrum is not None:
+            transmission = self.calculate_transmission(spectrum)
+            self.update_plot(wavelengths, transmission, plot_type='transmission')
+        else:
+            corrected_spectrum = self.apply_background_correction(spectrum)
+            self.update_plot(wavelengths, corrected_spectrum, plot_type='spectrum')
+        
+    def continuous_test(self):
+        while not self.stop_event.is_set():
+            # 获取输入框的值
+            jifenshijian = float(self.integration_time_entry.get())
+            shuaxinshijian = float(self.refresh_interval_entry.get())
+            
+            # 设置平滑次数和平均次数
+            boxcar_width = self.boxcar_width_slider.get()
+            wrapper.setBoxcarWidth(spectrometer_index, boxcar_width)
+            scans_to_average = self.scans_to_average_slider.get()
+            wrapper.setScansToAverage(spectrometer_index, scans_to_average)
+
+            conditions = f"jifenshijian = {jifenshijian}  shuaxinshijian = {shuaxinshijian}  zihaodaxiao = {zihaodaxiao}  pinghuacishu = {self.boxcar_width_slider.get()}  pingjuncishu = {self.scans_to_average_slider.get()}"
+            self.test_count += 1
+            wavelengths, spectrum = self.get_spectrum_data()
+            self.write_data_to_file("test", self.test_count, conditions, spectrum)
+
+            # 根据当前模式计算并更新图表
+            if self.transmission_mode and self.background_spectrum is not None and self.source_spectrum is not None:
+                transmission = self.calculate_transmission(spectrum)
+                self.update_plot(wavelengths, transmission, plot_type='transmission')
+            else:
+                corrected_spectrum = self.apply_background_correction(spectrum)
+                self.update_plot(wavelengths, corrected_spectrum)
+
+            time.sleep(shuaxinshijian)
+
+    def start_continuous_test(self):
+        self.stop_event.clear()  # 重置事件
+        self.continuous_thread = Thread(target=self.continuous_test)
+        self.continuous_thread.start()
+
+    def stop_continuous_test(self):
+        self.stop_event.set()  # 设置事件通知线程停止
+        self.continuous_thread = None
+
+    def on_closing(self):
+        if self.data_file:
+            self.data_file.close()
+        if messagebox.askyesno("退出", "实验g了？"):
+            self.stop_continuous_test()
+            self.root.destroy()
+            sys.exit()
+
+if __name__ == "__main__":
+    # 使用 ThemedTk 而不是普通的 Tk
+    root = ThemedTk(theme="equilux")  # 使用 'arc' 主题
+
+    # 由于我们已经使用了 ttkthemes 来设置主题，下面这些行可以省略
+    # style = ttk.Style()
+    # style.theme_use('arc')
+
+    app = App(root)
+    root.mainloop()