Feature/xprbalance-zhida (#80)

* feat(devices): add Zhida GC/MS pretreatment automation workstation

* feat(devices): add mettler_toledo xpr balance

* balance

unilabos/devices/zhida_gcms/zhida.py

@@ -0,0 +1,400 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+智达GCMS设备驱动
+
+支持智达GCMS设备的TCP通信协议，包括状态查询、方法获取、样品分析等功能。
+通信协议版本：1.0.1
+"""
+
+import base64
+import json
+import socket
+import time
+import os
+from pathlib import Path
+
+
+class ZhidaClient:
+    def __init__(self, host='192.168.3.184', port=5792, timeout=10.0):
+        # 如果部署在智达GCMS上位机本地，可使用localhost: host='127.0.0.1'
+        """
+        初始化智达GCMS客户端
+        
+        Args:
+            host (str): 设备IP地址，本地部署时可使用'127.0.0.1'
+            port (int): 通信端口，默认5792
+            timeout (float): 超时时间，单位秒
+        """
+        self.host = host
+        self.port = port
+        self.timeout = timeout
+        self.sock = None
+        self._ros_node = None  # ROS节点引用，由框架设置
+    
+    def post_init(self, ros_node):
+        """
+        ROS节点初始化后的回调方法，用于建立设备连接
+        
+        Args:
+            ros_node: ROS节点实例
+        """
+        self._ros_node = ros_node
+        try:
+            self.connect()
+            ros_node.lab_logger().info(f"智达GCMS设备连接成功: {self.host}:{self.port}")
+        except Exception as e:
+            ros_node.lab_logger().error(f"智达GCMS设备连接失败: {e}")
+            # 不抛出异常，允许节点继续运行，后续可以重试连接
+
+    def connect(self):
+        """
+        建立TCP连接到智达GCMS设备
+        
+        Raises:
+            ConnectionError: 连接失败时抛出
+        """
+        try:
+            self.sock = socket.create_connection((self.host, self.port), timeout=self.timeout)
+            # 确保后续 recv/send 都会在 timeout 秒后抛 socket.timeout
+            self.sock.settimeout(self.timeout)
+        except Exception as e:
+            raise ConnectionError(f"Failed to connect to {self.host}:{self.port} - {str(e)}")
+
+    def close(self):
+        """
+        关闭与智达GCMS设备的TCP连接
+        """
+        if self.sock:
+            try:
+                self.sock.close()
+            except Exception:
+                pass  # 忽略关闭时的错误
+            finally:
+                self.sock = None
+
+    def _send_command(self, cmd: dict) -> dict:
+        """
+        发送命令到智达GCMS设备并接收响应
+        
+        Args:
+            cmd (dict): 要发送的命令字典
+            
+        Returns:
+            dict: 设备响应的JSON数据
+            
+        Raises:
+            ConnectionError: 连接错误
+            TimeoutError: 超时错误
+        """
+        if not self.sock:
+            raise ConnectionError("Not connected to device")
+
+        try:
+            # 发送JSON命令（UTF-8编码）
+            payload = json.dumps(cmd, ensure_ascii=False).encode('utf-8')
+            self.sock.sendall(payload)
+
+            # 循环接收数据直到能成功解析完整JSON
+            buffer = bytearray()
+            start = time.time()
+            while True:
+                try:
+                    chunk = self.sock.recv(4096)
+                    if not chunk:
+                        # 对端关闭连接，尝试解析已接收的数据
+                        if buffer:
+                            try:
+                                text = buffer.decode('utf-8', errors='strict')
+                                return json.loads(text)
+                            except (UnicodeDecodeError, json.JSONDecodeError):
+                                pass
+                        break
+                    buffer.extend(chunk)
+                    
+                    # 尝试解码和解析JSON
+                    text = buffer.decode('utf-8', errors='strict')
+                    try:
+                        return json.loads(text)
+                    except json.JSONDecodeError:
+                        # JSON不完整，继续接收
+                        pass
+                        
+                except socket.timeout:
+                    # 超时时，尝试解析已接收的数据
+                    if buffer:
+                        try:
+                            text = buffer.decode('utf-8', errors='strict')
+                            return json.loads(text)
+                        except (UnicodeDecodeError, json.JSONDecodeError):
+                            pass
+                    raise TimeoutError(f"recv() timed out after {self.timeout:.1f}s")
+                
+                # 防止死循环，总时长超过2倍超时时间就报错
+                if time.time() - start > self.timeout * 2:
+                    # 最后尝试解析已接收的数据
+                    if buffer:
+                        try:
+                            text = buffer.decode('utf-8', errors='strict')
+                            return json.loads(text)
+                        except (UnicodeDecodeError, json.JSONDecodeError):
+                            pass
+                    raise TimeoutError(f"No complete JSON received after {time.time() - start:.1f}s")
+
+            # 连接关闭，如果有数据则尝试解析
+            if buffer:
+                try:
+                    text = buffer.decode('utf-8', errors='strict')
+                    return json.loads(text)
+                except (UnicodeDecodeError, json.JSONDecodeError):
+                    pass
+            
+            raise ConnectionError("Connection closed before JSON could be parsed")
+            
+        except Exception as e:
+            if isinstance(e, (ConnectionError, TimeoutError)):
+                raise
+            else:
+                raise ConnectionError(f"Command send failed: {str(e)}")
+
+    def get_status(self) -> str:
+        """
+        获取设备状态
+        
+        Returns:
+            str: 设备状态 (Idle|Offline|Error|Busy|RunSample|Unknown)
+        """
+        if not self.sock:
+            # 尝试重新连接
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("智达GCMS设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"智达GCMS设备连接失败: {e}")
+                return "Offline"
+        
+        try:
+            response = self._send_command({"command": "getstatus"})
+            return response.get("result", "Unknown")
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().warning(f"获取设备状态失败: {e}")
+            return "Error"
+    
+    def get_methods(self) -> dict:
+        """
+        获取当前Project的方法列表
+        
+        Returns:
+            dict: 包含方法列表的响应
+        """
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("智达GCMS设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"智达GCMS设备连接失败: {e}")
+                return {"error": "Device not connected"}
+        
+        try:
+            return self._send_command({"command": "getmethods"})
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().warning(f"获取方法列表失败: {e}")
+            return {"error": str(e)}
+
+
+    
+    def get_version(self) -> dict:
+        """
+        获取接口版本和InLabPAL固件版本
+        
+        Returns:
+            dict: 响应格式 {"result": "OK|Error", "message": "Interface:x.x.x;FW:x.x.x.xxx"}
+        """
+        return self._send_command({"command": "version"})
+    
+    def put_tray(self) -> dict:
+        """
+        放盘操作，准备InLabPAL进样器
+        
+        注意：此功能仅在特殊场景下使用，例如：
+        - 机械臂比较短，需要让开一个位置
+        - 盘支架是可移动的，需要进样器配合做动作
+        
+        对于宜宾深势这套配置，空间足够，不需要这个额外的控制组件。
+        
+        Returns:
+            dict: 响应格式 {"result": "OK|Error", "message": "ready_info|error_info"}
+        """
+        return self._send_command({"command": "puttray"})
+
+    def start_with_csv_file(self, string: str = None, csv_file_path: str = None) -> dict:
+        """
+        使用CSV文件启动分析（支持ROS2动作调用）
+        
+        Args:
+            string (str): CSV文件路径（ROS2参数名）
+            csv_file_path (str): CSV文件路径（兼容旧接口）
+            
+        Returns:
+            dict: ROS2动作结果格式 {"return_info": str, "success": bool}
+            
+        Raises:
+            FileNotFoundError: CSV文件不存在
+            Exception: 文件读取或通信错误
+        """
+        try:
+            # 支持两种参数传递方式：ROS2的string参数和直接的csv_file_path参数
+            file_path = string if string is not None else csv_file_path
+            if file_path is None:
+                error_msg = "未提供CSV文件路径参数"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False}
+            
+            # 使用Path对象进行更健壮的文件处理
+            csv_path = Path(file_path)
+            if not csv_path.exists():
+                error_msg = f"CSV文件不存在: {file_path}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False}
+            
+            # 读取CSV文件内容（UTF-8编码，替换未知字符）
+            csv_content = csv_path.read_text(encoding="utf-8", errors="replace")
+            
+            # 转换为Base64编码
+            b64_content = base64.b64encode(csv_content.encode('utf-8')).decode('ascii')
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"正在发送CSV文件到智达GCMS: {file_path}")
+                self._ros_node.lab_logger().info(f"Base64编码长度: {len(b64_content)} 字符")
+            
+            # 发送start命令
+            response = self._send_command({
+                "command": "start",
+                "message": b64_content
+            })
+            
+            # 转换为ROS2动作结果格式
+            if response.get("result") == "OK":
+                success_msg = f"智达GCMS分析启动成功: {response.get('message', 'Unknown')}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().info(success_msg)
+                return {"return_info": success_msg, "success": True}
+            else:
+                error_msg = f"智达GCMS分析启动失败: {response.get('message', 'Unknown error')}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False}
+            
+        except Exception as e:
+            error_msg = f"CSV文件处理失败: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {"return_info": error_msg, "success": False}
+
+    def start(self, string: str = None, text: str = None) -> dict:
+        """
+        使用Base64编码数据启动分析（支持ROS2动作调用）
+        
+        Args:
+            string (str): Base64编码的CSV数据（ROS2参数名）
+            text (str): Base64编码的CSV数据（兼容旧接口）
+            
+        Returns:
+            dict: ROS2动作结果格式 {"return_info": str, "success": bool}
+        """
+        try:
+            # 支持两种参数传递方式：ROS2的string参数和原有的text参数
+            b64_content = string if string is not None else text
+            if b64_content is None:
+                error_msg = "未提供Base64编码数据参数"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False}
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"正在发送Base64数据到智达GCMS")
+                self._ros_node.lab_logger().info(f"Base64编码长度: {len(b64_content)} 字符")
+            
+            # 发送start命令
+            response = self._send_command({
+                "command": "start",
+                "message": b64_content
+            })
+            
+            # 转换为ROS2动作结果格式
+            if response.get("result") == "OK":
+                success_msg = f"智达GCMS分析启动成功: {response.get('message', 'Unknown')}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().info(success_msg)
+                return {"return_info": success_msg, "success": True}
+            else:
+                error_msg = f"智达GCMS分析启动失败: {response.get('message', 'Unknown error')}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False}
+            
+        except Exception as e:
+            error_msg = f"Base64数据处理失败: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {"return_info": error_msg, "success": False}
+
+    def abort(self) -> dict:
+        """
+        停止当前运行的分析
+        
+        Returns:
+            dict: 响应格式 {"result": "OK|Error", "message": "error_info"}
+        """
+        return self._send_command({"command": "abort"})
+
+
+def test_zhida_client():
+    """
+    测试智达GCMS客户端功能
+    """
+    client = ZhidaClient()
+    
+    try:
+        # 连接设备
+        print("Connecting to Zhida GCMS...")
+        client.connect()
+        print("Connected successfully!")
+        
+        # 获取设备状态
+        print(f"Device status: {client.status}")
+        
+        # 获取版本信息
+        version_info = client.get_version()
+        print(f"Version info: {version_info}")
+        
+        # 获取方法列表
+        methods = client.get_methods()
+        print(f"Available methods: {methods}")
+        
+        # 测试CSV文件发送（如果文件存在）
+        csv_file = Path(__file__).parent / "zhida_gcms-test_1.csv"
+        if csv_file.exists():
+            print(f"Testing CSV file: {csv_file}")
+            result = client.start_with_csv_file(str(csv_file))
+            print(f"Start result: {result}")
+        
+    except Exception as e:
+        print(f"Error: {str(e)}")
+    
+    finally:
+        # 关闭连接
+        client.close()
+        print("Connection closed.")
+
+
+if __name__ == "__main__":
+    test_zhida_client()