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修复了部分的protocol因为XDL更新导致的问题 (#61)

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* 修复了部分的protocol因为XDL更新导致的问题

但是pumptransfer，add，dissolve，separate还没修，后续还需要写virtual固体加料器

* 补充了四个action

* 添加了固体加样器，丰富了json，修改了add protocol

* bump version to 0.9.9

* fix bugs from new actions

* protocol完整修复版本& bump version to 0.9.10

* 修补了一些单位处理，bump version to 0.9.11

* 优化了全protocol的运行时间，除了pumptransfer相关的还没

* 补充了剩下的几个protocol

---------

Co-authored-by: Junhan Chang <changjh@dp.tech>
Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
This commit is contained in:
Kongchang Feng
2025-07-16 11:12:02 +08:00
committed by GitHub
parent 540c5e94b7
commit acf7b6d3f7
55 changed files with 9928 additions and 3669 deletions
Download Patch File Download Diff File Expand all files Collapse all files

56
unilabos/devices/virtual/virtual_solenoid_valve.py
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@@ -43,10 +43,25 @@ class VirtualSolenoidValve:
def is_open(self) -> bool:
return self._is_open
def get_valve_position(self) -> str:
@property
def valve_position(self) -> str:
"""获取阀门位置状态"""
return "OPEN" if self._is_open else "CLOSED"
@property
def state(self) -> dict:
"""获取阀门完整状态"""
return {
"device_id": self.device_id,
"port": self.port,
"voltage": self.voltage,
"response_time": self.response_time,
"is_open": self._is_open,
"valve_state": self._valve_state,
"status": self._status,
"position": self.valve_position
}
async def set_valve_position(self, command: str = None, **kwargs):
"""
设置阀门位置 - ROS动作接口
@@ -91,7 +106,7 @@ class VirtualSolenoidValve:
return {
"success": True,
"message": result_msg,
"valve_position": self.get_valve_position()
"valve_position": self.valve_position
}
async def open(self, **kwargs):
@@ -102,21 +117,25 @@ class VirtualSolenoidValve:
"""关闭电磁阀 - ROS动作接口"""
return await self.set_valve_position(command="CLOSED")
async def set_state(self, command: Union[bool, str], **kwargs):
async def set_status(self, string: str = None, **kwargs):
"""
设置阀门状态 - 兼容 SendCmd 类型
设置阀门状态 - 兼容 StrSingleInput 类型
Args:
command: True/False 或 "open"/"close"
string: "ON"/"OFF" 或 "OPEN"/"CLOSED"
"""
if isinstance(command, bool):
cmd_str = "OPEN" if command else "CLOSED"
elif isinstance(command, str):
cmd_str = command
else:
return {"success": False, "message": "Invalid command type"}
if string is None:
return {"success": False, "message": "Missing string parameter"}
return await self.set_valve_position(command=cmd_str)
# 将 string 参数转换为 command 参数
if string.upper() in ["ON", "OPEN"]:
command = "OPEN"
elif string.upper() in ["OFF", "CLOSED"]:
command = "CLOSED"
else:
command = string
return await self.set_valve_position(command=command)
def toggle(self):
"""切换阀门状态"""
@@ -129,19 +148,6 @@ class VirtualSolenoidValve:
"""检查阀门是否关闭"""
return not self._is_open
def get_state(self) -> dict:
"""获取阀门完整状态"""
return {
"device_id": self.device_id,
"port": self.port,
"voltage": self.voltage,
"response_time": self.response_time,
"is_open": self._is_open,
"valve_state": self._valve_state,
"status": self._status,
"position": self.get_valve_position()
}
async def reset(self):
"""重置阀门到关闭状态"""
return await self.close()