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Code Issues Packages Projects Releases Wiki Activity

Resource update & asyncio fix

Browse Source 
correct bioyond config

prcxi example

fix append_resource

fix regularcontainer

fix cancel error

fix resource_get param

fix json dumps

support name change during materials change

enable slave mode

change uuid logger to trace level

correct remove_resource stats

disable slave connect websocket

adjust with_children param

modify devices to use correct executor (sleep, create_task)

support sleep and create_task in node

fix run async execution error
This commit is contained in:
Xuwznln
2025-10-31 21:43:25 +08:00
parent 8807865649
commit b6dfe2b944
32 changed files with 1456 additions and 943 deletions
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11
unilabos/devices/cnc/grbl_async.py
View File

@@ -12,6 +12,7 @@ from serial import Serial
from serial.serialutil import SerialException
from unilabos.messages import Point3D
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class GrblCNCConnectionError(Exception):
@@ -32,6 +33,7 @@ class GrblCNCInfo:
class GrblCNCAsync:
_status: str = "Offline"
_position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
_ros_node: BaseROS2DeviceNode
def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)):
self.port = port
@@ -58,6 +60,9 @@ class GrblCNCAsync:
self._run_future: Optional[Future[Any]] = None
self._run_lock = Lock()
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def _read_all(self):
data = self._serial.read_until(b"\n")
data_decoded = data.decode()
@@ -148,7 +153,7 @@ class GrblCNCAsync:
try:
await self._query(command)
while True:
await asyncio.sleep(0.2) # Wait for 0.5 seconds before polling again
await self._ros_node.sleep(0.2) # Wait for 0.5 seconds before polling again
status = await self.get_status()
if "Idle" in status:
@@ -214,7 +219,7 @@ class GrblCNCAsync:
self._pose_number = i
self.pose_number_remaining = len(points) - i
await self.set_position(point)
await asyncio.sleep(0.5)
await self._ros_node.sleep(0.5)
self._step_number = -1
async def stop_operation(self):
@@ -235,7 +240,7 @@ class GrblCNCAsync:
async def open(self):
if self._read_task:
raise GrblCNCConnectionError
self._read_task = asyncio.create_task(self._read_loop())
self._read_task = self._ros_node.create_task(self._read_loop())
try:
await self.get_status()

9
unilabos/devices/cnc/mock.py
View File

@@ -2,6 +2,8 @@ import time
import asyncio
from pydantic import BaseModel
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class Point3D(BaseModel):
x: float
@@ -14,9 +16,14 @@ def d(a: Point3D, b: Point3D) -> float:
class MockCNCAsync:
_ros_node: BaseROS2DeviceNode["MockCNCAsync"]
def __init__(self):
self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
self._status = "Idle"
def post_create(self, ros_node):
self._ros_node = ros_node
@property
def position(self) -> Point3D:
@@ -38,5 +45,5 @@ class MockCNCAsync:
self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1)
self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1)
self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1)
await asyncio.sleep(move_time / 20)
await self._ros_node.sleep(move_time / 20)
self._status = "Idle"

423
unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
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File diff suppressed because it is too large Load Diff

20
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -1,11 +1,11 @@
from __future__ import annotations
import re
import traceback
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
from collections import Counter
import asyncio
import time
import pprint as pp
import traceback
from collections import Counter
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
from pylabrobot.liquid_handling.standard import GripDirection
@@ -25,6 +25,8 @@ from pylabrobot.resources import (
Tip,
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class LiquidHandlerMiddleware(LiquidHandler):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
@@ -536,6 +538,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
class LiquidHandlerAbstract(LiquidHandlerMiddleware):
"""Extended LiquidHandler with additional operations."""
support_touch_tip = True
_ros_node: BaseROS2DeviceNode
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
"""Initialize a LiquidHandler.
@@ -548,8 +551,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
self.group_info = dict()
super().__init__(backend, deck, simulator, channel_num)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
@classmethod
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
"""Set the liquid in a well."""
for well, liquid_name, volume in zip(wells, liquid_names, volumes):
well.set_liquids([(liquid_name, volume)]) # type: ignore
@@ -1081,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
print(f"Waiting time: {msg}")
print(f"Current time: {time.strftime('%H:%M:%S')}")
print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
await asyncio.sleep(seconds)
await self._ros_node.sleep(seconds)
if msg:
print(f"Done: {msg}")
print(f"Current time: {time.strftime('%H:%M:%S')}")

449
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -30,6 +30,7 @@ from pylabrobot.liquid_handling.standard import (
from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class PRCXIError(RuntimeError):
@@ -144,6 +145,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
setup=True,
debug=False,
simulator=False,
step_mode=False,
matrix_id="",
is_9320=False,
):
@@ -157,11 +159,20 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
)
if is_9320:
print("当前设备是9320")
if step_mode:
if is_9320:
self.step_mode = step_mode
else:
print("9300设备不支持 单点动作模式")
self._unilabos_backend = PRCXI9300Backend(
tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320
)
super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
def post_init(self, ros_node: BaseROS2DeviceNode):
super().post_init(ros_node)
self._unilabos_backend.post_init(ros_node)
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
return super().set_liquid(wells, liquid_names, volumes)
@@ -339,6 +350,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
offsets: Optional[List[Coordinate]] = None,
**backend_kwargs,
):
if self.step_mode:
await self.create_protocol(f"单点动作{time.time()}")
await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
await self.run_protocol()
return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
async def aspirate(
@@ -424,6 +439,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
_num_channels = 8 # 默认通道数为 8
_is_reset_ok = False
_ros_node: BaseROS2DeviceNode
@property
def is_reset_ok(self) -> bool:
@@ -456,6 +472,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
self._execute_setup = setup
self.debug = debug
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def create_protocol(self, protocol_name):
self.protocol_name = protocol_name
self.steps_todo_list = []
@@ -500,7 +519,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
self.api_client.call("IAutomation", "Reset")
while not self.is_reset_ok:
print("Waiting for PRCXI9300 to reset...")
await asyncio.sleep(1)
await self._ros_node.sleep(1)
print("PRCXI9300 reset successfully.")
except ConnectionRefusedError as e:
raise RuntimeError(
@@ -533,7 +552,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
tipspot_index = tipspot.parent.children.index(tipspot)
tip_columns.append(tipspot_index // 8)
if len(set(tip_columns)) != 1:
raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
raise ValueError(
"All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
)
PlateNo = plate_indexes[0] + 1
hole_col = tip_columns[0] + 1
hole_row = 1
@@ -1109,12 +1130,15 @@ class PRCXI9300Api:
"LiquidDispensingMethod": liquid_method,
}
class DefaultLayout:
def __init__(self, product_name: str = "PRCXI9300"):
self.labresource = {}
if product_name not in ["PRCXI9300", "PRCXI9320"]:
raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
raise ValueError(
f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported."
)
if product_name == "PRCXI9300":
self.rows = 2
@@ -1129,25 +1153,93 @@ class DefaultLayout:
self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
self.trash_slot = 16
self.waste_liquid_slot = 12
self.default_layout = {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
[{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}}, # 这个设置成废液槽，用储液槽表示
{"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
]
}
self.default_layout = {
"MatrixId": f"{time.time()}",
"MatrixName": f"{time.time()}",
"MatrixCount": 16,
"WorkTablets": [
{
"Number": 1,
"Code": "T1",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 2,
"Code": "T2",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 3,
"Code": "T3",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 4,
"Code": "T4",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 5,
"Code": "T5",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 6,
"Code": "T6",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 7,
"Code": "T7",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 8,
"Code": "T8",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 9,
"Code": "T9",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 10,
"Code": "T10",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 11,
"Code": "T11",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 12,
"Code": "T12",
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
}, # 这个设置成废液槽，用储液槽表示
{
"Number": 13,
"Code": "T13",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 14,
"Code": "T14",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 15,
"Code": "T15",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 16,
"Code": "T16",
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
}, # 这个设置成垃圾桶，用储液槽表示
],
}
def get_layout(self) -> Dict[str, Any]:
return {
@@ -1155,7 +1247,7 @@ class DefaultLayout:
"columns": self.columns,
"layout": self.layout,
"trash_slot": self.trash_slot,
"waste_liquid_slot": self.waste_liquid_slot
"waste_liquid_slot": self.waste_liquid_slot,
}
def get_trash_slot(self) -> int:
@@ -1178,17 +1270,19 @@ class DefaultLayout:
reserved_positions = {12, 16}
available_positions = [i for i in range(1, 17) if i not in reserved_positions]
# 计算总需求
# 计算总需求
total_needed = sum(count for _, _, count in needs)
if total_needed > len(available_positions):
raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
raise ValueError(
f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）"
)
# 依次分配位置
current_pos = 0
for reagent_name, material_name, count in needs:
material_uuid = self.labresource[material_name]['uuid']
material_enum = self.labresource[material_name]['materialEnum']
material_uuid = self.labresource[material_name]["uuid"]
material_enum = self.labresource[material_name]["materialEnum"]
for _ in range(count):
if current_pos >= len(available_positions):
@@ -1196,17 +1290,18 @@ class DefaultLayout:
position = available_positions[current_pos]
# 找到对应的tablet并更新
for tablet in self.default_layout['WorkTablets']:
if tablet['Number'] == position:
tablet['Material']['uuid'] = material_uuid
tablet['Material']['materialEnum'] = material_enum
layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position))
for tablet in self.default_layout["WorkTablets"]:
if tablet["Number"] == position:
tablet["Material"]["uuid"] = material_uuid
tablet["Material"]["materialEnum"] = material_enum
layout_list.append(
dict(reagent_name=reagent_name, material_name=material_name, positions=position)
)
break
current_pos += 1
return self.default_layout, layout_list
if __name__ == "__main__":
# Example usage
# 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
@@ -1302,10 +1397,7 @@ if __name__ == "__main__":
# # # plate2.set_well_liquids(plate_2_liquids)
# handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
# handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
# timeout=10.0, setup=False, debug=False,
# simulator=True,
# matrix_id="71593",
@@ -1391,10 +1483,7 @@ if __name__ == "__main__":
# # input("Press Enter to continue...") # Wait for user input before proceeding
# # print("PRCXI9300Handler initialized with deck and host settings.")
### 9320 ###
### 9320 ###
deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
@@ -1412,12 +1501,15 @@ if __name__ == "__main__":
new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
return new_plate
def get_tip_rack(name: str, child_prefix: str="tip") -> PRCXI9300Container:
def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
tip_racks = opentrons_96_tiprack_10ul(name).serialize()
tip_rack = PRCXI9300Container(
name=name, size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict({
k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()
})
name=name,
size_x=50,
size_y=50,
size_z=10,
category="tip_rack",
ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
)
tip_rack_serialized = tip_rack.serialize()
tip_rack_serialized["parent_name"] = deck.name
@@ -1612,7 +1704,43 @@ if __name__ == "__main__":
A = tree_to_list([resource_plr_to_ulab(deck)])
with open("deck.json", "w", encoding="utf-8") as f:
json.dump(A, f, indent=4, ensure_ascii=False)
A.insert(0, {
"id": "PRCXI",
"name": "PRCXI",
"parent": None,
"type": "device",
"class": "liquid_handler.prcxi",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"config": {
"deck": {
"_resource_child_name": "PRCXI_Deck",
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
},
"host": "192.168.0.121",
"port": 9999,
"timeout": 10.0,
"axis": "Right",
"channel_num": 1,
"setup": False,
"debug": True,
"simulator": True,
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
"is_9320": True
},
"data": {},
"children": [
"PRCXI_Deck"
]
})
A[1]["parent"] = "PRCXI"
json.dump({
"nodes": A,
"links": []
}, f, indent=4, ensure_ascii=False)
handler = PRCXI9300Handler(
deck=deck,
@@ -1629,6 +1757,7 @@ if __name__ == "__main__":
)
backend: PRCXI9300Backend = handler.backend
from pylabrobot.resources import set_volume_tracking
set_volume_tracking(enabled=True)
# res = backend.api_client.get_all_materials()
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
@@ -1640,10 +1769,10 @@ if __name__ == "__main__":
for well in plate13.get_all_items():
# well_pos = well.name.split("_")[1] # 走一行
# if well_pos.startswith("A"):
if well.name.startswith("PlateT13"): # 走整个Plate
# if well_pos.startswith("A"):
if well.name.startswith("PlateT13"): # 走整个Plate
asyncio.run(handler.dispense([well], [0.01], [0]))
# asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0]))
# asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0]))
# asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0]))
@@ -1652,26 +1781,31 @@ if __name__ == "__main__":
asyncio.run(handler.run_protocol())
time.sleep(5)
os._exit(0)
# 第一种情景：一个孔往多个孔加液
prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
prcxi_api.list_matrices()
prcxi_api.get_all_materials()
# 第一种情景：一个孔往多个孔加液
# plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
# plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
# 第二个情景：多个孔往多个孔加液(但是个数得对应)
plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23)
plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
# 第二个情景：多个孔往多个孔加液(但是个数得对应)
plate_2_liquids = handler.set_group("water", plate2.children[:23], [300] * 23)
plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100] * 23)
# plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
# plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
# A = tree_to_list([resource_plr_to_ulab(deck)])
# # with open("deck.json", "w", encoding="utf-8") as f:
# # json.dump(A, f, indent=4, ensure_ascii=False)
# A = tree_to_list([resource_plr_to_ulab(deck)])
# # with open("deck.json", "w", encoding="utf-8") as f:
# # json.dump(A, f, indent=4, ensure_ascii=False)
# print(plate11.get_well(0).tracker.get_used_volume())
# Initialize the backend and setup the connection
# print(plate11.get_well(0).tracker.get_used_volume())
# Initialize the backend and setup the connection
asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking
# asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
# print(plate8.children[8])
# asyncio.run(handler.run_protocol())
@@ -1685,121 +1819,118 @@ if __name__ == "__main__":
# print(plate1.children[0])
# asyncio.run(handler.discard_tips([0]))
# asyncio.run(handler.add_liquid(
# asp_vols=[10]*7,
# dis_vols=[10]*7,
# reagent_sources=plate11.children[:7],
# targets=plate1.children[2:9],
# use_channels=[0],
# flow_rates=[None] * 7,
# offsets=[Coordinate(0, 0, 0)] * 7,
# liquid_height=[None] * 7,
# blow_out_air_volume=[None] * 2,
# delays=None,
# mix_time=3,
# mix_vol=5,
# spread="custom",
# ))
# asyncio.run(handler.add_liquid(
# asp_vols=[10]*7,
# dis_vols=[10]*7,
# reagent_sources=plate11.children[:7],
# targets=plate1.children[2:9],
# use_channels=[0],
# flow_rates=[None] * 7,
# offsets=[Coordinate(0, 0, 0)] * 7,
# liquid_height=[None] * 7,
# blow_out_air_volume=[None] * 2,
# delays=None,
# mix_time=3,
# mix_vol=5,
# spread="custom",
# ))
# asyncio.run(handler.run_protocol()) # Run the protocol
# # # asyncio.run(handler.transfer_liquid(
# # # asp_vols=[10]*2,
# # # dis_vols=[10]*2,
# # # sources=plate11.children[:2],
# # # targets=plate11.children[-2:],
# # # use_channels=[0],
# # # offsets=[Coordinate(0, 0, 0)] * 4,
# # # liquid_height=[None] * 2,
# # # blow_out_air_volume=[None] * 2,
# # # delays=None,
# # # mix_times=3,
# # # mix_vol=5,
# # # spread="wide",
# # # tip_racks=[plate8]
# # # ))
# # # asyncio.run(handler.remove_liquid(
# # # vols=[10]*2,
# # # sources=plate11.children[:2],
# # # waste_liquid=plate11.children[43],
# # # use_channels=[0],
# # # offsets=[Coordinate(0, 0, 0)] * 4,
# # # liquid_height=[None] * 2,
# # # blow_out_air_volume=[None] * 2,
# # # delays=None,
# # # spread="wide"
# # # ))
# # asyncio.run(handler.run_protocol())
# # # asyncio.run(handler.discard_tips())
# # # asyncio.run(handler.mix(well_containers.children[:8
# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
# # # asyncio.run(handler.transfer_liquid(
# # # asp_vols=[10]*2,
# # # dis_vols=[10]*2,
# # # sources=plate11.children[:2],
# # # targets=plate11.children[-2:],
# # # use_channels=[0],
# # # offsets=[Coordinate(0, 0, 0)] * 4,
# # # liquid_height=[None] * 2,
# # # blow_out_air_volume=[None] * 2,
# # # delays=None,
# # # mix_times=3,
# # # mix_vol=5,
# # # spread="wide",
# # # tip_racks=[plate8]
# # # ))
# # # asyncio.run(handler.remove_liquid(
# # # vols=[10]*2,
# # # sources=plate11.children[:2],
# # # waste_liquid=plate11.children[43],
# # # use_channels=[0],
# # # offsets=[Coordinate(0, 0, 0)] * 4,
# # # liquid_height=[None] * 2,
# # # blow_out_air_volume=[None] * 2,
# # # delays=None,
# # # spread="wide"
# # # ))
# # asyncio.run(handler.run_protocol())
# # # asyncio.run(handler.discard_tips())
# # # asyncio.run(handler.mix(well_containers.children[:8
# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
# # # asyncio.run(handler.remove_liquid(
# # # vols=[100]*16,
# # # sources=well_containers.children[-16:],
# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# # # flow_rates=[None] * 32,
# # # offsets=[Coordinate(0, 0, 0)] * 32,
# # # liquid_height=[None] * 32,
# # # blow_out_air_volume=[None] * 32,
# # # spread="wide",
# # # ))
# # # asyncio.run(handler.transfer_liquid(
# # # asp_vols=[100]*16,
# # # dis_vols=[100]*16,
# # # tip_racks=[tip_rack],
# # # sources=well_containers.children[-16:],
# # # targets=well_containers.children[:16],
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# # # offsets=[Coordinate(0, 0, 0)] * 32,
# # # asp_flow_rates=[None] * 16,
# # # dis_flow_rates=[None] * 16,
# # # liquid_height=[None] * 32,
# # # blow_out_air_volume=[None] * 32,
# # # mix_times=3,
# # # mix_vol=50,
# # # spread="wide",
# # # ))
# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
# # # input("pick_up_tips add step")
#asyncio.run(handler.run_protocol()) # Run the protocol
# # # input("Running protocol...")
# # # input("Press Enter to continue...") # Wait for user input before proceeding
# # # print("PRCXI9300Handler initialized with deck and host settings.")
# 一些推荐版位组合的测试样例：
# 一些推荐版位组合的测试样例：
# # # asyncio.run(handler.remove_liquid(
# # # vols=[100]*16,
# # # sources=well_containers.children[-16:],
# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# # # flow_rates=[None] * 32,
# # # offsets=[Coordinate(0, 0, 0)] * 32,
# # # liquid_height=[None] * 32,
# # # blow_out_air_volume=[None] * 32,
# # # spread="wide",
# # # ))
# # # asyncio.run(handler.transfer_liquid(
# # # asp_vols=[100]*16,
# # # dis_vols=[100]*16,
# # # tip_racks=[tip_rack],
# # # sources=well_containers.children[-16:],
# # # targets=well_containers.children[:16],
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# # # offsets=[Coordinate(0, 0, 0)] * 32,
# # # asp_flow_rates=[None] * 16,
# # # dis_flow_rates=[None] * 16,
# # # liquid_height=[None] * 32,
# # # blow_out_air_volume=[None] * 32,
# # # mix_times=3,
# # # mix_vol=50,
# # # spread="wide",
# # # ))
# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
# # # input("pick_up_tips add step")
# asyncio.run(handler.run_protocol()) # Run the protocol
# # # input("Running protocol...")
# # # input("Press Enter to continue...") # Wait for user input before proceeding
# # # print("PRCXI9300Handler initialized with deck and host settings.")
# 一些推荐版位组合的测试样例：
# 一些推荐版位组合的测试样例：
with open("prcxi_material.json", "r") as f:
material_info = json.load(f)
layout = DefaultLayout("PRCXI9320")
layout.add_lab_resource(material_info)
MatrixLayout_1, dict_1 = layout.recommend_layout([
("reagent_1", "96 细胞培养皿", 3),
("reagent_2", "12道储液槽", 1),
("reagent_3", "200μL Tip头", 7),
("reagent_4", "10μL加长 Tip头", 1),
])
MatrixLayout_1, dict_1 = layout.recommend_layout(
[
("reagent_1", "96 细胞培养皿", 3),
("reagent_2", "12道储液槽", 1),
("reagent_3", "200μL Tip头", 7),
("reagent_4", "10μL加长 Tip头", 1),
]
)
print(dict_1)
MatrixLayout_2, dict_2 = layout.recommend_layout([
("reagent_1", "96深孔板", 4),
("reagent_2", "12道储液槽", 1),
("reagent_3", "200μL Tip头", 1),
("reagent_4", "10μL加长 Tip头", 1),
])
MatrixLayout_2, dict_2 = layout.recommend_layout(
[
("reagent_1", "96深孔板", 4),
("reagent_2", "12道储液槽", 1),
("reagent_3", "200μL Tip头", 1),
("reagent_4", "10μL加长 Tip头", 1),
]
)
# with open("prcxi_material.json", "r") as f:
# material_info = json.load(f)

21
unilabos/devices/liquid_handling/prcxi/prcxi_materials.py Normal file
View File

@@ -0,0 +1,21 @@
import collections
import json
from pathlib import Path
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
prcxi_materials_path = str(Path(__file__).parent / "prcxi_material.json")
with open(prcxi_materials_path, mode="r", encoding="utf-8") as f:
prcxi_materials = json.loads(f.read())
def tip_adaptor_1250ul(name="Tip头适配器 1250uL") -> PRCXI9300Container: # 必须传入一个name参数，是plr的规范要求
# tip_rack = PRCXI9300Container(name, prcxi_materials["name"]["Height"])
tip_rack = PRCXI9300Container(name, 1000,400,800, "tip_rack", collections.OrderedDict())
tip_rack.load_state({
"Materials": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"}
})
return tip_rack

11
unilabos/devices/pump_and_valve/runze_async.py
View File

@@ -8,6 +8,8 @@ import serial.tools.list_ports
from serial import Serial
from serial.serialutil import SerialException
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class RunzeSyringePumpMode(Enum):
Normal = 0
@@ -77,6 +79,8 @@ class RunzeSyringePumpInfo:
class RunzeSyringePumpAsync:
_ros_node: BaseROS2DeviceNode
def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None):
self.port = port
self.address = address
@@ -102,6 +106,9 @@ class RunzeSyringePumpAsync:
self._run_future: Optional[Future[Any]] = None
self._run_lock = Lock()
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def _adjust_total_steps(self):
self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
@@ -182,7 +189,7 @@ class RunzeSyringePumpAsync:
try:
await self._query(command)
while True:
await asyncio.sleep(0.5) # Wait for 0.5 seconds before polling again
await self._ros_node.sleep(0.5) # Wait for 0.5 seconds before polling again
status = await self.query_device_status()
if status == '`':
@@ -364,7 +371,7 @@ class RunzeSyringePumpAsync:
if self._read_task:
raise RunzeSyringePumpConnectionError
self._read_task = asyncio.create_task(self._read_loop())
self._read_task = self._ros_node.create_task(self._read_loop())
try:
await self.query_device_status()

9
unilabos/devices/virtual/virtual_centrifuge.py
View File

@@ -3,9 +3,13 @@ import logging
import time as time_module
from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualCentrifuge:
"""Virtual centrifuge device - 简化版，只保留核心功能"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
# 处理可能的不同调用方式
@@ -32,6 +36,9 @@ class VirtualCentrifuge:
for key, value in kwargs.items():
if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool:
"""Initialize virtual centrifuge"""
@@ -132,7 +139,7 @@ class VirtualCentrifuge:
break
# 每秒更新一次
await asyncio.sleep(1.0)
await self._ros_node.sleep(1.0)
# 离心完成
self.data.update({

9
unilabos/devices/virtual/virtual_column.py
View File

@@ -2,9 +2,13 @@ import asyncio
import logging
from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualColumn:
"""Virtual column device for RunColumn protocol 🏛️"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式
if device_id is None and 'id' in kwargs:
@@ -28,6 +32,9 @@ class VirtualColumn:
print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨")
print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool:
"""Initialize virtual column 🚀"""
self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨")
@@ -101,7 +108,7 @@ class VirtualColumn:
step_time = separation_time / steps
for i in range(steps):
await asyncio.sleep(step_time)
await self._ros_node.sleep(step_time)
progress = (i + 1) / steps * 100
volume_processed = (i + 1) * 5.0 # 假设每步处理5mL

202
unilabos/devices/virtual/virtual_filter.py
View File

@@ -4,70 +4,76 @@ import time as time_module
from typing import Dict, Any, Optional
from unilabos.compile.utils.vessel_parser import get_vessel
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualFilter:
"""Virtual filter device - 完全按照 Filter.action 规范 🌊"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
if device_id is None and 'id' in kwargs:
device_id = kwargs.pop('id')
if config is None and 'config' in kwargs:
config = kwargs.pop('config')
if device_id is None and "id" in kwargs:
device_id = kwargs.pop("id")
if config is None and "config" in kwargs:
config = kwargs.pop("config")
self.device_id = device_id or "unknown_filter"
self.config = config or {}
self.logger = logging.getLogger(f"VirtualFilter.{self.device_id}")
self.data = {}
# 从config或kwargs中获取配置参数
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0)
self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0)
self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 100.0)
self._max_stir_speed = self.config.get("max_stir_speed") or kwargs.get("max_stir_speed", 1000.0)
self._max_volume = self.config.get("max_volume") or kwargs.get("max_volume", 500.0)
# 处理其他kwargs参数
skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'}
skip_keys = {"port", "max_temp", "max_stir_speed", "max_volume"}
for key, value in kwargs.items():
if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool:
"""Initialize virtual filter 🚀"""
self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨")
# 按照 Filter.action 的 feedback 字段初始化
self.data.update({
"status": "Idle",
"progress": 0.0, # Filter.action feedback
"current_temp": 25.0, # Filter.action feedback
"filtered_volume": 0.0, # Filter.action feedback
"message": "Ready for filtration"
})
self.data.update(
{
"status": "Idle",
"progress": 0.0, # Filter.action feedback
"current_temp": 25.0, # Filter.action feedback
"filtered_volume": 0.0, # Filter.action feedback
"message": "Ready for filtration",
}
)
self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊")
return True
async def cleanup(self) -> bool:
"""Cleanup virtual filter 🧹"""
self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
self.data.update({
"status": "Offline"
})
self.data.update({"status": "Offline"})
self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
return True
async def filter(
self,
self,
vessel: dict,
filtrate_vessel: dict = {},
stir: bool = False,
stir_speed: float = 300.0,
temp: float = 25.0,
continue_heatchill: bool = False,
volume: float = 0.0
stir: bool = False,
stir_speed: float = 300.0,
temp: float = 25.0,
continue_heatchill: bool = False,
volume: float = 0.0,
) -> bool:
"""Execute filter action - 完全按照 Filter.action 参数 🌊"""
vessel_id, _ = get_vessel(vessel)
@@ -79,59 +85,52 @@ class VirtualFilter:
temp = 25.0 # 0度自动设置为室温
self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (室温) 🏠")
elif temp < 4.0:
temp = 4.0 # 小于4度自动设置为4度
temp = 4.0 # 小于4度自动设置为4度
self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️")
self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰")
self.logger.info(f" 🌪️ 搅拌: {stir} ({stir_speed} RPM)")
self.logger.info(f" 🌡️ 温度: {temp}°C")
self.logger.info(f" 💧 体积: {volume}mL")
self.logger.info(f" 🔥 保持加热: {continue_heatchill}")
# 验证参数
if temp > self._max_temp or temp < 4.0:
error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️"
self.logger.error(f"❌ {error_msg}")
self.data.update({
"status": f"Error: 温度超出范围 ⚠️",
"message": error_msg
})
self.data.update({"status": f"Error: 温度超出范围 ⚠️", "message": error_msg})
return False
if stir and stir_speed > self._max_stir_speed:
error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️"
self.logger.error(f"❌ {error_msg}")
self.data.update({
"status": f"Error: 搅拌速度超出范围 ⚠️",
"message": error_msg
})
self.data.update({"status": f"Error: 搅拌速度超出范围 ⚠️", "message": error_msg})
return False
if volume > self._max_volume:
error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
self.logger.error(f"❌ {error_msg}")
self.data.update({
"status": f"Error",
"message": error_msg
})
self.data.update({"status": f"Error", "message": error_msg})
return False
# 开始过滤
filter_volume = volume if volume > 0 else 50.0
self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
self.data.update({
"status": f"Running",
"current_temp": temp,
"filtered_volume": 0.0,
"progress": 0.0,
"message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}"
})
self.data.update(
{
"status": f"Running",
"current_temp": temp,
"filtered_volume": 0.0,
"progress": 0.0,
"message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}",
}
)
try:
# 过滤过程 - 实时更新进度
start_time = time_module.time()
# 根据体积和搅拌估算过滤时间
base_time = filter_volume / 5.0 # 5mL/s 基础速度
if stir:
@@ -140,78 +139,79 @@ class VirtualFilter:
if temp > 50.0:
base_time *= 0.7 # 高温加速过滤
self.logger.info(f"🔥 高温加速过滤，预计时间减少30% ⚡")
filter_time = max(base_time, 10.0) # 最少10秒
self.logger.info(f"⏱️ 预计过滤时间: {filter_time:.1f}秒 ⌛")
while True:
current_time = time_module.time()
elapsed = current_time - start_time
remaining = max(0, filter_time - elapsed)
progress = min(100.0, (elapsed / filter_time) * 100)
current_filtered = (progress / 100.0) * filter_volume
# 更新状态 - 按照 Filter.action feedback 字段
status_msg = f"🌊 过滤中: {vessel}"
if stir:
status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM"
status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL"
self.data.update({
"progress": progress, # Filter.action feedback
"current_temp": temp, # Filter.action feedback
"filtered_volume": current_filtered, # Filter.action feedback
"status": "Running",
"message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered"
})
self.data.update(
{
"progress": progress, # Filter.action feedback
"current_temp": temp, # Filter.action feedback
"filtered_volume": current_filtered, # Filter.action feedback
"status": "Running",
"message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered",
}
)
# 进度日志（每25%打印一次）
if progress >= 25 and progress % 25 < 1:
self.logger.info(f"📊 过滤进度: {progress:.0f}% | 💧 {current_filtered:.1f}mL 完成 ✨")
if remaining <= 0:
break
await asyncio.sleep(1.0)
await self._ros_node.sleep(1.0)
# 过滤完成
final_temp = temp if continue_heatchill else 25.0
final_status = f"✅ 过滤完成: {vessel} | 💧 {filter_volume}mL → {filtrate_vessel}"
if continue_heatchill:
final_status += " | 🔥 继续加热搅拌"
self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️")
self.data.update({
"status": final_status,
"progress": 100.0, # Filter.action feedback
"current_temp": final_temp, # Filter.action feedback
"filtered_volume": filter_volume, # Filter.action feedback
"message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}"
})
self.data.update(
{
"status": final_status,
"progress": 100.0, # Filter.action feedback
"current_temp": final_temp, # Filter.action feedback
"filtered_volume": filter_volume, # Filter.action feedback
"message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}",
}
)
self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
return True
except Exception as e:
error_msg = f"过滤过程中发生错误: {str(e)} 💥"
self.logger.error(f"❌ {error_msg}")
self.data.update({
"status": f"Error",
"message": f"❌ Filtration failed: {str(e)}"
})
self.data.update({"status": f"Error", "message": f"❌ Filtration failed: {str(e)}"})
return False
# === 核心状态属性 - 按照 Filter.action feedback 字段 ===
@property
def status(self) -> str:
return self.data.get("status", "❓ Unknown")
@property
def progress(self) -> float:
"""Filter.action feedback 字段 📊"""
return self.data.get("progress", 0.0)
@property
def current_temp(self) -> float:
"""Filter.action feedback 字段 🌡️"""
@@ -230,15 +230,15 @@ class VirtualFilter:
@property
def message(self) -> str:
return self.data.get("message", "")
@property
def max_temp(self) -> float:
return self._max_temp
@property
def max_stir_speed(self) -> float:
return self._max_stir_speed
@property
def max_volume(self) -> float:
return self._max_volume
return self._max_volume

9
unilabos/devices/virtual/virtual_heatchill.py
View File

@@ -3,9 +3,13 @@ import logging
import time as time_module # 重命名time模块，避免与参数冲突
from typing import Dict, Any
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualHeatChill:
"""Virtual heat chill device for HeatChillProtocol testing 🌡️"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式
if device_id is None and 'id' in kwargs:
@@ -35,6 +39,9 @@ class VirtualHeatChill:
print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨")
print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool:
"""Initialize virtual heat chill 🚀"""
self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨")
@@ -177,7 +184,7 @@ class VirtualHeatChill:
break
# 等待1秒后再次检查
await asyncio.sleep(1.0)
await self._ros_node.sleep(1.0)
# 操作完成
final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""

273
unilabos/devices/virtual/virtual_rotavap.py
View File

@@ -3,13 +3,19 @@ import logging
import time as time_module
from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
def debug_print(message):
"""调试输出 🔍"""
print(f"🌪️ [ROTAVAP] {message}", flush=True)
class VirtualRotavap:
"""Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
# 处理可能的不同调用方式
if device_id is None and "id" in kwargs:
@@ -38,56 +44,65 @@ class VirtualRotavap:
print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨")
print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool:
"""Initialize virtual rotary evaporator 🚀"""
self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨")
# 只保留核心状态
self.data.update({
"status": "🏠 待机中",
"rotavap_state": "Ready", # Ready, Evaporating, Completed, Error
"current_temp": 25.0,
"target_temp": 25.0,
"rotation_speed": 0.0,
"vacuum_pressure": 1.0, # 大气压
"evaporated_volume": 0.0,
"progress": 0.0,
"remaining_time": 0.0,
"message": "🌪️ Ready for evaporation"
})
self.data.update(
{
"status": "🏠 待机中",
"rotavap_state": "Ready", # Ready, Evaporating, Completed, Error
"current_temp": 25.0,
"target_temp": 25.0,
"rotation_speed": 0.0,
"vacuum_pressure": 1.0, # 大气压
"evaporated_volume": 0.0,
"progress": 0.0,
"remaining_time": 0.0,
"message": "🌪️ Ready for evaporation",
}
)
self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️")
self.logger.info(f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM")
self.logger.info(
f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM"
)
return True
async def cleanup(self) -> bool:
"""Cleanup virtual rotary evaporator 🧹"""
self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚")
self.data.update({
"status": "💤 离线",
"rotavap_state": "Offline",
"current_temp": 25.0,
"rotation_speed": 0.0,
"vacuum_pressure": 1.0,
"message": "💤 System offline"
})
self.data.update(
{
"status": "💤 离线",
"rotavap_state": "Offline",
"current_temp": 25.0,
"rotation_speed": 0.0,
"vacuum_pressure": 1.0,
"message": "💤 System offline",
}
)
self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤")
return True
async def evaporate(
self,
vessel: str,
pressure: float = 0.1,
temp: float = 60.0,
self,
vessel: str,
pressure: float = 0.1,
temp: float = 60.0,
time: float = 180.0,
stir_speed: float = 100.0,
solvent: str = "",
**kwargs
**kwargs,
) -> bool:
"""Execute evaporate action - 简化版 🌪️"""
# 🔧 新增：确保time参数是数值类型
if isinstance(time, str):
try:
@@ -98,31 +113,31 @@ class VirtualRotavap:
elif not isinstance(time, (int, float)):
self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
time = 180.0
# 确保time是float类型; 并加速
time = float(time) / 10.0
# 🔧 简化处理：如果vessel就是设备自己，直接操作
if vessel == self.device_id:
debug_print(f"🎯 在设备 {self.device_id} 上直接执行蒸发操作")
actual_vessel = self.device_id
else:
actual_vessel = vessel
# 参数预处理
if solvent:
self.logger.info(f"🧪 识别到溶剂: {solvent}")
# 根据溶剂调整参数
solvent_lower = solvent.lower()
if any(s in solvent_lower for s in ['water', 'aqueous']):
if any(s in solvent_lower for s in ["water", "aqueous"]):
temp = max(temp, 80.0)
pressure = max(pressure, 0.2)
self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]):
temp = min(temp, 50.0)
pressure = min(pressure, 0.05)
self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
self.logger.info(f"🌪️ 开始蒸发操作: {actual_vessel}")
self.logger.info(f" 🥽 容器: {actual_vessel}")
self.logger.info(f" 🌡️ 温度: {temp}°C")
@@ -131,126 +146,140 @@ class VirtualRotavap:
self.logger.info(f" 🌀 转速: {stir_speed} RPM")
if solvent:
self.logger.info(f" 🧪 溶剂: {solvent}")
# 验证参数
if temp > self._max_temp or temp < 10.0:
error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️"
self.logger.error(f"❌ {error_msg}")
self.data.update({
"status": f"❌ 错误: 温度超出范围",
"rotavap_state": "Error",
"current_temp": 25.0,
"progress": 0.0,
"evaporated_volume": 0.0,
"message": error_msg
})
self.data.update(
{
"status": f"❌ 错误: 温度超出范围",
"rotavap_state": "Error",
"current_temp": 25.0,
"progress": 0.0,
"evaporated_volume": 0.0,
"message": error_msg,
}
)
return False
if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️"
self.logger.error(f"❌ {error_msg}")
self.data.update({
"status": f"❌ 错误: 转速超出范围",
"rotavap_state": "Error",
"current_temp": 25.0,
"progress": 0.0,
"evaporated_volume": 0.0,
"message": error_msg
})
self.data.update(
{
"status": f"❌ 错误: 转速超出范围",
"rotavap_state": "Error",
"current_temp": 25.0,
"progress": 0.0,
"evaporated_volume": 0.0,
"message": error_msg,
}
)
return False
if pressure < 0.01 or pressure > 1.0:
error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️"
self.logger.error(f"❌ {error_msg}")
self.data.update({
"status": f"❌ 错误: 压力超出范围",
"rotavap_state": "Error",
"current_temp": 25.0,
"progress": 0.0,
"evaporated_volume": 0.0,
"message": error_msg
})
self.data.update(
{
"status": f"❌ 错误: 压力超出范围",
"rotavap_state": "Error",
"current_temp": 25.0,
"progress": 0.0,
"evaporated_volume": 0.0,
"message": error_msg,
}
)
return False
# 开始蒸发 - 🔧 现在time已经确保是float类型
self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
self.data.update({
"status": f"🌪️ 蒸发中: {actual_vessel}",
"rotavap_state": "Evaporating",
"current_temp": temp,
"target_temp": temp,
"rotation_speed": stir_speed,
"vacuum_pressure": pressure,
"remaining_time": time,
"progress": 0.0,
"evaporated_volume": 0.0,
"message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM"
})
self.data.update(
{
"status": f"🌪️ 蒸发中: {actual_vessel}",
"rotavap_state": "Evaporating",
"current_temp": temp,
"target_temp": temp,
"rotation_speed": stir_speed,
"vacuum_pressure": pressure,
"remaining_time": time,
"progress": 0.0,
"evaporated_volume": 0.0,
"message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM",
}
)
try:
# 蒸发过程 - 实时更新进度
start_time = time_module.time()
total_time = time
last_logged_progress = 0
while True:
current_time = time_module.time()
elapsed = current_time - start_time
remaining = max(0, total_time - elapsed)
progress = min(100.0, (elapsed / total_time) * 100)
# 模拟蒸发体积 - 根据溶剂类型调整
if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
evaporated_vol = progress * 0.6 # 水系溶剂蒸发慢
elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
evaporated_vol = progress * 1.0 # 易挥发溶剂蒸发快
else:
evaporated_vol = progress * 0.8 # 默认蒸发量
# 🔧 更新状态 - 确保包含所有必需字段
status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s"
self.data.update({
"remaining_time": remaining,
"progress": progress,
"evaporated_volume": evaporated_vol,
"current_temp": temp,
"status": status_msg,
"message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining"
})
self.data.update(
{
"remaining_time": remaining,
"progress": progress,
"evaporated_volume": evaporated_vol,
"current_temp": temp,
"status": status_msg,
"message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining",
}
)
# 进度日志（每25%打印一次）
if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress:
self.logger.info(f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨")
self.logger.info(
f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨"
)
last_logged_progress = int(progress)
# 时间到了，退出循环
if remaining <= 0:
break
# 每秒更新一次
await asyncio.sleep(1.0)
await self._ros_node.sleep(1.0)
# 蒸发完成
if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
final_evaporated = 60.0 # 水系溶剂
elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
final_evaporated = 100.0 # 易挥发溶剂
else:
final_evaporated = 80.0 # 默认
self.data.update({
"status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
"rotavap_state": "Completed",
"evaporated_volume": final_evaporated,
"progress": 100.0,
"current_temp": temp,
"remaining_time": 0.0,
"rotation_speed": 0.0,
"vacuum_pressure": 1.0,
"message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}"
})
self.data.update(
{
"status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
"rotavap_state": "Completed",
"evaporated_volume": final_evaporated,
"progress": 100.0,
"current_temp": temp,
"remaining_time": 0.0,
"rotation_speed": 0.0,
"vacuum_pressure": 1.0,
"message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}",
}
)
self.logger.info(f"🎉 蒸发操作完成! ✨")
self.logger.info(f"📊 蒸发结果:")
@@ -262,24 +291,26 @@ class VirtualRotavap:
self.logger.info(f" ⏱️ 总用时: {total_time:.0f}s")
if solvent:
self.logger.info(f" 🧪 处理溶剂: {solvent} 🏁")
return True
except Exception as e:
# 出错处理
error_msg = f"蒸发过程中发生错误: {str(e)} 💥"
self.logger.error(f"❌ {error_msg}")
self.data.update({
"status": f"❌ 蒸发错误: {str(e)}",
"rotavap_state": "Error",
"current_temp": 25.0,
"progress": 0.0,
"evaporated_volume": 0.0,
"rotation_speed": 0.0,
"vacuum_pressure": 1.0,
"message": f"❌ Evaporation failed: {str(e)}"
})
self.data.update(
{
"status": f"❌ 蒸发错误: {str(e)}",
"rotavap_state": "Error",
"current_temp": 25.0,
"progress": 0.0,
"evaporated_volume": 0.0,
"rotation_speed": 0.0,
"vacuum_pressure": 1.0,
"message": f"❌ Evaporation failed: {str(e)}",
}
)
return False
# === 核心状态属性 ===

11
unilabos/devices/virtual/virtual_separator.py
View File

@@ -2,9 +2,13 @@ import asyncio
import logging
from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualSeparator:
"""Virtual separator device for SeparateProtocol testing"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
# 处理可能的不同调用方式
@@ -35,6 +39,9 @@ class VirtualSeparator:
for key, value in kwargs.items():
if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool:
"""Initialize virtual separator"""
@@ -119,14 +126,14 @@ class VirtualSeparator:
for repeat in range(repeats):
# 搅拌阶段
for progress in range(0, 51, 10):
await asyncio.sleep(simulation_time / (repeats * 10))
await self._ros_node.sleep(simulation_time / (repeats * 10))
overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
self.data["progress"] = overall_progress
self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)"
# 静置分相阶段
for progress in range(50, 101, 10):
await asyncio.sleep(simulation_time / (repeats * 10))
await self._ros_node.sleep(simulation_time / (repeats * 10))
overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
self.data["progress"] = overall_progress
self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)"

10
unilabos/devices/virtual/virtual_solenoid_valve.py
View File

@@ -2,11 +2,16 @@ import time
import asyncio
from typing import Union
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualSolenoidValve:
"""
虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态
"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: dict = None, **kwargs):
# 从配置中获取参数，提供默认值
if config is None:
@@ -21,6 +26,9 @@ class VirtualSolenoidValve:
self._status = "Idle"
self._valve_state = "Closed" # "Open" or "Closed"
self._is_open = False
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool:
"""初始化设备"""
@@ -63,7 +71,7 @@ class VirtualSolenoidValve:
self._status = "Busy"
# 模拟阀门响应时间
await asyncio.sleep(self.response_time)
await self._ros_node.sleep(self.response_time)
# 处理不同的命令格式
if isinstance(command, str):

9
unilabos/devices/virtual/virtual_solid_dispenser.py
View File

@@ -3,6 +3,8 @@ import logging
import re
from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualSolidDispenser:
"""
虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️
@@ -13,6 +15,8 @@ class VirtualSolidDispenser:
- 简单反馈：成功/失败 + 消息 📊
"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
self.device_id = device_id or "virtual_solid_dispenser"
self.config = config or {}
@@ -32,6 +36,9 @@ class VirtualSolidDispenser:
print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨")
print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool:
"""初始化固体加样器 🚀"""
self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨")
@@ -263,7 +270,7 @@ class VirtualSolidDispenser:
for i in range(steps):
progress = (i + 1) / steps * 100
await asyncio.sleep(step_time)
await self._ros_node.sleep(step_time)
if i % 2 == 0: # 每隔一步显示进度
self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...")

11
unilabos/devices/virtual/virtual_stirrer.py
View File

@@ -3,9 +3,13 @@ import logging
import time as time_module
from typing import Dict, Any
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualStirrer:
"""Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式
if device_id is None and 'id' in kwargs:
@@ -34,6 +38,9 @@ class VirtualStirrer:
print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨")
print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool:
"""Initialize virtual stirrer 🚀"""
self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨")
@@ -134,7 +141,7 @@ class VirtualStirrer:
if remaining <= 0:
break
await asyncio.sleep(1.0)
await self._ros_node.sleep(1.0)
self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s")
@@ -176,7 +183,7 @@ class VirtualStirrer:
if remaining <= 0:
break
await asyncio.sleep(1.0)
await self._ros_node.sleep(1.0)
self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s")

13
unilabos/devices/virtual/virtual_transferpump.py
View File

@@ -4,6 +4,8 @@ from enum import Enum
from typing import Union, Optional
import logging
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualPumpMode(Enum):
Normal = 0
@@ -14,6 +16,8 @@ class VirtualPumpMode(Enum):
class VirtualTransferPump:
"""虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: dict = None, **kwargs):
"""
初始化虚拟转移泵
@@ -53,6 +57,9 @@ class VirtualTransferPump:
print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool:
"""初始化虚拟泵 🚀"""
self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -104,7 +111,7 @@ class VirtualTransferPump:
async def _simulate_operation(self, duration: float):
"""模拟操作延时 ⏱️"""
self._status = "Busy"
await asyncio.sleep(duration)
await self._ros_node.sleep(duration)
self._status = "Idle"
def _calculate_duration(self, volume: float, velocity: float = None) -> float:
@@ -223,7 +230,7 @@ class VirtualTransferPump:
# 等待一小步时间
if i < steps and step_duration > 0:
await asyncio.sleep(step_duration)
await self._ros_node.sleep(step_duration)
else:
# 移动距离很小，直接完成
self._position = target_position
@@ -341,7 +348,7 @@ class VirtualTransferPump:
# 短暂停顿
self.logger.debug("⏸️ 短暂停顿...")
await asyncio.sleep(0.1)
await self._ros_node.sleep(0.1)
# 排液
await self.dispense(volume, dispense_velocity)

4
unilabos/devices/workstation/bioyond_studio/config.py
View File

@@ -135,4 +135,6 @@ WORKFLOW_STEP_IDS = {
}
}
LOCATION_MAPPING = {}
LOCATION_MAPPING = {}
ACTION_NAMES = {}