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区分了虚拟仪器中的八通阀和电磁阀，添加了两个阀门的驱动
This commit is contained in:
KCFeng425
111
unilabos/devices/virtual/virtual_multiway_valve.py
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111
unilabos/devices/virtual/virtual_multiway_valve.py
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@@ -0,0 +1,111 @@
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import time
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from typing import Union
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class VirtualMultiwayValve:
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"""
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虚拟八通阀门 - 可将一个输入切换到8个输出中的任意一个
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"""
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def __init__(self, port: str = "VIRTUAL", positions: int = 8):
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self.port = port
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self.max_positions = positions
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# 状态属性
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self._status = "Idle"
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self._valve_state = "Ready"
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self._current_position = 1
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self._target_position = 1
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@property
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def status(self) -> str:
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return self._status
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@property
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def valve_state(self) -> str:
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return self._valve_state
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@property
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def current_position(self) -> int:
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return self._current_position
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@property
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def target_position(self) -> int:
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return self._target_position
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def get_current_position(self) -> int:
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"""获取当前阀门位置"""
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return self._current_position
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def set_position(self, position: Union[int, str]):
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"""
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设置阀门位置
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Args:
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position: 目标位置 (1-8)
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"""
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try:
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pos = int(position)
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if pos < 1 or pos > self.max_positions:
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raise ValueError(f"Position must be between 1 and {self.max_positions}")
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self._status = "Busy"
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self._valve_state = "Moving"
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self._target_position = pos
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# 模拟阀门切换时间
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switch_time = abs(self._current_position - pos) * 0.5 # 每个位置0.5秒
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time.sleep(switch_time)
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self._current_position = pos
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self._status = "Idle"
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self._valve_state = "Ready"
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return f"Position set to {pos}"
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except ValueError as e:
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self._status = "Error"
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self._valve_state = "Error"
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return f"Error: {str(e)}"
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def open(self):
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"""打开阀门 - 对于多通阀门，相当于设置到位置1"""
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return self.set_position(1)
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def close(self):
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"""关闭阀门 - 对于多通阀门，相当于设置到关闭位置"""
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self._status = "Busy"
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self._valve_state = "Closing"
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time.sleep(0.5)
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self._current_position = 0 # 0表示关闭状态
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self._status = "Idle"
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self._valve_state = "Closed"
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return "Valve closed"
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def get_valve_position(self) -> int:
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"""获取阀门位置 - 兼容性方法"""
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return self._current_position
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def is_at_position(self, position: int) -> bool:
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"""检查是否在指定位置"""
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return self._current_position == position
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def get_available_positions(self) -> list:
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"""获取可用位置列表"""
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return list(range(1, self.max_positions + 1))
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def reset(self):
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"""重置阀门到初始位置"""
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return self.set_position(1)
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def get_info(self) -> dict:
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"""获取阀门信息"""
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return {
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"port": self.port,
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"max_positions": self.max_positions,
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"current_position": self._current_position,
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"target_position": self._target_position,
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"status": self._status,
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"valve_state": self._valve_state
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}
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151
unilabos/devices/virtual/virtual_solenoid_valve.py
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151
unilabos/devices/virtual/virtual_solenoid_valve.py
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@@ -0,0 +1,151 @@
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import time
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from typing import Union
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class VirtualSolenoidValve:
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"""
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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
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"""
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def __init__(self, port: str = "VIRTUAL", voltage: float = 12.0, response_time: float = 0.1):
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self.port = port
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self.voltage = voltage
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self.response_time = response_time
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# 状态属性
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self._status = "Idle"
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self._valve_state = "Closed" # "Open" or "Closed"
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self._is_open = False
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@property
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def status(self) -> str:
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return self._status
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@property
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def valve_state(self) -> str:
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return self._valve_state
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@property
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def is_open(self) -> bool:
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return self._is_open
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def get_valve_position(self) -> str:
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"""获取阀门位置状态"""
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return "OPEN" if self._is_open else "CLOSED"
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def set_valve_position(self, position: Union[str, bool]):
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"""
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设置阀门位置
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Args:
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position: "OPEN"/"CLOSED" 或 True/False
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"""
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self._status = "Busy"
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# 模拟阀门响应时间
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time.sleep(self.response_time)
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if isinstance(position, str):
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target_open = position.upper() == "OPEN"
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elif isinstance(position, bool):
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target_open = position
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else:
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self._status = "Error"
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return "Error: Invalid position"
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self._is_open = target_open
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self._valve_state = "Open" if target_open else "Closed"
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self._status = "Idle"
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return f"Valve {'opened' if target_open else 'closed'}"
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def open(self):
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"""打开电磁阀"""
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self._status = "Busy"
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time.sleep(self.response_time)
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self._is_open = True
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self._valve_state = "Open"
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self._status = "Idle"
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return "Valve opened"
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def close(self):
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"""关闭电磁阀"""
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self._status = "Busy"
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time.sleep(self.response_time)
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self._is_open = False
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self._valve_state = "Closed"
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self._status = "Idle"
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return "Valve closed"
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def set_state(self, state: Union[bool, str]):
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"""
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设置阀门状态
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Args:
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state: True/False 或 "open"/"close"
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"""
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if isinstance(state, bool):
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return self.open() if state else self.close()
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elif isinstance(state, str):
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if state.lower() in ["open", "on", "true", "1"]:
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return self.open()
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elif state.lower() in ["close", "closed", "off", "false", "0"]:
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return self.close()
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else:
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self._status = "Error"
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return "Error: Invalid state"
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else:
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self._status = "Error"
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return "Error: Invalid state type"
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def toggle(self):
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"""切换阀门状态"""
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if self._is_open:
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return self.close()
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else:
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return self.open()
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def is_closed(self) -> bool:
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"""检查阀门是否关闭"""
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return not self._is_open
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def get_state(self) -> dict:
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"""获取阀门完整状态"""
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return {
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"port": self.port,
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"voltage": self.voltage,
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"response_time": self.response_time,
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"is_open": self._is_open,
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"valve_state": self._valve_state,
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"status": self._status,
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"position": self.get_valve_position()
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}
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def reset(self):
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"""重置阀门到关闭状态"""
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return self.close()
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def test_cycle(self, cycles: int = 3, delay: float = 1.0):
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"""
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测试阀门开关循环
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Args:
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cycles: 循环次数
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delay: 每次开关间隔时间(秒)
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"""
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results = []
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for i in range(cycles):
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# 打开
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result_open = self.open()
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results.append(f"Cycle {i+1} - Open: {result_open}")
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time.sleep(delay)
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# 关闭
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result_close = self.close()
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results.append(f"Cycle {i+1} - Close: {result_close}")
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time.sleep(delay)
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return results
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@@ -1,3 +1,49 @@
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# 虚拟设备清单及连接特性
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# 1. virtual_pump - 虚拟泵
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# 描述：具有多通道阀门特性的泵，根据valve_position可连接多个容器
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# 连接特性：1个输入口 + 1个输出口（当前配置，实际应该有多个输出口）
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# 数据类型：fluid（流体连接）
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# 2. virtual_stirrer - 虚拟搅拌器
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# 描述：机械连接设备，提供搅拌功能
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# 连接特性：1个双向连接点（bidirectional）
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# 数据类型：mechanical（机械连接）
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# 3a. virtual_valve - 虚拟八通阀门
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# 描述：8通阀门（实际配置为7通），可切换流向
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# 连接特性：1个口连接注射泵 + 7个输出口
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# 数据类型：fluid（流体连接）
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# 3b. virtual_solenoid_valve (电磁阀门)
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# 描述：简单的开关型电磁阀，只有开启和关闭两个状态
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# 连接特性：1个输入口 + 1个输出口，控制通断
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# 数据类型：fluid（流体连接）
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# 4. virtual_centrifuge - 虚拟离心机
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# 描述：单个样品处理设备，原地处理样品
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# 连接特性：1个输入口 + 1个输出口
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# 数据类型：resource（资源/样品连接）
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# 5. virtual_filter - 虚拟过滤器
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# 描述：分离设备，将样品分离为滤液和滤渣
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# 连接特性：1个输入口 + 2个输出口（滤液和滤渣）
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# 数据类型：resource（资源/样品连接）
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# 6. virtual_heatchill - 虚拟加热/冷却器
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# 描述：温控设备，容器直接放置在设备上进行温度控制
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# 连接特性：1个双向连接点（bidirectional）
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# 数据类型：mechanical（机械/物理接触连接）
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# 7. virtual_transfer_pump - 虚拟转移泵（注射器式）
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# 描述：注射器式转移泵，通过同一个口吸入和排出液体
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# 连接特性：1个双向连接点（bidirectional）
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# 数据类型：fluid（流体连接）
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# 8. virtual_column - 虚拟色谱柱
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# 描述：分离纯化设备，用于样品纯化
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# 连接特性：1个输入口 + 1个输出口
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# 数据类型：resource（资源/样品连接）
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virtual_pump:
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description: Virtual Pump for PumpTransferProtocol Testing
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class:
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@@ -124,10 +170,10 @@ virtual_stirrer:
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default: 1000.0
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additionalProperties: false
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virtual_valve:
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description: Virtual Valve for AddProtocol Testing
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virtual_multiway_valve:
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description: Virtual 8-Way Valve for flow direction control
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class:
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module: unilabos.devices.virtual.virtual_valve:VirtualValve
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module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve
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type: python
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status_types:
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status: String
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@@ -139,10 +185,90 @@ virtual_valve:
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set_position:
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type: SendCmd
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goal:
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command: position
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position: position
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feedback: {}
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result:
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success: success
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# 八通阀门节点配置 - 1个输入口，8个输出口，可切换流向
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handles:
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input:
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- handler_key: multiway-valve-inlet
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label: Valve Inlet
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data_type: fluid
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io_type: target
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data_source: handle
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data_key: fluid_in
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description: "八通阀门进液口，接收来源流体"
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output:
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- handler_key: multiway-valve-port-1
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label: Port 1
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data_type: fluid
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io_type: source
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data_source: executor
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data_key: fluid_port_1
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description: "八通阀门端口1，position=1时流体从此口流出"
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- handler_key: multiway-valve-port-2
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label: Port 2
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data_type: fluid
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io_type: source
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data_source: executor
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data_key: fluid_port_2
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description: "八通阀门端口2，position=2时流体从此口流出"
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- handler_key: multiway-valve-port-3
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label: Port 3
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data_type: fluid
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io_type: source
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data_source: executor
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data_key: fluid_port_3
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description: "八通阀门端口3，position=3时流体从此口流出"
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- handler_key: multiway-valve-port-4
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label: Port 4
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data_type: fluid
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io_type: source
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data_source: executor
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data_key: fluid_port_4
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description: "八通阀门端口4，position=4时流体从此口流出"
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- handler_key: multiway-valve-port-5
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label: Port 5
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data_type: fluid
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io_type: source
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data_source: executor
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data_key: fluid_port_5
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description: "八通阀门端口5，position=5时流体从此口流出"
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- handler_key: multiway-valve-port-6
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label: Port 6
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data_type: fluid
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io_type: source
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data_source: executor
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data_key: fluid_port_6
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description: "八通阀门端口6，position=6时流体从此口流出"
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- handler_key: multiway-valve-port-7
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label: Port 7
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data_type: fluid
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io_type: source
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data_source: executor
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data_key: fluid_port_7
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description: "八通阀门端口7，position=7时流体从此口流出"
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schema:
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type: object
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properties:
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port:
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type: string
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default: "VIRTUAL"
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positions:
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type: integer
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default: 8
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additionalProperties: false
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virtual_solenoid_valve:
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description: Virtual Solenoid Valve for simple on/off flow control
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class:
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module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve
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type: python
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status_types:
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status: String
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valve_state: String # "open" or "closed"
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is_open: Boolean
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action_value_mappings:
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open:
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type: EmptyIn
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goal: {}
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@@ -155,77 +281,36 @@ virtual_valve:
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feedback: {}
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result:
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success: success
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# 虚拟阀门节点配置 - 6通阀门，1个输入口，6个输出口，可切换流向
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set_state:
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type: BoolSingleInput
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goal:
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state: state
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feedback: {}
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result:
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success: success
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# 电磁阀门节点配置 - 双向流通的开关型阀门，流动方向由泵决定
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handles:
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input:
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- handler_key: valve-inlet
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label: Valve Inlet
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bidirectional:
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- handler_key: solenoid-valve-port
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label: Valve Port
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data_type: fluid
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io_type: target
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io_type: bidirectional
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data_source: handle
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data_key: fluid_in
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description: "阀门进液口，接收来源流体"
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output:
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- handler_key: valve-port-1
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label: Port 1
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data_type: fluid
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io_type: source
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data_source: executor
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data_key: fluid_port_1
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description: "阀门端口1，position=1时流体从此口流出"
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- handler_key: valve-port-2
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label: Port 2
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data_type: fluid
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||||
io_type: source
|
||||
data_source: executor
|
||||
data_key: fluid_port_2
|
||||
description: "阀门端口2，position=2时流体从此口流出"
|
||||
- handler_key: valve-port-3
|
||||
label: Port 3
|
||||
data_type: fluid
|
||||
io_type: source
|
||||
data_source: executor
|
||||
data_key: fluid_port_3
|
||||
description: "阀门端口3，position=3时流体从此口流出"
|
||||
- handler_key: valve-port-4
|
||||
label: Port 4
|
||||
data_type: fluid
|
||||
io_type: source
|
||||
data_source: executor
|
||||
data_key: fluid_port_4
|
||||
description: "阀门端口4，position=4时流体从此口流出"
|
||||
- handler_key: valve-port-5
|
||||
label: Port 5
|
||||
data_type: fluid
|
||||
io_type: source
|
||||
data_source: executor
|
||||
data_key: fluid_port_5
|
||||
description: "阀门端口5，position=5时流体从此口流出"
|
||||
- handler_key: valve-port-6
|
||||
label: Port 6
|
||||
data_type: fluid
|
||||
io_type: source
|
||||
data_source: executor
|
||||
data_key: fluid_port_6
|
||||
description: "阀门端口6，position=6时流体从此口流出"
|
||||
- handler_key: valve-port-7
|
||||
label: Port 7
|
||||
data_type: fluid
|
||||
io_type: source
|
||||
data_source: executor
|
||||
data_key: fluid_port_6
|
||||
description: "阀门端口7，position=6时流体从此口流出"
|
||||
data_key: fluid_port
|
||||
description: "电磁阀的双向流体口，开启时允许流体双向通过，关闭时完全阻断"
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
default: "VIRTUAL"
|
||||
positions:
|
||||
type: integer
|
||||
default: 7
|
||||
voltage:
|
||||
type: number
|
||||
default: 12.0
|
||||
response_time:
|
||||
type: number
|
||||
default: 0.1
|
||||
additionalProperties: false
|
||||
|
||||
virtual_centrifuge:
|
||||
description: Virtual Centrifuge for CentrifugeProtocol Testing
|
||||
class:
|
||||
|
||||
Reference in New Issue
Block a user