mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 13:01:12 +00:00
fix and remove redundant info
This commit is contained in:
Junhan Chang
@@ -220,6 +220,7 @@ def generate_heat_chill_protocol(
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"device_id": heatchill_id,
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"action_name": "heat_chill",
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"action_kwargs": {
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"vessel": vessel,
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"temp": float(final_temp),
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"time": float(final_time),
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"stir": bool(stir),
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@@ -2,7 +2,7 @@ import networkx as nx
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import re
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import logging
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from typing import List, Dict, Any, Tuple, Union
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from .utils.vessel_parser import get_vessel
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from .utils.vessel_parser import get_vessel, find_solvent_vessel
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from .utils.unit_parser import parse_volume_input
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from .pump_protocol import generate_pump_protocol_with_rinsing
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@@ -68,7 +68,7 @@ class VirtualHeatChill:
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return True
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async def heat_chill(self, temp: float, time, stir: bool,
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stir_speed: float, purpose: str) -> bool:
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stir_speed: float, purpose: str, vessel: dict = {}) -> bool:
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"""Execute heat chill action - 🔧 修复：确保参数类型正确"""
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# 🔧 关键修复：确保所有参数类型正确
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@@ -201,7 +201,7 @@ class VirtualHeatChill:
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return True
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async def heat_chill_start(self, temp: float, purpose: str) -> bool:
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async def heat_chill_start(self, temp: float, purpose: str, vessel: dict = {}) -> bool:
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"""Start continuous heat chill 🔄"""
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# 🔧 添加类型转换
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@@ -257,7 +257,7 @@ class VirtualHeatChill:
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self.logger.info(f"✅ 持续温控已启动! {temp_emoji} {status_action}模式 🚀")
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return True
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async def heat_chill_stop(self) -> bool:
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async def heat_chill_stop(self, vessel: dict = {}) -> bool:
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"""Stop heat chill 🛑"""
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self.logger.info(f"🛑 停止温控:")
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@@ -253,24 +253,6 @@ class VirtualMultiwayValve:
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# 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
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return flow_path
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def get_info(self) -> dict:
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"""获取阀门详细信息 📊"""
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info = {
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"port": self.port,
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"max_positions": self.max_positions,
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"total_positions": self.total_positions,
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"current_position": self._current_position,
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"current_port": self.get_current_port(),
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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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"flow_path": self.get_flow_path(),
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"position_map": self.position_map
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}
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# 删除debug日志：self.logger.debug(f"📊 阀门信息: 位置={self._current_position}, 状态={self._status}, 端口={self.get_current_port()}")
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return info
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def __str__(self):
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current_port = self.get_current_port()
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status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
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@@ -313,9 +295,6 @@ if __name__ == "__main__":
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print(f"\n📋 可用位置: {valve.get_available_positions()}")
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print(f"🗺️ 端口映射: {valve.get_available_ports()}")
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# 获取详细信息
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print(f"\n📊 详细信息: {valve.get_info()}")
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# 测试切换功能
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print(f"\n🔄 智能切换测试:")
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print(f"当前位置: {valve._current_position}")
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@@ -319,21 +319,6 @@ class VirtualSolidDispenser:
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def total_operations(self) -> int:
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return self._total_operations
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def get_device_info(self) -> Dict[str, Any]:
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"""获取设备状态信息 📊"""
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info = {
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"device_id": self.device_id,
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"status": self._status,
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"current_reagent": self._current_reagent,
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"last_dispensed_amount": self._dispensed_amount,
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"total_operations": self._total_operations,
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"max_capacity": self.max_capacity,
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"precision": self.precision
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}
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# self.logger.debug(f"📊 设备信息: 状态={self._status}, 试剂={self._current_reagent}, 加样量={self._dispensed_amount:.6f}g")
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return info
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def __str__(self):
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status_emoji = "✅" if self._status == "Ready" else "🔄" if self._status == "Dispensing" else "❌" if self._status == "Error" else "🏠"
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return f"⚗️ VirtualSolidDispenser({status_emoji} {self.device_id}: {self._status}, 最后加样 {self._dispensed_amount:.3f}g)"
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@@ -380,8 +365,6 @@ async def test_solid_dispenser():
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mass="150 g" # 超过100g限制
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)
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print(f"📊 测试4结果: {result4}")
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print(f"\n📊 最终设备信息: {dispenser.get_device_info()}")
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print(f"✅ === 测试完成 === 🎉")
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@@ -380,22 +380,6 @@ class VirtualTransferPump:
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"""检查是否已满"""
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return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
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# 调试和状态信息
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def get_pump_info(self) -> dict:
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"""获取泵的详细信息"""
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return {
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"device_id": self.device_id,
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"status": self._status,
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"position": self._position,
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"current_volume": self._current_volume,
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"max_volume": self.max_volume,
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"max_velocity": self._max_velocity,
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"mode": self.mode.name,
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"is_empty": self.is_empty(),
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"is_full": self.is_full(),
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"remaining_capacity": self.get_remaining_capacity()
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}
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def __str__(self):
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return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
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@@ -426,8 +410,6 @@ async def demo():
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print(f"Empty result: {result}")
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print(f"After emptying: {pump}")
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print("\nPump info:", pump.get_pump_info())
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if __name__ == "__main__":
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asyncio.run(demo())
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@@ -353,7 +353,7 @@ solid_dispenser.laiyu:
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title: EmptyIn
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type: object
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type: EmptyIn
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module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
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module: unilabos.devices.powder_dispense.laiyu:Laiyu
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status_types:
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status: str
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type: python
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@@ -2166,7 +2166,6 @@ virtual_multiway_valve:
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current_port: str
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current_position: int
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flow_path: str
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info: dict
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status: str
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target_position: int
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valve_position: int
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@@ -2279,8 +2278,6 @@ virtual_multiway_valve:
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type: integer
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flow_path:
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type: string
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info:
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type: object
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status:
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type: string
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target_position:
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@@ -2299,529 +2296,6 @@ virtual_multiway_valve:
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- available_positions
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- available_ports
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- flow_path
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- info
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type: object
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version: 1.0.0
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virtual_pump:
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category:
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- virtual_device
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class:
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action_value_mappings:
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auto-clean_vessel:
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feedback: {}
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goal: {}
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goal_default:
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repeats: 1
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solvent: null
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temp: null
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vessel: null
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volume: null
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handles: []
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result: {}
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schema:
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description: clean_vessel的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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repeats:
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default: 1
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type: integer
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solvent:
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type: string
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temp:
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type: number
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vessel:
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type: string
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volume:
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type: number
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required:
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- vessel
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- solvent
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- volume
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- temp
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type: object
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result: {}
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required:
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- goal
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title: clean_vessel参数
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type: object
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type: UniLabJsonCommandAsync
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auto-cleanup:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: cleanup的参数schema
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: cleanup参数
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type: object
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type: UniLabJsonCommandAsync
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auto-initialize:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: initialize的参数schema
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: initialize参数
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type: object
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type: UniLabJsonCommandAsync
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set_valve_position:
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feedback:
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status: status
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goal:
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float_in: valve_position
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goal_default:
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float_in: 0.0
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handles: []
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result:
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success: success
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schema:
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description: ''
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properties:
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feedback:
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properties: {}
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required: []
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title: FloatSingleInput_Feedback
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type: object
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goal:
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properties:
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float_in:
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type: number
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required:
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- float_in
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title: FloatSingleInput_Goal
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type: object
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result:
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properties:
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return_info:
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type: string
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success:
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type: boolean
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required:
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- return_info
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- success
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title: FloatSingleInput_Result
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type: object
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||||
required:
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||||
- goal
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||||
title: FloatSingleInput
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type: object
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type: FloatSingleInput
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transfer:
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feedback:
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status: status
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goal:
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amount: amount
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from_vessel: from_vessel
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rinsing_repeats: rinsing_repeats
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rinsing_solvent: rinsing_solvent
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rinsing_volume: rinsing_volume
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solid: solid
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time: time
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to_vessel: to_vessel
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viscous: viscous
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volume: volume
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goal_default:
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amount: ''
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event: ''
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flowrate: 0.0
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from_vessel:
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category: ''
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children: []
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config: ''
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data: ''
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id: ''
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name: ''
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parent: ''
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pose:
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orientation:
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w: 1.0
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x: 0.0
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y: 0.0
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z: 0.0
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position:
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x: 0.0
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y: 0.0
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z: 0.0
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sample_id: ''
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type: ''
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rate_spec: ''
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rinsing_repeats: 0
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rinsing_solvent: ''
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rinsing_volume: 0.0
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solid: false
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through: ''
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time: 0.0
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to_vessel:
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category: ''
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||||
children: []
|
||||
config: ''
|
||||
data: ''
|
||||
id: ''
|
||||
name: ''
|
||||
parent: ''
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
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sample_id: ''
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type: ''
|
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transfer_flowrate: 0.0
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viscous: false
|
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volume: 0.0
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
current_device:
|
||||
type: string
|
||||
status:
|
||||
type: string
|
||||
time_remaining:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
time_spent:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
- current_device
|
||||
- time_spent
|
||||
- time_remaining
|
||||
title: PumpTransfer_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
amount:
|
||||
type: string
|
||||
event:
|
||||
type: string
|
||||
flowrate:
|
||||
type: number
|
||||
from_vessel:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
type: object
|
||||
rate_spec:
|
||||
type: string
|
||||
rinsing_repeats:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
rinsing_solvent:
|
||||
type: string
|
||||
rinsing_volume:
|
||||
type: number
|
||||
solid:
|
||||
type: boolean
|
||||
through:
|
||||
type: string
|
||||
time:
|
||||
type: number
|
||||
to_vessel:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
type: object
|
||||
transfer_flowrate:
|
||||
type: number
|
||||
viscous:
|
||||
type: boolean
|
||||
volume:
|
||||
type: number
|
||||
required:
|
||||
- from_vessel
|
||||
- to_vessel
|
||||
- volume
|
||||
- amount
|
||||
- time
|
||||
- viscous
|
||||
- rinsing_solvent
|
||||
- rinsing_volume
|
||||
- rinsing_repeats
|
||||
- solid
|
||||
- flowrate
|
||||
- transfer_flowrate
|
||||
- rate_spec
|
||||
- event
|
||||
- through
|
||||
title: PumpTransfer_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: PumpTransfer_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: PumpTransfer
|
||||
type: object
|
||||
type: PumpTransfer
|
||||
module: unilabos.devices.virtual.virtual_pump:VirtualPump
|
||||
status_types:
|
||||
current_status: str
|
||||
current_volume: float
|
||||
from_vessel: str
|
||||
max_volume: float
|
||||
progress: float
|
||||
status: str
|
||||
to_vessel: str
|
||||
transfer_rate: float
|
||||
transferred_volume: float
|
||||
valve_position: int
|
||||
type: python
|
||||
config_info: []
|
||||
description: Virtual Pump for PumpTransferProtocol Testing
|
||||
handles:
|
||||
- data_key: fluid_in
|
||||
data_source: handle
|
||||
data_type: fluid
|
||||
description: 泵的输出口
|
||||
handler_key: pumpio
|
||||
io_type: source
|
||||
label: pumpio
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: object
|
||||
device_id:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
current_status:
|
||||
type: string
|
||||
current_volume:
|
||||
type: number
|
||||
from_vessel:
|
||||
type: string
|
||||
max_volume:
|
||||
type: number
|
||||
progress:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
to_vessel:
|
||||
type: string
|
||||
transfer_rate:
|
||||
type: number
|
||||
transferred_volume:
|
||||
type: number
|
||||
valve_position:
|
||||
type: integer
|
||||
required:
|
||||
- status
|
||||
- valve_position
|
||||
- current_volume
|
||||
- max_volume
|
||||
- transfer_rate
|
||||
- from_vessel
|
||||
- to_vessel
|
||||
- progress
|
||||
- transferred_volume
|
||||
- current_status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_rotavap:
|
||||
@@ -4683,7 +4157,6 @@ virtual_solid_dispenser:
|
||||
module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
|
||||
status_types:
|
||||
current_reagent: str
|
||||
device_info: dict
|
||||
dispensed_amount: float
|
||||
status: str
|
||||
total_operations: int
|
||||
@@ -4722,8 +4195,6 @@ virtual_solid_dispenser:
|
||||
properties:
|
||||
current_reagent:
|
||||
type: string
|
||||
device_info:
|
||||
type: object
|
||||
dispensed_amount:
|
||||
type: number
|
||||
status:
|
||||
@@ -4735,7 +4206,6 @@ virtual_solid_dispenser:
|
||||
- current_reagent
|
||||
- dispensed_amount
|
||||
- total_operations
|
||||
- device_info
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_stirrer:
|
||||
@@ -5246,7 +4716,6 @@ virtual_stirrer:
|
||||
status_types:
|
||||
current_speed: float
|
||||
current_vessel: str
|
||||
device_info: dict
|
||||
is_stirring: bool
|
||||
max_speed: float
|
||||
min_speed: float
|
||||
@@ -5281,8 +4750,6 @@ virtual_stirrer:
|
||||
type: number
|
||||
current_vessel:
|
||||
type: string
|
||||
device_info:
|
||||
type: object
|
||||
is_stirring:
|
||||
type: boolean
|
||||
max_speed:
|
||||
@@ -5304,7 +4771,6 @@ virtual_stirrer:
|
||||
- remaining_time
|
||||
- max_speed
|
||||
- min_speed
|
||||
- device_info
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_transfer_pump:
|
||||
@@ -5761,7 +5227,6 @@ virtual_transfer_pump:
|
||||
current_volume: float
|
||||
max_velocity: float
|
||||
position: float
|
||||
pump_info: dict
|
||||
remaining_capacity: float
|
||||
status: str
|
||||
transfer_rate: float
|
||||
@@ -5795,8 +5260,6 @@ virtual_transfer_pump:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
pump_info:
|
||||
type: object
|
||||
remaining_capacity:
|
||||
type: number
|
||||
status:
|
||||
@@ -5810,7 +5273,6 @@ virtual_transfer_pump:
|
||||
- max_velocity
|
||||
- transfer_rate
|
||||
- remaining_capacity
|
||||
- pump_info
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_vacuum_pump:
|
||||
|
||||
@@ -1805,6 +1805,11 @@ workstation:
|
||||
data_type: resource
|
||||
handler_key: Vessel
|
||||
label: Evaporation Vessel
|
||||
- data_key: solvent
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: solvent
|
||||
label: Eluting Solvent
|
||||
output:
|
||||
- data_key: vessel
|
||||
data_source: handle
|
||||
|
||||
@@ -217,7 +217,6 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
[convert_from_ros_msg(rs) for rs in response.resources]
|
||||
)
|
||||
|
||||
self.lab_logger().info(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
|
||||
self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
|
||||
|
||||
from unilabos.resources.graphio import physical_setup_graph
|
||||
|
||||
Reference in New Issue
Block a user