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https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 05:45:10 +00:00
补充了剩下的几个protocol
This commit is contained in:
KCFeng425
@@ -273,7 +273,6 @@ def generate_pump_protocol(
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if not pump_backbone:
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debug_print("PUMP_TRANSFER: 没有泵骨架节点，可能是直接容器连接或只有电磁阀")
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# 🔧 对于气体传输，这是正常的，直接返回空序列
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return pump_action_sequence
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if transfer_flowrate == 0:
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@@ -319,10 +318,31 @@ def generate_pump_protocol(
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volume_left = volume
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debug_print(f"PUMP_TRANSFER: 需要 {repeats} 次转移，单次最大体积 {min_transfer_volume} mL")
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# 🆕 只在开头打印总体概览
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if repeats > 1:
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debug_print(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
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logger.info(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
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# 🔧 创建一个自定义的wait动作，用于在执行时打印日志
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def create_progress_log_action(message: str) -> Dict[str, Any]:
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"""创建一个特殊的等待动作，在执行时打印进度日志"""
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return {
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"action_name": "wait",
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"action_kwargs": {
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"time": 0.1, # 很短的等待时间
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"progress_message": message # 自定义字段，用于进度日志
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}
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}
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# 生成泵操作序列
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for i in range(repeats):
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current_volume = min(volume_left, min_transfer_volume)
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# 🆕 在每次循环开始时添加进度日志
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if repeats > 1:
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start_message = f"🚀 准备开始第 {i+1}/{repeats} 次转移: {current_volume:.2f}mL ({from_vessel} → {to_vessel}) 🚰"
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pump_action_sequence.append(create_progress_log_action(start_message))
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# 🔧 修复：安全地获取边数据
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def get_safe_edge_data(node_a, node_b, key):
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try:
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@@ -426,6 +446,426 @@ def generate_pump_protocol(
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])
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pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 3}})
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# 🆕 在每次循环结束时添加完成日志
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if repeats > 1:
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remaining_volume = volume_left - current_volume
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if remaining_volume > 0:
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end_message = f"✅ 第 {i+1}/{repeats} 次转移完成! 剩余 {remaining_volume:.2f}mL 待转移 ⏳"
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else:
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end_message = f"🎉 第 {i+1}/{repeats} 次转移完成! 全部 {volume:.2f}mL 转移完毕 ✨"
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pump_action_sequence.append(create_progress_log_action(end_message))
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volume_left -= current_volume
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return pump_action_sequence
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def generate_pump_protocol_with_rinsing(
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G: nx.DiGraph,
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from_vessel: str,
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to_vessel: str,
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volume: float = 0.0,
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amount: str = "",
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time: float = 0.0, # 🔧 修复：统一使用 time
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viscous: bool = False,
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rinsing_solvent: str = "",
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rinsing_volume: float = 0.0,
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rinsing_repeats: int = 0,
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solid: bool = False,
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flowrate: float = 2.5,
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transfer_flowrate: float = 0.5,
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rate_spec: str = "",
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event: str = "",
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through: str = "",
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**kwargs
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) -> List[Dict[str, Any]]:
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"""
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原有的同步版本，添加防冲突机制
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"""
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# 添加执行锁，防止并发调用
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import threading
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if not hasattr(generate_pump_protocol_with_rinsing, '_lock'):
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generate_pump_protocol_with_rinsing._lock = threading.Lock()
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with generate_pump_protocol_with_rinsing._lock:
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debug_print("=" * 60)
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debug_print(f"PUMP_TRANSFER: 🚀 开始生成协议 (同步版本)")
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debug_print(f" 📍 路径: {from_vessel} -> {to_vessel}")
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debug_print(f" 🕐 时间戳: {time_module.time()}")
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debug_print(f" 🔒 获得执行锁")
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debug_print("=" * 60)
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# 短暂延迟，避免快速重复调用
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time_module.sleep(0.01)
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debug_print("🔍 步骤1: 开始体积处理...")
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# 1. 处理体积参数
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final_volume = volume
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debug_print(f"📋 初始设置: final_volume = {final_volume}")
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# 🔧 修复：如果volume为0（ROS2传入的空值），从容器读取实际体积
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if volume == 0.0:
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debug_print("🎯 检测到 volume=0.0，开始自动体积检测...")
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# 直接从源容器读取实际体积
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actual_volume = get_vessel_liquid_volume(G, from_vessel)
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debug_print(f"📖 从容器 '{from_vessel}' 读取到体积: {actual_volume}mL")
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if actual_volume > 0:
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final_volume = actual_volume
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debug_print(f"✅ 成功设置体积为: {final_volume}mL")
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else:
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final_volume = 10.0 # 如果读取失败，使用默认值
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logger.warning(f"⚠️ 无法从容器读取体积，使用默认值: {final_volume}mL")
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else:
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debug_print(f"📌 体积非零，直接使用: {final_volume}mL")
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# 处理 amount 参数
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if amount and amount.strip():
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debug_print(f"🔍 检测到 amount 参数: '{amount}'，开始解析...")
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parsed_volume = _parse_amount_to_volume(amount)
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debug_print(f"📖 从 amount 解析得到体积: {parsed_volume}mL")
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if parsed_volume > 0:
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final_volume = parsed_volume
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debug_print(f"✅ 使用从 amount 解析的体积: {final_volume}mL")
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elif parsed_volume == 0.0 and amount.lower().strip() == "all":
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debug_print("🎯 检测到 amount='all'，从容器读取全部体积...")
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actual_volume = get_vessel_liquid_volume(G, from_vessel)
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if actual_volume > 0:
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final_volume = actual_volume
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debug_print(f"✅ amount='all'，设置体积为: {final_volume}mL")
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# 最终体积验证
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debug_print(f"🔍 步骤2: 最终体积验证...")
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if final_volume <= 0:
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logger.error(f"❌ 体积无效: {final_volume}mL")
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final_volume = 10.0
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logger.warning(f"⚠️ 强制设置为默认值: {final_volume}mL")
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debug_print(f"✅ 最终确定体积: {final_volume}mL")
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# 2. 处理流速参数
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debug_print(f"🔍 步骤3: 处理流速参数...")
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debug_print(f" - 原始 flowrate: {flowrate}")
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debug_print(f" - 原始 transfer_flowrate: {transfer_flowrate}")
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final_flowrate = flowrate if flowrate > 0 else 2.5
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final_transfer_flowrate = transfer_flowrate if transfer_flowrate > 0 else 0.5
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if flowrate <= 0:
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logger.warning(f"⚠️ flowrate <= 0，修正为: {final_flowrate}mL/s")
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if transfer_flowrate <= 0:
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logger.warning(f"⚠️ transfer_flowrate <= 0，修正为: {final_transfer_flowrate}mL/s")
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debug_print(f"✅ 修正后流速: flowrate={final_flowrate}mL/s, transfer_flowrate={final_transfer_flowrate}mL/s")
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# 3. 根据时间计算流速
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if time > 0 and final_volume > 0:
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debug_print(f"🔍 步骤4: 根据时间计算流速...")
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calculated_flowrate = final_volume / time
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debug_print(f" - 计算得到流速: {calculated_flowrate}mL/s")
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if flowrate <= 0 or flowrate == 2.5:
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final_flowrate = min(calculated_flowrate, 10.0)
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debug_print(f" - 调整 flowrate 为: {final_flowrate}mL/s")
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if transfer_flowrate <= 0 or transfer_flowrate == 0.5:
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final_transfer_flowrate = min(calculated_flowrate, 5.0)
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debug_print(f" - 调整 transfer_flowrate 为: {final_transfer_flowrate}mL/s")
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# 4. 根据速度规格调整
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if rate_spec:
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debug_print(f"🔍 步骤5: 根据速度规格调整...")
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debug_print(f" - 速度规格: '{rate_spec}'")
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if rate_spec == "dropwise":
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final_flowrate = min(final_flowrate, 0.1)
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final_transfer_flowrate = min(final_transfer_flowrate, 0.1)
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debug_print(f" - dropwise模式，流速调整为: {final_flowrate}mL/s")
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elif rate_spec == "slowly":
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final_flowrate = min(final_flowrate, 0.5)
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final_transfer_flowrate = min(final_transfer_flowrate, 0.3)
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debug_print(f" - slowly模式，流速调整为: {final_flowrate}mL/s")
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elif rate_spec == "quickly":
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final_flowrate = max(final_flowrate, 5.0)
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final_transfer_flowrate = max(final_transfer_flowrate, 2.0)
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debug_print(f" - quickly模式，流速调整为: {final_flowrate}mL/s")
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try:
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# 🆕 修复：在这里调用带有循环日志的generate_pump_protocol_with_loop_logging函数
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pump_action_sequence = generate_pump_protocol_with_loop_logging(
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G, from_vessel, to_vessel, final_volume,
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final_flowrate, final_transfer_flowrate
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)
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debug_print(f"🔓 释放执行锁")
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return pump_action_sequence
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except Exception as e:
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logger.error(f"❌ 协议生成失败: {str(e)}")
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return [
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{
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"device_id": "system",
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"action_name": "log_message",
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"action_kwargs": {
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"message": f"❌ 协议生成失败: {str(e)}"
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}
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}
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]
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def generate_pump_protocol_with_loop_logging(
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G: nx.DiGraph,
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from_vessel: str,
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to_vessel: str,
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volume: float,
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flowrate: float = 2.5,
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transfer_flowrate: float = 0.5,
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) -> List[Dict[str, Any]]:
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"""
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生成泵操作的动作序列 - 带循环日志版本
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🔧 修复：正确处理包含电磁阀的路径，并在合适时机打印循环日志
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"""
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pump_action_sequence = []
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nodes = G.nodes(data=True)
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# 验证输入参数
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if volume <= 0:
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logger.error(f"无效的体积参数: {volume}mL")
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return pump_action_sequence
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if flowrate <= 0:
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flowrate = 2.5
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logger.warning(f"flowrate <= 0，使用默认值 {flowrate}mL/s")
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if transfer_flowrate <= 0:
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transfer_flowrate = 0.5
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logger.warning(f"transfer_flowrate <= 0，使用默认值 {transfer_flowrate}mL/s")
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# 验证容器存在
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if from_vessel not in G.nodes():
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logger.error(f"源容器 '{from_vessel}' 不存在")
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return pump_action_sequence
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if to_vessel not in G.nodes():
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logger.error(f"目标容器 '{to_vessel}' 不存在")
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return pump_action_sequence
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try:
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shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
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debug_print(f"PUMP_TRANSFER: 路径 {from_vessel} -> {to_vessel}: {shortest_path}")
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except nx.NetworkXNoPath:
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logger.error(f"无法找到从 '{from_vessel}' 到 '{to_vessel}' 的路径")
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return pump_action_sequence
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# 🔧 关键修复：正确构建泵骨架，排除容器和电磁阀
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pump_backbone = []
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for node in shortest_path:
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# 跳过起始和结束容器
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if node == from_vessel or node == to_vessel:
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continue
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# 跳过电磁阀（电磁阀不参与泵操作）
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node_data = G.nodes.get(node, {})
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node_class = node_data.get("class", "") or ""
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if ("solenoid" in node_class.lower() or "solenoid_valve" in node.lower()):
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debug_print(f"PUMP_TRANSFER: 跳过电磁阀 {node}")
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continue
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# 只包含多通阀和泵
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if ("multiway" in node_class.lower() or "valve" in node_class.lower() or "pump" in node_class.lower()):
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pump_backbone.append(node)
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debug_print(f"PUMP_TRANSFER: 过滤后的泵骨架: {pump_backbone}")
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if not pump_backbone:
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debug_print("PUMP_TRANSFER: 没有泵骨架节点，可能是直接容器连接或只有电磁阀")
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return pump_action_sequence
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if transfer_flowrate == 0:
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transfer_flowrate = flowrate
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try:
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pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone)
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except Exception as e:
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debug_print(f"PUMP_TRANSFER: 构建泵-阀门映射失败: {str(e)}")
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return pump_action_sequence
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if not pumps_from_node:
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debug_print("PUMP_TRANSFER: 没有可用的泵映射")
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return pump_action_sequence
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# 🔧 修复：安全地获取最小转移体积
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try:
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min_transfer_volumes = []
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for node in pump_backbone:
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if node in pumps_from_node:
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pump_node = pumps_from_node[node]
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if pump_node in nodes:
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pump_config = nodes[pump_node].get("config", {})
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max_volume = pump_config.get("max_volume")
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if max_volume is not None:
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min_transfer_volumes.append(max_volume)
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if min_transfer_volumes:
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min_transfer_volume = min(min_transfer_volumes)
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else:
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min_transfer_volume = 25.0 # 默认值
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debug_print(f"PUMP_TRANSFER: 无法获取泵的最大体积，使用默认值: {min_transfer_volume}mL")
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except Exception as e:
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debug_print(f"PUMP_TRANSFER: 获取最小转移体积失败: {str(e)}")
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min_transfer_volume = 25.0 # 默认值
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repeats = int(np.ceil(volume / min_transfer_volume))
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if repeats > 1 and (from_vessel.startswith("pump") or to_vessel.startswith("pump")):
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logger.error("Cannot transfer volume larger than min_transfer_volume between two pumps.")
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return pump_action_sequence
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volume_left = volume
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debug_print(f"PUMP_TRANSFER: 需要 {repeats} 次转移，单次最大体积 {min_transfer_volume} mL")
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# 🆕 只在开头打印总体概览
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if repeats > 1:
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debug_print(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
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logger.info(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
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# 🔧 创建一个自定义的wait动作，用于在执行时打印日志
|
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def create_progress_log_action(message: str) -> Dict[str, Any]:
|
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"""创建一个特殊的等待动作，在执行时打印进度日志"""
|
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return {
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"action_name": "wait",
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"action_kwargs": {
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"time": 0.1, # 很短的等待时间
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"progress_message": message # 自定义字段，用于进度日志
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}
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}
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# 生成泵操作序列
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for i in range(repeats):
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current_volume = min(volume_left, min_transfer_volume)
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# 🆕 在每次循环开始时添加进度日志
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if repeats > 1:
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start_message = f"🚀 准备开始第 {i+1}/{repeats} 次转移: {current_volume:.2f}mL ({from_vessel} → {to_vessel}) 🚰"
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pump_action_sequence.append(create_progress_log_action(start_message))
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# 🔧 修复：安全地获取边数据
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def get_safe_edge_data(node_a, node_b, key):
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try:
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edge_data = G.get_edge_data(node_a, node_b)
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if edge_data and "port" in edge_data:
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port_data = edge_data["port"]
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if isinstance(port_data, dict) and key in port_data:
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return port_data[key]
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return "default"
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except Exception as e:
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debug_print(f"PUMP_TRANSFER: 获取边数据失败 {node_a}->{node_b}: {str(e)}")
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return "default"
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|
||||
# 从源容器吸液
|
||||
if not from_vessel.startswith("pump") and pump_backbone:
|
||||
first_pump_node = pump_backbone[0]
|
||||
if first_pump_node in valve_from_node and first_pump_node in pumps_from_node:
|
||||
port_command = get_safe_edge_data(first_pump_node, from_vessel, first_pump_node)
|
||||
pump_action_sequence.extend([
|
||||
{
|
||||
"device_id": valve_from_node[first_pump_node],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": port_command
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumps_from_node[first_pump_node],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(current_volume),
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 3}})
|
||||
|
||||
# 泵间转移
|
||||
for nodeA, nodeB in zip(pump_backbone[:-1], pump_backbone[1:]):
|
||||
if nodeA in valve_from_node and nodeB in valve_from_node and nodeA in pumps_from_node and nodeB in pumps_from_node:
|
||||
port_a = get_safe_edge_data(nodeA, nodeB, nodeA)
|
||||
port_b = get_safe_edge_data(nodeB, nodeA, nodeB)
|
||||
|
||||
pump_action_sequence.append([
|
||||
{
|
||||
"device_id": valve_from_node[nodeA],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": port_a
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": valve_from_node[nodeB],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": port_b
|
||||
}
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append([
|
||||
{
|
||||
"device_id": pumps_from_node[nodeA],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumps_from_node[nodeB],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(current_volume),
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 3}})
|
||||
|
||||
# 排液到目标容器
|
||||
if not to_vessel.startswith("pump") and pump_backbone:
|
||||
last_pump_node = pump_backbone[-1]
|
||||
if last_pump_node in valve_from_node and last_pump_node in pumps_from_node:
|
||||
port_command = get_safe_edge_data(last_pump_node, to_vessel, last_pump_node)
|
||||
pump_action_sequence.extend([
|
||||
{
|
||||
"device_id": valve_from_node[last_pump_node],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": port_command
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumps_from_node[last_pump_node],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
"max_velocity": flowrate
|
||||
}
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 3}})
|
||||
|
||||
# 🆕 在每次循环结束时添加完成日志
|
||||
if repeats > 1:
|
||||
remaining_volume = volume_left - current_volume
|
||||
if remaining_volume > 0:
|
||||
end_message = f"✅ 第 {i+1}/{repeats} 次转移完成! 剩余 {remaining_volume:.2f}mL 待转移 ⏳"
|
||||
else:
|
||||
end_message = f"🎉 第 {i+1}/{repeats} 次转移完成! 全部 {volume:.2f}mL 转移完毕 ✨"
|
||||
|
||||
pump_action_sequence.append(create_progress_log_action(end_message))
|
||||
|
||||
volume_left -= current_volume
|
||||
|
||||
return pump_action_sequence
|
||||
@@ -891,58 +1331,386 @@ def generate_pump_protocol_with_rinsing(
|
||||
final_flowrate = max(final_flowrate, 5.0)
|
||||
final_transfer_flowrate = max(final_transfer_flowrate, 2.0)
|
||||
debug_print(f" - quickly模式，流速调整为: {final_flowrate}mL/s")
|
||||
|
||||
# # 5. 处理冲洗参数
|
||||
# debug_print(f"🔍 步骤6: 处理冲洗参数...")
|
||||
# final_rinsing_solvent = rinsing_solvent
|
||||
# final_rinsing_volume = rinsing_volume if rinsing_volume > 0 else 5.0
|
||||
# final_rinsing_repeats = rinsing_repeats if rinsing_repeats > 0 else 2
|
||||
|
||||
# if rinsing_volume <= 0:
|
||||
# logger.warning(f"⚠️ rinsing_volume <= 0，修正为: {final_rinsing_volume}mL")
|
||||
# if rinsing_repeats <= 0:
|
||||
# logger.warning(f"⚠️ rinsing_repeats <= 0，修正为: {final_rinsing_repeats}次")
|
||||
|
||||
# # 根据物理属性调整冲洗参数
|
||||
# if viscous or solid:
|
||||
# final_rinsing_repeats = max(final_rinsing_repeats, 3)
|
||||
# final_rinsing_volume = max(final_rinsing_volume, 10.0)
|
||||
# debug_print(f"🧪 粘稠/固体物质，调整冲洗参数：{final_rinsing_repeats}次，{final_rinsing_volume}mL")
|
||||
|
||||
# 参数总结
|
||||
debug_print("📊 最终参数总结:")
|
||||
debug_print(f" - 体积: {final_volume}mL")
|
||||
debug_print(f" - 流速: {final_flowrate}mL/s")
|
||||
debug_print(f" - 转移流速: {final_transfer_flowrate}mL/s")
|
||||
# debug_print(f" - 冲洗溶剂: '{final_rinsing_solvent}'")
|
||||
# debug_print(f" - 冲洗体积: {final_rinsing_volume}mL")
|
||||
# debug_print(f" - 冲洗次数: {final_rinsing_repeats}次")
|
||||
|
||||
# ========== 执行基础转移 ==========
|
||||
|
||||
debug_print("🔧 步骤7: 开始执行基础转移...")
|
||||
|
||||
try:
|
||||
debug_print(f" - 调用 generate_pump_protocol...")
|
||||
debug_print(f" - 参数: G, '{from_vessel}', '{to_vessel}', {final_volume}, {final_flowrate}, {final_transfer_flowrate}")
|
||||
|
||||
# # 5. 处理冲洗参数
|
||||
# debug_print(f"🔍 步骤6: 处理冲洗参数...")
|
||||
# final_rinsing_solvent = rinsing_solvent
|
||||
# final_rinsing_volume = rinsing_volume if rinsing_volume > 0 else 5.0
|
||||
# final_rinsing_repeats = rinsing_repeats if rinsing_repeats > 0 else 2
|
||||
pump_action_sequence = generate_pump_protocol(
|
||||
G, from_vessel, to_vessel, final_volume,
|
||||
final_flowrate, final_transfer_flowrate
|
||||
)
|
||||
|
||||
# if rinsing_volume <= 0:
|
||||
# logger.warning(f"⚠️ rinsing_volume <= 0，修正为: {final_rinsing_volume}mL")
|
||||
# if rinsing_repeats <= 0:
|
||||
# logger.warning(f"⚠️ rinsing_repeats <= 0，修正为: {final_rinsing_repeats}次")
|
||||
debug_print(f" - generate_pump_protocol 返回结果:")
|
||||
debug_print(f" - 动作序列长度: {len(pump_action_sequence)}")
|
||||
debug_print(f" - 动作序列是否为空: {len(pump_action_sequence) == 0}")
|
||||
|
||||
# # 根据物理属性调整冲洗参数
|
||||
# if viscous or solid:
|
||||
# final_rinsing_repeats = max(final_rinsing_repeats, 3)
|
||||
# final_rinsing_volume = max(final_rinsing_volume, 10.0)
|
||||
# debug_print(f"🧪 粘稠/固体物质，调整冲洗参数：{final_rinsing_repeats}次，{final_rinsing_volume}mL")
|
||||
|
||||
try:
|
||||
pump_action_sequence = generate_pump_protocol(
|
||||
G, from_vessel, to_vessel, final_volume,
|
||||
flowrate, transfer_flowrate
|
||||
)
|
||||
if not pump_action_sequence:
|
||||
debug_print("❌ 基础转移协议生成为空，可能是路径问题")
|
||||
debug_print(f" - 源容器存在: {from_vessel in G.nodes()}")
|
||||
debug_print(f" - 目标容器存在: {to_vessel in G.nodes()}")
|
||||
|
||||
# 为每个动作添加唯一标识
|
||||
# for i, action in enumerate(pump_action_sequence):
|
||||
# if isinstance(action, dict):
|
||||
# action['_protocol_id'] = protocol_id
|
||||
# action['_action_sequence'] = i
|
||||
# elif isinstance(action, list):
|
||||
# for j, sub_action in enumerate(action):
|
||||
# if isinstance(sub_action, dict):
|
||||
# sub_action['_protocol_id'] = protocol_id
|
||||
# sub_action['_action_sequence'] = f"{i}_{j}"
|
||||
#
|
||||
# debug_print(f"📊 协议 {protocol_id} 生成完成，共 {len(pump_action_sequence)} 个动作")
|
||||
debug_print(f"🔓 释放执行锁")
|
||||
return pump_action_sequence
|
||||
if from_vessel in G.nodes() and to_vessel in G.nodes():
|
||||
try:
|
||||
path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
||||
debug_print(f" - 路径存在: {path}")
|
||||
except Exception as path_error:
|
||||
debug_print(f" - 无法找到路径: {str(path_error)}")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"❌ 协议生成失败: {str(e)}")
|
||||
return [
|
||||
{
|
||||
"device_id": "system",
|
||||
"action_name": "log_message",
|
||||
"action_kwargs": {
|
||||
"message": f"❌ 协议生成失败: {str(e)}"
|
||||
},
|
||||
'_protocol_id': protocol_id,
|
||||
'_action_sequence': 0
|
||||
"message": f"⚠️ 路径问题，无法转移: {final_volume}mL 从 {from_vessel} 到 {to_vessel}"
|
||||
}
|
||||
}
|
||||
]
|
||||
|
||||
debug_print(f"✅ 基础转移生成了 {len(pump_action_sequence)} 个动作")
|
||||
|
||||
# 打印前几个动作用于调试
|
||||
if len(pump_action_sequence) > 0:
|
||||
debug_print("🔍 前几个动作预览:")
|
||||
for i, action in enumerate(pump_action_sequence[:3]):
|
||||
debug_print(f" 动作 {i+1}: {action}")
|
||||
if len(pump_action_sequence) > 3:
|
||||
debug_print(f" ... 还有 {len(pump_action_sequence) - 3} 个动作")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 基础转移失败: {str(e)}")
|
||||
import traceback
|
||||
debug_print(f"详细错误: {traceback.format_exc()}")
|
||||
return [
|
||||
{
|
||||
"device_id": "system",
|
||||
"action_name": "log_message",
|
||||
"action_kwargs": {
|
||||
"message": f"❌ 转移失败: {final_volume}mL 从 {from_vessel} 到 {to_vessel}, 错误: {str(e)}"
|
||||
}
|
||||
}
|
||||
]
|
||||
|
||||
# ========== 执行冲洗操作 ==========
|
||||
|
||||
# debug_print("🔧 步骤8: 检查冲洗操作...")
|
||||
|
||||
# if final_rinsing_solvent and final_rinsing_solvent.strip() and final_rinsing_repeats > 0:
|
||||
# debug_print(f"🧽 开始冲洗操作，溶剂: '{final_rinsing_solvent}'")
|
||||
|
||||
# try:
|
||||
# if final_rinsing_solvent.strip() != "air":
|
||||
# debug_print(" - 执行液体冲洗...")
|
||||
# rinsing_actions = _generate_rinsing_sequence(
|
||||
# G, from_vessel, to_vessel, final_rinsing_solvent,
|
||||
# final_rinsing_volume, final_rinsing_repeats,
|
||||
# final_flowrate, final_transfer_flowrate
|
||||
# )
|
||||
# pump_action_sequence.extend(rinsing_actions)
|
||||
# debug_print(f" - 添加了 {len(rinsing_actions)} 个冲洗动作")
|
||||
# else:
|
||||
# debug_print(" - 执行空气冲洗...")
|
||||
# air_rinsing_actions = _generate_air_rinsing_sequence(
|
||||
# G, from_vessel, to_vessel, final_rinsing_volume, final_rinsing_repeats,
|
||||
# final_flowrate, final_transfer_flowrate
|
||||
# )
|
||||
# pump_action_sequence.extend(air_rinsing_actions)
|
||||
# debug_print(f" - 添加了 {len(air_rinsing_actions)} 个空气冲洗动作")
|
||||
# except Exception as e:
|
||||
# debug_print(f"⚠️ 冲洗操作失败: {str(e)}，跳过冲洗")
|
||||
# else:
|
||||
# debug_print(f"⏭️ 跳过冲洗操作")
|
||||
# debug_print(f" - 溶剂: '{final_rinsing_solvent}'")
|
||||
# debug_print(f" - 次数: {final_rinsing_repeats}")
|
||||
# debug_print(f" - 条件满足: {bool(final_rinsing_solvent and final_rinsing_solvent.strip() and final_rinsing_repeats > 0)}")
|
||||
|
||||
# ========== 最终结果 ==========
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"🎉 PUMP_TRANSFER: 协议生成完成")
|
||||
debug_print(f" 📊 总动作数: {len(pump_action_sequence)}")
|
||||
debug_print(f" 📋 最终体积: {final_volume}mL")
|
||||
debug_print(f" 🚀 执行路径: {from_vessel} -> {to_vessel}")
|
||||
|
||||
# 最终验证
|
||||
if len(pump_action_sequence) == 0:
|
||||
debug_print("🚨 协议生成结果为空！这是异常情况")
|
||||
return [
|
||||
{
|
||||
"device_id": "system",
|
||||
"action_name": "log_message",
|
||||
"action_kwargs": {
|
||||
"message": f"🚨 协议生成失败: 无法生成任何动作序列"
|
||||
}
|
||||
}
|
||||
]
|
||||
|
||||
debug_print("=" * 60)
|
||||
return pump_action_sequence
|
||||
|
||||
|
||||
async def generate_pump_protocol_with_rinsing_async(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float = 0.0,
|
||||
amount: str = "",
|
||||
time: float = 0.0,
|
||||
viscous: bool = False,
|
||||
rinsing_solvent: str = "",
|
||||
rinsing_volume: float = 0.0,
|
||||
rinsing_repeats: int = 0,
|
||||
solid: bool = False,
|
||||
flowrate: float = 2.5,
|
||||
transfer_flowrate: float = 0.5,
|
||||
rate_spec: str = "",
|
||||
event: str = "",
|
||||
through: str = "",
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
异步版本的泵转移协议生成器，避免并发问题
|
||||
"""
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"PUMP_TRANSFER: 🚀 开始生成协议 (异步版本)")
|
||||
debug_print(f" 📍 路径: {from_vessel} -> {to_vessel}")
|
||||
debug_print(f" 🕐 时间戳: {time_module.time()}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 添加唯一标识符
|
||||
protocol_id = f"pump_transfer_{int(time_module.time() * 1000000)}"
|
||||
debug_print(f"📋 协议ID: {protocol_id}")
|
||||
|
||||
# 调用原有的同步版本
|
||||
result = generate_pump_protocol_with_rinsing(
|
||||
G, from_vessel, to_vessel, volume, amount, time, viscous,
|
||||
rinsing_solvent, rinsing_volume, rinsing_repeats, solid,
|
||||
flowrate, transfer_flowrate, rate_spec, event, through, **kwargs
|
||||
)
|
||||
|
||||
# 为每个动作添加唯一标识
|
||||
for i, action in enumerate(result):
|
||||
if isinstance(action, dict):
|
||||
action['_protocol_id'] = protocol_id
|
||||
action['_action_sequence'] = i
|
||||
action['_timestamp'] = time_module.time()
|
||||
|
||||
debug_print(f"📊 协议 {protocol_id} 生成完成，共 {len(result)} 个动作")
|
||||
return result
|
||||
|
||||
# 保持原有的同步版本兼容性
|
||||
def generate_pump_protocol_with_rinsing(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float = 0.0,
|
||||
amount: str = "",
|
||||
time: float = 0.0,
|
||||
viscous: bool = False,
|
||||
rinsing_solvent: str = "",
|
||||
rinsing_volume: float = 0.0,
|
||||
rinsing_repeats: int = 0,
|
||||
solid: bool = False,
|
||||
flowrate: float = 2.5,
|
||||
transfer_flowrate: float = 0.5,
|
||||
rate_spec: str = "",
|
||||
event: str = "",
|
||||
through: str = "",
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
原有的同步版本，添加防冲突机制
|
||||
"""
|
||||
|
||||
# 添加执行锁，防止并发调用
|
||||
import threading
|
||||
if not hasattr(generate_pump_protocol_with_rinsing, '_lock'):
|
||||
generate_pump_protocol_with_rinsing._lock = threading.Lock()
|
||||
|
||||
with generate_pump_protocol_with_rinsing._lock:
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"PUMP_TRANSFER: 🚀 开始生成协议 (同步版本)")
|
||||
debug_print(f" 📍 路径: {from_vessel} -> {to_vessel}")
|
||||
debug_print(f" 🕐 时间戳: {time_module.time()}")
|
||||
debug_print(f" 🔒 获得执行锁")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 短暂延迟，避免快速重复调用
|
||||
time_module.sleep(0.01)
|
||||
|
||||
debug_print("🔍 步骤1: 开始体积处理...")
|
||||
|
||||
# 1. 处理体积参数
|
||||
final_volume = volume
|
||||
debug_print(f"📋 初始设置: final_volume = {final_volume}")
|
||||
|
||||
# 🔧 修复：如果volume为0（ROS2传入的空值），从容器读取实际体积
|
||||
if volume == 0.0:
|
||||
debug_print("🎯 检测到 volume=0.0，开始自动体积检测...")
|
||||
|
||||
# 直接从源容器读取实际体积
|
||||
actual_volume = get_vessel_liquid_volume(G, from_vessel)
|
||||
debug_print(f"📖 从容器 '{from_vessel}' 读取到体积: {actual_volume}mL")
|
||||
|
||||
if actual_volume > 0:
|
||||
final_volume = actual_volume
|
||||
debug_print(f"✅ 成功设置体积为: {final_volume}mL")
|
||||
else:
|
||||
final_volume = 10.0 # 如果读取失败，使用默认值
|
||||
logger.warning(f"⚠️ 无法从容器读取体积，使用默认值: {final_volume}mL")
|
||||
else:
|
||||
debug_print(f"📌 体积非零，直接使用: {final_volume}mL")
|
||||
|
||||
# 处理 amount 参数
|
||||
if amount and amount.strip():
|
||||
debug_print(f"🔍 检测到 amount 参数: '{amount}'，开始解析...")
|
||||
parsed_volume = _parse_amount_to_volume(amount)
|
||||
debug_print(f"📖 从 amount 解析得到体积: {parsed_volume}mL")
|
||||
|
||||
if parsed_volume > 0:
|
||||
final_volume = parsed_volume
|
||||
debug_print(f"✅ 使用从 amount 解析的体积: {final_volume}mL")
|
||||
elif parsed_volume == 0.0 and amount.lower().strip() == "all":
|
||||
debug_print("🎯 检测到 amount='all'，从容器读取全部体积...")
|
||||
actual_volume = get_vessel_liquid_volume(G, from_vessel)
|
||||
if actual_volume > 0:
|
||||
final_volume = actual_volume
|
||||
debug_print(f"✅ amount='all'，设置体积为: {final_volume}mL")
|
||||
|
||||
# 最终体积验证
|
||||
debug_print(f"🔍 步骤2: 最终体积验证...")
|
||||
if final_volume <= 0:
|
||||
logger.error(f"❌ 体积无效: {final_volume}mL")
|
||||
final_volume = 10.0
|
||||
logger.warning(f"⚠️ 强制设置为默认值: {final_volume}mL")
|
||||
|
||||
debug_print(f"✅ 最终确定体积: {final_volume}mL")
|
||||
|
||||
# 2. 处理流速参数
|
||||
debug_print(f"🔍 步骤3: 处理流速参数...")
|
||||
debug_print(f" - 原始 flowrate: {flowrate}")
|
||||
debug_print(f" - 原始 transfer_flowrate: {transfer_flowrate}")
|
||||
|
||||
final_flowrate = flowrate if flowrate > 0 else 2.5
|
||||
final_transfer_flowrate = transfer_flowrate if transfer_flowrate > 0 else 0.5
|
||||
|
||||
if flowrate <= 0:
|
||||
logger.warning(f"⚠️ flowrate <= 0，修正为: {final_flowrate}mL/s")
|
||||
if transfer_flowrate <= 0:
|
||||
logger.warning(f"⚠️ transfer_flowrate <= 0，修正为: {final_transfer_flowrate}mL/s")
|
||||
|
||||
debug_print(f"✅ 修正后流速: flowrate={final_flowrate}mL/s, transfer_flowrate={final_transfer_flowrate}mL/s")
|
||||
|
||||
# 3. 根据时间计算流速
|
||||
if time > 0 and final_volume > 0:
|
||||
debug_print(f"🔍 步骤4: 根据时间计算流速...")
|
||||
calculated_flowrate = final_volume / time
|
||||
debug_print(f" - 计算得到流速: {calculated_flowrate}mL/s")
|
||||
|
||||
if flowrate <= 0 or flowrate == 2.5:
|
||||
final_flowrate = min(calculated_flowrate, 10.0)
|
||||
debug_print(f" - 调整 flowrate 为: {final_flowrate}mL/s")
|
||||
if transfer_flowrate <= 0 or transfer_flowrate == 0.5:
|
||||
final_transfer_flowrate = min(calculated_flowrate, 5.0)
|
||||
debug_print(f" - 调整 transfer_flowrate 为: {final_transfer_flowrate}mL/s")
|
||||
|
||||
# 4. 根据速度规格调整
|
||||
if rate_spec:
|
||||
debug_print(f"🔍 步骤5: 根据速度规格调整...")
|
||||
debug_print(f" - 速度规格: '{rate_spec}'")
|
||||
|
||||
if rate_spec == "dropwise":
|
||||
final_flowrate = min(final_flowrate, 0.1)
|
||||
final_transfer_flowrate = min(final_transfer_flowrate, 0.1)
|
||||
debug_print(f" - dropwise模式，流速调整为: {final_flowrate}mL/s")
|
||||
elif rate_spec == "slowly":
|
||||
final_flowrate = min(final_flowrate, 0.5)
|
||||
final_transfer_flowrate = min(final_transfer_flowrate, 0.3)
|
||||
debug_print(f" - slowly模式，流速调整为: {final_flowrate}mL/s")
|
||||
elif rate_spec == "quickly":
|
||||
final_flowrate = max(final_flowrate, 5.0)
|
||||
final_transfer_flowrate = max(final_transfer_flowrate, 2.0)
|
||||
debug_print(f" - quickly模式，流速调整为: {final_flowrate}mL/s")
|
||||
|
||||
# # 5. 处理冲洗参数
|
||||
# debug_print(f"🔍 步骤6: 处理冲洗参数...")
|
||||
# final_rinsing_solvent = rinsing_solvent
|
||||
# final_rinsing_volume = rinsing_volume if rinsing_volume > 0 else 5.0
|
||||
# final_rinsing_repeats = rinsing_repeats if rinsing_repeats > 0 else 2
|
||||
|
||||
# if rinsing_volume <= 0:
|
||||
# logger.warning(f"⚠️ rinsing_volume <= 0，修正为: {final_rinsing_volume}mL")
|
||||
# if rinsing_repeats <= 0:
|
||||
# logger.warning(f"⚠️ rinsing_repeats <= 0，修正为: {final_rinsing_repeats}次")
|
||||
|
||||
# # 根据物理属性调整冲洗参数
|
||||
# if viscous or solid:
|
||||
# final_rinsing_repeats = max(final_rinsing_repeats, 3)
|
||||
# final_rinsing_volume = max(final_rinsing_volume, 10.0)
|
||||
# debug_print(f"🧪 粘稠/固体物质，调整冲洗参数：{final_rinsing_repeats}次，{final_rinsing_volume}mL")
|
||||
|
||||
try:
|
||||
pump_action_sequence = generate_pump_protocol(
|
||||
G, from_vessel, to_vessel, final_volume,
|
||||
flowrate, transfer_flowrate
|
||||
)
|
||||
|
||||
# 为每个动作添加唯一标识
|
||||
# for i, action in enumerate(pump_action_sequence):
|
||||
# if isinstance(action, dict):
|
||||
# action['_protocol_id'] = protocol_id
|
||||
# action['_action_sequence'] = i
|
||||
# elif isinstance(action, list):
|
||||
# for j, sub_action in enumerate(action):
|
||||
# if isinstance(sub_action, dict):
|
||||
# sub_action['_protocol_id'] = protocol_id
|
||||
# sub_action['_action_sequence'] = f"{i}_{j}"
|
||||
#
|
||||
# debug_print(f"📊 协议 {protocol_id} 生成完成，共 {len(pump_action_sequence)} 个动作")
|
||||
debug_print(f"🔓 释放执行锁")
|
||||
return pump_action_sequence
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"❌ 协议生成失败: {str(e)}")
|
||||
return [
|
||||
{
|
||||
"device_id": "system",
|
||||
"action_name": "log_message",
|
||||
"action_kwargs": {
|
||||
"message": f"❌ 协议生成失败: {str(e)}"
|
||||
}
|
||||
}
|
||||
]
|
||||
|
||||
def _parse_amount_to_volume(amount: str) -> float:
|
||||
"""解析 amount 字符串为体积"""
|
||||
|
||||
Reference in New Issue
Block a user