From f476b4098324633d106d9b26645e30d16260a82e Mon Sep 17 00:00:00 2001 From: wznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 23 Apr 2025 15:04:08 +0800 Subject: [PATCH] fix: unit conversion feat: better attr publisher log --- unilabos/compile/clean_protocol.py | 4 ++-- unilabos/compile/evaporate_protocol.py | 4 ++-- unilabos/compile/pump_protocol.py | 16 +++++++------- unilabos/compile/separate_protocol.py | 26 +++++++++++------------ unilabos/ros/nodes/base_device_node.py | 12 ++++++++--- unilabos/ros/nodes/presets/serial_node.py | 10 ++++----- 6 files changed, 39 insertions(+), 33 deletions(-) diff --git a/unilabos/compile/clean_protocol.py b/unilabos/compile/clean_protocol.py index b2ab1414..655ce217 100644 --- a/unilabos/compile/clean_protocol.py +++ b/unilabos/compile/clean_protocol.py @@ -6,7 +6,7 @@ def generate_clean_protocol( G: nx.DiGraph, vessel: str, # Vessel to clean. solvent: str, # Solvent to clean vessel with. - volume: float = 25000.0, # Optional. Volume of solvent to clean vessel with. + volume: float = 25.0, # Optional. Volume of solvent to clean vessel with. temp: float = 25, # Optional. Temperature to heat vessel to while cleaning. repeats: int = 1, # Optional. Number of cleaning cycles to perform. ) -> list[dict]: @@ -27,7 +27,7 @@ def generate_clean_protocol( from_vessel = f"flask_{solvent}" waste_vessel = f"waste_workup" - transfer_flowrate = flowrate = 2500.0 + transfer_flowrate = flowrate = 2.5 # 生成泵操作的动作序列 for i in range(repeats): diff --git a/unilabos/compile/evaporate_protocol.py b/unilabos/compile/evaporate_protocol.py index 8c729666..15af5e11 100644 --- a/unilabos/compile/evaporate_protocol.py +++ b/unilabos/compile/evaporate_protocol.py @@ -24,8 +24,8 @@ def generate_evaporate_protocol( # 生成泵操作的动作序列 pump_action_sequence = [] - reactor_volume = 500000.0 - transfer_flowrate = flowrate = 2500.0 + reactor_volume = 500.0 + transfer_flowrate = flowrate = 2.5 # 开启冷凝器 pump_action_sequence.append({ diff --git a/unilabos/compile/pump_protocol.py b/unilabos/compile/pump_protocol.py index 9b4c2884..60670286 100644 --- a/unilabos/compile/pump_protocol.py +++ b/unilabos/compile/pump_protocol.py @@ -7,7 +7,7 @@ def generate_pump_protocol( from_vessel: str, to_vessel: str, volume: float, - flowrate: float = 500.0, + flowrate: float = 0.5, transfer_flowrate: float = 0, ) -> list[dict]: """ @@ -141,11 +141,11 @@ def generate_pump_protocol_with_rinsing( time: float = 0, viscous: bool = False, rinsing_solvent: str = "air", - rinsing_volume: float = 5000.0, + rinsing_volume: float = 5.0, rinsing_repeats: int = 2, solid: bool = False, - flowrate: float = 2500.0, - transfer_flowrate: float = 500.0, + flowrate: float = 2.5, + transfer_flowrate: float = 0.5, ) -> list[dict]: """ Generates a pump protocol for transferring a specified volume between vessels, including rinsing steps with a chosen solvent. This function constructs a sequence of pump actions based on the provided parameters and the shortest path in a directed graph. @@ -159,11 +159,11 @@ def generate_pump_protocol_with_rinsing( time (float, optional): Time over which to perform the transfer (default is 0). viscous (bool, optional): Indicates if the fluid is viscous (default is False). rinsing_solvent (str, optional): The solvent to use for rinsing (default is "air"). - rinsing_volume (float, optional): The volume of rinsing solvent to use (default is 5000.0). + rinsing_volume (float, optional): The volume of rinsing solvent to use (default is 5.0). rinsing_repeats (int, optional): The number of times to repeat rinsing (default is 2). solid (bool, optional): Indicates if the transfer involves a solid (default is False). - flowrate (float, optional): The flow rate for the transfer (default is 2500.0). 最终注入容器B时的流速 - transfer_flowrate (float, optional): The flow rate for the transfer action (default is 500.0). 泵骨架中转移流速（若不指定，默认与注入流速相同） + flowrate (float, optional): The flow rate for the transfer (default is 2.5). 最终注入容器B时的流速 + transfer_flowrate (float, optional): The flow rate for the transfer action (default is 0.5). 泵骨架中转移流速（若不指定，默认与注入流速相同） Returns: list[dict]: A sequence of pump actions to be executed for the transfer and rinsing process. 泵操作的动作序列. @@ -172,7 +172,7 @@ def generate_pump_protocol_with_rinsing( AssertionError: If the number of rinsing solvents does not match the number of rinsing repeats. Examples: - pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 100.0, rinsing_solvent="water") + pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 0.1, rinsing_solvent="water") """ air_vessel = "flask_air" waste_vessel = f"waste_workup" diff --git a/unilabos/compile/separate_protocol.py b/unilabos/compile/separate_protocol.py index 0ba0d1c8..cbb028cb 100644 --- a/unilabos/compile/separate_protocol.py +++ b/unilabos/compile/separate_protocol.py @@ -11,7 +11,7 @@ def generate_separate_protocol( to_vessel: str, # Vessel to send product phase to. waste_phase_to_vessel: str, # Optional. Vessel to send waste phase to. solvent: str, # Optional. Solvent to add to separation vessel after contents of from_vessel has been transferred to create two phases. - solvent_volume: float = 50000, # Optional. Volume of solvent to add. + solvent_volume: float = 50, # Optional. Volume of solvent to add (mL). through: str = "", # Optional. Solid chemical to send product phase through on way to to_vessel, e.g. 'celite'. repeats: int = 1, # Optional. Number of separations to perform. stir_time: float = 30, # Optional. Time stir for after adding solvent, before separation of phases. @@ -32,7 +32,7 @@ def generate_separate_protocol( # 生成泵操作的动作序列 pump_action_sequence = [] - reactor_volume = 500000.0 + reactor_volume = 500.0 waste_vessel = waste_phase_to_vessel # TODO：通过物料管理系统找到溶剂的容器 @@ -46,7 +46,7 @@ def generate_separate_protocol( separator_controller = f"{separation_vessel}_controller" separation_vessel_bottom = f"flask_{separation_vessel}" - transfer_flowrate = flowrate = 2500.0 + transfer_flowrate = flowrate = 2.5 if from_vessel != separation_vessel: pump_action_sequence.append( @@ -140,8 +140,8 @@ def generate_separate_protocol( "action_kwargs": { "from_vessel": separation_vessel_bottom, "to_vessel": to_vessel, - "volume": 250000.0, - "time": 250000.0 / flowrate, + "volume": 250.0, + "time": 250.0 / flowrate, # "transfer_flowrate": transfer_flowrate, } } @@ -164,8 +164,8 @@ def generate_separate_protocol( "action_kwargs": { "from_vessel": separation_vessel_bottom, "to_vessel": waste_vessel, - "volume": 250000.0, - "time": 250000.0 / flowrate, + "volume": 250.0, + "time": 250.0 / flowrate, # "transfer_flowrate": transfer_flowrate, } } @@ -179,8 +179,8 @@ def generate_separate_protocol( "action_kwargs": { "from_vessel": separation_vessel_bottom, "to_vessel": waste_vessel, - "volume": 250000.0, - "time": 250000.0 / flowrate, + "volume": 250.0, + "time": 250.0 / flowrate, # "transfer_flowrate": transfer_flowrate, } } @@ -203,8 +203,8 @@ def generate_separate_protocol( "action_kwargs": { "from_vessel": separation_vessel_bottom, "to_vessel": to_vessel, - "volume": 250000.0, - "time": 250000.0 / flowrate, + "volume": 250.0, + "time": 250.0 / flowrate, # "transfer_flowrate": transfer_flowrate, } } @@ -221,8 +221,8 @@ def generate_separate_protocol( "action_kwargs": { "from_vessel": to_vessel, "to_vessel": separation_vessel, - "volume": 250000.0, - "time": 250000.0 / flowrate, + "volume": 250.0, + "time": 250.0 / flowrate, # "transfer_flowrate": transfer_flowrate, } } diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index de2c5e15..0ff03a68 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -342,9 +342,15 @@ class BaseROS2DeviceNode(Node, Generic[T]): else: return getattr(self.driver_instance, attr_name) except AttributeError as ex: - self.lab_logger().error( - f"publish error, {str(type(self.driver_instance))[8:-2]} has no attribute '{attr_name}'" - ) + if ex.args[0].startswith(f"AttributeError: '{self.driver_instance.__class__.__name__}' object"): + self.lab_logger().error( + f"publish error, {str(type(self.driver_instance))[8:-2]} has no attribute '{attr_name}'" + ) + else: + self.lab_logger().error( + f"publish error, when {str(type(self.driver_instance))[8:-2]} getting attribute '{attr_name}'" + ) + self.lab_logger().error(traceback.format_exc()) self._property_publishers[attr_name] = PropertyPublisher( self, attr_name, get_device_attr, msg_type, initial_period, self._print_publish diff --git a/unilabos/ros/nodes/presets/serial_node.py b/unilabos/ros/nodes/presets/serial_node.py index ac9cd59e..545682bd 100644 --- a/unilabos/ros/nodes/presets/serial_node.py +++ b/unilabos/ros/nodes/presets/serial_node.py @@ -47,7 +47,7 @@ class ROS2SerialNode(BaseROS2DeviceNode): self.lab_logger().info(f"【ROS2SerialNode.__init__】创建串口写入服务: serialwrite") def send_command(self, command: str): - self.lab_logger().info(f"【ROS2SerialNode.send_command】发送命令: {command}") + # self.lab_logger().debug(f"【ROS2SerialNode.send_command】发送命令: {command}") with self._query_lock: if self._closing: self.lab_logger().error(f"【ROS2SerialNode.send_command】设备正在关闭，无法发送命令") @@ -59,23 +59,23 @@ class ROS2SerialNode(BaseROS2DeviceNode): response = self.hardware_interface.write(full_command_data) # time.sleep(0.05) output = self._receive(self.hardware_interface.read_until(b"\n")) - self.lab_logger().info(f"【ROS2SerialNode.send_command】接收响应: {output}") + # self.lab_logger().debug(f"【ROS2SerialNode.send_command】接收响应: {output}") return output def read_data(self): - self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取数据") + # self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取数据") with self._query_lock: if self._closing: self.lab_logger().error(f"【ROS2SerialNode.read_data】设备正在关闭，无法读取数据") raise RuntimeError data = self.hardware_interface.read_until(b"\n") result = self._receive(data) - self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取到数据: {result}") + # self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取到数据: {result}") return result def _receive(self, data: bytes): ascii_string = "".join(chr(byte) for byte in data) - self.lab_logger().debug(f"【ROS2SerialNode._receive】接收数据: {ascii_string}") + # self.lab_logger().debug(f"【ROS2SerialNode._receive】接收数据: {ascii_string}") return ascii_string def handle_serial_request(self, request, response):