From f661049823c6165630b50b57699a070855389686 Mon Sep 17 00:00:00 2001 From: KCFeng425 <2100011801@stu.pku.edu.cn> Date: Thu, 5 Jun 2025 13:41:55 +0800 Subject: [PATCH] Add Device MockSeparator --- test/experiments/MockSeperator.json | 29 +++ .../Mock/MockSeparator/MockSeparator.py | 178 ++++++++++++++++++ .../devices/Mock/MockSeparator/__init__.py | 0 unilabos/registry/devices/MockSeparator.yaml | 61 ++++++ 4 files changed, 268 insertions(+) create mode 100644 test/experiments/MockSeperator.json create mode 100644 unilabos/devices/Mock/MockSeparator/MockSeparator.py create mode 100644 unilabos/devices/Mock/MockSeparator/__init__.py create mode 100644 unilabos/registry/devices/MockSeparator.yaml diff --git a/test/experiments/MockSeperator.json b/test/experiments/MockSeperator.json new file mode 100644 index 0000000..85a9cc6 --- /dev/null +++ b/test/experiments/MockSeperator.json @@ -0,0 +1,29 @@ +{ + "nodes": [ + { + "id": "MockSeparator1", + "name": "模拟分离器", + "children": [], + "parent": null, + "type": "device", + "class": "MockSeparator", + "position": { + "x": 620.6111111111111, + "y": 171, + "z": 0 + }, + "config": { + "port": "MOCK" + }, + "data": { + "status": "Idle", + "power_state": "Off", + "settling_time": 0.0, + "valve_state": "Closed", + "shake_time": 0.0, + "shake_status": "Not Shaking" + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/devices/Mock/MockSeparator/MockSeparator.py b/unilabos/devices/Mock/MockSeparator/MockSeparator.py new file mode 100644 index 0000000..6e55da9 --- /dev/null +++ b/unilabos/devices/Mock/MockSeparator/MockSeparator.py @@ -0,0 +1,178 @@ +import time +import threading + +class MockSeparator: + def __init__(self, port: str = "MOCK"): + self.port = port + + # 基本状态属性 + self._power_state: str = "Off" # 电源：On 或 Off + self._status: str = "Idle" # 当前总体状态 + self._valve_state: str = "Closed" # 阀门状态：Open 或 Closed + self._settling_time: float = 0.0 # 静置时间（秒） + + # 搅拌相关属性 + self._shake_time: float = 0.0 # 剩余摇摆时间（秒） + self._shake_status: str = "Not Shaking" # 摇摆状态 + + # 用于后台模拟 shake 动作 + self._operation_thread = None + self._thread_lock = threading.Lock() + + @property + def power_state(self) -> str: + return self._power_state + + @property + def valve_state(self) -> str: + return self._valve_state + + @property + def settling_time(self) -> float: + return self._settling_time + + @property + def status(self) -> str: + return self._status + + @property + def shake_time(self) -> float: + with self._thread_lock: + return self._shake_time + + @property + def shake_status(self) -> str: + with self._thread_lock: + return self._shake_status + + def power_control(self, power_state: str) -> str: + """ + 电源控制：只接受 "On" 或 "Off" + """ + if power_state not in ["On", "Off"]: + self._status = "Error: Invalid power state" + return "Error" + + self._power_state = power_state + if power_state == "On": + self._status = "Powered On" + else: + self._status = "Powered Off" + self.stop_operations() + return "Success" + + def shake(self, shake_time: float) -> str: + """ + 模拟 shake（搅拌）操作： + - 进入 "Shaking" 状态，倒计时 shake_time 秒 + - shake 结束后，进入 "Settling" 状态，静置时间固定为 5 秒 + - 最后恢复为 Idle + """ + try: + shake_time = float(shake_time) + except ValueError: + self._status = "Error: Invalid shake time" + return "Error" + + if self._power_state != "On": + self._status = "Error: Power Off" + return "Error" + + with self._thread_lock: + self._status = "Shaking" + self._settling_time = 0.0 + self._shake_time = shake_time + self._shake_status = "Shaking" + + def _run_shake(): + remaining = shake_time + while remaining > 0: + time.sleep(1) + remaining -= 1 + with self._thread_lock: + self._shake_time = remaining + with self._thread_lock: + self._status = "Settling" + self._settling_time = 60.0 # 固定静置时间为60秒 + self._shake_status = "Settling" + while True: + with self._thread_lock: + if self._settling_time <= 0: + self._status = "Idle" + self._shake_status = "Idle" + break + time.sleep(1) + with self._thread_lock: + self._settling_time = max(0.0, self._settling_time - 1) + + self._operation_thread = threading.Thread(target=_run_shake) + self._operation_thread.daemon = True + self._operation_thread.start() + return "Success" + + def set_valve(self, command: str) -> str: + """ + 阀门控制命令：传入 "open" 或 "close" + """ + if self._power_state != "On": + self._status = "Error: Power Off" + return "Error" + + command = command.lower() + if command == "open": + self._valve_state = "Open" + self._status = "Valve Opened" + elif command == "close": + self._valve_state = "Closed" + self._status = "Valve Closed" + else: + self._status = "Error: Invalid valve command" + return "Error" + return "Success" + + def stop_operations(self) -> str: + """ + 停止任何正在执行的操作 + """ + with self._thread_lock: + self._settling_time = 0.0 + self._status = "Idle" + self._shake_status = "Idle" + self._shake_time = 0.0 + return "Success" + + def get_status_info(self) -> dict: + """ + 获取当前设备状态信息 + """ + with self._thread_lock: + return { + "status": self._status, + "power_state": self._power_state, + "valve_state": self._valve_state, + "settling_time": self._settling_time, + "shake_time": self._shake_time, + "shake_status": self._shake_status + } + +# 主函数用于测试 +if __name__ == "__main__": + separator = MockSeparator() + + print("启动简单版分离器测试...") + print(separator.power_control("On")) + print("初始状态:", separator.get_status_info()) + + # 触发 shake 操作，模拟 10 秒的搅拌 + print("执行 shake 操作...") + print(separator.shake(10.0)) + + # 循环显示状态变化 + for i in range(20): + time.sleep(1) + info = separator.get_status_info() + print(f"第{i+1}秒: 状态={info['status']}, 静置时间={info['settling_time']:.1f}秒, 阀门状态={info['valve_state']}, shake_time={info['shake_time']:.1f}, shake_status={info['shake_status']}") + + # 模拟打开阀门 + print("打开阀门...", separator.set_valve("open")) + print("最终状态:", separator.get_status_info()) \ No newline at end of file diff --git a/unilabos/devices/Mock/MockSeparator/__init__.py b/unilabos/devices/Mock/MockSeparator/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/unilabos/registry/devices/MockSeparator.yaml b/unilabos/registry/devices/MockSeparator.yaml new file mode 100644 index 0000000..9c326e9 --- /dev/null +++ b/unilabos/registry/devices/MockSeparator.yaml @@ -0,0 +1,61 @@ +MockSeparator: + description: Simplified Mock Separator Device + class: + module: unilabos.devices.Mock.MockSeparator.MockSeparator:MockSeparator + type: python + status_types: + status: String + power_state: String + settling_time: Float64 + valve_state: String + shake_time: Float64 + shake_status: String + action_value_mappings: + shake: + type: SendCmd + goal: + command: shake_time + feedback: + status: status + result: + success: success + valve_open_cmd: + type: SendCmd + goal: + command: command + feedback: + status: status + result: + success: success + power_control: + type: SendCmd + goal: + command: power_state + feedback: {} + result: + success: success + schema: + type: object + properties: + status: + type: string + description: Current status of the separator + power_state: + type: string + description: Power state (On/Off) + settling_time: + type: number + description: Settling time in seconds + valve_state: + type: string + description: Valve state (Open/Closed) + shake_time: + type: number + description: Remaining shake time in seconds + shake_status: + type: string + description: Current shake state (e.g. Shaking, Settling, Idle) + required: + - status + - power_state + additionalProperties: false \ No newline at end of file