bump version to 0.9.7 新增一个测试PumpTransferProtocol的teststation，亲测可以运行，将八通阀们和转移泵与pump_protocol适配

unilabos/devices/virtual/virtual_transferpump.py

@@ -11,23 +11,39 @@ class VirtualPumpMode(Enum):
     AccuratePosVel = 2
 
 
-class VirtualPump:
-    """虚拟泵类 - 模拟泵的基本功能，无需实际硬件"""
+class VirtualTransferPump:
+    """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件"""
     
-    def __init__(self, device_id: str = None, max_volume: float = 25.0, mode: VirtualPumpMode = VirtualPumpMode.Normal, transfer_rate=0):
-        self.device_id = device_id or "virtual_pump"
-        self.max_volume = max_volume
-        self._transfer_rate = transfer_rate
-        self.mode = mode
+    def __init__(self, device_id: str = None, config: dict = None, **kwargs):
+        """
+        初始化虚拟转移泵
         
-        # 状态变量
+        Args:
+            device_id: 设备ID
+            config: 配置字典，包含max_volume, port等参数
+            **kwargs: 其他参数，确保兼容性
+        """
+        self.device_id = device_id or "virtual_transfer_pump"
+        
+        # 从config或kwargs中获取参数，确保类型正确
+        if config:
+            self.max_volume = float(config.get('max_volume', 25.0))
+            self.port = config.get('port', 'VIRTUAL')
+        else:
+            self.max_volume = float(kwargs.get('max_volume', 25.0))
+            self.port = kwargs.get('port', 'VIRTUAL')
+        
+        self._transfer_rate = float(kwargs.get('transfer_rate', 0))
+        self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
+        
+        # 状态变量 - 确保都是正确类型
         self._status = "Idle"
-        self._position = 0.0  # 当前柱塞位置 (ml)
-        self._max_velocity = 5.0  # 默认最大速度 (ml/s)
-        self._current_volume = 0.0  # 当前注射器中的体积
+        self._position = 0.0  # float
+        self._max_velocity = 5.0  # float 
+        self._current_volume = 0.0  # float
 
-        self.logger = logging.getLogger(f"VirtualPump.{self.device_id}")
-        
+        self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
+    
     async def initialize(self) -> bool:
         """初始化虚拟泵"""
         self.logger.info(f"Initializing virtual pump {self.device_id}")
@@ -86,30 +102,73 @@ class VirtualPump:
             velocity = self._max_velocity
         return abs(volume) / velocity
     
-    # 基本泵操作
-    async def set_position(self, position: float, velocity: float = None):
+    # 新的set_position方法 - 专门用于SetPumpPosition动作
+    async def set_position(self, position: float, max_velocity: float = None):
         """
-        移动到绝对位置
+        移动到绝对位置 - 专门用于SetPumpPosition动作
         
         Args:
             position (float): 目标位置 (ml)
-            velocity (float): 移动速度 (ml/s)
+            max_velocity (float): 移动速度 (ml/s)
+        
+        Returns:
+            dict: 符合SetPumpPosition.action定义的结果
         """
-        position = max(0, min(self.max_volume, position))  # 限制在有效范围内
+        try:
+            # 验证并转换参数
+            target_position = float(position)
+            velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
+            
+            # 限制位置在有效范围内
+            target_position = max(0.0, min(float(self.max_volume), target_position))
+            
+            # 计算移动距离和时间
+            volume_to_move = abs(target_position - self._position)
+            duration = self._calculate_duration(volume_to_move, velocity)
+            
+            self.logger.info(f"SET_POSITION: Moving to {target_position} ml (current: {self._position} ml), velocity: {velocity} ml/s")
+            
+            # 模拟移动过程
+            start_position = self._position
+            steps = 10 if duration > 0.1 else 1  # 如果移动距离很小，只用1步
+            step_duration = duration / steps if steps > 1 else duration
+            
+            for i in range(steps + 1):
+                # 计算当前位置和进度
+                progress = (i / steps) * 100 if steps > 0 else 100
+                current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
+                
+                # 更新状态
+                self._status = "Moving" if i < steps else "Idle"
+                self._position = current_pos
+                self._current_volume = current_pos
+                
+                # 等待一小步时间
+                if i < steps and step_duration > 0:
+                    await asyncio.sleep(step_duration)
         
-        volume_to_move = abs(position - self._position)
-        duration = self._calculate_duration(volume_to_move, velocity)
-        
-        self.logger.info(f"Moving to position {position} ml (current: {self._position} ml)")
-        
-        # 模拟移动过程
-        await self._simulate_operation(duration)
-        
-        self._position = position
-        self._current_volume = position  # 假设位置等于体积
-        
-        self.logger.info(f"Reached position {self._position} ml")
+            # 确保最终位置准确
+            self._position = target_position
+            self._current_volume = target_position
+            self._status = "Idle"
+            
+            self.logger.info(f"SET_POSITION: Reached position {self._position} ml, current volume: {self._current_volume} ml")
+            
+            # 返回符合action定义的结果
+            return {
+                "success": True,
+                "message": f"Successfully moved to position {self._position} ml"
+            }
+            
+        except Exception as e:
+            error_msg = f"Failed to set position: {str(e)}"
+            self.logger.error(error_msg)
+            return {
+                "success": False,
+                "message": error_msg
+            }
     
+    # 其他泵操作方法
     async def pull_plunger(self, volume: float, velocity: float = None):
         """
         拉取柱塞（吸液）
@@ -135,7 +194,7 @@ class VirtualPump:
         self._current_volume = new_position
         
         self.logger.info(f"Pulled {actual_volume} ml, current volume: {self._current_volume} ml")
-    
+
     async def push_plunger(self, volume: float, velocity: float = None):
         """
         推出柱塞（排液）
@@ -161,37 +220,18 @@ class VirtualPump:
         self._current_volume = new_position
         
         self.logger.info(f"Pushed {actual_volume} ml, current volume: {self._current_volume} ml")
-    
+
     # 便捷操作方法
     async def aspirate(self, volume: float, velocity: float = None):
-        """
-        吸液操作
-        
-        Args:
-            volume (float): 吸液体积 (ml)
-            velocity (float): 吸液速度 (ml/s)
-        """
+        """吸液操作"""
         await self.pull_plunger(volume, velocity)
     
     async def dispense(self, volume: float, velocity: float = None):
-        """
-        排液操作
-        
-        Args:
-            volume (float): 排液体积 (ml)
-            velocity (float): 排液速度 (ml/s)
-        """
+        """排液操作"""
         await self.push_plunger(volume, velocity)
     
     async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
-        """
-        转移操作（先吸后排）
-        
-        Args:
-            volume (float): 转移体积 (ml)
-            aspirate_velocity (float): 吸液速度 (ml/s)
-            dispense_velocity (float): 排液速度 (ml/s)
-        """
+        """转移操作（先吸后排）"""
         # 吸液
         await self.aspirate(volume, aspirate_velocity)
         
@@ -252,7 +292,7 @@ class VirtualPump:
         }
     
     def __str__(self):
-        return f"VirtualPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
+        return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
     
     def __repr__(self):
         return self.__str__()
@@ -261,30 +301,28 @@ class VirtualPump:
 # 使用示例
 async def demo():
     """虚拟泵使用示例"""
-    pump = VirtualPump("demo_pump", max_volume=50.0)
+    pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
     
     await pump.initialize()
     
     print(f"Initial state: {pump}")
     
+    # 测试set_position方法
+    result = await pump.set_position(10.0, max_velocity=2.0)
+    print(f"Set position result: {result}")
+    print(f"After setting position to 10ml: {pump}")
+    
     # 吸液测试
-    await pump.aspirate(10.0, velocity=2.0)
-    print(f"After aspirating 10ml: {pump}")
-    
-    # 排液测试
-    await pump.dispense(5.0, velocity=3.0)
-    print(f"After dispensing 5ml: {pump}")
-    
-    # 转移测试
-    await pump.transfer(3.0)
-    print(f"After transfer 3ml: {pump}")
+    await pump.aspirate(5.0, velocity=2.0)
+    print(f"After aspirating 5ml: {pump}")
     
     # 清空测试
-    await pump.empty_syringe()
+    result = await pump.set_position(0.0)
+    print(f"Empty result: {result}")
     print(f"After emptying: {pump}")
     
     print("\nPump info:", pump.get_pump_info())
 
 
 if __name__ == "__main__":
-    asyncio.run(demo())
+    asyncio.run(demo())