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

README.md

@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
 
 # Currently, you need to install the `unilabos_msgs` package
 # You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.6-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.7-xxxxx.tar.bz2
 
 # Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

README_zh.md

@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
 
 # 现阶段，需要安装 `unilabos_msgs` 包
 # 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.9.6-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.7-xxxxx.tar.bz2
 
 # 安装PyLabRobot等前置
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.9.6
+  version: 0.9.7
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.9.6"
+  version: "0.9.7"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.9.6',
+    version='0.9.7',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

test/experiments/mock_protocol/pumptransferteststation.json

@@ -0,0 +1,304 @@
+{
+    "nodes": [
+        {
+            "id": "SimpleProtocolStation",
+            "name": "简单协议工作站",
+            "children": [
+                "transfer_pump_1",
+                "multiway_valve_1",
+                "flask_DMF",
+                "flask_ethyl_acetate", 
+                "flask_methanol",
+                "main_reactor",
+                "waste_workup",
+                "collection_bottle_1",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["PumpTransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 500,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle",
+                "valve_position": "0"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "八通阀1",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 500,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "flask_DMF",
+            "name": "DMF试剂瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯试剂瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇试剂瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液处理瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump_valve",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump", 
+                "multiway_valve_1": "transferpump"  
+            }
+        },
+        {
+            "id": "link_valve_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve_DMF",
+            "source": "multiway_valve_1",
+            "target": "flask_DMF",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_DMF": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_reactor",
+            "source": "multiway_valve_1",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "main_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve_waste",
+            "source": "multiway_valve_1",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_valve_collection",
+            "source": "multiway_valve_1",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "7",
+                "collection_bottle_1": "inlet"
+            }
+        }
+    ]
+}

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -192,6 +192,16 @@ class VirtualMultiwayValve:
     def __str__(self):
         return f"VirtualMultiwayValve(Position: {self._current_position}/{self.max_positions}, Port: {self.get_current_port()}, Status: {self._status})"
 
+    def set_valve_position(self, command: Union[int, str]):
+        """
+        设置阀门位置 - 兼容pump_protocol调用
+        这是set_position的别名方法，用于兼容pump_protocol.py
+        
+        Args:
+            command: 目标位置 (0-8) 或位置字符串
+        """
+        return self.set_position(command)
+
 
 # 使用示例
 if __name__ == "__main__":

unilabos/devices/virtual/virtual_transferpump.py

@@ -11,23 +11,39 @@ class VirtualPumpMode(Enum):
     AccuratePosVel = 2
 
 
-class VirtualPump:
+class VirtualTransferPump:
-    """虚拟泵类 - 模拟泵的基本功能，无需实际硬件"""
+    """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):
+    def __init__(self, device_id: str = None, config: dict = None, **kwargs):
-        self.device_id = device_id or "virtual_pump"
+        """
-        self.max_volume = max_volume
+        初始化虚拟转移泵
-        self._transfer_rate = transfer_rate
-        self.mode = mode
         
-        # 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._position = 0.0  # float
-        self._max_velocity = 5.0  # 默认最大速度 (ml/s)
+        self._max_velocity = 5.0  # float 
-        self._current_volume = 0.0  # 当前注射器中的体积
+        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
+    # 新的set_position方法 - 专门用于SetPumpPosition动作
-    async def set_position(self, position: float, velocity: float = None):
+    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)
+            # 确保最终位置准确
-        duration = self._calculate_duration(volume_to_move, velocity)
+            self._position = target_position
-        
+            self._current_volume = target_position
-        self.logger.info(f"Moving to position {position} ml (current: {self._position} ml)")
+            self._status = "Idle"
-        
+            
-        # 模拟移动过程
+            self.logger.info(f"SET_POSITION: Reached position {self._position} ml, current volume: {self._current_volume} ml")
-        await self._simulate_operation(duration)
+            
-        
+            # 返回符合action定义的结果
-        self._position = position
+            return {
-        self._current_volume = position  # 假设位置等于体积
+                "success": True,
-        
+                "message": f"Successfully moved to position {self._position} ml"
-        self.logger.info(f"Reached 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"""
-        吸液操作
-        
-        Args:
-            volume (float): 吸液体积 (ml)
-            velocity (float): 吸液速度 (ml/s)
-        """
         await self.pull_plunger(volume, velocity)
     
     async def dispense(self, volume: float, velocity: float = None):
-        """
+        """排液操作"""
-        排液操作
-        
-        Args:
-            volume (float): 排液体积 (ml)
-            velocity (float): 排液速度 (ml/s)
-        """
         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）"""
-        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)
-        """
         # 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)
+    await pump.aspirate(5.0, velocity=2.0)
-    print(f"After aspirating 10ml: {pump}")
+    print(f"After aspirating 5ml: {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}")
     
     # 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())

unilabos/registry/devices/virtual_device.yaml

@@ -202,7 +202,14 @@ virtual_multiway_valve:
       set_position:
         type: SendCmd
         goal:
-          command: position
+          command: command
+        feedback: {}
+        result:
+          success: success
+      set_valve_position:
+        type: SendCmd
+        goal:
+          command: command
         feedback: {}
         result:
           success: success
@@ -559,13 +566,14 @@ virtual_transfer_pump:
   description: Virtual Transfer Pump for TransferProtocol Testing (Syringe-style)
   icon: Pump.webp
   class:
-    module: unilabos.devices.virtual.virtual_transferpump:VirtualPump
+    module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump
     type: python
     status_types:
       status: String
       current_volume: Float64
       max_volume: Float64
       transfer_rate: Float64
+      position: Float64
     action_value_mappings:
       transfer:
         type: Transfer
@@ -587,6 +595,18 @@ virtual_transfer_pump:
         result:
           success: success
           message: message
+      set_position:
+        type: SetPumpPosition  # ← 使用新的动作类型
+        goal:
+          position: position        # ← 直接映射参数名
+          max_velocity: max_velocity # ← 直接映射参数名
+        feedback:
+          status: status
+          current_position: current_position
+          progress: progress
+        result:
+          success: success
+          message: message
   # 注射器式转移泵节点配置 - 只有一个双向连接口，可吸入和排出液体
   handles:
   - handler_key: transferpump
@@ -603,12 +623,15 @@ virtual_transfer_pump:
       port:
         type: string
         default: "VIRTUAL"
+        description: "通信端口"
       max_volume:
         type: number
         default: 50.0
+        description: "最大注射器容量 (mL)"
       transfer_rate:
         type: number
         default: 5.0
+        description: "默认转移速率 (mL/s)"
     additionalProperties: false
 
 virtual_column:

unilabos_msgs/CMakeLists.txt

@@ -46,7 +46,7 @@ set(action_files
   "action/StopPurge.action"
   "action/StopStir.action"
   "action/Transfer.action"
-
+  "action/SetPumpPosition.action"
   "action/LiquidHandlerProtocolCreation.action"
   "action/LiquidHandlerAspirate.action"
   "action/LiquidHandlerDiscardTips.action"

unilabos_msgs/action/SetPumpPosition.action

@@ -0,0 +1,13 @@
+# Goal - 目标参数
+float64 position      # 目标位置 (ml)
+float64 max_velocity  # 最大速度 (ml/s)
+---
+# Result - 结果
+string return_info
+bool success          # 操作是否成功
+string message        # 操作结果消息
+---
+# Feedback - 反馈
+string status         # 当前状态
+float64 current_position  # 当前位置
+float64 progress      # 进度百分比 (0-100)