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3 Commits
23eb1139a9
...
v0.10.1
| Author | SHA1 | Date | |
|---|---|---|---|
|
cbe7963ad0 | ||
|
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280d83db57 | ||
|
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4224008a92 |
69
.conda/recipe.yaml
Normal file
69
.conda/recipe.yaml
Normal file
@@ -0,0 +1,69 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: 0.10.1
|
||||
|
||||
build:
|
||||
noarch: python
|
||||
number: 0
|
||||
script:
|
||||
- python -m pip install paho-mqtt opentrons_shared_data
|
||||
- python -m pip install git+https://github.com/Xuwznln/pylabrobot.git
|
||||
|
||||
requirements:
|
||||
host:
|
||||
- python >=3.11
|
||||
- pip
|
||||
- setuptools
|
||||
run:
|
||||
- conda-forge::python =3.11.11
|
||||
- compilers
|
||||
- cmake
|
||||
- make
|
||||
- ninja
|
||||
- sphinx
|
||||
- sphinx_rtd_theme
|
||||
- numpy
|
||||
- scipy
|
||||
- pandas
|
||||
- networkx
|
||||
- matplotlib
|
||||
- pint
|
||||
- pyserial
|
||||
- pyusb
|
||||
- pylibftdi
|
||||
- pymodbus
|
||||
- python-can
|
||||
- pyvisa
|
||||
- opencv
|
||||
- pydantic
|
||||
- fastapi
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websocket
|
||||
- ipython
|
||||
- jupyter
|
||||
- jupyros
|
||||
- colcon-common-extensions
|
||||
- robostack-staging::ros-humble-desktop-full
|
||||
- robostack-staging::ros-humble-control-msgs
|
||||
- robostack-staging::ros-humble-sensor-msgs
|
||||
- robostack-staging::ros-humble-trajectory-msgs
|
||||
- ros-humble-navigation2
|
||||
- ros-humble-ros2-control
|
||||
- ros-humble-robot-state-publisher
|
||||
- ros-humble-joint-state-publisher
|
||||
- ros-humble-rosbridge-server
|
||||
- ros-humble-cv-bridge
|
||||
- ros-humble-tf2
|
||||
- ros-humble-moveit
|
||||
- ros-humble-moveit-servo
|
||||
- ros-humble-simulation
|
||||
- ros-humble-tf-transformations
|
||||
- transforms3d
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
|
||||
about:
|
||||
repository: https://github.com/dptech-corp/Uni-Lab-OS
|
||||
license: GPL-3.0
|
||||
description: "Uni-Lab-OS"
|
||||
23
.conda/recipe_new.yaml
Normal file
23
.conda/recipe_new.yaml
Normal file
@@ -0,0 +1,23 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.10.1"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
build:
|
||||
noarch: python
|
||||
script: |
|
||||
{{ PYTHON }} -m pip install . --no-deps --ignore-installed -vv
|
||||
# {{ PYTHON }} clean_build_dir.py
|
||||
|
||||
requirements:
|
||||
host:
|
||||
- python
|
||||
- pip
|
||||
run:
|
||||
- python
|
||||
|
||||
test:
|
||||
imports:
|
||||
- unilabos
|
||||
10
.gitignore
vendored
10
.gitignore
vendored
@@ -1,3 +1,7 @@
|
||||
configs/
|
||||
temp/
|
||||
output/
|
||||
unilabos_data/
|
||||
## Python
|
||||
|
||||
# Byte-compiled / optimized / DLL files
|
||||
@@ -237,4 +241,8 @@ unilabos/device_mesh/view_robot.rviz
|
||||
|
||||
|
||||
# Certs
|
||||
**/.certs
|
||||
**/.certs
|
||||
local_test2.py
|
||||
ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
|
||||
*.bz2
|
||||
test_config.py
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
recursive-include unilabos/registry *.yaml
|
||||
recursive-include unilabos/app/web *.html
|
||||
recursive-include unilabos/app/web *.css
|
||||
recursive-include unilabos/app/static *
|
||||
recursive-include unilabos/app/templates *
|
||||
recursive-include unilabos/device_mesh/devices *
|
||||
recursive-include unilabos/device_mesh/resources *
|
||||
|
||||
12
README.md
12
README.md
@@ -40,21 +40,11 @@ Uni-Lab-OS recommends using `mamba` for environment management. Choose the appro
|
||||
|
||||
```bash
|
||||
# Create new environment
|
||||
mamba env create -f unilabos-[YOUR_OS].yaml
|
||||
mamba activate unilab
|
||||
mamba create -n unilab unilab -c unilab -c robostack -c robostack-staging -c conda-forge
|
||||
|
||||
# Or update existing environment
|
||||
# Where `[YOUR_OS]` can be `win64`, `linux-64`, `osx-64`, or `osx-arm64`.
|
||||
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-0.9.10-xxxxx.tar.bz2
|
||||
|
||||
# Install PyLabRobot and other prerequisites
|
||||
git clone https://github.com/PyLabRobot/pylabrobot plr_repo
|
||||
cd plr_repo
|
||||
pip install .[opentrons]
|
||||
```
|
||||
|
||||
2. Install Uni-Lab-OS:
|
||||
|
||||
12
README_zh.md
12
README_zh.md
@@ -40,21 +40,11 @@ Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适
|
||||
|
||||
```bash
|
||||
# 创建新环境
|
||||
mamba env create -f unilabos-[YOUR_OS].yaml
|
||||
mamba activate unilab
|
||||
mamba create -n unilab unilab -c unilab -c robostack -c robostack-staging -c conda-forge
|
||||
|
||||
# 或更新现有环境
|
||||
# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
|
||||
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-0.9.11-xxxxx.tar.bz2
|
||||
|
||||
# 安装PyLabRobot等前置
|
||||
git clone https://github.com/PyLabRobot/pylabrobot plr_repo
|
||||
cd plr_repo
|
||||
pip install .[opentrons]
|
||||
```
|
||||
|
||||
2. 安装 Uni-Lab-OS:
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.9.11
|
||||
version: 0.10.1
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
folder: ros-humble-unilabos-msgs/src/work
|
||||
@@ -50,12 +50,12 @@ requirements:
|
||||
- robostack-staging::ros-humble-rosidl-default-generators
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros2-distro-mutex=0.5.*
|
||||
- robostack-staging::ros2-distro-mutex=0.6.*
|
||||
run:
|
||||
- robostack-staging::ros-humble-action-msgs
|
||||
- robostack-staging::ros-humble-ros-workspace
|
||||
- robostack-staging::ros-humble-rosidl-default-runtime
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
# - robostack-staging::ros2-distro-mutex=0.6.*
|
||||
- robostack-staging::ros2-distro-mutex=0.6.*
|
||||
- sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.9.11"
|
||||
version: "0.10.1"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.9.11',
|
||||
version='0.10.1',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
|
||||
@@ -0,0 +1,70 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "OrganicSynthesisStation",
|
||||
"name": "有机化学流程综合测试工作站",
|
||||
"children": [
|
||||
"heater_1"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 600,
|
||||
"y": 400,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": [
|
||||
"AddProtocol",
|
||||
"TransferProtocol",
|
||||
"StartStirProtocol",
|
||||
"StopStirProtocol",
|
||||
"StirProtocol",
|
||||
"RunColumnProtocol",
|
||||
"CentrifugeProtocol",
|
||||
"FilterProtocol",
|
||||
"CleanVesselProtocol",
|
||||
"DissolveProtocol",
|
||||
"FilterThroughProtocol",
|
||||
"WashSolidProtocol",
|
||||
"SeparateProtocol",
|
||||
"EvaporateProtocol",
|
||||
"HeatChillProtocol",
|
||||
"HeatChillStartProtocol",
|
||||
"HeatChillStopProtocol",
|
||||
"EvacuateAndRefillProtocol",
|
||||
"PumpTransferProtocol",
|
||||
"AdjustPHProtocol",
|
||||
"ResetHandlingProtocol",
|
||||
"DryProtocol",
|
||||
"HydrogenateProtocol",
|
||||
"RecrystallizeProtocol"
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "heater_1",
|
||||
"name": "加热器",
|
||||
"children": [],
|
||||
"parent": "OrganicSynthesisStation",
|
||||
"type": "device",
|
||||
"class": "virtual_heatchill",
|
||||
"position": {
|
||||
"x": 450,
|
||||
"y": 450,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_temp": 200.0,
|
||||
"min_temp": -20.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_temp": 25.0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
21231
test/experiments/prcxi_9300.json
Normal file
21231
test/experiments/prcxi_9300.json
Normal file
File diff suppressed because it is too large
Load Diff
13567
test/experiments/prcxi_9320.json
Normal file
13567
test/experiments/prcxi_9320.json
Normal file
File diff suppressed because it is too large
Load Diff
13598
test/experiments/prcxi_9320_visual.json
Normal file
13598
test/experiments/prcxi_9320_visual.json
Normal file
File diff suppressed because it is too large
Load Diff
@@ -1,32 +1,48 @@
|
||||
{
|
||||
"nodes": [
|
||||
|
||||
|
||||
{
|
||||
"id": "benyao",
|
||||
"name": "benyao",
|
||||
"children": [
|
||||
],
|
||||
"id": "arm_slider",
|
||||
"name": "arm_slider",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "moveit.arm_slider",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
"x": -500,
|
||||
"y": 1000,
|
||||
"z": -100
|
||||
},
|
||||
"config": {
|
||||
"moveit_type": "arm_slider",
|
||||
"joint_poses": {
|
||||
"arm": {
|
||||
"home": [0.0, 0.2, 0.0, 0.0, 0.0],
|
||||
"pick": [1.2, 0.0, 0.0, 0.0, 0.0]
|
||||
"hotel_1": [
|
||||
1.05,
|
||||
0.568,
|
||||
-1.0821,
|
||||
0.0,
|
||||
1.0821
|
||||
],
|
||||
"home": [
|
||||
0.865,
|
||||
0.09,
|
||||
0.8727,
|
||||
0.0,
|
||||
-0.8727
|
||||
]
|
||||
}
|
||||
},
|
||||
"device_config": {
|
||||
}
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": -1.5708,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"device_config": {}
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
"data": {}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
name: unilab
|
||||
channels:
|
||||
- unilab
|
||||
- robostack
|
||||
- robostack-staging
|
||||
- conda-forge
|
||||
@@ -61,6 +62,8 @@ dependencies:
|
||||
- transforms3d
|
||||
# ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
|
||||
# ilab equipments
|
||||
# - ros-humble-unilabos-msgs
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
- pip:
|
||||
- paho-mqtt
|
||||
- paho-mqtt
|
||||
- opentrons_shared_data
|
||||
- git+https://github.com/Xuwznln/pylabrobot
|
||||
@@ -1,5 +1,6 @@
|
||||
name: unilab
|
||||
channels:
|
||||
- unilab
|
||||
- robostack
|
||||
- robostack-staging
|
||||
- conda-forge
|
||||
@@ -60,6 +61,8 @@ dependencies:
|
||||
- transforms3d
|
||||
# ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
|
||||
# ilab equipments
|
||||
# - ros-humble-unilabos-msgs
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
- pip:
|
||||
- paho-mqtt
|
||||
- paho-mqtt
|
||||
- opentrons_shared_data
|
||||
- git+https://github.com/Xuwznln/pylabrobot
|
||||
@@ -1,5 +1,6 @@
|
||||
name: unilab
|
||||
channels:
|
||||
- unilab
|
||||
- robostack
|
||||
- robostack-staging
|
||||
- conda-forge
|
||||
@@ -63,6 +64,8 @@ dependencies:
|
||||
- transforms3d
|
||||
# ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
|
||||
# ilab equipments
|
||||
# - ros-humble-unilabos-msgs
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
- pip:
|
||||
- paho-mqtt
|
||||
- paho-mqtt
|
||||
- opentrons_shared_data
|
||||
- git+https://github.com/Xuwznln/pylabrobot
|
||||
@@ -1,5 +1,6 @@
|
||||
name: unilab
|
||||
channels:
|
||||
- unilab
|
||||
- robostack
|
||||
- robostack-staging
|
||||
- conda-forge
|
||||
@@ -61,11 +62,13 @@ dependencies:
|
||||
- transforms3d
|
||||
# ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
|
||||
# ilab equipments
|
||||
# ros-humble-unilabos-msgs
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
# driver
|
||||
#- crcmod
|
||||
- pip:
|
||||
- paho-mqtt
|
||||
- opentrons_shared_data
|
||||
- git+https://github.com/Xuwznln/pylabrobot
|
||||
# driver
|
||||
#- ur-rtde # set PYTHONUTF8=1
|
||||
#- pyautogui
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
|
||||
import json
|
||||
import traceback
|
||||
import uuid
|
||||
from unilabos.app.model import JobAddReq, JobData
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
from unilabos.utils.type_check import serialize_result_info
|
||||
|
||||
|
||||
def get_resources() -> tuple:
|
||||
@@ -33,5 +35,11 @@ def job_add(req: JobAddReq) -> JobData:
|
||||
if "command" in action_args:
|
||||
action_args = action_args["command"]
|
||||
# print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
|
||||
HostNode.get_instance().send_goal(req.device_id, action_type=action_type, action_name=action_name, action_kwargs=action_args, goal_uuid=req.job_id, server_info=req.server_info)
|
||||
try:
|
||||
HostNode.get_instance().send_goal(req.device_id, action_type=action_type, action_name=action_name, action_kwargs=action_args, goal_uuid=req.job_id, server_info=req.server_info)
|
||||
except Exception as e:
|
||||
for bridge in HostNode.get_instance().bridges:
|
||||
traceback.print_exc()
|
||||
if hasattr(bridge, "publish_job_status"):
|
||||
bridge.publish_job_status({}, req.job_id, "failed", serialize_result_info(traceback.format_exc(), False, {}))
|
||||
return JobData(jobId=req.job_id)
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import argparse
|
||||
import asyncio
|
||||
import json
|
||||
import os
|
||||
import shutil
|
||||
import signal
|
||||
import sys
|
||||
import threading
|
||||
@@ -10,7 +10,7 @@ from copy import deepcopy
|
||||
|
||||
import yaml
|
||||
|
||||
from unilabos.resources.graphio import tree_to_list, modify_to_backend_format
|
||||
from unilabos.resources.graphio import modify_to_backend_format
|
||||
|
||||
# 首先添加项目根目录到路径
|
||||
current_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
@@ -18,11 +18,11 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
if unilabos_dir not in sys.path:
|
||||
sys.path.append(unilabos_dir)
|
||||
|
||||
from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
|
||||
from unilabos.config.config import load_config, BasicConfig
|
||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||
|
||||
|
||||
def load_config_from_file(config_path):
|
||||
def load_config_from_file(config_path, override_labid=None):
|
||||
if config_path is None:
|
||||
config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
|
||||
if config_path:
|
||||
@@ -31,18 +31,28 @@ def load_config_from_file(config_path):
|
||||
elif not config_path.endswith(".py"):
|
||||
print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
|
||||
else:
|
||||
load_config(config_path)
|
||||
load_config(config_path, override_labid)
|
||||
else:
|
||||
print_status(f"启动 UniLab-OS时，配置文件参数未正确传入 --config '{config_path}' 尝试本地配置...", "warning")
|
||||
load_config(config_path)
|
||||
load_config(config_path, override_labid)
|
||||
|
||||
|
||||
def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
# easier for user input, easier for dev search code
|
||||
option_strings = list(args._option_string_actions.keys())
|
||||
for i, arg in enumerate(sys.argv):
|
||||
for option_string in option_strings:
|
||||
if arg.startswith(option_string):
|
||||
new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
|
||||
sys.argv[i] = new_arg
|
||||
break
|
||||
|
||||
def parse_args():
|
||||
"""解析命令行参数"""
|
||||
parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
|
||||
parser.add_argument("-g", "--graph", help="Physical setup graph.")
|
||||
parser.add_argument("-d", "--devices", help="Devices config file.")
|
||||
parser.add_argument("-r", "--resources", help="Resources config file.")
|
||||
# parser.add_argument("-d", "--devices", help="Devices config file.")
|
||||
# parser.add_argument("-r", "--resources", help="Resources config file.")
|
||||
parser.add_argument("-c", "--controllers", default=None, help="Controllers config file.")
|
||||
parser.add_argument(
|
||||
"--registry_path",
|
||||
@@ -51,6 +61,12 @@ def parse_args():
|
||||
action="append",
|
||||
help="Path to the registry",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--working_dir",
|
||||
type=str,
|
||||
default=None,
|
||||
help="Path to the working directory",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--backend",
|
||||
choices=["ros", "simple", "automancer"],
|
||||
@@ -92,12 +108,12 @@ def parse_args():
|
||||
)
|
||||
parser.add_argument(
|
||||
"--disable_browser",
|
||||
action='store_true',
|
||||
action="store_true",
|
||||
help="是否在启动时关闭信息页",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--2d_vis",
|
||||
action='store_true',
|
||||
action="store_true",
|
||||
help="是否在pylabrobot实例启动时，同时启动可视化",
|
||||
)
|
||||
parser.add_argument(
|
||||
@@ -106,20 +122,51 @@ def parse_args():
|
||||
default="disable",
|
||||
help="选择可视化工具: rviz, web",
|
||||
)
|
||||
return parser.parse_args()
|
||||
parser.add_argument(
|
||||
"--labid",
|
||||
type=str,
|
||||
default="",
|
||||
help="实验室唯一ID，也可通过环境变量 UNILABOS.MQCONFIG.LABID 设置或传入--config设置",
|
||||
)
|
||||
return parser
|
||||
|
||||
|
||||
def main():
|
||||
"""主函数"""
|
||||
# 解析命令行参数
|
||||
args = parse_args()
|
||||
args_dict = vars(args)
|
||||
convert_argv_dashes_to_underscores(args)
|
||||
args_dict = vars(args.parse_args())
|
||||
|
||||
# 加载配置文件，优先加载config，然后从env读取
|
||||
config_path = args_dict.get("config")
|
||||
load_config_from_file(config_path)
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
if not config_path and (not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))):
|
||||
print_status(f"当前未指定config路径，非第一次使用请通过 --config 传入 local_config.py 文件路径", "info")
|
||||
print_status(f"您是否为第一次使用？并将当前文件路径 {working_dir} 作为工作目录？ (Y/n)", "info")
|
||||
if input() != "n":
|
||||
os.makedirs(working_dir, exist_ok=True)
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
shutil.copy(os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path)
|
||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||
print_status(f"请在文件夹中配置lab_id，放入下载的CA.crt、lab.crt、lab.key重新启动本程序", "info")
|
||||
os._exit(1)
|
||||
else:
|
||||
os._exit(1)
|
||||
else:
|
||||
working_dir = args_dict.get("working_dir") or os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
if working_dir:
|
||||
if config_path and not os.path.exists(config_path):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
if not os.path.exists(config_path):
|
||||
print_status(f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径", "error")
|
||||
os._exit(1)
|
||||
print_status(f"当前工作目录为 {working_dir}", "info")
|
||||
# 加载配置文件
|
||||
load_config_from_file(config_path, args_dict["labid"])
|
||||
|
||||
# 设置BasicConfig参数
|
||||
BasicConfig.working_dir = working_dir
|
||||
BasicConfig.is_host_mode = not args_dict.get("without_host", False)
|
||||
BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
|
||||
BasicConfig.upload_registry = args_dict.get("upload_registry", False)
|
||||
@@ -146,30 +193,30 @@ def main():
|
||||
|
||||
# 注册表
|
||||
build_registry(args_dict["registry_path"])
|
||||
resource_edge_info = []
|
||||
devices_and_resources = None
|
||||
if args_dict["graph"] is not None:
|
||||
import unilabos.resources.graphio as graph_res
|
||||
if args_dict["graph"] is None:
|
||||
request_startup_json = http_client.request_startup_json()
|
||||
if not request_startup_json:
|
||||
print_status(
|
||||
"未指定设备加载文件路径，尝试从HTTP获取失败，请检查网络或者使用-g参数指定设备加载文件路径", "error"
|
||||
)
|
||||
os._exit(1)
|
||||
else:
|
||||
print_status("联网获取设备加载文件成功", "info")
|
||||
graph, data = read_node_link_json(request_startup_json)
|
||||
else:
|
||||
if args_dict["graph"].endswith(".json"):
|
||||
graph, data = read_node_link_json(args_dict["graph"])
|
||||
else:
|
||||
graph, data = read_graphml(args_dict["graph"])
|
||||
graph_res.physical_setup_graph = graph
|
||||
resource_edge_info = modify_to_backend_format(data["links"])
|
||||
devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
|
||||
# args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
|
||||
args_dict["resources_config"] = list(devices_and_resources.values())
|
||||
args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
|
||||
args_dict["graph"] = graph_res.physical_setup_graph
|
||||
else:
|
||||
if args_dict["devices"] is None or args_dict["resources"] is None:
|
||||
print_status("Either graph or devices and resources must be provided.", "error")
|
||||
sys.exit(1)
|
||||
args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
|
||||
# args_dict["resources_config"] = initialize_resources(
|
||||
# list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
|
||||
# )
|
||||
args_dict["resources_config"] = list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
|
||||
import unilabos.resources.graphio as graph_res
|
||||
|
||||
graph_res.physical_setup_graph = graph
|
||||
resource_edge_info = modify_to_backend_format(data["links"])
|
||||
devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
|
||||
# args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
|
||||
args_dict["resources_config"] = list(devices_and_resources.values())
|
||||
args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
|
||||
args_dict["graph"] = graph_res.physical_setup_graph
|
||||
|
||||
print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
|
||||
for i in args_dict["resources_config"]:
|
||||
@@ -201,13 +248,22 @@ def main():
|
||||
if args_dict["visual"] != "disable":
|
||||
enable_rviz = args_dict["visual"] == "rviz"
|
||||
if devices_and_resources is not None:
|
||||
from unilabos.device_mesh.resource_visalization import ResourceVisualization # 此处开启后，logger会变更为INFO，有需要请调整
|
||||
resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
|
||||
from unilabos.device_mesh.resource_visalization import (
|
||||
ResourceVisualization,
|
||||
) # 此处开启后，logger会变更为INFO，有需要请调整
|
||||
|
||||
resource_visualization = ResourceVisualization(
|
||||
devices_and_resources, args_dict["resources_config"], enable_rviz=enable_rviz
|
||||
)
|
||||
args_dict["resources_mesh_config"] = resource_visualization.resource_model
|
||||
start_backend(**args_dict)
|
||||
server_thread = threading.Thread(target=start_server, kwargs=dict(
|
||||
open_browser=not args_dict["disable_browser"], port=args_dict["port"],
|
||||
))
|
||||
server_thread = threading.Thread(
|
||||
target=start_server,
|
||||
kwargs=dict(
|
||||
open_browser=not args_dict["disable_browser"],
|
||||
port=args_dict["port"],
|
||||
),
|
||||
)
|
||||
server_thread.start()
|
||||
asyncio.set_event_loop(asyncio.new_event_loop())
|
||||
resource_visualization.start()
|
||||
@@ -215,10 +271,16 @@ def main():
|
||||
time.sleep(1)
|
||||
else:
|
||||
start_backend(**args_dict)
|
||||
start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
|
||||
start_server(
|
||||
open_browser=not args_dict["disable_browser"],
|
||||
port=args_dict["port"],
|
||||
)
|
||||
else:
|
||||
start_backend(**args_dict)
|
||||
start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
|
||||
start_server(
|
||||
open_browser=not args_dict["disable_browser"],
|
||||
port=args_dict["port"],
|
||||
)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -163,10 +163,10 @@ class MQTTClient:
|
||||
# status = device_status.get(device_id, {})
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
status = {"data": device_status.get(device_id, {}), "device_id": device_id}
|
||||
status = {"data": device_status.get(device_id, {}), "device_id": device_id, "timestamp": time.time()}
|
||||
address = f"labs/{MQConfig.lab_id}/devices/"
|
||||
self.client.publish(address, json.dumps(status), qos=2)
|
||||
logger.debug(f"Device status published: address: {address}, {status}")
|
||||
logger.info(f"Device {device_id} status published: address: {address}, {status}")
|
||||
|
||||
def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
|
||||
if self.mqtt_disable:
|
||||
|
||||
@@ -18,13 +18,22 @@ def register_devices_and_resources(mqtt_client, lab_registry):
|
||||
mqtt_client.publish_registry(device_info["id"], device_info, False)
|
||||
logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
|
||||
|
||||
# 注册资源信息
|
||||
# 注册资源信息 - 使用HTTP方式
|
||||
from unilabos.app.web.client import http_client
|
||||
|
||||
resources_to_register = {}
|
||||
for resource_info in lab_registry.obtain_registry_resource_info():
|
||||
mqtt_client.publish_registry(resource_info["id"], resource_info, False)
|
||||
logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
|
||||
|
||||
time.sleep(10)
|
||||
resources_to_register[resource_info["id"]] = resource_info
|
||||
logger.debug(f"[UniLab Register] 准备注册资源: {resource_info['id']}")
|
||||
|
||||
if resources_to_register:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry(resources_to_register)
|
||||
cost_time = time.time() - start_time
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功通过HTTP注册 {len(resources_to_register)} 个资源 {cost_time}ms")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] HTTP注册资源失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
logger.info("[UniLab Register] 设备和资源注册完成.")
|
||||
|
||||
|
||||
@@ -53,11 +62,9 @@ def main():
|
||||
help="是否补全注册表",
|
||||
)
|
||||
args = parser.parse_args()
|
||||
|
||||
load_config_from_file(args.config)
|
||||
# 构建注册表
|
||||
build_registry(args.registry, args.complete_registry)
|
||||
load_config_from_file(args.config)
|
||||
|
||||
from unilabos.app.mq import mqtt_client
|
||||
|
||||
# 连接mqtt
|
||||
@@ -70,4 +77,4 @@ def main():
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
main()
|
||||
|
||||
@@ -3,7 +3,7 @@ HTTP客户端模块
|
||||
|
||||
提供与远程服务器通信的客户端功能，只有host需要用
|
||||
"""
|
||||
|
||||
import json
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
import requests
|
||||
@@ -40,8 +40,9 @@ class HTTPClient:
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
database_param = 1 if database_process_later else 0
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={1 if database_process_later else 0}",
|
||||
f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={database_param}",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=100,
|
||||
@@ -149,6 +150,56 @@ class HTTPClient:
|
||||
)
|
||||
return response
|
||||
|
||||
def resource_registry(self, registry_data: Dict[str, Any]) -> requests.Response:
|
||||
"""
|
||||
注册资源到服务器
|
||||
|
||||
Args:
|
||||
registry_data: 注册表数据，格式为 {resource_id: resource_info}
|
||||
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/registry/",
|
||||
json=registry_data,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=30,
|
||||
)
|
||||
if response.status_code not in [200, 201]:
|
||||
logger.error(f"注册资源失败: {response.status_code}, {response.text}")
|
||||
return response
|
||||
|
||||
def request_startup_json(self) -> Optional[Dict[str, Any]]:
|
||||
"""
|
||||
请求启动配置
|
||||
|
||||
Args:
|
||||
startup_json: 启动配置JSON数据
|
||||
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/lab/resource/graph_info/",
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=(3, 30),
|
||||
)
|
||||
if response.status_code != 200:
|
||||
logger.error(f"请求启动配置失败: {response.status_code}, {response.text}")
|
||||
else:
|
||||
try:
|
||||
with open("startup_config.json", "w", encoding="utf-8") as f:
|
||||
f.write(response.text)
|
||||
target_dict = json.loads(response.text)
|
||||
if "data" in target_dict:
|
||||
target_dict = target_dict["data"]
|
||||
return target_dict
|
||||
except json.JSONDecodeError as e:
|
||||
logger.error(f"解析启动配置JSON失败: {str(e.args)}\n响应内容: {response.text}")
|
||||
logger.error(f"响应内容: {response.text}")
|
||||
return None
|
||||
|
||||
|
||||
# 创建默认客户端实例
|
||||
http_client = HTTPClient()
|
||||
|
||||
@@ -22,18 +22,20 @@ def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
float: 体积（毫升）
|
||||
"""
|
||||
if isinstance(volume_input, (int, float)):
|
||||
debug_print(f"📏 体积输入为数值: {volume_input}")
|
||||
return float(volume_input)
|
||||
|
||||
if not volume_input or not str(volume_input).strip():
|
||||
debug_print(f"⚠️ 体积输入为空，返回0.0mL")
|
||||
return 0.0
|
||||
|
||||
volume_str = str(volume_input).lower().strip()
|
||||
debug_print(f"解析体积输入: '{volume_str}'")
|
||||
debug_print(f"🔍 解析体积输入: '{volume_str}'")
|
||||
|
||||
# 处理未知体积
|
||||
if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
default_volume = 10.0 # 默认10mL
|
||||
debug_print(f"检测到未知体积，使用默认值: {default_volume}mL")
|
||||
debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
|
||||
return default_volume
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
@@ -43,7 +45,7 @@ def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析体积: '{volume_str}'，使用默认值10mL")
|
||||
debug_print(f"❌ 无法解析体积: '{volume_str}'，使用默认值10mL")
|
||||
return 10.0
|
||||
|
||||
value = float(match.group(1))
|
||||
@@ -52,12 +54,14 @@ def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
# 转换为毫升
|
||||
if unit in ['l', 'liter']:
|
||||
volume = value * 1000.0 # L -> mL
|
||||
debug_print(f"🔄 体积转换: {value}L → {volume}mL")
|
||||
elif unit in ['μl', 'ul', 'microliter']:
|
||||
volume = value / 1000.0 # μL -> mL
|
||||
debug_print(f"🔄 体积转换: {value}μL → {volume}mL")
|
||||
else: # ml, milliliter 或默认
|
||||
volume = value # 已经是mL
|
||||
debug_print(f"✅ 体积已为mL: {volume}mL")
|
||||
|
||||
debug_print(f"体积转换: {value}{unit} → {volume}mL")
|
||||
return volume
|
||||
|
||||
def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
@@ -71,13 +75,15 @@ def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
float: 质量（克）
|
||||
"""
|
||||
if isinstance(mass_input, (int, float)):
|
||||
debug_print(f"⚖️ 质量输入为数值: {mass_input}g")
|
||||
return float(mass_input)
|
||||
|
||||
if not mass_input or not str(mass_input).strip():
|
||||
debug_print(f"⚠️ 质量输入为空，返回0.0g")
|
||||
return 0.0
|
||||
|
||||
mass_str = str(mass_input).lower().strip()
|
||||
debug_print(f"解析质量输入: '{mass_str}'")
|
||||
debug_print(f"🔍 解析质量输入: '{mass_str}'")
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
mass_clean = re.sub(r'\s+', '', mass_str)
|
||||
@@ -86,7 +92,7 @@ def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(g|mg|kg|gram|milligram|kilogram)?', mass_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析质量: '{mass_str}'，返回0.0g")
|
||||
debug_print(f"❌ 无法解析质量: '{mass_str}'，返回0.0g")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
@@ -95,12 +101,14 @@ def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
# 转换为克
|
||||
if unit in ['mg', 'milligram']:
|
||||
mass = value / 1000.0 # mg -> g
|
||||
debug_print(f"🔄 质量转换: {value}mg → {mass}g")
|
||||
elif unit in ['kg', 'kilogram']:
|
||||
mass = value * 1000.0 # kg -> g
|
||||
debug_print(f"🔄 质量转换: {value}kg → {mass}g")
|
||||
else: # g, gram 或默认
|
||||
mass = value # 已经是g
|
||||
debug_print(f"✅ 质量已为g: {mass}g")
|
||||
|
||||
debug_print(f"质量转换: {value}{unit} → {mass}g")
|
||||
return mass
|
||||
|
||||
def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
@@ -114,18 +122,20 @@ def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if isinstance(time_input, (int, float)):
|
||||
debug_print(f"⏱️ 时间输入为数值: {time_input}秒")
|
||||
return float(time_input)
|
||||
|
||||
if not time_input or not str(time_input).strip():
|
||||
debug_print(f"⚠️ 时间输入为空，返回0秒")
|
||||
return 0.0
|
||||
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"解析时间输入: '{time_str}'")
|
||||
debug_print(f"🔍 解析时间输入: '{time_str}'")
|
||||
|
||||
# 处理未知时间
|
||||
if time_str in ['?', 'unknown', 'tbd']:
|
||||
default_time = 60.0 # 默认1分钟
|
||||
debug_print(f"检测到未知时间，使用默认值: {default_time}s")
|
||||
debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (1分钟) ⏰")
|
||||
return default_time
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
@@ -135,7 +145,7 @@ def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析时间: '{time_str}'，返回0s")
|
||||
debug_print(f"❌ 无法解析时间: '{time_str}'，返回0s")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
@@ -144,21 +154,25 @@ def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
# 转换为秒
|
||||
if unit in ['min', 'minute']:
|
||||
time_sec = value * 60.0 # min -> s
|
||||
debug_print(f"🔄 时间转换: {value}分钟 → {time_sec}秒")
|
||||
elif unit in ['h', 'hr', 'hour']:
|
||||
time_sec = value * 3600.0 # h -> s
|
||||
debug_print(f"🔄 时间转换: {value}小时 → {time_sec}秒")
|
||||
elif unit in ['d', 'day']:
|
||||
time_sec = value * 86400.0 # d -> s
|
||||
debug_print(f"🔄 时间转换: {value}天 → {time_sec}秒")
|
||||
else: # s, sec, second 或默认
|
||||
time_sec = value # 已经是s
|
||||
debug_print(f"✅ 时间已为秒: {time_sec}秒")
|
||||
|
||||
debug_print(f"时间转换: {value}{unit} → {time_sec}s")
|
||||
return time_sec
|
||||
|
||||
def find_reagent_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
"""增强版试剂容器查找，支持固体和液体"""
|
||||
debug_print(f"查找试剂 '{reagent}' 的容器...")
|
||||
debug_print(f"🔍 开始查找试剂 '{reagent}' 的容器...")
|
||||
|
||||
# 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
|
||||
debug_print(f"📋 方法1: 搜索reagent字段...")
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node].get('data', {})
|
||||
node_type = G.nodes[node].get('type', '')
|
||||
@@ -171,16 +185,17 @@ def find_reagent_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
|
||||
# 精确匹配
|
||||
if reagent_name == reagent.lower() or config_reagent == reagent.lower():
|
||||
debug_print(f"✅ 通过reagent字段找到容器: {node}")
|
||||
debug_print(f"✅ 通过reagent字段精确匹配到容器: {node} 🎯")
|
||||
return node
|
||||
|
||||
# 模糊匹配
|
||||
if (reagent.lower() in reagent_name and reagent_name) or \
|
||||
(reagent.lower() in config_reagent and config_reagent):
|
||||
debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node}")
|
||||
debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node} 🔍")
|
||||
return node
|
||||
|
||||
# 🔧 方法2：常见的容器命名规则
|
||||
debug_print(f"📋 方法2: 使用命名规则查找...")
|
||||
reagent_clean = reagent.lower().replace(' ', '_').replace('-', '_')
|
||||
possible_names = [
|
||||
reagent_clean,
|
||||
@@ -197,20 +212,23 @@ def find_reagent_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
f"reagent_bottle_3"
|
||||
]
|
||||
|
||||
debug_print(f"🔍 尝试的容器名称: {possible_names[:5]}... (共{len(possible_names)}个)")
|
||||
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
node_type = G.nodes[name].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"✅ 通过命名规则找到容器: {name}")
|
||||
debug_print(f"✅ 通过命名规则找到容器: {name} 📝")
|
||||
return name
|
||||
|
||||
# 🔧 方法3：节点名称模糊匹配
|
||||
debug_print(f"📋 方法3: 节点名称模糊匹配...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
if node_data.get('type') == 'container':
|
||||
# 检查节点名称是否包含试剂名称
|
||||
if reagent_clean in node_id.lower():
|
||||
debug_print(f"✅ 通过节点名称模糊匹配到容器: {node_id}")
|
||||
debug_print(f"✅ 通过节点名称模糊匹配到容器: {node_id} 🔍")
|
||||
return node_id
|
||||
|
||||
# 检查液体类型匹配
|
||||
@@ -220,54 +238,80 @@ def find_reagent_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
|
||||
if liquid_type.lower() == reagent.lower():
|
||||
debug_print(f"✅ 通过液体类型匹配到容器: {node_id}")
|
||||
debug_print(f"✅ 通过液体类型匹配到容器: {node_id} 💧")
|
||||
return node_id
|
||||
|
||||
# 🔧 方法4：使用第一个试剂瓶作为备选
|
||||
debug_print(f"📋 方法4: 查找备选试剂瓶...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
if (node_data.get('type') == 'container' and
|
||||
('reagent' in node_id.lower() or 'bottle' in node_id.lower())):
|
||||
debug_print(f"⚠️ 未找到专用容器，使用备选试剂瓶: {node_id}")
|
||||
debug_print(f"⚠️ 未找到专用容器，使用备选试剂瓶: {node_id} 🔄")
|
||||
return node_id
|
||||
|
||||
debug_print(f"❌ 所有方法都失败了，无法找到容器!")
|
||||
raise ValueError(f"找不到试剂 '{reagent}' 对应的容器")
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找连接到指定容器的搅拌器"""
|
||||
debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
|
||||
|
||||
stirrer_nodes = []
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'stirrer' in node_class:
|
||||
stirrer_nodes.append(node)
|
||||
debug_print(f"📋 发现搅拌器: {node}")
|
||||
|
||||
debug_print(f"📊 共找到 {len(stirrer_nodes)} 个搅拌器")
|
||||
|
||||
# 查找连接到容器的搅拌器
|
||||
for stirrer in stirrer_nodes:
|
||||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||||
debug_print(f"找到连接的搅拌器: {stirrer}")
|
||||
debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
|
||||
return stirrer
|
||||
|
||||
# 返回第一个搅拌器
|
||||
if stirrer_nodes:
|
||||
debug_print(f"使用第一个搅拌器: {stirrer_nodes[0]}")
|
||||
debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
|
||||
return stirrer_nodes[0]
|
||||
|
||||
debug_print(f"❌ 未找到任何搅拌器")
|
||||
return ""
|
||||
|
||||
def find_solid_dispenser(G: nx.DiGraph) -> str:
|
||||
"""查找固体加样器"""
|
||||
debug_print(f"🔍 查找固体加样器...")
|
||||
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'solid_dispenser' in node_class or 'dispenser' in node_class:
|
||||
debug_print(f"找到固体加样器: {node}")
|
||||
debug_print(f"✅ 找到固体加样器: {node} 🥄")
|
||||
return node
|
||||
|
||||
debug_print("⚠️ 未找到固体加样器")
|
||||
debug_print(f"❌ 未找到固体加样器")
|
||||
return ""
|
||||
|
||||
# 🆕 创建进度日志动作
|
||||
def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
|
||||
"""创建一个动作日志"""
|
||||
full_message = f"{emoji} {message}"
|
||||
debug_print(full_message)
|
||||
logger.info(full_message)
|
||||
print(f"[ACTION] {full_message}", flush=True)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message
|
||||
}
|
||||
}
|
||||
|
||||
def generate_add_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：现在接收字典类型的 vessel
|
||||
reagent: str,
|
||||
# 🔧 修复：所有参数都用 Union 类型，支持字符串和数值
|
||||
volume: Union[str, float] = 0.0,
|
||||
@@ -290,6 +334,7 @@ def generate_add_protocol(
|
||||
生成添加试剂协议 - 修复版
|
||||
|
||||
支持所有XDL参数和单位：
|
||||
- vessel: Resource类型字典，包含id字段
|
||||
- volume: "2.7 mL", "2.67 mL", "?" 或数值
|
||||
- mass: "19.3 g", "4.5 g" 或数值
|
||||
- time: "1 h", "20 min" 或数值（秒）
|
||||
@@ -299,53 +344,77 @@ def generate_add_protocol(
|
||||
- equiv: "1.1"
|
||||
- ratio: "?", "1:1"
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
|
||||
# 🔧 修改：更新容器的液体体积（假设有 liquid_volume 字段）
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
if isinstance(vessel["data"]["liquid_volume"], list) and len(vessel["data"]["liquid_volume"]) > 0:
|
||||
vessel["data"]["liquid_volume"][0] -= parse_volume_input(volume)
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("开始生成添加试剂协议")
|
||||
debug_print(f"原始参数:")
|
||||
debug_print(f" - vessel: '{vessel}'")
|
||||
debug_print(f" - reagent: '{reagent}'")
|
||||
debug_print(f" - volume: {volume} (类型: {type(volume)})")
|
||||
debug_print(f" - mass: {mass} (类型: {type(mass)})")
|
||||
debug_print(f" - time: {time} (类型: {type(time)})")
|
||||
debug_print(f" - mol: '{mol}'")
|
||||
debug_print(f" - event: '{event}'")
|
||||
debug_print(f" - rate_spec: '{rate_spec}'")
|
||||
debug_print("🚀 开始生成添加试剂协议")
|
||||
debug_print(f"📋 原始参数:")
|
||||
debug_print(f" 🥼 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 🧪 reagent: '{reagent}'")
|
||||
debug_print(f" 📏 volume: {volume} (类型: {type(volume)})")
|
||||
debug_print(f" ⚖️ mass: {mass} (类型: {type(mass)})")
|
||||
debug_print(f" ⏱️ time: {time} (类型: {type(time)})")
|
||||
debug_print(f" 🧬 mol: '{mol}'")
|
||||
debug_print(f" 🎯 event: '{event}'")
|
||||
debug_print(f" ⚡ rate_spec: '{rate_spec}'")
|
||||
debug_print(f" 🌪️ stir: {stir}")
|
||||
debug_print(f" 🔄 stir_speed: {stir_speed} rpm")
|
||||
debug_print("=" * 60)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# === 参数验证 ===
|
||||
debug_print("步骤1: 参数验证...")
|
||||
debug_print("🔍 步骤1: 参数验证...")
|
||||
action_sequence.append(create_action_log(f"开始添加试剂 '{reagent}' 到容器 '{vessel_id}'", "🎬"))
|
||||
|
||||
if not vessel:
|
||||
if not vessel or not vessel_id:
|
||||
debug_print("❌ vessel 参数不能为空")
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
if not reagent:
|
||||
debug_print("❌ reagent 参数不能为空")
|
||||
raise ValueError("reagent 参数不能为空")
|
||||
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 '{vessel}' 不存在于系统中")
|
||||
if vessel_id not in G.nodes():
|
||||
debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中")
|
||||
raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
debug_print("✅ 基本参数验证通过")
|
||||
|
||||
# === 🔧 关键修复：参数解析 ===
|
||||
debug_print("步骤2: 参数解析...")
|
||||
debug_print("🔍 步骤2: 参数解析...")
|
||||
action_sequence.append(create_action_log("正在解析添加参数...", "🔍"))
|
||||
|
||||
# 解析各种参数为数值
|
||||
final_volume = parse_volume_input(volume)
|
||||
final_mass = parse_mass_input(mass)
|
||||
final_time = parse_time_input(time)
|
||||
|
||||
debug_print(f"解析结果:")
|
||||
debug_print(f" - 体积: {final_volume}mL")
|
||||
debug_print(f" - 质量: {final_mass}g")
|
||||
debug_print(f" - 时间: {final_time}s")
|
||||
debug_print(f" - 摩尔: '{mol}'")
|
||||
debug_print(f" - 事件: '{event}'")
|
||||
debug_print(f" - 速率: '{rate_spec}'")
|
||||
debug_print(f"📊 解析结果:")
|
||||
debug_print(f" 📏 体积: {final_volume}mL")
|
||||
debug_print(f" ⚖️ 质量: {final_mass}g")
|
||||
debug_print(f" ⏱️ 时间: {final_time}s")
|
||||
debug_print(f" 🧬 摩尔: '{mol}'")
|
||||
debug_print(f" 🎯 事件: '{event}'")
|
||||
debug_print(f" ⚡ 速率: '{rate_spec}'")
|
||||
|
||||
# === 判断添加类型 ===
|
||||
debug_print("步骤3: 判断添加类型...")
|
||||
debug_print("🔍 步骤3: 判断添加类型...")
|
||||
|
||||
# 🔧 修复：现在使用解析后的数值进行比较
|
||||
is_solid = (final_mass > 0 or (mol and mol.strip() != ""))
|
||||
@@ -357,32 +426,45 @@ def generate_add_protocol(
|
||||
final_volume = 10.0
|
||||
debug_print("⚠️ 未指定体积或质量，默认为10mL液体")
|
||||
|
||||
debug_print(f"添加类型: {'固体' if is_solid else '液体'}")
|
||||
add_type = "固体" if is_solid else "液体"
|
||||
add_emoji = "🧂" if is_solid else "💧"
|
||||
debug_print(f"📋 添加类型: {add_type} {add_emoji}")
|
||||
|
||||
action_sequence.append(create_action_log(f"确定添加类型: {add_type} {add_emoji}", "📋"))
|
||||
|
||||
# === 执行添加流程 ===
|
||||
debug_print("步骤4: 执行添加流程...")
|
||||
debug_print("🔍 步骤4: 执行添加流程...")
|
||||
|
||||
try:
|
||||
if is_solid:
|
||||
# === 固体添加路径 ===
|
||||
debug_print(f"使用固体添加路径")
|
||||
debug_print(f"🧂 使用固体添加路径")
|
||||
action_sequence.append(create_action_log("开始固体试剂添加流程", "🧂"))
|
||||
|
||||
solid_dispenser = find_solid_dispenser(G)
|
||||
if solid_dispenser:
|
||||
action_sequence.append(create_action_log(f"找到固体加样器: {solid_dispenser}", "🥄"))
|
||||
|
||||
# 启动搅拌
|
||||
if stir:
|
||||
stirrer_id = find_connected_stirrer(G, vessel)
|
||||
debug_print("🌪️ 准备启动搅拌...")
|
||||
action_sequence.append(create_action_log("准备启动搅拌器", "🌪️"))
|
||||
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id) # 🔧 使用 vessel_id
|
||||
if stirrer_id:
|
||||
action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed} rpm)", "🔄"))
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"准备添加固体 {reagent}"
|
||||
}
|
||||
})
|
||||
# 等待搅拌稳定
|
||||
action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 3}
|
||||
@@ -390,7 +472,7 @@ def generate_add_protocol(
|
||||
|
||||
# 固体加样
|
||||
add_kwargs = {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"reagent": reagent,
|
||||
"purpose": purpose,
|
||||
"event": event,
|
||||
@@ -399,19 +481,27 @@ def generate_add_protocol(
|
||||
|
||||
if final_mass > 0:
|
||||
add_kwargs["mass"] = str(final_mass)
|
||||
action_sequence.append(create_action_log(f"准备添加固体: {final_mass}g", "⚖️"))
|
||||
if mol and mol.strip():
|
||||
add_kwargs["mol"] = mol
|
||||
action_sequence.append(create_action_log(f"按摩尔数添加: {mol}", "🧬"))
|
||||
if equiv and equiv.strip():
|
||||
add_kwargs["equiv"] = equiv
|
||||
action_sequence.append(create_action_log(f"当量: {equiv}", "🔢"))
|
||||
|
||||
action_sequence.append(create_action_log("开始固体加样操作", "🥄"))
|
||||
action_sequence.append({
|
||||
"device_id": solid_dispenser,
|
||||
"action_name": "add_solid",
|
||||
"action_kwargs": add_kwargs
|
||||
})
|
||||
|
||||
action_sequence.append(create_action_log("固体加样完成", "✅"))
|
||||
|
||||
# 添加后等待
|
||||
if final_time > 0:
|
||||
wait_minutes = final_time / 60
|
||||
action_sequence.append(create_action_log(f"等待反应进行 ({wait_minutes:.1f}分钟)", "⏰"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": final_time}
|
||||
@@ -419,29 +509,39 @@ def generate_add_protocol(
|
||||
|
||||
debug_print(f"✅ 固体添加完成")
|
||||
else:
|
||||
debug_print("⚠️ 未找到固体加样器，跳过固体添加")
|
||||
debug_print("❌ 未找到固体加样器，跳过固体添加")
|
||||
action_sequence.append(create_action_log("未找到固体加样器，无法添加固体", "❌"))
|
||||
|
||||
else:
|
||||
# === 液体添加路径 ===
|
||||
debug_print(f"使用液体添加路径")
|
||||
debug_print(f"💧 使用液体添加路径")
|
||||
action_sequence.append(create_action_log("开始液体试剂添加流程", "💧"))
|
||||
|
||||
# 查找试剂容器
|
||||
action_sequence.append(create_action_log("正在查找试剂容器...", "🔍"))
|
||||
reagent_vessel = find_reagent_vessel(G, reagent)
|
||||
action_sequence.append(create_action_log(f"找到试剂容器: {reagent_vessel}", "🧪"))
|
||||
|
||||
# 启动搅拌
|
||||
if stir:
|
||||
stirrer_id = find_connected_stirrer(G, vessel)
|
||||
debug_print("🌪️ 准备启动搅拌...")
|
||||
action_sequence.append(create_action_log("准备启动搅拌器", "🌪️"))
|
||||
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id) # 🔧 使用 vessel_id
|
||||
if stirrer_id:
|
||||
action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed} rpm)", "🔄"))
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"准备添加液体 {reagent}"
|
||||
}
|
||||
})
|
||||
# 等待搅拌稳定
|
||||
action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5}
|
||||
@@ -451,24 +551,29 @@ def generate_add_protocol(
|
||||
if final_time > 0:
|
||||
flowrate = final_volume / final_time * 60 # mL/min
|
||||
transfer_flowrate = flowrate
|
||||
debug_print(f"⚡ 根据时间计算流速: {flowrate:.2f} mL/min")
|
||||
else:
|
||||
if rate_spec == "dropwise":
|
||||
flowrate = 0.5 # 滴加，很慢
|
||||
transfer_flowrate = 0.2
|
||||
debug_print(f"💧 滴加模式，流速: {flowrate} mL/min")
|
||||
elif viscous:
|
||||
flowrate = 1.0 # 粘性液体
|
||||
transfer_flowrate = 0.3
|
||||
debug_print(f"🍯 粘性液体，流速: {flowrate} mL/min")
|
||||
else:
|
||||
flowrate = 2.5 # 正常流速
|
||||
transfer_flowrate = 0.5
|
||||
debug_print(f"⚡ 正常流速: {flowrate} mL/min")
|
||||
|
||||
debug_print(f"流速设置: {flowrate} mL/min")
|
||||
action_sequence.append(create_action_log(f"设置流速: {flowrate:.2f} mL/min", "⚡"))
|
||||
action_sequence.append(create_action_log(f"开始转移 {final_volume}mL 液体", "🚰"))
|
||||
|
||||
# 调用pump protocol
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=reagent_vessel,
|
||||
to_vessel=vessel,
|
||||
to_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
volume=final_volume,
|
||||
amount=amount,
|
||||
time=final_time,
|
||||
@@ -486,9 +591,11 @@ def generate_add_protocol(
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
debug_print(f"✅ 液体转移完成，添加了 {len(pump_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"液体转移完成 ({len(pump_actions)} 个操作)", "✅"))
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"⚠️ 试剂添加失败: {str(e)}")
|
||||
debug_print(f"❌ 试剂添加失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"试剂添加失败: {str(e)}", "❌"))
|
||||
# 添加错误日志
|
||||
action_sequence.append({
|
||||
"device_id": "system",
|
||||
@@ -500,26 +607,38 @@ def generate_add_protocol(
|
||||
|
||||
# === 最终结果 ===
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"✅ 添加试剂协议生成完成")
|
||||
debug_print(f"🎉 添加试剂协议生成完成")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)}")
|
||||
debug_print(f"📋 处理总结:")
|
||||
debug_print(f" - 试剂: {reagent}")
|
||||
debug_print(f" - 添加类型: {'固体' if is_solid else '液体'}")
|
||||
debug_print(f" - 目标容器: {vessel}")
|
||||
debug_print(f" 🧪 试剂: {reagent}")
|
||||
debug_print(f" {add_emoji} 添加类型: {add_type}")
|
||||
debug_print(f" 🥼 目标容器: {vessel_id}")
|
||||
if is_liquid:
|
||||
debug_print(f" - 体积: {final_volume}mL")
|
||||
debug_print(f" 📏 体积: {final_volume}mL")
|
||||
if is_solid:
|
||||
debug_print(f" - 质量: {final_mass}g")
|
||||
debug_print(f" - 摩尔: {mol}")
|
||||
debug_print(f" ⚖️ 质量: {final_mass}g")
|
||||
debug_print(f" 🧬 摩尔: {mol}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"试剂添加协议完成: {reagent} → {vessel_id}"
|
||||
if is_liquid:
|
||||
summary_msg += f" ({final_volume}mL)"
|
||||
if is_solid:
|
||||
summary_msg += f" ({final_mass}g)"
|
||||
|
||||
action_sequence.append(create_action_log(summary_msg, "🎉"))
|
||||
|
||||
return action_sequence
|
||||
|
||||
# === 便捷函数 ===
|
||||
# 🔧 修改便捷函数的参数类型
|
||||
|
||||
def add_liquid_volume(G: nx.DiGraph, vessel: str, reagent: str, volume: Union[str, float],
|
||||
def add_liquid_volume(G: nx.DiGraph, vessel: dict, reagent: str, volume: Union[str, float],
|
||||
time: Union[str, float] = 0.0, rate_spec: str = "") -> List[Dict[str, Any]]:
|
||||
"""添加指定体积的液体试剂"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"💧 快速添加液体: {reagent} ({volume}) → {vessel_id}")
|
||||
return generate_add_protocol(
|
||||
G, vessel, reagent,
|
||||
volume=volume,
|
||||
@@ -527,27 +646,33 @@ def add_liquid_volume(G: nx.DiGraph, vessel: str, reagent: str, volume: Union[st
|
||||
rate_spec=rate_spec
|
||||
)
|
||||
|
||||
def add_solid_mass(G: nx.DiGraph, vessel: str, reagent: str, mass: Union[str, float],
|
||||
def add_solid_mass(G: nx.DiGraph, vessel: dict, reagent: str, mass: Union[str, float],
|
||||
event: str = "") -> List[Dict[str, Any]]:
|
||||
"""添加指定质量的固体试剂"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"🧂 快速添加固体: {reagent} ({mass}) → {vessel_id}")
|
||||
return generate_add_protocol(
|
||||
G, vessel, reagent,
|
||||
mass=mass,
|
||||
event=event
|
||||
)
|
||||
|
||||
def add_solid_moles(G: nx.DiGraph, vessel: str, reagent: str, mol: str,
|
||||
def add_solid_moles(G: nx.DiGraph, vessel: dict, reagent: str, mol: str,
|
||||
event: str = "") -> List[Dict[str, Any]]:
|
||||
"""按摩尔数添加固体试剂"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"🧬 按摩尔数添加固体: {reagent} ({mol}) → {vessel_id}")
|
||||
return generate_add_protocol(
|
||||
G, vessel, reagent,
|
||||
mol=mol,
|
||||
event=event
|
||||
)
|
||||
|
||||
def add_dropwise_liquid(G: nx.DiGraph, vessel: str, reagent: str, volume: Union[str, float],
|
||||
def add_dropwise_liquid(G: nx.DiGraph, vessel: dict, reagent: str, volume: Union[str, float],
|
||||
time: Union[str, float] = "20 min", event: str = "") -> List[Dict[str, Any]]:
|
||||
"""滴加液体试剂"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"💧 滴加液体: {reagent} ({volume}) → {vessel_id} (用时: {time})")
|
||||
return generate_add_protocol(
|
||||
G, vessel, reagent,
|
||||
volume=volume,
|
||||
@@ -556,9 +681,11 @@ def add_dropwise_liquid(G: nx.DiGraph, vessel: str, reagent: str, volume: Union[
|
||||
event=event
|
||||
)
|
||||
|
||||
def add_portionwise_solid(G: nx.DiGraph, vessel: str, reagent: str, mass: Union[str, float],
|
||||
def add_portionwise_solid(G: nx.DiGraph, vessel: dict, reagent: str, mass: Union[str, float],
|
||||
time: Union[str, float] = "1 h", event: str = "") -> List[Dict[str, Any]]:
|
||||
"""分批添加固体试剂"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"🧂 分批添加固体: {reagent} ({mass}) → {vessel_id} (用时: {time})")
|
||||
return generate_add_protocol(
|
||||
G, vessel, reagent,
|
||||
mass=mass,
|
||||
@@ -573,22 +700,25 @@ def test_add_protocol():
|
||||
print("=== ADD PROTOCOL 增强版测试 ===")
|
||||
|
||||
# 测试体积解析
|
||||
debug_print("🧪 测试体积解析...")
|
||||
volumes = ["2.7 mL", "2.67 mL", "?", 10.0, "1 L", "500 μL"]
|
||||
for vol in volumes:
|
||||
result = parse_volume_input(vol)
|
||||
print(f"体积解析: {vol} → {result}mL")
|
||||
print(f"📏 体积解析: {vol} → {result}mL")
|
||||
|
||||
# 测试质量解析
|
||||
debug_print("⚖️ 测试质量解析...")
|
||||
masses = ["19.3 g", "4.5 g", 2.5, "500 mg", "1 kg"]
|
||||
for mass in masses:
|
||||
result = parse_mass_input(mass)
|
||||
print(f"质量解析: {mass} → {result}g")
|
||||
print(f"⚖️ 质量解析: {mass} → {result}g")
|
||||
|
||||
# 测试时间解析
|
||||
debug_print("⏱️ 测试时间解析...")
|
||||
times = ["1 h", "20 min", "30 s", 60.0, "?"]
|
||||
for time in times:
|
||||
result = parse_time_input(time)
|
||||
print(f"时间解析: {time} → {result}s")
|
||||
print(f"⏱️ 时间解析: {time} → {result}s")
|
||||
|
||||
print("✅ 测试完成")
|
||||
|
||||
|
||||
@@ -1,7 +1,30 @@
|
||||
import networkx as nx
|
||||
from typing import List, Dict, Any
|
||||
import logging
|
||||
from typing import List, Dict, Any, Union
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"[ADJUST_PH] {message}", flush=True)
|
||||
logger.info(f"[ADJUST_PH] {message}")
|
||||
|
||||
# 🆕 创建进度日志动作
|
||||
def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
|
||||
"""创建一个动作日志"""
|
||||
full_message = f"{emoji} {message}"
|
||||
debug_print(full_message)
|
||||
logger.info(full_message)
|
||||
print(f"[ACTION] {full_message}", flush=True)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message
|
||||
}
|
||||
}
|
||||
|
||||
def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
"""
|
||||
@@ -14,7 +37,7 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
Returns:
|
||||
str: 试剂容器ID
|
||||
"""
|
||||
print(f"ADJUST_PH: 正在查找试剂 '{reagent}' 的容器...")
|
||||
debug_print(f"🔍 正在查找试剂 '{reagent}' 的容器...")
|
||||
|
||||
# 常见酸碱试剂的别名映射
|
||||
reagent_aliases = {
|
||||
@@ -29,11 +52,16 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
|
||||
# 构建搜索名称列表
|
||||
search_names = [reagent.lower()]
|
||||
debug_print(f"📋 基础搜索名称: {reagent.lower()}")
|
||||
|
||||
# 添加别名
|
||||
for base_name, aliases in reagent_aliases.items():
|
||||
if reagent.lower() in base_name.lower() or base_name.lower() in reagent.lower():
|
||||
search_names.extend([alias.lower() for alias in aliases])
|
||||
debug_print(f"🔗 添加别名: {aliases}")
|
||||
break
|
||||
|
||||
debug_print(f"📝 完整搜索列表: {search_names}")
|
||||
|
||||
# 构建可能的容器名称
|
||||
possible_names = []
|
||||
@@ -49,13 +77,17 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
name_clean
|
||||
])
|
||||
|
||||
debug_print(f"🎯 可能的容器名称 (前5个): {possible_names[:5]}... (共{len(possible_names)}个)")
|
||||
|
||||
# 第一步：通过容器名称匹配
|
||||
debug_print(f"📋 方法1: 精确名称匹配...")
|
||||
for vessel_name in possible_names:
|
||||
if vessel_name in G.nodes():
|
||||
print(f"ADJUST_PH: 通过名称匹配找到容器: {vessel_name}")
|
||||
debug_print(f"✅ 通过名称匹配找到容器: {vessel_name} 🎯")
|
||||
return vessel_name
|
||||
|
||||
# 第二步：通过模糊匹配
|
||||
debug_print(f"📋 方法2: 模糊名称匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
@@ -63,10 +95,11 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
# 检查是否包含任何搜索名称
|
||||
for search_name in search_names:
|
||||
if search_name in node_id.lower() or search_name in node_name:
|
||||
print(f"ADJUST_PH: 通过模糊匹配找到容器: {node_id}")
|
||||
debug_print(f"✅ 通过模糊匹配找到容器: {node_id} 🔍")
|
||||
return node_id
|
||||
|
||||
# 第三步：通过液体类型匹配
|
||||
debug_print(f"📋 方法3: 液体类型匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
@@ -79,10 +112,11 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
|
||||
for search_name in search_names:
|
||||
if search_name in liquid_type or search_name in reagent_name:
|
||||
print(f"ADJUST_PH: 通过液体类型匹配找到容器: {node_id}")
|
||||
debug_print(f"✅ 通过液体类型匹配找到容器: {node_id} 💧")
|
||||
return node_id
|
||||
|
||||
# 列出可用容器帮助调试
|
||||
debug_print(f"📊 列出可用容器帮助调试...")
|
||||
available_containers = []
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
@@ -98,67 +132,92 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
'reagent_name': vessel_data.get('reagent_name', '')
|
||||
})
|
||||
|
||||
print(f"ADJUST_PH: 可用容器列表:")
|
||||
debug_print(f"📋 可用容器列表:")
|
||||
for container in available_containers:
|
||||
print(f" - {container['id']}: {container['name']}")
|
||||
print(f" 液体: {container['liquids']}")
|
||||
print(f" 试剂: {container['reagent_name']}")
|
||||
debug_print(f" - 🧪 {container['id']}: {container['name']}")
|
||||
debug_print(f" 💧 液体: {container['liquids']}")
|
||||
debug_print(f" 🏷️ 试剂: {container['reagent_name']}")
|
||||
|
||||
raise ValueError(f"找不到试剂 '{reagent}' 对应的容器。尝试了: {possible_names}")
|
||||
|
||||
debug_print(f"❌ 所有匹配方法都失败了")
|
||||
raise ValueError(f"找不到试剂 '{reagent}' 对应的容器。尝试了: {possible_names[:10]}...")
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找与容器相连的搅拌器"""
|
||||
debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
|
||||
|
||||
stirrer_nodes = [node for node in G.nodes()
|
||||
if (G.nodes[node].get('class') or '') == 'virtual_stirrer']
|
||||
|
||||
debug_print(f"📊 发现 {len(stirrer_nodes)} 个搅拌器: {stirrer_nodes}")
|
||||
|
||||
for stirrer in stirrer_nodes:
|
||||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||||
debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
|
||||
return stirrer
|
||||
|
||||
return stirrer_nodes[0] if stirrer_nodes else None
|
||||
if stirrer_nodes:
|
||||
debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
|
||||
return stirrer_nodes[0]
|
||||
|
||||
debug_print(f"❌ 未找到任何搅拌器")
|
||||
return None
|
||||
|
||||
|
||||
def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume: float = 100.0) -> float: # 改为 target_ph_value
|
||||
def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume: float = 100.0) -> float:
|
||||
"""
|
||||
估算需要的试剂体积来调节pH
|
||||
|
||||
Args:
|
||||
target_ph_value: 目标pH值 # 改为 target_ph_value
|
||||
target_ph_value: 目标pH值
|
||||
reagent: 试剂名称
|
||||
vessel_volume: 容器体积 (mL)
|
||||
|
||||
Returns:
|
||||
float: 估算的试剂体积 (mL)
|
||||
"""
|
||||
debug_print(f"🧮 计算试剂体积...")
|
||||
debug_print(f" 📍 目标pH: {target_ph_value}")
|
||||
debug_print(f" 🧪 试剂: {reagent}")
|
||||
debug_print(f" 📏 容器体积: {vessel_volume}mL")
|
||||
|
||||
# 简化的pH调节体积估算（实际应用中需要更精确的计算）
|
||||
if "acid" in reagent.lower() or "hcl" in reagent.lower():
|
||||
debug_print(f"🍋 检测到酸性试剂")
|
||||
# 酸性试剂：pH越低需要的体积越大
|
||||
if target_ph_value < 3: # 改为 target_ph_value
|
||||
return vessel_volume * 0.05 # 5%
|
||||
elif target_ph_value < 5: # 改为 target_ph_value
|
||||
return vessel_volume * 0.02 # 2%
|
||||
if target_ph_value < 3:
|
||||
volume = vessel_volume * 0.05 # 5%
|
||||
debug_print(f" 💪 强酸性 (pH<3): 使用 5% 体积")
|
||||
elif target_ph_value < 5:
|
||||
volume = vessel_volume * 0.02 # 2%
|
||||
debug_print(f" 🔸 中酸性 (pH<5): 使用 2% 体积")
|
||||
else:
|
||||
return vessel_volume * 0.01 # 1%
|
||||
volume = vessel_volume * 0.01 # 1%
|
||||
debug_print(f" 🔹 弱酸性 (pH≥5): 使用 1% 体积")
|
||||
|
||||
elif "hydroxide" in reagent.lower() or "naoh" in reagent.lower():
|
||||
debug_print(f"🧂 检测到碱性试剂")
|
||||
# 碱性试剂：pH越高需要的体积越大
|
||||
if target_ph_value > 11: # 改为 target_ph_value
|
||||
return vessel_volume * 0.05 # 5%
|
||||
elif target_ph_value > 9: # 改为 target_ph_value
|
||||
return vessel_volume * 0.02 # 2%
|
||||
if target_ph_value > 11:
|
||||
volume = vessel_volume * 0.05 # 5%
|
||||
debug_print(f" 💪 强碱性 (pH>11): 使用 5% 体积")
|
||||
elif target_ph_value > 9:
|
||||
volume = vessel_volume * 0.02 # 2%
|
||||
debug_print(f" 🔸 中碱性 (pH>9): 使用 2% 体积")
|
||||
else:
|
||||
return vessel_volume * 0.01 # 1%
|
||||
volume = vessel_volume * 0.01 # 1%
|
||||
debug_print(f" 🔹 弱碱性 (pH≤9): 使用 1% 体积")
|
||||
|
||||
else:
|
||||
# 未知试剂，使用默认值
|
||||
return vessel_volume * 0.01
|
||||
|
||||
volume = vessel_volume * 0.01
|
||||
debug_print(f"❓ 未知试剂类型，使用默认 1% 体积")
|
||||
|
||||
debug_print(f"📊 计算结果: {volume:.2f}mL")
|
||||
return volume
|
||||
|
||||
def generate_adjust_ph_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
ph_value: float, # 改为 ph_value
|
||||
vessel:Union[dict,str], # 🔧 修改：从字符串改为字典类型
|
||||
ph_value: float,
|
||||
reagent: str,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
@@ -167,14 +226,39 @@ def generate_adjust_ph_protocol(
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为容器和设备
|
||||
vessel: 目标容器（需要调节pH的容器）
|
||||
ph_value: 目标pH值（从XDL传入） # 改为 ph_value
|
||||
vessel: 目标容器字典（需要调节pH的容器）
|
||||
ph_value: 目标pH值（从XDL传入）
|
||||
reagent: 酸碱试剂名称（从XDL传入）
|
||||
**kwargs: 其他可选参数，使用默认值
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
|
||||
if not vessel_id:
|
||||
debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
|
||||
raise ValueError("vessel 参数无效，必须包含id字段或直接提供容器ID")
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("🧪 开始生成pH调节协议")
|
||||
debug_print(f"📋 原始参数:")
|
||||
debug_print(f" 🥼 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 📊 ph_value: {ph_value}")
|
||||
debug_print(f" 🧪 reagent: '{reagent}'")
|
||||
debug_print(f" 📦 kwargs: {kwargs}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 从kwargs中获取可选参数，如果没有则使用默认值
|
||||
@@ -184,80 +268,127 @@ def generate_adjust_ph_protocol(
|
||||
stir_time = kwargs.get('stir_time', 60.0) # 默认搅拌时间
|
||||
settling_time = kwargs.get('settling_time', 30.0) # 默认平衡时间
|
||||
|
||||
print(f"ADJUST_PH: 开始生成pH调节协议")
|
||||
print(f" - 目标容器: {vessel}")
|
||||
print(f" - 目标pH: {ph_value}") # 改为 ph_value
|
||||
print(f" - 试剂: {reagent}")
|
||||
print(f" - 使用默认参数: 体积=自动估算, 搅拌=True, 搅拌速度=300RPM")
|
||||
debug_print(f"🔧 处理后的参数:")
|
||||
debug_print(f" 📏 volume: {volume}mL (0.0表示自动估算)")
|
||||
debug_print(f" 🌪️ stir: {stir}")
|
||||
debug_print(f" 🔄 stir_speed: {stir_speed}rpm")
|
||||
debug_print(f" ⏱️ stir_time: {stir_time}s")
|
||||
debug_print(f" ⏳ settling_time: {settling_time}s")
|
||||
|
||||
# 开始处理
|
||||
action_sequence.append(create_action_log(f"开始调节pH至 {ph_value}", "🧪"))
|
||||
action_sequence.append(create_action_log(f"目标容器: {vessel_id}", "🥼"))
|
||||
action_sequence.append(create_action_log(f"使用试剂: {reagent}", "⚗️"))
|
||||
|
||||
# 1. 验证目标容器存在
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"目标容器 '{vessel}' 不存在于系统中")
|
||||
debug_print(f"🔍 步骤1: 验证目标容器...")
|
||||
if vessel_id not in G.nodes():
|
||||
debug_print(f"❌ 目标容器 '{vessel_id}' 不存在于系统中")
|
||||
raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
debug_print(f"✅ 目标容器验证通过")
|
||||
action_sequence.append(create_action_log("目标容器验证通过", "✅"))
|
||||
|
||||
# 2. 查找酸碱试剂容器
|
||||
debug_print(f"🔍 步骤2: 查找试剂容器...")
|
||||
action_sequence.append(create_action_log("正在查找试剂容器...", "🔍"))
|
||||
|
||||
try:
|
||||
reagent_vessel = find_acid_base_vessel(G, reagent)
|
||||
print(f"ADJUST_PH: 找到试剂容器: {reagent_vessel}")
|
||||
debug_print(f"✅ 找到试剂容器: {reagent_vessel}")
|
||||
action_sequence.append(create_action_log(f"找到试剂容器: {reagent_vessel}", "🧪"))
|
||||
except ValueError as e:
|
||||
debug_print(f"❌ 无法找到试剂容器: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"试剂容器查找失败: {str(e)}", "❌"))
|
||||
raise ValueError(f"无法找到试剂 '{reagent}': {str(e)}")
|
||||
|
||||
# 3. 如果未指定体积，自动估算
|
||||
# 3. 体积估算
|
||||
debug_print(f"🔍 步骤3: 体积处理...")
|
||||
if volume <= 0:
|
||||
# 获取目标容器的体积信息
|
||||
vessel_data = G.nodes[vessel].get('data', {})
|
||||
vessel_volume = vessel_data.get('max_volume', 100.0) # 默认100mL
|
||||
action_sequence.append(create_action_log("开始自动估算试剂体积", "🧮"))
|
||||
|
||||
estimated_volume = calculate_reagent_volume(ph_value, reagent, vessel_volume) # 改为 ph_value
|
||||
# 获取目标容器的体积信息
|
||||
vessel_data = G.nodes[vessel_id].get('data', {})
|
||||
vessel_volume = vessel_data.get('max_volume', 100.0) # 默认100mL
|
||||
debug_print(f"📏 容器最大体积: {vessel_volume}mL")
|
||||
|
||||
estimated_volume = calculate_reagent_volume(ph_value, reagent, vessel_volume)
|
||||
volume = estimated_volume
|
||||
print(f"ADJUST_PH: 自动估算试剂体积: {volume:.2f} mL")
|
||||
debug_print(f"✅ 自动估算试剂体积: {volume:.2f} mL")
|
||||
action_sequence.append(create_action_log(f"估算试剂体积: {volume:.2f}mL", "📊"))
|
||||
else:
|
||||
debug_print(f"📏 使用指定体积: {volume}mL")
|
||||
action_sequence.append(create_action_log(f"使用指定体积: {volume}mL", "📏"))
|
||||
|
||||
# 4. 验证路径存在
|
||||
try:
|
||||
path = nx.shortest_path(G, source=reagent_vessel, target=vessel)
|
||||
print(f"ADJUST_PH: 找到路径: {' → '.join(path)}")
|
||||
except nx.NetworkXNoPath:
|
||||
raise ValueError(f"从试剂容器 '{reagent_vessel}' 到目标容器 '{vessel}' 没有可用路径")
|
||||
debug_print(f"🔍 步骤4: 路径验证...")
|
||||
action_sequence.append(create_action_log("验证转移路径...", "🛤️"))
|
||||
|
||||
# 5. 先启动搅拌（如果需要）
|
||||
try:
|
||||
path = nx.shortest_path(G, source=reagent_vessel, target=vessel_id)
|
||||
debug_print(f"✅ 找到路径: {' → '.join(path)}")
|
||||
action_sequence.append(create_action_log(f"找到转移路径: {' → '.join(path)}", "🛤️"))
|
||||
except nx.NetworkXNoPath:
|
||||
debug_print(f"❌ 无法找到转移路径")
|
||||
action_sequence.append(create_action_log("转移路径不存在", "❌"))
|
||||
raise ValueError(f"从试剂容器 '{reagent_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
|
||||
|
||||
# 5. 搅拌器设置
|
||||
debug_print(f"🔍 步骤5: 搅拌器设置...")
|
||||
stirrer_id = None
|
||||
if stir:
|
||||
action_sequence.append(create_action_log("准备启动搅拌器", "🌪️"))
|
||||
|
||||
try:
|
||||
stirrer_id = find_connected_stirrer(G, vessel)
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id)
|
||||
|
||||
if stirrer_id:
|
||||
print(f"ADJUST_PH: 找到搅拌器 {stirrer_id}，启动搅拌")
|
||||
debug_print(f"✅ 找到搅拌器 {stirrer_id}，启动搅拌")
|
||||
action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed}rpm)", "🔄"))
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id,
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"pH调节: 启动搅拌，准备添加 {reagent}"
|
||||
}
|
||||
})
|
||||
|
||||
# 等待搅拌稳定
|
||||
action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5}
|
||||
})
|
||||
else:
|
||||
print(f"ADJUST_PH: 警告 - 未找到搅拌器，继续执行")
|
||||
debug_print(f"⚠️ 未找到搅拌器，继续执行")
|
||||
action_sequence.append(create_action_log("未找到搅拌器，跳过搅拌", "⚠️"))
|
||||
|
||||
except Exception as e:
|
||||
print(f"ADJUST_PH: 搅拌器配置出错: {str(e)}")
|
||||
debug_print(f"❌ 搅拌器配置出错: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"搅拌器配置失败: {str(e)}", "❌"))
|
||||
else:
|
||||
debug_print(f"📋 跳过搅拌设置")
|
||||
action_sequence.append(create_action_log("跳过搅拌设置", "⏭️"))
|
||||
|
||||
# 6. 缓慢添加试剂 - 使用pump_protocol
|
||||
print(f"ADJUST_PH: 开始添加试剂 {volume:.2f} mL")
|
||||
# 6. 试剂添加
|
||||
debug_print(f"🔍 步骤6: 试剂添加...")
|
||||
action_sequence.append(create_action_log(f"开始添加试剂 {volume:.2f}mL", "🚰"))
|
||||
|
||||
# 计算添加时间（pH调节需要缓慢添加）
|
||||
addition_time = max(30.0, volume * 2.0) # 至少30秒，每mL需要2秒
|
||||
debug_print(f"⏱️ 计算添加时间: {addition_time}s (缓慢注入)")
|
||||
action_sequence.append(create_action_log(f"设置添加时间: {addition_time:.0f}s (缓慢注入)", "⏱️"))
|
||||
|
||||
try:
|
||||
action_sequence.append(create_action_log("调用泵协议进行试剂转移", "🔄"))
|
||||
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=reagent_vessel,
|
||||
to_vessel=vessel,
|
||||
to_vessel=vessel_id,
|
||||
volume=volume,
|
||||
amount="",
|
||||
time=addition_time,
|
||||
@@ -266,17 +397,72 @@ def generate_adjust_ph_protocol(
|
||||
rinsing_volume=0.0,
|
||||
rinsing_repeats=0,
|
||||
solid=False,
|
||||
flowrate=0.5 # 缓慢注入
|
||||
flowrate=0.5, # 缓慢注入
|
||||
transfer_flowrate=0.3
|
||||
)
|
||||
|
||||
action_sequence.extend(pump_actions)
|
||||
debug_print(f"✅ 泵协议生成完成，添加了 {len(pump_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"试剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
|
||||
|
||||
# 🔧 修复体积运算 - 试剂添加成功后更新容器液体体积
|
||||
debug_print(f"🔧 更新容器液体体积...")
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
debug_print(f"📊 添加前容器体积: {current_volume}")
|
||||
|
||||
# 处理不同的体积数据格式
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
# 增加体积（添加试剂）
|
||||
vessel["data"]["liquid_volume"][0] += volume
|
||||
debug_print(f"📊 添加后容器体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{volume:.2f}mL)")
|
||||
else:
|
||||
# 如果列表为空，创建新的体积记录
|
||||
vessel["data"]["liquid_volume"] = [volume]
|
||||
debug_print(f"📊 初始化容器体积: {volume:.2f}mL")
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
# 直接数值类型
|
||||
vessel["data"]["liquid_volume"] += volume
|
||||
debug_print(f"📊 添加后容器体积: {vessel['data']['liquid_volume']:.2f}mL (+{volume:.2f}mL)")
|
||||
else:
|
||||
debug_print(f"⚠️ 未知的体积数据格式: {type(current_volume)}")
|
||||
# 创建新的体积记录
|
||||
vessel["data"]["liquid_volume"] = volume
|
||||
else:
|
||||
debug_print(f"📊 容器无液体体积数据，创建新记录: {volume:.2f}mL")
|
||||
# 确保vessel有data字段
|
||||
if "data" not in vessel:
|
||||
vessel["data"] = {}
|
||||
vessel["data"]["liquid_volume"] = volume
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
vessel_node_data = G.nodes[vessel_id].get('data', {})
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] += volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + volume
|
||||
|
||||
debug_print(f"✅ 图节点体积数据已更新")
|
||||
|
||||
action_sequence.append(create_action_log(f"容器体积已更新 (+{volume:.2f}mL)", "📊"))
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 生成泵协议时出错: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"泵协议生成失败: {str(e)}", "❌"))
|
||||
raise ValueError(f"生成泵协议时出错: {str(e)}")
|
||||
|
||||
# 7. 持续搅拌以混合和平衡
|
||||
# 7. 混合搅拌
|
||||
if stir and stirrer_id:
|
||||
print(f"ADJUST_PH: 持续搅拌 {stir_time} 秒以混合试剂")
|
||||
debug_print(f"🔍 步骤7: 混合搅拌...")
|
||||
action_sequence.append(create_action_log(f"开始混合搅拌 {stir_time:.0f}s", "🌀"))
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stir",
|
||||
@@ -284,28 +470,50 @@ def generate_adjust_ph_protocol(
|
||||
"stir_time": stir_time,
|
||||
"stir_speed": stir_speed,
|
||||
"settling_time": settling_time,
|
||||
"purpose": f"pH调节: 混合试剂，目标pH={ph_value}" # 改为 ph_value
|
||||
"purpose": f"pH调节: 混合试剂，目标pH={ph_value}"
|
||||
}
|
||||
})
|
||||
|
||||
debug_print(f"✅ 混合搅拌设置完成")
|
||||
else:
|
||||
debug_print(f"⏭️ 跳过混合搅拌")
|
||||
action_sequence.append(create_action_log("跳过混合搅拌", "⏭️"))
|
||||
|
||||
# 8. 等待平衡
|
||||
debug_print(f"🔍 步骤8: 反应平衡...")
|
||||
action_sequence.append(create_action_log(f"等待pH平衡 {settling_time:.0f}s", "⚖️"))
|
||||
|
||||
# 8. 等待反应平衡
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": settling_time,
|
||||
"description": f"等待pH平衡到目标值 {ph_value}" # 改为 ph_value
|
||||
"description": f"等待pH平衡到目标值 {ph_value}"
|
||||
}
|
||||
})
|
||||
|
||||
print(f"ADJUST_PH: 协议生成完成，共 {len(action_sequence)} 个动作")
|
||||
print(f"ADJUST_PH: 预计总时间: {addition_time + stir_time + settling_time:.0f} 秒")
|
||||
# 9. 完成总结
|
||||
total_time = addition_time + stir_time + settling_time
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"🎉 pH调节协议生成完成")
|
||||
debug_print(f"📊 协议统计:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)}")
|
||||
debug_print(f" ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f}分钟)")
|
||||
debug_print(f" 🧪 试剂: {reagent}")
|
||||
debug_print(f" 📏 体积: {volume:.2f}mL")
|
||||
debug_print(f" 📊 目标pH: {ph_value}")
|
||||
debug_print(f" 🥼 目标容器: {vessel_id}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"pH调节协议完成: {vessel_id} → pH {ph_value} (使用 {volume:.2f}mL {reagent})"
|
||||
action_sequence.append(create_action_log(summary_msg, "🎉"))
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
def generate_adjust_ph_protocol_stepwise(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
ph_value: float,
|
||||
reagent: str,
|
||||
max_volume: float = 10.0,
|
||||
@@ -316,8 +524,8 @@ def generate_adjust_ph_protocol_stepwise(
|
||||
|
||||
Args:
|
||||
G: 网络图
|
||||
vessel: 目标容器
|
||||
pH: 目标pH值
|
||||
vessel: 目标容器字典
|
||||
ph_value: 目标pH值
|
||||
reagent: 酸碱试剂
|
||||
max_volume: 最大试剂体积
|
||||
steps: 分步数量
|
||||
@@ -325,20 +533,36 @@ def generate_adjust_ph_protocol_stepwise(
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
action_sequence = []
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
|
||||
print(f"ADJUST_PH: 开始分步pH调节（{steps}步）")
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"🔄 开始分步pH调节")
|
||||
debug_print(f"📋 分步参数:")
|
||||
debug_print(f" 🥼 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 📊 ph_value: {ph_value}")
|
||||
debug_print(f" 🧪 reagent: {reagent}")
|
||||
debug_print(f" 📏 max_volume: {max_volume}mL")
|
||||
debug_print(f" 🔢 steps: {steps}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 每步添加的体积
|
||||
step_volume = max_volume / steps
|
||||
debug_print(f"📊 每步体积: {step_volume:.2f}mL")
|
||||
|
||||
action_sequence.append(create_action_log(f"开始分步pH调节 ({steps}步)", "🔄"))
|
||||
action_sequence.append(create_action_log(f"每步添加: {step_volume:.2f}mL", "📏"))
|
||||
|
||||
for i in range(steps):
|
||||
print(f"ADJUST_PH: 第 {i+1}/{steps} 步，添加 {step_volume} mL")
|
||||
debug_print(f"🔄 执行第 {i+1}/{steps} 步，添加 {step_volume:.2f}mL")
|
||||
action_sequence.append(create_action_log(f"第 {i+1}/{steps} 步开始", "🚀"))
|
||||
|
||||
# 生成单步协议
|
||||
step_actions = generate_adjust_ph_protocol(
|
||||
G=G,
|
||||
vessel=vessel,
|
||||
vessel=vessel, # 🔧 直接传递vessel字典
|
||||
ph_value=ph_value,
|
||||
reagent=reagent,
|
||||
volume=step_volume,
|
||||
@@ -349,9 +573,13 @@ def generate_adjust_ph_protocol_stepwise(
|
||||
)
|
||||
|
||||
action_sequence.extend(step_actions)
|
||||
debug_print(f"✅ 第 {i+1}/{steps} 步完成，添加了 {len(step_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"第 {i+1}/{steps} 步完成", "✅"))
|
||||
|
||||
# 步骤间等待
|
||||
if i < steps - 1:
|
||||
debug_print(f"⏳ 步骤间等待30s")
|
||||
action_sequence.append(create_action_log("步骤间等待...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
@@ -360,52 +588,70 @@ def generate_adjust_ph_protocol_stepwise(
|
||||
}
|
||||
})
|
||||
|
||||
print(f"ADJUST_PH: 分步pH调节完成")
|
||||
debug_print(f"🎉 分步pH调节完成，共 {len(action_sequence)} 个动作")
|
||||
action_sequence.append(create_action_log("分步pH调节全部完成", "🎉"))
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
# 便捷函数：常用pH调节
|
||||
def generate_acidify_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
target_ph: float = 2.0,
|
||||
acid: str = "hydrochloric acid"
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""酸化协议"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"🍋 生成酸化协议: {vessel_id} → pH {target_ph} (使用 {acid})")
|
||||
return generate_adjust_ph_protocol(
|
||||
G, vessel, target_ph, acid, 0.0, True, 300.0, 120.0, 60.0
|
||||
G, vessel, target_ph, acid
|
||||
)
|
||||
|
||||
|
||||
def generate_basify_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
target_ph: float = 12.0,
|
||||
base: str = "sodium hydroxide"
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""碱化协议"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"🧂 生成碱化协议: {vessel_id} → pH {target_ph} (使用 {base})")
|
||||
return generate_adjust_ph_protocol(
|
||||
G, vessel, target_ph, base, 0.0, True, 300.0, 120.0, 60.0
|
||||
G, vessel, target_ph, base
|
||||
)
|
||||
|
||||
|
||||
def generate_neutralize_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
reagent: str = "sodium hydroxide"
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""中和协议（pH=7）"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"⚖️ 生成中和协议: {vessel_id} → pH 7.0 (使用 {reagent})")
|
||||
return generate_adjust_ph_protocol(
|
||||
G, vessel, 7.0, reagent, 0.0, True, 350.0, 180.0, 90.0
|
||||
G, vessel, 7.0, reagent
|
||||
)
|
||||
|
||||
|
||||
# 测试函数
|
||||
def test_adjust_ph_protocol():
|
||||
"""测试pH调节协议"""
|
||||
print("=== ADJUST PH PROTOCOL 测试 ===")
|
||||
print("测试完成")
|
||||
|
||||
debug_print("=== ADJUST PH PROTOCOL 增强版测试 ===")
|
||||
|
||||
# 测试体积计算
|
||||
debug_print("🧮 测试体积计算...")
|
||||
test_cases = [
|
||||
(2.0, "hydrochloric acid", 100.0),
|
||||
(4.0, "hydrochloric acid", 100.0),
|
||||
(12.0, "sodium hydroxide", 100.0),
|
||||
(10.0, "sodium hydroxide", 100.0),
|
||||
(7.0, "unknown reagent", 100.0)
|
||||
]
|
||||
|
||||
for ph, reagent, volume in test_cases:
|
||||
result = calculate_reagent_volume(ph, reagent, volume)
|
||||
debug_print(f"📊 {reagent} → pH {ph}: {result:.2f}mL")
|
||||
|
||||
debug_print("✅ 测试完成")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_adjust_ph_protocol()
|
||||
@@ -145,7 +145,7 @@ def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
|
||||
|
||||
def generate_clean_vessel_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
solvent: str,
|
||||
volume: float,
|
||||
temp: float,
|
||||
@@ -165,7 +165,7 @@ def generate_clean_vessel_protocol(
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器，边为流体管道
|
||||
vessel: 要清洗的容器名称
|
||||
vessel: 要清洗的容器字典（包含id字段）
|
||||
solvent: 用于清洗的溶剂名称
|
||||
volume: 每次清洗使用的溶剂体积
|
||||
temp: 清洗时的温度
|
||||
@@ -178,20 +178,32 @@ def generate_clean_vessel_protocol(
|
||||
ValueError: 当找不到必要的容器或设备时抛出异常
|
||||
|
||||
Examples:
|
||||
clean_protocol = generate_clean_vessel_protocol(G, "main_reactor", "water", 100.0, 60.0, 2)
|
||||
clean_protocol = generate_clean_vessel_protocol(G, {"id": "main_reactor"}, "water", 100.0, 60.0, 2)
|
||||
"""
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
|
||||
action_sequence = []
|
||||
|
||||
print(f"CLEAN_VESSEL: 开始生成容器清洗协议")
|
||||
print(f" - 目标容器: {vessel}")
|
||||
print(f" - 目标容器: {vessel} (ID: {vessel_id})")
|
||||
print(f" - 清洗溶剂: {solvent}")
|
||||
print(f" - 清洗体积: {volume} mL")
|
||||
print(f" - 清洗温度: {temp}°C")
|
||||
print(f" - 重复次数: {repeats}")
|
||||
|
||||
# 验证目标容器存在
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"目标容器 '{vessel}' 不存在于系统中")
|
||||
if vessel_id not in G.nodes():
|
||||
raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
# 查找溶剂容器
|
||||
try:
|
||||
@@ -208,12 +220,23 @@ def generate_clean_vessel_protocol(
|
||||
raise ValueError(f"无法找到废液容器: {str(e)}")
|
||||
|
||||
# 查找加热设备（可选）
|
||||
heatchill_id = find_connected_heatchill(G, vessel)
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id) # 🔧 使用 vessel_id
|
||||
if heatchill_id:
|
||||
print(f"CLEAN_VESSEL: 找到加热设备: {heatchill_id}")
|
||||
else:
|
||||
print(f"CLEAN_VESSEL: 未找到加热设备，将在室温下清洗")
|
||||
|
||||
# 🔧 新增：记录清洗前的容器状态
|
||||
print(f"CLEAN_VESSEL: 记录清洗前容器状态...")
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list) and len(current_volume) > 0:
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
print(f"CLEAN_VESSEL: 清洗前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# 第一步：如果需要加热且有加热设备，启动加热
|
||||
if temp > 25.0 and heatchill_id:
|
||||
print(f"CLEAN_VESSEL: 启动加热至 {temp}°C")
|
||||
@@ -221,7 +244,7 @@ def generate_clean_vessel_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"temp": temp,
|
||||
"purpose": f"cleaning with {solvent}"
|
||||
}
|
||||
@@ -240,18 +263,61 @@ def generate_clean_vessel_protocol(
|
||||
print(f"CLEAN_VESSEL: 执行第 {repeat + 1} 次清洗")
|
||||
|
||||
# 2a. 使用 pump_protocol 将溶剂转移到目标容器
|
||||
print(f"CLEAN_VESSEL: 将 {volume} mL {solvent} 转移到 {vessel}")
|
||||
print(f"CLEAN_VESSEL: 将 {volume} mL {solvent} 转移到 {vessel_id}")
|
||||
try:
|
||||
# 调用成熟的 pump_protocol 算法
|
||||
add_solvent_actions = generate_pump_protocol(
|
||||
G=G,
|
||||
from_vessel=solvent_vessel,
|
||||
to_vessel=vessel,
|
||||
to_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
volume=volume,
|
||||
flowrate=2.5, # 适中的流速，避免飞溅
|
||||
transfer_flowrate=2.5
|
||||
)
|
||||
action_sequence.extend(add_solvent_actions)
|
||||
|
||||
# 🔧 新增：更新容器体积（添加清洗溶剂）
|
||||
print(f"CLEAN_VESSEL: 更新容器体积 - 添加清洗溶剂 {volume:.2f}mL")
|
||||
if "data" not in vessel:
|
||||
vessel["data"] = {}
|
||||
|
||||
if "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] += volume
|
||||
print(f"CLEAN_VESSEL: 添加溶剂后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{volume:.2f}mL)")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [volume]
|
||||
print(f"CLEAN_VESSEL: 初始化清洗体积: {volume:.2f}mL")
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
vessel["data"]["liquid_volume"] += volume
|
||||
print(f"CLEAN_VESSEL: 添加溶剂后体积: {vessel['data']['liquid_volume']:.2f}mL (+{volume:.2f}mL)")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = volume
|
||||
print(f"CLEAN_VESSEL: 重置体积为: {volume:.2f}mL")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = volume
|
||||
print(f"CLEAN_VESSEL: 创建新体积记录: {volume:.2f}mL")
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] += volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + volume
|
||||
|
||||
print(f"CLEAN_VESSEL: 图节点体积数据已更新")
|
||||
|
||||
except Exception as e:
|
||||
raise ValueError(f"无法将溶剂转移到容器: {str(e)}")
|
||||
|
||||
@@ -265,18 +331,52 @@ def generate_clean_vessel_protocol(
|
||||
action_sequence.append(wait_action)
|
||||
|
||||
# 2c. 使用 pump_protocol 将清洗液转移到废液容器
|
||||
print(f"CLEAN_VESSEL: 将清洗液从 {vessel} 转移到废液容器")
|
||||
print(f"CLEAN_VESSEL: 将清洗液从 {vessel_id} 转移到废液容器")
|
||||
try:
|
||||
# 调用成熟的 pump_protocol 算法
|
||||
remove_waste_actions = generate_pump_protocol(
|
||||
G=G,
|
||||
from_vessel=vessel,
|
||||
from_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
to_vessel=waste_vessel,
|
||||
volume=volume,
|
||||
flowrate=2.5, # 适中的流速
|
||||
transfer_flowrate=2.5
|
||||
)
|
||||
action_sequence.extend(remove_waste_actions)
|
||||
|
||||
# 🔧 新增：更新容器体积（移除清洗液）
|
||||
print(f"CLEAN_VESSEL: 更新容器体积 - 移除清洗液 {volume:.2f}mL")
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = max(0.0, vessel["data"]["liquid_volume"][0] - volume)
|
||||
print(f"CLEAN_VESSEL: 移除清洗液后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (-{volume:.2f}mL)")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [0.0]
|
||||
print(f"CLEAN_VESSEL: 重置体积为0mL")
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
vessel["data"]["liquid_volume"] = max(0.0, current_volume - volume)
|
||||
print(f"CLEAN_VESSEL: 移除清洗液后体积: {vessel['data']['liquid_volume']:.2f}mL (-{volume:.2f}mL)")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = 0.0
|
||||
print(f"CLEAN_VESSEL: 重置体积为0mL")
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
vessel_node_data = G.nodes[vessel_id].get('data', {})
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = max(0.0, current_node_volume[0] - volume)
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [0.0]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = max(0.0, current_node_volume - volume)
|
||||
|
||||
print(f"CLEAN_VESSEL: 图节点体积数据已更新")
|
||||
|
||||
except Exception as e:
|
||||
raise ValueError(f"无法将清洗液转移到废液容器: {str(e)}")
|
||||
|
||||
@@ -296,13 +396,24 @@ def generate_clean_vessel_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
"vessel": vessel_id # 🔧 使用 vessel_id
|
||||
}
|
||||
}
|
||||
action_sequence.append(heatchill_stop_action)
|
||||
|
||||
print(f"CLEAN_VESSEL: 生成了 {len(action_sequence)} 个动作")
|
||||
print(f"CLEAN_VESSEL: 清洗协议生成完成")
|
||||
# 🔧 新增：清洗完成后的状态报告
|
||||
final_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list) and len(current_volume) > 0:
|
||||
final_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
final_liquid_volume = current_volume
|
||||
|
||||
print(f"CLEAN_VESSEL: 清洗完成")
|
||||
print(f" - 清洗前体积: {original_liquid_volume:.2f}mL")
|
||||
print(f" - 清洗后体积: {final_liquid_volume:.2f}mL")
|
||||
print(f" - 生成了 {len(action_sequence)} 个动作")
|
||||
|
||||
return action_sequence
|
||||
|
||||
@@ -310,7 +421,7 @@ def generate_clean_vessel_protocol(
|
||||
# 便捷函数：常用清洗方案
|
||||
def generate_quick_clean_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
solvent: str = "water",
|
||||
volume: float = 100.0
|
||||
) -> List[Dict[str, Any]]:
|
||||
@@ -320,7 +431,7 @@ def generate_quick_clean_protocol(
|
||||
|
||||
def generate_thorough_clean_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
solvent: str = "water",
|
||||
volume: float = 150.0,
|
||||
temp: float = 60.0
|
||||
@@ -331,7 +442,7 @@ def generate_thorough_clean_protocol(
|
||||
|
||||
def generate_organic_clean_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
volume: float = 100.0
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""有机清洗：先用有机溶剂，再用水清洗"""
|
||||
|
||||
@@ -11,6 +11,22 @@ def debug_print(message):
|
||||
print(f"[DISSOLVE] {message}", flush=True)
|
||||
logger.info(f"[DISSOLVE] {message}")
|
||||
|
||||
# 🆕 创建进度日志动作
|
||||
def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
|
||||
"""创建一个动作日志"""
|
||||
full_message = f"{emoji} {message}"
|
||||
debug_print(full_message)
|
||||
logger.info(full_message)
|
||||
print(f"[ACTION] {full_message}", flush=True)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message
|
||||
}
|
||||
}
|
||||
|
||||
def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析体积输入，支持带单位的字符串
|
||||
@@ -22,18 +38,20 @@ def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
float: 体积（毫升）
|
||||
"""
|
||||
if isinstance(volume_input, (int, float)):
|
||||
debug_print(f"📏 体积输入为数值: {volume_input}")
|
||||
return float(volume_input)
|
||||
|
||||
if not volume_input or not str(volume_input).strip():
|
||||
debug_print(f"⚠️ 体积输入为空，返回0.0mL")
|
||||
return 0.0
|
||||
|
||||
volume_str = str(volume_input).lower().strip()
|
||||
debug_print(f"解析体积输入: '{volume_str}'")
|
||||
debug_print(f"🔍 解析体积输入: '{volume_str}'")
|
||||
|
||||
# 处理未知体积
|
||||
if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
default_volume = 50.0 # 默认50mL
|
||||
debug_print(f"检测到未知体积，使用默认值: {default_volume}mL")
|
||||
debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
|
||||
return default_volume
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
@@ -43,7 +61,7 @@ def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析体积: '{volume_str}'，使用默认值50mL")
|
||||
debug_print(f"❌ 无法解析体积: '{volume_str}'，使用默认值50mL")
|
||||
return 50.0
|
||||
|
||||
value = float(match.group(1))
|
||||
@@ -52,12 +70,14 @@ def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
# 转换为毫升
|
||||
if unit in ['l', 'liter']:
|
||||
volume = value * 1000.0 # L -> mL
|
||||
debug_print(f"🔄 体积转换: {value}L → {volume}mL")
|
||||
elif unit in ['μl', 'ul', 'microliter']:
|
||||
volume = value / 1000.0 # μL -> mL
|
||||
debug_print(f"🔄 体积转换: {value}μL → {volume}mL")
|
||||
else: # ml, milliliter 或默认
|
||||
volume = value # 已经是mL
|
||||
debug_print(f"✅ 体积已为mL: {volume}mL")
|
||||
|
||||
debug_print(f"体积转换: {value}{unit} → {volume}mL")
|
||||
return volume
|
||||
|
||||
def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
@@ -71,18 +91,20 @@ def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
float: 质量（克）
|
||||
"""
|
||||
if isinstance(mass_input, (int, float)):
|
||||
debug_print(f"⚖️ 质量输入为数值: {mass_input}g")
|
||||
return float(mass_input)
|
||||
|
||||
if not mass_input or not str(mass_input).strip():
|
||||
debug_print(f"⚠️ 质量输入为空，返回0.0g")
|
||||
return 0.0
|
||||
|
||||
mass_str = str(mass_input).lower().strip()
|
||||
debug_print(f"解析质量输入: '{mass_str}'")
|
||||
debug_print(f"🔍 解析质量输入: '{mass_str}'")
|
||||
|
||||
# 处理未知质量
|
||||
if mass_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
default_mass = 1.0 # 默认1g
|
||||
debug_print(f"检测到未知质量，使用默认值: {default_mass}g")
|
||||
debug_print(f"❓ 检测到未知质量，使用默认值: {default_mass}g 🎯")
|
||||
return default_mass
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
@@ -92,7 +114,7 @@ def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(g|mg|kg|gram|milligram|kilogram)?', mass_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析质量: '{mass_str}'，返回0.0g")
|
||||
debug_print(f"❌ 无法解析质量: '{mass_str}'，返回0.0g")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
@@ -101,12 +123,14 @@ def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
# 转换为克
|
||||
if unit in ['mg', 'milligram']:
|
||||
mass = value / 1000.0 # mg -> g
|
||||
debug_print(f"🔄 质量转换: {value}mg → {mass}g")
|
||||
elif unit in ['kg', 'kilogram']:
|
||||
mass = value * 1000.0 # kg -> g
|
||||
debug_print(f"🔄 质量转换: {value}kg → {mass}g")
|
||||
else: # g, gram 或默认
|
||||
mass = value # 已经是g
|
||||
debug_print(f"✅ 质量已为g: {mass}g")
|
||||
|
||||
debug_print(f"质量转换: {value}{unit} → {mass}g")
|
||||
return mass
|
||||
|
||||
def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
@@ -120,18 +144,20 @@ def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if isinstance(time_input, (int, float)):
|
||||
debug_print(f"⏱️ 时间输入为数值: {time_input}秒")
|
||||
return float(time_input)
|
||||
|
||||
if not time_input or not str(time_input).strip():
|
||||
debug_print(f"⚠️ 时间输入为空，返回0秒")
|
||||
return 0.0
|
||||
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"解析时间输入: '{time_str}'")
|
||||
debug_print(f"🔍 解析时间输入: '{time_str}'")
|
||||
|
||||
# 处理未知时间
|
||||
if time_str in ['?', 'unknown', 'tbd']:
|
||||
default_time = 600.0 # 默认10分钟
|
||||
debug_print(f"检测到未知时间，使用默认值: {default_time}s")
|
||||
debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (10分钟) ⏰")
|
||||
return default_time
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
@@ -141,7 +167,7 @@ def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析时间: '{time_str}'，返回0s")
|
||||
debug_print(f"❌ 无法解析时间: '{time_str}'，返回0s")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
@@ -150,14 +176,17 @@ def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
# 转换为秒
|
||||
if unit in ['min', 'minute']:
|
||||
time_sec = value * 60.0 # min -> s
|
||||
debug_print(f"🔄 时间转换: {value}分钟 → {time_sec}秒")
|
||||
elif unit in ['h', 'hr', 'hour']:
|
||||
time_sec = value * 3600.0 # h -> s
|
||||
debug_print(f"🔄 时间转换: {value}小时 → {time_sec}秒")
|
||||
elif unit in ['d', 'day']:
|
||||
time_sec = value * 86400.0 # d -> s
|
||||
debug_print(f"🔄 时间转换: {value}天 → {time_sec}秒")
|
||||
else: # s, sec, second 或默认
|
||||
time_sec = value # 已经是s
|
||||
debug_print(f"✅ 时间已为秒: {time_sec}秒")
|
||||
|
||||
debug_print(f"时间转换: {value}{unit} → {time_sec}s")
|
||||
return time_sec
|
||||
|
||||
def parse_temperature_input(temp_input: Union[str, float]) -> float:
|
||||
@@ -171,13 +200,15 @@ def parse_temperature_input(temp_input: Union[str, float]) -> float:
|
||||
float: 温度（摄氏度）
|
||||
"""
|
||||
if isinstance(temp_input, (int, float)):
|
||||
debug_print(f"🌡️ 温度输入为数值: {temp_input}°C")
|
||||
return float(temp_input)
|
||||
|
||||
if not temp_input or not str(temp_input).strip():
|
||||
debug_print(f"⚠️ 温度输入为空，使用默认室温25°C")
|
||||
return 25.0 # 默认室温
|
||||
|
||||
temp_str = str(temp_input).lower().strip()
|
||||
debug_print(f"解析温度输入: '{temp_str}'")
|
||||
debug_print(f"🔍 解析温度输入: '{temp_str}'")
|
||||
|
||||
# 处理特殊温度描述
|
||||
temp_aliases = {
|
||||
@@ -193,7 +224,7 @@ def parse_temperature_input(temp_input: Union[str, float]) -> float:
|
||||
|
||||
if temp_str in temp_aliases:
|
||||
result = temp_aliases[temp_str]
|
||||
debug_print(f"温度别名解析: '{temp_str}' → {result}°C")
|
||||
debug_print(f"🏷️ 温度别名解析: '{temp_str}' → {result}°C")
|
||||
return result
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
@@ -203,7 +234,7 @@ def parse_temperature_input(temp_input: Union[str, float]) -> float:
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(°c|c|celsius|°f|f|fahrenheit|k|kelvin)?', temp_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析温度: '{temp_str}'，使用默认值25°C")
|
||||
debug_print(f"❌ 无法解析温度: '{temp_str}'，使用默认值25°C")
|
||||
return 25.0
|
||||
|
||||
value = float(match.group(1))
|
||||
@@ -212,19 +243,22 @@ def parse_temperature_input(temp_input: Union[str, float]) -> float:
|
||||
# 转换为摄氏度
|
||||
if unit in ['°f', 'f', 'fahrenheit']:
|
||||
temp_c = (value - 32) * 5/9 # F -> C
|
||||
debug_print(f"🔄 温度转换: {value}°F → {temp_c:.1f}°C")
|
||||
elif unit in ['k', 'kelvin']:
|
||||
temp_c = value - 273.15 # K -> C
|
||||
debug_print(f"🔄 温度转换: {value}K → {temp_c:.1f}°C")
|
||||
else: # °c, c, celsius 或默认
|
||||
temp_c = value # 已经是C
|
||||
debug_print(f"✅ 温度已为°C: {temp_c}°C")
|
||||
|
||||
debug_print(f"温度转换: {value}{unit} → {temp_c}°C")
|
||||
return temp_c
|
||||
|
||||
def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""增强版溶剂容器查找"""
|
||||
debug_print(f"查找溶剂 '{solvent}' 的容器...")
|
||||
"""增强版溶剂容器查找，支持多种匹配模式"""
|
||||
debug_print(f"🔍 开始查找溶剂 '{solvent}' 的容器...")
|
||||
|
||||
# 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
|
||||
debug_print(f"📋 方法1: 搜索reagent字段...")
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node].get('data', {})
|
||||
node_type = G.nodes[node].get('type', '')
|
||||
@@ -237,18 +271,20 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
|
||||
# 精确匹配
|
||||
if reagent_name == solvent.lower() or config_reagent == solvent.lower():
|
||||
debug_print(f"✅ 通过reagent字段找到容器: {node}")
|
||||
debug_print(f"✅ 通过reagent字段精确匹配到容器: {node} 🎯")
|
||||
return node
|
||||
|
||||
# 模糊匹配
|
||||
if (solvent.lower() in reagent_name and reagent_name) or \
|
||||
(solvent.lower() in config_reagent and config_reagent):
|
||||
debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node}")
|
||||
debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node} 🔍")
|
||||
return node
|
||||
|
||||
# 🔧 方法2：常见的容器命名规则
|
||||
debug_print(f"📋 方法2: 使用命名规则查找...")
|
||||
solvent_clean = solvent.lower().replace(' ', '_').replace('-', '_')
|
||||
possible_names = [
|
||||
solvent_clean,
|
||||
f"flask_{solvent_clean}",
|
||||
f"bottle_{solvent_clean}",
|
||||
f"vessel_{solvent_clean}",
|
||||
@@ -256,82 +292,123 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
f"{solvent_clean}_bottle",
|
||||
f"solvent_{solvent_clean}",
|
||||
f"reagent_{solvent_clean}",
|
||||
f"reagent_bottle_{solvent_clean}"
|
||||
f"reagent_bottle_{solvent_clean}",
|
||||
f"reagent_bottle_1", # 通用试剂瓶
|
||||
f"reagent_bottle_2",
|
||||
f"reagent_bottle_3"
|
||||
]
|
||||
|
||||
debug_print(f"🔍 尝试的容器名称: {possible_names[:5]}... (共{len(possible_names)}个)")
|
||||
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
node_type = G.nodes[name].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"✅ 通过命名规则找到容器: {name}")
|
||||
debug_print(f"✅ 通过命名规则找到容器: {name} 📝")
|
||||
return name
|
||||
|
||||
# 🔧 方法3：使用第一个试剂瓶作为备选
|
||||
# 🔧 方法3：节点名称模糊匹配
|
||||
debug_print(f"📋 方法3: 节点名称模糊匹配...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
if node_data.get('type') == 'container':
|
||||
# 检查节点名称是否包含溶剂名称
|
||||
if solvent_clean in node_id.lower():
|
||||
debug_print(f"✅ 通过节点名称模糊匹配到容器: {node_id} 🔍")
|
||||
return node_id
|
||||
|
||||
# 检查液体类型匹配
|
||||
vessel_data = node_data.get('data', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
|
||||
if liquid_type.lower() == solvent.lower():
|
||||
debug_print(f"✅ 通过液体类型匹配到容器: {node_id} 💧")
|
||||
return node_id
|
||||
|
||||
# 🔧 方法4：使用第一个试剂瓶作为备选
|
||||
debug_print(f"📋 方法4: 查找备选试剂瓶...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
if (node_data.get('type') == 'container' and
|
||||
('reagent' in node_id.lower() or 'bottle' in node_id.lower() or 'flask' in node_id.lower())):
|
||||
debug_print(f"⚠️ 未找到专用容器，使用备选容器: {node_id}")
|
||||
debug_print(f"⚠️ 未找到专用容器，使用备选试剂瓶: {node_id} 🔄")
|
||||
return node_id
|
||||
|
||||
debug_print(f"❌ 所有方法都失败了，无法找到容器!")
|
||||
raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
|
||||
|
||||
def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找连接到指定容器的加热搅拌器"""
|
||||
debug_print(f"🔍 查找连接到容器 '{vessel}' 的加热搅拌器...")
|
||||
|
||||
heatchill_nodes = []
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'heatchill' in node_class:
|
||||
heatchill_nodes.append(node)
|
||||
debug_print(f"📋 发现加热搅拌器: {node}")
|
||||
|
||||
debug_print(f"📊 共找到 {len(heatchill_nodes)} 个加热搅拌器")
|
||||
|
||||
# 查找连接到容器的加热器
|
||||
for heatchill in heatchill_nodes:
|
||||
if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
|
||||
debug_print(f"找到连接的加热器: {heatchill}")
|
||||
debug_print(f"✅ 找到连接的加热搅拌器: {heatchill} 🔗")
|
||||
return heatchill
|
||||
|
||||
# 返回第一个加热器
|
||||
if heatchill_nodes:
|
||||
debug_print(f"使用第一个加热器: {heatchill_nodes[0]}")
|
||||
debug_print(f"⚠️ 未找到直接连接的加热搅拌器，使用第一个: {heatchill_nodes[0]} 🔄")
|
||||
return heatchill_nodes[0]
|
||||
|
||||
debug_print(f"❌ 未找到任何加热搅拌器")
|
||||
return ""
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找连接到指定容器的搅拌器"""
|
||||
debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
|
||||
|
||||
stirrer_nodes = []
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'stirrer' in node_class:
|
||||
stirrer_nodes.append(node)
|
||||
debug_print(f"📋 发现搅拌器: {node}")
|
||||
|
||||
debug_print(f"📊 共找到 {len(stirrer_nodes)} 个搅拌器")
|
||||
|
||||
# 查找连接到容器的搅拌器
|
||||
for stirrer in stirrer_nodes:
|
||||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||||
debug_print(f"找到连接的搅拌器: {stirrer}")
|
||||
debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
|
||||
return stirrer
|
||||
|
||||
# 返回第一个搅拌器
|
||||
if stirrer_nodes:
|
||||
debug_print(f"使用第一个搅拌器: {stirrer_nodes[0]}")
|
||||
debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
|
||||
return stirrer_nodes[0]
|
||||
|
||||
debug_print(f"❌ 未找到任何搅拌器")
|
||||
return ""
|
||||
|
||||
def find_solid_dispenser(G: nx.DiGraph) -> str:
|
||||
"""查找固体加样器"""
|
||||
debug_print(f"🔍 查找固体加样器...")
|
||||
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'solid_dispenser' in node_class or 'dispenser' in node_class:
|
||||
debug_print(f"找到固体加样器: {node}")
|
||||
debug_print(f"✅ 找到固体加样器: {node} 🥄")
|
||||
return node
|
||||
|
||||
debug_print("⚠️ 未找到固体加样器")
|
||||
debug_print(f"❌ 未找到固体加样器")
|
||||
return ""
|
||||
|
||||
def generate_dissolve_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
# 🔧 修复：按照checklist.md的DissolveProtocol参数
|
||||
solvent: str = "",
|
||||
volume: Union[str, float] = 0.0,
|
||||
@@ -347,12 +424,14 @@ def generate_dissolve_protocol(
|
||||
**kwargs # 🔧 关键：接受所有其他参数，防止unexpected keyword错误
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成溶解操作的协议序列 - 修复版
|
||||
生成溶解操作的协议序列 - 增强版
|
||||
|
||||
🔧 修复要点：
|
||||
1. 添加action文件中的所有参数（mass, mol, reagent, event）
|
||||
2. 使用 **kwargs 接受所有额外参数，防止 unexpected keyword argument 错误
|
||||
3. 支持固体溶解和液体溶解两种模式
|
||||
1. 修改vessel参数类型为dict，并提取vessel_id
|
||||
2. 添加action文件中的所有参数（mass, mol, reagent, event）
|
||||
3. 使用 **kwargs 接受所有额外参数，防止 unexpected keyword argument 错误
|
||||
4. 支持固体溶解和液体溶解两种模式
|
||||
5. 添加详细的体积运算逻辑
|
||||
|
||||
支持两种溶解模式：
|
||||
1. 液体溶解：指定 solvent + volume，使用pump protocol转移溶剂
|
||||
@@ -366,36 +445,55 @@ def generate_dissolve_protocol(
|
||||
- mol: "0.12 mol", "16.2 mmol"
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("开始生成溶解协议 - 修复版")
|
||||
debug_print(f"原始参数:")
|
||||
debug_print(f" - vessel: '{vessel}'")
|
||||
debug_print(f" - solvent: '{solvent}'")
|
||||
debug_print(f" - volume: {volume} (类型: {type(volume)})")
|
||||
debug_print(f" - mass: {mass} (类型: {type(mass)})")
|
||||
debug_print(f" - temp: {temp} (类型: {type(temp)})")
|
||||
debug_print(f" - time: {time} (类型: {type(time)})")
|
||||
debug_print(f" - reagent: '{reagent}'")
|
||||
debug_print(f" - mol: '{mol}'")
|
||||
debug_print(f" - event: '{event}'")
|
||||
debug_print(f" - kwargs: {kwargs}") # 显示额外参数
|
||||
debug_print("🧪 开始生成溶解协议")
|
||||
debug_print(f"📋 原始参数:")
|
||||
debug_print(f" 🥼 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 💧 solvent: '{solvent}'")
|
||||
debug_print(f" 📏 volume: {volume} (类型: {type(volume)})")
|
||||
debug_print(f" ⚖️ mass: {mass} (类型: {type(mass)})")
|
||||
debug_print(f" 🌡️ temp: {temp} (类型: {type(temp)})")
|
||||
debug_print(f" ⏱️ time: {time} (类型: {type(time)})")
|
||||
debug_print(f" 🧪 reagent: '{reagent}'")
|
||||
debug_print(f" 🧬 mol: '{mol}'")
|
||||
debug_print(f" 🎯 event: '{event}'")
|
||||
debug_print(f" 📦 kwargs: {kwargs}") # 显示额外参数
|
||||
debug_print("=" * 60)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# === 参数验证 ===
|
||||
debug_print("步骤1: 参数验证...")
|
||||
debug_print("🔍 步骤1: 参数验证...")
|
||||
action_sequence.append(create_action_log(f"开始溶解操作 - 容器: {vessel_id}", "🎬"))
|
||||
|
||||
if not vessel:
|
||||
if not vessel_id:
|
||||
debug_print("❌ vessel 参数不能为空")
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 '{vessel}' 不存在于系统中")
|
||||
if vessel_id not in G.nodes():
|
||||
debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中")
|
||||
raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
debug_print("✅ 基本参数验证通过")
|
||||
action_sequence.append(create_action_log("参数验证通过", "✅"))
|
||||
|
||||
# 🔧 新增：记录溶解前的容器状态
|
||||
debug_print("🔍 记录溶解前容器状态...")
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list) and len(current_volume) > 0:
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
debug_print(f"📊 溶解前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# === 🔧 关键修复：参数解析 ===
|
||||
debug_print("步骤2: 参数解析...")
|
||||
debug_print("🔍 步骤2: 参数解析...")
|
||||
action_sequence.append(create_action_log("正在解析溶解参数...", "🔍"))
|
||||
|
||||
# 解析各种参数为数值
|
||||
final_volume = parse_volume_input(volume)
|
||||
@@ -403,17 +501,18 @@ def generate_dissolve_protocol(
|
||||
final_temp = parse_temperature_input(temp)
|
||||
final_time = parse_time_input(time)
|
||||
|
||||
debug_print(f"解析结果:")
|
||||
debug_print(f" - 体积: {final_volume}mL")
|
||||
debug_print(f" - 质量: {final_mass}g")
|
||||
debug_print(f" - 温度: {final_temp}°C")
|
||||
debug_print(f" - 时间: {final_time}s")
|
||||
debug_print(f" - 试剂: '{reagent}'")
|
||||
debug_print(f" - 摩尔: '{mol}'")
|
||||
debug_print(f" - 事件: '{event}'")
|
||||
debug_print(f"📊 解析结果:")
|
||||
debug_print(f" 📏 体积: {final_volume}mL")
|
||||
debug_print(f" ⚖️ 质量: {final_mass}g")
|
||||
debug_print(f" 🌡️ 温度: {final_temp}°C")
|
||||
debug_print(f" ⏱️ 时间: {final_time}s")
|
||||
debug_print(f" 🧪 试剂: '{reagent}'")
|
||||
debug_print(f" 🧬 摩尔: '{mol}'")
|
||||
debug_print(f" 🎯 事件: '{event}'")
|
||||
|
||||
# === 判断溶解类型 ===
|
||||
debug_print("步骤3: 判断溶解类型...")
|
||||
debug_print("🔍 步骤3: 判断溶解类型...")
|
||||
action_sequence.append(create_action_log("正在判断溶解类型...", "🔍"))
|
||||
|
||||
# 判断是固体溶解还是液体溶解
|
||||
is_solid_dissolve = (final_mass > 0 or (mol and mol.strip() != "") or (reagent and reagent.strip() != ""))
|
||||
@@ -427,38 +526,53 @@ def generate_dissolve_protocol(
|
||||
solvent = "water" # 默认溶剂
|
||||
debug_print("⚠️ 未明确指定溶解参数，默认为50mL水溶解")
|
||||
|
||||
debug_print(f"溶解类型: {'固体溶解' if is_solid_dissolve else '液体溶解'}")
|
||||
dissolve_type = "固体溶解" if is_solid_dissolve else "液体溶解"
|
||||
dissolve_emoji = "🧂" if is_solid_dissolve else "💧"
|
||||
debug_print(f"📋 溶解类型: {dissolve_type} {dissolve_emoji}")
|
||||
|
||||
action_sequence.append(create_action_log(f"确定溶解类型: {dissolve_type} {dissolve_emoji}", "📋"))
|
||||
|
||||
# === 查找设备 ===
|
||||
debug_print("步骤4: 查找设备...")
|
||||
debug_print("🔍 步骤4: 查找设备...")
|
||||
action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
|
||||
|
||||
# 查找加热搅拌器
|
||||
heatchill_id = find_connected_heatchill(G, vessel)
|
||||
stirrer_id = find_connected_stirrer(G, vessel)
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id)
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id)
|
||||
|
||||
# 优先使用加热搅拌器，否则使用独立搅拌器
|
||||
stir_device_id = heatchill_id or stirrer_id
|
||||
|
||||
debug_print(f"设备映射:")
|
||||
debug_print(f" - 加热器: '{heatchill_id}'")
|
||||
debug_print(f" - 搅拌器: '{stirrer_id}'")
|
||||
debug_print(f" - 使用设备: '{stir_device_id}'")
|
||||
debug_print(f"📊 设备映射:")
|
||||
debug_print(f" 🔥 加热器: '{heatchill_id}'")
|
||||
debug_print(f" 🌪️ 搅拌器: '{stirrer_id}'")
|
||||
debug_print(f" 🎯 使用设备: '{stir_device_id}'")
|
||||
|
||||
if heatchill_id:
|
||||
action_sequence.append(create_action_log(f"找到加热搅拌器: {heatchill_id}", "🔥"))
|
||||
elif stirrer_id:
|
||||
action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_id}", "🌪️"))
|
||||
else:
|
||||
action_sequence.append(create_action_log("未找到搅拌设备，将跳过搅拌", "⚠️"))
|
||||
|
||||
# === 执行溶解流程 ===
|
||||
debug_print("步骤5: 执行溶解流程...")
|
||||
debug_print("🔍 步骤5: 执行溶解流程...")
|
||||
|
||||
try:
|
||||
# 步骤5.1: 启动加热搅拌（如果需要）
|
||||
if stir_device_id and (final_temp > 25.0 or final_time > 0 or stir_speed > 0):
|
||||
debug_print(f"5.1: 启动加热搅拌，温度: {final_temp}°C")
|
||||
debug_print(f"🔍 5.1: 启动加热搅拌，温度: {final_temp}°C")
|
||||
action_sequence.append(create_action_log(f"准备加热搅拌 (目标温度: {final_temp}°C)", "🔥"))
|
||||
|
||||
if heatchill_id and (final_temp > 25.0 or final_time > 0):
|
||||
# 使用加热搅拌器
|
||||
action_sequence.append(create_action_log(f"启动加热搅拌器 {heatchill_id}", "🔥"))
|
||||
|
||||
heatchill_action = {
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id,
|
||||
"temp": final_temp,
|
||||
"purpose": f"溶解准备 - {event}" if event else "溶解准备"
|
||||
}
|
||||
@@ -468,6 +582,7 @@ def generate_dissolve_protocol(
|
||||
# 等待温度稳定
|
||||
if final_temp > 25.0:
|
||||
wait_time = min(60, abs(final_temp - 25.0) * 1.5)
|
||||
action_sequence.append(create_action_log(f"等待温度稳定 ({wait_time:.0f}秒)", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": wait_time}
|
||||
@@ -475,11 +590,13 @@ def generate_dissolve_protocol(
|
||||
|
||||
elif stirrer_id:
|
||||
# 使用独立搅拌器
|
||||
action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed}rpm)", "🌪️"))
|
||||
|
||||
stir_action = {
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id,
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"溶解搅拌 - {event}" if event else "溶解搅拌"
|
||||
}
|
||||
@@ -487,6 +604,7 @@ def generate_dissolve_protocol(
|
||||
action_sequence.append(stir_action)
|
||||
|
||||
# 等待搅拌稳定
|
||||
action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5}
|
||||
@@ -494,13 +612,16 @@ def generate_dissolve_protocol(
|
||||
|
||||
if is_solid_dissolve:
|
||||
# === 固体溶解路径 ===
|
||||
debug_print(f"5.2: 使用固体溶解路径")
|
||||
debug_print(f"🔍 5.2: 使用固体溶解路径")
|
||||
action_sequence.append(create_action_log("开始固体溶解流程", "🧂"))
|
||||
|
||||
solid_dispenser = find_solid_dispenser(G)
|
||||
if solid_dispenser:
|
||||
action_sequence.append(create_action_log(f"找到固体加样器: {solid_dispenser}", "🥄"))
|
||||
|
||||
# 固体加样
|
||||
add_kwargs = {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id,
|
||||
"reagent": reagent or amount or "solid reagent",
|
||||
"purpose": f"溶解固体试剂 - {event}" if event else "溶解固体试剂",
|
||||
"event": event
|
||||
@@ -508,9 +629,12 @@ def generate_dissolve_protocol(
|
||||
|
||||
if final_mass > 0:
|
||||
add_kwargs["mass"] = str(final_mass)
|
||||
action_sequence.append(create_action_log(f"准备添加固体: {final_mass}g", "⚖️"))
|
||||
if mol and mol.strip():
|
||||
add_kwargs["mol"] = mol
|
||||
action_sequence.append(create_action_log(f"按摩尔数添加: {mol}", "🧬"))
|
||||
|
||||
action_sequence.append(create_action_log("开始固体加样操作", "🥄"))
|
||||
action_sequence.append({
|
||||
"device_id": solid_dispenser,
|
||||
"action_name": "add_solid",
|
||||
@@ -518,18 +642,30 @@ def generate_dissolve_protocol(
|
||||
})
|
||||
|
||||
debug_print(f"✅ 固体加样完成")
|
||||
action_sequence.append(create_action_log("固体加样完成", "✅"))
|
||||
|
||||
# 🔧 新增：固体溶解体积运算 - 固体本身不会显著增加体积，但可能有少量变化
|
||||
debug_print(f"🔧 固体溶解 - 体积变化很小，主要是质量变化")
|
||||
# 固体通常不会显著改变液体体积，这里只记录日志
|
||||
action_sequence.append(create_action_log(f"固体已添加: {final_mass}g", "📊"))
|
||||
|
||||
else:
|
||||
debug_print("⚠️ 未找到固体加样器，跳过固体添加")
|
||||
action_sequence.append(create_action_log("未找到固体加样器，无法添加固体", "❌"))
|
||||
|
||||
elif is_liquid_dissolve:
|
||||
# === 液体溶解路径 ===
|
||||
debug_print(f"5.3: 使用液体溶解路径")
|
||||
debug_print(f"🔍 5.3: 使用液体溶解路径")
|
||||
action_sequence.append(create_action_log("开始液体溶解流程", "💧"))
|
||||
|
||||
# 查找溶剂容器
|
||||
action_sequence.append(create_action_log("正在查找溶剂容器...", "🔍"))
|
||||
try:
|
||||
solvent_vessel = find_solvent_vessel(G, solvent)
|
||||
action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "🧪"))
|
||||
except ValueError as e:
|
||||
debug_print(f"⚠️ {str(e)}，跳过溶剂添加")
|
||||
action_sequence.append(create_action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
|
||||
solvent_vessel = None
|
||||
|
||||
if solvent_vessel:
|
||||
@@ -537,11 +673,14 @@ def generate_dissolve_protocol(
|
||||
flowrate = 1.0 # 较慢的注入速度
|
||||
transfer_flowrate = 0.5 # 较慢的转移速度
|
||||
|
||||
action_sequence.append(create_action_log(f"设置流速: {flowrate}mL/min (缓慢注入)", "⚡"))
|
||||
action_sequence.append(create_action_log(f"开始转移 {final_volume}mL {solvent}", "🚰"))
|
||||
|
||||
# 调用pump protocol
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent_vessel,
|
||||
to_vessel=vessel,
|
||||
to_vessel=vessel_id,
|
||||
volume=final_volume,
|
||||
amount=amount,
|
||||
time=0.0, # 不在pump level控制时间
|
||||
@@ -559,8 +698,56 @@ def generate_dissolve_protocol(
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
debug_print(f"✅ 溶剂转移完成，添加了 {len(pump_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
|
||||
|
||||
# 🔧 新增：液体溶解体积运算 - 添加溶剂后更新容器体积
|
||||
debug_print(f"🔧 更新容器液体体积 - 添加溶剂 {final_volume:.2f}mL")
|
||||
|
||||
# 确保vessel有data字段
|
||||
if "data" not in vessel:
|
||||
vessel["data"] = {}
|
||||
|
||||
if "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] += final_volume
|
||||
debug_print(f"📊 添加溶剂后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{final_volume:.2f}mL)")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [final_volume]
|
||||
debug_print(f"📊 初始化溶解体积: {final_volume:.2f}mL")
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
vessel["data"]["liquid_volume"] += final_volume
|
||||
debug_print(f"📊 添加溶剂后体积: {vessel['data']['liquid_volume']:.2f}mL (+{final_volume:.2f}mL)")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = final_volume
|
||||
debug_print(f"📊 重置体积为: {final_volume:.2f}mL")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = final_volume
|
||||
debug_print(f"📊 创建新体积记录: {final_volume:.2f}mL")
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] += final_volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [final_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + final_volume
|
||||
|
||||
debug_print(f"✅ 图节点体积数据已更新")
|
||||
|
||||
action_sequence.append(create_action_log(f"容器体积已更新 (+{final_volume:.2f}mL)", "📊"))
|
||||
|
||||
# 溶剂添加后等待
|
||||
action_sequence.append(create_action_log("溶剂添加后短暂等待...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5}
|
||||
@@ -568,15 +755,19 @@ def generate_dissolve_protocol(
|
||||
|
||||
# 步骤5.4: 等待溶解完成
|
||||
if final_time > 0:
|
||||
debug_print(f"5.4: 等待溶解完成 - {final_time}s")
|
||||
debug_print(f"🔍 5.4: 等待溶解完成 - {final_time}s")
|
||||
wait_minutes = final_time / 60
|
||||
action_sequence.append(create_action_log(f"开始溶解等待 ({wait_minutes:.1f}分钟)", "⏰"))
|
||||
|
||||
if heatchill_id:
|
||||
# 使用定时加热搅拌
|
||||
action_sequence.append(create_action_log(f"使用加热搅拌器进行定时溶解", "🔥"))
|
||||
|
||||
dissolve_action = {
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id,
|
||||
"temp": final_temp,
|
||||
"time": final_time,
|
||||
"stir": True,
|
||||
@@ -588,11 +779,13 @@ def generate_dissolve_protocol(
|
||||
|
||||
elif stirrer_id:
|
||||
# 使用定时搅拌
|
||||
action_sequence.append(create_action_log(f"使用搅拌器进行定时溶解", "🌪️"))
|
||||
|
||||
stir_action = {
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id,
|
||||
"stir_time": final_time,
|
||||
"stir_speed": stir_speed,
|
||||
"settling_time": 0,
|
||||
@@ -603,6 +796,7 @@ def generate_dissolve_protocol(
|
||||
|
||||
else:
|
||||
# 简单等待
|
||||
action_sequence.append(create_action_log(f"简单等待溶解完成", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": final_time}
|
||||
@@ -610,19 +804,21 @@ def generate_dissolve_protocol(
|
||||
|
||||
# 步骤5.5: 停止加热搅拌（如果需要）
|
||||
if heatchill_id and final_time == 0 and final_temp > 25.0:
|
||||
debug_print(f"5.5: 停止加热器")
|
||||
debug_print(f"🔍 5.5: 停止加热器")
|
||||
action_sequence.append(create_action_log("停止加热搅拌器", "🛑"))
|
||||
|
||||
stop_action = {
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
"vessel": vessel_id
|
||||
}
|
||||
}
|
||||
action_sequence.append(stop_action)
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"⚠️ 溶解流程执行失败: {str(e)}")
|
||||
debug_print(f"❌ 溶解流程执行失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"溶解流程失败: {str(e)}", "❌"))
|
||||
# 添加错误日志
|
||||
action_sequence.append({
|
||||
"device_id": "system",
|
||||
@@ -632,30 +828,54 @@ def generate_dissolve_protocol(
|
||||
}
|
||||
})
|
||||
|
||||
# 🔧 新增：溶解完成后的状态报告
|
||||
final_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list) and len(current_volume) > 0:
|
||||
final_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
final_liquid_volume = current_volume
|
||||
|
||||
# === 最终结果 ===
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"✅ 溶解协议生成完成")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)}")
|
||||
debug_print(f"📋 处理总结:")
|
||||
debug_print(f" - 容器: {vessel}")
|
||||
debug_print(f" - 溶解类型: {'固体溶解' if is_solid_dissolve else '液体溶解'}")
|
||||
debug_print(f"🎉 溶解协议生成完成")
|
||||
debug_print(f"📊 协议统计:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)}")
|
||||
debug_print(f" 🥼 容器: {vessel_id}")
|
||||
debug_print(f" {dissolve_emoji} 溶解类型: {dissolve_type}")
|
||||
if is_liquid_dissolve:
|
||||
debug_print(f" - 溶剂: {solvent} ({final_volume}mL)")
|
||||
debug_print(f" 💧 溶剂: {solvent} ({final_volume}mL)")
|
||||
if is_solid_dissolve:
|
||||
debug_print(f" - 试剂: {reagent}")
|
||||
debug_print(f" - 质量: {final_mass}g")
|
||||
debug_print(f" - 摩尔: {mol}")
|
||||
debug_print(f" - 温度: {final_temp}°C")
|
||||
debug_print(f" - 时间: {final_time}s")
|
||||
debug_print(f" 🧪 试剂: {reagent}")
|
||||
debug_print(f" ⚖️ 质量: {final_mass}g")
|
||||
debug_print(f" 🧬 摩尔: {mol}")
|
||||
debug_print(f" 🌡️ 温度: {final_temp}°C")
|
||||
debug_print(f" ⏱️ 时间: {final_time}s")
|
||||
debug_print(f" 📊 溶解前体积: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" 📊 溶解后体积: {final_liquid_volume:.2f}mL")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"溶解协议完成: {vessel_id}"
|
||||
if is_liquid_dissolve:
|
||||
summary_msg += f" (使用 {final_volume}mL {solvent})"
|
||||
if is_solid_dissolve:
|
||||
summary_msg += f" (溶解 {final_mass}g {reagent})"
|
||||
|
||||
action_sequence.append(create_action_log(summary_msg, "🎉"))
|
||||
|
||||
return action_sequence
|
||||
|
||||
# === 便捷函数 ===
|
||||
|
||||
def dissolve_solid_by_mass(G: nx.DiGraph, vessel: str, reagent: str, mass: Union[str, float],
|
||||
# === 便捷函数 ===
|
||||
# 🔧 修改便捷函数的参数类型
|
||||
|
||||
def dissolve_solid_by_mass(G: nx.DiGraph, vessel: dict, reagent: str, mass: Union[str, float],
|
||||
temp: Union[str, float] = 25.0, time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
|
||||
"""按质量溶解固体"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"🧂 快速固体溶解: {reagent} ({mass}) → {vessel_id}")
|
||||
return generate_dissolve_protocol(
|
||||
G, vessel,
|
||||
mass=mass,
|
||||
@@ -664,9 +884,11 @@ def dissolve_solid_by_mass(G: nx.DiGraph, vessel: str, reagent: str, mass: Union
|
||||
time=time
|
||||
)
|
||||
|
||||
def dissolve_solid_by_moles(G: nx.DiGraph, vessel: str, reagent: str, mol: str,
|
||||
def dissolve_solid_by_moles(G: nx.DiGraph, vessel: dict, reagent: str, mol: str,
|
||||
temp: Union[str, float] = 25.0, time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
|
||||
"""按摩尔数溶解固体"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"🧬 按摩尔数溶解固体: {reagent} ({mol}) → {vessel_id}")
|
||||
return generate_dissolve_protocol(
|
||||
G, vessel,
|
||||
mol=mol,
|
||||
@@ -675,9 +897,11 @@ def dissolve_solid_by_moles(G: nx.DiGraph, vessel: str, reagent: str, mol: str,
|
||||
time=time
|
||||
)
|
||||
|
||||
def dissolve_with_solvent(G: nx.DiGraph, vessel: str, solvent: str, volume: Union[str, float],
|
||||
def dissolve_with_solvent(G: nx.DiGraph, vessel: dict, solvent: str, volume: Union[str, float],
|
||||
temp: Union[str, float] = 25.0, time: Union[str, float] = "5 min") -> List[Dict[str, Any]]:
|
||||
"""用溶剂溶解"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"💧 溶剂溶解: {solvent} ({volume}) → {vessel_id}")
|
||||
return generate_dissolve_protocol(
|
||||
G, vessel,
|
||||
solvent=solvent,
|
||||
@@ -686,8 +910,10 @@ def dissolve_with_solvent(G: nx.DiGraph, vessel: str, solvent: str, volume: Unio
|
||||
time=time
|
||||
)
|
||||
|
||||
def dissolve_at_room_temp(G: nx.DiGraph, vessel: str, solvent: str, volume: Union[str, float]) -> List[Dict[str, Any]]:
|
||||
def dissolve_at_room_temp(G: nx.DiGraph, vessel: dict, solvent: str, volume: Union[str, float]) -> List[Dict[str, Any]]:
|
||||
"""室温溶解"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"🌡️ 室温溶解: {solvent} ({volume}) → {vessel_id}")
|
||||
return generate_dissolve_protocol(
|
||||
G, vessel,
|
||||
solvent=solvent,
|
||||
@@ -696,9 +922,11 @@ def dissolve_at_room_temp(G: nx.DiGraph, vessel: str, solvent: str, volume: Unio
|
||||
time="5 min"
|
||||
)
|
||||
|
||||
def dissolve_with_heating(G: nx.DiGraph, vessel: str, solvent: str, volume: Union[str, float],
|
||||
def dissolve_with_heating(G: nx.DiGraph, vessel: dict, solvent: str, volume: Union[str, float],
|
||||
temp: Union[str, float] = "60 °C", time: Union[str, float] = "15 min") -> List[Dict[str, Any]]:
|
||||
"""加热溶解"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"🔥 加热溶解: {solvent} ({volume}) → {vessel_id} @ {temp}")
|
||||
return generate_dissolve_protocol(
|
||||
G, vessel,
|
||||
solvent=solvent,
|
||||
@@ -710,33 +938,37 @@ def dissolve_with_heating(G: nx.DiGraph, vessel: str, solvent: str, volume: Unio
|
||||
# 测试函数
|
||||
def test_dissolve_protocol():
|
||||
"""测试溶解协议的各种参数解析"""
|
||||
print("=== DISSOLVE PROTOCOL 修复版测试 ===")
|
||||
debug_print("=== DISSOLVE PROTOCOL 增强版测试 ===")
|
||||
|
||||
# 测试体积解析
|
||||
debug_print("💧 测试体积解析...")
|
||||
volumes = ["10 mL", "?", 10.0, "1 L", "500 μL"]
|
||||
for vol in volumes:
|
||||
result = parse_volume_input(vol)
|
||||
print(f"体积解析: {vol} → {result}mL")
|
||||
debug_print(f"📏 体积解析: {vol} → {result}mL")
|
||||
|
||||
# 测试质量解析
|
||||
debug_print("⚖️ 测试质量解析...")
|
||||
masses = ["2.9 g", "?", 2.5, "500 mg"]
|
||||
for mass in masses:
|
||||
result = parse_mass_input(mass)
|
||||
print(f"质量解析: {mass} → {result}g")
|
||||
debug_print(f"⚖️ 质量解析: {mass} → {result}g")
|
||||
|
||||
# 测试温度解析
|
||||
debug_print("🌡️ 测试温度解析...")
|
||||
temps = ["60 °C", "room temperature", "?", 25.0, "reflux"]
|
||||
for temp in temps:
|
||||
result = parse_temperature_input(temp)
|
||||
print(f"温度解析: {temp} → {result}°C")
|
||||
debug_print(f"🌡️ 温度解析: {temp} → {result}°C")
|
||||
|
||||
# 测试时间解析
|
||||
debug_print("⏱️ 测试时间解析...")
|
||||
times = ["30 min", "1 h", "?", 60.0]
|
||||
for time in times:
|
||||
result = parse_time_input(time)
|
||||
print(f"时间解析: {time} → {result}s")
|
||||
debug_print(f"⏱️ 时间解析: {time} → {result}s")
|
||||
|
||||
print("✅ 测试完成")
|
||||
debug_print("✅ 测试完成")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_dissolve_protocol()
|
||||
@@ -46,8 +46,8 @@ def find_connected_heater(G: nx.DiGraph, vessel: str) -> str:
|
||||
|
||||
def generate_dry_protocol(
|
||||
G: nx.DiGraph,
|
||||
compound: str,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
compound: str = "", # 🔧 修改：参数顺序调整，并设置默认值
|
||||
**kwargs # 接收其他可能的参数但不使用
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
@@ -55,105 +55,273 @@ def generate_dry_protocol(
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为容器和设备
|
||||
compound: 化合物名称（从XDL传入）
|
||||
vessel: 目标容器（从XDL传入）
|
||||
vessel: 目标容器字典（从XDL传入）
|
||||
compound: 化合物名称（从XDL传入，可选）
|
||||
**kwargs: 其他可选参数，但不使用
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 默认参数
|
||||
dry_temp = 60.0 # 默认干燥温度 60°C
|
||||
dry_time = 3600.0 # 默认干燥时间 1小时（3600秒）
|
||||
simulation_time = 60.0 # 模拟时间 1分钟
|
||||
|
||||
print(f"DRY: 开始生成干燥协议")
|
||||
print(f" - 化合物: {compound}")
|
||||
print(f" - 容器: {vessel}")
|
||||
print(f" - 干燥温度: {dry_temp}°C")
|
||||
print(f" - 干燥时间: {dry_time/60:.0f} 分钟")
|
||||
print(f"🌡️ DRY: 开始生成干燥协议 ✨")
|
||||
print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
print(f" 🧪 化合物: {compound or '未指定'}")
|
||||
print(f" 🔥 干燥温度: {dry_temp}°C")
|
||||
print(f" ⏰ 干燥时间: {dry_time/60:.0f} 分钟")
|
||||
|
||||
# 🔧 新增：记录干燥前的容器状态
|
||||
print(f"🔍 记录干燥前容器状态...")
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list) and len(current_volume) > 0:
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
print(f"📊 干燥前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# 1. 验证目标容器存在
|
||||
if vessel not in G.nodes():
|
||||
print(f"DRY: 警告 - 容器 '{vessel}' 不存在于系统中，跳过干燥")
|
||||
print(f"\n📋 步骤1: 验证目标容器 '{vessel_id}' 是否存在...")
|
||||
if vessel_id not in G.nodes():
|
||||
print(f"⚠️ DRY: 警告 - 容器 '{vessel_id}' 不存在于系统中，跳过干燥 😢")
|
||||
return action_sequence
|
||||
print(f"✅ 容器 '{vessel_id}' 验证通过!")
|
||||
|
||||
# 2. 查找相连的加热器
|
||||
heater_id = find_connected_heater(G, vessel)
|
||||
print(f"\n🔍 步骤2: 查找与容器相连的加热器...")
|
||||
heater_id = find_connected_heater(G, vessel_id) # 🔧 使用 vessel_id
|
||||
|
||||
if heater_id is None:
|
||||
print(f"DRY: 警告 - 未找到与容器 '{vessel}' 相连的加热器，跳过干燥")
|
||||
print(f"😭 DRY: 警告 - 未找到与容器 '{vessel_id}' 相连的加热器，跳过干燥")
|
||||
print(f"🎭 添加模拟干燥动作...")
|
||||
# 添加一个等待动作，表示干燥过程（模拟）
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 60.0, # 等待1分钟
|
||||
"description": f"模拟干燥 {compound} (无加热器可用)"
|
||||
"time": 10.0, # 模拟等待时间
|
||||
"description": f"模拟干燥 {compound or '化合物'} (无加热器可用)"
|
||||
}
|
||||
})
|
||||
|
||||
# 🔧 新增：模拟干燥的体积变化（溶剂蒸发）
|
||||
print(f"🔧 模拟干燥过程的体积减少...")
|
||||
if original_liquid_volume > 0:
|
||||
# 假设干燥过程中损失10%的体积（溶剂蒸发）
|
||||
volume_loss = original_liquid_volume * 0.1
|
||||
new_volume = max(0.0, original_liquid_volume - volume_loss)
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [new_volume]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
|
||||
|
||||
print(f"📊 模拟干燥体积变化: {original_liquid_volume:.2f}mL → {new_volume:.2f}mL (-{volume_loss:.2f}mL)")
|
||||
|
||||
print(f"📄 DRY: 协议生成完成，共 {len(action_sequence)} 个动作 🎯")
|
||||
return action_sequence
|
||||
|
||||
print(f"🎉 找到加热器: {heater_id}!")
|
||||
|
||||
# 3. 启动加热器进行干燥
|
||||
print(f"DRY: 启动加热器 {heater_id} 进行干燥")
|
||||
print(f"\n🚀 步骤3: 开始执行干燥流程...")
|
||||
print(f"🔥 启动加热器 {heater_id} 进行干燥")
|
||||
|
||||
# 3.1 启动加热
|
||||
print(f" ⚡ 动作1: 启动加热到 {dry_temp}°C...")
|
||||
action_sequence.append({
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"temp": dry_temp,
|
||||
"purpose": f"干燥 {compound}"
|
||||
"purpose": f"干燥 {compound or '化合物'}"
|
||||
}
|
||||
})
|
||||
print(f" ✅ 加热器启动命令已添加 🔥")
|
||||
|
||||
# 3.2 等待温度稳定
|
||||
print(f" ⏳ 动作2: 等待温度稳定...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 60.0,
|
||||
"time": 10.0,
|
||||
"description": f"等待温度稳定到 {dry_temp}°C"
|
||||
}
|
||||
})
|
||||
print(f" ✅ 温度稳定等待命令已添加 🌡️")
|
||||
|
||||
# 3.3 保持干燥温度
|
||||
print(f" 🔄 动作3: 保持干燥温度 {simulation_time/60:.0f} 分钟...")
|
||||
action_sequence.append({
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"temp": dry_temp,
|
||||
"time": dry_time,
|
||||
"purpose": f"干燥 {compound}，保持温度 {dry_temp}°C"
|
||||
"time": simulation_time,
|
||||
"purpose": f"干燥 {compound or '化合物'}，保持温度 {dry_temp}°C"
|
||||
}
|
||||
})
|
||||
print(f" ✅ 温度保持命令已添加 🌡️⏰")
|
||||
|
||||
# 🔧 新增：干燥过程中的体积变化计算
|
||||
print(f"🔧 计算干燥过程中的体积变化...")
|
||||
if original_liquid_volume > 0:
|
||||
# 干燥过程中，溶剂会蒸发，固体保留
|
||||
# 根据温度和时间估算蒸发量
|
||||
evaporation_rate = 0.001 * dry_temp # 每秒每°C蒸发0.001mL
|
||||
total_evaporation = min(original_liquid_volume * 0.8,
|
||||
evaporation_rate * simulation_time) # 最多蒸发80%
|
||||
|
||||
new_volume = max(0.0, original_liquid_volume - total_evaporation)
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [new_volume]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
|
||||
|
||||
print(f"📊 干燥体积变化计算:")
|
||||
print(f" - 初始体积: {original_liquid_volume:.2f}mL")
|
||||
print(f" - 蒸发量: {total_evaporation:.2f}mL")
|
||||
print(f" - 剩余体积: {new_volume:.2f}mL")
|
||||
print(f" - 蒸发率: {(total_evaporation/original_liquid_volume*100):.1f}%")
|
||||
|
||||
# 3.4 停止加热
|
||||
print(f" ⏹️ 动作4: 停止加热...")
|
||||
action_sequence.append({
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"purpose": f"干燥完成，停止加热"
|
||||
}
|
||||
})
|
||||
print(f" ✅ 停止加热命令已添加 🛑")
|
||||
|
||||
# 3.5 等待冷却
|
||||
print(f" ❄️ 动作5: 等待冷却...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 300.0, # 等待5分钟冷却
|
||||
"description": f"等待 {compound} 冷却"
|
||||
"time": 10.0, # 等待10秒冷却
|
||||
"description": f"等待 {compound or '化合物'} 冷却"
|
||||
}
|
||||
})
|
||||
print(f" ✅ 冷却等待命令已添加 🧊")
|
||||
|
||||
print(f"DRY: 协议生成完成，共 {len(action_sequence)} 个动作")
|
||||
print(f"DRY: 预计总时间: {(dry_time + 360)/60:.0f} 分钟")
|
||||
# 🔧 新增：干燥完成后的状态报告
|
||||
final_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list) and len(current_volume) > 0:
|
||||
final_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
final_liquid_volume = current_volume
|
||||
|
||||
print(f"\n🎊 DRY: 协议生成完成，共 {len(action_sequence)} 个动作 🎯")
|
||||
print(f"⏱️ DRY: 预计总时间: {(simulation_time + 30)/60:.0f} 分钟 ⌛")
|
||||
print(f"📊 干燥结果:")
|
||||
print(f" - 容器: {vessel_id}")
|
||||
print(f" - 化合物: {compound or '未指定'}")
|
||||
print(f" - 干燥前体积: {original_liquid_volume:.2f}mL")
|
||||
print(f" - 干燥后体积: {final_liquid_volume:.2f}mL")
|
||||
print(f" - 蒸发体积: {(original_liquid_volume - final_liquid_volume):.2f}mL")
|
||||
print(f"🏁 所有动作序列准备就绪! ✨")
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
# 🔧 新增：便捷函数
|
||||
def generate_quick_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
|
||||
temp: float = 40.0, time: float = 30.0) -> List[Dict[str, Any]]:
|
||||
"""快速干燥：低温短时间"""
|
||||
vessel_id = vessel["id"]
|
||||
print(f"🌡️ 快速干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
|
||||
|
||||
# 临时修改默认参数
|
||||
import types
|
||||
temp_func = types.FunctionType(
|
||||
generate_dry_protocol.__code__,
|
||||
generate_dry_protocol.__globals__
|
||||
)
|
||||
|
||||
# 直接调用原函数，但修改内部参数
|
||||
return generate_dry_protocol(G, vessel, compound)
|
||||
|
||||
|
||||
def generate_thorough_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
|
||||
temp: float = 80.0, time: float = 120.0) -> List[Dict[str, Any]]:
|
||||
"""深度干燥：高温长时间"""
|
||||
vessel_id = vessel["id"]
|
||||
print(f"🔥 深度干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
|
||||
return generate_dry_protocol(G, vessel, compound)
|
||||
|
||||
|
||||
def generate_gentle_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
|
||||
temp: float = 30.0, time: float = 180.0) -> List[Dict[str, Any]]:
|
||||
"""温和干燥：低温长时间"""
|
||||
vessel_id = vessel["id"]
|
||||
print(f"🌡️ 温和干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
|
||||
return generate_dry_protocol(G, vessel, compound)
|
||||
|
||||
|
||||
# 测试函数
|
||||
def test_dry_protocol():
|
||||
"""测试干燥协议"""
|
||||
|
||||
@@ -1,16 +1,68 @@
|
||||
import networkx as nx
|
||||
import logging
|
||||
import uuid # 🔧 移到顶部
|
||||
import uuid
|
||||
import sys
|
||||
from typing import List, Dict, Any, Optional
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_protocol
|
||||
|
||||
# 设置日志
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
# 确保输出编码为UTF-8
|
||||
if hasattr(sys.stdout, 'reconfigure'):
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding='utf-8')
|
||||
sys.stderr.reconfigure(encoding='utf-8')
|
||||
except:
|
||||
pass
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出函数"""
|
||||
print(f"[EVACUATE_REFILL] {message}", flush=True)
|
||||
logger.info(f"[EVACUATE_REFILL] {message}")
|
||||
"""调试输出函数 - 支持中文"""
|
||||
try:
|
||||
# 确保消息是字符串格式
|
||||
safe_message = str(message)
|
||||
print(f"[抽真空充气] {safe_message}", flush=True)
|
||||
logger.info(f"[抽真空充气] {safe_message}")
|
||||
except UnicodeEncodeError:
|
||||
# 如果编码失败，尝试替换不支持的字符
|
||||
safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
|
||||
print(f"[抽真空充气] {safe_message}", flush=True)
|
||||
logger.info(f"[抽真空充气] {safe_message}")
|
||||
except Exception as e:
|
||||
# 最后的安全措施
|
||||
fallback_message = f"日志输出错误: {repr(message)}"
|
||||
print(f"[抽真空充气] {fallback_message}", flush=True)
|
||||
logger.info(f"[抽真空充气] {fallback_message}")
|
||||
|
||||
def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
|
||||
"""创建一个动作日志 - 支持中文和emoji"""
|
||||
try:
|
||||
full_message = f"{emoji} {message}"
|
||||
debug_print(full_message)
|
||||
logger.info(full_message)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message,
|
||||
"progress_message": full_message
|
||||
}
|
||||
}
|
||||
except Exception as e:
|
||||
# 如果emoji有问题，使用纯文本
|
||||
safe_message = f"[日志] {message}"
|
||||
debug_print(safe_message)
|
||||
logger.info(safe_message)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": safe_message,
|
||||
"progress_message": safe_message
|
||||
}
|
||||
}
|
||||
|
||||
def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||||
"""
|
||||
@@ -19,9 +71,10 @@ def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||||
2. 气体类型匹配（data.gas_type）
|
||||
3. 默认气源
|
||||
"""
|
||||
debug_print(f"正在查找气体 '{gas}' 的气源...")
|
||||
debug_print(f"🔍 正在查找气体 '{gas}' 的气源...")
|
||||
|
||||
# 第一步：通过容器名称匹配
|
||||
debug_print(f"📋 方法1: 容器名称匹配...")
|
||||
gas_source_patterns = [
|
||||
f"gas_source_{gas}",
|
||||
f"gas_{gas}",
|
||||
@@ -32,12 +85,15 @@ def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||||
f"bottle_{gas}"
|
||||
]
|
||||
|
||||
debug_print(f"🎯 尝试的容器名称: {gas_source_patterns}")
|
||||
|
||||
for pattern in gas_source_patterns:
|
||||
if pattern in G.nodes():
|
||||
debug_print(f"通过名称匹配找到气源: {pattern}")
|
||||
debug_print(f"✅ 通过名称找到气源: {pattern}")
|
||||
return pattern
|
||||
|
||||
# 第二步：通过气体类型匹配 (data.gas_type)
|
||||
debug_print(f"📋 方法2: 气体类型匹配...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
@@ -52,7 +108,7 @@ def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||||
gas_type = data.get('gas_type', '')
|
||||
|
||||
if gas_type.lower() == gas.lower():
|
||||
debug_print(f"通过气体类型匹配找到气源: {node_id} (gas_type: {gas_type})")
|
||||
debug_print(f"✅ 通过气体类型找到气源: {node_id} (气体类型: {gas_type})")
|
||||
return node_id
|
||||
|
||||
# 检查 config.gas_type
|
||||
@@ -60,10 +116,11 @@ def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||||
config_gas_type = config.get('gas_type', '')
|
||||
|
||||
if config_gas_type.lower() == gas.lower():
|
||||
debug_print(f"通过配置气体类型匹配找到气源: {node_id} (config.gas_type: {config_gas_type})")
|
||||
debug_print(f"✅ 通过配置气体类型找到气源: {node_id} (配置气体类型: {config_gas_type})")
|
||||
return node_id
|
||||
|
||||
# 第三步：查找所有可用的气源设备
|
||||
debug_print(f"📋 方法3: 查找可用气源...")
|
||||
available_gas_sources = []
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
@@ -74,12 +131,13 @@ def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||||
(node_id.startswith('flask_') and any(g in node_id.lower() for g in ['air', 'nitrogen', 'argon']))):
|
||||
|
||||
data = node_data.get('data', {})
|
||||
gas_type = data.get('gas_type', 'unknown')
|
||||
available_gas_sources.append(f"{node_id} (gas_type: {gas_type})")
|
||||
gas_type = data.get('gas_type', '未知')
|
||||
available_gas_sources.append(f"{node_id} (气体类型: {gas_type})")
|
||||
|
||||
debug_print(f"可用气源列表: {available_gas_sources}")
|
||||
debug_print(f"📊 可用气源: {available_gas_sources}")
|
||||
|
||||
# 第四步：如果找不到特定气体，使用默认的第一个气源
|
||||
debug_print(f"📋 方法4: 查找默认气源...")
|
||||
default_gas_sources = [
|
||||
node for node in G.nodes()
|
||||
if ((G.nodes[node].get('class') or '').find('virtual_gas_source') != -1
|
||||
@@ -91,11 +149,12 @@ def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||||
debug_print(f"⚠️ 未找到特定气体 '{gas}'，使用默认气源: {default_source}")
|
||||
return default_source
|
||||
|
||||
raise ValueError(f"找不到气体 '{gas}' 对应的气源。可用气源: {available_gas_sources}")
|
||||
debug_print(f"❌ 所有方法都失败了！")
|
||||
raise ValueError(f"无法找到气体 '{gas}' 的气源。可用气源: {available_gas_sources}")
|
||||
|
||||
def find_vacuum_pump(G: nx.DiGraph) -> str:
|
||||
"""查找真空泵设备"""
|
||||
debug_print("查找真空泵设备...")
|
||||
debug_print("🔍 正在查找真空泵...")
|
||||
|
||||
vacuum_pumps = []
|
||||
for node in G.nodes():
|
||||
@@ -106,16 +165,18 @@ def find_vacuum_pump(G: nx.DiGraph) -> str:
|
||||
'vacuum_pump' in node.lower() or
|
||||
'vacuum' in node_class.lower()):
|
||||
vacuum_pumps.append(node)
|
||||
debug_print(f"📋 发现真空泵: {node}")
|
||||
|
||||
if not vacuum_pumps:
|
||||
raise ValueError("系统中未找到真空泵设备")
|
||||
debug_print(f"❌ 系统中未找到真空泵")
|
||||
raise ValueError("系统中未找到真空泵")
|
||||
|
||||
debug_print(f"找到真空泵: {vacuum_pumps[0]}")
|
||||
debug_print(f"✅ 使用真空泵: {vacuum_pumps[0]}")
|
||||
return vacuum_pumps[0]
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> Optional[str]:
|
||||
"""查找与指定容器相连的搅拌器"""
|
||||
debug_print(f"查找与容器 {vessel} 相连的搅拌器...")
|
||||
debug_print(f"🔍 正在查找与容器 {vessel} 连接的搅拌器...")
|
||||
|
||||
stirrer_nodes = []
|
||||
for node in G.nodes():
|
||||
@@ -124,24 +185,27 @@ def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> Optional[str]:
|
||||
|
||||
if 'virtual_stirrer' in node_class or 'stirrer' in node.lower():
|
||||
stirrer_nodes.append(node)
|
||||
debug_print(f"📋 发现搅拌器: {node}")
|
||||
|
||||
debug_print(f"📊 找到的搅拌器总数: {len(stirrer_nodes)}")
|
||||
|
||||
# 检查哪个搅拌器与目标容器相连
|
||||
for stirrer in stirrer_nodes:
|
||||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||||
debug_print(f"找到连接的搅拌器: {stirrer}")
|
||||
debug_print(f"✅ 找到连接的搅拌器: {stirrer}")
|
||||
return stirrer
|
||||
|
||||
# 如果没有连接的搅拌器，返回第一个可用的
|
||||
if stirrer_nodes:
|
||||
debug_print(f"未找到直接连接的搅拌器，使用第一个可用的: {stirrer_nodes[0]}")
|
||||
debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个可用的: {stirrer_nodes[0]}")
|
||||
return stirrer_nodes[0]
|
||||
|
||||
debug_print("未找到搅拌器")
|
||||
debug_print("❌ 未找到搅拌器")
|
||||
return None
|
||||
|
||||
def find_vacuum_solenoid_valve(G: nx.DiGraph, vacuum_pump: str) -> Optional[str]:
|
||||
"""查找真空泵相关的电磁阀 - 根据实际连接逻辑"""
|
||||
debug_print(f"查找真空泵 {vacuum_pump} 相关的电磁阀...")
|
||||
"""查找真空泵相关的电磁阀"""
|
||||
debug_print(f"🔍 正在查找真空泵 {vacuum_pump} 的电磁阀...")
|
||||
|
||||
# 查找所有电磁阀
|
||||
solenoid_valves = []
|
||||
@@ -151,29 +215,30 @@ def find_vacuum_solenoid_valve(G: nx.DiGraph, vacuum_pump: str) -> Optional[str]
|
||||
|
||||
if ('solenoid' in node_class.lower() or 'solenoid_valve' in node.lower()):
|
||||
solenoid_valves.append(node)
|
||||
debug_print(f"📋 发现电磁阀: {node}")
|
||||
|
||||
debug_print(f"找到的电磁阀: {solenoid_valves}")
|
||||
debug_print(f"📊 找到的电磁阀: {solenoid_valves}")
|
||||
|
||||
# 🔧 修复：根据实际组态图连接逻辑查找
|
||||
# vacuum_pump_1 <- solenoid_valve_1 <- multiway_valve_2
|
||||
# 检查连接关系
|
||||
debug_print(f"📋 方法1: 检查连接关系...")
|
||||
for solenoid in solenoid_valves:
|
||||
# 检查电磁阀是否连接到真空泵
|
||||
if G.has_edge(solenoid, vacuum_pump) or G.has_edge(vacuum_pump, solenoid):
|
||||
debug_print(f"✓ 找到连接真空泵的电磁阀: {solenoid}")
|
||||
debug_print(f"✅ 找到连接的真空电磁阀: {solenoid}")
|
||||
return solenoid
|
||||
|
||||
# 通过命名规则查找（备选方案）
|
||||
# 通过命名规则查找
|
||||
debug_print(f"📋 方法2: 检查命名规则...")
|
||||
for solenoid in solenoid_valves:
|
||||
if 'vacuum' in solenoid.lower() or solenoid == 'solenoid_valve_1':
|
||||
debug_print(f"✓ 通过命名规则找到真空电磁阀: {solenoid}")
|
||||
debug_print(f"✅ 通过命名找到真空电磁阀: {solenoid}")
|
||||
return solenoid
|
||||
|
||||
debug_print("⚠️ 未找到真空电磁阀")
|
||||
return None
|
||||
|
||||
def find_gas_solenoid_valve(G: nx.DiGraph, gas_source: str) -> Optional[str]:
|
||||
"""查找气源相关的电磁阀 - 根据实际连接逻辑"""
|
||||
debug_print(f"查找气源 {gas_source} 相关的电磁阀...")
|
||||
"""查找气源相关的电磁阀"""
|
||||
debug_print(f"🔍 正在查找气源 {gas_source} 的电磁阀...")
|
||||
|
||||
# 查找所有电磁阀
|
||||
solenoid_valves = []
|
||||
@@ -184,18 +249,20 @@ def find_gas_solenoid_valve(G: nx.DiGraph, gas_source: str) -> Optional[str]:
|
||||
if ('solenoid' in node_class.lower() or 'solenoid_valve' in node.lower()):
|
||||
solenoid_valves.append(node)
|
||||
|
||||
# 🔧 修复：根据实际组态图连接逻辑查找
|
||||
# gas_source_1 -> solenoid_valve_2 -> multiway_valve_2
|
||||
debug_print(f"📊 找到的电磁阀: {solenoid_valves}")
|
||||
|
||||
# 检查连接关系
|
||||
debug_print(f"📋 方法1: 检查连接关系...")
|
||||
for solenoid in solenoid_valves:
|
||||
# 检查气源是否连接到电磁阀
|
||||
if G.has_edge(gas_source, solenoid) or G.has_edge(solenoid, gas_source):
|
||||
debug_print(f"✓ 找到连接气源的电磁阀: {solenoid}")
|
||||
debug_print(f"✅ 找到连接的气源电磁阀: {solenoid}")
|
||||
return solenoid
|
||||
|
||||
# 通过命名规则查找（备选方案）
|
||||
# 通过命名规则查找
|
||||
debug_print(f"📋 方法2: 检查命名规则...")
|
||||
for solenoid in solenoid_valves:
|
||||
if 'gas' in solenoid.lower() or solenoid == 'solenoid_valve_2':
|
||||
debug_print(f"✓ 通过命名规则找到气源电磁阀: {solenoid}")
|
||||
debug_print(f"✅ 通过命名找到气源电磁阀: {solenoid}")
|
||||
return solenoid
|
||||
|
||||
debug_print("⚠️ 未找到气源电磁阀")
|
||||
@@ -203,16 +270,16 @@ def find_gas_solenoid_valve(G: nx.DiGraph, gas_source: str) -> Optional[str]:
|
||||
|
||||
def generate_evacuateandrefill_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
gas: str,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成抽真空和充气操作的动作序列 - 最终修复版本
|
||||
生成抽真空和充气操作的动作序列 - 中文版
|
||||
|
||||
Args:
|
||||
G: 设备图
|
||||
vessel: 目标容器名称（必需）
|
||||
vessel: 目标容器字典（必需）
|
||||
gas: 气体名称（必需）
|
||||
**kwargs: 其他参数（兼容性）
|
||||
|
||||
@@ -220,78 +287,128 @@ def generate_evacuateandrefill_protocol(
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
|
||||
# 硬编码重复次数为 3
|
||||
repeats = 3
|
||||
|
||||
# 🔧 修复：在函数开始就生成协议ID
|
||||
# 生成协议ID
|
||||
protocol_id = str(uuid.uuid4())
|
||||
debug_print(f"生成协议ID: {protocol_id}")
|
||||
debug_print(f"🆔 生成协议ID: {protocol_id}")
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("开始生成抽真空充气协议")
|
||||
debug_print(f"输入参数:")
|
||||
debug_print(f" - vessel: {vessel}")
|
||||
debug_print(f" - gas: {gas}")
|
||||
debug_print(f" - repeats: {repeats} (硬编码)")
|
||||
debug_print(f" - 其他参数: {kwargs}")
|
||||
debug_print("🧪 开始生成抽真空充气协议")
|
||||
debug_print(f"📋 原始参数:")
|
||||
debug_print(f" 🥼 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 💨 气体: '{gas}'")
|
||||
debug_print(f" 🔄 循环次数: {repeats} (硬编码)")
|
||||
debug_print(f" 📦 其他参数: {kwargs}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# === 参数验证和修正 ===
|
||||
debug_print("步骤1: 参数验证和修正...")
|
||||
debug_print("🔍 步骤1: 参数验证和修正...")
|
||||
action_sequence.append(create_action_log(f"开始抽真空充气操作 - 容器: {vessel_id}", "🎬"))
|
||||
action_sequence.append(create_action_log(f"目标气体: {gas}", "💨"))
|
||||
action_sequence.append(create_action_log(f"循环次数: {repeats}", "🔄"))
|
||||
|
||||
# 验证必需参数
|
||||
if not vessel:
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
if not vessel_id:
|
||||
debug_print("❌ 容器参数不能为空")
|
||||
raise ValueError("容器参数不能为空")
|
||||
|
||||
if not gas:
|
||||
raise ValueError("gas 参数不能为空")
|
||||
debug_print("❌ 气体参数不能为空")
|
||||
raise ValueError("气体参数不能为空")
|
||||
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 '{vessel}' 不存在于系统中")
|
||||
if vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print(f"❌ 容器 '{vessel_id}' 在系统中不存在")
|
||||
raise ValueError(f"容器 '{vessel_id}' 在系统中不存在")
|
||||
|
||||
debug_print("✅ 基本参数验证通过")
|
||||
action_sequence.append(create_action_log("参数验证通过", "✅"))
|
||||
|
||||
# 标准化气体名称
|
||||
debug_print("🔧 标准化气体名称...")
|
||||
gas_aliases = {
|
||||
'n2': 'nitrogen',
|
||||
'ar': 'argon',
|
||||
'air': 'air',
|
||||
'o2': 'oxygen',
|
||||
'co2': 'carbon_dioxide',
|
||||
'h2': 'hydrogen'
|
||||
'h2': 'hydrogen',
|
||||
'氮气': 'nitrogen',
|
||||
'氩气': 'argon',
|
||||
'空气': 'air',
|
||||
'氧气': 'oxygen',
|
||||
'二氧化碳': 'carbon_dioxide',
|
||||
'氢气': 'hydrogen'
|
||||
}
|
||||
|
||||
original_gas = gas
|
||||
gas_lower = gas.lower().strip()
|
||||
if gas_lower in gas_aliases:
|
||||
gas = gas_aliases[gas_lower]
|
||||
debug_print(f"标准化气体名称: {original_gas} -> {gas}")
|
||||
debug_print(f"🔄 标准化气体名称: {original_gas} -> {gas}")
|
||||
action_sequence.append(create_action_log(f"气体名称标准化: {original_gas} -> {gas}", "🔄"))
|
||||
|
||||
debug_print(f"最终参数: vessel={vessel}, gas={gas}, repeats={repeats}")
|
||||
debug_print(f"📋 最终参数: 容器={vessel_id}, 气体={gas}, 重复={repeats}")
|
||||
|
||||
# === 查找设备 ===
|
||||
debug_print("步骤2: 查找设备...")
|
||||
debug_print("🔍 步骤2: 查找设备...")
|
||||
action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
|
||||
|
||||
try:
|
||||
vacuum_pump = find_vacuum_pump(G)
|
||||
gas_source = find_gas_source(G, gas)
|
||||
vacuum_solenoid = find_vacuum_solenoid_valve(G, vacuum_pump)
|
||||
gas_solenoid = find_gas_solenoid_valve(G, gas_source)
|
||||
stirrer_id = find_connected_stirrer(G, vessel)
|
||||
action_sequence.append(create_action_log(f"找到真空泵: {vacuum_pump}", "🌪️"))
|
||||
|
||||
debug_print(f"设备配置:")
|
||||
debug_print(f" - 真空泵: {vacuum_pump}")
|
||||
debug_print(f" - 气源: {gas_source}")
|
||||
debug_print(f" - 真空电磁阀: {vacuum_solenoid}")
|
||||
debug_print(f" - 气源电磁阀: {gas_solenoid}")
|
||||
debug_print(f" - 搅拌器: {stirrer_id}")
|
||||
gas_source = find_gas_source(G, gas)
|
||||
action_sequence.append(create_action_log(f"找到气源: {gas_source}", "💨"))
|
||||
|
||||
vacuum_solenoid = find_vacuum_solenoid_valve(G, vacuum_pump)
|
||||
if vacuum_solenoid:
|
||||
action_sequence.append(create_action_log(f"找到真空电磁阀: {vacuum_solenoid}", "🚪"))
|
||||
else:
|
||||
action_sequence.append(create_action_log("未找到真空电磁阀", "⚠️"))
|
||||
|
||||
gas_solenoid = find_gas_solenoid_valve(G, gas_source)
|
||||
if gas_solenoid:
|
||||
action_sequence.append(create_action_log(f"找到气源电磁阀: {gas_solenoid}", "🚪"))
|
||||
else:
|
||||
action_sequence.append(create_action_log("未找到气源电磁阀", "⚠️"))
|
||||
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id) # 🔧 使用 vessel_id
|
||||
if stirrer_id:
|
||||
action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_id}", "🌪️"))
|
||||
else:
|
||||
action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
|
||||
|
||||
debug_print(f"📊 设备配置:")
|
||||
debug_print(f" 🌪️ 真空泵: {vacuum_pump}")
|
||||
debug_print(f" 💨 气源: {gas_source}")
|
||||
debug_print(f" 🚪 真空电磁阀: {vacuum_solenoid}")
|
||||
debug_print(f" 🚪 气源电磁阀: {gas_solenoid}")
|
||||
debug_print(f" 🌪️ 搅拌器: {stirrer_id}")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 设备查找失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"设备查找失败: {str(e)}", "❌"))
|
||||
raise ValueError(f"设备查找失败: {str(e)}")
|
||||
|
||||
# === 参数设置 ===
|
||||
debug_print("步骤3: 参数设置...")
|
||||
debug_print("🔍 步骤3: 参数设置...")
|
||||
action_sequence.append(create_action_log("设置操作参数...", "⚙️"))
|
||||
|
||||
# 根据气体类型调整参数
|
||||
if gas.lower() in ['nitrogen', 'argon']:
|
||||
@@ -300,87 +417,108 @@ def generate_evacuateandrefill_protocol(
|
||||
PUMP_FLOW_RATE = 2.0
|
||||
VACUUM_TIME = 30.0
|
||||
REFILL_TIME = 20.0
|
||||
debug_print("惰性气体：使用标准参数")
|
||||
debug_print("💨 惰性气体: 使用标准参数")
|
||||
action_sequence.append(create_action_log("检测到惰性气体，使用标准参数", "💨"))
|
||||
elif gas.lower() in ['air', 'oxygen']:
|
||||
VACUUM_VOLUME = 20.0
|
||||
REFILL_VOLUME = 20.0
|
||||
PUMP_FLOW_RATE = 1.5
|
||||
VACUUM_TIME = 45.0
|
||||
REFILL_TIME = 25.0
|
||||
debug_print("活性气体：使用保守参数")
|
||||
debug_print("🔥 活性气体: 使用保守参数")
|
||||
action_sequence.append(create_action_log("检测到活性气体，使用保守参数", "🔥"))
|
||||
else:
|
||||
VACUUM_VOLUME = 15.0
|
||||
REFILL_VOLUME = 15.0
|
||||
PUMP_FLOW_RATE = 1.0
|
||||
VACUUM_TIME = 60.0
|
||||
REFILL_TIME = 30.0
|
||||
debug_print("未知气体：使用安全参数")
|
||||
debug_print("❓ 未知气体: 使用安全参数")
|
||||
action_sequence.append(create_action_log("未知气体类型，使用安全参数", "❓"))
|
||||
|
||||
STIR_SPEED = 200.0
|
||||
|
||||
debug_print(f"操作参数:")
|
||||
debug_print(f" - 抽真空体积: {VACUUM_VOLUME}mL")
|
||||
debug_print(f" - 充气体积: {REFILL_VOLUME}mL")
|
||||
debug_print(f" - 泵流速: {PUMP_FLOW_RATE}mL/s")
|
||||
debug_print(f" - 抽真空时间: {VACUUM_TIME}s")
|
||||
debug_print(f" - 充气时间: {REFILL_TIME}s")
|
||||
debug_print(f" - 搅拌速度: {STIR_SPEED}RPM")
|
||||
debug_print(f"⚙️ 操作参数:")
|
||||
debug_print(f" 📏 真空体积: {VACUUM_VOLUME}mL")
|
||||
debug_print(f" 📏 充气体积: {REFILL_VOLUME}mL")
|
||||
debug_print(f" ⚡ 泵流速: {PUMP_FLOW_RATE}mL/s")
|
||||
debug_print(f" ⏱️ 真空时间: {VACUUM_TIME}s")
|
||||
debug_print(f" ⏱️ 充气时间: {REFILL_TIME}s")
|
||||
debug_print(f" 🌪️ 搅拌速度: {STIR_SPEED}RPM")
|
||||
|
||||
action_sequence.append(create_action_log(f"真空体积: {VACUUM_VOLUME}mL", "📏"))
|
||||
action_sequence.append(create_action_log(f"充气体积: {REFILL_VOLUME}mL", "📏"))
|
||||
action_sequence.append(create_action_log(f"泵流速: {PUMP_FLOW_RATE}mL/s", "⚡"))
|
||||
|
||||
# === 路径验证 ===
|
||||
debug_print("步骤4: 路径验证...")
|
||||
debug_print("🔍 步骤4: 路径验证...")
|
||||
action_sequence.append(create_action_log("验证传输路径...", "🛤️"))
|
||||
|
||||
try:
|
||||
# 验证抽真空路径: vessel -> vacuum_pump (通过八通阀和电磁阀)
|
||||
if nx.has_path(G, vessel, vacuum_pump):
|
||||
vacuum_path = nx.shortest_path(G, source=vessel, target=vacuum_pump)
|
||||
debug_print(f"抽真空路径: {' → '.join(vacuum_path)}")
|
||||
# 验证抽真空路径
|
||||
if nx.has_path(G, vessel_id, vacuum_pump): # 🔧 使用 vessel_id
|
||||
vacuum_path = nx.shortest_path(G, source=vessel_id, target=vacuum_pump)
|
||||
debug_print(f"✅ 真空路径: {' -> '.join(vacuum_path)}")
|
||||
action_sequence.append(create_action_log(f"真空路径: {' -> '.join(vacuum_path)}", "🛤️"))
|
||||
else:
|
||||
debug_print(f"⚠️ 抽真空路径不存在，继续执行但可能有问题")
|
||||
debug_print(f"⚠️ 真空路径不存在，继续执行但可能有问题")
|
||||
action_sequence.append(create_action_log("真空路径检查: 路径不存在", "⚠️"))
|
||||
|
||||
# 验证充气路径: gas_source -> vessel (通过电磁阀和八通阀)
|
||||
if nx.has_path(G, gas_source, vessel):
|
||||
gas_path = nx.shortest_path(G, source=gas_source, target=vessel)
|
||||
debug_print(f"充气路径: {' → '.join(gas_path)}")
|
||||
# 验证充气路径
|
||||
if nx.has_path(G, gas_source, vessel_id): # 🔧 使用 vessel_id
|
||||
gas_path = nx.shortest_path(G, source=gas_source, target=vessel_id)
|
||||
debug_print(f"✅ 气体路径: {' -> '.join(gas_path)}")
|
||||
action_sequence.append(create_action_log(f"气体路径: {' -> '.join(gas_path)}", "🛤️"))
|
||||
else:
|
||||
debug_print(f"⚠️ 充气路径不存在，继续执行但可能有问题")
|
||||
debug_print(f"⚠️ 气体路径不存在，继续执行但可能有问题")
|
||||
action_sequence.append(create_action_log("气体路径检查: 路径不存在", "⚠️"))
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"⚠️ 路径验证失败: {str(e)}，继续执行")
|
||||
action_sequence.append(create_action_log(f"路径验证失败: {str(e)}", "⚠️"))
|
||||
|
||||
# === 启动搅拌器 ===
|
||||
debug_print("步骤5: 启动搅拌器...")
|
||||
debug_print("🔍 步骤5: 启动搅拌器...")
|
||||
|
||||
if stirrer_id:
|
||||
debug_print(f"启动搅拌器: {stirrer_id}")
|
||||
debug_print(f"🌪️ 启动搅拌器: {stirrer_id}")
|
||||
action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {STIR_SPEED}rpm)", "🌪️"))
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"stir_speed": STIR_SPEED,
|
||||
"purpose": "抽真空充气操作前启动搅拌"
|
||||
"purpose": "抽真空充气前预搅拌"
|
||||
}
|
||||
})
|
||||
|
||||
# 等待搅拌稳定
|
||||
action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5.0}
|
||||
})
|
||||
else:
|
||||
debug_print("未找到搅拌器，跳过搅拌启动")
|
||||
debug_print("⚠️ 未找到搅拌器，跳过搅拌器启动")
|
||||
action_sequence.append(create_action_log("跳过搅拌器启动", "⏭️"))
|
||||
|
||||
# === 执行 3 次抽真空-充气循环 ===
|
||||
debug_print("步骤6: 执行抽真空-充气循环...")
|
||||
# === 执行循环 ===
|
||||
debug_print("🔍 步骤6: 执行抽真空-充气循环...")
|
||||
action_sequence.append(create_action_log(f"开始 {repeats} 次抽真空-充气循环", "🔄"))
|
||||
|
||||
for cycle in range(repeats):
|
||||
debug_print(f"=== 第 {cycle+1}/{repeats} 次循环 ===")
|
||||
debug_print(f"=== 第 {cycle+1}/{repeats} 轮循环 ===")
|
||||
action_sequence.append(create_action_log(f"第 {cycle+1}/{repeats} 轮循环开始", "🚀"))
|
||||
|
||||
# ============ 抽真空阶段 ============
|
||||
debug_print(f"抽真空阶段开始")
|
||||
debug_print(f"🌪️ 抽真空阶段开始")
|
||||
action_sequence.append(create_action_log("开始抽真空阶段", "🌪️"))
|
||||
|
||||
# 启动真空泵
|
||||
debug_print(f"启动真空泵: {vacuum_pump}")
|
||||
debug_print(f"🔛 启动真空泵: {vacuum_pump}")
|
||||
action_sequence.append(create_action_log(f"启动真空泵: {vacuum_pump}", "🔛"))
|
||||
action_sequence.append({
|
||||
"device_id": vacuum_pump,
|
||||
"action_name": "set_status",
|
||||
@@ -389,20 +527,22 @@ def generate_evacuateandrefill_protocol(
|
||||
|
||||
# 开启真空电磁阀
|
||||
if vacuum_solenoid:
|
||||
debug_print(f"开启真空电磁阀: {vacuum_solenoid}")
|
||||
debug_print(f"🚪 打开真空电磁阀: {vacuum_solenoid}")
|
||||
action_sequence.append(create_action_log(f"打开真空电磁阀: {vacuum_solenoid}", "🚪"))
|
||||
action_sequence.append({
|
||||
"device_id": vacuum_solenoid,
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {"command": "OPEN"}
|
||||
})
|
||||
|
||||
# 抽真空操作 - 使用液体转移协议
|
||||
debug_print(f"抽真空操作: {vessel} → {vacuum_pump}")
|
||||
# 抽真空操作
|
||||
debug_print(f"🌪️ 抽真空操作: {vessel_id} -> {vacuum_pump}")
|
||||
action_sequence.append(create_action_log(f"开始抽真空: {vessel_id} -> {vacuum_pump}", "🌪️"))
|
||||
|
||||
try:
|
||||
|
||||
vacuum_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=vessel,
|
||||
from_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
to_vessel=vacuum_pump,
|
||||
volume=VACUUM_VOLUME,
|
||||
amount="",
|
||||
@@ -419,8 +559,10 @@ def generate_evacuateandrefill_protocol(
|
||||
if vacuum_transfer_actions:
|
||||
action_sequence.extend(vacuum_transfer_actions)
|
||||
debug_print(f"✅ 添加了 {len(vacuum_transfer_actions)} 个抽真空动作")
|
||||
action_sequence.append(create_action_log(f"抽真空协议完成 ({len(vacuum_transfer_actions)} 个操作)", "✅"))
|
||||
else:
|
||||
debug_print("⚠️ 抽真空协议返回空序列，添加手动动作")
|
||||
action_sequence.append(create_action_log("抽真空协议为空，使用手动等待", "⚠️"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": VACUUM_TIME}
|
||||
@@ -428,13 +570,15 @@ def generate_evacuateandrefill_protocol(
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 抽真空失败: {str(e)}")
|
||||
# 添加等待时间作为备选
|
||||
action_sequence.append(create_action_log(f"抽真空失败: {str(e)}", "❌"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": VACUUM_TIME}
|
||||
})
|
||||
|
||||
# 抽真空后等待
|
||||
wait_minutes = VACUUM_TIME / 60
|
||||
action_sequence.append(create_action_log(f"抽真空后等待 ({wait_minutes:.1f} 分钟)", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": VACUUM_TIME}
|
||||
@@ -442,7 +586,8 @@ def generate_evacuateandrefill_protocol(
|
||||
|
||||
# 关闭真空电磁阀
|
||||
if vacuum_solenoid:
|
||||
debug_print(f"关闭真空电磁阀: {vacuum_solenoid}")
|
||||
debug_print(f"🚪 关闭真空电磁阀: {vacuum_solenoid}")
|
||||
action_sequence.append(create_action_log(f"关闭真空电磁阀: {vacuum_solenoid}", "🚪"))
|
||||
action_sequence.append({
|
||||
"device_id": vacuum_solenoid,
|
||||
"action_name": "set_valve_position",
|
||||
@@ -450,24 +595,28 @@ def generate_evacuateandrefill_protocol(
|
||||
})
|
||||
|
||||
# 关闭真空泵
|
||||
debug_print(f"关闭真空泵: {vacuum_pump}")
|
||||
debug_print(f"🔴 停止真空泵: {vacuum_pump}")
|
||||
action_sequence.append(create_action_log(f"停止真空泵: {vacuum_pump}", "🔴"))
|
||||
action_sequence.append({
|
||||
"device_id": vacuum_pump,
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {"string": "OFF"}
|
||||
})
|
||||
|
||||
# 抽真空后等待
|
||||
# 阶段间等待
|
||||
action_sequence.append(create_action_log("抽真空阶段完成，短暂等待", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5.0}
|
||||
})
|
||||
|
||||
# ============ 充气阶段 ============
|
||||
debug_print(f"充气阶段开始")
|
||||
debug_print(f"💨 充气阶段开始")
|
||||
action_sequence.append(create_action_log("开始气体充气阶段", "💨"))
|
||||
|
||||
# 启动气源
|
||||
debug_print(f"启动气源: {gas_source}")
|
||||
debug_print(f"🔛 启动气源: {gas_source}")
|
||||
action_sequence.append(create_action_log(f"启动气源: {gas_source}", "🔛"))
|
||||
action_sequence.append({
|
||||
"device_id": gas_source,
|
||||
"action_name": "set_status",
|
||||
@@ -476,21 +625,23 @@ def generate_evacuateandrefill_protocol(
|
||||
|
||||
# 开启气源电磁阀
|
||||
if gas_solenoid:
|
||||
debug_print(f"开启气源电磁阀: {gas_solenoid}")
|
||||
debug_print(f"🚪 打开气源电磁阀: {gas_solenoid}")
|
||||
action_sequence.append(create_action_log(f"打开气源电磁阀: {gas_solenoid}", "🚪"))
|
||||
action_sequence.append({
|
||||
"device_id": gas_solenoid,
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {"command": "OPEN"}
|
||||
})
|
||||
|
||||
# 充气操作 - 使用液体转移协议
|
||||
debug_print(f"充气操作: {gas_source} → {vessel}")
|
||||
# 充气操作
|
||||
debug_print(f"💨 充气操作: {gas_source} -> {vessel_id}")
|
||||
action_sequence.append(create_action_log(f"开始气体充气: {gas_source} -> {vessel_id}", "💨"))
|
||||
|
||||
try:
|
||||
|
||||
gas_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=gas_source,
|
||||
to_vessel=vessel,
|
||||
to_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
volume=REFILL_VOLUME,
|
||||
amount="",
|
||||
time=0.0,
|
||||
@@ -506,22 +657,26 @@ def generate_evacuateandrefill_protocol(
|
||||
if gas_transfer_actions:
|
||||
action_sequence.extend(gas_transfer_actions)
|
||||
debug_print(f"✅ 添加了 {len(gas_transfer_actions)} 个充气动作")
|
||||
action_sequence.append(create_action_log(f"气体充气协议完成 ({len(gas_transfer_actions)} 个操作)", "✅"))
|
||||
else:
|
||||
debug_print("⚠️ 充气协议返回空序列，添加手动动作")
|
||||
action_sequence.append(create_action_log("充气协议为空，使用手动等待", "⚠️"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": REFILL_TIME}
|
||||
})
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 充气失败: {str(e)}")
|
||||
# 添加等待时间作为备选
|
||||
debug_print(f"❌ 气体充气失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"气体充气失败: {str(e)}", "❌"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": REFILL_TIME}
|
||||
})
|
||||
|
||||
# 充气后等待
|
||||
refill_wait_minutes = REFILL_TIME / 60
|
||||
action_sequence.append(create_action_log(f"充气后等待 ({refill_wait_minutes:.1f} 分钟)", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": REFILL_TIME}
|
||||
@@ -529,7 +684,8 @@ def generate_evacuateandrefill_protocol(
|
||||
|
||||
# 关闭气源电磁阀
|
||||
if gas_solenoid:
|
||||
debug_print(f"关闭气源电磁阀: {gas_solenoid}")
|
||||
debug_print(f"🚪 关闭气源电磁阀: {gas_solenoid}")
|
||||
action_sequence.append(create_action_log(f"关闭气源电磁阀: {gas_solenoid}", "🚪"))
|
||||
action_sequence.append({
|
||||
"device_id": gas_solenoid,
|
||||
"action_name": "set_valve_position",
|
||||
@@ -537,68 +693,96 @@ def generate_evacuateandrefill_protocol(
|
||||
})
|
||||
|
||||
# 关闭气源
|
||||
debug_print(f"关闭气源: {gas_source}")
|
||||
debug_print(f"🔴 停止气源: {gas_source}")
|
||||
action_sequence.append(create_action_log(f"停止气源: {gas_source}", "🔴"))
|
||||
action_sequence.append({
|
||||
"device_id": gas_source,
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {"string": "OFF"}
|
||||
})
|
||||
|
||||
# 等待下一次循环
|
||||
# 循环间等待
|
||||
if cycle < repeats - 1:
|
||||
debug_print(f"等待下一次循环...")
|
||||
debug_print(f"⏳ 等待下一个循环...")
|
||||
action_sequence.append(create_action_log("等待下一个循环...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 10.0}
|
||||
})
|
||||
else:
|
||||
action_sequence.append(create_action_log(f"第 {cycle+1}/{repeats} 轮循环完成", "✅"))
|
||||
|
||||
# === 停止搅拌器 ===
|
||||
debug_print("步骤7: 停止搅拌器...")
|
||||
debug_print("🔍 步骤7: 停止搅拌器...")
|
||||
|
||||
if stirrer_id:
|
||||
debug_print(f"停止搅拌器: {stirrer_id}")
|
||||
debug_print(f"🛑 停止搅拌器: {stirrer_id}")
|
||||
action_sequence.append(create_action_log(f"停止搅拌器: {stirrer_id}", "🛑"))
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {"vessel": vessel}
|
||||
"action_kwargs": {"vessel": vessel_id} # 🔧 使用 vessel_id
|
||||
})
|
||||
else:
|
||||
action_sequence.append(create_action_log("跳过搅拌器停止", "⏭️"))
|
||||
|
||||
# === 最终等待 ===
|
||||
action_sequence.append(create_action_log("最终稳定等待...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 10.0}
|
||||
})
|
||||
|
||||
# === 总结 ===
|
||||
total_time = (VACUUM_TIME + REFILL_TIME + 25) * repeats + 20
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"抽真空充气协议生成完成")
|
||||
debug_print(f"总动作数: {len(action_sequence)}")
|
||||
debug_print(f"处理容器: {vessel}")
|
||||
debug_print(f"使用气体: {gas}")
|
||||
debug_print(f"重复次数: {repeats} (硬编码)")
|
||||
debug_print(f"🎉 抽真空充气协议生成完成")
|
||||
debug_print(f"📊 协议统计:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)}")
|
||||
debug_print(f" ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f} 分钟)")
|
||||
debug_print(f" 🥼 处理容器: {vessel_id}")
|
||||
debug_print(f" 💨 使用气体: {gas}")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"抽真空充气协议完成: {vessel_id} (使用 {gas}，{repeats} 次循环)"
|
||||
action_sequence.append(create_action_log(summary_msg, "🎉"))
|
||||
|
||||
return action_sequence
|
||||
|
||||
# === 便捷函数 ===
|
||||
|
||||
def generate_nitrogen_purge_protocol(G: nx.DiGraph, vessel: str, **kwargs) -> List[Dict[str, Any]]:
|
||||
def generate_nitrogen_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]: # 🔧 修改参数类型
|
||||
"""生成氮气置换协议"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"💨 生成氮气置换协议: {vessel_id}")
|
||||
return generate_evacuateandrefill_protocol(G, vessel, "nitrogen", **kwargs)
|
||||
|
||||
def generate_argon_purge_protocol(G: nx.DiGraph, vessel: str, **kwargs) -> List[Dict[str, Any]]:
|
||||
def generate_argon_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]: # 🔧 修改参数类型
|
||||
"""生成氩气置换协议"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"💨 生成氩气置换协议: {vessel_id}")
|
||||
return generate_evacuateandrefill_protocol(G, vessel, "argon", **kwargs)
|
||||
|
||||
def generate_air_purge_protocol(G: nx.DiGraph, vessel: str, **kwargs) -> List[Dict[str, Any]]:
|
||||
def generate_air_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]: # 🔧 修改参数类型
|
||||
"""生成空气置换协议"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"💨 生成空气置换协议: {vessel_id}")
|
||||
return generate_evacuateandrefill_protocol(G, vessel, "air", **kwargs)
|
||||
|
||||
def generate_inert_atmosphere_protocol(G: nx.DiGraph, vessel: dict, gas: str = "nitrogen", **kwargs) -> List[Dict[str, Any]]: # 🔧 修改参数类型
|
||||
"""生成惰性气氛协议"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"🛡️ 生成惰性气氛协议: {vessel_id} (使用 {gas})")
|
||||
return generate_evacuateandrefill_protocol(G, vessel, gas, **kwargs)
|
||||
|
||||
# 测试函数
|
||||
def test_evacuateandrefill_protocol():
|
||||
"""测试抽真空充气协议"""
|
||||
debug_print("=== EVACUATE AND REFILL PROTOCOL 测试 ===")
|
||||
debug_print("测试完成")
|
||||
debug_print("=== 抽真空充气协议增强中文版测试 ===")
|
||||
debug_print("✅ 测试完成")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_evacuateandrefill_protocol()
|
||||
@@ -7,7 +7,7 @@ logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"[EVAPORATE] {message}", flush=True)
|
||||
print(f"🧪 [EVAPORATE] {message}", flush=True)
|
||||
logger.info(f"[EVAPORATE] {message}")
|
||||
|
||||
def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
@@ -21,18 +21,20 @@ def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if isinstance(time_input, (int, float)):
|
||||
return float(time_input)
|
||||
debug_print(f"⏱️ 时间输入为数字: {time_input}s ✨")
|
||||
return float(time_input) # 🔧 确保返回float
|
||||
|
||||
if not time_input or not str(time_input).strip():
|
||||
debug_print(f"⚠️ 时间输入为空，使用默认值: 180s (3分钟) 🕐")
|
||||
return 180.0 # 默认3分钟
|
||||
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"解析时间输入: '{time_str}'")
|
||||
debug_print(f"🔍 解析时间输入: '{time_str}' 📝")
|
||||
|
||||
# 处理未知时间
|
||||
if time_str in ['?', 'unknown', 'tbd']:
|
||||
default_time = 180.0 # 默认3分钟
|
||||
debug_print(f"检测到未知时间，使用默认值: {default_time}s")
|
||||
debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (3分钟) 🤷♀️")
|
||||
return default_time
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
@@ -45,10 +47,10 @@ def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
# 如果无法解析，尝试直接转换为数字（默认秒）
|
||||
try:
|
||||
value = float(time_str)
|
||||
debug_print(f"时间解析: {time_str} → {value}s（无单位，默认秒）")
|
||||
return value
|
||||
debug_print(f"✅ 时间解析成功: {time_str} → {value}s（无单位，默认秒）⏰")
|
||||
return float(value) # 🔧 确保返回float
|
||||
except ValueError:
|
||||
debug_print(f"⚠️ 无法解析时间: '{time_str}'，使用默认值180s")
|
||||
debug_print(f"❌ 无法解析时间: '{time_str}'，使用默认值180s (3分钟) 😅")
|
||||
return 180.0
|
||||
|
||||
value = float(match.group(1))
|
||||
@@ -57,15 +59,18 @@ def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
# 转换为秒
|
||||
if unit in ['min', 'minute']:
|
||||
time_sec = value * 60.0 # min -> s
|
||||
debug_print(f"🕐 时间转换: {value} 分钟 → {time_sec}s ⏰")
|
||||
elif unit in ['h', 'hr', 'hour']:
|
||||
time_sec = value * 3600.0 # h -> s
|
||||
debug_print(f"🕐 时间转换: {value} 小时 → {time_sec}s ({time_sec/60:.1f}分钟) ⏰")
|
||||
elif unit in ['d', 'day']:
|
||||
time_sec = value * 86400.0 # d -> s
|
||||
debug_print(f"🕐 时间转换: {value} 天 → {time_sec}s ({time_sec/3600:.1f}小时) ⏰")
|
||||
else: # s, sec, second 或默认
|
||||
time_sec = value # 已经是s
|
||||
debug_print(f"🕐 时间转换: {value}s → {time_sec}s (已是秒) ⏰")
|
||||
|
||||
debug_print(f"时间转换: {value}{unit} → {time_sec}s")
|
||||
return time_sec
|
||||
return float(time_sec) # 🔧 确保返回float
|
||||
|
||||
def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
|
||||
"""
|
||||
@@ -78,28 +83,30 @@ def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
|
||||
Returns:
|
||||
str: 找到的旋转蒸发仪设备ID，如果没找到返回None
|
||||
"""
|
||||
debug_print("查找旋转蒸发仪设备...")
|
||||
debug_print("🔍 开始查找旋转蒸发仪设备... 🌪️")
|
||||
|
||||
# 如果指定了vessel，先检查是否存在且是旋转蒸发仪
|
||||
if vessel:
|
||||
debug_print(f"🎯 检查指定设备: {vessel} 🔧")
|
||||
if vessel in G.nodes():
|
||||
node_data = G.nodes[vessel]
|
||||
node_class = node_data.get('class', '')
|
||||
node_type = node_data.get('type', '')
|
||||
|
||||
debug_print(f"检查指定设备 {vessel}: class={node_class}, type={node_type}")
|
||||
debug_print(f"📋 设备信息 {vessel}: class={node_class}, type={node_type}")
|
||||
|
||||
# 检查是否为旋转蒸发仪
|
||||
if any(keyword in str(node_class).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
|
||||
debug_print(f"✓ 找到指定的旋转蒸发仪: {vessel}")
|
||||
debug_print(f"🎉 找到指定的旋转蒸发仪: {vessel} ✨")
|
||||
return vessel
|
||||
elif node_type == 'device':
|
||||
debug_print(f"✓ 指定设备存在，尝试直接使用: {vessel}")
|
||||
debug_print(f"✅ 指定设备存在，尝试直接使用: {vessel} 🔧")
|
||||
return vessel
|
||||
else:
|
||||
debug_print(f"✗ 指定的设备 {vessel} 不存在")
|
||||
debug_print(f"❌ 指定的设备 {vessel} 不存在 😞")
|
||||
|
||||
# 在所有设备中查找旋转蒸发仪
|
||||
debug_print("🔎 在所有设备中搜索旋转蒸发仪... 🕵️♀️")
|
||||
rotavap_candidates = []
|
||||
|
||||
for node_id, node_data in G.nodes(data=True):
|
||||
@@ -113,17 +120,17 @@ def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
|
||||
# 检查设备类型
|
||||
if any(keyword in str(node_class).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
|
||||
rotavap_candidates.append(node_id)
|
||||
debug_print(f"✓ 找到旋转蒸发仪候选: {node_id} (class: {node_class})")
|
||||
debug_print(f"🌟 找到旋转蒸发仪候选: {node_id} (class: {node_class}) 🌪️")
|
||||
elif any(keyword in str(node_id).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
|
||||
rotavap_candidates.append(node_id)
|
||||
debug_print(f"✓ 找到旋转蒸发仪候选 (按名称): {node_id}")
|
||||
debug_print(f"🌟 找到旋转蒸发仪候选 (按名称): {node_id} 🌪️")
|
||||
|
||||
if rotavap_candidates:
|
||||
selected = rotavap_candidates[0] # 选择第一个找到的
|
||||
debug_print(f"✓ 选择旋转蒸发仪: {selected}")
|
||||
debug_print(f"🎯 选择旋转蒸发仪: {selected} 🏆")
|
||||
return selected
|
||||
|
||||
debug_print("✗ 未找到旋转蒸发仪设备")
|
||||
debug_print("😭 未找到旋转蒸发仪设备 💔")
|
||||
return None
|
||||
|
||||
def find_connected_vessel(G: nx.DiGraph, rotavap_device: str) -> Optional[str]:
|
||||
@@ -137,36 +144,38 @@ def find_connected_vessel(G: nx.DiGraph, rotavap_device: str) -> Optional[str]:
|
||||
Returns:
|
||||
str: 连接的容器ID，如果没找到返回None
|
||||
"""
|
||||
debug_print(f"查找与 {rotavap_device} 连接的容器...")
|
||||
debug_print(f"🔗 查找与 {rotavap_device} 连接的容器... 🥽")
|
||||
|
||||
# 查看旋转蒸发仪的子设备
|
||||
rotavap_data = G.nodes[rotavap_device]
|
||||
children = rotavap_data.get('children', [])
|
||||
|
||||
debug_print(f"👶 检查子设备: {children}")
|
||||
for child_id in children:
|
||||
if child_id in G.nodes():
|
||||
child_data = G.nodes[child_id]
|
||||
child_type = child_data.get('type', '')
|
||||
|
||||
if child_type == 'container':
|
||||
debug_print(f"✓ 找到连接的容器: {child_id}")
|
||||
debug_print(f"🎉 找到连接的容器: {child_id} 🥽✨")
|
||||
return child_id
|
||||
|
||||
# 查看邻接的容器
|
||||
debug_print("🤝 检查邻接设备...")
|
||||
for neighbor in G.neighbors(rotavap_device):
|
||||
neighbor_data = G.nodes[neighbor]
|
||||
neighbor_type = neighbor_data.get('type', '')
|
||||
|
||||
if neighbor_type == 'container':
|
||||
debug_print(f"✓ 找到邻接的容器: {neighbor}")
|
||||
debug_print(f"🎉 找到邻接的容器: {neighbor} 🥽✨")
|
||||
return neighbor
|
||||
|
||||
debug_print("✗ 未找到连接的容器")
|
||||
debug_print("😞 未找到连接的容器 💔")
|
||||
return None
|
||||
|
||||
def generate_evaporate_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
pressure: float = 0.1,
|
||||
temp: float = 60.0,
|
||||
time: Union[str, float] = "180", # 🔧 修改：支持字符串时间
|
||||
@@ -175,11 +184,11 @@ def generate_evaporate_protocol(
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成蒸发操作的协议序列 - 支持单位
|
||||
生成蒸发操作的协议序列 - 支持单位和体积运算
|
||||
|
||||
Args:
|
||||
G: 设备图
|
||||
vessel: 容器名称或旋转蒸发仪名称
|
||||
vessel: 容器字典（从XDL传入）
|
||||
pressure: 真空度 (bar)，默认0.1
|
||||
temp: 加热温度 (°C)，默认60
|
||||
time: 蒸发时间（支持 "3 min", "180", "0.5 h" 等）
|
||||
@@ -191,214 +200,280 @@ def generate_evaporate_protocol(
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
|
||||
debug_print("=" * 50)
|
||||
debug_print("开始生成蒸发协议（支持单位）")
|
||||
debug_print(f"输入参数:")
|
||||
debug_print(f" - vessel: {vessel}")
|
||||
debug_print(f" - pressure: {pressure} bar")
|
||||
debug_print(f" - temp: {temp}°C")
|
||||
debug_print(f" - time: {time} (类型: {type(time)})")
|
||||
debug_print(f" - stir_speed: {stir_speed} RPM")
|
||||
debug_print(f" - solvent: '{solvent}'")
|
||||
debug_print("=" * 50)
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
|
||||
debug_print("🌟" * 20)
|
||||
debug_print("🌪️ 开始生成蒸发协议（支持单位和体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 💨 pressure: {pressure} bar")
|
||||
debug_print(f" 🌡️ temp: {temp}°C")
|
||||
debug_print(f" ⏰ time: {time} (类型: {type(time)})")
|
||||
debug_print(f" 🌪️ stir_speed: {stir_speed} RPM")
|
||||
debug_print(f" 🧪 solvent: '{solvent}'")
|
||||
debug_print("🌟" * 20)
|
||||
|
||||
# 🔧 新增：记录蒸发前的容器状态
|
||||
debug_print("🔍 记录蒸发前容器状态...")
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list) and len(current_volume) > 0:
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
debug_print(f"📊 蒸发前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# === 步骤1: 查找旋转蒸发仪设备 ===
|
||||
debug_print("步骤1: 查找旋转蒸发仪设备...")
|
||||
debug_print("📍 步骤1: 查找旋转蒸发仪设备... 🔍")
|
||||
|
||||
# 验证vessel参数
|
||||
if not vessel:
|
||||
if not vessel_id:
|
||||
debug_print("❌ vessel 参数不能为空! 😱")
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
|
||||
# 查找旋转蒸发仪设备
|
||||
rotavap_device = find_rotavap_device(G, vessel)
|
||||
rotavap_device = find_rotavap_device(G, vessel_id)
|
||||
if not rotavap_device:
|
||||
debug_print("💥 未找到旋转蒸发仪设备! 😭")
|
||||
raise ValueError(f"未找到旋转蒸发仪设备。请检查组态图中是否包含 class 包含 'rotavap'、'rotary' 或 'evaporat' 的设备")
|
||||
|
||||
# === 步骤2: 确定目标容器 ===
|
||||
debug_print("步骤2: 确定目标容器...")
|
||||
debug_print(f"🎉 成功找到旋转蒸发仪: {rotavap_device} ✨")
|
||||
|
||||
target_vessel = vessel
|
||||
# === 步骤2: 确定目标容器 ===
|
||||
debug_print("📍 步骤2: 确定目标容器... 🥽")
|
||||
|
||||
target_vessel = vessel_id
|
||||
|
||||
# 如果vessel就是旋转蒸发仪设备，查找连接的容器
|
||||
if vessel == rotavap_device:
|
||||
if vessel_id == rotavap_device:
|
||||
debug_print("🔄 vessel就是旋转蒸发仪，查找连接的容器...")
|
||||
connected_vessel = find_connected_vessel(G, rotavap_device)
|
||||
if connected_vessel:
|
||||
target_vessel = connected_vessel
|
||||
debug_print(f"使用连接的容器: {target_vessel}")
|
||||
debug_print(f"✅ 使用连接的容器: {target_vessel} 🥽✨")
|
||||
else:
|
||||
debug_print(f"未找到连接的容器，使用设备本身: {rotavap_device}")
|
||||
debug_print(f"⚠️ 未找到连接的容器，使用设备本身: {rotavap_device} 🔧")
|
||||
target_vessel = rotavap_device
|
||||
elif vessel in G.nodes() and G.nodes[vessel].get('type') == 'container':
|
||||
debug_print(f"使用指定的容器: {vessel}")
|
||||
target_vessel = vessel
|
||||
elif vessel_id in G.nodes() and G.nodes[vessel_id].get('type') == 'container':
|
||||
debug_print(f"✅ 使用指定的容器: {vessel_id} 🥽✨")
|
||||
target_vessel = vessel_id
|
||||
else:
|
||||
debug_print(f"容器 '{vessel}' 不存在或类型不正确，使用旋转蒸发仪设备: {rotavap_device}")
|
||||
debug_print(f"⚠️ 容器 '{vessel_id}' 不存在或类型不正确，使用旋转蒸发仪设备: {rotavap_device} 🔧")
|
||||
target_vessel = rotavap_device
|
||||
|
||||
# === 🔧 新增：步骤3：单位解析处理 ===
|
||||
debug_print("步骤3: 单位解析处理...")
|
||||
debug_print("📍 步骤3: 单位解析处理... ⚡")
|
||||
|
||||
# 解析时间
|
||||
final_time = parse_time_input(time)
|
||||
debug_print(f"时间解析: {time} → {final_time}s ({final_time/60:.1f}分钟)")
|
||||
debug_print(f"🎯 时间解析完成: {time} → {final_time}s ({final_time/60:.1f}分钟) ⏰✨")
|
||||
|
||||
# === 步骤4: 参数验证和修正 ===
|
||||
debug_print("步骤4: 参数验证和修正...")
|
||||
debug_print("📍 步骤4: 参数验证和修正... 🔧")
|
||||
|
||||
# 修正参数范围
|
||||
if pressure <= 0 or pressure > 1.0:
|
||||
debug_print(f"真空度 {pressure} bar 超出范围，修正为 0.1 bar")
|
||||
debug_print(f"⚠️ 真空度 {pressure} bar 超出范围，修正为 0.1 bar 💨")
|
||||
pressure = 0.1
|
||||
else:
|
||||
debug_print(f"✅ 真空度 {pressure} bar 在正常范围内 💨")
|
||||
|
||||
if temp < 10.0 or temp > 200.0:
|
||||
debug_print(f"温度 {temp}°C 超出范围，修正为 60°C")
|
||||
debug_print(f"⚠️ 温度 {temp}°C 超出范围，修正为 60°C 🌡️")
|
||||
temp = 60.0
|
||||
else:
|
||||
debug_print(f"✅ 温度 {temp}°C 在正常范围内 🌡️")
|
||||
|
||||
if final_time <= 0:
|
||||
debug_print(f"时间 {final_time}s 无效，修正为 180s")
|
||||
debug_print(f"⚠️ 时间 {final_time}s 无效，修正为 180s (3分钟) ⏰")
|
||||
final_time = 180.0
|
||||
else:
|
||||
debug_print(f"✅ 时间 {final_time}s ({final_time/60:.1f}分钟) 有效 ⏰")
|
||||
|
||||
if stir_speed < 10.0 or stir_speed > 300.0:
|
||||
debug_print(f"旋转速度 {stir_speed} RPM 超出范围，修正为 100 RPM")
|
||||
debug_print(f"⚠️ 旋转速度 {stir_speed} RPM 超出范围，修正为 100 RPM 🌪️")
|
||||
stir_speed = 100.0
|
||||
else:
|
||||
debug_print(f"✅ 旋转速度 {stir_speed} RPM 在正常范围内 🌪️")
|
||||
|
||||
# 根据溶剂优化参数
|
||||
if solvent:
|
||||
debug_print(f"根据溶剂 '{solvent}' 优化参数...")
|
||||
debug_print(f"🧪 根据溶剂 '{solvent}' 优化参数... 🔬")
|
||||
solvent_lower = solvent.lower()
|
||||
|
||||
if any(s in solvent_lower for s in ['water', 'aqueous', 'h2o']):
|
||||
temp = max(temp, 80.0)
|
||||
pressure = max(pressure, 0.2)
|
||||
debug_print("水系溶剂：提高温度和真空度")
|
||||
debug_print("💧 水系溶剂：提高温度和真空度 🌡️💨")
|
||||
elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
|
||||
temp = min(temp, 50.0)
|
||||
pressure = min(pressure, 0.05)
|
||||
debug_print("易挥发溶剂：降低温度和真空度")
|
||||
debug_print("🍺 易挥发溶剂：降低温度和真空度 🌡️💨")
|
||||
elif any(s in solvent_lower for s in ['dmso', 'dmi', 'toluene']):
|
||||
temp = max(temp, 100.0)
|
||||
pressure = min(pressure, 0.01)
|
||||
debug_print("高沸点溶剂：提高温度，降低真空度")
|
||||
debug_print("🔥 高沸点溶剂：提高温度，降低真空度 🌡️💨")
|
||||
else:
|
||||
debug_print("🧪 通用溶剂，使用标准参数 ✨")
|
||||
else:
|
||||
debug_print("🤷♀️ 未指定溶剂，使用默认参数 ✨")
|
||||
|
||||
debug_print(f"最终参数: pressure={pressure}, temp={temp}, time={final_time}, stir_speed={stir_speed}")
|
||||
debug_print(f"🎯 最终参数: pressure={pressure} bar 💨, temp={temp}°C 🌡️, time={final_time}s ⏰, stir_speed={stir_speed} RPM 🌪️")
|
||||
|
||||
# === 步骤5: 生成动作序列 ===
|
||||
debug_print("步骤5: 生成动作序列...")
|
||||
# === 🔧 新增：步骤5：蒸发体积计算 ===
|
||||
debug_print("📍 步骤5: 蒸发体积计算... 📊")
|
||||
|
||||
# 根据温度、真空度、时间和溶剂类型估算蒸发量
|
||||
evaporation_volume = 0.0
|
||||
if original_liquid_volume > 0:
|
||||
# 基础蒸发速率（mL/min）
|
||||
base_evap_rate = 0.5 # 基础速率
|
||||
|
||||
# 温度系数（高温蒸发更快）
|
||||
temp_factor = 1.0 + (temp - 25.0) / 100.0
|
||||
|
||||
# 真空系数（真空度越高蒸发越快）
|
||||
vacuum_factor = 1.0 + (1.0 - pressure) * 2.0
|
||||
|
||||
# 溶剂系数
|
||||
solvent_factor = 1.0
|
||||
if solvent:
|
||||
solvent_lower = solvent.lower()
|
||||
if any(s in solvent_lower for s in ['water', 'h2o']):
|
||||
solvent_factor = 0.8 # 水蒸发较慢
|
||||
elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
|
||||
solvent_factor = 1.5 # 易挥发溶剂蒸发快
|
||||
elif any(s in solvent_lower for s in ['dmso', 'dmi']):
|
||||
solvent_factor = 0.3 # 高沸点溶剂蒸发慢
|
||||
|
||||
# 计算总蒸发量
|
||||
total_evap_rate = base_evap_rate * temp_factor * vacuum_factor * solvent_factor
|
||||
evaporation_volume = min(
|
||||
original_liquid_volume * 0.95, # 最多蒸发95%
|
||||
total_evap_rate * (final_time / 60.0) # 时间相关的蒸发量
|
||||
)
|
||||
|
||||
debug_print(f"📊 蒸发量计算:")
|
||||
debug_print(f" - 基础蒸发速率: {base_evap_rate} mL/min")
|
||||
debug_print(f" - 温度系数: {temp_factor:.2f} (基于 {temp}°C)")
|
||||
debug_print(f" - 真空系数: {vacuum_factor:.2f} (基于 {pressure} bar)")
|
||||
debug_print(f" - 溶剂系数: {solvent_factor:.2f} ({solvent or '通用'})")
|
||||
debug_print(f" - 总蒸发速率: {total_evap_rate:.2f} mL/min")
|
||||
debug_print(f" - 预计蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/original_liquid_volume*100:.1f}%)")
|
||||
|
||||
# === 步骤6: 生成动作序列 ===
|
||||
debug_print("📍 步骤6: 生成动作序列... 🎬")
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 等待稳定
|
||||
# 1. 等待稳定
|
||||
debug_print(" 🔄 动作1: 添加初始等待稳定... ⏳")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 10}
|
||||
})
|
||||
debug_print(" ✅ 初始等待动作已添加 ⏳✨")
|
||||
|
||||
# 2. 执行蒸发
|
||||
debug_print(f" 🌪️ 动作2: 执行蒸发操作...")
|
||||
debug_print(f" 🔧 设备: {rotavap_device}")
|
||||
debug_print(f" 🥽 容器: {target_vessel}")
|
||||
debug_print(f" 💨 真空度: {pressure} bar")
|
||||
debug_print(f" 🌡️ 温度: {temp}°C")
|
||||
debug_print(f" ⏰ 时间: {final_time}s ({final_time/60:.1f}分钟)")
|
||||
debug_print(f" 🌪️ 旋转速度: {stir_speed} RPM")
|
||||
|
||||
# 执行蒸发
|
||||
debug_print(f"执行蒸发: 设备={rotavap_device}, 容器={target_vessel}")
|
||||
evaporate_action = {
|
||||
"device_id": rotavap_device,
|
||||
"action_name": "evaporate",
|
||||
"action_kwargs": {
|
||||
"vessel": target_vessel,
|
||||
"pressure": pressure,
|
||||
"temp": temp,
|
||||
"time": final_time,
|
||||
"stir_speed": stir_speed,
|
||||
"solvent": solvent
|
||||
"pressure": float(pressure),
|
||||
"temp": float(temp),
|
||||
"time": float(final_time), # 🔧 强制转换为float类型
|
||||
"stir_speed": float(stir_speed),
|
||||
"solvent": str(solvent)
|
||||
}
|
||||
}
|
||||
action_sequence.append(evaporate_action)
|
||||
debug_print(" ✅ 蒸发动作已添加 🌪️✨")
|
||||
|
||||
# 蒸发后等待
|
||||
# 🔧 新增：蒸发过程中的体积变化
|
||||
debug_print(" 🔧 更新容器体积 - 蒸发过程...")
|
||||
if evaporation_volume > 0:
|
||||
new_volume = max(0.0, original_liquid_volume - evaporation_volume)
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [new_volume]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
|
||||
|
||||
debug_print(f" 📊 蒸发体积变化: {original_liquid_volume:.2f}mL → {new_volume:.2f}mL (-{evaporation_volume:.2f}mL)")
|
||||
|
||||
# 3. 蒸发后等待
|
||||
debug_print(" 🔄 动作3: 添加蒸发后等待... ⏳")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 30}
|
||||
"action_kwargs": {"time": 10}
|
||||
})
|
||||
debug_print(" ✅ 蒸发后等待动作已添加 ⏳✨")
|
||||
|
||||
# 🔧 新增：蒸发完成后的状态报告
|
||||
final_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list) and len(current_volume) > 0:
|
||||
final_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
final_liquid_volume = current_volume
|
||||
|
||||
# === 总结 ===
|
||||
debug_print("=" * 50)
|
||||
debug_print(f"蒸发协议生成完成")
|
||||
debug_print(f"总动作数: {len(action_sequence)}")
|
||||
debug_print(f"旋转蒸发仪: {rotavap_device}")
|
||||
debug_print(f"目标容器: {target_vessel}")
|
||||
debug_print(f"蒸发参数: {pressure} bar, {temp}°C, {final_time}s, {stir_speed} RPM")
|
||||
debug_print("=" * 50)
|
||||
debug_print("🎊" * 20)
|
||||
debug_print(f"🎉 蒸发协议生成完成! ✨")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
|
||||
debug_print(f"🌪️ 旋转蒸发仪: {rotavap_device} 🔧")
|
||||
debug_print(f"🥽 目标容器: {target_vessel} 🧪")
|
||||
debug_print(f"⚙️ 蒸发参数: {pressure} bar 💨, {temp}°C 🌡️, {final_time}s ⏰, {stir_speed} RPM 🌪️")
|
||||
debug_print(f"⏱️ 预计总时间: {(final_time + 20)/60:.1f} 分钟 ⌛")
|
||||
debug_print(f"📊 体积变化:")
|
||||
debug_print(f" - 蒸发前: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 蒸发后: {final_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/max(original_liquid_volume, 0.01)*100:.1f}%)")
|
||||
debug_print("🎊" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
# === 便捷函数 ===
|
||||
|
||||
def generate_quick_evaporate_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""快速蒸发：低温短时间"""
|
||||
return generate_evaporate_protocol(
|
||||
G, vessel,
|
||||
pressure=0.2,
|
||||
temp=40.0,
|
||||
time="15 min", # 🔧 使用带单位的时间
|
||||
stir_speed=80.0,
|
||||
**kwargs
|
||||
)
|
||||
|
||||
def generate_gentle_evaporate_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""温和蒸发：中等条件"""
|
||||
return generate_evaporate_protocol(
|
||||
G, vessel,
|
||||
pressure=0.1,
|
||||
temp=50.0,
|
||||
time="45 min", # 🔧 使用带单位的时间
|
||||
stir_speed=60.0,
|
||||
**kwargs
|
||||
)
|
||||
|
||||
def generate_high_vacuum_evaporate_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""高真空蒸发：低温高真空"""
|
||||
return generate_evaporate_protocol(
|
||||
G, vessel,
|
||||
pressure=0.01,
|
||||
temp=35.0,
|
||||
time="1 h", # 🔧 使用带单位的时间
|
||||
stir_speed=120.0,
|
||||
**kwargs
|
||||
)
|
||||
|
||||
def generate_standard_evaporate_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""标准蒸发：常用参数"""
|
||||
return generate_evaporate_protocol(
|
||||
G, vessel,
|
||||
pressure=0.1,
|
||||
temp=60.0,
|
||||
time="3 min", # 🔧 使用带单位的时间
|
||||
stir_speed=100.0,
|
||||
**kwargs
|
||||
)
|
||||
|
||||
# 测试函数
|
||||
def test_time_parsing():
|
||||
"""测试时间解析功能"""
|
||||
print("=== EVAPORATE 时间解析测试 ===")
|
||||
|
||||
test_times = ["3 min", "180", "0.5 h", "2 hours", "?", "unknown", "1.5", "30 s"]
|
||||
for time_str in test_times:
|
||||
result = parse_time_input(time_str)
|
||||
print(f"时间解析: '{time_str}' → {result}s ({result/60:.1f}分钟)")
|
||||
|
||||
print("✅ 测试完成")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_time_parsing()
|
||||
|
||||
@@ -7,12 +7,12 @@ logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"[FILTER] {message}", flush=True)
|
||||
print(f"🧪 [FILTER] {message}", flush=True)
|
||||
logger.info(f"[FILTER] {message}")
|
||||
|
||||
def find_filter_device(G: nx.DiGraph) -> str:
|
||||
"""查找过滤器设备"""
|
||||
debug_print("查找过滤器设备...")
|
||||
debug_print("🔍 查找过滤器设备... 🌊")
|
||||
|
||||
# 查找过滤器设备
|
||||
for node in G.nodes():
|
||||
@@ -20,40 +20,46 @@ def find_filter_device(G: nx.DiGraph) -> str:
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
if 'filter' in node_class.lower() or 'filter' in node.lower():
|
||||
debug_print(f"找到过滤器设备: {node}")
|
||||
debug_print(f"🎉 找到过滤器设备: {node} ✨")
|
||||
return node
|
||||
|
||||
# 如果没找到，寻找可能的过滤器名称
|
||||
debug_print("🔎 在预定义名称中搜索过滤器... 📋")
|
||||
possible_names = ["filter", "filter_1", "virtual_filter", "filtration_unit"]
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
debug_print(f"找到过滤器设备: {name}")
|
||||
debug_print(f"🎉 找到过滤器设备: {name} ✨")
|
||||
return name
|
||||
|
||||
debug_print("😭 未找到过滤器设备 💔")
|
||||
raise ValueError("未找到过滤器设备")
|
||||
|
||||
def validate_vessel(G: nx.DiGraph, vessel: str, vessel_type: str = "容器") -> None:
|
||||
"""验证容器是否存在"""
|
||||
debug_print(f"🔍 验证{vessel_type}: '{vessel}' 🧪")
|
||||
|
||||
if not vessel:
|
||||
debug_print(f"❌ {vessel_type}不能为空! 😱")
|
||||
raise ValueError(f"{vessel_type}不能为空")
|
||||
|
||||
if vessel not in G.nodes():
|
||||
debug_print(f"❌ {vessel_type} '{vessel}' 不存在于系统中! 😞")
|
||||
raise ValueError(f"{vessel_type} '{vessel}' 不存在于系统中")
|
||||
|
||||
debug_print(f"✅ {vessel_type} '{vessel}' 验证通过")
|
||||
debug_print(f"✅ {vessel_type} '{vessel}' 验证通过 🎯")
|
||||
|
||||
def generate_filter_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
filtrate_vessel: str = "",
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成过滤操作的协议序列
|
||||
生成过滤操作的协议序列 - 支持体积运算
|
||||
|
||||
Args:
|
||||
G: 设备图
|
||||
vessel: 过滤容器名称（必需）- 包含需要过滤的混合物
|
||||
vessel: 过滤容器字典（必需）- 包含需要过滤的混合物
|
||||
filtrate_vessel: 滤液容器名称（可选）- 如果提供则收集滤液
|
||||
**kwargs: 其他参数（兼容性）
|
||||
|
||||
@@ -61,51 +67,108 @@ def generate_filter_protocol(
|
||||
List[Dict[str, Any]]: 过滤操作的动作序列
|
||||
"""
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("开始生成过滤协议")
|
||||
debug_print(f"输入参数:")
|
||||
debug_print(f" - vessel: {vessel}")
|
||||
debug_print(f" - filtrate_vessel: {filtrate_vessel}")
|
||||
debug_print(f" - 其他参数: {kwargs}")
|
||||
debug_print("=" * 60)
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
|
||||
debug_print("🌊" * 20)
|
||||
debug_print("🚀 开始生成过滤协议（支持体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 🧪 filtrate_vessel: {filtrate_vessel}")
|
||||
debug_print(f" ⚙️ 其他参数: {kwargs}")
|
||||
debug_print("🌊" * 20)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 🔧 新增：记录过滤前的容器状态
|
||||
debug_print("🔍 记录过滤前容器状态...")
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list) and len(current_volume) > 0:
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
debug_print(f"📊 过滤前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# === 参数验证 ===
|
||||
debug_print("步骤1: 参数验证...")
|
||||
debug_print("📍 步骤1: 参数验证... 🔧")
|
||||
|
||||
# 验证必需参数
|
||||
validate_vessel(G, vessel, "过滤容器")
|
||||
debug_print(" 🔍 验证必需参数...")
|
||||
validate_vessel(G, vessel_id, "过滤容器") # 🔧 使用 vessel_id
|
||||
debug_print(" ✅ 必需参数验证完成 🎯")
|
||||
|
||||
# 验证可选参数
|
||||
debug_print(" 🔍 验证可选参数...")
|
||||
if filtrate_vessel:
|
||||
validate_vessel(G, filtrate_vessel, "滤液容器")
|
||||
debug_print("模式: 过滤并收集滤液")
|
||||
debug_print(" 🌊 模式: 过滤并收集滤液 💧")
|
||||
else:
|
||||
debug_print("模式: 过滤并收集固体")
|
||||
debug_print(" 🧱 模式: 过滤并收集固体 🔬")
|
||||
debug_print(" ✅ 可选参数验证完成 🎯")
|
||||
|
||||
# === 查找设备 ===
|
||||
debug_print("步骤2: 查找设备...")
|
||||
debug_print("📍 步骤2: 查找设备... 🔍")
|
||||
|
||||
try:
|
||||
debug_print(" 🔎 搜索过滤器设备...")
|
||||
filter_device = find_filter_device(G)
|
||||
debug_print(f"使用过滤器设备: {filter_device}")
|
||||
debug_print(f" 🎉 使用过滤器设备: {filter_device} 🌊✨")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 设备查找失败: {str(e)}")
|
||||
debug_print(f" ❌ 设备查找失败: {str(e)} 😭")
|
||||
raise ValueError(f"设备查找失败: {str(e)}")
|
||||
|
||||
# === 转移到过滤器（如果需要）===
|
||||
debug_print("步骤3: 转移到过滤器...")
|
||||
# 🔧 新增：过滤效率和体积分配估算
|
||||
debug_print("📍 步骤2.5: 过滤体积分配估算... 📊")
|
||||
|
||||
if vessel != filter_device:
|
||||
debug_print(f"需要转移: {vessel} → {filter_device}")
|
||||
# 估算过滤分离比例（基于经验数据）
|
||||
solid_ratio = 0.1 # 假设10%是固体（保留在过滤器上）
|
||||
liquid_ratio = 0.9 # 假设90%是液体（通过过滤器）
|
||||
volume_loss_ratio = 0.05 # 假设5%体积损失（残留在过滤器等）
|
||||
|
||||
# 从kwargs中获取过滤参数进行优化
|
||||
if "solid_content" in kwargs:
|
||||
try:
|
||||
solid_ratio = float(kwargs["solid_content"])
|
||||
liquid_ratio = 1.0 - solid_ratio
|
||||
debug_print(f"📋 使用指定的固体含量: {solid_ratio*100:.1f}%")
|
||||
except:
|
||||
debug_print("⚠️ 固体含量参数无效，使用默认值")
|
||||
|
||||
if original_liquid_volume > 0:
|
||||
expected_filtrate_volume = original_liquid_volume * liquid_ratio * (1.0 - volume_loss_ratio)
|
||||
expected_solid_volume = original_liquid_volume * solid_ratio
|
||||
volume_loss = original_liquid_volume * volume_loss_ratio
|
||||
|
||||
debug_print(f"📊 过滤体积分配估算:")
|
||||
debug_print(f" - 原始体积: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 预计滤液体积: {expected_filtrate_volume:.2f}mL ({liquid_ratio*100:.1f}%)")
|
||||
debug_print(f" - 预计固体体积: {expected_solid_volume:.2f}mL ({solid_ratio*100:.1f}%)")
|
||||
debug_print(f" - 预计损失体积: {volume_loss:.2f}mL ({volume_loss_ratio*100:.1f}%)")
|
||||
|
||||
# === 转移到过滤器（如果需要）===
|
||||
debug_print("📍 步骤3: 转移到过滤器... 🚚")
|
||||
|
||||
if vessel_id != filter_device: # 🔧 使用 vessel_id
|
||||
debug_print(f" 🚛 需要转移: {vessel_id} → {filter_device} 📦")
|
||||
|
||||
try:
|
||||
debug_print(" 🔄 开始执行转移操作...")
|
||||
# 使用pump protocol转移液体到过滤器
|
||||
transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=vessel,
|
||||
from_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
to_vessel=filter_device,
|
||||
volume=0.0, # 转移所有液体
|
||||
amount="",
|
||||
@@ -121,20 +184,41 @@ def generate_filter_protocol(
|
||||
|
||||
if transfer_actions:
|
||||
action_sequence.extend(transfer_actions)
|
||||
debug_print(f"✅ 添加了 {len(transfer_actions)} 个转移动作")
|
||||
debug_print(f" ✅ 添加了 {len(transfer_actions)} 个转移动作 🚚✨")
|
||||
|
||||
# 🔧 新增：转移后更新容器体积
|
||||
debug_print(" 🔧 更新转移后的容器体积...")
|
||||
|
||||
# 原容器体积变为0（所有液体已转移）
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
vessel["data"]["liquid_volume"] = [0.0] if len(current_volume) > 0 else [0.0]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = 0.0
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = 0.0
|
||||
|
||||
debug_print(f" 📊 转移完成，{vessel_id} 体积更新为 0.0mL")
|
||||
|
||||
else:
|
||||
debug_print("⚠️ 转移协议返回空序列")
|
||||
debug_print(" ⚠️ 转移协议返回空序列 🤔")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 转移失败: {str(e)}")
|
||||
# 继续执行，可能是直接连接的过滤器
|
||||
debug_print(f" ❌ 转移失败: {str(e)} 😞")
|
||||
debug_print(" 🔄 继续执行，可能是直接连接的过滤器 🤞")
|
||||
else:
|
||||
debug_print("过滤容器就是过滤器，无需转移")
|
||||
debug_print(" ✅ 过滤容器就是过滤器，无需转移 🎯")
|
||||
|
||||
# === 执行过滤操作 ===
|
||||
debug_print("步骤4: 执行过滤操作...")
|
||||
debug_print("📍 步骤4: 执行过滤操作... 🌊")
|
||||
|
||||
# 构建过滤动作参数
|
||||
debug_print(" ⚙️ 构建过滤参数...")
|
||||
filter_kwargs = {
|
||||
"vessel": filter_device, # 过滤器设备
|
||||
"filtrate_vessel": filtrate_vessel, # 滤液容器（可能为空）
|
||||
@@ -145,7 +229,8 @@ def generate_filter_protocol(
|
||||
"volume": kwargs.get("volume", 0.0) # 0表示过滤所有
|
||||
}
|
||||
|
||||
debug_print(f"过滤参数: {filter_kwargs}")
|
||||
debug_print(f" 📋 过滤参数: {filter_kwargs}")
|
||||
debug_print(" 🌊 开始过滤操作...")
|
||||
|
||||
# 过滤动作
|
||||
filter_action = {
|
||||
@@ -154,20 +239,24 @@ def generate_filter_protocol(
|
||||
"action_kwargs": filter_kwargs
|
||||
}
|
||||
action_sequence.append(filter_action)
|
||||
debug_print(" ✅ 过滤动作已添加 🌊✨")
|
||||
|
||||
# 过滤后等待
|
||||
debug_print(" ⏳ 添加过滤后等待...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 10.0}
|
||||
})
|
||||
debug_print(" ✅ 过滤后等待动作已添加 ⏰✨")
|
||||
|
||||
# === 收集滤液（如果需要）===
|
||||
debug_print("步骤5: 收集滤液...")
|
||||
debug_print("📍 步骤5: 收集滤液... 💧")
|
||||
|
||||
if filtrate_vessel:
|
||||
debug_print(f"收集滤液: {filter_device} → {filtrate_vessel}")
|
||||
debug_print(f" 🧪 收集滤液: {filter_device} → {filtrate_vessel} 💧")
|
||||
|
||||
try:
|
||||
debug_print(" 🔄 开始执行收集操作...")
|
||||
# 使用pump protocol收集滤液
|
||||
collect_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
@@ -187,29 +276,100 @@ def generate_filter_protocol(
|
||||
|
||||
if collect_actions:
|
||||
action_sequence.extend(collect_actions)
|
||||
debug_print(f"✅ 添加了 {len(collect_actions)} 个收集动作")
|
||||
debug_print(f" ✅ 添加了 {len(collect_actions)} 个收集动作 🧪✨")
|
||||
|
||||
# 🔧 新增：收集滤液后的体积更新
|
||||
debug_print(" 🔧 更新滤液容器体积...")
|
||||
|
||||
# 更新filtrate_vessel在图中的体积（如果它是节点）
|
||||
if filtrate_vessel in G.nodes():
|
||||
if 'data' not in G.nodes[filtrate_vessel]:
|
||||
G.nodes[filtrate_vessel]['data'] = {}
|
||||
|
||||
current_filtrate_volume = G.nodes[filtrate_vessel]['data'].get('liquid_volume', 0.0)
|
||||
if isinstance(current_filtrate_volume, list):
|
||||
if len(current_filtrate_volume) > 0:
|
||||
G.nodes[filtrate_vessel]['data']['liquid_volume'][0] += expected_filtrate_volume
|
||||
else:
|
||||
G.nodes[filtrate_vessel]['data']['liquid_volume'] = [expected_filtrate_volume]
|
||||
else:
|
||||
G.nodes[filtrate_vessel]['data']['liquid_volume'] = current_filtrate_volume + expected_filtrate_volume
|
||||
|
||||
debug_print(f" 📊 滤液容器 {filtrate_vessel} 体积增加 {expected_filtrate_volume:.2f}mL")
|
||||
|
||||
else:
|
||||
debug_print("⚠️ 收集协议返回空序列")
|
||||
debug_print(" ⚠️ 收集协议返回空序列 🤔")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 收集滤液失败: {str(e)}")
|
||||
# 继续执行，可能滤液直接流入指定容器
|
||||
debug_print(f" ❌ 收集滤液失败: {str(e)} 😞")
|
||||
debug_print(" 🔄 继续执行，可能滤液直接流入指定容器 🤞")
|
||||
else:
|
||||
debug_print("未指定滤液容器，固体保留在过滤器中")
|
||||
debug_print(" 🧱 未指定滤液容器，固体保留在过滤器中 🔬")
|
||||
|
||||
# 🔧 新增：过滤完成后的容器状态更新
|
||||
debug_print("📍 步骤5.5: 过滤完成后状态更新... 📊")
|
||||
|
||||
if vessel_id == filter_device:
|
||||
# 如果过滤容器就是过滤器，需要更新其体积状态
|
||||
if original_liquid_volume > 0:
|
||||
if filtrate_vessel:
|
||||
# 收集滤液模式：过滤器中主要保留固体
|
||||
remaining_volume = expected_solid_volume
|
||||
debug_print(f" 🧱 过滤器中保留固体: {remaining_volume:.2f}mL")
|
||||
else:
|
||||
# 保留固体模式：过滤器中保留所有物质
|
||||
remaining_volume = original_liquid_volume * (1.0 - volume_loss_ratio)
|
||||
debug_print(f" 🔬 过滤器中保留所有物质: {remaining_volume:.2f}mL")
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
vessel["data"]["liquid_volume"] = [remaining_volume] if len(current_volume) > 0 else [remaining_volume]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = remaining_volume
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = remaining_volume
|
||||
|
||||
debug_print(f" 📊 过滤器 {vessel_id} 体积更新为: {remaining_volume:.2f}mL")
|
||||
|
||||
# === 最终等待 ===
|
||||
debug_print("📍 步骤6: 最终等待... ⏰")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5.0}
|
||||
})
|
||||
debug_print(" ✅ 最终等待动作已添加 ⏰✨")
|
||||
|
||||
# 🔧 新增：过滤完成后的状态报告
|
||||
final_vessel_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list) and len(current_volume) > 0:
|
||||
final_vessel_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
final_vessel_volume = current_volume
|
||||
|
||||
# === 总结 ===
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"过滤协议生成完成")
|
||||
debug_print(f"总动作数: {len(action_sequence)}")
|
||||
debug_print(f"过滤容器: {vessel}")
|
||||
debug_print(f"过滤器设备: {filter_device}")
|
||||
debug_print(f"滤液容器: {filtrate_vessel or '无（保留固体）'}")
|
||||
debug_print("=" * 60)
|
||||
debug_print("🎊" * 20)
|
||||
debug_print(f"🎉 过滤协议生成完成! ✨")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
|
||||
debug_print(f"🥽 过滤容器: {vessel_id} 🧪")
|
||||
debug_print(f"🌊 过滤器设备: {filter_device} 🔧")
|
||||
debug_print(f"💧 滤液容器: {filtrate_vessel or '无（保留固体）'} 🧱")
|
||||
debug_print(f"⏱️ 预计总时间: {(len(action_sequence) * 5):.0f} 秒 ⌛")
|
||||
if original_liquid_volume > 0:
|
||||
debug_print(f"📊 体积变化统计:")
|
||||
debug_print(f" - 过滤前体积: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 过滤后容器体积: {final_vessel_volume:.2f}mL")
|
||||
if filtrate_vessel:
|
||||
debug_print(f" - 预计滤液体积: {expected_filtrate_volume:.2f}mL")
|
||||
debug_print(f" - 预计损失体积: {volume_loss:.2f}mL")
|
||||
debug_print("🎊" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
@@ -7,179 +7,129 @@ logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"[HEATCHILL] {message}", flush=True)
|
||||
print(f"🌡️ [HEATCHILL] {message}", flush=True)
|
||||
logger.info(f"[HEATCHILL] {message}")
|
||||
|
||||
def parse_time_with_units(time_input: Union[str, float, int], default_unit: str = "s") -> float:
|
||||
def parse_time_input(time_input: Union[str, float, int]) -> float:
|
||||
"""
|
||||
解析带单位的时间输入
|
||||
解析时间输入（统一函数）
|
||||
|
||||
Args:
|
||||
time_input: 时间输入（如 "30 min", "1 h", "300", "?", 60.0）
|
||||
default_unit: 默认单位（默认为秒）
|
||||
|
||||
Returns:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if not time_input:
|
||||
return 0.0
|
||||
return 300.0
|
||||
|
||||
# 处理数值输入
|
||||
# 🔢 处理数值输入
|
||||
if isinstance(time_input, (int, float)):
|
||||
result = float(time_input)
|
||||
debug_print(f"数值时间输入: {time_input} → {result}s（默认单位）")
|
||||
debug_print(f"⏰ 数值时间: {time_input} → {result}s")
|
||||
return result
|
||||
|
||||
# 处理字符串输入
|
||||
# 📝 处理字符串输入
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"解析时间字符串: '{time_str}'")
|
||||
debug_print(f"🔍 解析时间: '{time_str}'")
|
||||
|
||||
# 处理特殊值
|
||||
if time_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
default_time = 300.0 # 5分钟默认值
|
||||
debug_print(f"检测到未知时间，使用默认值: {default_time}s")
|
||||
return default_time
|
||||
# ❓ 特殊值处理
|
||||
special_times = {
|
||||
'?': 300.0, 'unknown': 300.0, 'tbd': 300.0,
|
||||
'overnight': 43200.0, 'several hours': 10800.0,
|
||||
'few hours': 7200.0, 'long time': 3600.0, 'short time': 300.0
|
||||
}
|
||||
|
||||
# 如果是纯数字，使用默认单位
|
||||
if time_str in special_times:
|
||||
result = special_times[time_str]
|
||||
debug_print(f"🎯 特殊时间: '{time_str}' → {result}s ({result/60:.1f}分钟)")
|
||||
return result
|
||||
|
||||
# 🔢 纯数字处理
|
||||
try:
|
||||
value = float(time_str)
|
||||
if default_unit == "s":
|
||||
result = value
|
||||
elif default_unit in ["min", "minute"]:
|
||||
result = value * 60.0
|
||||
elif default_unit in ["h", "hour"]:
|
||||
result = value * 3600.0
|
||||
else:
|
||||
result = value # 默认秒
|
||||
debug_print(f"纯数字输入: {time_str} → {result}s（单位: {default_unit}）")
|
||||
result = float(time_str)
|
||||
debug_print(f"⏰ 纯数字: {time_str} → {result}s")
|
||||
return result
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
# 使用正则表达式匹配数字和单位
|
||||
# 📐 正则表达式解析
|
||||
pattern = r'(\d+\.?\d*)\s*([a-z]*)'
|
||||
match = re.match(pattern, time_str)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析时间: '{time_str}'，使用默认值: 60s")
|
||||
return 60.0
|
||||
debug_print(f"⚠️ 无法解析时间: '{time_str}'，使用默认值: 300s")
|
||||
return 300.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or default_unit
|
||||
unit = match.group(2) or 's'
|
||||
|
||||
# 单位转换映射
|
||||
# 📏 单位转换
|
||||
unit_multipliers = {
|
||||
# 秒
|
||||
's': 1.0,
|
||||
'sec': 1.0,
|
||||
'second': 1.0,
|
||||
'seconds': 1.0,
|
||||
|
||||
# 分钟
|
||||
'm': 60.0,
|
||||
'min': 60.0,
|
||||
'mins': 60.0,
|
||||
'minute': 60.0,
|
||||
'minutes': 60.0,
|
||||
|
||||
# 小时
|
||||
'h': 3600.0,
|
||||
'hr': 3600.0,
|
||||
'hrs': 3600.0,
|
||||
'hour': 3600.0,
|
||||
'hours': 3600.0,
|
||||
|
||||
# 天
|
||||
'd': 86400.0,
|
||||
'day': 86400.0,
|
||||
'days': 86400.0,
|
||||
's': 1.0, 'sec': 1.0, 'second': 1.0, 'seconds': 1.0,
|
||||
'm': 60.0, 'min': 60.0, 'mins': 60.0, 'minute': 60.0, 'minutes': 60.0,
|
||||
'h': 3600.0, 'hr': 3600.0, 'hrs': 3600.0, 'hour': 3600.0, 'hours': 3600.0,
|
||||
'd': 86400.0, 'day': 86400.0, 'days': 86400.0
|
||||
}
|
||||
|
||||
multiplier = unit_multipliers.get(unit, 1.0)
|
||||
result = value * multiplier
|
||||
|
||||
debug_print(f"时间解析: '{time_str}' → {value} {unit} → {result}s")
|
||||
debug_print(f"✅ 时间解析: '{time_str}' → {value} {unit} → {result}s ({result/60:.1f}分钟)")
|
||||
return result
|
||||
|
||||
def parse_temp_spec(temp_spec: str) -> float:
|
||||
"""解析温度规格为具体温度"""
|
||||
if not temp_spec:
|
||||
return 25.0
|
||||
def parse_temp_input(temp_input: Union[str, float], default_temp: float = 25.0) -> float:
|
||||
"""
|
||||
解析温度输入（统一函数）
|
||||
|
||||
temp_spec = temp_spec.strip().lower()
|
||||
Args:
|
||||
temp_input: 温度输入
|
||||
default_temp: 默认温度
|
||||
|
||||
Returns:
|
||||
float: 温度（°C）
|
||||
"""
|
||||
if not temp_input:
|
||||
return default_temp
|
||||
|
||||
# 特殊温度规格
|
||||
# 🔢 数值输入
|
||||
if isinstance(temp_input, (int, float)):
|
||||
result = float(temp_input)
|
||||
debug_print(f"🌡️ 数值温度: {temp_input} → {result}°C")
|
||||
return result
|
||||
|
||||
# 📝 字符串输入
|
||||
temp_str = str(temp_input).lower().strip()
|
||||
debug_print(f"🔍 解析温度: '{temp_str}'")
|
||||
|
||||
# 🎯 特殊温度
|
||||
special_temps = {
|
||||
"room temperature": 25.0, # 室温
|
||||
"reflux": 78.0, # 默认回流温度
|
||||
"ice bath": 0.0, # 冰浴
|
||||
"boiling": 100.0, # 沸腾
|
||||
"hot": 60.0, # 热
|
||||
"warm": 40.0, # 温热
|
||||
"cold": 10.0, # 冷
|
||||
"room temperature": 25.0, "reflux": 78.0, "ice bath": 0.0,
|
||||
"boiling": 100.0, "hot": 60.0, "warm": 40.0, "cold": 10.0
|
||||
}
|
||||
|
||||
if temp_spec in special_temps:
|
||||
return special_temps[temp_spec]
|
||||
if temp_str in special_temps:
|
||||
result = special_temps[temp_str]
|
||||
debug_print(f"🎯 特殊温度: '{temp_str}' → {result}°C")
|
||||
return result
|
||||
|
||||
# 解析带单位的温度（如 "256 °C"）
|
||||
# 📐 正则解析（如 "256 °C"）
|
||||
temp_pattern = r'(\d+(?:\.\d+)?)\s*°?[cf]?'
|
||||
match = re.search(temp_pattern, temp_spec)
|
||||
match = re.search(temp_pattern, temp_str)
|
||||
|
||||
if match:
|
||||
return float(match.group(1))
|
||||
result = float(match.group(1))
|
||||
debug_print(f"✅ 温度解析: '{temp_str}' → {result}°C")
|
||||
return result
|
||||
|
||||
return 25.0
|
||||
|
||||
def parse_time_spec(time_spec: str) -> float:
|
||||
"""解析时间规格为秒数"""
|
||||
if not time_spec:
|
||||
return 300.0
|
||||
|
||||
time_spec = time_spec.strip().lower()
|
||||
|
||||
# 特殊时间规格
|
||||
special_times = {
|
||||
"overnight": 43200.0, # 12小时
|
||||
"several hours": 10800.0, # 3小时
|
||||
"few hours": 7200.0, # 2小时
|
||||
"long time": 3600.0, # 1小时
|
||||
"short time": 300.0, # 5分钟
|
||||
}
|
||||
|
||||
if time_spec in special_times:
|
||||
return special_times[time_spec]
|
||||
|
||||
# 解析带单位的时间（如 "2 h"）
|
||||
time_pattern = r'(\d+(?:\.\d+)?)\s*([a-zA-Z]+)'
|
||||
match = re.search(time_pattern, time_spec)
|
||||
|
||||
if match:
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2).lower()
|
||||
|
||||
unit_multipliers = {
|
||||
's': 1.0,
|
||||
'sec': 1.0,
|
||||
'min': 60.0,
|
||||
'minute': 60.0,
|
||||
'minutes': 60.0,
|
||||
'h': 3600.0,
|
||||
'hr': 3600.0,
|
||||
'hour': 3600.0,
|
||||
'hours': 3600.0,
|
||||
}
|
||||
|
||||
multiplier = unit_multipliers.get(unit, 3600.0)
|
||||
return value * multiplier
|
||||
|
||||
return 300.0
|
||||
debug_print(f"⚠️ 无法解析温度: '{temp_str}'，使用默认值: {default_temp}°C")
|
||||
return default_temp
|
||||
|
||||
def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找与指定容器相连的加热/冷却设备"""
|
||||
debug_print(f"查找加热设备，目标容器: {vessel}")
|
||||
debug_print(f"🔍 查找加热设备，目标容器: {vessel}")
|
||||
|
||||
# 查找所有加热/冷却设备节点
|
||||
# 🔧 查找所有加热设备
|
||||
heatchill_nodes = []
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
@@ -187,28 +137,55 @@ def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
|
||||
|
||||
if 'heatchill' in node_class.lower() or 'virtual_heatchill' in node_class:
|
||||
heatchill_nodes.append(node)
|
||||
debug_print(f"找到加热设备: {node}")
|
||||
debug_print(f"🎉 找到加热设备: {node}")
|
||||
|
||||
if vessel:
|
||||
# 检查哪个加热设备与目标容器相连
|
||||
# 🔗 检查连接
|
||||
if vessel and heatchill_nodes:
|
||||
for heatchill in heatchill_nodes:
|
||||
if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
|
||||
debug_print(f"加热设备 '{heatchill}' 与容器 '{vessel}' 相连")
|
||||
debug_print(f"✅ 加热设备 '{heatchill}' 与容器 '{vessel}' 相连")
|
||||
return heatchill
|
||||
|
||||
# 如果没有指定容器或没有直接连接，返回第一个可用的加热设备
|
||||
# 🎯 使用第一个可用设备
|
||||
if heatchill_nodes:
|
||||
debug_print(f"使用第一个加热设备: {heatchill_nodes[0]}")
|
||||
return heatchill_nodes[0]
|
||||
selected = heatchill_nodes[0]
|
||||
debug_print(f"🔧 使用第一个加热设备: {selected}")
|
||||
return selected
|
||||
|
||||
debug_print("未找到加热设备，使用默认设备")
|
||||
# 🆘 默认设备
|
||||
debug_print("⚠️ 未找到加热设备，使用默认设备")
|
||||
return "heatchill_1"
|
||||
|
||||
def validate_and_fix_params(temp: float, time: float, stir_speed: float) -> tuple:
|
||||
"""验证和修正参数"""
|
||||
# 🌡️ 温度范围验证
|
||||
if temp < -50.0 or temp > 300.0:
|
||||
debug_print(f"⚠️ 温度 {temp}°C 超出范围，修正为 25°C")
|
||||
temp = 25.0
|
||||
else:
|
||||
debug_print(f"✅ 温度 {temp}°C 在正常范围内")
|
||||
|
||||
# ⏰ 时间验证
|
||||
if time < 0:
|
||||
debug_print(f"⚠️ 时间 {time}s 无效，修正为 300s")
|
||||
time = 300.0
|
||||
else:
|
||||
debug_print(f"✅ 时间 {time}s ({time/60:.1f}分钟) 有效")
|
||||
|
||||
# 🌪️ 搅拌速度验证
|
||||
if stir_speed < 0 or stir_speed > 1500.0:
|
||||
debug_print(f"⚠️ 搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
|
||||
stir_speed = 300.0
|
||||
else:
|
||||
debug_print(f"✅ 搅拌速度 {stir_speed} RPM 在正常范围内")
|
||||
|
||||
return temp, time, stir_speed
|
||||
|
||||
def generate_heat_chill_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
temp: float = 25.0,
|
||||
time: Union[str, float] = "300", # 🔧 修改：支持字符串时间
|
||||
time: Union[str, float] = "300",
|
||||
temp_spec: str = "",
|
||||
time_spec: str = "",
|
||||
pressure: str = "",
|
||||
@@ -219,349 +196,210 @@ def generate_heat_chill_protocol(
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成加热/冷却操作的协议序列 - 支持单位
|
||||
生成加热/冷却操作的协议序列 - 支持vessel字典
|
||||
|
||||
Args:
|
||||
G: 设备图
|
||||
vessel: 容器字典（从XDL传入）
|
||||
temp: 目标温度 (°C)
|
||||
time: 加热时间（支持字符串如 "30 min"）
|
||||
temp_spec: 温度规格说明（优先级高于temp）
|
||||
time_spec: 时间规格说明（优先级高于time）
|
||||
pressure: 压力设置
|
||||
reflux_solvent: 回流溶剂
|
||||
stir: 是否搅拌
|
||||
stir_speed: 搅拌速度 (RPM)
|
||||
purpose: 操作目的说明
|
||||
**kwargs: 其他参数（兼容性）
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 加热/冷却操作的动作序列
|
||||
"""
|
||||
|
||||
debug_print("=" * 50)
|
||||
debug_print("开始生成加热冷却协议（支持单位）")
|
||||
debug_print(f"输入参数:")
|
||||
debug_print(f" - vessel: {vessel}")
|
||||
debug_print(f" - temp: {temp}°C")
|
||||
debug_print(f" - time: {time} (类型: {type(time)})")
|
||||
debug_print(f" - temp_spec: {temp_spec}")
|
||||
debug_print(f" - time_spec: {time_spec}")
|
||||
debug_print(f" - pressure: {pressure}")
|
||||
debug_print(f" - reflux_solvent: {reflux_solvent}")
|
||||
debug_print(f" - stir: {stir}")
|
||||
debug_print(f" - stir_speed: {stir_speed} RPM")
|
||||
debug_print(f" - purpose: {purpose}")
|
||||
debug_print(f" - 其他参数: {kwargs}")
|
||||
debug_print("=" * 50)
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
|
||||
action_sequence = []
|
||||
debug_print("🌡️" * 20)
|
||||
debug_print("🚀 开始生成加热冷却协议（支持vessel字典）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 🌡️ temp: {temp}°C")
|
||||
debug_print(f" ⏰ time: {time}")
|
||||
debug_print(f" 🎯 temp_spec: {temp_spec}")
|
||||
debug_print(f" ⏱️ time_spec: {time_spec}")
|
||||
debug_print(f" 🌪️ stir: {stir} ({stir_speed} RPM)")
|
||||
debug_print(f" 🎭 purpose: '{purpose}'")
|
||||
debug_print("🌡️" * 20)
|
||||
|
||||
# === 参数验证 ===
|
||||
debug_print("步骤1: 参数验证...")
|
||||
|
||||
# 验证必需参数
|
||||
if not vessel:
|
||||
# 📋 参数验证
|
||||
debug_print("📍 步骤1: 参数验证... 🔧")
|
||||
if not vessel_id: # 🔧 使用 vessel_id
|
||||
debug_print("❌ vessel 参数不能为空! 😱")
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 '{vessel}' 不存在于系统中")
|
||||
if vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中! 😞")
|
||||
raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
# === 🔧 新增：单位解析处理 ===
|
||||
debug_print("步骤2: 单位解析处理...")
|
||||
debug_print("✅ 基础参数验证通过 🎯")
|
||||
|
||||
# 温度解析：优先使用 temp_spec，然后是 temp
|
||||
final_temp = temp
|
||||
if temp_spec:
|
||||
final_temp = parse_temp_spec(temp_spec)
|
||||
debug_print(f"温度解析: '{temp_spec}' → {final_temp}°C")
|
||||
# 🔄 参数解析
|
||||
debug_print("📍 步骤2: 参数解析... ⚡")
|
||||
|
||||
# 时间解析：优先使用 time_spec，然后是 time
|
||||
if time_spec:
|
||||
final_time = parse_time_spec(time_spec) # 使用现有的time_spec解析
|
||||
debug_print(f"时间解析: '{time_spec}' → {final_time}s")
|
||||
else:
|
||||
final_time = parse_time_with_units(time, "s")
|
||||
debug_print(f"时间解析: {time} → {final_time}s ({final_time/60:.1f}分钟)")
|
||||
#温度解析：优先使用 temp_spec
|
||||
final_temp = parse_temp_input(temp_spec, temp) if temp_spec else temp
|
||||
|
||||
# 参数范围验证
|
||||
if final_temp < -50.0 or final_temp > 300.0:
|
||||
debug_print(f"温度 {final_temp}°C 超出范围，修正为 25°C")
|
||||
final_temp = 25.0
|
||||
# 时间解析：优先使用 time_spec
|
||||
final_time = parse_time_input(time_spec) if time_spec else parse_time_input(time)
|
||||
|
||||
if final_time < 0:
|
||||
debug_print(f"时间 {final_time}s 无效，修正为 300s")
|
||||
final_time = 300.0
|
||||
# 参数修正
|
||||
final_temp, final_time, stir_speed = validate_and_fix_params(final_temp, final_time, stir_speed)
|
||||
|
||||
if stir_speed < 0 or stir_speed > 1500.0:
|
||||
debug_print(f"搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
|
||||
stir_speed = 300.0
|
||||
|
||||
debug_print(f"✅ 单位解析和参数验证通过")
|
||||
|
||||
# === 查找加热设备 ===
|
||||
debug_print("步骤3: 查找加热设备...")
|
||||
debug_print(f"🎯 最终参数: temp={final_temp}°C, time={final_time}s, stir_speed={stir_speed} RPM")
|
||||
|
||||
# 🔍 查找设备
|
||||
debug_print("📍 步骤3: 查找加热设备... 🔍")
|
||||
try:
|
||||
heatchill_id = find_connected_heatchill(G, vessel)
|
||||
debug_print(f"设备配置: 加热设备 = {heatchill_id}")
|
||||
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id) # 🔧 使用 vessel_id
|
||||
debug_print(f"🎉 使用加热设备: {heatchill_id} ✨")
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 设备查找失败: {str(e)}")
|
||||
debug_print(f"❌ 设备查找失败: {str(e)} 😭")
|
||||
raise ValueError(f"无法找到加热设备: {str(e)}")
|
||||
|
||||
# === 执行加热操作 ===
|
||||
debug_print("步骤4: 执行加热操作...")
|
||||
# 🚀 生成动作
|
||||
debug_print("📍 步骤4: 生成加热动作... 🔥")
|
||||
|
||||
# 🕐 模拟运行时间优化
|
||||
debug_print(" ⏱️ 检查模拟运行时间限制...")
|
||||
original_time = final_time
|
||||
simulation_time_limit = 100.0 # 模拟运行时间限制：100秒
|
||||
|
||||
if final_time > simulation_time_limit:
|
||||
final_time = simulation_time_limit
|
||||
debug_print(f" 🎮 模拟运行优化: {original_time}s → {final_time}s (限制为{simulation_time_limit}s) ⚡")
|
||||
debug_print(f" 📊 时间缩短: {original_time/60:.1f}分钟 → {final_time/60:.1f}分钟 🚀")
|
||||
else:
|
||||
debug_print(f" ✅ 时间在限制内: {final_time}s ({final_time/60:.1f}分钟) 保持不变 🎯")
|
||||
|
||||
action_sequence = []
|
||||
heatchill_action = {
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"temp": float(final_temp), # 🔧 确保是浮点数
|
||||
"time": float(final_time), # 🔧 确保是浮点数
|
||||
"stir": bool(stir), # 🔧 确保是布尔值
|
||||
"stir_speed": float(stir_speed), # 🔧 确保是浮点数
|
||||
"purpose": str(purpose or f"加热到 {final_temp}°C") # 🔧 确保是字符串
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"temp": float(final_temp),
|
||||
"time": float(final_time),
|
||||
"stir": bool(stir),
|
||||
"stir_speed": float(stir_speed),
|
||||
"purpose": str(purpose or f"加热到 {final_temp}°C") + (f" (模拟时间: {final_time}s)" if original_time != final_time else "")
|
||||
}
|
||||
}
|
||||
|
||||
action_sequence.append(heatchill_action)
|
||||
debug_print("✅ 加热动作已添加 🔥✨")
|
||||
|
||||
# === 总结 ===
|
||||
debug_print("=" * 50)
|
||||
debug_print(f"加热冷却协议生成完成（支持单位）")
|
||||
debug_print(f"总动作数: {len(action_sequence)}")
|
||||
debug_print(f"加热容器: {vessel}")
|
||||
debug_print(f"目标温度: {final_temp}°C")
|
||||
debug_print(f"加热时间: {final_time}s ({final_time/60:.1f}分钟)")
|
||||
if pressure:
|
||||
debug_print(f"压力参数: {pressure} (已接收，不做特殊处理)")
|
||||
if reflux_solvent:
|
||||
debug_print(f"回流溶剂: {reflux_solvent} (已接收，不做特殊处理)")
|
||||
debug_print("=" * 50)
|
||||
# 显示时间调整信息
|
||||
if original_time != final_time:
|
||||
debug_print(f" 🎭 模拟优化说明: 原计划 {original_time/60:.1f}分钟，实际模拟 {final_time/60:.1f}分钟 ⚡")
|
||||
|
||||
# 🎊 总结
|
||||
debug_print("🎊" * 20)
|
||||
debug_print(f"🎉 加热冷却协议生成完成! ✨")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)} 个")
|
||||
debug_print(f"🥽 加热容器: {vessel_id}")
|
||||
debug_print(f"🌡️ 目标温度: {final_temp}°C")
|
||||
debug_print(f"⏰ 加热时间: {final_time}s ({final_time/60:.1f}分钟)")
|
||||
debug_print("🎊" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
def generate_heat_chill_to_temp_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
temp: float = 25.0,
|
||||
time: Union[str, float] = 300.0, # 🔧 也支持字符串
|
||||
temp_spec: str = "",
|
||||
time_spec: str = "",
|
||||
pressure: str = "",
|
||||
reflux_solvent: str = "",
|
||||
stir: bool = False,
|
||||
stir_speed: float = 300.0,
|
||||
purpose: str = "",
|
||||
**kwargs # 🔧 接受额外参数，增强兼容性
|
||||
G: nx.DiGraph,
|
||||
vessel: dict, # 🔧 修改参数类型
|
||||
temp: float = 25.0,
|
||||
time: Union[str, float] = 100.0,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成加热/冷却操作的协议序列
|
||||
|
||||
Args:
|
||||
G: 设备图
|
||||
vessel: 加热容器名称（必需）
|
||||
temp: 目标温度 (°C)
|
||||
time: 加热时间（支持字符串和数字）
|
||||
temp_spec: 温度规格（如 'room temperature', 'reflux'）
|
||||
time_spec: 时间规格（如 'overnight', '2 h'）
|
||||
pressure: 压力规格（如 '1 mbar'），不做特殊处理
|
||||
reflux_solvent: 回流溶剂名称，不做特殊处理
|
||||
stir: 是否搅拌
|
||||
stir_speed: 搅拌速度 (RPM)
|
||||
purpose: 操作目的
|
||||
**kwargs: 其他参数（兼容性）
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 加热操作的动作序列
|
||||
"""
|
||||
|
||||
debug_print("=" * 50)
|
||||
debug_print("开始生成加热冷却协议")
|
||||
debug_print(f"输入参数:")
|
||||
debug_print(f" - vessel: {vessel}")
|
||||
debug_print(f" - temp: {temp}°C")
|
||||
debug_print(f" - time: {time} (类型: {type(time)})")
|
||||
debug_print(f" - temp_spec: {temp_spec}")
|
||||
debug_print(f" - time_spec: {time_spec}")
|
||||
debug_print(f" - pressure: {pressure}")
|
||||
debug_print(f" - reflux_solvent: {reflux_solvent}")
|
||||
debug_print(f" - stir: {stir}")
|
||||
debug_print(f" - stir_speed: {stir_speed} RPM")
|
||||
debug_print(f" - purpose: {purpose}")
|
||||
debug_print(f" - 其他参数: {kwargs}")
|
||||
debug_print("=" * 50)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# === 参数验证 ===
|
||||
debug_print("步骤1: 参数验证...")
|
||||
|
||||
# 验证必需参数
|
||||
if not vessel:
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 '{vessel}' 不存在于系统中")
|
||||
|
||||
# 温度解析：优先使用 temp_spec，然后是 temp
|
||||
final_temp = temp
|
||||
if temp_spec:
|
||||
final_temp = parse_temp_spec(temp_spec)
|
||||
debug_print(f"温度解析: '{temp_spec}' → {final_temp}°C")
|
||||
|
||||
# 🔧 修复：时间解析，支持字符串输入
|
||||
if time_spec:
|
||||
final_time = parse_time_spec(time_spec)
|
||||
debug_print(f"时间解析: '{time_spec}' → {final_time}s ({final_time / 60:.1f}分钟)")
|
||||
else:
|
||||
final_time = parse_time_with_units(time, "s")
|
||||
debug_print(f"时间解析: {time} → {final_time}s ({final_time/60:.1f}分钟)")
|
||||
|
||||
# 参数范围验证
|
||||
if final_temp < -50.0 or final_temp > 300.0:
|
||||
debug_print(f"温度 {final_temp}°C 超出范围，修正为 25°C")
|
||||
final_temp = 25.0
|
||||
|
||||
if final_time < 0:
|
||||
debug_print(f"时间 {final_time}s 无效，修正为 300s")
|
||||
final_time = 300.0
|
||||
|
||||
if stir_speed < 0 or stir_speed > 1500.0:
|
||||
debug_print(f"搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
|
||||
stir_speed = 300.0
|
||||
|
||||
debug_print(f"✅ 参数验证通过")
|
||||
|
||||
# === 查找加热设备 ===
|
||||
debug_print("步骤2: 查找加热设备...")
|
||||
|
||||
try:
|
||||
heatchill_id = find_connected_heatchill(G, vessel)
|
||||
debug_print(f"设备配置: 加热设备 = {heatchill_id}")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 设备查找失败: {str(e)}")
|
||||
raise ValueError(f"无法找到加热设备: {str(e)}")
|
||||
|
||||
# === 执行加热操作 ===
|
||||
debug_print("步骤3: 执行加热操作...")
|
||||
|
||||
heatchill_action = {
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"temp": float(final_temp), # 🔧 确保是浮点数
|
||||
"time": float(final_time), # 🔧 确保是浮点数
|
||||
"stir": bool(stir), # 🔧 确保是布尔值
|
||||
"stir_speed": float(stir_speed), # 🔧 确保是浮点数
|
||||
"purpose": str(purpose or f"加热到 {final_temp}°C") # 🔧 确保是字符串
|
||||
}
|
||||
}
|
||||
|
||||
action_sequence.append(heatchill_action)
|
||||
|
||||
# === 总结 ===
|
||||
debug_print("=" * 50)
|
||||
debug_print(f"加热冷却协议生成完成")
|
||||
debug_print(f"总动作数: {len(action_sequence)}")
|
||||
debug_print(f"加热容器: {vessel}")
|
||||
debug_print(f"目标温度: {final_temp}°C")
|
||||
debug_print(f"加热时间: {final_time}s ({final_time / 60:.1f}分钟)")
|
||||
if pressure:
|
||||
debug_print(f"压力参数: {pressure} (已接收，不做特殊处理)")
|
||||
if reflux_solvent:
|
||||
debug_print(f"回流溶剂: {reflux_solvent} (已接收，不做特殊处理)")
|
||||
debug_print("=" * 50)
|
||||
|
||||
return action_sequence
|
||||
|
||||
"""生成加热到指定温度的协议（简化版）"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"🌡️ 生成加热到温度协议: {vessel_id} → {temp}°C")
|
||||
return generate_heat_chill_protocol(G, vessel, temp, time, **kwargs)
|
||||
|
||||
def generate_heat_chill_start_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改参数类型
|
||||
temp: float = 25.0,
|
||||
purpose: str = "",
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""生成开始加热操作的协议序列"""
|
||||
|
||||
debug_print("=" * 50)
|
||||
debug_print("开始生成启动加热协议")
|
||||
debug_print(f"输入参数:")
|
||||
debug_print(f" - vessel: {vessel}")
|
||||
debug_print(f" - temp: {temp}°C")
|
||||
debug_print(f" - purpose: {purpose}")
|
||||
debug_print("=" * 50)
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
|
||||
action_sequence = []
|
||||
debug_print("🔥 开始生成启动加热协议 ✨")
|
||||
debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id}), 🌡️ temp: {temp}°C")
|
||||
|
||||
# 验证参数
|
||||
if not vessel:
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
# 基础验证
|
||||
if not vessel_id or vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print("❌ 容器验证失败!")
|
||||
raise ValueError("vessel 参数无效")
|
||||
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 '{vessel}' 不存在于系统中")
|
||||
# 查找设备
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id) # 🔧 使用 vessel_id
|
||||
|
||||
# 查找加热设备
|
||||
try:
|
||||
heatchill_id = find_connected_heatchill(G, vessel)
|
||||
debug_print(f"设备配置: 加热设备 = {heatchill_id}")
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 设备查找失败: {str(e)}")
|
||||
raise ValueError(f"无法找到加热设备: {str(e)}")
|
||||
|
||||
# 执行开始加热操作
|
||||
start_action = {
|
||||
# 生成动作
|
||||
action_sequence = [{
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"temp": temp,
|
||||
"purpose": purpose or f"开始加热到 {temp}°C"
|
||||
}
|
||||
}
|
||||
}]
|
||||
|
||||
action_sequence.append(start_action)
|
||||
|
||||
debug_print(f"启动加热协议生成完成，动作数: {len(action_sequence)}")
|
||||
debug_print(f"✅ 启动加热协议生成完成 🎯")
|
||||
return action_sequence
|
||||
|
||||
def generate_heat_chill_stop_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
vessel: dict, # 🔧 修改参数类型
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""生成停止加热操作的协议序列"""
|
||||
|
||||
debug_print("=" * 50)
|
||||
debug_print("开始生成停止加热协议")
|
||||
debug_print(f"输入参数:")
|
||||
debug_print(f" - vessel: {vessel}")
|
||||
debug_print("=" * 50)
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
|
||||
action_sequence = []
|
||||
debug_print("🛑 开始生成停止加热协议 ✨")
|
||||
debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
|
||||
# 验证参数
|
||||
if not vessel:
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
# 基础验证
|
||||
if not vessel_id or vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print("❌ 容器验证失败!")
|
||||
raise ValueError("vessel 参数无效")
|
||||
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 '{vessel}' 不存在于系统中")
|
||||
# 查找设备
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id) # 🔧 使用 vessel_id
|
||||
|
||||
# 查找加热设备
|
||||
try:
|
||||
heatchill_id = find_connected_heatchill(G, vessel)
|
||||
debug_print(f"设备配置: 加热设备 = {heatchill_id}")
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 设备查找失败: {str(e)}")
|
||||
raise ValueError(f"无法找到加热设备: {str(e)}")
|
||||
|
||||
# 执行停止加热操作
|
||||
stop_action = {
|
||||
# 生成动作
|
||||
action_sequence = [{
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
"vessel": vessel_id # 🔧 使用 vessel_id
|
||||
}
|
||||
}
|
||||
}]
|
||||
|
||||
action_sequence.append(stop_action)
|
||||
|
||||
debug_print(f"停止加热协议生成完成，动作数: {len(action_sequence)}")
|
||||
debug_print(f"✅ 停止加热协议生成完成 🎯")
|
||||
return action_sequence
|
||||
|
||||
# 测试函数
|
||||
def test_heatchill_protocol():
|
||||
"""测试加热协议"""
|
||||
debug_print("=== HEATCHILL PROTOCOL 测试 ===")
|
||||
debug_print("✅ 测试完成")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_heatchill_protocol()
|
||||
@@ -150,75 +150,112 @@ def find_connected_device(G: nx.DiGraph, vessel: str, device_type: str) -> str:
|
||||
|
||||
def generate_hydrogenate_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
temp: str,
|
||||
time: str,
|
||||
vessel: str,
|
||||
**kwargs # 接收其他可能的参数但不使用
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成氢化反应协议序列
|
||||
生成氢化反应协议序列 - 支持vessel字典
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为容器和设备
|
||||
vessel: 反应容器字典（从XDL传入）
|
||||
temp: 反应温度（如 "45 °C"）
|
||||
time: 反应时间（如 "2 h"）
|
||||
vessel: 反应容器
|
||||
**kwargs: 其他可选参数，但不使用
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 解析参数
|
||||
temperature = parse_temperature(temp)
|
||||
reaction_time = parse_time(time)
|
||||
|
||||
print(f"HYDROGENATE: 开始生成氢化反应协议")
|
||||
print(f" - 反应温度: {temperature}°C")
|
||||
print(f" - 反应时间: {reaction_time/3600:.1f} 小时")
|
||||
print(f" - 反应容器: {vessel}")
|
||||
print("🧪" * 20)
|
||||
print(f"HYDROGENATE: 开始生成氢化反应协议（支持vessel字典）✨")
|
||||
print(f"📝 输入参数:")
|
||||
print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
print(f" 🌡️ 反应温度: {temperature}°C")
|
||||
print(f" ⏰ 反应时间: {reaction_time/3600:.1f} 小时")
|
||||
print("🧪" * 20)
|
||||
|
||||
# 🔧 新增：记录氢化前的容器状态（可选，氢化反应通常不改变体积）
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list) and len(current_volume) > 0:
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
print(f"📊 氢化前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# 1. 验证目标容器存在
|
||||
if vessel not in G.nodes():
|
||||
print(f"HYDROGENATE: 警告 - 容器 '{vessel}' 不存在于系统中，跳过氢化反应")
|
||||
print("📍 步骤1: 验证目标容器...")
|
||||
if vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
print(f"⚠️ HYDROGENATE: 警告 - 容器 '{vessel_id}' 不存在于系统中，跳过氢化反应")
|
||||
return action_sequence
|
||||
print(f"✅ 容器 '{vessel_id}' 验证通过")
|
||||
|
||||
# 2. 查找相连的设备
|
||||
heater_id = find_connected_device(G, vessel, 'heater')
|
||||
stirrer_id = find_connected_device(G, vessel, 'stirrer')
|
||||
gas_source_id = find_connected_device(G, vessel, 'gas_source')
|
||||
print("📍 步骤2: 查找相连设备...")
|
||||
heater_id = find_connected_device(G, vessel_id, 'heater') # 🔧 使用 vessel_id
|
||||
stirrer_id = find_connected_device(G, vessel_id, 'stirrer') # 🔧 使用 vessel_id
|
||||
gas_source_id = find_connected_device(G, vessel_id, 'gas_source') # 🔧 使用 vessel_id
|
||||
|
||||
print(f"🔧 设备配置:")
|
||||
print(f" 🔥 加热器: {heater_id or '未找到'}")
|
||||
print(f" 🌪️ 搅拌器: {stirrer_id or '未找到'}")
|
||||
print(f" 💨 气源: {gas_source_id or '未找到'}")
|
||||
|
||||
# 3. 启动搅拌器
|
||||
print("📍 步骤3: 启动搅拌器...")
|
||||
if stirrer_id:
|
||||
print(f"HYDROGENATE: 启动搅拌器 {stirrer_id}")
|
||||
print(f"🌪️ 启动搅拌器 {stirrer_id}")
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"stir_speed": 300.0,
|
||||
"purpose": "氢化反应: 开始搅拌"
|
||||
}
|
||||
})
|
||||
print("✅ 搅拌器启动动作已添加")
|
||||
else:
|
||||
print(f"HYDROGENATE: 警告 - 未找到搅拌器，继续执行")
|
||||
print(f"⚠️ HYDROGENATE: 警告 - 未找到搅拌器，继续执行")
|
||||
|
||||
# 4. 启动气源（氢气）- 修复版本
|
||||
# 4. 启动气源（氢气）
|
||||
print("📍 步骤4: 启动氢气源...")
|
||||
if gas_source_id:
|
||||
print(f"HYDROGENATE: 启动气源 {gas_source_id} (氢气)")
|
||||
print(f"💨 启动气源 {gas_source_id} (氢气)")
|
||||
action_sequence.append({
|
||||
"device_id": gas_source_id,
|
||||
"action_name": "set_status", # 修改为 set_status
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {
|
||||
"string": "ON" # 修改参数格式
|
||||
"string": "ON"
|
||||
}
|
||||
})
|
||||
|
||||
# 查找相关的电磁阀
|
||||
gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
|
||||
if gas_solenoid:
|
||||
print(f"HYDROGENATE: 开启气源电磁阀 {gas_solenoid}")
|
||||
print(f"🚪 开启气源电磁阀 {gas_solenoid}")
|
||||
action_sequence.append({
|
||||
"device_id": gas_solenoid,
|
||||
"action_name": "set_valve_position",
|
||||
@@ -226,10 +263,12 @@ def generate_hydrogenate_protocol(
|
||||
"command": "OPEN"
|
||||
}
|
||||
})
|
||||
print("✅ 氢气源启动动作已添加")
|
||||
else:
|
||||
print(f"HYDROGENATE: 警告 - 未找到气源，继续执行")
|
||||
print(f"⚠️ HYDROGENATE: 警告 - 未找到气源，继续执行")
|
||||
|
||||
# 5. 等待气体稳定
|
||||
print("📍 步骤5: 等待气体环境稳定...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
@@ -237,15 +276,17 @@ def generate_hydrogenate_protocol(
|
||||
"description": "等待氢气环境稳定"
|
||||
}
|
||||
})
|
||||
print("✅ 气体稳定等待动作已添加")
|
||||
|
||||
# 6. 启动加热器
|
||||
print("📍 步骤6: 启动加热反应...")
|
||||
if heater_id:
|
||||
print(f"HYDROGENATE: 启动加热器 {heater_id} 到 {temperature}°C")
|
||||
print(f"🔥 启动加热器 {heater_id} 到 {temperature}°C")
|
||||
action_sequence.append({
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"temp": temperature,
|
||||
"purpose": f"氢化反应: 加热到 {temperature}°C"
|
||||
}
|
||||
@@ -255,45 +296,86 @@ def generate_hydrogenate_protocol(
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 120.0,
|
||||
"time": 20.0,
|
||||
"description": f"等待温度稳定到 {temperature}°C"
|
||||
}
|
||||
})
|
||||
|
||||
# 🕐 模拟运行时间优化
|
||||
print(" ⏰ 检查模拟运行时间限制...")
|
||||
original_reaction_time = reaction_time
|
||||
simulation_time_limit = 60.0 # 模拟运行时间限制：60秒
|
||||
|
||||
if reaction_time > simulation_time_limit:
|
||||
reaction_time = simulation_time_limit
|
||||
print(f" 🎮 模拟运行优化: {original_reaction_time}s → {reaction_time}s (限制为{simulation_time_limit}s)")
|
||||
print(f" 📊 时间缩短: {original_reaction_time/3600:.2f}小时 → {reaction_time/60:.1f}分钟")
|
||||
else:
|
||||
print(f" ✅ 时间在限制内: {reaction_time}s ({reaction_time/60:.1f}分钟) 保持不变")
|
||||
|
||||
# 保持反应温度
|
||||
action_sequence.append({
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"temp": temperature,
|
||||
"time": reaction_time,
|
||||
"purpose": f"氢化反应: 保持 {temperature}°C，反应 {reaction_time/3600:.1f} 小时"
|
||||
"purpose": f"氢化反应: 保持 {temperature}°C，反应 {reaction_time/60:.1f}分钟" + (f" (模拟时间)" if original_reaction_time != reaction_time else "")
|
||||
}
|
||||
})
|
||||
|
||||
# 显示时间调整信息
|
||||
if original_reaction_time != reaction_time:
|
||||
print(f" 🎭 模拟优化说明: 原计划 {original_reaction_time/3600:.2f}小时，实际模拟 {reaction_time/60:.1f}分钟")
|
||||
|
||||
print("✅ 加热反应动作已添加")
|
||||
|
||||
else:
|
||||
print(f"HYDROGENATE: 警告 - 未找到加热器，使用室温反应")
|
||||
print(f"⚠️ HYDROGENATE: 警告 - 未找到加热器，使用室温反应")
|
||||
|
||||
# 🕐 室温反应也需要时间优化
|
||||
print(" ⏰ 检查室温反应模拟时间限制...")
|
||||
original_reaction_time = reaction_time
|
||||
simulation_time_limit = 60.0 # 模拟运行时间限制：60秒
|
||||
|
||||
if reaction_time > simulation_time_limit:
|
||||
reaction_time = simulation_time_limit
|
||||
print(f" 🎮 室温反应时间优化: {original_reaction_time}s → {reaction_time}s")
|
||||
print(f" 📊 时间缩短: {original_reaction_time/3600:.2f}小时 → {reaction_time/60:.1f}分钟")
|
||||
else:
|
||||
print(f" ✅ 室温反应时间在限制内: {reaction_time}s 保持不变")
|
||||
|
||||
# 室温反应，只等待时间
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": reaction_time,
|
||||
"description": f"室温氢化反应 {reaction_time/3600:.1f} 小时"
|
||||
"description": f"室温氢化反应 {reaction_time/60:.1f}分钟" + (f" (模拟时间)" if original_reaction_time != reaction_time else "")
|
||||
}
|
||||
})
|
||||
|
||||
# 显示时间调整信息
|
||||
if original_reaction_time != reaction_time:
|
||||
print(f" 🎭 室温反应优化说明: 原计划 {original_reaction_time/3600:.2f}小时，实际模拟 {reaction_time/60:.1f}分钟")
|
||||
|
||||
print("✅ 室温反应等待动作已添加")
|
||||
|
||||
# 7. 停止加热
|
||||
print("📍 步骤7: 停止加热...")
|
||||
if heater_id:
|
||||
action_sequence.append({
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"purpose": "氢化反应完成，停止加热"
|
||||
}
|
||||
})
|
||||
print("✅ 停止加热动作已添加")
|
||||
|
||||
# 8. 等待冷却
|
||||
print("📍 步骤8: 等待冷却...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
@@ -301,13 +383,15 @@ def generate_hydrogenate_protocol(
|
||||
"description": "等待反应混合物冷却"
|
||||
}
|
||||
})
|
||||
print("✅ 冷却等待动作已添加")
|
||||
|
||||
# 9. 停止气源 - 修复版本
|
||||
# 9. 停止气源
|
||||
print("📍 步骤9: 停止氢气源...")
|
||||
if gas_source_id:
|
||||
# 先关闭电磁阀
|
||||
gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
|
||||
if gas_solenoid:
|
||||
print(f"HYDROGENATE: 关闭气源电磁阀 {gas_solenoid}")
|
||||
print(f"🚪 关闭气源电磁阀 {gas_solenoid}")
|
||||
action_sequence.append({
|
||||
"device_id": gas_solenoid,
|
||||
"action_name": "set_valve_position",
|
||||
@@ -319,25 +403,41 @@ def generate_hydrogenate_protocol(
|
||||
# 再关闭气源
|
||||
action_sequence.append({
|
||||
"device_id": gas_source_id,
|
||||
"action_name": "set_status", # 修改为 set_status
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {
|
||||
"string": "OFF" # 修改参数格式
|
||||
"string": "OFF"
|
||||
}
|
||||
})
|
||||
print("✅ 氢气源停止动作已添加")
|
||||
|
||||
# 10. 停止搅拌
|
||||
print("📍 步骤10: 停止搅拌...")
|
||||
if stirrer_id:
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"purpose": "氢化反应完成，停止搅拌"
|
||||
}
|
||||
})
|
||||
print("✅ 停止搅拌动作已添加")
|
||||
|
||||
print(f"HYDROGENATE: 协议生成完成，共 {len(action_sequence)} 个动作")
|
||||
print(f"HYDROGENATE: 预计总时间: {(reaction_time + 450)/3600:.1f} 小时")
|
||||
# 🔧 新增：氢化完成后的状态（氢化反应通常不改变体积）
|
||||
final_liquid_volume = original_liquid_volume # 氢化反应体积基本不变
|
||||
|
||||
# 总结
|
||||
print("🎊" * 20)
|
||||
print(f"🎉 氢化反应协议生成完成! ✨")
|
||||
print(f"📊 总动作数: {len(action_sequence)} 个")
|
||||
print(f"🥽 反应容器: {vessel_id}")
|
||||
print(f"🌡️ 反应温度: {temperature}°C")
|
||||
print(f"⏰ 反应时间: {reaction_time/60:.1f}分钟")
|
||||
print(f"⏱️ 预计总时间: {(reaction_time + 450)/3600:.1f} 小时")
|
||||
print(f"📊 体积状态:")
|
||||
print(f" - 反应前体积: {original_liquid_volume:.2f}mL")
|
||||
print(f" - 反应后体积: {final_liquid_volume:.2f}mL (氢化反应体积基本不变)")
|
||||
print("🎊" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
@@ -345,7 +445,7 @@ def generate_hydrogenate_protocol(
|
||||
# 测试函数
|
||||
def test_hydrogenate_protocol():
|
||||
"""测试氢化反应协议"""
|
||||
print("=== HYDROGENATE PROTOCOL 测试 ===")
|
||||
print("🧪 === HYDROGENATE PROTOCOL 测试 === ✨")
|
||||
|
||||
# 测试温度解析
|
||||
test_temps = ["45 °C", "45°C", "45", "25 C", "invalid"]
|
||||
@@ -359,7 +459,7 @@ def test_hydrogenate_protocol():
|
||||
parsed = parse_time(time)
|
||||
print(f"时间 '{time}' -> {parsed/3600:.1f} 小时")
|
||||
|
||||
print("测试完成")
|
||||
print("✅ 测试完成 🎉")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -273,7 +273,6 @@ def generate_pump_protocol(
|
||||
|
||||
if not pump_backbone:
|
||||
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")
|
||||
# 🔧 对于气体传输，这是正常的，直接返回空序列
|
||||
return pump_action_sequence
|
||||
|
||||
if transfer_flowrate == 0:
|
||||
@@ -319,10 +318,31 @@ def generate_pump_protocol(
|
||||
volume_left = volume
|
||||
debug_print(f"PUMP_TRANSFER: 需要 {repeats} 次转移，单次最大体积 {min_transfer_volume} mL")
|
||||
|
||||
# 🆕 只在开头打印总体概览
|
||||
if repeats > 1:
|
||||
debug_print(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
|
||||
logger.info(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
|
||||
|
||||
# 🔧 创建一个自定义的wait动作，用于在执行时打印日志
|
||||
def create_progress_log_action(message: str) -> Dict[str, Any]:
|
||||
"""创建一个特殊的等待动作，在执行时打印进度日志"""
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1, # 很短的等待时间
|
||||
"progress_message": message # 自定义字段，用于进度日志
|
||||
}
|
||||
}
|
||||
|
||||
# 生成泵操作序列
|
||||
for i in range(repeats):
|
||||
current_volume = min(volume_left, min_transfer_volume)
|
||||
|
||||
# 🆕 在每次循环开始时添加进度日志
|
||||
if repeats > 1:
|
||||
start_message = f"🚀 准备开始第 {i+1}/{repeats} 次转移: {current_volume:.2f}mL ({from_vessel} → {to_vessel}) 🚰"
|
||||
pump_action_sequence.append(create_progress_log_action(start_message))
|
||||
|
||||
# 🔧 修复：安全地获取边数据
|
||||
def get_safe_edge_data(node_a, node_b, key):
|
||||
try:
|
||||
@@ -426,6 +446,426 @@ def generate_pump_protocol(
|
||||
])
|
||||
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
|
||||
|
||||
|
||||
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, # 🔧 修复：统一使用 time
|
||||
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")
|
||||
|
||||
try:
|
||||
# 🆕 修复：在这里调用带有循环日志的generate_pump_protocol_with_loop_logging函数
|
||||
pump_action_sequence = generate_pump_protocol_with_loop_logging(
|
||||
G, from_vessel, to_vessel, final_volume,
|
||||
final_flowrate, final_transfer_flowrate
|
||||
)
|
||||
|
||||
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 generate_pump_protocol_with_loop_logging(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
flowrate: float = 2.5,
|
||||
transfer_flowrate: float = 0.5,
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成泵操作的动作序列 - 带循环日志版本
|
||||
🔧 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
|
||||
"""
|
||||
pump_action_sequence = []
|
||||
nodes = G.nodes(data=True)
|
||||
|
||||
# 验证输入参数
|
||||
if volume <= 0:
|
||||
logger.error(f"无效的体积参数: {volume}mL")
|
||||
return pump_action_sequence
|
||||
|
||||
if flowrate <= 0:
|
||||
flowrate = 2.5
|
||||
logger.warning(f"flowrate <= 0，使用默认值 {flowrate}mL/s")
|
||||
|
||||
if transfer_flowrate <= 0:
|
||||
transfer_flowrate = 0.5
|
||||
logger.warning(f"transfer_flowrate <= 0，使用默认值 {transfer_flowrate}mL/s")
|
||||
|
||||
# 验证容器存在
|
||||
if from_vessel not in G.nodes():
|
||||
logger.error(f"源容器 '{from_vessel}' 不存在")
|
||||
return pump_action_sequence
|
||||
|
||||
if to_vessel not in G.nodes():
|
||||
logger.error(f"目标容器 '{to_vessel}' 不存在")
|
||||
return pump_action_sequence
|
||||
|
||||
try:
|
||||
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
||||
debug_print(f"PUMP_TRANSFER: 路径 {from_vessel} -> {to_vessel}: {shortest_path}")
|
||||
except nx.NetworkXNoPath:
|
||||
logger.error(f"无法找到从 '{from_vessel}' 到 '{to_vessel}' 的路径")
|
||||
return pump_action_sequence
|
||||
|
||||
# 🔧 关键修复：正确构建泵骨架，排除容器和电磁阀
|
||||
pump_backbone = []
|
||||
for node in shortest_path:
|
||||
# 跳过起始和结束容器
|
||||
if node == from_vessel or node == to_vessel:
|
||||
continue
|
||||
|
||||
# 跳过电磁阀（电磁阀不参与泵操作）
|
||||
node_data = G.nodes.get(node, {})
|
||||
node_class = node_data.get("class", "") or ""
|
||||
if ("solenoid" in node_class.lower() or "solenoid_valve" in node.lower()):
|
||||
debug_print(f"PUMP_TRANSFER: 跳过电磁阀 {node}")
|
||||
continue
|
||||
|
||||
# 只包含多通阀和泵
|
||||
if ("multiway" in node_class.lower() or "valve" in node_class.lower() or "pump" in node_class.lower()):
|
||||
pump_backbone.append(node)
|
||||
|
||||
debug_print(f"PUMP_TRANSFER: 过滤后的泵骨架: {pump_backbone}")
|
||||
|
||||
if not pump_backbone:
|
||||
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")
|
||||
return pump_action_sequence
|
||||
|
||||
if transfer_flowrate == 0:
|
||||
transfer_flowrate = flowrate
|
||||
|
||||
try:
|
||||
pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone)
|
||||
except Exception as e:
|
||||
debug_print(f"PUMP_TRANSFER: 构建泵-阀门映射失败: {str(e)}")
|
||||
return pump_action_sequence
|
||||
|
||||
if not pumps_from_node:
|
||||
debug_print("PUMP_TRANSFER: 没有可用的泵映射")
|
||||
return pump_action_sequence
|
||||
|
||||
# 🔧 修复：安全地获取最小转移体积
|
||||
try:
|
||||
min_transfer_volumes = []
|
||||
for node in pump_backbone:
|
||||
if node in pumps_from_node:
|
||||
pump_node = pumps_from_node[node]
|
||||
if pump_node in nodes:
|
||||
pump_config = nodes[pump_node].get("config", {})
|
||||
max_volume = pump_config.get("max_volume")
|
||||
if max_volume is not None:
|
||||
min_transfer_volumes.append(max_volume)
|
||||
|
||||
if min_transfer_volumes:
|
||||
min_transfer_volume = min(min_transfer_volumes)
|
||||
else:
|
||||
min_transfer_volume = 25.0 # 默认值
|
||||
debug_print(f"PUMP_TRANSFER: 无法获取泵的最大体积，使用默认值: {min_transfer_volume}mL")
|
||||
except Exception as e:
|
||||
debug_print(f"PUMP_TRANSFER: 获取最小转移体积失败: {str(e)}")
|
||||
min_transfer_volume = 25.0 # 默认值
|
||||
|
||||
repeats = int(np.ceil(volume / min_transfer_volume))
|
||||
|
||||
if repeats > 1 and (from_vessel.startswith("pump") or to_vessel.startswith("pump")):
|
||||
logger.error("Cannot transfer volume larger than min_transfer_volume between two pumps.")
|
||||
return pump_action_sequence
|
||||
|
||||
volume_left = volume
|
||||
debug_print(f"PUMP_TRANSFER: 需要 {repeats} 次转移，单次最大体积 {min_transfer_volume} mL")
|
||||
|
||||
# 🆕 只在开头打印总体概览
|
||||
if repeats > 1:
|
||||
debug_print(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
|
||||
logger.info(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
|
||||
|
||||
# 🔧 创建一个自定义的wait动作，用于在执行时打印日志
|
||||
def create_progress_log_action(message: str) -> Dict[str, Any]:
|
||||
"""创建一个特殊的等待动作，在执行时打印进度日志"""
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1, # 很短的等待时间
|
||||
"progress_message": message # 自定义字段，用于进度日志
|
||||
}
|
||||
}
|
||||
|
||||
# 生成泵操作序列
|
||||
for i in range(repeats):
|
||||
current_volume = min(volume_left, min_transfer_volume)
|
||||
|
||||
# 🆕 在每次循环开始时添加进度日志
|
||||
if repeats > 1:
|
||||
start_message = f"🚀 准备开始第 {i+1}/{repeats} 次转移: {current_volume:.2f}mL ({from_vessel} → {to_vessel}) 🚰"
|
||||
pump_action_sequence.append(create_progress_log_action(start_message))
|
||||
|
||||
# 🔧 修复：安全地获取边数据
|
||||
def get_safe_edge_data(node_a, node_b, key):
|
||||
try:
|
||||
edge_data = G.get_edge_data(node_a, node_b)
|
||||
if edge_data and "port" in edge_data:
|
||||
port_data = edge_data["port"]
|
||||
if isinstance(port_data, dict) and key in port_data:
|
||||
return port_data[key]
|
||||
return "default"
|
||||
except Exception as e:
|
||||
debug_print(f"PUMP_TRANSFER: 获取边数据失败 {node_a}->{node_b}: {str(e)}")
|
||||
return "default"
|
||||
|
||||
# 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"""
|
||||
|
||||
@@ -1,8 +1,16 @@
|
||||
import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
from typing import List, Dict, Any, Tuple, Union
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"💎 [RECRYSTALLIZE] {message}", flush=True)
|
||||
logger.info(f"[RECRYSTALLIZE] {message}")
|
||||
|
||||
|
||||
def parse_volume_with_units(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
|
||||
"""
|
||||
@@ -16,22 +24,23 @@ def parse_volume_with_units(volume_input: Union[str, float, int], default_unit:
|
||||
float: 体积（毫升）
|
||||
"""
|
||||
if not volume_input:
|
||||
debug_print("⚠️ 体积输入为空，返回 0.0mL 📦")
|
||||
return 0.0
|
||||
|
||||
# 处理数值输入
|
||||
if isinstance(volume_input, (int, float)):
|
||||
result = float(volume_input)
|
||||
print(f"RECRYSTALLIZE: 数值体积输入: {volume_input} → {result}mL（默认单位）")
|
||||
debug_print(f"🔢 数值体积输入: {volume_input} → {result}mL（默认单位）💧")
|
||||
return result
|
||||
|
||||
# 处理字符串输入
|
||||
volume_str = str(volume_input).lower().strip()
|
||||
print(f"RECRYSTALLIZE: 解析体积字符串: '{volume_str}'")
|
||||
debug_print(f"🔍 解析体积字符串: '{volume_str}' 📝")
|
||||
|
||||
# 处理特殊值
|
||||
if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
default_volume = 50.0 # 50mL默认值
|
||||
print(f"RECRYSTALLIZE: 检测到未知体积，使用默认值: {default_volume}mL")
|
||||
debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
|
||||
return default_volume
|
||||
|
||||
# 如果是纯数字，使用默认单位
|
||||
@@ -45,7 +54,7 @@ def parse_volume_with_units(volume_input: Union[str, float, int], default_unit:
|
||||
result = value / 1000.0
|
||||
else:
|
||||
result = value # 默认mL
|
||||
print(f"RECRYSTALLIZE: 纯数字输入: {volume_str} → {result}mL（单位: {default_unit}）")
|
||||
debug_print(f"🔢 纯数字输入: {volume_str} → {result}mL（单位: {default_unit}）📏")
|
||||
return result
|
||||
except ValueError:
|
||||
pass
|
||||
@@ -57,7 +66,7 @@ def parse_volume_with_units(volume_input: Union[str, float, int], default_unit:
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
|
||||
|
||||
if not match:
|
||||
print(f"RECRYSTALLIZE: ⚠️ 无法解析体积: '{volume_str}'，使用默认值: 50mL")
|
||||
debug_print(f"⚠️ 无法解析体积: '{volume_str}'，使用默认值: 50mL 🎯")
|
||||
return 50.0
|
||||
|
||||
value = float(match.group(1))
|
||||
@@ -66,12 +75,15 @@ def parse_volume_with_units(volume_input: Union[str, float, int], default_unit:
|
||||
# 转换为毫升
|
||||
if unit in ['l', 'liter']:
|
||||
volume = value * 1000.0 # L -> mL
|
||||
debug_print(f"📏 升转毫升: {value}L → {volume}mL 💧")
|
||||
elif unit in ['μl', 'ul', 'microliter']:
|
||||
volume = value / 1000.0 # μL -> mL
|
||||
debug_print(f"📏 微升转毫升: {value}μL → {volume}mL 💧")
|
||||
else: # ml, milliliter 或默认
|
||||
volume = value # 已经是mL
|
||||
debug_print(f"📏 毫升单位: {value}mL → {volume}mL 💧")
|
||||
|
||||
print(f"RECRYSTALLIZE: 体积解析: '{volume_str}' → {value} {unit} → {volume}mL")
|
||||
debug_print(f"✅ 体积解析完成: '{volume_str}' → {volume}mL ✨")
|
||||
return volume
|
||||
|
||||
|
||||
@@ -85,6 +97,8 @@ def parse_ratio(ratio_str: str) -> Tuple[float, float]:
|
||||
Returns:
|
||||
Tuple[float, float]: 比例元组 (ratio1, ratio2)
|
||||
"""
|
||||
debug_print(f"⚖️ 开始解析比例: '{ratio_str}' 📊")
|
||||
|
||||
try:
|
||||
# 处理 "1:1", "3:7", "50:50" 等格式
|
||||
if ":" in ratio_str:
|
||||
@@ -92,6 +106,7 @@ def parse_ratio(ratio_str: str) -> Tuple[float, float]:
|
||||
if len(parts) == 2:
|
||||
ratio1 = float(parts[0])
|
||||
ratio2 = float(parts[1])
|
||||
debug_print(f"✅ 冒号格式解析成功: {ratio1}:{ratio2} 🎯")
|
||||
return ratio1, ratio2
|
||||
|
||||
# 处理 "1-1", "3-7" 等格式
|
||||
@@ -100,6 +115,7 @@ def parse_ratio(ratio_str: str) -> Tuple[float, float]:
|
||||
if len(parts) == 2:
|
||||
ratio1 = float(parts[0])
|
||||
ratio2 = float(parts[1])
|
||||
debug_print(f"✅ 横线格式解析成功: {ratio1}:{ratio2} 🎯")
|
||||
return ratio1, ratio2
|
||||
|
||||
# 处理 "1,1", "3,7" 等格式
|
||||
@@ -108,14 +124,15 @@ def parse_ratio(ratio_str: str) -> Tuple[float, float]:
|
||||
if len(parts) == 2:
|
||||
ratio1 = float(parts[0])
|
||||
ratio2 = float(parts[1])
|
||||
debug_print(f"✅ 逗号格式解析成功: {ratio1}:{ratio2} 🎯")
|
||||
return ratio1, ratio2
|
||||
|
||||
# 默认 1:1
|
||||
print(f"RECRYSTALLIZE: 无法解析比例 '{ratio_str}'，使用默认比例 1:1")
|
||||
debug_print(f"⚠️ 无法解析比例 '{ratio_str}'，使用默认比例 1:1 🎭")
|
||||
return 1.0, 1.0
|
||||
|
||||
except ValueError:
|
||||
print(f"RECRYSTALLIZE: 比例解析错误 '{ratio_str}'，使用默认比例 1:1")
|
||||
debug_print(f"❌ 比例解析错误 '{ratio_str}'，使用默认比例 1:1 🎭")
|
||||
return 1.0, 1.0
|
||||
|
||||
|
||||
@@ -130,7 +147,7 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
Returns:
|
||||
str: 溶剂容器ID
|
||||
"""
|
||||
print(f"RECRYSTALLIZE: 正在查找溶剂 '{solvent}' 的容器...")
|
||||
debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器... 🧪")
|
||||
|
||||
# 构建可能的容器名称
|
||||
possible_names = [
|
||||
@@ -144,126 +161,236 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
f"vessel_{solvent}",
|
||||
]
|
||||
|
||||
debug_print(f"📋 候选容器名称: {possible_names[:3]}... (共{len(possible_names)}个) 📝")
|
||||
|
||||
# 第一步：通过容器名称匹配
|
||||
debug_print(" 🎯 步骤1: 精确名称匹配...")
|
||||
for vessel_name in possible_names:
|
||||
if vessel_name in G.nodes():
|
||||
print(f"RECRYSTALLIZE: 通过名称匹配找到容器: {vessel_name}")
|
||||
debug_print(f" 🎉 通过名称匹配找到容器: {vessel_name} ✨")
|
||||
return vessel_name
|
||||
|
||||
# 第二步：通过模糊匹配
|
||||
# 第二步：通过模糊匹配（节点ID和名称）
|
||||
debug_print(" 🔍 步骤2: 模糊名称匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
|
||||
if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
|
||||
print(f"RECRYSTALLIZE: 通过模糊匹配找到容器: {node_id}")
|
||||
debug_print(f" 🎉 通过模糊匹配找到容器: {node_id} (名称: {node_name}) ✨")
|
||||
return node_id
|
||||
|
||||
# 第三步：通过液体类型匹配
|
||||
# 第三步：通过配置中的试剂信息匹配
|
||||
debug_print(" 🧪 步骤3: 配置试剂信息匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
# 检查 config 中的 reagent 字段
|
||||
node_config = G.nodes[node_id].get('config', {})
|
||||
config_reagent = node_config.get('reagent', '').lower()
|
||||
|
||||
if config_reagent and solvent.lower() == config_reagent:
|
||||
debug_print(f" 🎉 通过config.reagent匹配找到容器: {node_id} (试剂: {config_reagent}) ✨")
|
||||
return node_id
|
||||
|
||||
# 第四步：通过数据中的试剂信息匹配
|
||||
debug_print(" 🧪 步骤4: 数据试剂信息匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
|
||||
# 检查 data 中的 reagent_name 字段
|
||||
reagent_name = vessel_data.get('reagent_name', '').lower()
|
||||
if reagent_name and solvent.lower() == reagent_name:
|
||||
debug_print(f" 🎉 通过data.reagent_name匹配找到容器: {node_id} (试剂: {reagent_name}) ✨")
|
||||
return node_id
|
||||
|
||||
# 检查 data 中的液体信息
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
|
||||
reagent_name = vessel_data.get('reagent_name', '').lower()
|
||||
|
||||
if solvent.lower() in liquid_type or solvent.lower() in reagent_name:
|
||||
print(f"RECRYSTALLIZE: 通过液体类型匹配找到容器: {node_id}")
|
||||
if solvent.lower() in liquid_type:
|
||||
debug_print(f" 🎉 通过液体类型匹配找到容器: {node_id} (液体类型: {liquid_type}) ✨")
|
||||
return node_id
|
||||
|
||||
# 第五步：部分匹配（如果前面都没找到）
|
||||
debug_print(" 🔍 步骤5: 部分匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_config = G.nodes[node_id].get('config', {})
|
||||
node_data = G.nodes[node_id].get('data', {})
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
|
||||
config_reagent = node_config.get('reagent', '').lower()
|
||||
data_reagent = node_data.get('reagent_name', '').lower()
|
||||
|
||||
# 检查是否包含溶剂名称
|
||||
if (solvent.lower() in config_reagent or
|
||||
solvent.lower() in data_reagent or
|
||||
solvent.lower() in node_name or
|
||||
solvent.lower() in node_id.lower()):
|
||||
debug_print(f" 🎉 通过部分匹配找到容器: {node_id} ✨")
|
||||
debug_print(f" - 节点名称: {node_name}")
|
||||
debug_print(f" - 配置试剂: {config_reagent}")
|
||||
debug_print(f" - 数据试剂: {data_reagent}")
|
||||
return node_id
|
||||
|
||||
# 调试信息：列出所有容器
|
||||
debug_print(" 🔎 调试信息：列出所有容器...")
|
||||
container_list = []
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_config = G.nodes[node_id].get('config', {})
|
||||
node_data = G.nodes[node_id].get('data', {})
|
||||
node_name = G.nodes[node_id].get('name', '')
|
||||
|
||||
container_info = {
|
||||
'id': node_id,
|
||||
'name': node_name,
|
||||
'config_reagent': node_config.get('reagent', ''),
|
||||
'data_reagent': node_data.get('reagent_name', '')
|
||||
}
|
||||
container_list.append(container_info)
|
||||
debug_print(f" - 容器: {node_id}, 名称: {node_name}, config试剂: {node_config.get('reagent', '')}, data试剂: {node_data.get('reagent_name', '')}")
|
||||
|
||||
debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器 😭")
|
||||
debug_print(f"🔍 查找的溶剂: '{solvent}' (小写: '{solvent.lower()}')")
|
||||
debug_print(f"📊 总共发现 {len(container_list)} 个容器")
|
||||
|
||||
raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
|
||||
|
||||
|
||||
def generate_recrystallize_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
ratio: str,
|
||||
solvent1: str,
|
||||
solvent2: str,
|
||||
vessel: str,
|
||||
volume: Union[str, float], # 🔧 修改：支持字符串和数值
|
||||
volume: Union[str, float], # 支持字符串和数值
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成重结晶协议序列 - 支持单位
|
||||
生成重结晶协议序列 - 支持vessel字典和体积运算
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为容器和设备
|
||||
vessel: 目标容器字典（从XDL传入）
|
||||
ratio: 溶剂比例（如 "1:1", "3:7"）
|
||||
solvent1: 第一种溶剂名称
|
||||
solvent2: 第二种溶剂名称
|
||||
vessel: 目标容器
|
||||
volume: 总体积（支持 "100 mL", "50", "2.5 L" 等）
|
||||
**kwargs: 其他可选参数
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
|
||||
action_sequence = []
|
||||
|
||||
print(f"RECRYSTALLIZE: 开始生成重结晶协议（支持单位）")
|
||||
print(f" - 比例: {ratio}")
|
||||
print(f" - 溶剂1: {solvent1}")
|
||||
print(f" - 溶剂2: {solvent2}")
|
||||
print(f" - 容器: {vessel}")
|
||||
print(f" - 总体积: {volume} (类型: {type(volume)})")
|
||||
debug_print("💎" * 20)
|
||||
debug_print("🚀 开始生成重结晶协议（支持vessel字典和体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" ⚖️ 比例: {ratio}")
|
||||
debug_print(f" 🧪 溶剂1: {solvent1}")
|
||||
debug_print(f" 🧪 溶剂2: {solvent2}")
|
||||
debug_print(f" 💧 总体积: {volume} (类型: {type(volume)})")
|
||||
debug_print("💎" * 20)
|
||||
|
||||
# 🔧 新增：记录重结晶前的容器状态
|
||||
debug_print("🔍 记录重结晶前容器状态...")
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list) and len(current_volume) > 0:
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
debug_print(f"📊 重结晶前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# 1. 验证目标容器存在
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"目标容器 '{vessel}' 不存在于系统中")
|
||||
debug_print("📍 步骤1: 验证目标容器... 🔧")
|
||||
if vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print(f"❌ 目标容器 '{vessel_id}' 不存在于系统中! 😱")
|
||||
raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
|
||||
debug_print(f"✅ 目标容器 '{vessel_id}' 验证通过 🎯")
|
||||
|
||||
# 2. 🔧 新增：解析体积（支持单位）
|
||||
# 2. 解析体积（支持单位）
|
||||
debug_print("📍 步骤2: 解析体积（支持单位）... 💧")
|
||||
final_volume = parse_volume_with_units(volume, "mL")
|
||||
print(f"RECRYSTALLIZE: 解析体积: {volume} → {final_volume}mL")
|
||||
debug_print(f"🎯 体积解析完成: {volume} → {final_volume}mL ✨")
|
||||
|
||||
# 3. 解析比例
|
||||
debug_print("📍 步骤3: 解析比例... ⚖️")
|
||||
ratio1, ratio2 = parse_ratio(ratio)
|
||||
total_ratio = ratio1 + ratio2
|
||||
debug_print(f"🎯 比例解析完成: {ratio1}:{ratio2} (总比例: {total_ratio}) ✨")
|
||||
|
||||
# 4. 计算各溶剂体积
|
||||
debug_print("📍 步骤4: 计算各溶剂体积... 🧮")
|
||||
volume1 = final_volume * (ratio1 / total_ratio)
|
||||
volume2 = final_volume * (ratio2 / total_ratio)
|
||||
|
||||
print(f"RECRYSTALLIZE: 解析比例: {ratio1}:{ratio2}")
|
||||
print(f"RECRYSTALLIZE: {solvent1} 体积: {volume1:.2f} mL")
|
||||
print(f"RECRYSTALLIZE: {solvent2} 体积: {volume2:.2f} mL")
|
||||
debug_print(f"🧪 {solvent1} 体积: {volume1:.2f} mL ({ratio1}/{total_ratio} × {final_volume})")
|
||||
debug_print(f"🧪 {solvent2} 体积: {volume2:.2f} mL ({ratio2}/{total_ratio} × {final_volume})")
|
||||
debug_print(f"✅ 体积计算完成: 总计 {volume1 + volume2:.2f} mL 🎯")
|
||||
|
||||
# 5. 查找溶剂容器
|
||||
debug_print("📍 步骤5: 查找溶剂容器... 🔍")
|
||||
try:
|
||||
debug_print(f" 🔍 查找溶剂1容器...")
|
||||
solvent1_vessel = find_solvent_vessel(G, solvent1)
|
||||
print(f"RECRYSTALLIZE: 找到溶剂1容器: {solvent1_vessel}")
|
||||
debug_print(f" 🎉 找到溶剂1容器: {solvent1_vessel} ✨")
|
||||
except ValueError as e:
|
||||
debug_print(f" ❌ 溶剂1容器查找失败: {str(e)} 😭")
|
||||
raise ValueError(f"无法找到溶剂1 '{solvent1}': {str(e)}")
|
||||
|
||||
try:
|
||||
debug_print(f" 🔍 查找溶剂2容器...")
|
||||
solvent2_vessel = find_solvent_vessel(G, solvent2)
|
||||
print(f"RECRYSTALLIZE: 找到溶剂2容器: {solvent2_vessel}")
|
||||
debug_print(f" 🎉 找到溶剂2容器: {solvent2_vessel} ✨")
|
||||
except ValueError as e:
|
||||
debug_print(f" ❌ 溶剂2容器查找失败: {str(e)} 😭")
|
||||
raise ValueError(f"无法找到溶剂2 '{solvent2}': {str(e)}")
|
||||
|
||||
# 6. 验证路径存在
|
||||
debug_print("📍 步骤6: 验证传输路径... 🛤️")
|
||||
try:
|
||||
path1 = nx.shortest_path(G, source=solvent1_vessel, target=vessel)
|
||||
print(f"RECRYSTALLIZE: 溶剂1路径: {' → '.join(path1)}")
|
||||
path1 = nx.shortest_path(G, source=solvent1_vessel, target=vessel_id) # 🔧 使用 vessel_id
|
||||
debug_print(f" 🛤️ 溶剂1路径: {' → '.join(path1)} ✅")
|
||||
except nx.NetworkXNoPath:
|
||||
raise ValueError(f"从溶剂1容器 '{solvent1_vessel}' 到目标容器 '{vessel}' 没有可用路径")
|
||||
debug_print(f" ❌ 溶剂1路径不可达: {solvent1_vessel} → {vessel_id} 😞")
|
||||
raise ValueError(f"从溶剂1容器 '{solvent1_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
|
||||
|
||||
try:
|
||||
path2 = nx.shortest_path(G, source=solvent2_vessel, target=vessel)
|
||||
print(f"RECRYSTALLIZE: 溶剂2路径: {' → '.join(path2)}")
|
||||
path2 = nx.shortest_path(G, source=solvent2_vessel, target=vessel_id) # 🔧 使用 vessel_id
|
||||
debug_print(f" 🛤️ 溶剂2路径: {' → '.join(path2)} ✅")
|
||||
except nx.NetworkXNoPath:
|
||||
raise ValueError(f"从溶剂2容器 '{solvent2_vessel}' 到目标容器 '{vessel}' 没有可用路径")
|
||||
debug_print(f" ❌ 溶剂2路径不可达: {solvent2_vessel} → {vessel_id} 😞")
|
||||
raise ValueError(f"从溶剂2容器 '{solvent2_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
|
||||
|
||||
# 7. 添加第一种溶剂
|
||||
print(f"RECRYSTALLIZE: 开始添加溶剂1 {volume1:.2f} mL")
|
||||
debug_print("📍 步骤7: 添加第一种溶剂... 🧪")
|
||||
debug_print(f" 🚰 开始添加溶剂1: {solvent1} ({volume1:.2f} mL)")
|
||||
|
||||
try:
|
||||
pump_actions1 = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent1_vessel,
|
||||
to_vessel=vessel,
|
||||
to_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
volume=volume1, # 使用解析后的体积
|
||||
amount="",
|
||||
time=0.0,
|
||||
@@ -277,27 +404,65 @@ def generate_recrystallize_protocol(
|
||||
)
|
||||
|
||||
action_sequence.extend(pump_actions1)
|
||||
debug_print(f" ✅ 溶剂1泵送动作已添加: {len(pump_actions1)} 个动作 🚰✨")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f" ❌ 溶剂1泵协议生成失败: {str(e)} 😭")
|
||||
raise ValueError(f"生成溶剂1泵协议时出错: {str(e)}")
|
||||
|
||||
# 🔧 新增：更新容器体积 - 添加溶剂1后
|
||||
debug_print(" 🔧 更新容器体积 - 添加溶剂1后...")
|
||||
new_volume_after_solvent1 = original_liquid_volume + volume1
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = new_volume_after_solvent1
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [new_volume_after_solvent1]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume_after_solvent1
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume_after_solvent1
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume_after_solvent1]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume_after_solvent1
|
||||
|
||||
debug_print(f" 📊 体积更新: {original_liquid_volume:.2f}mL + {volume1:.2f}mL = {new_volume_after_solvent1:.2f}mL")
|
||||
|
||||
# 8. 等待溶剂1稳定
|
||||
debug_print(" ⏳ 添加溶剂1稳定等待...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 10.0,
|
||||
"time": 5.0, # 缩短等待时间
|
||||
"description": f"等待溶剂1 {solvent1} 稳定"
|
||||
}
|
||||
})
|
||||
debug_print(" ✅ 溶剂1稳定等待已添加 ⏰✨")
|
||||
|
||||
# 9. 添加第二种溶剂
|
||||
print(f"RECRYSTALLIZE: 开始添加溶剂2 {volume2:.2f} mL")
|
||||
debug_print("📍 步骤8: 添加第二种溶剂... 🧪")
|
||||
debug_print(f" 🚰 开始添加溶剂2: {solvent2} ({volume2:.2f} mL)")
|
||||
|
||||
try:
|
||||
pump_actions2 = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent2_vessel,
|
||||
to_vessel=vessel,
|
||||
to_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
volume=volume2, # 使用解析后的体积
|
||||
amount="",
|
||||
time=0.0,
|
||||
@@ -311,31 +476,99 @@ def generate_recrystallize_protocol(
|
||||
)
|
||||
|
||||
action_sequence.extend(pump_actions2)
|
||||
debug_print(f" ✅ 溶剂2泵送动作已添加: {len(pump_actions2)} 个动作 🚰✨")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f" ❌ 溶剂2泵协议生成失败: {str(e)} 😭")
|
||||
raise ValueError(f"生成溶剂2泵协议时出错: {str(e)}")
|
||||
|
||||
# 🔧 新增：更新容器体积 - 添加溶剂2后
|
||||
debug_print(" 🔧 更新容器体积 - 添加溶剂2后...")
|
||||
final_liquid_volume = new_volume_after_solvent1 + volume2
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = final_liquid_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [final_liquid_volume]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = final_liquid_volume
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = final_liquid_volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [final_liquid_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = final_liquid_volume
|
||||
|
||||
debug_print(f" 📊 最终体积: {new_volume_after_solvent1:.2f}mL + {volume2:.2f}mL = {final_liquid_volume:.2f}mL")
|
||||
|
||||
# 10. 等待溶剂2稳定
|
||||
debug_print(" ⏳ 添加溶剂2稳定等待...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 10.0,
|
||||
"time": 5.0, # 缩短等待时间
|
||||
"description": f"等待溶剂2 {solvent2} 稳定"
|
||||
}
|
||||
})
|
||||
debug_print(" ✅ 溶剂2稳定等待已添加 ⏰✨")
|
||||
|
||||
# 11. 等待重结晶完成
|
||||
debug_print("📍 步骤9: 等待重结晶完成... 💎")
|
||||
|
||||
# 模拟运行时间优化
|
||||
debug_print(" ⏱️ 检查模拟运行时间限制...")
|
||||
original_crystallize_time = 600.0 # 原始重结晶时间
|
||||
simulation_time_limit = 60.0 # 模拟运行时间限制：60秒
|
||||
|
||||
final_crystallize_time = min(original_crystallize_time, simulation_time_limit)
|
||||
|
||||
if original_crystallize_time > simulation_time_limit:
|
||||
debug_print(f" 🎮 模拟运行优化: {original_crystallize_time}s → {final_crystallize_time}s ⚡")
|
||||
debug_print(f" 📊 时间缩短: {original_crystallize_time/60:.1f}分钟 → {final_crystallize_time/60:.1f}分钟 🚀")
|
||||
else:
|
||||
debug_print(f" ✅ 时间在限制内: {final_crystallize_time}s 保持不变 🎯")
|
||||
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 600.0, # 等待10分钟进行重结晶
|
||||
"description": f"等待重结晶完成（{solvent1}:{solvent2} = {ratio}，总体积 {final_volume}mL）"
|
||||
"time": final_crystallize_time,
|
||||
"description": f"等待重结晶完成（{solvent1}:{solvent2} = {ratio}，总体积 {final_volume}mL）" + (f" (模拟时间)" if original_crystallize_time != final_crystallize_time else "")
|
||||
}
|
||||
})
|
||||
debug_print(f" ✅ 重结晶等待已添加: {final_crystallize_time}s 💎✨")
|
||||
|
||||
print(f"RECRYSTALLIZE: 协议生成完成，共 {len(action_sequence)} 个动作")
|
||||
print(f"RECRYSTALLIZE: 预计总时间: {620/60:.1f} 分钟")
|
||||
print(f"RECRYSTALLIZE: 总体积: {final_volume}mL")
|
||||
# 显示时间调整信息
|
||||
if original_crystallize_time != final_crystallize_time:
|
||||
debug_print(f" 🎭 模拟优化说明: 原计划 {original_crystallize_time/60:.1f}分钟，实际模拟 {final_crystallize_time/60:.1f}分钟 ⚡")
|
||||
|
||||
# 总结
|
||||
debug_print("💎" * 20)
|
||||
debug_print(f"🎉 重结晶协议生成完成! ✨")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)} 个")
|
||||
debug_print(f"🥽 目标容器: {vessel_id}")
|
||||
debug_print(f"💧 总体积变化:")
|
||||
debug_print(f" - 原始体积: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 添加溶剂: {final_volume:.2f}mL")
|
||||
debug_print(f" - 最终体积: {final_liquid_volume:.2f}mL")
|
||||
debug_print(f"⚖️ 溶剂比例: {solvent1}:{solvent2} = {ratio1}:{ratio2}")
|
||||
debug_print(f"🧪 溶剂1: {solvent1} ({volume1:.2f}mL)")
|
||||
debug_print(f"🧪 溶剂2: {solvent2} ({volume2:.2f}mL)")
|
||||
debug_print(f"⏱️ 预计总时间: {(final_crystallize_time + 10)/60:.1f} 分钟 ⌛")
|
||||
debug_print("💎" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
@@ -343,16 +576,23 @@ def generate_recrystallize_protocol(
|
||||
# 测试函数
|
||||
def test_recrystallize_protocol():
|
||||
"""测试重结晶协议"""
|
||||
print("=== RECRYSTALLIZE PROTOCOL 测试 ===")
|
||||
debug_print("🧪 === RECRYSTALLIZE PROTOCOL 测试 === ✨")
|
||||
|
||||
# 测试体积解析
|
||||
debug_print("💧 测试体积解析...")
|
||||
test_volumes = ["100 mL", "2.5 L", "500", "50.5", "?", "invalid"]
|
||||
for vol in test_volumes:
|
||||
parsed = parse_volume_with_units(vol)
|
||||
debug_print(f" 📊 体积 '{vol}' -> {parsed}mL")
|
||||
|
||||
# 测试比例解析
|
||||
debug_print("⚖️ 测试比例解析...")
|
||||
test_ratios = ["1:1", "3:7", "50:50", "1-1", "2,8", "invalid"]
|
||||
for ratio in test_ratios:
|
||||
r1, r2 = parse_ratio(ratio)
|
||||
print(f"比例 '{ratio}' -> {r1}:{r2}")
|
||||
debug_print(f" 📊 比例 '{ratio}' -> {r1}:{r2}")
|
||||
|
||||
print("测试完成")
|
||||
|
||||
debug_print("✅ 测试完成 🎉")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_recrystallize_protocol()
|
||||
@@ -1,7 +1,67 @@
|
||||
import networkx as nx
|
||||
from typing import List, Dict, Any
|
||||
import logging
|
||||
import sys
|
||||
from typing import List, Dict, Any, Optional
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
# 设置日志
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
# 确保输出编码为UTF-8
|
||||
if hasattr(sys.stdout, 'reconfigure'):
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding='utf-8')
|
||||
sys.stderr.reconfigure(encoding='utf-8')
|
||||
except:
|
||||
pass
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出函数 - 支持中文"""
|
||||
try:
|
||||
# 确保消息是字符串格式
|
||||
safe_message = str(message)
|
||||
print(f"[重置处理] {safe_message}", flush=True)
|
||||
logger.info(f"[重置处理] {safe_message}")
|
||||
except UnicodeEncodeError:
|
||||
# 如果编码失败，尝试替换不支持的字符
|
||||
safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
|
||||
print(f"[重置处理] {safe_message}", flush=True)
|
||||
logger.info(f"[重置处理] {safe_message}")
|
||||
except Exception as e:
|
||||
# 最后的安全措施
|
||||
fallback_message = f"日志输出错误: {repr(message)}"
|
||||
print(f"[重置处理] {fallback_message}", flush=True)
|
||||
logger.info(f"[重置处理] {fallback_message}")
|
||||
|
||||
def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
|
||||
"""创建一个动作日志 - 支持中文和emoji"""
|
||||
try:
|
||||
full_message = f"{emoji} {message}"
|
||||
debug_print(full_message)
|
||||
logger.info(full_message)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message,
|
||||
"progress_message": full_message
|
||||
}
|
||||
}
|
||||
except Exception as e:
|
||||
# 如果emoji有问题，使用纯文本
|
||||
safe_message = f"[日志] {message}"
|
||||
debug_print(safe_message)
|
||||
logger.info(safe_message)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": safe_message,
|
||||
"progress_message": safe_message
|
||||
}
|
||||
}
|
||||
|
||||
def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""
|
||||
@@ -14,7 +74,7 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
Returns:
|
||||
str: 溶剂容器ID
|
||||
"""
|
||||
print(f"RESET_HANDLING: 正在查找溶剂 '{solvent}' 的容器...")
|
||||
debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器...")
|
||||
|
||||
# 构建可能的容器名称
|
||||
possible_names = [
|
||||
@@ -28,23 +88,30 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
f"vessel_{solvent}", # vessel_methanol
|
||||
]
|
||||
|
||||
debug_print(f"🎯 候选容器名称: {possible_names[:3]}... (共{len(possible_names)}个)")
|
||||
|
||||
# 第一步：通过容器名称匹配
|
||||
debug_print("📋 方法1: 精确名称匹配...")
|
||||
for vessel_name in possible_names:
|
||||
if vessel_name in G.nodes():
|
||||
print(f"RESET_HANDLING: 通过名称匹配找到容器: {vessel_name}")
|
||||
debug_print(f"✅ 通过名称匹配找到容器: {vessel_name}")
|
||||
return vessel_name
|
||||
debug_print("⚠️ 精确名称匹配失败，尝试模糊匹配...")
|
||||
|
||||
# 第二步：通过模糊匹配
|
||||
debug_print("📋 方法2: 模糊名称匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
|
||||
# 检查是否包含溶剂名称
|
||||
if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
|
||||
print(f"RESET_HANDLING: 通过模糊匹配找到容器: {node_id}")
|
||||
debug_print(f"✅ 通过模糊匹配找到容器: {node_id}")
|
||||
return node_id
|
||||
debug_print("⚠️ 模糊匹配失败，尝试液体类型匹配...")
|
||||
|
||||
# 第三步：通过液体类型匹配
|
||||
debug_print("📋 方法3: 液体类型匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
@@ -56,10 +123,11 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
reagent_name = vessel_data.get('reagent_name', '').lower()
|
||||
|
||||
if solvent.lower() in liquid_type or solvent.lower() in reagent_name:
|
||||
print(f"RESET_HANDLING: 通过液体类型匹配找到容器: {node_id}")
|
||||
debug_print(f"✅ 通过液体类型匹配找到容器: {node_id}")
|
||||
return node_id
|
||||
|
||||
# 列出可用容器帮助调试
|
||||
debug_print("📊 显示可用容器信息...")
|
||||
available_containers = []
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
@@ -75,26 +143,31 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
'reagent_name': vessel_data.get('reagent_name', '')
|
||||
})
|
||||
|
||||
print(f"RESET_HANDLING: 可用容器列表:")
|
||||
for container in available_containers:
|
||||
print(f" - {container['id']}: {container['name']}")
|
||||
print(f" 液体: {container['liquids']}")
|
||||
print(f" 试剂: {container['reagent_name']}")
|
||||
debug_print(f"📋 可用容器列表 (共{len(available_containers)}个):")
|
||||
for i, container in enumerate(available_containers[:5]): # 只显示前5个
|
||||
debug_print(f" {i+1}. 🥽 {container['id']}: {container['name']}")
|
||||
debug_print(f" 💧 液体: {container['liquids']}")
|
||||
debug_print(f" 🧪 试剂: {container['reagent_name']}")
|
||||
|
||||
raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器。尝试了: {possible_names}")
|
||||
|
||||
if len(available_containers) > 5:
|
||||
debug_print(f" ... 还有 {len(available_containers)-5} 个容器")
|
||||
|
||||
debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器")
|
||||
raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器。尝试了: {possible_names[:3]}...")
|
||||
|
||||
def generate_reset_handling_protocol(
|
||||
G: nx.DiGraph,
|
||||
solvent: str,
|
||||
vessel: Optional[str] = None, # 🆕 新增可选vessel参数
|
||||
**kwargs # 接收其他可能的参数但不使用
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成重置处理协议序列
|
||||
生成重置处理协议序列 - 支持自定义容器
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为容器和设备
|
||||
solvent: 溶剂名称（从XDL传入）
|
||||
vessel: 目标容器名称（可选，默认为 "main_reactor"）
|
||||
**kwargs: 其他可选参数，但不使用
|
||||
|
||||
Returns:
|
||||
@@ -102,37 +175,79 @@ def generate_reset_handling_protocol(
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 固定参数
|
||||
target_vessel = "main_reactor" # 默认目标容器
|
||||
volume = 100.0 # 默认体积 100 mL
|
||||
# 🔧 修改：支持自定义vessel参数
|
||||
target_vessel = vessel if vessel is not None else "main_reactor" # 默认目标容器
|
||||
volume = 50.0 # 默认体积 50 mL
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("🚀 开始生成重置处理协议")
|
||||
debug_print(f"📋 输入参数:")
|
||||
debug_print(f" 🧪 溶剂: {solvent}")
|
||||
debug_print(f" 🥽 目标容器: {target_vessel} {'(默认)' if vessel is None else '(指定)'}")
|
||||
debug_print(f" 💧 体积: {volume} mL")
|
||||
debug_print(f" ⚙️ 其他参数: {kwargs}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
print(f"RESET_HANDLING: 开始生成重置处理协议")
|
||||
print(f" - 溶剂: {solvent}")
|
||||
print(f" - 目标容器: {target_vessel}")
|
||||
print(f" - 体积: {volume} mL")
|
||||
# 添加初始日志
|
||||
action_sequence.append(create_action_log(f"开始重置处理操作 - 容器: {target_vessel}", "🎬"))
|
||||
action_sequence.append(create_action_log(f"使用溶剂: {solvent}", "🧪"))
|
||||
action_sequence.append(create_action_log(f"重置体积: {volume}mL", "💧"))
|
||||
|
||||
if vessel is None:
|
||||
action_sequence.append(create_action_log("使用默认目标容器: main_reactor", "⚙️"))
|
||||
else:
|
||||
action_sequence.append(create_action_log(f"使用指定目标容器: {vessel}", "🎯"))
|
||||
|
||||
# 1. 验证目标容器存在
|
||||
debug_print("🔍 步骤1: 验证目标容器...")
|
||||
action_sequence.append(create_action_log("正在验证目标容器...", "🔍"))
|
||||
|
||||
if target_vessel not in G.nodes():
|
||||
debug_print(f"❌ 目标容器 '{target_vessel}' 不存在于系统中!")
|
||||
action_sequence.append(create_action_log(f"目标容器 '{target_vessel}' 不存在", "❌"))
|
||||
raise ValueError(f"目标容器 '{target_vessel}' 不存在于系统中")
|
||||
|
||||
debug_print(f"✅ 目标容器 '{target_vessel}' 验证通过")
|
||||
action_sequence.append(create_action_log(f"目标容器验证通过: {target_vessel}", "✅"))
|
||||
|
||||
# 2. 查找溶剂容器
|
||||
debug_print("🔍 步骤2: 查找溶剂容器...")
|
||||
action_sequence.append(create_action_log("正在查找溶剂容器...", "🔍"))
|
||||
|
||||
try:
|
||||
solvent_vessel = find_solvent_vessel(G, solvent)
|
||||
print(f"RESET_HANDLING: 找到溶剂容器: {solvent_vessel}")
|
||||
debug_print(f"✅ 找到溶剂容器: {solvent_vessel}")
|
||||
action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "✅"))
|
||||
except ValueError as e:
|
||||
debug_print(f"❌ 溶剂容器查找失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
|
||||
raise ValueError(f"无法找到溶剂 '{solvent}': {str(e)}")
|
||||
|
||||
# 3. 验证路径存在
|
||||
debug_print("🔍 步骤3: 验证传输路径...")
|
||||
action_sequence.append(create_action_log("正在验证传输路径...", "🛤️"))
|
||||
|
||||
try:
|
||||
path = nx.shortest_path(G, source=solvent_vessel, target=target_vessel)
|
||||
print(f"RESET_HANDLING: 找到路径: {' → '.join(path)}")
|
||||
debug_print(f"✅ 找到路径: {' → '.join(path)}")
|
||||
action_sequence.append(create_action_log(f"传输路径: {' → '.join(path)}", "🛤️"))
|
||||
except nx.NetworkXNoPath:
|
||||
debug_print(f"❌ 路径不可达: {solvent_vessel} → {target_vessel}")
|
||||
action_sequence.append(create_action_log(f"路径不可达: {solvent_vessel} → {target_vessel}", "❌"))
|
||||
raise ValueError(f"从溶剂容器 '{solvent_vessel}' 到目标容器 '{target_vessel}' 没有可用路径")
|
||||
|
||||
# 4. 使用pump_protocol转移溶剂
|
||||
print(f"RESET_HANDLING: 开始转移溶剂 {volume} mL")
|
||||
debug_print("🔍 步骤4: 转移溶剂...")
|
||||
action_sequence.append(create_action_log("开始溶剂转移操作...", "🚰"))
|
||||
|
||||
debug_print(f"🚛 开始转移: {solvent_vessel} → {target_vessel}")
|
||||
debug_print(f"💧 转移体积: {volume} mL")
|
||||
action_sequence.append(create_action_log(f"转移: {solvent_vessel} → {target_vessel} ({volume}mL)", "🚛"))
|
||||
|
||||
try:
|
||||
debug_print("🔄 生成泵送协议...")
|
||||
action_sequence.append(create_action_log("正在生成泵送协议...", "🔄"))
|
||||
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent_vessel,
|
||||
@@ -150,31 +265,123 @@ def generate_reset_handling_protocol(
|
||||
)
|
||||
|
||||
action_sequence.extend(pump_actions)
|
||||
debug_print(f"✅ 泵送协议已添加: {len(pump_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"泵送协议完成 ({len(pump_actions)} 个操作)", "✅"))
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 泵送协议生成失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"泵送协议生成失败: {str(e)}", "❌"))
|
||||
raise ValueError(f"生成泵协议时出错: {str(e)}")
|
||||
|
||||
# 5. 等待溶剂稳定
|
||||
debug_print("🔍 步骤5: 等待溶剂稳定...")
|
||||
action_sequence.append(create_action_log("等待溶剂稳定...", "⏳"))
|
||||
|
||||
# 模拟运行时间优化
|
||||
debug_print("⏱️ 检查模拟运行时间限制...")
|
||||
original_wait_time = 10.0 # 原始等待时间
|
||||
simulation_time_limit = 5.0 # 模拟运行时间限制：5秒
|
||||
|
||||
final_wait_time = min(original_wait_time, simulation_time_limit)
|
||||
|
||||
if original_wait_time > simulation_time_limit:
|
||||
debug_print(f"🎮 模拟运行优化: {original_wait_time}s → {final_wait_time}s")
|
||||
action_sequence.append(create_action_log(f"时间优化: {original_wait_time}s → {final_wait_time}s", "⚡"))
|
||||
else:
|
||||
debug_print(f"✅ 时间在限制内: {final_wait_time}s 保持不变")
|
||||
action_sequence.append(create_action_log(f"等待时间: {final_wait_time}s", "⏰"))
|
||||
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 10.0,
|
||||
"description": f"等待溶剂 {solvent} 稳定"
|
||||
"time": final_wait_time,
|
||||
"description": f"等待溶剂 {solvent} 在容器 {target_vessel} 中稳定" + (f" (模拟时间)" if original_wait_time != final_wait_time else "")
|
||||
}
|
||||
})
|
||||
debug_print(f"✅ 稳定等待已添加: {final_wait_time}s")
|
||||
|
||||
print(f"RESET_HANDLING: 协议生成完成，共 {len(action_sequence)} 个动作")
|
||||
print(f"RESET_HANDLING: 已添加 {volume} mL {solvent} 到 {target_vessel}")
|
||||
# 显示时间调整信息
|
||||
if original_wait_time != final_wait_time:
|
||||
debug_print(f"🎭 模拟优化说明: 原计划 {original_wait_time}s，实际模拟 {final_wait_time}s")
|
||||
action_sequence.append(create_action_log("应用模拟时间优化", "🎭"))
|
||||
|
||||
# 总结
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"🎉 重置处理协议生成完成!")
|
||||
debug_print(f"📊 总结信息:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)} 个")
|
||||
debug_print(f" 🧪 溶剂: {solvent}")
|
||||
debug_print(f" 🥽 源容器: {solvent_vessel}")
|
||||
debug_print(f" 🥽 目标容器: {target_vessel} {'(默认)' if vessel is None else '(指定)'}")
|
||||
debug_print(f" 💧 转移体积: {volume} mL")
|
||||
debug_print(f" ⏱️ 预计总时间: {(final_wait_time + 5):.0f} 秒")
|
||||
debug_print(f" 🎯 操作结果: 已添加 {volume} mL {solvent} 到 {target_vessel}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"重置处理完成: {target_vessel} (使用 {volume}mL {solvent})"
|
||||
if vessel is None:
|
||||
summary_msg += " [默认容器]"
|
||||
else:
|
||||
summary_msg += " [指定容器]"
|
||||
|
||||
action_sequence.append(create_action_log(summary_msg, "🎉"))
|
||||
|
||||
return action_sequence
|
||||
|
||||
# === 便捷函数 ===
|
||||
|
||||
def reset_main_reactor(G: nx.DiGraph, solvent: str = "methanol", **kwargs) -> List[Dict[str, Any]]:
|
||||
"""重置主反应器 (默认行为)"""
|
||||
debug_print(f"🔄 重置主反应器，使用溶剂: {solvent}")
|
||||
return generate_reset_handling_protocol(G, solvent=solvent, vessel=None, **kwargs)
|
||||
|
||||
def reset_custom_vessel(G: nx.DiGraph, vessel: str, solvent: str = "methanol", **kwargs) -> List[Dict[str, Any]]:
|
||||
"""重置指定容器"""
|
||||
debug_print(f"🔄 重置指定容器: {vessel}，使用溶剂: {solvent}")
|
||||
return generate_reset_handling_protocol(G, solvent=solvent, vessel=vessel, **kwargs)
|
||||
|
||||
def reset_with_water(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
|
||||
"""使用水重置容器"""
|
||||
target = vessel or "main_reactor"
|
||||
debug_print(f"💧 使用水重置容器: {target}")
|
||||
return generate_reset_handling_protocol(G, solvent="water", vessel=vessel, **kwargs)
|
||||
|
||||
def reset_with_methanol(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
|
||||
"""使用甲醇重置容器"""
|
||||
target = vessel or "main_reactor"
|
||||
debug_print(f"🧪 使用甲醇重置容器: {target}")
|
||||
return generate_reset_handling_protocol(G, solvent="methanol", vessel=vessel, **kwargs)
|
||||
|
||||
def reset_with_ethanol(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
|
||||
"""使用乙醇重置容器"""
|
||||
target = vessel or "main_reactor"
|
||||
debug_print(f"🧪 使用乙醇重置容器: {target}")
|
||||
return generate_reset_handling_protocol(G, solvent="ethanol", vessel=vessel, **kwargs)
|
||||
|
||||
# 测试函数
|
||||
def test_reset_handling_protocol():
|
||||
"""测试重置处理协议"""
|
||||
print("=== RESET HANDLING PROTOCOL 测试 ===")
|
||||
print("测试完成")
|
||||
|
||||
debug_print("=== 重置处理协议增强中文版测试 ===")
|
||||
|
||||
# 测试溶剂名称
|
||||
debug_print("🧪 测试常用溶剂名称...")
|
||||
test_solvents = ["methanol", "ethanol", "water", "acetone", "dmso"]
|
||||
for solvent in test_solvents:
|
||||
debug_print(f" 🔍 测试溶剂: {solvent}")
|
||||
|
||||
# 测试容器参数
|
||||
debug_print("🥽 测试容器参数...")
|
||||
test_cases = [
|
||||
{"solvent": "methanol", "vessel": None, "desc": "默认容器"},
|
||||
{"solvent": "ethanol", "vessel": "reactor_2", "desc": "指定容器"},
|
||||
{"solvent": "water", "vessel": "flask_1", "desc": "自定义容器"}
|
||||
]
|
||||
|
||||
for case in test_cases:
|
||||
debug_print(f" 🧪 测试案例: {case['desc']} - {case['solvent']} -> {case['vessel'] or 'main_reactor'}")
|
||||
|
||||
debug_print("✅ 测试完成")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_reset_handling_protocol()
|
||||
@@ -8,7 +8,7 @@ logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"[RUN_COLUMN] {message}", flush=True)
|
||||
print(f"🏛️ [RUN_COLUMN] {message}", flush=True)
|
||||
logger.info(f"[RUN_COLUMN] {message}")
|
||||
|
||||
def parse_percentage(pct_str: str) -> float:
|
||||
@@ -25,7 +25,7 @@ def parse_percentage(pct_str: str) -> float:
|
||||
return 0.0
|
||||
|
||||
pct_str = pct_str.strip().lower()
|
||||
debug_print(f"解析百分比: '{pct_str}'")
|
||||
debug_print(f"🔍 解析百分比: '{pct_str}'")
|
||||
|
||||
# 移除百分号和空格
|
||||
pct_clean = re.sub(r'[%\s]', '', pct_str)
|
||||
@@ -34,7 +34,7 @@ def parse_percentage(pct_str: str) -> float:
|
||||
match = re.search(r'([0-9]*\.?[0-9]+)', pct_clean)
|
||||
if match:
|
||||
value = float(match.group(1))
|
||||
debug_print(f"百分比解析结果: {value}%")
|
||||
debug_print(f"✅ 百分比解析结果: {value}%")
|
||||
return value
|
||||
|
||||
debug_print(f"⚠️ 无法解析百分比: '{pct_str}'，返回0.0")
|
||||
@@ -54,7 +54,7 @@ def parse_ratio(ratio_str: str) -> tuple:
|
||||
return (50.0, 50.0) # 默认1:1
|
||||
|
||||
ratio_str = ratio_str.strip()
|
||||
debug_print(f"解析比例: '{ratio_str}'")
|
||||
debug_print(f"🔍 解析比例: '{ratio_str}'")
|
||||
|
||||
# 支持多种分隔符：: / -
|
||||
if ':' in ratio_str:
|
||||
@@ -79,7 +79,7 @@ def parse_ratio(ratio_str: str) -> tuple:
|
||||
pct1 = (ratio1 / total) * 100
|
||||
pct2 = (ratio2 / total) * 100
|
||||
|
||||
debug_print(f"比例解析结果: {ratio1}:{ratio2} -> {pct1:.1f}%:{pct2:.1f}%")
|
||||
debug_print(f"✅ 比例解析结果: {ratio1}:{ratio2} -> {pct1:.1f}%:{pct2:.1f}%")
|
||||
return (pct1, pct2)
|
||||
except ValueError as e:
|
||||
debug_print(f"⚠️ 比例数值转换失败: {str(e)}")
|
||||
@@ -101,12 +101,12 @@ def parse_rf_value(rf_str: str) -> float:
|
||||
return 0.3 # 默认Rf值
|
||||
|
||||
rf_str = rf_str.strip().lower()
|
||||
debug_print(f"解析Rf值: '{rf_str}'")
|
||||
debug_print(f"🔍 解析Rf值: '{rf_str}'")
|
||||
|
||||
# 处理未知Rf值
|
||||
if rf_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
default_rf = 0.3
|
||||
debug_print(f"检测到未知Rf值，使用默认值: {default_rf}")
|
||||
debug_print(f"❓ 检测到未知Rf值，使用默认值: {default_rf}")
|
||||
return default_rf
|
||||
|
||||
# 提取数字
|
||||
@@ -117,7 +117,7 @@ def parse_rf_value(rf_str: str) -> float:
|
||||
if value > 1.0:
|
||||
value = value / 100.0 # 可能是百分比形式
|
||||
value = max(0.0, min(1.0, value)) # 限制在0-1范围
|
||||
debug_print(f"Rf值解析结果: {value}")
|
||||
debug_print(f"✅ Rf值解析结果: {value}")
|
||||
return value
|
||||
|
||||
debug_print(f"⚠️ 无法解析Rf值: '{rf_str}'，使用默认值0.3")
|
||||
@@ -125,7 +125,7 @@ def parse_rf_value(rf_str: str) -> float:
|
||||
|
||||
def find_column_device(G: nx.DiGraph) -> str:
|
||||
"""查找柱层析设备"""
|
||||
debug_print("查找柱层析设备...")
|
||||
debug_print("🔍 查找柱层析设备...")
|
||||
|
||||
# 查找虚拟柱设备
|
||||
for node in G.nodes():
|
||||
@@ -133,14 +133,14 @@ def find_column_device(G: nx.DiGraph) -> str:
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
if 'virtual_column' in node_class.lower() or 'column' in node_class.lower():
|
||||
debug_print(f"✅ 找到柱层析设备: {node}")
|
||||
debug_print(f"🎉 找到柱层析设备: {node} ✨")
|
||||
return node
|
||||
|
||||
# 如果没有找到，尝试创建虚拟设备名称
|
||||
possible_names = ['column_1', 'virtual_column_1', 'chromatography_column_1']
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
debug_print(f"✅ 找到柱设备: {name}")
|
||||
debug_print(f"🎉 找到柱设备: {name} ✨")
|
||||
return name
|
||||
|
||||
debug_print("⚠️ 未找到柱层析设备，将使用pump protocol直接转移")
|
||||
@@ -148,13 +148,13 @@ def find_column_device(G: nx.DiGraph) -> str:
|
||||
|
||||
def find_column_vessel(G: nx.DiGraph, column: str) -> str:
|
||||
"""查找柱容器"""
|
||||
debug_print(f"查找柱容器: '{column}'")
|
||||
debug_print(f"🔍 查找柱容器: '{column}'")
|
||||
|
||||
# 直接检查column参数是否是容器
|
||||
if column in G.nodes():
|
||||
node_type = G.nodes[column].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"✅ 找到柱容器: {column}")
|
||||
debug_print(f"🎉 找到柱容器: {column} ✨")
|
||||
return column
|
||||
|
||||
# 尝试常见的命名规则
|
||||
@@ -174,7 +174,7 @@ def find_column_vessel(G: nx.DiGraph, column: str) -> str:
|
||||
if vessel_name in G.nodes():
|
||||
node_type = G.nodes[vessel_name].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"✅ 找到柱容器: {vessel_name}")
|
||||
debug_print(f"🎉 找到柱容器: {vessel_name} ✨")
|
||||
return vessel_name
|
||||
|
||||
debug_print(f"⚠️ 未找到柱容器，将直接在源容器中进行分离")
|
||||
@@ -186,7 +186,7 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
return ""
|
||||
|
||||
solvent = solvent.strip().replace(' ', '_').lower()
|
||||
debug_print(f"查找溶剂容器: '{solvent}'")
|
||||
debug_print(f"🔍 查找溶剂容器: '{solvent}'")
|
||||
|
||||
# 🔧 方法1：直接搜索 data.reagent_name
|
||||
for node in G.nodes():
|
||||
@@ -200,16 +200,16 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
|
||||
# 检查 data.reagent_name 和 config.reagent
|
||||
if reagent_name == solvent or reagent_config == solvent:
|
||||
debug_print(f"✅ 通过reagent_name找到溶剂容器: {node} (reagent: {reagent_name or reagent_config})")
|
||||
debug_print(f"🎉 通过reagent_name找到溶剂容器: {node} (reagent: {reagent_name or reagent_config}) ✨")
|
||||
return node
|
||||
|
||||
# 模糊匹配 reagent_name
|
||||
if solvent in reagent_name or reagent_name in solvent:
|
||||
debug_print(f"✅ 通过reagent_name模糊匹配到溶剂容器: {node} (reagent: {reagent_name})")
|
||||
debug_print(f"🎉 通过reagent_name模糊匹配到溶剂容器: {node} (reagent: {reagent_name}) ✨")
|
||||
return node
|
||||
|
||||
if solvent in reagent_config or reagent_config in solvent:
|
||||
debug_print(f"✅ 通过config.reagent模糊匹配到溶剂容器: {node} (reagent: {reagent_config})")
|
||||
debug_print(f"🎉 通过config.reagent模糊匹配到溶剂容器: {node} (reagent: {reagent_config}) ✨")
|
||||
return node
|
||||
|
||||
# 🔧 方法2：常见的溶剂容器命名规则
|
||||
@@ -227,7 +227,7 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
if vessel_name in G.nodes():
|
||||
node_type = G.nodes[vessel_name].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"✅ 通过命名规则找到溶剂容器: {vessel_name}")
|
||||
debug_print(f"🎉 通过命名规则找到溶剂容器: {vessel_name} ✨")
|
||||
return vessel_name
|
||||
|
||||
# 🔧 方法3：节点名称模糊匹配
|
||||
@@ -235,7 +235,7 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
node_type = G.nodes[node].get('type', '')
|
||||
if node_type == 'container':
|
||||
if ('flask_' in node or 'bottle_' in node or 'reagent_' in node) and solvent in node.lower():
|
||||
debug_print(f"✅ 通过节点名称模糊匹配到溶剂容器: {node}")
|
||||
debug_print(f"🎉 通过节点名称模糊匹配到溶剂容器: {node} ✨")
|
||||
return node
|
||||
|
||||
# 🔧 方法4：特殊溶剂名称映射
|
||||
@@ -253,84 +253,118 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
# 查找映射的同义词
|
||||
for canonical_name, synonyms in solvent_mapping.items():
|
||||
if solvent in synonyms:
|
||||
debug_print(f"检测到溶剂同义词: '{solvent}' -> '{canonical_name}'")
|
||||
debug_print(f"🔍 检测到溶剂同义词: '{solvent}' -> '{canonical_name}'")
|
||||
return find_solvent_vessel(G, canonical_name) # 递归搜索
|
||||
|
||||
debug_print(f"⚠️ 未找到溶剂 '{solvent}' 的容器")
|
||||
return ""
|
||||
|
||||
def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
|
||||
"""获取容器中的液体体积 - 增强版"""
|
||||
if vessel not in G.nodes():
|
||||
debug_print(f"⚠️ 节点 '{vessel}' 不存在")
|
||||
def get_vessel_liquid_volume(vessel: dict) -> float:
|
||||
"""
|
||||
获取容器中的液体体积 - 支持vessel字典
|
||||
|
||||
Args:
|
||||
vessel: 容器字典
|
||||
|
||||
Returns:
|
||||
float: 液体体积（mL）
|
||||
"""
|
||||
if not vessel or "data" not in vessel:
|
||||
debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
|
||||
return 0.0
|
||||
|
||||
node_type = G.nodes[vessel].get('type', '')
|
||||
vessel_data = G.nodes[vessel].get('data', {})
|
||||
vessel_data = vessel["data"]
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
|
||||
debug_print(f"读取节点 '{vessel}' (类型: {node_type}) 体积数据: {vessel_data}")
|
||||
debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
|
||||
|
||||
# 🔧 如果是设备类型，尝试查找关联的容器
|
||||
if node_type == 'device':
|
||||
debug_print(f"'{vessel}' 是设备，尝试查找关联容器...")
|
||||
# 检查liquid_volume字段
|
||||
if "liquid_volume" in vessel_data:
|
||||
liquid_volume = vessel_data["liquid_volume"]
|
||||
|
||||
# 查找是否有内置容器数据
|
||||
config_data = G.nodes[vessel].get('config', {})
|
||||
if 'volume' in config_data:
|
||||
default_volume = config_data.get('volume', 100.0)
|
||||
debug_print(f"使用设备默认容量: {default_volume}mL")
|
||||
return default_volume
|
||||
# 处理列表格式
|
||||
if isinstance(liquid_volume, list):
|
||||
if len(liquid_volume) > 0:
|
||||
volume = liquid_volume[0]
|
||||
if isinstance(volume, (int, float)):
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
|
||||
return float(volume)
|
||||
|
||||
# 对于旋蒸等设备，使用默认值
|
||||
if 'rotavap' in vessel.lower():
|
||||
default_volume = 100.0
|
||||
debug_print(f"旋蒸设备使用默认容量: {default_volume}mL")
|
||||
return default_volume
|
||||
|
||||
debug_print(f"⚠️ 设备 '{vessel}' 无法确定容量，返回0")
|
||||
return 0.0
|
||||
# 处理直接数值格式
|
||||
elif isinstance(liquid_volume, (int, float)):
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
|
||||
return float(liquid_volume)
|
||||
|
||||
# 🔧 如果是容器类型，正常读取体积
|
||||
total_volume = 0.0
|
||||
|
||||
# 方法1：检查液体列表
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
if isinstance(liquids, list):
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
volume = liquid.get('volume') or liquid.get('liquid_volume', 0.0)
|
||||
total_volume += volume
|
||||
|
||||
# 方法2：检查直接体积字段
|
||||
if total_volume == 0.0:
|
||||
volume_keys = ['current_volume', 'total_volume', 'volume', 'liquid_volume']
|
||||
for key in volume_keys:
|
||||
if key in vessel_data:
|
||||
try:
|
||||
total_volume = float(vessel_data[key])
|
||||
if total_volume > 0:
|
||||
break
|
||||
except (ValueError, TypeError):
|
||||
continue
|
||||
|
||||
# 方法3：检查配置中的初始体积
|
||||
if total_volume == 0.0:
|
||||
config_data = G.nodes[vessel].get('config', {})
|
||||
if 'current_volume' in config_data:
|
||||
# 检查其他可能的体积字段
|
||||
volume_keys = ['current_volume', 'total_volume', 'volume']
|
||||
for key in volume_keys:
|
||||
if key in vessel_data:
|
||||
try:
|
||||
total_volume = float(config_data['current_volume'])
|
||||
volume = float(vessel_data[key])
|
||||
if volume > 0:
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
|
||||
return volume
|
||||
except (ValueError, TypeError):
|
||||
pass
|
||||
continue
|
||||
|
||||
debug_print(f"容器 '{vessel}' 总体积: {total_volume}mL")
|
||||
return total_volume
|
||||
debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 50.0mL")
|
||||
return 50.0
|
||||
|
||||
def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
|
||||
"""
|
||||
更新容器体积（同时更新vessel字典和图节点）
|
||||
|
||||
Args:
|
||||
vessel: 容器字典
|
||||
G: 网络图
|
||||
new_volume: 新体积
|
||||
description: 更新描述
|
||||
"""
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
|
||||
if description:
|
||||
debug_print(f"🔧 更新容器体积 - {description}")
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel:
|
||||
if "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [new_volume]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"] = {"liquid_volume": new_volume}
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
|
||||
|
||||
debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
|
||||
|
||||
def calculate_solvent_volumes(total_volume: float, pct1: float, pct2: float) -> tuple:
|
||||
"""根据百分比计算溶剂体积"""
|
||||
volume1 = (total_volume * pct1) / 100.0
|
||||
volume2 = (total_volume * pct2) / 100.0
|
||||
|
||||
debug_print(f"溶剂体积计算: 总体积{total_volume}mL")
|
||||
debug_print(f"🧮 溶剂体积计算: 总体积{total_volume}mL")
|
||||
debug_print(f" - 溶剂1: {pct1}% = {volume1}mL")
|
||||
debug_print(f" - 溶剂2: {pct2}% = {volume2}mL")
|
||||
|
||||
@@ -338,8 +372,8 @@ def calculate_solvent_volumes(total_volume: float, pct1: float, pct2: float) ->
|
||||
|
||||
def generate_run_column_protocol(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
from_vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
to_vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
column: str,
|
||||
rf: str = "",
|
||||
pct1: str = "",
|
||||
@@ -350,14 +384,12 @@ def generate_run_column_protocol(
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成柱层析分离的协议序列 - 增强版
|
||||
|
||||
支持新版XDL的所有参数，具有高兼容性和容错性
|
||||
生成柱层析分离的协议序列 - 支持vessel字典和体积运算
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器，边为流体管道
|
||||
from_vessel: 源容器的名称，即样品起始所在的容器（必需）
|
||||
to_vessel: 目标容器的名称，分离后的样品要到达的容器（必需）
|
||||
from_vessel: 源容器字典（从XDL传入）
|
||||
to_vessel: 目标容器字典（从XDL传入）
|
||||
column: 所使用的柱子的名称（必需）
|
||||
rf: Rf值（可选，支持 "?" 表示未知）
|
||||
pct1: 第一种溶剂百分比（如 "40 %"，可选）
|
||||
@@ -371,51 +403,60 @@ def generate_run_column_protocol(
|
||||
List[Dict[str, Any]]: 柱层析分离操作的动作序列
|
||||
"""
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("开始生成柱层析协议")
|
||||
debug_print(f"输入参数:")
|
||||
debug_print(f" - from_vessel: '{from_vessel}'")
|
||||
debug_print(f" - to_vessel: '{to_vessel}'")
|
||||
debug_print(f" - column: '{column}'")
|
||||
debug_print(f" - rf: '{rf}'")
|
||||
debug_print(f" - pct1: '{pct1}'")
|
||||
debug_print(f" - pct2: '{pct2}'")
|
||||
debug_print(f" - solvent1: '{solvent1}'")
|
||||
debug_print(f" - solvent2: '{solvent2}'")
|
||||
debug_print(f" - ratio: '{ratio}'")
|
||||
debug_print(f" - 其他参数: {kwargs}")
|
||||
debug_print("=" * 60)
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
from_vessel_id = from_vessel["id"]
|
||||
to_vessel_id = to_vessel["id"]
|
||||
|
||||
debug_print("🏛️" * 20)
|
||||
debug_print("🚀 开始生成柱层析协议（支持vessel字典和体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 from_vessel: {from_vessel} (ID: {from_vessel_id})")
|
||||
debug_print(f" 🥽 to_vessel: {to_vessel} (ID: {to_vessel_id})")
|
||||
debug_print(f" 🏛️ column: '{column}'")
|
||||
debug_print(f" 📊 rf: '{rf}'")
|
||||
debug_print(f" 🧪 溶剂配比: pct1='{pct1}', pct2='{pct2}', ratio='{ratio}'")
|
||||
debug_print(f" 🧪 溶剂名称: solvent1='{solvent1}', solvent2='{solvent2}'")
|
||||
debug_print("🏛️" * 20)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# === 参数验证 ===
|
||||
debug_print("步骤1: 参数验证...")
|
||||
# 🔧 新增：记录柱层析前的容器状态
|
||||
debug_print("🔍 记录柱层析前容器状态...")
|
||||
original_from_volume = get_vessel_liquid_volume(from_vessel)
|
||||
original_to_volume = get_vessel_liquid_volume(to_vessel)
|
||||
|
||||
if not from_vessel:
|
||||
debug_print(f"📊 柱层析前状态:")
|
||||
debug_print(f" - 源容器 {from_vessel_id}: {original_from_volume:.2f}mL")
|
||||
debug_print(f" - 目标容器 {to_vessel_id}: {original_to_volume:.2f}mL")
|
||||
|
||||
# === 参数验证 ===
|
||||
debug_print("📍 步骤1: 参数验证...")
|
||||
|
||||
if not from_vessel_id: # 🔧 使用 from_vessel_id
|
||||
raise ValueError("from_vessel 参数不能为空")
|
||||
if not to_vessel:
|
||||
if not to_vessel_id: # 🔧 使用 to_vessel_id
|
||||
raise ValueError("to_vessel 参数不能为空")
|
||||
if not column:
|
||||
raise ValueError("column 参数不能为空")
|
||||
|
||||
if from_vessel not in G.nodes():
|
||||
raise ValueError(f"源容器 '{from_vessel}' 不存在于系统中")
|
||||
if to_vessel not in G.nodes():
|
||||
raise ValueError(f"目标容器 '{to_vessel}' 不存在于系统中")
|
||||
if from_vessel_id not in G.nodes(): # 🔧 使用 from_vessel_id
|
||||
raise ValueError(f"源容器 '{from_vessel_id}' 不存在于系统中")
|
||||
if to_vessel_id not in G.nodes(): # 🔧 使用 to_vessel_id
|
||||
raise ValueError(f"目标容器 '{to_vessel_id}' 不存在于系统中")
|
||||
|
||||
debug_print("✅ 基本参数验证通过")
|
||||
|
||||
# === 参数解析 ===
|
||||
debug_print("步骤2: 参数解析...")
|
||||
debug_print("📍 步骤2: 参数解析...")
|
||||
|
||||
# 解析Rf值
|
||||
final_rf = parse_rf_value(rf)
|
||||
debug_print(f"最终Rf值: {final_rf}")
|
||||
debug_print(f"🎯 最终Rf值: {final_rf}")
|
||||
|
||||
# 解析溶剂比例（ratio优先级高于pct1/pct2）
|
||||
if ratio and ratio.strip():
|
||||
final_pct1, final_pct2 = parse_ratio(ratio)
|
||||
debug_print(f"使用ratio参数: {final_pct1:.1f}% : {final_pct2:.1f}%")
|
||||
debug_print(f"📊 使用ratio参数: {final_pct1:.1f}% : {final_pct2:.1f}%")
|
||||
else:
|
||||
final_pct1 = parse_percentage(pct1) if pct1 else 50.0
|
||||
final_pct2 = parse_percentage(pct2) if pct2 else 50.0
|
||||
@@ -428,16 +469,16 @@ def generate_run_column_protocol(
|
||||
final_pct1 = (final_pct1 / total_pct) * 100
|
||||
final_pct2 = (final_pct2 / total_pct) * 100
|
||||
|
||||
debug_print(f"使用百分比参数: {final_pct1:.1f}% : {final_pct2:.1f}%")
|
||||
debug_print(f"📊 使用百分比参数: {final_pct1:.1f}% : {final_pct2:.1f}%")
|
||||
|
||||
# 设置默认溶剂（如果未指定）
|
||||
final_solvent1 = solvent1.strip() if solvent1 else "ethyl_acetate"
|
||||
final_solvent2 = solvent2.strip() if solvent2 else "hexane"
|
||||
|
||||
debug_print(f"最终溶剂: {final_solvent1} : {final_solvent2}")
|
||||
debug_print(f"🧪 最终溶剂: {final_solvent1} : {final_solvent2}")
|
||||
|
||||
# === 查找设备和容器 ===
|
||||
debug_print("步骤3: 查找设备和容器...")
|
||||
debug_print("📍 步骤3: 查找设备和容器...")
|
||||
|
||||
# 查找柱层析设备
|
||||
column_device_id = find_column_device(G)
|
||||
@@ -449,24 +490,24 @@ def generate_run_column_protocol(
|
||||
solvent1_vessel = find_solvent_vessel(G, final_solvent1)
|
||||
solvent2_vessel = find_solvent_vessel(G, final_solvent2)
|
||||
|
||||
debug_print(f"设备映射:")
|
||||
debug_print(f"🔧 设备映射:")
|
||||
debug_print(f" - 柱设备: '{column_device_id}'")
|
||||
debug_print(f" - 柱容器: '{column_vessel}'")
|
||||
debug_print(f" - 溶剂1容器: '{solvent1_vessel}'")
|
||||
debug_print(f" - 溶剂2容器: '{solvent2_vessel}'")
|
||||
|
||||
# === 获取源容器体积 ===
|
||||
debug_print("步骤4: 获取源容器体积...")
|
||||
debug_print("📍 步骤4: 获取源容器体积...")
|
||||
|
||||
source_volume = get_vessel_liquid_volume(G, from_vessel)
|
||||
source_volume = original_from_volume
|
||||
if source_volume <= 0:
|
||||
source_volume = 100.0 # 默认体积
|
||||
source_volume = 50.0 # 默认体积
|
||||
debug_print(f"⚠️ 无法获取源容器体积，使用默认值: {source_volume}mL")
|
||||
else:
|
||||
debug_print(f"✅ 源容器体积: {source_volume}mL")
|
||||
|
||||
# === 计算溶剂体积 ===
|
||||
debug_print("步骤5: 计算溶剂体积...")
|
||||
debug_print("📍 步骤5: 计算溶剂体积...")
|
||||
|
||||
# 洗脱溶剂通常是样品体积的2-5倍
|
||||
total_elution_volume = source_volume * 3.0
|
||||
@@ -475,17 +516,22 @@ def generate_run_column_protocol(
|
||||
)
|
||||
|
||||
# === 执行柱层析流程 ===
|
||||
debug_print("步骤6: 执行柱层析流程...")
|
||||
debug_print("📍 步骤6: 执行柱层析流程...")
|
||||
|
||||
# 🔧 新增：体积变化跟踪变量
|
||||
current_from_volume = source_volume
|
||||
current_to_volume = original_to_volume
|
||||
current_column_volume = 0.0
|
||||
|
||||
try:
|
||||
# 步骤6.1: 样品上柱（如果有独立的柱容器）
|
||||
if column_vessel and column_vessel != from_vessel:
|
||||
debug_print(f"6.1: 样品上柱 - {source_volume}mL 从 {from_vessel} 到 {column_vessel}")
|
||||
if column_vessel and column_vessel != from_vessel_id: # 🔧 使用 from_vessel_id
|
||||
debug_print(f"📍 6.1: 样品上柱 - {source_volume}mL 从 {from_vessel_id} 到 {column_vessel}")
|
||||
|
||||
try:
|
||||
sample_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=from_vessel,
|
||||
from_vessel=from_vessel_id, # 🔧 使用 from_vessel_id
|
||||
to_vessel=column_vessel,
|
||||
volume=source_volume,
|
||||
flowrate=1.0, # 慢速上柱
|
||||
@@ -496,15 +542,29 @@ def generate_run_column_protocol(
|
||||
)
|
||||
action_sequence.extend(sample_transfer_actions)
|
||||
debug_print(f"✅ 样品上柱完成，添加了 {len(sample_transfer_actions)} 个动作")
|
||||
|
||||
# 🔧 新增：更新体积 - 样品转移到柱上
|
||||
current_from_volume = 0.0 # 源容器体积变为0
|
||||
current_column_volume = source_volume # 柱容器体积增加
|
||||
|
||||
update_vessel_volume(from_vessel, G, current_from_volume, "样品上柱后，源容器清空")
|
||||
|
||||
# 如果柱容器在图中，也更新其体积
|
||||
if column_vessel in G.nodes():
|
||||
if 'data' not in G.nodes[column_vessel]:
|
||||
G.nodes[column_vessel]['data'] = {}
|
||||
G.nodes[column_vessel]['data']['liquid_volume'] = current_column_volume
|
||||
debug_print(f"📊 柱容器 '{column_vessel}' 体积更新为: {current_column_volume:.2f}mL")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"⚠️ 样品上柱失败: {str(e)}")
|
||||
|
||||
# 步骤6.2: 添加洗脱溶剂1（如果有溶剂容器）
|
||||
if solvent1_vessel and solvent1_volume > 0:
|
||||
debug_print(f"6.2: 添加洗脱溶剂1 - {solvent1_volume:.1f}mL {final_solvent1}")
|
||||
debug_print(f"📍 6.2: 添加洗脱溶剂1 - {solvent1_volume:.1f}mL {final_solvent1}")
|
||||
|
||||
try:
|
||||
target_vessel = column_vessel if column_vessel else from_vessel
|
||||
target_vessel = column_vessel if column_vessel else from_vessel_id # 🔧 使用 from_vessel_id
|
||||
solvent1_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent1_vessel,
|
||||
@@ -515,15 +575,26 @@ def generate_run_column_protocol(
|
||||
)
|
||||
action_sequence.extend(solvent1_transfer_actions)
|
||||
debug_print(f"✅ 溶剂1添加完成，添加了 {len(solvent1_transfer_actions)} 个动作")
|
||||
|
||||
# 🔧 新增：更新体积 - 添加溶剂1
|
||||
if target_vessel == column_vessel:
|
||||
current_column_volume += solvent1_volume
|
||||
if column_vessel in G.nodes():
|
||||
G.nodes[column_vessel]['data']['liquid_volume'] = current_column_volume
|
||||
debug_print(f"📊 柱容器体积增加: +{solvent1_volume:.2f}mL = {current_column_volume:.2f}mL")
|
||||
elif target_vessel == from_vessel_id:
|
||||
current_from_volume += solvent1_volume
|
||||
update_vessel_volume(from_vessel, G, current_from_volume, "添加溶剂1后")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"⚠️ 溶剂1添加失败: {str(e)}")
|
||||
|
||||
# 步骤6.3: 添加洗脱溶剂2（如果有溶剂容器）
|
||||
if solvent2_vessel and solvent2_volume > 0:
|
||||
debug_print(f"6.3: 添加洗脱溶剂2 - {solvent2_volume:.1f}mL {final_solvent2}")
|
||||
debug_print(f"📍 6.3: 添加洗脱溶剂2 - {solvent2_volume:.1f}mL {final_solvent2}")
|
||||
|
||||
try:
|
||||
target_vessel = column_vessel if column_vessel else from_vessel
|
||||
target_vessel = column_vessel if column_vessel else from_vessel_id # 🔧 使用 from_vessel_id
|
||||
solvent2_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent2_vessel,
|
||||
@@ -534,19 +605,30 @@ def generate_run_column_protocol(
|
||||
)
|
||||
action_sequence.extend(solvent2_transfer_actions)
|
||||
debug_print(f"✅ 溶剂2添加完成，添加了 {len(solvent2_transfer_actions)} 个动作")
|
||||
|
||||
# 🔧 新增：更新体积 - 添加溶剂2
|
||||
if target_vessel == column_vessel:
|
||||
current_column_volume += solvent2_volume
|
||||
if column_vessel in G.nodes():
|
||||
G.nodes[column_vessel]['data']['liquid_volume'] = current_column_volume
|
||||
debug_print(f"📊 柱容器体积增加: +{solvent2_volume:.2f}mL = {current_column_volume:.2f}mL")
|
||||
elif target_vessel == from_vessel_id:
|
||||
current_from_volume += solvent2_volume
|
||||
update_vessel_volume(from_vessel, G, current_from_volume, "添加溶剂2后")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"⚠️ 溶剂2添加失败: {str(e)}")
|
||||
|
||||
# 步骤6.4: 使用柱层析设备执行分离（如果有设备）
|
||||
if column_device_id:
|
||||
debug_print(f"6.4: 使用柱层析设备执行分离")
|
||||
debug_print(f"📍 6.4: 使用柱层析设备执行分离")
|
||||
|
||||
column_separation_action = {
|
||||
"device_id": column_device_id,
|
||||
"action_name": "run_column",
|
||||
"action_kwargs": {
|
||||
"from_vessel": from_vessel,
|
||||
"to_vessel": to_vessel,
|
||||
"from_vessel": from_vessel_id, # 🔧 使用 from_vessel_id
|
||||
"to_vessel": to_vessel_id, # 🔧 使用 to_vessel_id
|
||||
"column": column,
|
||||
"rf": rf,
|
||||
"pct1": pct1,
|
||||
@@ -560,7 +642,7 @@ def generate_run_column_protocol(
|
||||
debug_print(f"✅ 柱层析设备动作已添加")
|
||||
|
||||
# 等待分离完成
|
||||
separation_time = max(30, int(total_elution_volume / 2)) # 基于体积估算时间
|
||||
separation_time = max(30, min(120, int(total_elution_volume / 2))) # 30-120秒，基于体积
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": separation_time}
|
||||
@@ -568,101 +650,159 @@ def generate_run_column_protocol(
|
||||
debug_print(f"✅ 等待分离完成: {separation_time}秒")
|
||||
|
||||
# 步骤6.5: 产物收集（从柱容器到目标容器）
|
||||
if column_vessel and column_vessel != to_vessel:
|
||||
debug_print(f"6.5: 产物收集 - 从 {column_vessel} 到 {to_vessel}")
|
||||
if column_vessel and column_vessel != to_vessel_id: # 🔧 使用 to_vessel_id
|
||||
debug_print(f"📍 6.5: 产物收集 - 从 {column_vessel} 到 {to_vessel_id}")
|
||||
|
||||
try:
|
||||
# 估算产物体积（原始样品体积的70-90%）
|
||||
# 估算产物体积（原始样品体积的70-90%，收率考虑）
|
||||
product_volume = source_volume * 0.8
|
||||
|
||||
product_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=column_vessel,
|
||||
to_vessel=to_vessel,
|
||||
to_vessel=to_vessel_id, # 🔧 使用 to_vessel_id
|
||||
volume=product_volume,
|
||||
flowrate=1.5,
|
||||
transfer_flowrate=0.8
|
||||
)
|
||||
action_sequence.extend(product_transfer_actions)
|
||||
debug_print(f"✅ 产物收集完成，添加了 {len(product_transfer_actions)} 个动作")
|
||||
|
||||
# 🔧 新增：更新体积 - 产物收集到目标容器
|
||||
current_to_volume += product_volume
|
||||
current_column_volume -= product_volume # 柱容器体积减少
|
||||
|
||||
update_vessel_volume(to_vessel, G, current_to_volume, "产物收集后")
|
||||
|
||||
# 更新柱容器体积
|
||||
if column_vessel in G.nodes():
|
||||
G.nodes[column_vessel]['data']['liquid_volume'] = max(0.0, current_column_volume)
|
||||
debug_print(f"📊 柱容器体积减少: -{product_volume:.2f}mL = {current_column_volume:.2f}mL")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"⚠️ 产物收集失败: {str(e)}")
|
||||
|
||||
# 步骤6.6: 如果没有独立的柱设备和容器，执行简化的直接转移
|
||||
if not column_device_id and not column_vessel:
|
||||
debug_print(f"6.6: 简化模式 - 直接转移 {source_volume}mL 从 {from_vessel} 到 {to_vessel}")
|
||||
debug_print(f"📍 6.6: 简化模式 - 直接转移 {source_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}")
|
||||
|
||||
try:
|
||||
direct_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=from_vessel,
|
||||
to_vessel=to_vessel,
|
||||
from_vessel=from_vessel_id, # 🔧 使用 from_vessel_id
|
||||
to_vessel=to_vessel_id, # 🔧 使用 to_vessel_id
|
||||
volume=source_volume,
|
||||
flowrate=2.0,
|
||||
transfer_flowrate=1.0
|
||||
)
|
||||
action_sequence.extend(direct_transfer_actions)
|
||||
debug_print(f"✅ 直接转移完成，添加了 {len(direct_transfer_actions)} 个动作")
|
||||
|
||||
# 🔧 新增：更新体积 - 直接转移
|
||||
current_from_volume = 0.0 # 源容器清空
|
||||
current_to_volume += source_volume # 目标容器增加
|
||||
|
||||
update_vessel_volume(from_vessel, G, current_from_volume, "直接转移后，源容器清空")
|
||||
update_vessel_volume(to_vessel, G, current_to_volume, "直接转移后，目标容器增加")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"⚠️ 直接转移失败: {str(e)}")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 柱层析流程执行失败: {str(e)}")
|
||||
# 添加错误日志动作
|
||||
debug_print(f"❌ 协议生成失败: {str(e)} 😭")
|
||||
|
||||
# 不添加不确定的动作，直接让action_sequence保持为空列表
|
||||
# action_sequence 已经在函数开始时初始化为 []
|
||||
|
||||
# 确保至少有一个有效的动作，如果完全失败就返回空列表
|
||||
if not action_sequence:
|
||||
debug_print("⚠️ 没有生成任何有效动作")
|
||||
# 可以选择返回空列表或添加一个基本的等待动作
|
||||
action_sequence.append({
|
||||
"device_id": "system",
|
||||
"action_name": "log_message",
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"message": f"柱层析失败: {str(e)}"
|
||||
"time": 1.0,
|
||||
"description": "柱层析协议执行完成"
|
||||
}
|
||||
})
|
||||
|
||||
# === 最终结果 ===
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"✅ 柱层析协议生成完成")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)}")
|
||||
debug_print(f"📋 参数总结:")
|
||||
debug_print(f" - 源容器: {from_vessel} ({source_volume}mL)")
|
||||
debug_print(f" - 目标容器: {to_vessel}")
|
||||
debug_print(f" - 柱子: {column}")
|
||||
debug_print(f" - Rf值: {final_rf}")
|
||||
debug_print(f" - 溶剂比例: {final_solvent1} {final_pct1:.1f}% : {final_solvent2} {final_pct2:.1f}%")
|
||||
debug_print(f" - 洗脱体积: {solvent1_volume:.1f}mL + {solvent2_volume:.1f}mL")
|
||||
debug_print("=" * 60)
|
||||
# 🔧 新增：柱层析完成后的最终状态报告
|
||||
final_from_volume = get_vessel_liquid_volume(from_vessel)
|
||||
final_to_volume = get_vessel_liquid_volume(to_vessel)
|
||||
|
||||
# 🎊 总结
|
||||
debug_print("🏛️" * 20)
|
||||
debug_print(f"🎉 柱层析协议生成完成! ✨")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)} 个")
|
||||
debug_print(f"🥽 路径: {from_vessel_id} → {to_vessel_id}")
|
||||
debug_print(f"🏛️ 柱子: {column}")
|
||||
debug_print(f"🧪 溶剂: {final_solvent1}:{final_solvent2} = {final_pct1:.1f}%:{final_pct2:.1f}%")
|
||||
debug_print(f"📊 体积变化统计:")
|
||||
debug_print(f" 源容器 {from_vessel_id}:")
|
||||
debug_print(f" - 柱层析前: {original_from_volume:.2f}mL")
|
||||
debug_print(f" - 柱层析后: {final_from_volume:.2f}mL")
|
||||
debug_print(f" 目标容器 {to_vessel_id}:")
|
||||
debug_print(f" - 柱层析前: {original_to_volume:.2f}mL")
|
||||
debug_print(f" - 柱层析后: {final_to_volume:.2f}mL")
|
||||
debug_print(f" - 收集体积: {final_to_volume - original_to_volume:.2f}mL")
|
||||
debug_print(f"⏱️ 预计总时间: {len(action_sequence) * 5:.0f} 秒 ⌛")
|
||||
debug_print("🏛️" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
# === 便捷函数 ===
|
||||
# 🔧 新增：便捷函数
|
||||
def generate_ethyl_acetate_hexane_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
column: str, ratio: str = "30:70") -> List[Dict[str, Any]]:
|
||||
"""乙酸乙酯-己烷柱层析（常用组合）"""
|
||||
from_vessel_id = from_vessel["id"]
|
||||
to_vessel_id = to_vessel["id"]
|
||||
debug_print(f"🧪⛽ 乙酸乙酯-己烷柱层析: {from_vessel_id} → {to_vessel_id} @ {ratio}")
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column,
|
||||
solvent1="ethyl_acetate", solvent2="hexane", ratio=ratio)
|
||||
|
||||
def generate_silica_gel_column_protocol(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""硅胶柱层析协议便捷函数"""
|
||||
return generate_run_column_protocol(
|
||||
G, from_vessel, to_vessel,
|
||||
column="silica_column",
|
||||
solvent1="ethyl_acetate",
|
||||
solvent2="hexane",
|
||||
ratio="1:9", # 常见的EA:Hex比例
|
||||
**kwargs
|
||||
)
|
||||
def generate_methanol_dcm_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
column: str, ratio: str = "5:95") -> List[Dict[str, Any]]:
|
||||
"""甲醇-二氯甲烷柱层析"""
|
||||
from_vessel_id = from_vessel["id"]
|
||||
to_vessel_id = to_vessel["id"]
|
||||
debug_print(f"🧪🧪 甲醇-DCM柱层析: {from_vessel_id} → {to_vessel_id} @ {ratio}")
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column,
|
||||
solvent1="methanol", solvent2="dichloromethane", ratio=ratio)
|
||||
|
||||
def generate_reverse_phase_column_protocol(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""反相柱层析协议便捷函数"""
|
||||
return generate_run_column_protocol(
|
||||
G, from_vessel, to_vessel,
|
||||
column="c18_column",
|
||||
solvent1="methanol",
|
||||
solvent2="water",
|
||||
ratio="7:3", # 常见的MeOH:H2O比例
|
||||
**kwargs
|
||||
)
|
||||
def generate_gradient_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
column: str, start_ratio: str = "10:90",
|
||||
end_ratio: str = "50:50") -> List[Dict[str, Any]]:
|
||||
"""梯度洗脱柱层析（中等比例）"""
|
||||
from_vessel_id = from_vessel["id"]
|
||||
to_vessel_id = to_vessel["id"]
|
||||
debug_print(f"📈 梯度柱层析: {from_vessel_id} → {to_vessel_id} ({start_ratio} → {end_ratio})")
|
||||
# 使用中间比例作为近似
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column, ratio="30:70")
|
||||
|
||||
def generate_polar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
column: str) -> List[Dict[str, Any]]:
|
||||
"""极性化合物柱层析（高极性溶剂比例）"""
|
||||
from_vessel_id = from_vessel["id"]
|
||||
to_vessel_id = to_vessel["id"]
|
||||
debug_print(f"⚡ 极性化合物柱层析: {from_vessel_id} → {to_vessel_id}")
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column,
|
||||
solvent1="ethyl_acetate", solvent2="hexane", ratio="70:30")
|
||||
|
||||
def generate_nonpolar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
column: str) -> List[Dict[str, Any]]:
|
||||
"""非极性化合物柱层析（低极性溶剂比例）"""
|
||||
from_vessel_id = from_vessel["id"]
|
||||
to_vessel_id = to_vessel["id"]
|
||||
debug_print(f"🛢️ 非极性化合物柱层析: {from_vessel_id} → {to_vessel_id}")
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column,
|
||||
solvent1="ethyl_acetate", solvent2="hexane", ratio="5:95")
|
||||
|
||||
# 测试函数
|
||||
def test_run_column_protocol():
|
||||
"""测试柱层析协议"""
|
||||
debug_print("🧪 === RUN COLUMN PROTOCOL 测试 === ✨")
|
||||
debug_print("✅ 测试完成 🎉")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_run_column_protocol()
|
||||
|
||||
|
||||
@@ -1,15 +1,67 @@
|
||||
import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
import sys
|
||||
from typing import List, Dict, Any, Union
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
# 确保输出编码为UTF-8
|
||||
if hasattr(sys.stdout, 'reconfigure'):
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding='utf-8')
|
||||
sys.stderr.reconfigure(encoding='utf-8')
|
||||
except:
|
||||
pass
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"[SEPARATE] {message}", flush=True)
|
||||
logger.info(f"[SEPARATE] {message}")
|
||||
"""调试输出函数 - 支持中文"""
|
||||
try:
|
||||
# 确保消息是字符串格式
|
||||
safe_message = str(message)
|
||||
print(f"🌀 [SEPARATE] {safe_message}", flush=True)
|
||||
logger.info(f"[SEPARATE] {safe_message}")
|
||||
except UnicodeEncodeError:
|
||||
# 如果编码失败，尝试替换不支持的字符
|
||||
safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
|
||||
print(f"🌀 [SEPARATE] {safe_message}", flush=True)
|
||||
logger.info(f"[SEPARATE] {safe_message}")
|
||||
except Exception as e:
|
||||
# 最后的安全措施
|
||||
fallback_message = f"日志输出错误: {repr(message)}"
|
||||
print(f"🌀 [SEPARATE] {fallback_message}", flush=True)
|
||||
logger.info(f"[SEPARATE] {fallback_message}")
|
||||
|
||||
def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
|
||||
"""创建一个动作日志 - 支持中文和emoji"""
|
||||
try:
|
||||
full_message = f"{emoji} {message}"
|
||||
debug_print(full_message)
|
||||
logger.info(full_message)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message,
|
||||
"progress_message": full_message
|
||||
}
|
||||
}
|
||||
except Exception as e:
|
||||
# 如果emoji有问题，使用纯文本
|
||||
safe_message = f"[日志] {message}"
|
||||
debug_print(safe_message)
|
||||
logger.info(safe_message)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": safe_message,
|
||||
"progress_message": safe_message
|
||||
}
|
||||
}
|
||||
|
||||
def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
"""
|
||||
@@ -22,52 +74,58 @@ def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
float: 体积（毫升）
|
||||
"""
|
||||
if isinstance(volume_input, (int, float)):
|
||||
debug_print(f"📏 体积输入为数值: {volume_input}")
|
||||
return float(volume_input)
|
||||
|
||||
if not volume_input or not str(volume_input).strip():
|
||||
debug_print(f"⚠️ 体积输入为空，返回 0.0mL")
|
||||
return 0.0
|
||||
|
||||
volume_str = str(volume_input).lower().strip()
|
||||
debug_print(f"解析体积输入: '{volume_str}'")
|
||||
debug_print(f"🔍 解析体积输入: '{volume_str}'")
|
||||
|
||||
# 处理未知体积
|
||||
if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
if volume_str in ['?', 'unknown', 'tbd', 'to be determined', '未知', '待定']:
|
||||
default_volume = 100.0 # 默认100mL
|
||||
debug_print(f"检测到未知体积，使用默认值: {default_volume}mL")
|
||||
debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL")
|
||||
return default_volume
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
volume_clean = re.sub(r'\s+', '', volume_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter|毫升|升|微升)?', volume_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析体积: '{volume_str}'，使用默认值100mL")
|
||||
debug_print(f"⚠️ 无法解析体积: '{volume_str}'，使用默认值 100mL")
|
||||
return 100.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 'ml' # 默认单位为毫升
|
||||
|
||||
# 转换为毫升
|
||||
if unit in ['l', 'liter']:
|
||||
if unit in ['l', 'liter', '升']:
|
||||
volume = value * 1000.0 # L -> mL
|
||||
elif unit in ['μl', 'ul', 'microliter']:
|
||||
debug_print(f"🔄 体积转换: {value}L -> {volume}mL")
|
||||
elif unit in ['μl', 'ul', 'microliter', '微升']:
|
||||
volume = value / 1000.0 # μL -> mL
|
||||
else: # ml, milliliter 或默认
|
||||
debug_print(f"🔄 体积转换: {value}μL -> {volume}mL")
|
||||
else: # ml, milliliter, 毫升 或默认
|
||||
volume = value # 已经是mL
|
||||
debug_print(f"✅ 体积已为毫升单位: {volume}mL")
|
||||
|
||||
debug_print(f"体积转换: {value}{unit} → {volume}mL")
|
||||
return volume
|
||||
|
||||
def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""查找溶剂容器"""
|
||||
"""查找溶剂容器，支持多种匹配模式"""
|
||||
if not solvent or not solvent.strip():
|
||||
debug_print("⏭️ 未指定溶剂，跳过溶剂容器查找")
|
||||
return ""
|
||||
|
||||
debug_print(f"查找溶剂 '{solvent}' 的容器...")
|
||||
debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器...")
|
||||
|
||||
# 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
|
||||
debug_print(f"📋 方法1: 搜索试剂字段...")
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node].get('data', {})
|
||||
node_type = G.nodes[node].get('type', '')
|
||||
@@ -80,16 +138,17 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
|
||||
# 精确匹配
|
||||
if reagent_name == solvent.lower() or config_reagent == solvent.lower():
|
||||
debug_print(f"✅ 通过reagent字段找到容器: {node}")
|
||||
debug_print(f"✅ 通过试剂字段精确匹配找到容器: {node}")
|
||||
return node
|
||||
|
||||
# 模糊匹配
|
||||
if (solvent.lower() in reagent_name and reagent_name) or \
|
||||
(solvent.lower() in config_reagent and config_reagent):
|
||||
debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node}")
|
||||
debug_print(f"✅ 通过试剂字段模糊匹配找到容器: {node}")
|
||||
return node
|
||||
|
||||
# 🔧 方法2：常见的容器命名规则
|
||||
debug_print(f"📋 方法2: 使用命名规则...")
|
||||
solvent_clean = solvent.lower().replace(' ', '_').replace('-', '_')
|
||||
possible_names = [
|
||||
f"flask_{solvent_clean}",
|
||||
@@ -99,9 +158,14 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
f"{solvent_clean}_bottle",
|
||||
f"solvent_{solvent_clean}",
|
||||
f"reagent_{solvent_clean}",
|
||||
f"reagent_bottle_{solvent_clean}"
|
||||
f"reagent_bottle_{solvent_clean}",
|
||||
f"reagent_bottle_1", # 通用试剂瓶
|
||||
f"reagent_bottle_2",
|
||||
f"reagent_bottle_3"
|
||||
]
|
||||
|
||||
debug_print(f"🎯 尝试的容器名称: {possible_names[:5]}... (共 {len(possible_names)} 个)")
|
||||
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
node_type = G.nodes[name].get('type', '')
|
||||
@@ -110,68 +174,209 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
return name
|
||||
|
||||
# 🔧 方法3：使用第一个试剂瓶作为备选
|
||||
debug_print(f"📋 方法3: 查找备用试剂瓶...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
if (node_data.get('type') == 'container' and
|
||||
('reagent' in node_id.lower() or 'bottle' in node_id.lower())):
|
||||
debug_print(f"⚠️ 未找到专用容器，使用备选容器: {node_id}")
|
||||
debug_print(f"⚠️ 未找到专用容器，使用备用容器: {node_id}")
|
||||
return node_id
|
||||
|
||||
debug_print(f"⚠️ 未找到溶剂 '{solvent}' 的容器")
|
||||
debug_print(f"❌ 无法找到溶剂 '{solvent}' 的容器")
|
||||
return ""
|
||||
|
||||
def find_separator_device(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找分离器设备"""
|
||||
debug_print(f"查找容器 '{vessel}' 对应的分离器设备...")
|
||||
"""查找分离器设备，支持多种查找方式"""
|
||||
debug_print(f"🔍 正在查找容器 '{vessel}' 的分离器设备...")
|
||||
|
||||
# 方法1：查找连接到容器的分离器设备
|
||||
debug_print(f"📋 方法1: 检查连接的分离器...")
|
||||
separator_nodes = []
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'separator' in node_class:
|
||||
separator_nodes.append(node)
|
||||
debug_print(f"📋 发现分离器设备: {node}")
|
||||
|
||||
# 检查是否连接到目标容器
|
||||
if G.has_edge(node, vessel) or G.has_edge(vessel, node):
|
||||
debug_print(f"✅ 找到连接的分离器: {node}")
|
||||
return node
|
||||
|
||||
debug_print(f"📊 找到的分离器总数: {len(separator_nodes)}")
|
||||
|
||||
# 方法2：根据命名规则查找
|
||||
debug_print(f"📋 方法2: 使用命名规则...")
|
||||
possible_names = [
|
||||
f"{vessel}_controller",
|
||||
f"{vessel}_separator",
|
||||
vessel, # 容器本身可能就是分离器
|
||||
"separator_1",
|
||||
"virtual_separator"
|
||||
"virtual_separator",
|
||||
"liquid_handler_1", # 液体处理器也可能用于分离
|
||||
"controller_1"
|
||||
]
|
||||
|
||||
debug_print(f"🎯 尝试的分离器名称: {possible_names}")
|
||||
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
node_class = G.nodes[name].get('class', '').lower()
|
||||
if 'separator' in node_class:
|
||||
if 'separator' in node_class or 'controller' in node_class:
|
||||
debug_print(f"✅ 通过命名规则找到分离器: {name}")
|
||||
return name
|
||||
|
||||
# 方法3：查找第一个分离器设备
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'separator' in node_class:
|
||||
debug_print(f"⚠️ 使用第一个分离器设备: {node}")
|
||||
return node
|
||||
debug_print(f"📋 方法3: 使用第一个可用分离器...")
|
||||
if separator_nodes:
|
||||
debug_print(f"⚠️ 使用第一个分离器设备: {separator_nodes[0]}")
|
||||
return separator_nodes[0]
|
||||
|
||||
debug_print(f"⚠️ 未找到分离器设备")
|
||||
debug_print(f"❌ 未找到分离器设备")
|
||||
return ""
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找连接到指定容器的搅拌器"""
|
||||
debug_print(f"🔍 正在查找与容器 {vessel} 连接的搅拌器...")
|
||||
|
||||
stirrer_nodes = []
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
if 'stirrer' in node_class.lower():
|
||||
stirrer_nodes.append(node)
|
||||
debug_print(f"📋 发现搅拌器: {node}")
|
||||
|
||||
debug_print(f"📊 找到的搅拌器总数: {len(stirrer_nodes)}")
|
||||
|
||||
# 检查哪个搅拌器与目标容器相连
|
||||
for stirrer in stirrer_nodes:
|
||||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||||
debug_print(f"✅ 找到连接的搅拌器: {stirrer}")
|
||||
return stirrer
|
||||
|
||||
# 如果没有连接的搅拌器，返回第一个可用的
|
||||
if stirrer_nodes:
|
||||
debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个可用的: {stirrer_nodes[0]}")
|
||||
return stirrer_nodes[0]
|
||||
|
||||
debug_print("❌ 未找到搅拌器")
|
||||
return ""
|
||||
|
||||
def get_vessel_liquid_volume(vessel: dict) -> float:
|
||||
"""
|
||||
获取容器中的液体体积 - 支持vessel字典
|
||||
|
||||
Args:
|
||||
vessel: 容器字典
|
||||
|
||||
Returns:
|
||||
float: 液体体积（mL）
|
||||
"""
|
||||
if not vessel or "data" not in vessel:
|
||||
debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
|
||||
return 0.0
|
||||
|
||||
vessel_data = vessel["data"]
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
|
||||
debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
|
||||
|
||||
# 检查liquid_volume字段
|
||||
if "liquid_volume" in vessel_data:
|
||||
liquid_volume = vessel_data["liquid_volume"]
|
||||
|
||||
# 处理列表格式
|
||||
if isinstance(liquid_volume, list):
|
||||
if len(liquid_volume) > 0:
|
||||
volume = liquid_volume[0]
|
||||
if isinstance(volume, (int, float)):
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
|
||||
return float(volume)
|
||||
|
||||
# 处理直接数值格式
|
||||
elif isinstance(liquid_volume, (int, float)):
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
|
||||
return float(liquid_volume)
|
||||
|
||||
# 检查其他可能的体积字段
|
||||
volume_keys = ['current_volume', 'total_volume', 'volume']
|
||||
for key in volume_keys:
|
||||
if key in vessel_data:
|
||||
try:
|
||||
volume = float(vessel_data[key])
|
||||
if volume > 0:
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
|
||||
return volume
|
||||
except (ValueError, TypeError):
|
||||
continue
|
||||
|
||||
debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 50.0mL")
|
||||
return 50.0
|
||||
|
||||
def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
|
||||
"""
|
||||
更新容器体积（同时更新vessel字典和图节点）
|
||||
|
||||
Args:
|
||||
vessel: 容器字典
|
||||
G: 网络图
|
||||
new_volume: 新体积
|
||||
description: 更新描述
|
||||
"""
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
|
||||
if description:
|
||||
debug_print(f"🔧 更新容器体积 - {description}")
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel:
|
||||
if "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [new_volume]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"] = {"liquid_volume": new_volume}
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
|
||||
|
||||
debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
|
||||
|
||||
def generate_separate_protocol(
|
||||
G: nx.DiGraph,
|
||||
# 🔧 基础参数，支持XDL的vessel参数
|
||||
vessel: str = "", # XDL: 分离容器
|
||||
purpose: str = "separate", # 分离目的
|
||||
product_phase: str = "top", # 产物相
|
||||
vessel: dict = None, # 🔧 修改：从字符串改为字典类型
|
||||
purpose: str = "separate", # 分离目的
|
||||
product_phase: str = "top", # 产物相
|
||||
# 🔧 可选的详细参数
|
||||
from_vessel: str = "", # 源容器（通常在separate前已经transfer了）
|
||||
separation_vessel: str = "", # 分离容器（与vessel同义）
|
||||
to_vessel: str = "", # 目标容器（可选）
|
||||
waste_phase_to_vessel: str = "", # 废相目标容器
|
||||
product_vessel: str = "", # XDL: 产物容器（与to_vessel同义）
|
||||
waste_vessel: str = "", # XDL: 废液容器（与waste_phase_to_vessel同义）
|
||||
from_vessel: Union[str, dict] = "", # 源容器（通常在separate前已经transfer了）
|
||||
separation_vessel: Union[str, dict] = "", # 分离容器（与vessel同义）
|
||||
to_vessel: Union[str, dict] = "", # 目标容器（可选）
|
||||
waste_phase_to_vessel: Union[str, dict] = "", # 废相目标容器
|
||||
product_vessel: Union[str, dict] = "", # XDL: 产物容器（与to_vessel同义）
|
||||
waste_vessel: Union[str, dict] = "", # XDL: 废液容器（与waste_phase_to_vessel同义）
|
||||
# 🔧 溶剂相关参数
|
||||
solvent: str = "", # 溶剂名称
|
||||
solvent_volume: Union[str, float] = 0.0, # 溶剂体积
|
||||
@@ -185,10 +390,10 @@ def generate_separate_protocol(
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成分离操作的协议序列 - 修复版
|
||||
生成分离操作的协议序列 - 支持vessel字典和体积运算
|
||||
|
||||
支持XDL参数格式：
|
||||
- vessel: 分离容器（必需）
|
||||
- vessel: 分离容器字典（必需）
|
||||
- purpose: "wash", "extract", "separate"
|
||||
- product_phase: "top", "bottom"
|
||||
- product_vessel: 产物收集容器
|
||||
@@ -205,31 +410,64 @@ def generate_separate_protocol(
|
||||
5. 重复指定次数
|
||||
"""
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("开始生成分离协议 - 修复版")
|
||||
debug_print(f"原始参数:")
|
||||
debug_print(f" - vessel: '{vessel}'")
|
||||
debug_print(f" - purpose: '{purpose}'")
|
||||
debug_print(f" - product_phase: '{product_phase}'")
|
||||
debug_print(f" - solvent: '{solvent}'")
|
||||
debug_print(f" - volume: {volume} (类型: {type(volume)})")
|
||||
debug_print(f" - repeats: {repeats}")
|
||||
debug_print(f" - product_vessel: '{product_vessel}'")
|
||||
debug_print(f" - waste_vessel: '{waste_vessel}'")
|
||||
debug_print("=" * 60)
|
||||
# 🔧 核心修改：vessel参数兼容处理
|
||||
if vessel is None:
|
||||
if isinstance(separation_vessel, dict):
|
||||
vessel = separation_vessel
|
||||
else:
|
||||
raise ValueError("必须提供vessel字典参数")
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
# 统一处理vessel参数
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
|
||||
|
||||
debug_print("🌀" * 20)
|
||||
debug_print("🚀 开始生成分离协议（支持vessel字典和体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 🎯 分离目的: '{purpose}'")
|
||||
debug_print(f" 📊 产物相: '{product_phase}'")
|
||||
debug_print(f" 💧 溶剂: '{solvent}'")
|
||||
debug_print(f" 📏 体积: {volume} (类型: {type(volume)})")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
debug_print(f" 🎯 产物容器: '{product_vessel}'")
|
||||
debug_print(f" 🗑️ 废液容器: '{waste_vessel}'")
|
||||
debug_print(f" 📦 其他参数: {kwargs}")
|
||||
debug_print("🌀" * 20)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 🔧 新增：记录分离前的容器状态
|
||||
debug_print("🔍 记录分离前容器状态...")
|
||||
original_liquid_volume = get_vessel_liquid_volume(vessel)
|
||||
debug_print(f"📊 分离前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# === 参数验证和标准化 ===
|
||||
debug_print("步骤1: 参数验证和标准化...")
|
||||
debug_print("🔍 步骤1: 参数验证和标准化...")
|
||||
action_sequence.append(create_action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬"))
|
||||
action_sequence.append(create_action_log(f"分离目的: {purpose}", "🧪"))
|
||||
action_sequence.append(create_action_log(f"产物相: {product_phase}", "📊"))
|
||||
|
||||
# 统一容器参数
|
||||
final_vessel = vessel or separation_vessel
|
||||
if not final_vessel:
|
||||
raise ValueError("必须指定分离容器 (vessel 或 separation_vessel)")
|
||||
# 统一容器参数 - 支持字典和字符串
|
||||
def extract_vessel_id(vessel_param):
|
||||
if isinstance(vessel_param, dict):
|
||||
return vessel_param.get("id", "")
|
||||
elif isinstance(vessel_param, str):
|
||||
return vessel_param
|
||||
else:
|
||||
return ""
|
||||
|
||||
final_to_vessel = to_vessel or product_vessel
|
||||
final_waste_vessel = waste_phase_to_vessel or waste_vessel
|
||||
final_vessel_id = vessel_id
|
||||
final_to_vessel_id = extract_vessel_id(to_vessel) or extract_vessel_id(product_vessel)
|
||||
final_waste_vessel_id = extract_vessel_id(waste_phase_to_vessel) or extract_vessel_id(waste_vessel)
|
||||
|
||||
# 统一体积参数
|
||||
final_volume = parse_volume_input(volume or solvent_volume)
|
||||
@@ -237,14 +475,18 @@ def generate_separate_protocol(
|
||||
# 🔧 修复：确保repeats至少为1
|
||||
if repeats <= 0:
|
||||
repeats = 1
|
||||
debug_print(f"⚠️ repeats参数 <= 0，自动设置为1")
|
||||
debug_print(f"⚠️ 重复次数参数 <= 0，自动设置为 1")
|
||||
|
||||
debug_print(f"标准化参数:")
|
||||
debug_print(f" - 分离容器: '{final_vessel}'")
|
||||
debug_print(f" - 产物容器: '{final_to_vessel}'")
|
||||
debug_print(f" - 废液容器: '{final_waste_vessel}'")
|
||||
debug_print(f" - 溶剂体积: {final_volume}mL")
|
||||
debug_print(f" - 重复次数: {repeats}")
|
||||
debug_print(f"🔧 标准化后的参数:")
|
||||
debug_print(f" 🥼 分离容器: '{final_vessel_id}'")
|
||||
debug_print(f" 🎯 产物容器: '{final_to_vessel_id}'")
|
||||
debug_print(f" 🗑️ 废液容器: '{final_waste_vessel_id}'")
|
||||
debug_print(f" 📏 溶剂体积: {final_volume}mL")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
|
||||
action_sequence.append(create_action_log(f"分离容器: {final_vessel_id}", "🧪"))
|
||||
action_sequence.append(create_action_log(f"溶剂体积: {final_volume}mL", "📏"))
|
||||
action_sequence.append(create_action_log(f"重复次数: {repeats}", "🔄"))
|
||||
|
||||
# 验证必需参数
|
||||
if not purpose:
|
||||
@@ -254,66 +496,154 @@ def generate_separate_protocol(
|
||||
if purpose not in ["wash", "extract", "separate"]:
|
||||
debug_print(f"⚠️ 未知的分离目的 '{purpose}'，使用默认值 'separate'")
|
||||
purpose = "separate"
|
||||
action_sequence.append(create_action_log(f"未知目的，使用: {purpose}", "⚠️"))
|
||||
if product_phase not in ["top", "bottom"]:
|
||||
debug_print(f"⚠️ 未知的产物相 '{product_phase}'，使用默认值 'top'")
|
||||
product_phase = "top"
|
||||
action_sequence.append(create_action_log(f"未知相别，使用: {product_phase}", "⚠️"))
|
||||
|
||||
debug_print("✅ 参数验证通过")
|
||||
action_sequence.append(create_action_log("参数验证通过", "✅"))
|
||||
|
||||
# === 查找设备 ===
|
||||
debug_print("步骤2: 查找设备...")
|
||||
debug_print("🔍 步骤2: 查找设备...")
|
||||
action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
|
||||
|
||||
# 查找分离器设备
|
||||
separator_device = find_separator_device(G, final_vessel)
|
||||
if not separator_device:
|
||||
debug_print("⚠️ 未找到分离器设备，可能无法执行分离操作")
|
||||
separator_device = find_separator_device(G, final_vessel_id) # 🔧 使用 final_vessel_id
|
||||
if separator_device:
|
||||
action_sequence.append(create_action_log(f"找到分离器设备: {separator_device}", "🧪"))
|
||||
else:
|
||||
debug_print("⚠️ 未找到分离器设备，可能无法执行分离")
|
||||
action_sequence.append(create_action_log("未找到分离器设备", "⚠️"))
|
||||
|
||||
# 查找搅拌器
|
||||
stirrer_device = find_connected_stirrer(G, final_vessel_id) # 🔧 使用 final_vessel_id
|
||||
if stirrer_device:
|
||||
action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_device}", "🌪️"))
|
||||
else:
|
||||
action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
|
||||
|
||||
# 查找溶剂容器（如果需要）
|
||||
solvent_vessel = ""
|
||||
if solvent and solvent.strip():
|
||||
solvent_vessel = find_solvent_vessel(G, solvent)
|
||||
if solvent_vessel:
|
||||
action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "💧"))
|
||||
else:
|
||||
action_sequence.append(create_action_log(f"未找到溶剂容器: {solvent}", "⚠️"))
|
||||
|
||||
debug_print(f"设备映射:")
|
||||
debug_print(f" - 分离器设备: '{separator_device}'")
|
||||
debug_print(f" - 溶剂容器: '{solvent_vessel}'")
|
||||
debug_print(f"📊 设备配置:")
|
||||
debug_print(f" 🧪 分离器设备: '{separator_device}'")
|
||||
debug_print(f" 🌪️ 搅拌器设备: '{stirrer_device}'")
|
||||
debug_print(f" 💧 溶剂容器: '{solvent_vessel}'")
|
||||
|
||||
# === 执行分离流程 ===
|
||||
debug_print("步骤3: 执行分离流程...")
|
||||
debug_print("🔍 步骤3: 执行分离流程...")
|
||||
action_sequence.append(create_action_log("开始分离工作流程", "🎯"))
|
||||
|
||||
# 🔧 新增：体积变化跟踪变量
|
||||
current_volume = original_liquid_volume
|
||||
|
||||
try:
|
||||
for repeat_idx in range(repeats):
|
||||
debug_print(f"3.{repeat_idx+1}: 第 {repeat_idx+1}/{repeats} 次分离")
|
||||
cycle_num = repeat_idx + 1
|
||||
debug_print(f"🔄 第{cycle_num}轮: 开始分离循环 {cycle_num}/{repeats}")
|
||||
action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄"))
|
||||
|
||||
# 步骤3.1: 添加溶剂（如果需要）
|
||||
if solvent_vessel and final_volume > 0:
|
||||
debug_print(f"3.{repeat_idx+1}.1: 添加溶剂 {solvent} ({final_volume}mL)")
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤1: 添加溶剂 {solvent} ({final_volume}mL)")
|
||||
action_sequence.append(create_action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧"))
|
||||
|
||||
# 使用pump protocol添加溶剂
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent_vessel,
|
||||
to_vessel=final_vessel,
|
||||
volume=final_volume,
|
||||
amount="",
|
||||
time=0.0,
|
||||
viscous=False,
|
||||
rinsing_solvent="",
|
||||
rinsing_volume=0.0,
|
||||
rinsing_repeats=0,
|
||||
solid=False,
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5,
|
||||
rate_spec="",
|
||||
event="",
|
||||
through="",
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
debug_print(f"✅ 溶剂添加完成，添加了 {len(pump_actions)} 个动作")
|
||||
try:
|
||||
# 使用pump protocol添加溶剂
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent_vessel,
|
||||
to_vessel=final_vessel_id, # 🔧 使用 final_vessel_id
|
||||
volume=final_volume,
|
||||
amount="",
|
||||
time=0.0,
|
||||
viscous=False,
|
||||
rinsing_solvent="",
|
||||
rinsing_volume=0.0,
|
||||
rinsing_repeats=0,
|
||||
solid=False,
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5,
|
||||
rate_spec="",
|
||||
event="",
|
||||
through="",
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
debug_print(f"✅ 溶剂添加完成，添加了 {len(pump_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
|
||||
|
||||
# 🔧 新增：更新体积 - 添加溶剂后
|
||||
current_volume += final_volume
|
||||
update_vessel_volume(vessel, G, current_volume, f"添加{final_volume}mL {solvent}后")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 溶剂添加失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"溶剂添加失败: {str(e)}", "❌"))
|
||||
else:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤1: 无需添加溶剂")
|
||||
action_sequence.append(create_action_log("无需添加溶剂", "⏭️"))
|
||||
|
||||
# 步骤3.2: 执行分离操作
|
||||
# 步骤3.2: 启动搅拌（如果有搅拌器）
|
||||
if stirrer_device and stir_time > 0:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤2: 开始搅拌 ({stir_speed}rpm，持续 {stir_time}s)")
|
||||
action_sequence.append(create_action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️"))
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_device,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": final_vessel_id, # 🔧 使用 final_vessel_id
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"分离混合 - {purpose}"
|
||||
}
|
||||
})
|
||||
|
||||
# 搅拌等待
|
||||
stir_minutes = stir_time / 60
|
||||
action_sequence.append(create_action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": stir_time}
|
||||
})
|
||||
|
||||
# 停止搅拌
|
||||
action_sequence.append(create_action_log("停止搅拌器", "🛑"))
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_device,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {"vessel": final_vessel_id} # 🔧 使用 final_vessel_id
|
||||
})
|
||||
|
||||
else:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤2: 无需搅拌")
|
||||
action_sequence.append(create_action_log("无需搅拌", "⏭️"))
|
||||
|
||||
# 步骤3.3: 静置分层
|
||||
if settling_time > 0:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤3: 静置分层 ({settling_time}s)")
|
||||
settling_minutes = settling_time / 60
|
||||
action_sequence.append(create_action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": settling_time}
|
||||
})
|
||||
else:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤3: 未指定静置时间")
|
||||
action_sequence.append(create_action_log("未指定静置时间", "⏭️"))
|
||||
|
||||
# 步骤3.4: 执行分离操作
|
||||
if separator_device:
|
||||
debug_print(f"3.{repeat_idx+1}.2: 执行分离操作")
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤4: 执行分离操作")
|
||||
action_sequence.append(create_action_log(f"执行分离: 收集{product_phase}相", "🧪"))
|
||||
|
||||
# 调用分离器设备的separate方法
|
||||
separate_action = {
|
||||
@@ -322,39 +652,58 @@ def generate_separate_protocol(
|
||||
"action_kwargs": {
|
||||
"purpose": purpose,
|
||||
"product_phase": product_phase,
|
||||
"from_vessel": from_vessel or final_vessel,
|
||||
"separation_vessel": final_vessel,
|
||||
"to_vessel": final_to_vessel or final_vessel,
|
||||
"waste_phase_to_vessel": final_waste_vessel or final_vessel,
|
||||
"from_vessel": extract_vessel_id(from_vessel) or final_vessel_id, # 🔧 使用vessel_id
|
||||
"separation_vessel": final_vessel_id, # 🔧 使用 final_vessel_id
|
||||
"to_vessel": final_to_vessel_id or final_vessel_id, # 🔧 使用vessel_id
|
||||
"waste_phase_to_vessel": final_waste_vessel_id or final_vessel_id, # 🔧 使用vessel_id
|
||||
"solvent": solvent,
|
||||
"solvent_volume": final_volume,
|
||||
"through": through,
|
||||
"repeats": 1, # 每次调用只做一次分离
|
||||
"stir_time": stir_time,
|
||||
"stir_time": 0, # 已经在上面完成
|
||||
"stir_speed": stir_speed,
|
||||
"settling_time": settling_time
|
||||
"settling_time": 0 # 已经在上面完成
|
||||
}
|
||||
}
|
||||
action_sequence.append(separate_action)
|
||||
debug_print(f"✅ 分离操作添加完成")
|
||||
debug_print(f"✅ 分离操作已添加")
|
||||
action_sequence.append(create_action_log("分离操作完成", "✅"))
|
||||
|
||||
# 🔧 新增：分离后体积估算（分离通常不改变总体积，但会重新分配）
|
||||
# 假设分离后保持体积（实际情况可能有少量损失）
|
||||
separated_volume = current_volume * 0.95 # 假设5%损失
|
||||
update_vessel_volume(vessel, G, separated_volume, f"分离操作后（第{cycle_num}轮）")
|
||||
current_volume = separated_volume
|
||||
|
||||
# 收集结果
|
||||
if final_to_vessel_id:
|
||||
action_sequence.append(create_action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦"))
|
||||
if final_waste_vessel_id:
|
||||
action_sequence.append(create_action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️"))
|
||||
|
||||
else:
|
||||
debug_print(f"3.{repeat_idx+1}.2: 无分离器设备，跳过分离操作")
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤4: 无分离器设备，跳过分离")
|
||||
action_sequence.append(create_action_log("无分离器设备可用", "❌"))
|
||||
# 添加等待时间模拟分离
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": stir_time + settling_time}
|
||||
"action_kwargs": {"time": 10.0}
|
||||
})
|
||||
|
||||
# 等待间隔（除了最后一次）
|
||||
# 循环间等待（除了最后一次）
|
||||
if repeat_idx < repeats - 1:
|
||||
debug_print(f"🔄 第{cycle_num}轮: 等待下一次循环...")
|
||||
action_sequence.append(create_action_log("等待下一次循环...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5}
|
||||
})
|
||||
else:
|
||||
action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟"))
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"⚠️ 分离流程执行失败: {str(e)}")
|
||||
debug_print(f"❌ 分离工作流程执行失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"分离工作流程失败: {str(e)}", "❌"))
|
||||
# 添加错误日志
|
||||
action_sequence.append({
|
||||
"device_id": "system",
|
||||
@@ -364,85 +713,37 @@ def generate_separate_protocol(
|
||||
}
|
||||
})
|
||||
|
||||
# 🔧 新增：分离完成后的最终状态报告
|
||||
final_liquid_volume = get_vessel_liquid_volume(vessel)
|
||||
|
||||
# === 最终结果 ===
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"✅ 分离协议生成完成")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)}")
|
||||
debug_print(f"📋 处理总结:")
|
||||
debug_print(f" - 分离容器: {final_vessel}")
|
||||
debug_print(f" - 分离目的: {purpose}")
|
||||
debug_print(f" - 产物相: {product_phase}")
|
||||
debug_print(f" - 重复次数: {repeats}")
|
||||
total_time = (stir_time + settling_time + 15) * repeats # 估算总时间
|
||||
|
||||
debug_print("🌀" * 20)
|
||||
debug_print(f"🎉 分离协议生成完成")
|
||||
debug_print(f"📊 协议统计:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)}")
|
||||
debug_print(f" ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f} 分钟)")
|
||||
debug_print(f" 🥼 分离容器: {final_vessel_id}")
|
||||
debug_print(f" 🎯 分离目的: {purpose}")
|
||||
debug_print(f" 📊 产物相: {product_phase}")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
debug_print(f"💧 体积变化统计:")
|
||||
debug_print(f" - 分离前体积: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 分离后体积: {final_liquid_volume:.2f}mL")
|
||||
if solvent:
|
||||
debug_print(f" - 溶剂: {solvent} ({final_volume}mL)")
|
||||
if final_to_vessel:
|
||||
debug_print(f" - 产物容器: {final_to_vessel}")
|
||||
if final_waste_vessel:
|
||||
debug_print(f" - 废液容器: {final_waste_vessel}")
|
||||
debug_print("=" * 60)
|
||||
debug_print(f" 💧 溶剂: {solvent} ({final_volume}mL × {repeats}轮 = {final_volume * repeats:.2f}mL)")
|
||||
if final_to_vessel_id:
|
||||
debug_print(f" 🎯 产物容器: {final_to_vessel_id}")
|
||||
if final_waste_vessel_id:
|
||||
debug_print(f" 🗑️ 废液容器: {final_waste_vessel_id}")
|
||||
debug_print("🌀" * 20)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"分离协议完成: {final_vessel_id} ({purpose}，{repeats} 次循环)"
|
||||
if solvent:
|
||||
summary_msg += f"，使用 {final_volume * repeats:.2f}mL {solvent}"
|
||||
action_sequence.append(create_action_log(summary_msg, "🎉"))
|
||||
|
||||
return action_sequence
|
||||
|
||||
# === 便捷函数 ===
|
||||
|
||||
def separate_phases_only(G: nx.DiGraph, vessel: str, product_phase: str = "top",
|
||||
product_vessel: str = "", waste_vessel: str = "") -> List[Dict[str, Any]]:
|
||||
"""仅进行相分离（不添加溶剂）"""
|
||||
return generate_separate_protocol(
|
||||
G, vessel=vessel,
|
||||
purpose="separate",
|
||||
product_phase=product_phase,
|
||||
product_vessel=product_vessel,
|
||||
waste_vessel=waste_vessel
|
||||
)
|
||||
|
||||
def wash_with_solvent(G: nx.DiGraph, vessel: str, solvent: str, volume: Union[str, float],
|
||||
product_phase: str = "top", repeats: int = 1) -> List[Dict[str, Any]]:
|
||||
"""用溶剂洗涤"""
|
||||
return generate_separate_protocol(
|
||||
G, vessel=vessel,
|
||||
purpose="wash",
|
||||
product_phase=product_phase,
|
||||
solvent=solvent,
|
||||
volume=volume,
|
||||
repeats=repeats
|
||||
)
|
||||
|
||||
def extract_with_solvent(G: nx.DiGraph, vessel: str, solvent: str, volume: Union[str, float],
|
||||
product_phase: str = "bottom", repeats: int = 3) -> List[Dict[str, Any]]:
|
||||
"""用溶剂萃取"""
|
||||
return generate_separate_protocol(
|
||||
G, vessel=vessel,
|
||||
purpose="extract",
|
||||
product_phase=product_phase,
|
||||
solvent=solvent,
|
||||
volume=volume,
|
||||
repeats=repeats
|
||||
)
|
||||
|
||||
def separate_aqueous_organic(G: nx.DiGraph, vessel: str, organic_phase: str = "top",
|
||||
product_vessel: str = "", waste_vessel: str = "") -> List[Dict[str, Any]]:
|
||||
"""水-有机相分离"""
|
||||
return generate_separate_protocol(
|
||||
G, vessel=vessel,
|
||||
purpose="separate",
|
||||
product_phase=organic_phase,
|
||||
product_vessel=product_vessel,
|
||||
waste_vessel=waste_vessel
|
||||
)
|
||||
|
||||
# 测试函数
|
||||
def test_separate_protocol():
|
||||
"""测试分离协议的各种参数解析"""
|
||||
print("=== SEPARATE PROTOCOL 增强版测试 ===")
|
||||
|
||||
# 测试体积解析
|
||||
volumes = ["200 mL", "?", 100.0, "1 L", "500 μL"]
|
||||
for vol in volumes:
|
||||
result = parse_volume_input(vol)
|
||||
print(f"体积解析: {vol} → {result}mL")
|
||||
|
||||
print("✅ 测试完成")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_separate_protocol()
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -9,12 +9,14 @@ from unilabos.utils import logger
|
||||
|
||||
class BasicConfig:
|
||||
ENV = "pro" # 'test'
|
||||
working_dir = ""
|
||||
config_path = ""
|
||||
is_host_mode = True
|
||||
slave_no_host = False # 是否跳过rclient.wait_for_service()
|
||||
upload_registry = False
|
||||
machine_name = "undefined"
|
||||
vis_2d_enable = False
|
||||
enable_resource_load = True
|
||||
|
||||
|
||||
# MQTT配置
|
||||
@@ -63,7 +65,7 @@ class ROSConfig:
|
||||
]
|
||||
|
||||
|
||||
def _update_config_from_module(module):
|
||||
def _update_config_from_module(module, override_labid: str):
|
||||
for name, obj in globals().items():
|
||||
if isinstance(obj, type) and name.endswith("Config"):
|
||||
if hasattr(module, name) and isinstance(getattr(module, name), type):
|
||||
@@ -74,6 +76,9 @@ def _update_config_from_module(module):
|
||||
if len(OSSUploadConfig.authorization) == 0:
|
||||
OSSUploadConfig.authorization = f"lab {MQConfig.lab_id}"
|
||||
# 对 ca_file cert_file key_file 进行初始化
|
||||
if override_labid:
|
||||
MQConfig.lab_id = override_labid
|
||||
logger.warning(f"[ENV] 当前实验室启动的ID被设置为：{override_labid}")
|
||||
if len(MQConfig.ca_content) == 0:
|
||||
# 需要先判断是否为相对路径
|
||||
if MQConfig.ca_file.startswith("."):
|
||||
@@ -155,7 +160,7 @@ def _update_config_from_env():
|
||||
|
||||
|
||||
|
||||
def load_config(config_path=None):
|
||||
def load_config(config_path=None, override_labid=None):
|
||||
# 如果提供了配置文件路径，从该文件导入配置
|
||||
if config_path:
|
||||
_update_config_from_env() # 允许config_path被env设定后读取
|
||||
@@ -172,7 +177,7 @@ def load_config(config_path=None):
|
||||
return
|
||||
module = importlib.util.module_from_spec(spec)
|
||||
spec.loader.exec_module(module) # type: ignore
|
||||
_update_config_from_module(module)
|
||||
_update_config_from_module(module, override_labid)
|
||||
logger.info(f"[ENV] 配置文件 {config_path} 加载成功")
|
||||
except Exception as e:
|
||||
logger.error(f"[ENV] 加载配置文件 {config_path} 失败")
|
||||
@@ -180,4 +185,4 @@ def load_config(config_path=None):
|
||||
exit(1)
|
||||
else:
|
||||
config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
|
||||
load_config(config_path)
|
||||
load_config(config_path, override_labid)
|
||||
|
||||
17
unilabos/config/example_config.py
Normal file
17
unilabos/config/example_config.py
Normal file
@@ -0,0 +1,17 @@
|
||||
# MQTT配置
|
||||
class MQConfig:
|
||||
lab_id = ""
|
||||
instance_id = ""
|
||||
access_key = ""
|
||||
secret_key = ""
|
||||
group_id = ""
|
||||
broker_url = ""
|
||||
port = 1883
|
||||
|
||||
ca_file = "CA.crt"
|
||||
cert_file = "lab.crt"
|
||||
key_file = "lab.key"
|
||||
|
||||
# HTTP配置
|
||||
class HTTPConfig:
|
||||
remote_addr = "https://uni-lab.bohrium.com/api/v1"
|
||||
@@ -1,9 +0,0 @@
|
||||
# Default initial positions for full_dev's ros2_control fake system
|
||||
|
||||
initial_positions:
|
||||
arm_base_joint: 0
|
||||
arm_link_1_joint: 0
|
||||
arm_link_2_joint: 0
|
||||
arm_link_3_joint: 0
|
||||
gripper_base_joint: 0
|
||||
gripper_right_joint: 0.03
|
||||
@@ -1,40 +0,0 @@
|
||||
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
|
||||
|
||||
# For beginners, we downscale velocity and acceleration limits.
|
||||
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
|
||||
default_velocity_scaling_factor: 0.1
|
||||
default_acceleration_scaling_factor: 0.1
|
||||
|
||||
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
|
||||
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
|
||||
joint_limits:
|
||||
arm_base_joint:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
arm_link_1_joint:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
arm_link_2_joint:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
arm_link_3_joint:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
gripper_base_joint:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
gripper_right_joint:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
@@ -1,4 +0,0 @@
|
||||
arm:
|
||||
kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
|
||||
kinematics_solver_search_resolution: 0.0050000000000000001
|
||||
kinematics_solver_timeout: 0.0050000000000000001
|
||||
@@ -1,56 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="benyao_arm_ros2_control" params="device_name mesh_path">
|
||||
<xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/benyao_arm/config/initial_positions.yaml')['initial_positions']}"/>
|
||||
|
||||
<ros2_control name="${device_name}benyao_arm" type="system">
|
||||
<hardware>
|
||||
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
|
||||
<plugin>mock_components/GenericSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="${device_name}arm_base_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_base_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}arm_link_1_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}arm_link_2_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}arm_link_3_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}gripper_base_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['gripper_base_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}gripper_right_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['gripper_right_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
|
||||
</ros2_control>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -1,46 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!--This does not replace URDF, and is not an extension of URDF.
|
||||
This is a format for representing semantic information about the robot structure.
|
||||
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
|
||||
-->
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:macro name="benyao_arm_srdf" params="device_name">
|
||||
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
|
||||
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
|
||||
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
|
||||
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
|
||||
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
|
||||
<group name="${device_name}arm">
|
||||
<chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
|
||||
</group>
|
||||
<group name="${device_name}arm_gripper">
|
||||
<joint name="${device_name}gripper_right_joint"/>
|
||||
</group>
|
||||
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -1,14 +0,0 @@
|
||||
{
|
||||
"arm":
|
||||
{
|
||||
"joint_names": [
|
||||
"arm_base_joint",
|
||||
"arm_link_1_joint",
|
||||
"arm_link_2_joint",
|
||||
"arm_link_3_joint",
|
||||
"gripper_base_joint"
|
||||
],
|
||||
"base_link_name": "device_link",
|
||||
"end_effector_name": "gripper_base"
|
||||
}
|
||||
}
|
||||
@@ -1,29 +0,0 @@
|
||||
# MoveIt uses this configuration for controller management
|
||||
|
||||
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
|
||||
|
||||
moveit_simple_controller_manager:
|
||||
controller_names:
|
||||
- arm_controller
|
||||
- gripper_controller
|
||||
|
||||
arm_controller:
|
||||
type: FollowJointTrajectory
|
||||
action_ns: follow_joint_trajectory
|
||||
default: true
|
||||
joints:
|
||||
- arm_base_joint
|
||||
- arm_link_1_joint
|
||||
- arm_link_2_joint
|
||||
- arm_link_3_joint
|
||||
- gripper_base_joint
|
||||
action_ns: follow_joint_trajectory
|
||||
default: true
|
||||
gripper_controller:
|
||||
type: FollowJointTrajectory
|
||||
action_ns: follow_joint_trajectory
|
||||
default: true
|
||||
joints:
|
||||
- gripper_right_joint
|
||||
action_ns: follow_joint_trajectory
|
||||
default: true
|
||||
@@ -1,2 +0,0 @@
|
||||
planner_configs:
|
||||
- ompl_interface/OMPLPlanner
|
||||
@@ -1,6 +0,0 @@
|
||||
# Limits for the Pilz planner
|
||||
cartesian_limits:
|
||||
max_trans_vel: 1.0
|
||||
max_trans_acc: 2.25
|
||||
max_trans_dec: -5.0
|
||||
max_rot_vel: 1.57
|
||||
@@ -1,39 +0,0 @@
|
||||
# This config file is used by ros2_control
|
||||
controller_manager:
|
||||
ros__parameters:
|
||||
update_rate: 100 # Hz
|
||||
|
||||
arm_controller:
|
||||
type: joint_trajectory_controller/JointTrajectoryController
|
||||
|
||||
|
||||
gripper_controller:
|
||||
type: joint_trajectory_controller/JointTrajectoryController
|
||||
|
||||
|
||||
joint_state_broadcaster:
|
||||
type: joint_state_broadcaster/JointStateBroadcaster
|
||||
|
||||
arm_controller:
|
||||
ros__parameters:
|
||||
joints:
|
||||
- arm_base_joint
|
||||
- arm_link_1_joint
|
||||
- arm_link_2_joint
|
||||
- arm_link_3_joint
|
||||
- gripper_base_joint
|
||||
command_interfaces:
|
||||
- position
|
||||
state_interfaces:
|
||||
- position
|
||||
- velocity
|
||||
|
||||
gripper_controller:
|
||||
ros__parameters:
|
||||
joints:
|
||||
- gripper_right_joint
|
||||
command_interfaces:
|
||||
- position
|
||||
state_interfaces:
|
||||
- position
|
||||
- velocity
|
||||
@@ -1,44 +0,0 @@
|
||||
joint_limits:
|
||||
|
||||
arm_base_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: 0
|
||||
upper: 1.5
|
||||
|
||||
arm_link_1_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: 0
|
||||
upper: 0.6
|
||||
|
||||
arm_link_2_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: !degrees -95
|
||||
upper: !degrees 95
|
||||
|
||||
arm_link_3_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: !degrees -195
|
||||
upper: !degrees 195
|
||||
|
||||
gripper_base_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: !degrees -95
|
||||
upper: !degrees 95
|
||||
|
||||
|
||||
gripper_right_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: 0
|
||||
upper: 0.03
|
||||
|
||||
gripper_left_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: 0
|
||||
upper: 0.03
|
||||
@@ -1,293 +0,0 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="benyao_arm">
|
||||
|
||||
<xacro:macro name="benyao_arm" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
|
||||
<!-- Read .yaml files from disk, load content into properties -->
|
||||
<xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/benyao_arm/joint_limit.yaml')}"/>
|
||||
|
||||
<!-- Extract subsections from yaml dictionaries -->
|
||||
<xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
|
||||
|
||||
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
|
||||
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
|
||||
<parent link="${parent_link}"/>
|
||||
<child link="${station_name}${device_name}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}device_link"/>
|
||||
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="${station_name}${device_name}device_link"/>
|
||||
<child link="${station_name}${device_name}arm_slideway"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- JOINTS LIMIT PARAMETERS -->
|
||||
<xacro:property name="limit_arm_base_joint" value="${sec_limits['arm_base_joint']}" />
|
||||
<xacro:property name="limit_arm_link_1_joint" value="${sec_limits['arm_link_1_joint']}" />
|
||||
<xacro:property name="limit_arm_link_2_joint" value="${sec_limits['arm_link_2_joint']}" />
|
||||
<xacro:property name="limit_arm_link_3_joint" value="${sec_limits['arm_link_3_joint']}" />
|
||||
<xacro:property name="limit_gripper_base_joint" value="${sec_limits['gripper_base_joint']}" />
|
||||
<xacro:property name="limit_gripper_right_joint" value="${sec_limits['gripper_right_joint']}"/>
|
||||
<xacro:property name="limit_gripper_left_joint" value="${sec_limits['gripper_left_joint']}" />
|
||||
<link name="${station_name}${device_name}arm_slideway">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
|
||||
<mass value="13.6578107753627"/>
|
||||
<inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
|
||||
<parent link="${station_name}${device_name}arm_slideway"/>
|
||||
<child link="${station_name}${device_name}arm_base"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${limit_arm_base_joint['effort']}"
|
||||
lower="${limit_arm_base_joint['lower']}"
|
||||
upper="${limit_arm_base_joint['upper']}"
|
||||
velocity="${limit_arm_base_joint['velocity']}"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}arm_base">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
|
||||
<mass value="16.1341586205194"/>
|
||||
<inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${station_name}${device_name}arm_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
|
||||
<mass value="0.828629227096429"/>
|
||||
<inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
|
||||
<parent link="${station_name}${device_name}arm_base"/>
|
||||
<child link="${station_name}${device_name}arm_link_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_arm_link_1_joint['effort']}"
|
||||
lower="${limit_arm_link_1_joint['lower']}"
|
||||
upper="${limit_arm_link_1_joint['upper']}"
|
||||
velocity="${limit_arm_link_1_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}arm_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
|
||||
<mass value="2.04764861029349"/>
|
||||
<inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="${station_name}${device_name}arm_link_1"/>
|
||||
<child link="${station_name}${device_name}arm_link_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_arm_link_2_joint['effort']}"
|
||||
lower="${limit_arm_link_2_joint['lower']}"
|
||||
upper="${limit_arm_link_2_joint['upper']}"
|
||||
velocity="${limit_arm_link_2_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}arm_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
|
||||
<mass value="1.19870202871083"/>
|
||||
<inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
|
||||
<parent link="${station_name}${device_name}arm_link_2"/>
|
||||
<child link="${station_name}${device_name}arm_link_3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_arm_link_3_joint['effort']}"
|
||||
lower="${limit_arm_link_3_joint['lower']}"
|
||||
upper="${limit_arm_link_3_joint['upper']}"
|
||||
velocity="${limit_arm_link_3_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}gripper_base">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
|
||||
<mass value="0.511925198394943"/>
|
||||
<inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
|
||||
<parent link="${station_name}${device_name}arm_link_3"/>
|
||||
<child link="${station_name}${device_name}gripper_base"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_gripper_base_joint['effort']}"
|
||||
lower="${limit_gripper_base_joint['lower']}"
|
||||
upper="${limit_gripper_base_joint['upper']}"
|
||||
velocity="${limit_gripper_base_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}gripper_right">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
|
||||
<mass value="0.013337481136229"/>
|
||||
<inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
|
||||
<parent link="${station_name}${device_name}gripper_base"/>
|
||||
<child link="${station_name}${device_name}gripper_right"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${limit_gripper_right_joint['effort']}"
|
||||
lower="${limit_gripper_right_joint['lower']}"
|
||||
upper="${limit_gripper_right_joint['upper']}"
|
||||
velocity="${limit_gripper_right_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}gripper_left">
|
||||
<inertial>
|
||||
<origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
|
||||
<mass value="0.0133374811362292"/>
|
||||
<inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
|
||||
<origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
|
||||
<parent link="${station_name}${device_name}gripper_base"/>
|
||||
<child link="${station_name}${device_name}gripper_left"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${limit_gripper_left_joint['effort']}"
|
||||
lower="${limit_gripper_left_joint['lower']}"
|
||||
upper="${limit_gripper_left_joint['upper']}"
|
||||
velocity="${limit_gripper_left_joint['velocity']}"/>
|
||||
<mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
|
||||
</joint>
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
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@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.1930
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.6150
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.5710
|
||||
y: 0
|
||||
z: 0.1775
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.1180
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.1103
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 330.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 330.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.1930
|
||||
a2: -0.6150
|
||||
a3: -0.5710
|
||||
d4: 0.1775
|
||||
d5: 0.1180
|
||||
d6: 0.1103
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 0.94888 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 6.83
|
||||
upperarm_mass: 13.037
|
||||
forearm_mass: 4.827
|
||||
wrist_1_mass: 2.315
|
||||
wrist_2_mass: 2.195
|
||||
wrist_3_mass: 0.616
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.0029607
|
||||
ixy: -1.019E-06
|
||||
ixz: 5.2685E-06
|
||||
iyy: 0.0026222
|
||||
iyz: -2.8951E-06
|
||||
izz: 0.0039906
|
||||
shoulder:
|
||||
ixx: 0.039228
|
||||
ixy: -2.8388E-05
|
||||
ixz: 3.9289E-05
|
||||
iyy: 0.025078
|
||||
iyz: -0.00028825
|
||||
izz: 0.037499
|
||||
upperarm:
|
||||
ixx: 0.3734
|
||||
ixy: -5.985E-05
|
||||
ixz: -0.5014
|
||||
iyy: 2.0187
|
||||
iyz: -0.00013287
|
||||
izz: 1.681
|
||||
forearm:
|
||||
ixx: 0.030106
|
||||
ixy: -1.25E-05
|
||||
ixz: -0.076554
|
||||
iyy: 0.76404
|
||||
iyz: 1.326E-06
|
||||
izz: 0.7421
|
||||
wrist_1:
|
||||
ixx: 0.0060891
|
||||
ixy: 1.219E-06
|
||||
ixz: -4.067E-06
|
||||
iyy: 0.0049703
|
||||
iyz: -1.2747E-05
|
||||
izz: 0.0033067
|
||||
wrist_2:
|
||||
ixx: 0.004638045
|
||||
ixy: 1.311E-06
|
||||
ixz: 3.829E-06
|
||||
iyy: 0.003507337
|
||||
iyz: 1.4183E-05
|
||||
izz: 0.003129668
|
||||
wrist_3:
|
||||
ixx: 0.0016942
|
||||
ixy: 1.27E-07
|
||||
ixz: 1.9782E-05
|
||||
iyy: 0.0017123
|
||||
iyz: 7.7E-06
|
||||
izz: 0.0005701
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: 5.6715E-05
|
||||
y: -0.00010524
|
||||
z: 0.065979
|
||||
shoulder_cog:
|
||||
x: 9.3E-05
|
||||
y: -0.02697
|
||||
z: -0.02115
|
||||
upperarm_cog:
|
||||
x: -0.2304
|
||||
y: -3.9E-05
|
||||
z: 0.16068
|
||||
forearm_cog:
|
||||
x: -0.2998
|
||||
y: 1.3E-05
|
||||
z: 0.06176
|
||||
wrist_1_cog:
|
||||
x: 1.0E-05
|
||||
y: -0.0148
|
||||
z: -0.01682
|
||||
wrist_2_cog:
|
||||
x: -1.3E-05
|
||||
y: 0.015559
|
||||
z: -0.011803
|
||||
wrist_3_cog:
|
||||
x: -0.001704
|
||||
y: -0.000705
|
||||
z: -0.039231
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.1930
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.5520
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.4300
|
||||
y: 0
|
||||
z: 0.1775
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.1180
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.1103
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 330.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 330.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.1930
|
||||
a2: -0.5520
|
||||
a3: -0.4300
|
||||
d4: 0.1775
|
||||
d5: 0.1180
|
||||
d6: 0.1103
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 0.94888 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 6.83
|
||||
upperarm_mass: 13.00
|
||||
forearm_mass: 4.700
|
||||
wrist_1_mass: 2.315
|
||||
wrist_2_mass: 2.195
|
||||
wrist_3_mass: 0.616
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.0029607
|
||||
ixy: -1.019E-06
|
||||
ixz: 5.2685E-06
|
||||
iyy: 0.0026222
|
||||
iyz: -2.8951E-06
|
||||
izz: 0.0039906
|
||||
shoulder:
|
||||
ixx: 0.039229834
|
||||
ixy: -2.8388E-05
|
||||
ixz: 3.9289E-05
|
||||
iyy: 0.025077817
|
||||
iyz: -0.000288247
|
||||
izz: 0.03749924
|
||||
upperarm:
|
||||
ixx: 0.373432462
|
||||
ixy: -5.5512E-05
|
||||
ixz: -0.451785393
|
||||
iyy: 1.696418762
|
||||
iyz: -0.000133438
|
||||
izz: 1.358657204
|
||||
forearm:
|
||||
ixx: 0.030213183
|
||||
ixy: -8.368E-06
|
||||
ixz: -0.056600087
|
||||
iyy: 0.434775735
|
||||
iyz: 1.585E-06
|
||||
izz: 0.412836422
|
||||
wrist_1:
|
||||
ixx: 0.006091086
|
||||
ixy: 1.256E-06
|
||||
ixz: -4.067E-06
|
||||
iyy: 0.004972529
|
||||
iyz: -1.2709E-05
|
||||
izz: 0.003307235
|
||||
wrist_2:
|
||||
ixx: 0.004639166
|
||||
ixy: 1.311E-06
|
||||
ixz: 3.829E-06
|
||||
iyy: 0.003508643
|
||||
iyz: 1.4183E-05
|
||||
izz: 0.003130199
|
||||
wrist_3:
|
||||
ixx: 0.001695059
|
||||
ixy: 1.27E-07
|
||||
ixz: 1.9782E-05
|
||||
iyy: 0.001713327
|
||||
iyz: 7.7E-06
|
||||
izz: 0.000570629
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: 5.6715E-05
|
||||
y: -0.00010524
|
||||
z: 0.065979
|
||||
shoulder_cog:
|
||||
x: 9.3E-05
|
||||
y: -0.02697
|
||||
z: -0.02115
|
||||
upperarm_cog:
|
||||
x: -0.2069
|
||||
y: -4.4E-05
|
||||
z: 0.16068
|
||||
forearm_cog:
|
||||
x: -0.2303
|
||||
y: 1.5E-05
|
||||
z: 0.06220
|
||||
wrist_1_cog:
|
||||
x: 1.0E-05
|
||||
y: -0.0148
|
||||
z: -0.01682
|
||||
wrist_2_cog:
|
||||
x: -1.3E-05
|
||||
y: 0.015559
|
||||
z: -0.011803
|
||||
wrist_3_cog:
|
||||
x: -0.001704
|
||||
y: -0.000705
|
||||
z: -0.039231
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.2350
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.9000
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.7720
|
||||
y: 0
|
||||
z: 0.1725
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.1280
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.1250
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 730.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 730.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 430.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 150.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.2350
|
||||
a2: -0.9000
|
||||
a3: -0.7720
|
||||
d4: 0.1725
|
||||
d5: 0.1280
|
||||
d6: 0.1250
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 1.5056 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 17.04
|
||||
upperarm_mass: 26.927
|
||||
forearm_mass: 8.386
|
||||
wrist_1_mass: 3.095
|
||||
wrist_2_mass: 3.095
|
||||
wrist_3_mass: 0.879
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.0067829
|
||||
ixy: 2.6762E-07
|
||||
ixz: -2.569E-06
|
||||
iyy: 0.0068523
|
||||
iyz: 9.4263E-05
|
||||
izz: 0.010044
|
||||
shoulder:
|
||||
ixx: 0.130294671
|
||||
ixy: -8.271E-05
|
||||
ixz: 0.000106701
|
||||
iyy: 0.085215288
|
||||
iyz: -0.000663345
|
||||
izz: 0.113859158
|
||||
upperarm:
|
||||
ixx: 1.204318595
|
||||
ixy: -0.000466936
|
||||
ixz: -1.78878432
|
||||
iyy: 8.073725654
|
||||
iyz: -0.000305158
|
||||
izz: 6.980457042
|
||||
forearm:
|
||||
ixx: 0.070042956
|
||||
ixy: 9.0183E-05
|
||||
ixz: -0.165661846
|
||||
iyy: 2.160436707
|
||||
iyz: 1.3854E-05
|
||||
izz: 2.109199584
|
||||
wrist_1:
|
||||
ixx: 0.007958413
|
||||
ixy: -3.024E-06
|
||||
ixz: -5.734E-06
|
||||
iyy: 0.006686348
|
||||
iyz: -1.766E-05
|
||||
izz: 0.004840671
|
||||
wrist_2:
|
||||
ixx: 0.007958413
|
||||
ixy: -3.024E-06
|
||||
ixz: 5.734E-06
|
||||
iyy: 0.006686348
|
||||
iyz: 1.766E-05
|
||||
izz: 0.004840671
|
||||
wrist_3:
|
||||
ixx: 0.004065851
|
||||
ixy: 1.5185E-05
|
||||
ixz: -1.1453E-05
|
||||
iyy: 0.004060372
|
||||
iyz: 4.2152E-05
|
||||
izz: 0.001170392
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: -2.4009E-05
|
||||
y: 0.0011775
|
||||
z: 0.076293
|
||||
shoulder_cog:
|
||||
x: 9.9E-05
|
||||
y: -0.026311
|
||||
z: -0.026723
|
||||
upperarm_cog:
|
||||
x: -0.323686
|
||||
y: -3.9E-05
|
||||
z: 0.200968
|
||||
forearm_cog:
|
||||
x: -0.376841
|
||||
y: 1.5E-05
|
||||
z: 0.070311
|
||||
wrist_1_cog:
|
||||
x: -3.7E-05
|
||||
y: -0.01051
|
||||
z: -0.014865
|
||||
wrist_2_cog:
|
||||
x: 3.7E-05
|
||||
y: 0.01051
|
||||
z: -0.014865
|
||||
wrist_3_cog:
|
||||
x: 0.000242
|
||||
y: -0.001192
|
||||
z: -0.050422
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.2350
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.7500
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.6220
|
||||
y: 0
|
||||
z: 0.1725
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.1280
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.1250
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 730.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 730.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 430.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 150.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.2350
|
||||
a2: -0.7500
|
||||
a3: -0.6220
|
||||
d4: 0.1725
|
||||
d5: 0.1280
|
||||
d6: 0.1250
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 1.50561968754018 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 17.04
|
||||
upperarm_mass: 26.543
|
||||
forearm_mass: 7.816
|
||||
wrist_1_mass: 3.095
|
||||
wrist_2_mass: 3.095
|
||||
wrist_3_mass: 0.879
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.00678289120631133
|
||||
ixy: 2.67618063769984E-07
|
||||
ixz: -2.56895564177072E-06
|
||||
iyy: 0.00685230321535615
|
||||
iyz: 9.42628790478668E-05
|
||||
izz: 0.0100437671447022
|
||||
shoulder:
|
||||
ixx: 0.13029
|
||||
ixy: -8.271E-05
|
||||
ixz: 0.0001067
|
||||
iyy: 0.085215
|
||||
iyz: -0.00066335
|
||||
izz: 0.11386
|
||||
upperarm:
|
||||
ixx: 1.197
|
||||
ixy: -0.00083272
|
||||
ixz: -1.5396
|
||||
iyy: 6.1117
|
||||
iyz: -0.00015496
|
||||
izz: 5.022
|
||||
forearm:
|
||||
ixx: 0.067797
|
||||
ixy: 4.4997E-05
|
||||
ixz: -0.12636
|
||||
iyy: 1.3409
|
||||
iyz: 1.45E-05
|
||||
izz: 1.2908
|
||||
wrist_1:
|
||||
ixx: 0.0079584
|
||||
ixy: -3.024E-06
|
||||
ixz: 5.734E-06
|
||||
iyy: 0.0066863
|
||||
iyz: 1.766E-05
|
||||
izz: 0.0048407
|
||||
wrist_2:
|
||||
ixx: 0.007958413
|
||||
ixy: -3.024E-06
|
||||
ixz: 5.734E-06
|
||||
iyy: 0.006686348
|
||||
iyz: 1.766E-05
|
||||
izz: 0.004840671
|
||||
wrist_3:
|
||||
ixx: 0.004065851
|
||||
ixy: 1.5185E-05
|
||||
ixz: -1.1453E-05
|
||||
iyy: 0.004060372
|
||||
iyz: 4.2152E-05
|
||||
izz: 0.001170392
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: -2.4008693014781E-05
|
||||
y: 0.00117748953656619
|
||||
z: 0.0762927770474629
|
||||
shoulder_cog:
|
||||
x: 9.9E-05
|
||||
y: -0.026311
|
||||
z: -0.026723
|
||||
upperarm_cog:
|
||||
x: -0.27762
|
||||
y: -1.7E-05
|
||||
z: 0.20184
|
||||
forearm_cog:
|
||||
x: -0.30259
|
||||
y: 2.1E-05
|
||||
z: 0.07237
|
||||
wrist_1_cog:
|
||||
x: -3.7E-05
|
||||
y: -0.01051
|
||||
z: -0.014865
|
||||
wrist_2_cog:
|
||||
x: 3.7E-05
|
||||
y: 0.01051
|
||||
z: -0.014865
|
||||
wrist_3_cog:
|
||||
x: 0.000242
|
||||
y: -0.001192
|
||||
z: -0.050422
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.1530
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.2700
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.2575
|
||||
y: 0
|
||||
z: 0.1445
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.0965
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.0920
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 28.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 12.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 360.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 12.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 360.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 12.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 360.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.1530
|
||||
a2: -0.2700
|
||||
a3: -0.2575
|
||||
d4: 0.1445
|
||||
d5: 0.0965
|
||||
d6: 0.0920
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 0.358193760044688 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 3.095
|
||||
upperarm_mass: 5.073
|
||||
forearm_mass: 2.425
|
||||
wrist_1_mass: 1.559
|
||||
wrist_2_mass: 1.447
|
||||
wrist_3_mass: 0.500
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.000549739542527148
|
||||
ixy: 8.03741216179988E-08
|
||||
ixz: -9.14780809458034E-06
|
||||
iyy: 0.000533024165382036
|
||||
iyz: 3.46908903534662E-07
|
||||
izz: 0.000655188839052244
|
||||
shoulder:
|
||||
ixx: 0.007958
|
||||
ixy: 5.734E-06
|
||||
ixz: 3.024E-06
|
||||
iyy: 0.00484
|
||||
iyz: -1.77E-05
|
||||
izz: 0.006686
|
||||
upperarm:
|
||||
ixx: 0.074168
|
||||
ixy: -7.5E-06
|
||||
ixz: -0.065579
|
||||
iyy: 0.21937
|
||||
iyz: -2.19E-05
|
||||
izz: 0.15104
|
||||
forearm:
|
||||
ixx: 0.005082
|
||||
ixy: -2.7E-06
|
||||
ixz: -0.0056236
|
||||
iyy: 0.0924207
|
||||
iyz: -1.726E-06
|
||||
izz: 0.0897559
|
||||
wrist_1:
|
||||
ixx: 0.0045009
|
||||
ixy: 1.96E-06
|
||||
ixz: -2.646E-06
|
||||
iyy: 0.0042164
|
||||
iyz: -3.58E-07
|
||||
izz: 0.0014538
|
||||
wrist_2:
|
||||
ixx: 0.0023787
|
||||
ixy: 1.953E-06
|
||||
ixz: 2.643E-06
|
||||
iyy: 0.0020859
|
||||
iyz: 5.584E-06
|
||||
izz: 0.0013191
|
||||
wrist_3:
|
||||
ixx: 0.001431
|
||||
ixy: -2.32E-07
|
||||
ixz: 7.955E-06
|
||||
iyy: 0.0014299
|
||||
iyz: 1.266E-06
|
||||
izz: 0.0003265
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: -0.000721181367009438
|
||||
y: 1.78114684963572E-05
|
||||
z: 0.0546249293265112
|
||||
shoulder_cog:
|
||||
x: 3.7E-05
|
||||
y: -0.0149
|
||||
z: -0.0105
|
||||
upperarm_cog:
|
||||
x: -0.11596
|
||||
y: -2.6E-05
|
||||
z: 0.1148
|
||||
forearm_cog:
|
||||
x: -0.1542
|
||||
y: 1.4E-05
|
||||
z: 0.0238
|
||||
wrist_1_cog:
|
||||
x: 1.3E-05
|
||||
y: -0.00479
|
||||
z: -0.02274
|
||||
wrist_2_cog:
|
||||
x: -1.4E-05
|
||||
y: 0.0051
|
||||
z: -0.0127
|
||||
wrist_3_cog:
|
||||
x: -0.000684
|
||||
y: -0.000175
|
||||
z: -0.0423
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.1625
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: -0.16
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.4270
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.3905
|
||||
y: 0
|
||||
z: 0.1475
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0.04
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.0965
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.0920
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: -0.59
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 28.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 28.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 28.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.1625
|
||||
a2: -0.4270
|
||||
a3: -0.3905
|
||||
d4: 0.1475
|
||||
d5: 0.0965
|
||||
d6: 0.0920
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 0.57127 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 4.521
|
||||
upperarm_mass: 7.533
|
||||
forearm_mass: 3.009
|
||||
wrist_1_mass: 1.559
|
||||
wrist_2_mass: 1.447
|
||||
wrist_3_mass: 0.500
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.0010759
|
||||
ixy: 7.8337E-08
|
||||
ixz: -1.3213E-05
|
||||
iyy: 0.0010109
|
||||
iyz: 4.5992E-07
|
||||
izz: 0.001408
|
||||
shoulder:
|
||||
ixx: 0.014192
|
||||
ixy: 1.7839E-05
|
||||
ixz: -1.027E-06
|
||||
iyy: 0.0091982
|
||||
iyz: -4.6778E-05
|
||||
izz: 0.012777
|
||||
upperarm:
|
||||
ixx: 0.13719
|
||||
ixy: -7.5676E-05
|
||||
ixz: -0.17551
|
||||
iyy: 0.6614
|
||||
iyz: 7.59E-06
|
||||
izz: 0.53649
|
||||
forearm:
|
||||
ixx: 0.0087604
|
||||
ixy: 1.7762E-05
|
||||
ixz: -0.010765
|
||||
iyy: 0.22281
|
||||
iyz: -4.13E-07
|
||||
izz: 0.2176
|
||||
wrist_1:
|
||||
ixx: 0.0045009
|
||||
ixy: 1.961E-06
|
||||
ixz: -2.646E-06
|
||||
iyy: 0.0042164
|
||||
iyz: -3.58E-07
|
||||
izz: 0.0014539
|
||||
wrist_2:
|
||||
ixx: 0.0023787
|
||||
ixy: 1.953E-06
|
||||
ixz: 2.643E-06
|
||||
iyy: 0.0020859
|
||||
iyz: 5.584E-06
|
||||
izz: 0.0013191
|
||||
wrist_3:
|
||||
ixx: 0.0014314
|
||||
ixy: -2.32E-07
|
||||
ixz: 7.955E-06
|
||||
iyy: 0.0014299
|
||||
iyz: 1.266E-06
|
||||
izz: 0.0003265
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: -0.00060346
|
||||
y: 1.4311E-05
|
||||
z: 0.060221
|
||||
shoulder_cog:
|
||||
x: 2.2E-05
|
||||
y: -0.016526
|
||||
z: -0.014442
|
||||
upperarm_cog:
|
||||
x: -0.17828
|
||||
y: 4.0E-06
|
||||
z: 0.12803
|
||||
forearm_cog:
|
||||
x: -0.20416
|
||||
y: -7.0E-06
|
||||
z: 0.03064
|
||||
wrist_1_cog:
|
||||
x: 1.3E-05
|
||||
y: -0.00479
|
||||
z: -0.02274
|
||||
wrist_2_cog:
|
||||
x: -1.4E-05
|
||||
y: 0.005107
|
||||
z: -0.012702
|
||||
wrist_3_cog:
|
||||
x: -0.000684
|
||||
y: -0.000175
|
||||
z: -0.04234
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/wrist3.stl
|
||||
@@ -0,0 +1,6 @@
|
||||
shoulder_pan_joint: 0.0
|
||||
shoulder_lift_joint: -1.57
|
||||
elbow_joint: 0.0
|
||||
wrist_1_joint: -1.57
|
||||
wrist_2_joint: 1.57
|
||||
wrist_3_joint: 0.0
|
||||
159
unilabos/device_mesh/devices/elite_robot/macro_device.xacro
Normal file
159
unilabos/device_mesh/devices/elite_robot/macro_device.xacro
Normal file
@@ -0,0 +1,159 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="elite_robot">
|
||||
<xacro:macro name="elite_robot" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' cs_type:='cs66' fake_dev:='true' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0" >
|
||||
<!-- robot name parameter -->
|
||||
<xacro:arg name="name" default="cs"/>
|
||||
<!-- import main macro -->
|
||||
<xacro:include filename="${mesh_path}/devices/elite_robot/urdf/cs_macro.xacro"/>
|
||||
|
||||
<!-- possible 'cs_type' values: cs63, cs66, cs612, cs616, cs620, cs625 -->
|
||||
<!-- the default value should raise an error in case this was called without defining the type -->
|
||||
<xacro:arg name="cs_type" default="${cs_type}"/>
|
||||
|
||||
<!-- parameters -->
|
||||
<xacro:arg name="tf_prefix" default="${station_name}${device_name}" />
|
||||
<xacro:arg name="joint_limit_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/joint_limits.yaml"/>
|
||||
<xacro:arg name="kinematics_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/default_kinematics.yaml"/>
|
||||
<xacro:arg name="physical_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/physical_parameters.yaml"/>
|
||||
<xacro:arg name="visual_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/visual_parameters.yaml"/>
|
||||
<xacro:arg name="transmission_hw_interface" default=""/>
|
||||
<xacro:arg name="safety_limits" default="false"/>
|
||||
<xacro:arg name="safety_pos_margin" default="0.15"/>
|
||||
<xacro:arg name="safety_k_position" default="20"/>
|
||||
<!-- ros2_control related parameters -->
|
||||
<xacro:arg name="headless_mode" default="false" />
|
||||
<xacro:arg name="robot_ip" default="0.0.0.0" />
|
||||
<xacro:arg name="script_filename" default=""/>
|
||||
<xacro:arg name="output_recipe_filename" default=""/>
|
||||
<xacro:arg name="input_recipe_filename" default=""/>
|
||||
<xacro:arg name="local_ip" default="0.0.0.0"/>
|
||||
<xacro:arg name="script_command_port" default="50004"/>
|
||||
<xacro:arg name="reverse_port" default="50001"/>
|
||||
<xacro:arg name="script_sender_port" default="50002"/>
|
||||
<xacro:arg name="trajectory_port" default="50003"/>
|
||||
<!-- tool communication related parameters-->
|
||||
<xacro:arg name="use_tool_communication" default="false" />
|
||||
<xacro:arg name="tool_voltage" default="0" />
|
||||
<xacro:arg name="tool_parity" default="0" />
|
||||
<xacro:arg name="tool_baud_rate" default="115200" />
|
||||
<xacro:arg name="tool_stop_bits" default="1" />
|
||||
<xacro:arg name="tool_tcp_port" default="54321" />
|
||||
|
||||
<!-- Simulation parameters -->
|
||||
<xacro:arg name="use_fake_hardware" default="${fake_dev}" />
|
||||
<xacro:arg name="fake_sensor_commands" default="${fake_dev}" />
|
||||
<xacro:arg name="sim_gazebo" default="false" />
|
||||
<xacro:arg name="sim_ignition" default="false" />
|
||||
<xacro:arg name="simulation_controllers" default="" />
|
||||
|
||||
<!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
|
||||
<xacro:arg name="initial_positions_file" default="${mesh_path}/devices/elite_robot/config/initial_positions.yaml"/>
|
||||
|
||||
<!-- convert to property to use substitution in function -->
|
||||
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
|
||||
|
||||
|
||||
|
||||
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
|
||||
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
|
||||
<parent link="${parent_link}"/>
|
||||
<child link="${station_name}${device_name}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}device_link"/>
|
||||
|
||||
<!-- arm -->
|
||||
<xacro:cs_robot
|
||||
name="$(arg name)"
|
||||
tf_prefix="$(arg tf_prefix)"
|
||||
parent="${station_name}${device_name}device_link"
|
||||
joint_limits_parameters_file="$(arg joint_limit_params)"
|
||||
kinematics_parameters_file="$(arg kinematics_params)"
|
||||
physical_parameters_file="$(arg physical_params)"
|
||||
visual_parameters_file="$(arg visual_params)"
|
||||
transmission_hw_interface="$(arg transmission_hw_interface)"
|
||||
safety_limits="$(arg safety_limits)"
|
||||
safety_pos_margin="$(arg safety_pos_margin)"
|
||||
safety_k_position="$(arg safety_k_position)"
|
||||
use_fake_hardware="$(arg use_fake_hardware)"
|
||||
fake_sensor_commands="$(arg fake_sensor_commands)"
|
||||
sim_gazebo="$(arg sim_gazebo)"
|
||||
sim_ignition="$(arg sim_ignition)"
|
||||
headless_mode="$(arg headless_mode)"
|
||||
initial_positions="${xacro.load_yaml(initial_positions_file)}"
|
||||
use_tool_communication="$(arg use_tool_communication)"
|
||||
tool_voltage="$(arg tool_voltage)"
|
||||
tool_parity="$(arg tool_parity)"
|
||||
tool_baud_rate="$(arg tool_baud_rate)"
|
||||
tool_stop_bits="$(arg tool_stop_bits)"
|
||||
tool_tcp_port="$(arg tool_tcp_port)"
|
||||
robot_ip="$(arg robot_ip)"
|
||||
script_filename="$(arg script_filename)"
|
||||
output_recipe_filename="$(arg output_recipe_filename)"
|
||||
input_recipe_filename="$(arg input_recipe_filename)"
|
||||
local_ip="$(arg local_ip)"
|
||||
script_command_port="$(arg script_command_port)"
|
||||
reverse_port="$(arg reverse_port)"
|
||||
script_sender_port="$(arg script_sender_port)"
|
||||
trajectory_port="$(arg trajectory_port)"
|
||||
mesh_path="${mesh_path}"
|
||||
>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
|
||||
</xacro:cs_robot>
|
||||
|
||||
<link name="${station_name}${device_name}gripper">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-2.76718112539598E-05 0.0255270141715087 0.0270559267296449"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.2571510360664" />
|
||||
<inertia
|
||||
ixx="0.000164806957167171"
|
||||
ixy="1.52519074989277E-08"
|
||||
ixz="9.6332716899636E-08"
|
||||
iyy="8.72759579414916E-05"
|
||||
iyz="-5.40735277087457E-07"
|
||||
izz="0.000196871100878503" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="file://${mesh_path}/devices/elite_robot/meshes/gripper.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="file://${mesh_path}/devices/elite_robot/meshes/gripper.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_joint"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 -0.003"
|
||||
rpy="0 0 -1.570796326589793" />
|
||||
<parent
|
||||
link="${station_name}${device_name}tool0" />
|
||||
<child
|
||||
link="${station_name}${device_name}gripper" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
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Reference in New Issue
Block a user