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v0.10.7
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@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: 0.10.3
|
||||
version: 0.10.5
|
||||
|
||||
source:
|
||||
path: ../unilabos
|
||||
@@ -10,7 +10,6 @@ build:
|
||||
python:
|
||||
entry_points:
|
||||
- unilab = unilabos.app.main:main
|
||||
- unilab-register = unilabos.app.register:main
|
||||
script:
|
||||
- set PIP_NO_INDEX=
|
||||
- if: win
|
||||
@@ -36,6 +35,7 @@ requirements:
|
||||
- conda-forge::python ==3.11.11
|
||||
- compilers
|
||||
- cmake
|
||||
- zstd
|
||||
- ninja
|
||||
- if: unix
|
||||
then:
|
||||
@@ -60,7 +60,7 @@ requirements:
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websocket
|
||||
- websockets
|
||||
- ipython
|
||||
- jupyter
|
||||
- jupyros
|
||||
@@ -85,5 +85,5 @@ requirements:
|
||||
|
||||
about:
|
||||
repository: https://github.com/dptech-corp/Uni-Lab-OS
|
||||
license: GPL-3.0
|
||||
license: GPL-3.0-only
|
||||
description: "Uni-Lab-OS"
|
||||
|
||||
@@ -5,6 +5,7 @@
|
||||
# Uni-Lab-OS
|
||||
|
||||
<!-- Language switcher -->
|
||||
|
||||
**English** | [中文](README_zh.md)
|
||||
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
|
||||
@@ -74,4 +75,4 @@ This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for det
|
||||
|
||||
## Contact Us
|
||||
|
||||
- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
|
||||
@@ -5,6 +5,7 @@
|
||||
# Uni-Lab-OS
|
||||
|
||||
<!-- Language switcher -->
|
||||
|
||||
[English](README.md) | **中文**
|
||||
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
|
||||
@@ -12,7 +13,7 @@
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
|
||||
|
||||
Uni-Lab-OS是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
|
||||
Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
|
||||
|
||||
## 🏆 比赛
|
||||
|
||||
@@ -34,7 +35,7 @@ Uni-Lab-OS是一个用于实验室自动化的综合平台，旨在连接和控
|
||||
|
||||
## 快速开始
|
||||
|
||||
1. 配置Conda环境
|
||||
1. 配置 Conda 环境
|
||||
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
|
||||
|
||||
@@ -43,7 +44,7 @@ Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适
|
||||
mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
2. 安装开发版Uni-Lab-OS:
|
||||
2. 安装开发版 Uni-Lab-OS:
|
||||
|
||||
```bash
|
||||
# 克隆仓库
|
||||
@@ -76,4 +77,4 @@ Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在
|
||||
|
||||
## 联系我们
|
||||
|
||||
- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
|
||||
@@ -1,26 +1,64 @@
|
||||
## 简单单变量动作函数
|
||||
|
||||
|
||||
### `SendCmd`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `StrSingleInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `IntSingleInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `FloatSingleInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Point3DSeparateInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Wait`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Wait.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常量有机化学操作
|
||||
|
||||
Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
|
||||
|
||||
|
||||
|
||||
### `Clean`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Clean.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `EvacuateAndRefill`
|
||||
|
||||
@@ -28,7 +66,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Evaporate`
|
||||
|
||||
@@ -36,7 +74,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `HeatChill`
|
||||
|
||||
@@ -44,7 +82,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `HeatChillStart`
|
||||
|
||||
@@ -52,7 +90,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `HeatChillStop`
|
||||
|
||||
@@ -60,7 +98,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `PumpTransfer`
|
||||
|
||||
@@ -68,7 +106,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Separate`
|
||||
|
||||
@@ -76,7 +114,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Stir`
|
||||
|
||||
@@ -84,20 +122,179 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Add`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Add.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `AddSolid`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/AddSolid.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `AdjustPH`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Centrifuge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `CleanVessel`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Crystallize`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Crystallize.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Dissolve`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Dissolve.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Dry`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Dry.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Filter`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Filter.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `FilterThrough`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Hydrogenate`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Purge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Purge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Recrystallize`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `RunColumn`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/RunColumn.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StartPurge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StartPurge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StartStir`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StartStir.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StopPurge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StopPurge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StopStir`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StopStir.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Transfer`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Transfer.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `WashSolid`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/WashSolid.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 移液工作站及相关生物自动化设备操作
|
||||
|
||||
Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
|
||||
|
||||
|
||||
|
||||
### `LiquidHandlerAspirate`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerDiscardTips`
|
||||
|
||||
@@ -105,7 +302,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerDispense`
|
||||
|
||||
@@ -113,7 +310,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerDropTips`
|
||||
|
||||
@@ -121,7 +318,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerDropTips96`
|
||||
|
||||
@@ -129,7 +326,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveLid`
|
||||
|
||||
@@ -137,7 +334,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerMovePlate`
|
||||
|
||||
@@ -145,7 +342,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveResource`
|
||||
|
||||
@@ -153,7 +350,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerPickUpTips`
|
||||
|
||||
@@ -161,7 +358,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerPickUpTips96`
|
||||
|
||||
@@ -169,7 +366,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerReturnTips`
|
||||
|
||||
@@ -177,7 +374,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerReturnTips96`
|
||||
|
||||
@@ -185,7 +382,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerStamp`
|
||||
|
||||
@@ -193,7 +390,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerTransfer`
|
||||
|
||||
@@ -201,9 +398,113 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
## 多工作站及小车运行、物料转移
|
||||
---
|
||||
|
||||
### `LiquidHandlerAdd`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerIncubateBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerMix`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveTo`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerOscillateBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerProtocolCreation`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerRemove`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerSetGroup`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerSetLiquid`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerSetTipRack`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerTransferBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerTransferGroup`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 多工作站及小车运行、物料转移
|
||||
|
||||
### `AGVTransfer`
|
||||
|
||||
@@ -211,7 +512,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `WorkStationRun`
|
||||
|
||||
@@ -219,12 +520,64 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `ResetHandling`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `ResourceCreateFromOuter`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `ResourceCreateFromOuterEasy`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `SetPumpPosition`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 固体分配与处理设备操作
|
||||
|
||||
### `SolidDispenseAddPowderTube`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 其他设备操作
|
||||
|
||||
### `EmptyIn`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 机械臂、夹爪等机器人设备
|
||||
|
||||
Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
|
||||
|
||||
|
||||
### `FollowJointTrajectory`
|
||||
|
||||
```yaml
|
||||
@@ -292,7 +645,8 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `GripperCommand`
|
||||
|
||||
```yaml
|
||||
@@ -310,17 +664,19 @@ bool reached_goal # True iff the gripper position has reached the commanded setp
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `JointTrajectory`
|
||||
|
||||
```yaml
|
||||
trajectory_msgs/JointTrajectory trajectory
|
||||
---
|
||||
---
|
||||
|
||||
---
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `PointHead`
|
||||
|
||||
```yaml
|
||||
@@ -330,12 +686,13 @@ string pointing_frame
|
||||
builtin_interfaces/Duration min_duration
|
||||
float64 max_velocity
|
||||
---
|
||||
|
||||
---
|
||||
float64 pointing_angle_error
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `SingleJointPosition`
|
||||
|
||||
```yaml
|
||||
@@ -343,15 +700,16 @@ float64 position
|
||||
builtin_interfaces/Duration min_duration
|
||||
float64 max_velocity
|
||||
---
|
||||
|
||||
---
|
||||
std_msgs/Header header
|
||||
float64 position
|
||||
float64 velocity
|
||||
float64 error
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `AssistedTeleop`
|
||||
|
||||
```yaml
|
||||
@@ -363,10 +721,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback
|
||||
builtin_interfaces/Duration current_teleop_duration
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `BackUp`
|
||||
|
||||
```yaml
|
||||
@@ -380,10 +738,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
float32 distance_traveled
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `ComputePathThroughPoses`
|
||||
|
||||
```yaml
|
||||
@@ -398,10 +756,10 @@ nav_msgs/Path path
|
||||
builtin_interfaces/Duration planning_time
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `ComputePathToPose`
|
||||
|
||||
```yaml
|
||||
@@ -416,10 +774,10 @@ nav_msgs/Path path
|
||||
builtin_interfaces/Duration planning_time
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `DriveOnHeading`
|
||||
|
||||
```yaml
|
||||
@@ -433,10 +791,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
float32 distance_traveled
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `DummyBehavior`
|
||||
|
||||
```yaml
|
||||
@@ -447,10 +805,10 @@ std_msgs/String command
|
||||
builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `FollowPath`
|
||||
|
||||
```yaml
|
||||
@@ -465,10 +823,10 @@ std_msgs/Empty result
|
||||
#feedback definition
|
||||
float32 distance_to_goal
|
||||
float32 speed
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `FollowWaypoints`
|
||||
|
||||
```yaml
|
||||
@@ -480,10 +838,10 @@ int32[] missed_waypoints
|
||||
---
|
||||
#feedback definition
|
||||
uint32 current_waypoint
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `NavigateThroughPoses`
|
||||
|
||||
```yaml
|
||||
@@ -501,10 +859,10 @@ builtin_interfaces/Duration estimated_time_remaining
|
||||
int16 number_of_recoveries
|
||||
float32 distance_remaining
|
||||
int16 number_of_poses_remaining
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `NavigateToPose`
|
||||
|
||||
```yaml
|
||||
@@ -521,10 +879,10 @@ builtin_interfaces/Duration navigation_time
|
||||
builtin_interfaces/Duration estimated_time_remaining
|
||||
int16 number_of_recoveries
|
||||
float32 distance_remaining
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `SmoothPath`
|
||||
|
||||
```yaml
|
||||
@@ -540,10 +898,10 @@ builtin_interfaces/Duration smoothing_duration
|
||||
bool was_completed
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Spin`
|
||||
|
||||
```yaml
|
||||
@@ -556,10 +914,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
float32 angular_distance_traveled
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Wait`
|
||||
|
||||
```yaml
|
||||
@@ -571,7 +929,6 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
builtin_interfaces/Duration time_left
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
@@ -1,37 +1,142 @@
|
||||
# 添加新动作指令（Action）
|
||||
|
||||
1. 在 `unilabos_msgs/action` 中新建实验操作名和参数列表，如 `MyDeviceCmd.action`。一个 Action 定义由三个部分组成，分别是目标（Goal）、结果（Result）和反馈（Feedback），之间使用 `---` 分隔：
|
||||
本指南将引导你完成添加新动作指令的整个流程，包括编写、在线构建和测试。
|
||||
|
||||
## 1. 编写新的 Action
|
||||
|
||||
### 1.1 创建 Action 文件
|
||||
|
||||
在 `unilabos_msgs/action` 目录中新建实验操作文件，如 `MyDeviceCmd.action`。一个 Action 定义由三个部分组成，分别是目标（Goal）、结果（Result）和反馈（Feedback），之间使用 `---` 分隔：
|
||||
|
||||
```action
|
||||
# 目标（Goal）
|
||||
# 目标（Goal）- 定义动作执行所需的参数
|
||||
string command
|
||||
float64 timeout
|
||||
---
|
||||
# 结果（Result）
|
||||
bool success
|
||||
# 结果（Result）- 定义动作完成后返回的结果
|
||||
bool success # 要求必须包含success，以便回传执行结果
|
||||
string return_info # 要求必须包含return_info，以便回传执行结果
|
||||
... # 其他
|
||||
---
|
||||
# 反馈（Feedback）
|
||||
# 反馈（Feedback）- 定义动作执行过程中的反馈信息
|
||||
float64 progress
|
||||
string status
|
||||
```
|
||||
|
||||
2. 在 `unilabos_msgs/CMakeLists.txt` 中添加新定义的 action
|
||||
### 1.2 更新 CMakeLists.txt
|
||||
|
||||
在 `unilabos_msgs/CMakeLists.txt` 中的 `add_action_files()` 部分添加新定义的 action：
|
||||
|
||||
```cmake
|
||||
add_action_files(
|
||||
FILES
|
||||
MyDeviceCmd.action
|
||||
# 其他已有的 action 文件...
|
||||
)
|
||||
```
|
||||
|
||||
3. 因为在指令集中新建了指令，因此调试时需要编译，并在终端环境中加载临时路径：
|
||||
## 2. 在线构建和测试
|
||||
|
||||
为了简化开发流程并确保构建环境的一致性，我们使用 GitHub Actions 进行在线构建。
|
||||
|
||||
### 2.1 Fork 仓库并创建分支
|
||||
|
||||
1. **Fork 仓库**：在 GitHub 上 fork `Uni-Lab-OS` 仓库到你的个人账户
|
||||
|
||||
2. **Clone 你的 fork**：
|
||||
|
||||
```bash
|
||||
git clone https://github.com/YOUR_USERNAME/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
```
|
||||
|
||||
3. **创建功能分支**：
|
||||
|
||||
```bash
|
||||
git checkout -b add-my-device-action
|
||||
```
|
||||
|
||||
4. **提交你的更改**：
|
||||
```bash
|
||||
git add unilabos_msgs/action/MyDeviceCmd.action
|
||||
git add unilabos_msgs/CMakeLists.txt
|
||||
git commit -m "Add MyDeviceCmd action for device control"
|
||||
git push origin add-my-device-action
|
||||
```
|
||||
|
||||
### 2.2 触发在线构建
|
||||
|
||||
1. **访问你的 fork 仓库**：在浏览器中打开你的 fork 仓库页面
|
||||
|
||||
2. **手动触发构建**：
|
||||
|
||||
- 点击 "Actions" 标签
|
||||
- 选择 "Multi-Platform Conda Build" 工作流
|
||||
- 点击 "Run workflow" 按钮
|
||||
|
||||
3. **监控构建状态**：
|
||||
- 构建过程大约需要 5-10 分钟
|
||||
- 在 Actions 页面可以实时查看构建日志
|
||||
- 构建完成后，可以下载生成的 conda 包进行测试
|
||||
|
||||
### 2.3 下载和测试构建包
|
||||
|
||||
1. **下载构建产物**：
|
||||
|
||||
- 在构建完成的 Action 页面，找到 "Artifacts" 部分
|
||||
- 下载对应平台的 `conda-package-*` 文件
|
||||
|
||||
2. **本地测试安装**：
|
||||
|
||||
```bash
|
||||
# 解压下载的构建产物
|
||||
unzip conda-package-linux-64.zip # 或其他平台
|
||||
|
||||
# 安装测试包
|
||||
mamba install ./ros-humble-unilabos-msgs-*.conda
|
||||
```
|
||||
|
||||
3. **验证 Action 是否正确添加**：
|
||||
```bash
|
||||
# 检查 action 是否可用
|
||||
ros2 interface show unilabos_msgs/action/MyDeviceCmd
|
||||
```
|
||||
|
||||
## 3. 提交 Pull Request
|
||||
|
||||
测试成功后，向主仓库提交 Pull Request：
|
||||
|
||||
1. **创建 Pull Request**：
|
||||
|
||||
- 在你的 fork 仓库页面，点击 "New Pull Request"
|
||||
- 选择你的功能分支作为源分支
|
||||
- 填写详细的 PR 描述，包括：
|
||||
- 添加的 Action 功能说明
|
||||
- 测试结果
|
||||
- 相关的设备或用例
|
||||
|
||||
2. **等待审核和合并**：
|
||||
- 维护者会审核你的代码
|
||||
- CI/CD 系统会自动运行完整的测试套件
|
||||
- 合并后，新的指令集会自动发布到官方 conda 仓库
|
||||
|
||||
## 4. 使用新的 Action
|
||||
|
||||
如果采用自己构建的action包，可以通过以下命令更新安装：
|
||||
|
||||
```bash
|
||||
cd unilabos_msgs
|
||||
colcon build
|
||||
source ./install/local_setup.sh
|
||||
cd ..
|
||||
mamba remove --force ros-humble-unilabos-msgs
|
||||
mamba config set safety_checks disabled # 如果没有提升版本号，会触发md5与网络上md5不一致，是正常现象，因此通过本指令关闭md5检查
|
||||
mamba install xxx.conda2 --offline
|
||||
```
|
||||
|
||||
调试成功后，发起 pull request，Uni-Lab 的 CI/CD 系统会自动将新的指令集编译打包，mamba执行升级即可永久生效：
|
||||
## 常见问题
|
||||
|
||||
```bash
|
||||
mamba update ros-humble-unilabos-msgs -c http://quetz.dp.tech:8088/get/unilab -c robostack-humble -c robostack-staging
|
||||
```
|
||||
**Q: 构建失败怎么办？**
|
||||
A: 检查 Actions 日志中的错误信息，通常是语法错误或依赖问题。修复后重新推送代码即可自动触发新的构建。
|
||||
|
||||
**Q: 如何测试特定平台？**
|
||||
A: 在手动触发构建时，在平台选择中只填写你需要的平台，如 `linux-64` 或 `win-64`。
|
||||
|
||||
**Q: 构建包在哪里下载？**
|
||||
A: 在 Actions 页面的构建结果中，查找 "Artifacts" 部分，每个平台都有对应的构建包可供下载。
|
||||
|
||||
@@ -1,95 +1,610 @@
|
||||
# yaml注册表编写指南
|
||||
# yaml 注册表编写指南
|
||||
|
||||
`注册表的结构`
|
||||
## 快速开始：使用注册表编辑器
|
||||
|
||||
1. 顶层名称：每个设备的注册表以设备名称开头，例如 new_device。
|
||||
2. class 字段：定义设备的模块路径和类型。
|
||||
3. schema 字段：定义设备的属性模式，包括属性类型、描述和必需字段。
|
||||
4. action_value_mappings 字段：定义设备支持的动作及其目标、反馈和结果。
|
||||
推荐使用 UniLabOS 自带的可视化编辑器，它能帮你自动生成大部分配置，省去手写的麻烦。
|
||||
|
||||
`创建新的注册表教程`
|
||||
1. 创建文件
|
||||
在 devices 文件夹中创建一个新的 YAML 文件，例如 new_device.yaml。
|
||||
### 怎么用编辑器
|
||||
|
||||
2. 定义设备名称
|
||||
在文件中定义设备的顶层名称，例如：new_device
|
||||
1. 启动 UniLabOS
|
||||
2. 在浏览器中打开"注册表编辑器"页面
|
||||
3. 选择你的 Python 设备驱动文件
|
||||
4. 点击"分析文件"，让系统读取你的类信息
|
||||
5. 填写一些基本信息（设备描述、图标啥的）
|
||||
6. 点击"生成注册表"，复制生成的内容
|
||||
7. 把内容保存到 `devices/` 目录下
|
||||
|
||||
3. 定义设备的类信息
|
||||
添加设备的模块路径和类型：
|
||||
我们为你准备了一个测试驱动，用于在界面上尝试注册表生成，参见目录：test\registry\example_devices.py
|
||||
|
||||
```python
|
||||
new_device: # 定义一个名为 linear_motion.grbl 的设备
|
||||
---
|
||||
|
||||
## 手动编写指南
|
||||
|
||||
class: # 定义设备的类信息
|
||||
module: unilabos.devices_names.new_device:NewDeviceClass # 指定模块路径和类名
|
||||
type: python # 指定类型为 Python 类
|
||||
status_types:
|
||||
```
|
||||
4. 定义设备支持的动作
|
||||
添加设备支持的动作及其目标、反馈和结果：
|
||||
```python
|
||||
action_value_mappings:
|
||||
set_speed:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: speed
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
```
|
||||
`如何编写action_valve_mappings`
|
||||
1. 在 devices 文件夹中的 YAML 文件中，action_value_mappings 是用来定义设备支持的动作（actions）及其目标值（goal）、反馈值（feedback）和结果值（result）的映射规则。以下是规则和编写方法：
|
||||
```python
|
||||
action_value_mappings:
|
||||
<action_name>: # <action_name>：动作的名称
|
||||
# start：启动设备或某个功能。
|
||||
# stop：停止设备或某个功能。
|
||||
# set_speed：设置设备的速度。
|
||||
# set_temperature：设置设备的温度。
|
||||
# move_to_position：移动设备到指定位置。
|
||||
# stir：执行搅拌操作。
|
||||
# heatchill：执行加热或冷却操作。
|
||||
# send_nav_task：发送导航任务（例如机器人导航）。
|
||||
# set_timer：设置设备的计时器。
|
||||
# valve_open_cmd：打开阀门。
|
||||
# valve_close_cmd：关闭阀门。
|
||||
# execute_command_from_outer：执行外部命令。
|
||||
# push_to：控制设备推送到某个位置（例如机械爪）。
|
||||
# move_through_points：导航设备通过多个点。
|
||||
如果你想自己写 yaml 文件，或者想深入了解结构，查阅下方说明。
|
||||
|
||||
type: <ActionType> # 动作的类型，表示动作的功能
|
||||
# 根据动作的功能选择合适的类型：
|
||||
# SendCmd：发送简单命令。
|
||||
# NavigateThroughPoses：导航动作。
|
||||
# SingleJointPosition：设置单一关节的位置。
|
||||
# Stir：搅拌动作。
|
||||
# HeatChill：加热或冷却动作。
|
||||
## 注册表的基本结构
|
||||
|
||||
goal: # 定义动作的目标值映射，表示需要传递给设备的参数。
|
||||
<goal_key>: <mapped_value> #确定设备需要的输入参数，并将其映射到设备的字段。
|
||||
yaml 注册表就是设备的配置文件，里面定义了设备怎么用、有什么功能。好消息是系统会自动帮你填大部分内容，你只需要写两个必需的东西：设备名和 class 信息。
|
||||
|
||||
feedback: # 定义动作的反馈值映射，表示设备执行动作时返回的实时状态。
|
||||
<feedback_key>: <mapped_value>
|
||||
result: # 定义动作的结果值映射，表示动作完成后返回的最终结果。
|
||||
<result_key>: <mapped_value>
|
||||
### 各字段用途
|
||||
|
||||
| 字段名 | 类型 | 需要手写 | 说明 |
|
||||
| ----------------- | ------ | -------- | ----------------------------------- |
|
||||
| 设备标识符 | string | 是 | 设备的唯一名字，比如 `mock_chiller` |
|
||||
| class | object | 部分 | 设备的核心信息，必须写 |
|
||||
| description | string | 否 | 设备描述，系统默认给空字符串 |
|
||||
| handles | array | 否 | 连接关系，默认是空的 |
|
||||
| icon | string | 否 | 图标路径，默认为空 |
|
||||
| init_param_schema | object | 否 | 初始化参数，系统自动分析生成 |
|
||||
| version | string | 否 | 版本号，默认 "1.0.0" |
|
||||
| category | array | 否 | 设备分类，默认用文件名 |
|
||||
| config_info | array | 否 | 嵌套配置，默认为空 |
|
||||
| file_path | string | 否 | 文件路径，系统自动设置 |
|
||||
| registry_type | string | 否 | 注册表类型，自动设为 "device" |
|
||||
|
||||
### class 字段里有啥
|
||||
|
||||
class 是核心部分，包含这些内容：
|
||||
|
||||
| 字段名 | 类型 | 需要手写 | 说明 |
|
||||
| --------------------- | ------ | -------- | ---------------------------------- |
|
||||
| module | string | 是 | Python 类的路径，必须写 |
|
||||
| type | string | 是 | 驱动类型，一般写 "python" |
|
||||
| status_types | object | 否 | 状态类型，系统自动分析生成 |
|
||||
| action_value_mappings | object | 部分 | 动作配置，系统会自动生成一些基础的 |
|
||||
|
||||
## 怎么创建新的注册表
|
||||
|
||||
### 创建文件
|
||||
|
||||
在 devices 文件夹里新建一个 yaml 文件，比如 `new_device.yaml`。
|
||||
|
||||
### 完整结构是什么样的
|
||||
|
||||
```yaml
|
||||
new_device: # 设备名，要唯一
|
||||
class: # 核心配置
|
||||
action_value_mappings: # 动作配置（后面会详细说）
|
||||
action_name:
|
||||
# 具体的动作设置
|
||||
module: unilabos.devices.your_module.new_device:NewDeviceClass # 你的 Python 类
|
||||
status_types: # 状态类型（系统会自动生成）
|
||||
status: str
|
||||
temperature: float
|
||||
# 其他状态
|
||||
type: python # 驱动类型，一般就是 python
|
||||
|
||||
description: New Device Description # 设备描述
|
||||
handles: [] # 连接关系，通常是空的
|
||||
icon: '' # 图标路径
|
||||
init_param_schema: # 初始化参数（系统会自动生成）
|
||||
config: # 初始化时需要的参数
|
||||
properties:
|
||||
port:
|
||||
default: DEFAULT_PORT
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data: # 前端显示用的数据类型
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
temperature:
|
||||
type: number
|
||||
required:
|
||||
- status
|
||||
type: object
|
||||
|
||||
version: 0.0.1 # 版本号
|
||||
category:
|
||||
- device_category # 设备类别
|
||||
config_info: [] # 嵌套配置，通常为空
|
||||
```
|
||||
|
||||
6. 定义设备的属性模式
|
||||
添加设备的属性模式，包括属性类型和描述：
|
||||
```python
|
||||
schema:
|
||||
type: object
|
||||
## action_value_mappings 怎么写
|
||||
|
||||
这个部分定义设备能做哪些动作。好消息是系统会自动生成大部分动作，你通常只需要添加一些特殊的自定义动作。
|
||||
|
||||
### 系统自动生成哪些动作
|
||||
|
||||
系统会帮你生成这些：
|
||||
|
||||
1. 以 `auto-` 开头的动作：从你 Python 类的方法自动生成
|
||||
2. 通用的驱动动作：
|
||||
- `_execute_driver_command`：同步执行驱动命令
|
||||
- `_execute_driver_command_async`：异步执行驱动命令
|
||||
|
||||
### 如果要手动定义动作
|
||||
|
||||
如果你需要自定义一些特殊动作，需要这些字段：
|
||||
|
||||
| 字段名 | 需要手写 | 说明 |
|
||||
| ---------------- | -------- | -------------------------------- |
|
||||
| type | 是 | 动作类型，必须指定 |
|
||||
| goal | 是 | 输入参数怎么映射 |
|
||||
| feedback | 否 | 实时反馈，通常为空 |
|
||||
| result | 是 | 结果怎么返回 |
|
||||
| goal_default | 部分 | 参数默认值，ROS 动作会自动生成 |
|
||||
| schema | 部分 | 前端表单配置，ROS 动作会自动生成 |
|
||||
| handles | 否 | 连接关系，默认为空 |
|
||||
| placeholder_keys | 否 | 特殊输入字段配置 |
|
||||
|
||||
### 动作类型有哪些
|
||||
|
||||
| 类型 | 什么时候用 | 系统会自动生成什么 |
|
||||
| ---------------------- | -------------------- | ---------------------- |
|
||||
| UniLabJsonCommand | 自定义同步 JSON 命令 | 啥都不生成 |
|
||||
| UniLabJsonCommandAsync | 自定义异步 JSON 命令 | 啥都不生成 |
|
||||
| ROS 动作类型 | 标准 ROS 动作 | goal_default 和 schema |
|
||||
|
||||
常用的 ROS 动作类型：
|
||||
|
||||
- `SendCmd`：发送简单命令
|
||||
- `NavigateThroughPoses`：导航动作
|
||||
- `SingleJointPosition`：单关节位置控制
|
||||
- `Stir`：搅拌动作
|
||||
- `HeatChill`、`HeatChillStart`：加热冷却动作
|
||||
|
||||
### 复杂一点的例子
|
||||
|
||||
```yaml
|
||||
heat_chill_start:
|
||||
type: HeatChillStart
|
||||
goal:
|
||||
purpose: purpose
|
||||
temp: temp
|
||||
goal_default: # ROS动作会自动生成，你也可以手动覆盖
|
||||
purpose: ''
|
||||
temp: 0.0
|
||||
handles:
|
||||
output:
|
||||
- handler_key: labware
|
||||
label: Labware
|
||||
data_type: resource
|
||||
data_source: handle
|
||||
data_key: liquid
|
||||
placeholder_keys:
|
||||
purpose: unilabos_resources
|
||||
result:
|
||||
status: status
|
||||
success: success
|
||||
# schema 系统会自动生成，不用写
|
||||
```
|
||||
|
||||
### 动作名字怎么起
|
||||
|
||||
根据设备用途来起名字：
|
||||
|
||||
- 启动停止类：`start`、`stop`、`pause`、`resume`
|
||||
- 设置参数类：`set_speed`、`set_temperature`、`set_timer`
|
||||
- 移动控制类：`move_to_position`、`move_through_points`
|
||||
- 功能操作类：`stir`、`heat_chill_start`、`heat_chill_stop`
|
||||
- 开关控制类：`valve_open_cmd`、`valve_close_cmd`、`push_to`
|
||||
- 命令执行类：`send_nav_task`、`execute_command_from_outer`
|
||||
|
||||
### 常用的动作类型
|
||||
|
||||
- `UniLabJsonCommand`：自定义 JSON 命令（不走 ROS）
|
||||
- `UniLabJsonCommandAsync`：异步 JSON 命令（不走 ROS）
|
||||
- `SendCmd`：发送简单命令
|
||||
- `NavigateThroughPoses`：导航相关
|
||||
- `SingleJointPosition`：单关节控制
|
||||
- `Stir`：搅拌
|
||||
- `HeatChill`、`HeatChillStart`：加热冷却
|
||||
- 其他的 ROS 动作类型：看具体的 ROS 服务
|
||||
|
||||
### 示例：完整的动作配置
|
||||
|
||||
```yaml
|
||||
heat_chill_start:
|
||||
type: HeatChillStart
|
||||
goal:
|
||||
purpose: purpose
|
||||
temp: temp
|
||||
goal_default:
|
||||
purpose: ''
|
||||
temp: 0.0
|
||||
handles:
|
||||
output:
|
||||
- handler_key: labware
|
||||
label: Labware
|
||||
data_type: resource
|
||||
data_source: handle
|
||||
data_key: liquid
|
||||
placeholder_keys:
|
||||
purpose: unilabos_resources
|
||||
result:
|
||||
status: status
|
||||
success: success
|
||||
schema:
|
||||
description: '启动加热冷却功能'
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
purpose:
|
||||
type: string
|
||||
description: '用途说明'
|
||||
temp:
|
||||
type: number
|
||||
description: '目标温度'
|
||||
required:
|
||||
- purpose
|
||||
- temp
|
||||
title: HeatChillStart_Goal
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: HeatChillStart
|
||||
type: object
|
||||
feedback: {}
|
||||
```
|
||||
|
||||
## 系统自动生成的字段
|
||||
|
||||
### status_types
|
||||
|
||||
系统会扫描你的 Python 类，从状态方法自动生成这部分：
|
||||
|
||||
```yaml
|
||||
status_types:
|
||||
current_temperature: float # 从 get_current_temperature() 方法来的
|
||||
is_heating: bool # 从 get_is_heating() 方法来的
|
||||
status: str # 从 get_status() 方法来的
|
||||
```
|
||||
|
||||
注意几点：
|
||||
|
||||
- 系统会找所有 `get_` 开头的方法
|
||||
- 类型会自动转成 ROS 类型（比如 `str` 变成 `String`）
|
||||
- 如果类型是 `Any`、`None` 或者不知道的，就默认用 `String`
|
||||
|
||||
### init_param_schema
|
||||
|
||||
这个完全是系统自动生成的，你不用管：
|
||||
|
||||
```yaml
|
||||
init_param_schema:
|
||||
config: # 从你类的 __init__ 方法分析出来的
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
default: '/dev/ttyUSB0'
|
||||
baudrate:
|
||||
type: integer
|
||||
default: 9600
|
||||
required: []
|
||||
type: object
|
||||
|
||||
data: # 根据 status_types 生成的前端用的类型
|
||||
properties:
|
||||
current_temperature:
|
||||
type: number
|
||||
is_heating:
|
||||
type: boolean
|
||||
status:
|
||||
type: string
|
||||
description: The status of the device
|
||||
speed:
|
||||
type: number
|
||||
description: The speed of the device
|
||||
required:
|
||||
- status
|
||||
- speed
|
||||
additionalProperties: false
|
||||
type: object
|
||||
```
|
||||
# 写完yaml注册表后需要添加到哪些其他文件？
|
||||
|
||||
生成规则很简单：
|
||||
|
||||
- `config` 部分：看你类的 `__init__` 方法有什么参数，类型和默认值是啥
|
||||
- `data` 部分：根据 `status_types` 生成前端显示用的类型定义
|
||||
|
||||
### 其他自动填充的字段
|
||||
|
||||
```yaml
|
||||
version: '1.0.0' # 默认版本
|
||||
category: ['文件名'] # 用你的 yaml 文件名当类别
|
||||
description: '' # 默认为空，你可以手动改
|
||||
icon: '' # 默认为空，你可以加图标
|
||||
handles: [] # 默认空数组
|
||||
config_info: [] # 默认空数组
|
||||
file_path: '/path/to/file' # 系统自动填文件路径
|
||||
registry_type: 'device' # 自动设为设备类型
|
||||
```
|
||||
|
||||
### handles 字段
|
||||
|
||||
这个是定义设备连接关系的，类似动作里的 handles 一样：
|
||||
|
||||
```yaml
|
||||
handles: # 大多数时候都是空的，除非设备本身需要连接啥
|
||||
- handler_key: device_output
|
||||
label: Device Output
|
||||
data_type: resource
|
||||
data_source: value
|
||||
data_key: default_value
|
||||
```
|
||||
|
||||
### 其他可以配置的字段
|
||||
|
||||
```yaml
|
||||
description: '设备的详细描述' # 写清楚设备是干啥的
|
||||
|
||||
icon: 'device_icon.webp' # 设备图标，文件名（会上传到OSS）
|
||||
|
||||
version: '0.0.1' # 版本号
|
||||
|
||||
category: # 设备分类，前端会用这个分组
|
||||
- 'heating'
|
||||
- 'cooling'
|
||||
- 'temperature_control'
|
||||
|
||||
config_info: # 嵌套配置，如果设备包含子设备
|
||||
- children:
|
||||
- opentrons_24_tuberack_nest_1point5ml_snapcap_A1
|
||||
- other_nested_component
|
||||
```
|
||||
|
||||
## 完整的例子
|
||||
|
||||
这里是一个比较完整的设备配置示例：
|
||||
|
||||
```yaml
|
||||
my_temperature_controller:
|
||||
class:
|
||||
action_value_mappings:
|
||||
heat_start:
|
||||
type: HeatChillStart
|
||||
goal:
|
||||
target_temp: temp
|
||||
vessel: vessel
|
||||
goal_default:
|
||||
target_temp: 25.0
|
||||
vessel: ''
|
||||
handles:
|
||||
output:
|
||||
- handler_key: heated_sample
|
||||
label: Heated Sample
|
||||
data_type: resource
|
||||
data_source: handle
|
||||
data_key: sample
|
||||
placeholder_keys:
|
||||
vessel: unilabos_resources
|
||||
result:
|
||||
status: status
|
||||
success: success
|
||||
schema:
|
||||
description: '启动加热功能'
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
target_temp:
|
||||
type: number
|
||||
description: '目标温度'
|
||||
vessel:
|
||||
type: string
|
||||
description: '容器标识'
|
||||
required:
|
||||
- target_temp
|
||||
- vessel
|
||||
title: HeatStart_Goal
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: HeatStart
|
||||
type: object
|
||||
feedback: {}
|
||||
|
||||
stop:
|
||||
type: UniLabJsonCommand
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result:
|
||||
status: status
|
||||
schema:
|
||||
description: '停止设备'
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
title: Stop_Goal
|
||||
title: Stop
|
||||
type: object
|
||||
feedback: {}
|
||||
|
||||
module: unilabos.devices.temperature.my_controller:MyTemperatureController
|
||||
status_types:
|
||||
current_temperature: float
|
||||
target_temperature: float
|
||||
is_heating: bool
|
||||
is_cooling: bool
|
||||
status: str
|
||||
vessel: str
|
||||
type: python
|
||||
|
||||
description: '我的温度控制器设备'
|
||||
handles: []
|
||||
icon: 'temperature_controller.webp'
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
port:
|
||||
default: '/dev/ttyUSB0'
|
||||
type: string
|
||||
baudrate:
|
||||
default: 9600
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
current_temperature:
|
||||
type: number
|
||||
target_temperature:
|
||||
type: number
|
||||
is_heating:
|
||||
type: boolean
|
||||
is_cooling:
|
||||
type: boolean
|
||||
status:
|
||||
type: string
|
||||
vessel:
|
||||
type: string
|
||||
required:
|
||||
- current_temperature
|
||||
- target_temperature
|
||||
- status
|
||||
type: object
|
||||
|
||||
version: '1.0.0'
|
||||
category:
|
||||
- 'temperature_control'
|
||||
- 'heating'
|
||||
config_info: []
|
||||
```
|
||||
|
||||
## 怎么部署和使用
|
||||
|
||||
### 方法一：用编辑器（推荐）
|
||||
|
||||
1. 先写好你的 Python 驱动类
|
||||
2. 用注册表编辑器自动生成 yaml 配置
|
||||
3. 把生成的文件保存到 `devices/` 目录
|
||||
4. 重启 UniLabOS 就能用了
|
||||
|
||||
### 方法二：手动写（简化版）
|
||||
|
||||
1. 创建最简配置：
|
||||
|
||||
```yaml
|
||||
# devices/my_device.yaml
|
||||
my_device:
|
||||
class:
|
||||
module: unilabos.devices.my_module.my_device:MyDevice
|
||||
type: python
|
||||
```
|
||||
|
||||
2. 启动系统时用 `complete_registry=True` 参数，让系统自动补全
|
||||
|
||||
3. 检查一下生成的配置是不是你想要的
|
||||
|
||||
### Python 驱动类要怎么写
|
||||
|
||||
你的设备类要符合这些要求：
|
||||
|
||||
```python
|
||||
from unilabos.common.device_base import DeviceBase
|
||||
|
||||
class MyDevice(DeviceBase):
|
||||
def __init__(self, config):
|
||||
"""初始化，参数会自动分析到 init_param_schema.config"""
|
||||
super().__init__(config)
|
||||
self.port = config.get('port', '/dev/ttyUSB0')
|
||||
|
||||
# 状态方法（会自动生成到 status_types）
|
||||
def get_status(self):
|
||||
"""返回设备状态"""
|
||||
return "idle"
|
||||
|
||||
def get_temperature(self):
|
||||
"""返回当前温度"""
|
||||
return 25.0
|
||||
|
||||
# 动作方法（会自动生成 auto- 开头的动作）
|
||||
async def start_heating(self, temperature: float):
|
||||
"""开始加热到指定温度"""
|
||||
pass
|
||||
|
||||
def stop(self):
|
||||
"""停止操作"""
|
||||
pass
|
||||
```
|
||||
|
||||
### 系统集成
|
||||
|
||||
1. 把 yaml 文件放到 `devices/` 目录下
|
||||
2. 系统启动时会自动扫描并加载设备
|
||||
3. 系统会自动补全所有缺失的字段
|
||||
4. 设备马上就能在前端界面中使用
|
||||
|
||||
### 高级配置
|
||||
|
||||
如果需要特殊设置，可以手动加：
|
||||
|
||||
```yaml
|
||||
my_device:
|
||||
class:
|
||||
module: unilabos.devices.my_module.my_device:MyDevice
|
||||
type: python
|
||||
action_value_mappings:
|
||||
# 自定义动作
|
||||
special_command:
|
||||
type: UniLabJsonCommand
|
||||
goal: {}
|
||||
result: {}
|
||||
|
||||
# 可选的自定义配置
|
||||
description: '我的特殊设备'
|
||||
icon: 'my_device.webp'
|
||||
category: ['temperature', 'heating']
|
||||
```
|
||||
|
||||
## 常见问题怎么排查
|
||||
|
||||
### 设备加载不了
|
||||
|
||||
1. 检查模块路径：确认 `class.module` 路径写对了
|
||||
2. 确认类能导入：看看你的 Python 驱动类能不能正常导入
|
||||
3. 检查语法：用 yaml 验证器看看文件格式对不对
|
||||
4. 查看日志：看 UniLabOS 启动时有没有报错信息
|
||||
|
||||
### 自动生成失败了
|
||||
|
||||
1. 类分析出问题：确认你的类继承了正确的基类
|
||||
2. 方法类型不明确：确保状态方法的返回类型写清楚了
|
||||
3. 导入有问题：检查类能不能被动态导入
|
||||
4. 没开完整注册：确认启用了 `complete_registry=True`
|
||||
|
||||
### 前端显示有问题
|
||||
|
||||
1. 重新生成：删掉旧的 yaml 文件，用编辑器重新生成
|
||||
2. 清除缓存：清除浏览器缓存，重新加载页面
|
||||
3. 检查字段：确认必需的字段（比如 `schema`）都有
|
||||
4. 验证数据：检查 `goal_default` 和 `schema` 的数据类型是不是一致
|
||||
|
||||
### 动作执行出错
|
||||
|
||||
1. 方法名不对：确认动作方法名符合规范（比如 `execute_<action_name>`）
|
||||
2. 参数映射错误：检查 `goal` 字段的参数映射是否正确
|
||||
3. 返回格式不对：确认方法返回值格式符合 `result` 映射
|
||||
4. 没异常处理：在驱动类里加上异常处理
|
||||
|
||||
## 最佳实践
|
||||
|
||||
### 开发流程
|
||||
|
||||
1. **优先使用编辑器**：除非有特殊需求，否则优先使用注册表编辑器
|
||||
2. **最小化配置**：手动配置时只定义必要字段，让系统自动生成其他内容
|
||||
3. **增量开发**：先创建基本配置，后续根据需要添加特殊动作
|
||||
|
||||
### 代码规范
|
||||
|
||||
1. **方法命名**：状态方法使用 `get_` 前缀，动作方法使用动词开头
|
||||
2. **类型注解**：为方法参数和返回值添加类型注解
|
||||
3. **文档字符串**：为类和方法添加详细的文档字符串
|
||||
4. **异常处理**：实现完善的错误处理和日志记录
|
||||
|
||||
### 配置管理
|
||||
|
||||
1. **版本控制**：所有 yaml 文件纳入版本控制
|
||||
2. **命名一致性**：设备 ID、文件名、类名保持一致的命名风格
|
||||
3. **定期更新**：定期运行完整注册以更新自动生成的字段
|
||||
4. **备份配置**：在修改前备份重要的手动配置
|
||||
|
||||
### 测试验证
|
||||
|
||||
1. **本地测试**：在本地环境充分测试后再部署
|
||||
2. **渐进部署**：先部署到测试环境，验证无误后再上生产环境
|
||||
3. **监控日志**：密切监控设备加载和运行日志
|
||||
4. **回滚准备**：准备快速回滚机制，以应对紧急情况
|
||||
|
||||
### 性能优化
|
||||
|
||||
1. **按需加载**：只加载实际使用的设备类型
|
||||
2. **缓存利用**：充分利用系统的注册表缓存机制
|
||||
3. **资源管理**：合理管理设备连接和资源占用
|
||||
4. **监控指标**：设置关键性能指标的监控和告警
|
||||
|
||||
@@ -1,82 +1,73 @@
|
||||
# Uni-Lab 配置指南
|
||||
|
||||
Uni-Lab支持通过Python配置文件进行灵活的系统配置。本指南将帮助您理解配置选项并设置您的Uni-Lab环境。
|
||||
Uni-Lab 支持通过 Python 配置文件进行灵活的系统配置。本指南将帮助您理解配置选项并设置您的 Uni-Lab 环境。
|
||||
|
||||
## 配置文件格式
|
||||
|
||||
Uni-Lab支持Python格式的配置文件，它比YAML或JSON提供更多的灵活性，包括支持注释、条件逻辑和复杂数据结构。
|
||||
Uni-Lab 支持 Python 格式的配置文件，它比 YAML 或 JSON 提供更多的灵活性，包括支持注释、条件逻辑和复杂数据结构。
|
||||
|
||||
### 基本配置示例
|
||||
### 默认配置示例
|
||||
|
||||
一个典型的配置文件包含以下部分：
|
||||
首次使用时，系统会自动创建一个基础配置文件 `local_config.py`：
|
||||
|
||||
```python
|
||||
# unilabos的配置文件
|
||||
|
||||
class BasicConfig:
|
||||
ak = "" # 实验室网页给您提供的ak代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --ak 传入，优先按照传入参数解析
|
||||
sk = "" # 实验室网页给您提供的sk代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --sk 传入，优先按照传入参数解析
|
||||
|
||||
|
||||
# WebSocket配置，一般无需调整
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
```
|
||||
|
||||
### 完整配置示例
|
||||
|
||||
您可以根据需要添加更多配置选项：
|
||||
|
||||
```python
|
||||
#!/usr/bin/env python
|
||||
# coding=utf-8
|
||||
"""Uni-Lab 配置文件"""
|
||||
|
||||
from dataclasses import dataclass
|
||||
# 基础配置
|
||||
class BasicConfig:
|
||||
ak = "your_access_key" # 实验室访问密钥
|
||||
sk = "your_secret_key" # 实验室私钥
|
||||
working_dir = "" # 工作目录（通常自动设置）
|
||||
config_path = "" # 配置文件路径（自动设置）
|
||||
is_host_mode = True # 是否为主站模式
|
||||
slave_no_host = False # 从站模式下是否跳过等待主机服务
|
||||
upload_registry = False # 是否上传注册表
|
||||
machine_name = "undefined" # 机器名称（自动获取）
|
||||
vis_2d_enable = False # 是否启用2D可视化
|
||||
enable_resource_load = True # 是否启用资源加载
|
||||
communication_protocol = "websocket" # 通信协议
|
||||
|
||||
# 配置类定义
|
||||
# WebSocket配置
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
|
||||
class MQConfig:
|
||||
"""MQTT 配置类"""
|
||||
lab_id: str = "YOUR_LAB_ID"
|
||||
# 更多配置...
|
||||
# OSS上传配置
|
||||
class OSSUploadConfig:
|
||||
api_host = "" # API主机地址
|
||||
authorization = "" # 授权信息
|
||||
init_endpoint = "" # 初始化端点
|
||||
complete_endpoint = "" # 完成端点
|
||||
max_retries = 3 # 最大重试次数
|
||||
|
||||
# 其他配置类...
|
||||
```
|
||||
|
||||
## 配置选项说明
|
||||
|
||||
### MQTT配置 (MQConfig)
|
||||
|
||||
MQTT配置用于连接消息队列服务，是Uni-Lab与云端通信的主要方式。
|
||||
|
||||
```python
|
||||
|
||||
class MQConfig:
|
||||
"""MQTT 配置类"""
|
||||
lab_id: str = "7AAEDBEA" # 实验室唯一标识
|
||||
instance_id: str = "mqtt-cn-instance"
|
||||
access_key: str = "your-access-key"
|
||||
secret_key: str = "your-secret-key"
|
||||
group_id: str = "GID_labs"
|
||||
broker_url: str = "mqtt-cn-instance.mqtt.aliyuncs.com"
|
||||
port: int = 8883
|
||||
|
||||
# 可以直接提供证书文件路径
|
||||
ca_file: str = "/path/to/ca.pem" # 相对config.py所在目录的路径
|
||||
cert_file: str = "/path/to/cert.pem" # 相对config.py所在目录的路径
|
||||
key_file: str = "/path/to/key.pem" # 相对config.py所在目录的路径
|
||||
|
||||
# 或者直接提供证书内容
|
||||
ca_content: str = ""
|
||||
cert_content: str = ""
|
||||
key_content: str = ""
|
||||
```
|
||||
|
||||
#### 证书配置
|
||||
|
||||
MQTT连接支持两种方式配置证书：
|
||||
|
||||
1. **文件路径方式**（推荐）：指定证书文件的路径，系统会自动读取文件内容
|
||||
2. **直接内容方式**：直接在配置中提供证书内容
|
||||
|
||||
推荐使用文件路径方式，便于证书的更新和管理。
|
||||
|
||||
### HTTP客户端配置 (HTTPConfig)
|
||||
|
||||
即将开放 Uni-Lab 云端实验室。
|
||||
|
||||
### ROS模块配置 (ROSConfig)
|
||||
|
||||
配置ROS消息转换器需要加载的模块：
|
||||
|
||||
```python
|
||||
# HTTP配置
|
||||
class HTTPConfig:
|
||||
remote_addr = "http://127.0.0.1:48197/api/v1" # 远程地址
|
||||
|
||||
# ROS配置
|
||||
class ROSConfig:
|
||||
"""ROS模块配置"""
|
||||
modules = [
|
||||
"std_msgs.msg",
|
||||
"geometry_msgs.msg",
|
||||
@@ -85,25 +76,365 @@ class ROSConfig:
|
||||
"nav2_msgs.action",
|
||||
"unilabos_msgs.msg",
|
||||
"unilabos_msgs.action",
|
||||
] # 需要加载的ROS模块
|
||||
```
|
||||
|
||||
## 命令行参数覆盖配置
|
||||
|
||||
Uni-Lab 允许通过命令行参数覆盖配置文件中的设置，提供更灵活的配置方式。命令行参数的优先级高于配置文件。
|
||||
|
||||
### 支持命令行覆盖的配置项
|
||||
|
||||
以下配置项可以通过命令行参数进行覆盖：
|
||||
|
||||
| 配置类 | 配置字段 | 命令行参数 | 说明 |
|
||||
| ------------- | ----------------- | ------------------- | -------------------------------- |
|
||||
| `BasicConfig` | `ak` | `--ak` | 实验室访问密钥 |
|
||||
| `BasicConfig` | `sk` | `--sk` | 实验室私钥 |
|
||||
| `BasicConfig` | `working_dir` | `--working_dir` | 工作目录路径 |
|
||||
| `BasicConfig` | `is_host_mode` | `--is_slave` | 主站模式（参数为从站模式，取反） |
|
||||
| `BasicConfig` | `slave_no_host` | `--slave_no_host` | 从站模式下跳过等待主机服务 |
|
||||
| `BasicConfig` | `upload_registry` | `--upload_registry` | 启动时上传注册表信息 |
|
||||
| `BasicConfig` | `vis_2d_enable` | `--2d_vis` | 启用 2D 可视化 |
|
||||
| `HTTPConfig` | `remote_addr` | `--addr` | 远程服务地址 |
|
||||
|
||||
### 特殊命令行参数
|
||||
|
||||
除了直接覆盖配置项的参数外，还有一些特殊的命令行参数：
|
||||
|
||||
| 参数 | 说明 |
|
||||
| ------------------- | ------------------------------------ |
|
||||
| `--config` | 指定配置文件路径 |
|
||||
| `--port` | Web 服务端口（不影响配置文件） |
|
||||
| `--disable_browser` | 禁用自动打开浏览器（不影响配置文件） |
|
||||
| `--visual` | 可视化工具选择（不影响配置文件） |
|
||||
| `--skip_env_check` | 跳过环境检查（不影响配置文件） |
|
||||
|
||||
### 配置优先级
|
||||
|
||||
配置项的生效优先级从高到低为：
|
||||
|
||||
1. **命令行参数**：最高优先级
|
||||
2. **环境变量**：中等优先级
|
||||
3. **配置文件**：基础优先级
|
||||
|
||||
### 使用示例
|
||||
|
||||
```bash
|
||||
# 通过命令行覆盖认证信息
|
||||
unilab --ak "new_access_key" --sk "new_secret_key"
|
||||
|
||||
# 覆盖服务器地址
|
||||
unilab --addr "https://custom.server.com/api/v1"
|
||||
|
||||
# 启用从站模式并跳过等待主机
|
||||
unilab --is_slave --slave_no_host
|
||||
|
||||
# 启用上传注册表和2D可视化
|
||||
unilab --upload_registry --2d_vis
|
||||
|
||||
# 组合使用多个覆盖参数
|
||||
unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis
|
||||
```
|
||||
|
||||
### 预设环境地址
|
||||
|
||||
`--addr` 参数支持以下预设值，会自动转换为对应的完整 URL：
|
||||
|
||||
- `test` → `https://uni-lab.test.bohrium.com/api/v1`
|
||||
- `uat` → `https://uni-lab.uat.bohrium.com/api/v1`
|
||||
- `local` → `http://127.0.0.1:48197/api/v1`
|
||||
- 其他值 → 直接使用作为完整 URL
|
||||
|
||||
## 配置选项详解
|
||||
|
||||
### 基础配置 (BasicConfig)
|
||||
|
||||
基础配置包含了系统运行的核心参数：
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------------------ | ---- | ------------- | ------------------------------------------ |
|
||||
| `ak` | str | `""` | 实验室访问密钥（必需） |
|
||||
| `sk` | str | `""` | 实验室私钥（必需） |
|
||||
| `working_dir` | str | `""` | 工作目录，通常自动设置 |
|
||||
| `is_host_mode` | bool | `True` | 是否为主站模式 |
|
||||
| `slave_no_host` | bool | `False` | 从站模式下是否跳过等待主机服务 |
|
||||
| `upload_registry` | bool | `False` | 启动时是否上传注册表信息 |
|
||||
| `machine_name` | str | `"undefined"` | 机器名称，自动从 hostname 获取（不可配置） |
|
||||
| `vis_2d_enable` | bool | `False` | 是否启用 2D 可视化 |
|
||||
| `communication_protocol` | str | `"websocket"` | 通信协议，固定为 websocket |
|
||||
|
||||
#### 认证配置
|
||||
|
||||
`ak` 和 `sk` 是必需的认证参数：
|
||||
|
||||
1. **获取方式**：在 [Uni-Lab 官网](https://uni-lab.bohrium.com) 注册实验室后获得
|
||||
2. **配置方式**：
|
||||
- **命令行参数**：`--ak "your_key" --sk "your_secret"`（最高优先级）
|
||||
- **配置文件**：在 `BasicConfig` 类中设置
|
||||
- **环境变量**：`UNILABOS_BASICCONFIG_AK` 和 `UNILABOS_BASICCONFIG_SK`
|
||||
3. **优先级顺序**：命令行参数 > 环境变量 > 配置文件
|
||||
4. **安全注意**：请妥善保管您的密钥信息
|
||||
|
||||
**推荐做法**：
|
||||
|
||||
- 开发环境：使用配置文件
|
||||
- 生产环境：使用环境变量或命令行参数
|
||||
- 临时测试：使用命令行参数
|
||||
|
||||
### WebSocket 配置 (WSConfig)
|
||||
|
||||
WebSocket 是 Uni-Lab 的主要通信方式：
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------------------ | ---- | ------ | ------------------ |
|
||||
| `reconnect_interval` | int | `5` | 断线重连间隔（秒） |
|
||||
| `max_reconnect_attempts` | int | `999` | 最大重连次数 |
|
||||
| `ping_interval` | int | `30` | 心跳检测间隔（秒） |
|
||||
|
||||
### HTTP 配置 (HTTPConfig)
|
||||
|
||||
HTTP 客户端配置用于与云端服务通信：
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------- | ---- | --------------------------------- | ------------ |
|
||||
| `remote_addr` | str | `"http://127.0.0.1:48197/api/v1"` | 远程服务地址 |
|
||||
|
||||
**预设环境地址**：
|
||||
|
||||
- 生产环境：`https://uni-lab.bohrium.com/api/v1`
|
||||
- 测试环境：`https://uni-lab.test.bohrium.com/api/v1`
|
||||
- UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
|
||||
- 本地环境：`http://127.0.0.1:48197/api/v1`
|
||||
|
||||
### ROS 配置 (ROSConfig)
|
||||
|
||||
配置 ROS 消息转换器需要加载的模块：
|
||||
|
||||
```python
|
||||
class ROSConfig:
|
||||
modules = [
|
||||
"std_msgs.msg", # 标准消息类型
|
||||
"geometry_msgs.msg", # 几何消息类型
|
||||
"control_msgs.msg", # 控制消息类型
|
||||
"control_msgs.action", # 控制动作类型
|
||||
"nav2_msgs.action", # 导航动作类型
|
||||
"unilabos_msgs.msg", # UniLab 自定义消息类型
|
||||
"unilabos_msgs.action", # UniLab 自定义动作类型
|
||||
]
|
||||
```
|
||||
|
||||
您可以根据需要添加其他ROS模块。
|
||||
您可以根据实际使用的设备和功能添加其他 ROS 模块。
|
||||
|
||||
### 其他配置选项
|
||||
### OSS 上传配置 (OSSUploadConfig)
|
||||
|
||||
- **OSSUploadConfig**: 对象存储上传配置
|
||||
对象存储服务配置，用于文件上传功能：
|
||||
|
||||
## 如何使用配置文件
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------------- | ---- | ------ | -------------------- |
|
||||
| `api_host` | str | `""` | OSS API 主机地址 |
|
||||
| `authorization` | str | `""` | 授权认证信息 |
|
||||
| `init_endpoint` | str | `""` | 上传初始化端点 |
|
||||
| `complete_endpoint` | str | `""` | 上传完成端点 |
|
||||
| `max_retries` | int | `3` | 上传失败最大重试次数 |
|
||||
|
||||
启动Uni-Lab时通过`--config`参数指定配置文件路径：
|
||||
## 环境变量支持
|
||||
|
||||
Uni-Lab 支持通过环境变量覆盖配置文件中的设置。环境变量格式为：
|
||||
|
||||
```
|
||||
UNILABOS_{配置类名}_{字段名}
|
||||
```
|
||||
|
||||
### 环境变量示例
|
||||
|
||||
```bash
|
||||
unilab --config path/to/your/config.py
|
||||
# 设置基础配置
|
||||
export UNILABOS_BASICCONFIG_AK="your_access_key"
|
||||
export UNILABOS_BASICCONFIG_SK="your_secret_key"
|
||||
export UNILABOS_BASICCONFIG_IS_HOST_MODE="true"
|
||||
|
||||
# 设置WebSocket配置
|
||||
export UNILABOS_WSCONFIG_RECONNECT_INTERVAL="10"
|
||||
export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS="500"
|
||||
|
||||
# 设置HTTP配置
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://uni-lab.bohrium.com/api/v1"
|
||||
```
|
||||
|
||||
如果您不涉及多环境开发，可以在unilabos的安装路径中手动添加local_config.py的文件
|
||||
### 环境变量类型转换
|
||||
|
||||
# 启动Uni-Lab
|
||||
python -m unilabos.app.main --config path/to/your/config.py
|
||||
- **布尔值**：`"true"`, `"1"`, `"yes"` → `True`；其他 → `False`
|
||||
- **整数**：自动转换为 `int` 类型
|
||||
- **浮点数**：自动转换为 `float` 类型
|
||||
- **字符串**：保持原值
|
||||
|
||||
## 配置文件使用方法
|
||||
|
||||
### 1. 指定配置文件启动
|
||||
|
||||
```bash
|
||||
# 使用指定配置文件启动
|
||||
unilab --config /path/to/your/config.py
|
||||
```
|
||||
|
||||
### 2. 使用默认配置文件
|
||||
|
||||
如果不指定配置文件，系统会按以下顺序查找：
|
||||
|
||||
1. 环境变量 `UNILABOS_BASICCONFIG_CONFIG_PATH` 指定的路径
|
||||
2. 工作目录下的 `local_config.py`
|
||||
3. 首次使用时会引导创建配置文件
|
||||
|
||||
### 3. 配置文件验证
|
||||
|
||||
系统启动时会自动验证配置文件：
|
||||
|
||||
- **语法检查**：确保 Python 语法正确
|
||||
- **类型检查**：验证配置项类型是否匹配
|
||||
- **必需项检查**：确保 `ak` 和 `sk` 已配置
|
||||
|
||||
## 最佳实践
|
||||
|
||||
### 1. 安全配置
|
||||
|
||||
- 不要将包含密钥的配置文件提交到版本控制系统
|
||||
- 使用环境变量或命令行参数在生产环境中配置敏感信息
|
||||
- 定期更换访问密钥
|
||||
- **推荐配置方式**：
|
||||
|
||||
```bash
|
||||
# 生产环境 - 使用环境变量
|
||||
export UNILABOS_BASICCONFIG_AK="your_access_key"
|
||||
export UNILABOS_BASICCONFIG_SK="your_secret_key"
|
||||
unilab
|
||||
|
||||
# 或使用命令行参数
|
||||
unilab --ak "your_access_key" --sk "your_secret_key"
|
||||
```
|
||||
|
||||
### 2. 多环境配置
|
||||
|
||||
为不同环境创建不同的配置文件并结合命令行参数：
|
||||
|
||||
```
|
||||
configs/
|
||||
├── local_config.py # 本地开发
|
||||
├── test_config.py # 测试环境
|
||||
├── prod_config.py # 生产环境
|
||||
└── example_config.py # 示例配置
|
||||
```
|
||||
|
||||
**环境切换示例**：
|
||||
|
||||
```bash
|
||||
# 本地开发环境
|
||||
unilab --config configs/local_config.py --addr local
|
||||
|
||||
# 测试环境
|
||||
unilab --config configs/test_config.py --addr test --upload_registry
|
||||
|
||||
# 生产环境
|
||||
unilab --config configs/prod_config.py --ak "$PROD_AK" --sk "$PROD_SK"
|
||||
```
|
||||
|
||||
### 3. 配置管理
|
||||
|
||||
- 保持配置文件简洁，只包含需要修改的配置项
|
||||
- 为配置项添加注释说明其作用
|
||||
- 定期检查和更新配置文件
|
||||
- **命令行参数优先使用场景**：
|
||||
- 临时测试不同配置
|
||||
- CI/CD 流水线中的动态配置
|
||||
- 不同环境间快速切换
|
||||
- 敏感信息的安全传递
|
||||
|
||||
### 4. 灵活配置策略
|
||||
|
||||
**基础配置文件 + 命令行覆盖**的推荐方式：
|
||||
|
||||
```python
|
||||
# base_config.py - 基础配置
|
||||
class BasicConfig:
|
||||
# 非敏感配置写在文件中
|
||||
is_host_mode = True
|
||||
upload_registry = False
|
||||
vis_2d_enable = False
|
||||
|
||||
class WSConfig:
|
||||
reconnect_interval = 5
|
||||
max_reconnect_attempts = 999
|
||||
ping_interval = 30
|
||||
```
|
||||
|
||||
```bash
|
||||
# 启动时通过命令行覆盖关键参数
|
||||
unilab --config base_config.py \
|
||||
--ak "$AK" \
|
||||
--sk "$SK" \
|
||||
--addr "test" \
|
||||
--upload_registry \
|
||||
--2d_vis
|
||||
```
|
||||
|
||||
## 故障排除
|
||||
|
||||
### 1. 配置文件加载失败
|
||||
|
||||
**错误信息**：`[ENV] 配置文件 xxx 不存在`
|
||||
|
||||
**解决方法**：
|
||||
|
||||
- 确认配置文件路径正确
|
||||
- 检查文件权限是否可读
|
||||
- 确保配置文件是 `.py` 格式
|
||||
|
||||
### 2. 语法错误
|
||||
|
||||
**错误信息**：`[ENV] 加载配置文件 xxx 失败`
|
||||
|
||||
**解决方法**：
|
||||
|
||||
- 检查 Python 语法是否正确
|
||||
- 确认类名和字段名拼写正确
|
||||
- 验证缩进是否正确（使用空格而非制表符）
|
||||
|
||||
### 3. 认证失败
|
||||
|
||||
**错误信息**：`后续运行必须拥有一个实验室`
|
||||
|
||||
**解决方法**：
|
||||
|
||||
- 确认 `ak` 和 `sk` 已正确配置
|
||||
- 检查密钥是否有效
|
||||
- 确认网络连接正常
|
||||
|
||||
### 4. 环境变量不生效
|
||||
|
||||
**解决方法**：
|
||||
|
||||
- 确认环境变量名格式正确（`UNILABOS_CLASS_FIELD`）
|
||||
- 检查环境变量是否已正确设置
|
||||
- 重启系统或重新加载环境变量
|
||||
|
||||
### 5. 命令行参数不生效
|
||||
|
||||
**错误现象**：设置了命令行参数但配置没有生效
|
||||
|
||||
**解决方法**：
|
||||
|
||||
- 确认参数名拼写正确（如 `--ak` 而不是 `--access_key`）
|
||||
- 检查参数格式是否正确（布尔参数如 `--is_slave` 不需要值）
|
||||
- 确认参数位置正确（所有参数都应在 `unilab` 之后）
|
||||
- 查看启动日志确认参数是否被正确解析
|
||||
|
||||
### 6. 配置优先级混淆
|
||||
|
||||
**错误现象**：不确定哪个配置生效
|
||||
|
||||
**解决方法**：
|
||||
|
||||
- 记住优先级：命令行参数 > 环境变量 > 配置文件
|
||||
- 使用 `--ak` 和 `--sk` 参数时会看到提示信息
|
||||
- 检查启动日志中的配置加载信息
|
||||
- 临时移除低优先级配置来测试高优先级配置是否生效
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
# Uni-Lab 启动
|
||||
# Uni-Lab 启动指南
|
||||
|
||||
安装完毕后，可以通过 `unilab` 命令行启动：
|
||||
|
||||
@@ -8,70 +8,240 @@ Start Uni-Lab Edge server.
|
||||
options:
|
||||
-h, --help show this help message and exit
|
||||
-g GRAPH, --graph GRAPH
|
||||
Physical setup graph.
|
||||
-d DEVICES, --devices DEVICES
|
||||
Devices config file.
|
||||
-r RESOURCES, --resources RESOURCES
|
||||
Resources config file.
|
||||
Physical setup graph file path.
|
||||
-c CONTROLLERS, --controllers CONTROLLERS
|
||||
Controllers config file.
|
||||
Controllers config file path.
|
||||
--registry_path REGISTRY_PATH
|
||||
Path to the registry
|
||||
Path to the registry directory
|
||||
--working_dir WORKING_DIR
|
||||
Path to the working directory
|
||||
--backend {ros,simple,automancer}
|
||||
Choose the backend to run with: 'ros', 'simple', or 'automancer'.
|
||||
--app_bridges APP_BRIDGES [APP_BRIDGES ...]
|
||||
Bridges to connect to. Now support 'mqtt' and 'fastapi'.
|
||||
--without_host Run the backend as slave (without host).
|
||||
--config CONFIG Configuration file path for system settings
|
||||
Bridges to connect to. Now support 'websocket' and 'fastapi'.
|
||||
--is_slave Run the backend as slave node (without host privileges).
|
||||
--slave_no_host Skip waiting for host service in slave mode
|
||||
--upload_registry Upload registry information when starting unilab
|
||||
--use_remote_resource Use remote resources when starting unilab
|
||||
--config CONFIG Configuration file path, supports .py format Python config files
|
||||
--port PORT Port for web service information page
|
||||
--disable_browser Disable opening information page on startup
|
||||
--2d_vis Enable 2D visualization when starting pylabrobot instance
|
||||
--visual {rviz,web,disable}
|
||||
Choose visualization tool: rviz, web, or disable
|
||||
--ak AK Access key for laboratory requests
|
||||
--sk SK Secret key for laboratory requests
|
||||
--addr ADDR Laboratory backend address
|
||||
--skip_env_check Skip environment dependency check on startup
|
||||
--complete_registry Complete registry information
|
||||
```
|
||||
|
||||
## 启动流程详解
|
||||
|
||||
Uni-Lab 的启动过程分为以下几个阶段：
|
||||
|
||||
### 1. 参数解析阶段
|
||||
|
||||
- 解析命令行参数
|
||||
- 处理参数格式转换（支持 dash 和 underscore 格式）
|
||||
|
||||
### 2. 环境检查阶段 (可选)
|
||||
|
||||
- 默认进行环境依赖检查并自动安装必需包
|
||||
- 使用 `--skip_env_check` 可跳过此步骤
|
||||
|
||||
### 3. 配置文件处理阶段
|
||||
|
||||
您可以直接跟随 unilabos 的提示进行，无需查阅本节
|
||||
|
||||
- **工作目录设置**：
|
||||
|
||||
- 如果当前目录以 `unilabos_data` 结尾，则使用当前目录
|
||||
- 否则使用 `当前目录/unilabos_data` 作为工作目录
|
||||
- 可通过 `--working_dir` 指定自定义工作目录
|
||||
|
||||
- **配置文件查找顺序**：
|
||||
1. 使用 `--config` 参数指定的配置文件
|
||||
2. 在工作目录中查找 `local_config.py`
|
||||
3. 首次使用时会引导创建配置文件
|
||||
|
||||
### 4. 服务器地址配置
|
||||
|
||||
支持多种后端环境：
|
||||
|
||||
- `--addr test`：测试环境 (`https://uni-lab.test.bohrium.com/api/v1`)
|
||||
- `--addr uat`：UAT 环境 (`https://uni-lab.uat.bohrium.com/api/v1`)
|
||||
- `--addr local`：本地环境 (`http://127.0.0.1:48197/api/v1`)
|
||||
- 自定义地址：直接指定完整 URL
|
||||
|
||||
### 5. 认证配置
|
||||
|
||||
- **必需参数**：`--ak` 和 `--sk` 必须同时提供
|
||||
- 命令行参数优先于配置文件中的设置
|
||||
- 未提供认证信息会导致启动失败并提示注册实验室
|
||||
|
||||
### 6. 设备图谱加载
|
||||
|
||||
支持两种方式：
|
||||
|
||||
- **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
|
||||
- **远程资源**：使用 `--use_remote_resource` 从云端获取
|
||||
|
||||
### 7. 注册表构建
|
||||
|
||||
- 构建设备和资源注册表
|
||||
- 支持自定义注册表路径 (`--registry_path`)
|
||||
- 可选择补全注册表信息 (`--complete_registry`)
|
||||
|
||||
### 8. 设备验证和注册
|
||||
|
||||
- 验证设备连接和端点配置
|
||||
- 自动注册设备到云端服务
|
||||
|
||||
### 9. 通信桥接配置
|
||||
|
||||
- **WebSocket**：实时通信和任务下发
|
||||
- **FastAPI**：HTTP API 服务和物料更新
|
||||
|
||||
### 10. 可视化和服务启动
|
||||
|
||||
- 可选启动可视化工具 (`--visual`)
|
||||
- 启动 Web 信息服务 (默认端口 8002)
|
||||
- 启动后端通信服务
|
||||
|
||||
## 使用配置文件
|
||||
|
||||
Uni-Lab支持使用Python格式的配置文件进行系统设置。通过 `--config` 参数指定配置文件路径：
|
||||
Uni-Lab 支持使用 Python 格式的配置文件进行系统设置。通过 `--config` 参数指定配置文件路径：
|
||||
|
||||
```bash
|
||||
# 使用配置文件启动
|
||||
unilab --config path/to/your/config.py
|
||||
```
|
||||
|
||||
配置文件包含MQTT、HTTP、ROS等系统设置。有关配置文件的详细信息，请参阅[配置指南](configuration.md)。
|
||||
配置文件包含实验室和 WebSocket 连接等设置。有关配置文件的详细信息，请参阅[配置指南](configuration.md)。
|
||||
|
||||
## 初始化信息来源
|
||||
|
||||
启动 Uni-Lab 时，可以选用两种方式之一配置实验室设备、耗材、通信、控制逻辑：
|
||||
启动 Uni-Lab 时，可以选用两种方式之一配置实验室设备：
|
||||
|
||||
### 1. 组态&拓扑图
|
||||
|
||||
使用 `-g` 时，组态&拓扑图应包含实验室所有信息，详见{ref}`graph`。目前支持 graphml 和 node-link json 两种格式。格式可参照 `tests/experiments` 下的启动文件。
|
||||
使用 `-g` 时，组态&拓扑图应包含实验室所有信息，详见{ref}`graph`。目前支持 GraphML 和 node-link JSON 两种格式。格式可参照 `tests/experiments` 下的启动文件。
|
||||
|
||||
### 2. 分别指定设备、耗材、控制逻辑
|
||||
### 2. 分别指定控制逻辑
|
||||
|
||||
分别使用 `-d, -r, -c` 依次传入设备组态配置、耗材列表、控制逻辑。
|
||||
使用 `-c` 传入控制逻辑配置。
|
||||
|
||||
可参照 `devices.json` 和 `resources.json`。
|
||||
|
||||
不管使用哪一种初始化方式，设备/物料字典均需包含 `class` 属性，用于查找注册表信息。默认查找范围都是 Uni-Lab 内部注册表 `unilabos/registry/{devices,device_comms,resources}`。要添加额外的注册表路径，可以使用 `--registry` 加入 `<your-registry-path>/{devices,device_comms,resources}`。
|
||||
不管使用哪一种初始化方式，设备/物料字典均需包含 `class` 属性，用于查找注册表信息。默认查找范围都是 Uni-Lab 内部注册表 `unilabos/registry/{devices,device_comms,resources}`。要添加额外的注册表路径，可以使用 `--registry_path` 加入 `<your-registry-path>/{devices,device_comms,resources}`。
|
||||
|
||||
## 通信中间件 `--backend`
|
||||
|
||||
目前 Uni-Lab 仅支持 ros2 作为通信中间件。
|
||||
目前 Uni-Lab 支持以下通信中间件：
|
||||
|
||||
- **ros** (默认)：基于 ROS2 的通信
|
||||
- **simple**：简化通信模式
|
||||
- **automancer**：Automancer 兼容模式
|
||||
|
||||
## 端云桥接 `--app_bridges`
|
||||
|
||||
目前 Uni-Lab 提供 FastAPI (http), MQTT 两种端云通信方式。其中默认 MQTT 负责端对云状态同步和云对端任务下发，FastAPI 负责端对云物料更新。
|
||||
目前 Uni-Lab 提供 WebSocket、FastAPI (http) 两种端云通信方式：
|
||||
|
||||
- **WebSocket**：负责实时通信和任务下发
|
||||
- **FastAPI**：负责端对云物料更新和 HTTP API
|
||||
|
||||
## 分布式组网
|
||||
|
||||
启动 Uni-Lab 时，加入 `--without_host` 将作为从站，不加将作为主站，主站 (host) 持有物料修改权以及对云端的通信。局域网内分别启动的 Uni-Lab 主站/从站将自动组网，互相能访问所有设备状态、传感器信息并发送指令。
|
||||
启动 Uni-Lab 时，加入 `--is_slave` 将作为从站，不加将作为主站：
|
||||
|
||||
- **主站 (host)**：持有物料修改权以及对云端的通信
|
||||
- **从站 (slave)**：无主机权限，可选择跳过等待主机服务 (`--slave_no_host`)
|
||||
|
||||
局域网内分别启动的 Uni-Lab 主站/从站将自动组网，互相能访问所有设备状态、传感器信息并发送指令。
|
||||
|
||||
## 可视化选项
|
||||
|
||||
### 2D 可视化
|
||||
|
||||
使用 `--2d_vis` 在 PyLabRobot 实例启动时同时启动 2D 可视化。
|
||||
|
||||
### 3D 可视化
|
||||
|
||||
通过 `--visual` 参数选择：
|
||||
|
||||
- **rviz**：使用 RViz 进行 3D 可视化
|
||||
- **web**：使用 Web 界面进行可视化
|
||||
- **disable** (默认)：禁用可视化
|
||||
|
||||
## 实验室管理
|
||||
|
||||
### 首次使用
|
||||
|
||||
如果是首次使用，系统会：
|
||||
|
||||
1. 提示前往 https://uni-lab.bohrium.com 注册实验室
|
||||
2. 引导创建配置文件
|
||||
3. 设置工作目录
|
||||
|
||||
### 认证设置
|
||||
|
||||
- `--ak`：实验室访问密钥
|
||||
- `--sk`：实验室私钥
|
||||
- 两者必须同时提供才能正常启动
|
||||
|
||||
## 完整启动示例
|
||||
|
||||
以下是一些常用的启动命令示例：
|
||||
|
||||
```bash
|
||||
# 使用配置文件和组态图启动
|
||||
unilab -g path/to/graph.json
|
||||
# 使用组态图启动，上传注册表
|
||||
unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
|
||||
|
||||
# 使用配置文件和分离的设备/资源文件启动
|
||||
unilab -d devices.json -r resources.json
|
||||
# 使用远程资源启动
|
||||
unilab --ak your_ak --sk your_sk --use_remote_resource
|
||||
|
||||
# 更新注册表
|
||||
unilab --ak your_ak --sk your_sk --complete_registry
|
||||
|
||||
# 启动从站模式
|
||||
unilab --ak your_ak --sk your_sk --is_slave
|
||||
|
||||
# 启用可视化
|
||||
unilab --ak your_ak --sk your_sk --visual web --2d_vis
|
||||
|
||||
# 指定本地信息网页服务端口和禁用自动跳出浏览器
|
||||
unilab --ak your_ak --sk your_sk --port 8080 --disable_browser
|
||||
```
|
||||
|
||||
## 常见问题
|
||||
|
||||
### 1. 认证失败
|
||||
|
||||
如果提示 "后续运行必须拥有一个实验室"，请确保：
|
||||
|
||||
- 已在 https://uni-lab.bohrium.com 注册实验室
|
||||
- 正确设置了 `--ak` 和 `--sk` 参数
|
||||
- 配置文件中包含正确的认证信息
|
||||
|
||||
### 2. 配置文件问题
|
||||
|
||||
如果配置文件加载失败：
|
||||
|
||||
- 确保配置文件是 `.py` 格式
|
||||
- 检查配置文件语法是否正确
|
||||
- 首次使用可让系统自动创建示例配置文件
|
||||
|
||||
### 3. 网络连接问题
|
||||
|
||||
如果无法连接到服务器：
|
||||
|
||||
- 检查网络连接
|
||||
- 确认服务器地址是否正确
|
||||
- 尝试使用不同的环境地址（test、uat、local）
|
||||
|
||||
### 4. 设备图谱问题
|
||||
|
||||
如果设备加载失败：
|
||||
|
||||
- 检查图谱文件格式是否正确
|
||||
- 验证设备连接和端点配置
|
||||
- 确保注册表路径正确
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.10.3
|
||||
version: 0.10.5
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.10.3"
|
||||
version: "0.10.5"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
5
setup.py
5
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.10.3',
|
||||
version='0.10.5',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
@@ -16,8 +16,7 @@ setup(
|
||||
tests_require=['pytest'],
|
||||
entry_points={
|
||||
'console_scripts': [
|
||||
"unilab = unilabos.app.main:main",
|
||||
"unilab-register = unilabos.app.register:main"
|
||||
"unilab = unilabos.app.main:main"
|
||||
],
|
||||
},
|
||||
)
|
||||
|
||||
@@ -17,7 +17,6 @@
|
||||
"config": {
|
||||
"protocol_type": [
|
||||
"AddProtocol",
|
||||
"TransferProtocol",
|
||||
"StartStirProtocol",
|
||||
"StopStirProtocol",
|
||||
"StirProtocol",
|
||||
|
||||
@@ -49,7 +49,6 @@
|
||||
"config": {
|
||||
"protocol_type": [
|
||||
"AddProtocol",
|
||||
"TransferProtocol",
|
||||
"StartStirProtocol",
|
||||
"StopStirProtocol",
|
||||
"StirProtocol",
|
||||
@@ -171,12 +170,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "DMF"
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "DMF"
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "DMF",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -192,12 +194,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "ethyl_acetate"
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "ethyl_acetate"
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "ethyl_acetate",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -213,12 +218,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "hexane"
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "hexane"
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "hexane",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -234,12 +242,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "methanol"
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "methanol"
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "methanol",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -255,12 +266,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "water"
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "water"
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "water",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -320,15 +334,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 500.0,
|
||||
"max_volume": 500.0,
|
||||
"max_temp": 200.0,
|
||||
"min_temp": -20.0,
|
||||
"has_stirrer": true,
|
||||
"has_heater": true
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0,
|
||||
"current_temp": 25.0
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -405,10 +419,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 2000.0
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -424,10 +439,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 2000.0
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -633,10 +649,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 250.0
|
||||
"max_volume": 250.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -652,10 +669,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 250.0
|
||||
"max_volume": 250.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -671,10 +689,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 250.0
|
||||
"max_volume": 250.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -713,7 +732,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 500.0,
|
||||
"max_volume": 500.0,
|
||||
"reagent": "sodium_chloride",
|
||||
"physical_state": "solid"
|
||||
},
|
||||
@@ -1077,7 +1096,7 @@
|
||||
"target": "solid_dispenser_1",
|
||||
"type": "resource",
|
||||
"port": {
|
||||
"solid_reagent_bottle_1": "top",
|
||||
"solid_reagent_bottle_1": "bottom",
|
||||
"solid_dispenser_1": "SolidIn"
|
||||
}
|
||||
},
|
||||
@@ -1087,7 +1106,7 @@
|
||||
"target": "solid_dispenser_1",
|
||||
"type": "resource",
|
||||
"port": {
|
||||
"solid_reagent_bottle_2": "top",
|
||||
"solid_reagent_bottle_2": "bottom",
|
||||
"solid_dispenser_1": "SolidIn"
|
||||
}
|
||||
},
|
||||
@@ -1097,7 +1116,7 @@
|
||||
"target": "solid_dispenser_1",
|
||||
"type": "resource",
|
||||
"port": {
|
||||
"solid_reagent_bottle_3": "top",
|
||||
"solid_reagent_bottle_3": "bottom",
|
||||
"solid_dispenser_1": "SolidIn"
|
||||
}
|
||||
}
|
||||
|
||||
@@ -14,8 +14,8 @@
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "PLR_STATION",
|
||||
"name": "PLR_LH_TEST",
|
||||
"id": "liquid_handler",
|
||||
"name": "liquid_handler",
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "liquid_handler",
|
||||
@@ -37,7 +37,7 @@
|
||||
"tip_rack",
|
||||
"plate_well"
|
||||
],
|
||||
"parent": "PLR_STATION",
|
||||
"parent": "liquid_handler",
|
||||
"type": "deck",
|
||||
"class": "OTDeck",
|
||||
"position": {
|
||||
@@ -9650,7 +9650,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "moveit.arm_slider",
|
||||
"class": "robotic_arm.SCARA_with_slider.virtual",
|
||||
"position": {
|
||||
"x": -500,
|
||||
"y": 1000,
|
||||
|
||||
@@ -21,9 +21,9 @@
|
||||
"timeout": 10.0,
|
||||
"axis": "Left",
|
||||
"channel_num": 8,
|
||||
"setup": false,
|
||||
"debug": false,
|
||||
"simulator": false,
|
||||
"setup": true,
|
||||
"debug": true,
|
||||
"simulator": true,
|
||||
"matrix_id": "71593"
|
||||
},
|
||||
"data": {},
|
||||
|
||||
@@ -16,15 +16,15 @@
|
||||
"_resource_child_name": "PRCXI_Deck",
|
||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
|
||||
},
|
||||
"host": "10.181.102.13",
|
||||
"host": "172.21.5.75",
|
||||
"port": 9999,
|
||||
"timeout": 10.0,
|
||||
"axis": "Right",
|
||||
"channel_num": 1,
|
||||
"setup": false,
|
||||
"debug": false,
|
||||
"simulator": false,
|
||||
"matrix_id": "fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1"
|
||||
"debug": true,
|
||||
"simulator": true,
|
||||
"matrix_id": "c1d0d5dc-40f2-4f24-97ac-9cc49c68496c"
|
||||
},
|
||||
"data": {},
|
||||
"children": [
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "moveit.arm_slider",
|
||||
"class": "robotic_arm.SCARA_with_slider.virtual",
|
||||
"position": {
|
||||
"x": -500,
|
||||
"y": 1000,
|
||||
|
||||
949
test/experiments/workshop.json
Normal file
949
test/experiments/workshop.json
Normal file
@@ -0,0 +1,949 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "simple_station",
|
||||
"name": "愚公常量合成工作站",
|
||||
"children": [
|
||||
"serial_pump",
|
||||
"pump_reagents",
|
||||
"pump_workup",
|
||||
"flask_CH2Cl2",
|
||||
"waste_workup",
|
||||
"separator_controller",
|
||||
"flask_separator",
|
||||
"flask_air"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["PumpTransferProtocol", "CleanProtocol", "SeparateProtocol", "EvaporateProtocol"]
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "serial_pump",
|
||||
"name": "serial_pump",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "device",
|
||||
"class": "serial",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "COM7",
|
||||
"baudrate": 9600
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "pump_reagents",
|
||||
"name": "pump_reagents",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "device",
|
||||
"class": "syringepump.runze",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/devices/PumpBackbone/Serial/serialwrite",
|
||||
"address": "1",
|
||||
"max_volume": 25.0
|
||||
},
|
||||
"data": {
|
||||
"max_velocity": 1.0,
|
||||
"position": 0.0,
|
||||
"status": "Idle",
|
||||
"valve_position": "0"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_CH2Cl2",
|
||||
"name": "flask_CH2Cl2",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 430.4087301587302,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"liquid_type": "CH2Cl2",
|
||||
"liquid_volume": 1500.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_acetone",
|
||||
"name": "flask_acetone",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 295.36944444444447,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"liquid_type": "acetone",
|
||||
"liquid_volume": 1500.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_NH4Cl",
|
||||
"name": "flask_NH4Cl",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 165.36944444444444,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"liquid_type": "NH4Cl",
|
||||
"liquid_volume": 1500.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_grignard",
|
||||
"name": "flask_grignard",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 165.36944444444444,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"liquid_type": "grignard",
|
||||
"liquid_volume": 1500.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_THF",
|
||||
"name": "flask_THF",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 35,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"liquid_type": "THF",
|
||||
"liquid_volume": 1500.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "reactor",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 5000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "stirrer",
|
||||
"name": "stirrer",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "device",
|
||||
"class": "heaterstirrer.dalong",
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "COM43",
|
||||
"temp_warning": 60.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"temp": 0.0,
|
||||
"stir_speed": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "pump_workup",
|
||||
"name": "pump_workup",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "device",
|
||||
"class": "syringepump.runze",
|
||||
"position": {
|
||||
"x": 1195.611507936508,
|
||||
"y": 686,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/devices/PumpBackbone/Serial/serialwrite",
|
||||
"address": "2",
|
||||
"max_volume": 25.0
|
||||
},
|
||||
"data": {
|
||||
"max_velocity": 1.0,
|
||||
"position": 0.0,
|
||||
"status": "Idle",
|
||||
"valve_position": "0"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "waste_workup",
|
||||
"name": "waste_workup",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 1587.703373015873,
|
||||
"y": 1172.5,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "separator_controller",
|
||||
"name": "separator_controller",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "device",
|
||||
"class": "separator.homemade",
|
||||
"position": {
|
||||
"x": 1624.4027777777778,
|
||||
"y": 665.5,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port_executor": "/dev/tty.usbserial-11140",
|
||||
"port_sensor": "/dev/tty.usbserial-11130"
|
||||
},
|
||||
"data": {
|
||||
"sensordata": 0.0,
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_separator",
|
||||
"name": "flask_separator",
|
||||
"children": [],
|
||||
"parent": "simple_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
{
|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
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|
||||
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|
||||
"port": {
|
||||
"pump_workup": "7",
|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
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|
||||
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|
||||
"port": {
|
||||
"pump_workup": "6",
|
||||
"flask_NaHCO3": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
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|
||||
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|
||||
"port": {
|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "flask_holding",
|
||||
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|
||||
"port": {
|
||||
"pump_workup": "5",
|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "separator_controller",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "4",
|
||||
"separator_controller": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "flask_separator",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "3",
|
||||
"flask_separator": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "pump_column",
|
||||
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|
||||
"port": {
|
||||
"pump_workup": "1",
|
||||
"pump_column": "8"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "4",
|
||||
"column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "flask_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "3",
|
||||
"flask_column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "rotavap",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "2",
|
||||
"rotavap": "-1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "pump_workup",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "8",
|
||||
"pump_workup": "1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "flask_air",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "5",
|
||||
"flask_air": "-1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "dry_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "7",
|
||||
"dry_column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "flask_dry_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "6",
|
||||
"flask_dry_column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "pump_ext",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "1",
|
||||
"pump_ext": "8"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
588
test/registry/example_devices.py
Normal file
588
test/registry/example_devices.py
Normal file
@@ -0,0 +1,588 @@
|
||||
"""
|
||||
示例设备类文件，用于测试注册表编辑器
|
||||
"""
|
||||
|
||||
import asyncio
|
||||
from typing import Dict, Any, Optional, List
|
||||
|
||||
|
||||
class SmartPumpController:
|
||||
"""
|
||||
智能泵控制器
|
||||
|
||||
支持多种泵送模式，具有高精度流量控制和自动校准功能。
|
||||
适用于实验室自动化系统中的液体处理任务。
|
||||
"""
|
||||
|
||||
def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
|
||||
"""
|
||||
初始化智能泵控制器
|
||||
|
||||
Args:
|
||||
device_id: 设备唯一标识符
|
||||
port: 通信端口
|
||||
"""
|
||||
self.device_id = device_id
|
||||
self.port = port
|
||||
self.is_connected = False
|
||||
self.current_flow_rate = 0.0
|
||||
self.total_volume_pumped = 0.0
|
||||
self.calibration_factor = 1.0
|
||||
self.pump_mode = "continuous" # continuous, volume, rate
|
||||
|
||||
def connect_device(self, timeout: int = 10) -> bool:
|
||||
"""
|
||||
连接到泵设备
|
||||
|
||||
Args:
|
||||
timeout: 连接超时时间（秒）
|
||||
|
||||
Returns:
|
||||
bool: 连接是否成功
|
||||
"""
|
||||
# 模拟连接过程
|
||||
self.is_connected = True
|
||||
return True
|
||||
|
||||
def disconnect_device(self) -> bool:
|
||||
"""
|
||||
断开设备连接
|
||||
|
||||
Returns:
|
||||
bool: 断开连接是否成功
|
||||
"""
|
||||
self.is_connected = False
|
||||
self.current_flow_rate = 0.0
|
||||
return True
|
||||
|
||||
def set_flow_rate(self, flow_rate: float, units: str = "ml/min") -> bool:
|
||||
"""
|
||||
设置泵流速
|
||||
|
||||
Args:
|
||||
flow_rate: 流速值
|
||||
units: 流速单位
|
||||
|
||||
Returns:
|
||||
bool: 设置是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
return False
|
||||
|
||||
self.current_flow_rate = flow_rate
|
||||
return True
|
||||
|
||||
async def pump_volume_async(self, volume: float, flow_rate: float) -> Dict[str, Any]:
|
||||
"""
|
||||
异步泵送指定体积的液体
|
||||
|
||||
Args:
|
||||
volume: 目标体积 (mL)
|
||||
flow_rate: 泵送流速 (mL/min)
|
||||
|
||||
Returns:
|
||||
Dict: 包含操作结果的字典
|
||||
"""
|
||||
if not self.is_connected:
|
||||
return {"success": False, "error": "设备未连接"}
|
||||
|
||||
# 计算泵送时间
|
||||
pump_time = (volume / flow_rate) * 60 # 转换为秒
|
||||
|
||||
self.current_flow_rate = flow_rate
|
||||
await asyncio.sleep(min(pump_time, 3.0)) # 模拟泵送过程
|
||||
|
||||
self.total_volume_pumped += volume
|
||||
self.current_flow_rate = 0.0
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"pumped_volume": volume,
|
||||
"actual_time": min(pump_time, 3.0),
|
||||
"total_volume": self.total_volume_pumped,
|
||||
}
|
||||
|
||||
def emergency_stop(self) -> bool:
|
||||
"""
|
||||
紧急停止泵
|
||||
|
||||
Returns:
|
||||
bool: 停止是否成功
|
||||
"""
|
||||
self.current_flow_rate = 0.0
|
||||
return True
|
||||
|
||||
def perform_calibration(self, reference_volume: float, measured_volume: float) -> bool:
|
||||
"""
|
||||
执行泵校准
|
||||
|
||||
Args:
|
||||
reference_volume: 参考体积
|
||||
measured_volume: 实际测量体积
|
||||
|
||||
Returns:
|
||||
bool: 校准是否成功
|
||||
"""
|
||||
if measured_volume > 0:
|
||||
self.calibration_factor = reference_volume / measured_volume
|
||||
return True
|
||||
return False
|
||||
|
||||
# 状态查询方法
|
||||
def get_connection_status(self) -> str:
|
||||
"""获取连接状态"""
|
||||
return "connected" if self.is_connected else "disconnected"
|
||||
|
||||
def get_current_flow_rate(self) -> float:
|
||||
"""获取当前流速 (mL/min)"""
|
||||
return self.current_flow_rate
|
||||
|
||||
def get_total_volume(self) -> float:
|
||||
"""获取累计泵送体积 (mL)"""
|
||||
return self.total_volume_pumped
|
||||
|
||||
def get_calibration_factor(self) -> float:
|
||||
"""获取校准因子"""
|
||||
return self.calibration_factor
|
||||
|
||||
def get_pump_mode(self) -> str:
|
||||
"""获取泵送模式"""
|
||||
return self.pump_mode
|
||||
|
||||
def get_device_status(self) -> Dict[str, Any]:
|
||||
"""获取设备完整状态信息"""
|
||||
return {
|
||||
"device_id": self.device_id,
|
||||
"connected": self.is_connected,
|
||||
"flow_rate": self.current_flow_rate,
|
||||
"total_volume": self.total_volume_pumped,
|
||||
"calibration_factor": self.calibration_factor,
|
||||
"mode": self.pump_mode,
|
||||
"running": self.current_flow_rate > 0,
|
||||
}
|
||||
|
||||
|
||||
class AdvancedTemperatureController:
|
||||
"""
|
||||
高级温度控制器
|
||||
|
||||
支持PID控制、多点温度监控和程序化温度曲线。
|
||||
适用于需要精确温度控制的化学反应和材料处理过程。
|
||||
"""
|
||||
|
||||
def __init__(self, controller_id: str = "temp_controller_01"):
|
||||
"""
|
||||
初始化温度控制器
|
||||
|
||||
Args:
|
||||
controller_id: 控制器ID
|
||||
"""
|
||||
self.controller_id = controller_id
|
||||
self.current_temperature = 25.0
|
||||
self.target_temperature = 25.0
|
||||
self.is_heating = False
|
||||
self.is_cooling = False
|
||||
self.pid_enabled = True
|
||||
self.temperature_history: List[Dict] = []
|
||||
|
||||
def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
|
||||
"""
|
||||
设置目标温度
|
||||
|
||||
Args:
|
||||
temperature: 目标温度 (°C)
|
||||
rate: 升温/降温速率 (°C/min)
|
||||
|
||||
Returns:
|
||||
bool: 设置是否成功
|
||||
"""
|
||||
self.target_temperature = temperature
|
||||
return True
|
||||
|
||||
async def heat_to_temperature_async(
|
||||
self, temperature: float, tolerance: float = 0.5, timeout: int = 600
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
异步加热到指定温度
|
||||
|
||||
Args:
|
||||
temperature: 目标温度 (°C)
|
||||
tolerance: 温度容差 (°C)
|
||||
timeout: 最大等待时间 (秒)
|
||||
|
||||
Returns:
|
||||
Dict: 操作结果
|
||||
"""
|
||||
self.target_temperature = temperature
|
||||
start_temp = self.current_temperature
|
||||
|
||||
if temperature > start_temp:
|
||||
self.is_heating = True
|
||||
elif temperature < start_temp:
|
||||
self.is_cooling = True
|
||||
|
||||
# 模拟温度变化过程
|
||||
steps = min(abs(temperature - start_temp) * 2, 20) # 计算步数
|
||||
step_time = min(timeout / steps if steps > 0 else 1, 2.0) # 每步最多2秒
|
||||
|
||||
for step in range(int(steps)):
|
||||
progress = (step + 1) / steps
|
||||
self.current_temperature = start_temp + (temperature - start_temp) * progress
|
||||
|
||||
# 记录温度历史
|
||||
self.temperature_history.append(
|
||||
{
|
||||
"timestamp": asyncio.get_event_loop().time(),
|
||||
"temperature": self.current_temperature,
|
||||
"target": self.target_temperature,
|
||||
}
|
||||
)
|
||||
|
||||
await asyncio.sleep(step_time)
|
||||
|
||||
# 保持历史记录不超过100条
|
||||
if len(self.temperature_history) > 100:
|
||||
self.temperature_history.pop(0)
|
||||
|
||||
# 最终设置为目标温度
|
||||
self.current_temperature = temperature
|
||||
self.is_heating = False
|
||||
self.is_cooling = False
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"final_temperature": self.current_temperature,
|
||||
"start_temperature": start_temp,
|
||||
"time_taken": steps * step_time,
|
||||
}
|
||||
|
||||
def enable_pid_control(self, kp: float = 1.0, ki: float = 0.1, kd: float = 0.05) -> bool:
|
||||
"""
|
||||
启用PID控制
|
||||
|
||||
Args:
|
||||
kp: 比例增益
|
||||
ki: 积分增益
|
||||
kd: 微分增益
|
||||
|
||||
Returns:
|
||||
bool: 启用是否成功
|
||||
"""
|
||||
self.pid_enabled = True
|
||||
return True
|
||||
|
||||
def run_temperature_program(self, program: List[Dict]) -> bool:
|
||||
"""
|
||||
运行温度程序
|
||||
|
||||
Args:
|
||||
program: 温度程序列表，每个元素包含温度和持续时间
|
||||
|
||||
Returns:
|
||||
bool: 程序启动是否成功
|
||||
"""
|
||||
# 模拟程序启动
|
||||
return True
|
||||
|
||||
# 状态查询方法
|
||||
def get_current_temperature(self) -> float:
|
||||
"""获取当前温度 (°C)"""
|
||||
return round(self.current_temperature, 2)
|
||||
|
||||
def get_target_temperature(self) -> float:
|
||||
"""获取目标温度 (°C)"""
|
||||
return self.target_temperature
|
||||
|
||||
def get_heating_status(self) -> bool:
|
||||
"""获取加热状态"""
|
||||
return self.is_heating
|
||||
|
||||
def get_cooling_status(self) -> bool:
|
||||
"""获取制冷状态"""
|
||||
return self.is_cooling
|
||||
|
||||
def get_pid_status(self) -> bool:
|
||||
"""获取PID控制状态"""
|
||||
return self.pid_enabled
|
||||
|
||||
def get_temperature_history(self) -> List[Dict]:
|
||||
"""获取温度历史记录"""
|
||||
return self.temperature_history[-10:] # 返回最近10条记录
|
||||
|
||||
def get_controller_status(self) -> Dict[str, Any]:
|
||||
"""获取控制器完整状态"""
|
||||
return {
|
||||
"controller_id": self.controller_id,
|
||||
"current_temp": self.current_temperature,
|
||||
"target_temp": self.target_temperature,
|
||||
"is_heating": self.is_heating,
|
||||
"is_cooling": self.is_cooling,
|
||||
"pid_enabled": self.pid_enabled,
|
||||
"history_count": len(self.temperature_history),
|
||||
}
|
||||
|
||||
|
||||
class MultiChannelAnalyzer:
|
||||
"""
|
||||
多通道分析仪
|
||||
|
||||
支持同时监测多个通道的信号，提供实时数据采集和分析功能。
|
||||
常用于光谱分析、电化学测量等应用场景。
|
||||
"""
|
||||
|
||||
def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
|
||||
"""
|
||||
初始化多通道分析仪
|
||||
|
||||
Args:
|
||||
analyzer_id: 分析仪ID
|
||||
channels: 通道数量
|
||||
"""
|
||||
self.analyzer_id = analyzer_id
|
||||
self.channel_count = channels
|
||||
self.channel_data = {i: {"value": 0.0, "unit": "V", "enabled": True} for i in range(channels)}
|
||||
self.is_measuring = False
|
||||
self.sample_rate = 1000 # Hz
|
||||
|
||||
def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
|
||||
"""
|
||||
配置通道
|
||||
|
||||
Args:
|
||||
channel: 通道编号
|
||||
enabled: 是否启用
|
||||
unit: 测量单位
|
||||
|
||||
Returns:
|
||||
bool: 配置是否成功
|
||||
"""
|
||||
if 0 <= channel < self.channel_count:
|
||||
self.channel_data[channel]["enabled"] = enabled
|
||||
self.channel_data[channel]["unit"] = unit
|
||||
return True
|
||||
return False
|
||||
|
||||
async def start_measurement_async(self, duration: int = 10) -> Dict[str, Any]:
|
||||
"""
|
||||
开始异步测量
|
||||
|
||||
Args:
|
||||
duration: 测量持续时间（秒）
|
||||
|
||||
Returns:
|
||||
Dict: 测量结果
|
||||
"""
|
||||
self.is_measuring = True
|
||||
|
||||
# 模拟数据采集
|
||||
measurements = []
|
||||
for second in range(duration):
|
||||
timestamp = asyncio.get_event_loop().time()
|
||||
frame_data = {}
|
||||
|
||||
for channel in range(self.channel_count):
|
||||
if self.channel_data[channel]["enabled"]:
|
||||
# 模拟传感器数据
|
||||
import random
|
||||
|
||||
value = random.uniform(-5.0, 5.0)
|
||||
frame_data[f"channel_{channel}"] = value
|
||||
self.channel_data[channel]["value"] = value
|
||||
|
||||
measurements.append({"timestamp": timestamp, "data": frame_data})
|
||||
|
||||
await asyncio.sleep(1.0) # 每秒采集一次
|
||||
|
||||
self.is_measuring = False
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"duration": duration,
|
||||
"samples_count": len(measurements),
|
||||
"measurements": measurements[-5:], # 只返回最后5个样本
|
||||
"channels_active": len([ch for ch in self.channel_data.values() if ch["enabled"]]),
|
||||
}
|
||||
|
||||
def stop_measurement(self) -> bool:
|
||||
"""
|
||||
停止测量
|
||||
|
||||
Returns:
|
||||
bool: 停止是否成功
|
||||
"""
|
||||
self.is_measuring = False
|
||||
return True
|
||||
|
||||
def reset_channels(self) -> bool:
|
||||
"""
|
||||
重置所有通道
|
||||
|
||||
Returns:
|
||||
bool: 重置是否成功
|
||||
"""
|
||||
for channel in self.channel_data:
|
||||
self.channel_data[channel]["value"] = 0.0
|
||||
return True
|
||||
|
||||
# 状态查询方法
|
||||
def get_measurement_status(self) -> bool:
|
||||
"""获取测量状态"""
|
||||
return self.is_measuring
|
||||
|
||||
def get_channel_count(self) -> int:
|
||||
"""获取通道数量"""
|
||||
return self.channel_count
|
||||
|
||||
def get_sample_rate(self) -> float:
|
||||
"""获取采样率 (Hz)"""
|
||||
return self.sample_rate
|
||||
|
||||
def get_channel_values(self) -> Dict[int, float]:
|
||||
"""获取所有通道的当前值"""
|
||||
return {ch: data["value"] for ch, data in self.channel_data.items() if data["enabled"]}
|
||||
|
||||
def get_enabled_channels(self) -> List[int]:
|
||||
"""获取已启用的通道列表"""
|
||||
return [ch for ch, data in self.channel_data.items() if data["enabled"]]
|
||||
|
||||
def get_analyzer_status(self) -> Dict[str, Any]:
|
||||
"""获取分析仪完整状态"""
|
||||
return {
|
||||
"analyzer_id": self.analyzer_id,
|
||||
"channel_count": self.channel_count,
|
||||
"is_measuring": self.is_measuring,
|
||||
"sample_rate": self.sample_rate,
|
||||
"active_channels": len(self.get_enabled_channels()),
|
||||
"channel_data": self.channel_data,
|
||||
}
|
||||
|
||||
|
||||
class AutomatedDispenser:
|
||||
"""
|
||||
自动分配器
|
||||
|
||||
精确控制固体和液体材料的分配，支持多种分配模式和容器管理。
|
||||
集成称重功能，确保分配精度和重现性。
|
||||
"""
|
||||
|
||||
def __init__(self, dispenser_id: str = "dispenser_01"):
|
||||
"""
|
||||
初始化自动分配器
|
||||
|
||||
Args:
|
||||
dispenser_id: 分配器ID
|
||||
"""
|
||||
self.dispenser_id = dispenser_id
|
||||
self.is_ready = True
|
||||
self.current_position = {"x": 0.0, "y": 0.0, "z": 0.0}
|
||||
self.dispensed_total = 0.0
|
||||
self.container_capacity = 1000.0 # mL
|
||||
self.precision_mode = True
|
||||
|
||||
def move_to_position(self, x: float, y: float, z: float) -> bool:
|
||||
"""
|
||||
移动到指定位置
|
||||
|
||||
Args:
|
||||
x: X坐标 (mm)
|
||||
y: Y坐标 (mm)
|
||||
z: Z坐标 (mm)
|
||||
|
||||
Returns:
|
||||
bool: 移动是否成功
|
||||
"""
|
||||
self.current_position = {"x": x, "y": y, "z": z}
|
||||
return True
|
||||
|
||||
async def dispense_liquid_async(self, volume: float, container_id: str, viscosity: str = "low") -> Dict[str, Any]:
|
||||
"""
|
||||
异步分配液体
|
||||
|
||||
Args:
|
||||
volume: 分配体积 (mL)
|
||||
container_id: 容器ID
|
||||
viscosity: 液体粘度等级
|
||||
|
||||
Returns:
|
||||
Dict: 分配结果
|
||||
"""
|
||||
if not self.is_ready:
|
||||
return {"success": False, "error": "设备未就绪"}
|
||||
|
||||
if volume <= 0:
|
||||
return {"success": False, "error": "体积必须大于0"}
|
||||
|
||||
# 模拟分配过程
|
||||
dispense_time = volume * 0.1 # 每mL需要0.1秒
|
||||
if viscosity == "high":
|
||||
dispense_time *= 2 # 高粘度液体需要更长时间
|
||||
|
||||
await asyncio.sleep(min(dispense_time, 5.0)) # 最多等待5秒
|
||||
|
||||
self.dispensed_total += volume
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"dispensed_volume": volume,
|
||||
"container_id": container_id,
|
||||
"actual_time": min(dispense_time, 5.0),
|
||||
"total_dispensed": self.dispensed_total,
|
||||
}
|
||||
|
||||
def clean_dispenser(self, wash_volume: float = 5.0) -> bool:
|
||||
"""
|
||||
清洗分配器
|
||||
|
||||
Args:
|
||||
wash_volume: 清洗液体积 (mL)
|
||||
|
||||
Returns:
|
||||
bool: 清洗是否成功
|
||||
"""
|
||||
# 模拟清洗过程
|
||||
return True
|
||||
|
||||
def calibrate_volume(self, target_volume: float) -> bool:
|
||||
"""
|
||||
校准分配体积
|
||||
|
||||
Args:
|
||||
target_volume: 校准目标体积 (mL)
|
||||
|
||||
Returns:
|
||||
bool: 校准是否成功
|
||||
"""
|
||||
# 模拟校准过程
|
||||
return True
|
||||
|
||||
# 状态查询方法
|
||||
def get_ready_status(self) -> bool:
|
||||
"""获取就绪状态"""
|
||||
return self.is_ready
|
||||
|
||||
def get_current_position(self) -> Dict[str, float]:
|
||||
"""获取当前位置坐标"""
|
||||
return self.current_position.copy()
|
||||
|
||||
def get_dispensed_total(self) -> float:
|
||||
"""获取累计分配体积 (mL)"""
|
||||
return self.dispensed_total
|
||||
|
||||
def get_container_capacity(self) -> float:
|
||||
"""获取容器容量 (mL)"""
|
||||
return self.container_capacity
|
||||
|
||||
def get_precision_mode(self) -> bool:
|
||||
"""获取精密模式状态"""
|
||||
return self.precision_mode
|
||||
|
||||
def get_dispenser_status(self) -> Dict[str, Any]:
|
||||
"""获取分配器完整状态"""
|
||||
return {
|
||||
"dispenser_id": self.dispenser_id,
|
||||
"ready": self.is_ready,
|
||||
"position": self.current_position,
|
||||
"dispensed_total": self.dispensed_total,
|
||||
"capacity": self.container_capacity,
|
||||
"precision_mode": self.precision_mode,
|
||||
}
|
||||
@@ -34,7 +34,7 @@ dependencies:
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websocket
|
||||
- websockets
|
||||
# Notebook
|
||||
- ipython
|
||||
- jupyter
|
||||
|
||||
@@ -34,7 +34,7 @@ dependencies:
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websocket
|
||||
- websockets
|
||||
# Notebook
|
||||
- ipython
|
||||
- jupyter
|
||||
|
||||
@@ -35,8 +35,7 @@ dependencies:
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websocket
|
||||
- paho-mqtt
|
||||
- websockets
|
||||
# Notebook
|
||||
- ipython
|
||||
- jupyter
|
||||
|
||||
@@ -34,7 +34,7 @@ dependencies:
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websocket
|
||||
- websockets
|
||||
# Notebook
|
||||
- ipython
|
||||
- jupyter
|
||||
|
||||
@@ -15,24 +15,33 @@ def start_backend(
|
||||
without_host: bool = False,
|
||||
visual: str = "None",
|
||||
resources_mesh_config: dict = {},
|
||||
**kwargs
|
||||
**kwargs,
|
||||
):
|
||||
if backend == "ros":
|
||||
# 假设 ros_main, simple_main, automancer_main 是不同 backend 的启动函数
|
||||
from unilabos.ros.main_slave_run import main, slave # 如果选择 'ros' 作为 backend
|
||||
elif backend == 'simple':
|
||||
elif backend == "simple":
|
||||
# 这里假设 simple_backend 和 automancer_backend 是你定义的其他两个后端
|
||||
# from simple_backend import main as simple_main
|
||||
pass
|
||||
elif backend == 'automancer':
|
||||
elif backend == "automancer":
|
||||
# from automancer_backend import main as automancer_main
|
||||
pass
|
||||
else:
|
||||
raise ValueError(f"Unsupported backend: {backend}")
|
||||
|
||||
|
||||
backend_thread = threading.Thread(
|
||||
target=main if not without_host else slave,
|
||||
args=(devices_config, resources_config, resources_edge_config, graph, controllers_config, bridges, visual, resources_mesh_config),
|
||||
args=(
|
||||
devices_config,
|
||||
resources_config,
|
||||
resources_edge_config,
|
||||
graph,
|
||||
controllers_config,
|
||||
bridges,
|
||||
visual,
|
||||
resources_mesh_config,
|
||||
),
|
||||
name="backend_thread",
|
||||
daemon=True,
|
||||
)
|
||||
|
||||
192
unilabos/app/communication.py
Normal file
192
unilabos/app/communication.py
Normal file
@@ -0,0 +1,192 @@
|
||||
#!/usr/bin/env python
|
||||
# coding=utf-8
|
||||
"""
|
||||
通信模块
|
||||
|
||||
提供WebSocket的统一接口，支持通过配置选择通信协议。
|
||||
包含通信抽象层基类和通信客户端工厂。
|
||||
"""
|
||||
|
||||
from abc import ABC, abstractmethod
|
||||
from typing import Optional
|
||||
from unilabos.config.config import BasicConfig
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
class BaseCommunicationClient(ABC):
|
||||
"""
|
||||
通信客户端抽象基类
|
||||
|
||||
定义了所有通信客户端（WebSocket等）需要实现的接口。
|
||||
"""
|
||||
|
||||
def __init__(self):
|
||||
self.is_disabled = True
|
||||
self.client_id = ""
|
||||
|
||||
@abstractmethod
|
||||
def start(self) -> None:
|
||||
"""
|
||||
启动通信客户端连接
|
||||
"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def stop(self) -> None:
|
||||
"""
|
||||
停止通信客户端连接
|
||||
"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def publish_device_status(self, device_status: dict, device_id: str, property_name: str) -> None:
|
||||
"""
|
||||
发布设备状态信息
|
||||
|
||||
Args:
|
||||
device_status: 设备状态字典
|
||||
device_id: 设备ID
|
||||
property_name: 属性名称
|
||||
"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None
|
||||
) -> None:
|
||||
"""
|
||||
发布作业状态信息
|
||||
|
||||
Args:
|
||||
feedback_data: 反馈数据
|
||||
job_id: 作业ID
|
||||
status: 作业状态
|
||||
return_info: 返回信息
|
||||
"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def send_ping(self, ping_id: str, timestamp: float) -> None:
|
||||
"""
|
||||
发送ping消息
|
||||
|
||||
Args:
|
||||
ping_id: ping ID
|
||||
timestamp: 时间戳
|
||||
"""
|
||||
pass
|
||||
|
||||
def setup_pong_subscription(self) -> None:
|
||||
"""
|
||||
设置pong消息订阅（可选实现）
|
||||
"""
|
||||
pass
|
||||
|
||||
@property
|
||||
def is_connected(self) -> bool:
|
||||
"""
|
||||
检查是否已连接
|
||||
|
||||
Returns:
|
||||
是否已连接
|
||||
"""
|
||||
return not self.is_disabled
|
||||
|
||||
|
||||
class CommunicationClientFactory:
|
||||
"""
|
||||
通信客户端工厂类
|
||||
|
||||
根据配置文件中的通信协议设置创建相应的客户端实例。
|
||||
"""
|
||||
|
||||
_client_cache: Optional[BaseCommunicationClient] = None
|
||||
|
||||
@classmethod
|
||||
def create_client(cls, protocol: Optional[str] = None) -> BaseCommunicationClient:
|
||||
"""
|
||||
创建通信客户端实例
|
||||
|
||||
Args:
|
||||
protocol: 指定的协议类型，如果为None则使用配置文件中的设置
|
||||
|
||||
Returns:
|
||||
通信客户端实例
|
||||
|
||||
Raises:
|
||||
ValueError: 当协议类型不支持时
|
||||
"""
|
||||
if protocol is None:
|
||||
protocol = BasicConfig.communication_protocol
|
||||
|
||||
protocol = protocol.lower()
|
||||
|
||||
if protocol == "websocket":
|
||||
return cls._create_websocket_client()
|
||||
else:
|
||||
logger.error(f"[CommunicationFactory] Unsupported protocol: {protocol}")
|
||||
logger.warning(f"[CommunicationFactory] Falling back to WebSocket")
|
||||
return cls._create_websocket_client()
|
||||
|
||||
@classmethod
|
||||
def get_client(cls, protocol: Optional[str] = None) -> BaseCommunicationClient:
|
||||
"""
|
||||
获取通信客户端实例（单例模式）
|
||||
|
||||
Args:
|
||||
protocol: 指定的协议类型，如果为None则使用配置文件中的设置
|
||||
|
||||
Returns:
|
||||
通信客户端实例
|
||||
"""
|
||||
if cls._client_cache is None:
|
||||
cls._client_cache = cls.create_client(protocol)
|
||||
logger.info(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
|
||||
|
||||
return cls._client_cache
|
||||
|
||||
@classmethod
|
||||
def _create_websocket_client(cls) -> BaseCommunicationClient:
|
||||
"""创建WebSocket客户端"""
|
||||
try:
|
||||
from unilabos.app.ws_client import WebSocketClient
|
||||
|
||||
return WebSocketClient()
|
||||
except Exception as e:
|
||||
logger.error(f"[CommunicationFactory] Failed to create WebSocket client: {str(e)}")
|
||||
raise
|
||||
|
||||
@classmethod
|
||||
def reset_client(cls):
|
||||
"""重置客户端缓存（用于测试或重新配置）"""
|
||||
if cls._client_cache:
|
||||
try:
|
||||
cls._client_cache.stop()
|
||||
except Exception as e:
|
||||
logger.warning(f"[CommunicationFactory] Error stopping old client: {str(e)}")
|
||||
|
||||
cls._client_cache = None
|
||||
logger.info("[CommunicationFactory] Client cache reset")
|
||||
|
||||
@classmethod
|
||||
def get_supported_protocols(cls) -> list[str]:
|
||||
"""
|
||||
获取支持的协议列表
|
||||
|
||||
Returns:
|
||||
支持的协议列表
|
||||
"""
|
||||
return ["websocket"]
|
||||
|
||||
|
||||
def get_communication_client(protocol: Optional[str] = None) -> BaseCommunicationClient:
|
||||
"""
|
||||
获取通信客户端实例的便捷函数
|
||||
|
||||
Args:
|
||||
protocol: 指定的协议类型，如果为None则使用配置文件中的设置
|
||||
|
||||
Returns:
|
||||
通信客户端实例
|
||||
"""
|
||||
return CommunicationClientFactory.get_client(protocol)
|
||||
@@ -10,7 +10,6 @@ from copy import deepcopy
|
||||
|
||||
import yaml
|
||||
|
||||
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 +17,12 @@ 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
|
||||
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||
from unilabos.resources.graphio import modify_to_backend_format
|
||||
|
||||
|
||||
def load_config_from_file(config_path, override_labid=None):
|
||||
def load_config_from_file(config_path):
|
||||
if config_path is None:
|
||||
config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
|
||||
if config_path:
|
||||
@@ -31,10 +31,10 @@ def load_config_from_file(config_path, override_labid=None):
|
||||
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, override_labid)
|
||||
load_config(config_path)
|
||||
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, override_labid)
|
||||
load_config(config_path)
|
||||
|
||||
|
||||
def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
@@ -51,16 +51,14 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
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("-c", "--controllers", default=None, help="Controllers config file.")
|
||||
parser.add_argument("-g", "--graph", help="Physical setup graph file path.")
|
||||
parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
|
||||
parser.add_argument(
|
||||
"--registry_path",
|
||||
type=str,
|
||||
default=None,
|
||||
action="append",
|
||||
help="Path to the registry",
|
||||
help="Path to the registry directory",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--working_dir",
|
||||
@@ -77,62 +75,85 @@ def parse_args():
|
||||
parser.add_argument(
|
||||
"--app_bridges",
|
||||
nargs="+",
|
||||
default=["mqtt", "fastapi"],
|
||||
help="Bridges to connect to. Now support 'mqtt' and 'fastapi'.",
|
||||
default=["websocket", "fastapi"],
|
||||
help="Bridges to connect to. Now support 'websocket' and 'fastapi'.",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--without_host",
|
||||
"--is_slave",
|
||||
action="store_true",
|
||||
help="Run the backend as slave (without host).",
|
||||
help="Run the backend as slave node (without host privileges).",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--slave_no_host",
|
||||
action="store_true",
|
||||
help="Slave模式下跳过等待host服务",
|
||||
help="Skip waiting for host service in slave mode",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--upload_registry",
|
||||
action="store_true",
|
||||
help="启动unilab时同时报送注册表信息",
|
||||
help="Upload registry information when starting unilab",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--use_remote_resource",
|
||||
action="store_true",
|
||||
help="Use remote resources when starting unilab",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--config",
|
||||
type=str,
|
||||
default=None,
|
||||
help="配置文件路径，支持.py格式的Python配置文件",
|
||||
help="Configuration file path, supports .py format Python config files",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--port",
|
||||
type=int,
|
||||
default=8002,
|
||||
help="信息页web服务的启动端口",
|
||||
help="Port for web service information page",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--disable_browser",
|
||||
action="store_true",
|
||||
help="是否在启动时关闭信息页",
|
||||
help="Disable opening information page on startup",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--2d_vis",
|
||||
action="store_true",
|
||||
help="是否在pylabrobot实例启动时，同时启动可视化",
|
||||
help="Enable 2D visualization when starting pylabrobot instance",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--visual",
|
||||
choices=["rviz", "web", "disable"],
|
||||
default="disable",
|
||||
help="选择可视化工具: rviz, web",
|
||||
help="Choose visualization tool: rviz, web, or disable",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--labid",
|
||||
"--ak",
|
||||
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",
|
||||
help="Access key for laboratory requests",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--sk",
|
||||
type=str,
|
||||
default="",
|
||||
help="Secret key for laboratory requests",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--addr",
|
||||
type=str,
|
||||
default="https://uni-lab.bohrium.com/api/v1",
|
||||
help="Laboratory backend address",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--skip_env_check",
|
||||
action="store_true",
|
||||
help="跳过启动时的环境依赖检查",
|
||||
help="Skip environment dependency check on startup",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--complete_registry",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Complete registry information",
|
||||
)
|
||||
return parser
|
||||
|
||||
@@ -162,7 +183,7 @@ def main():
|
||||
else:
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
if args_dict.get("working_dir"):
|
||||
working_dir = args_dict.get("working_dir")
|
||||
working_dir = args_dict.get("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):
|
||||
@@ -171,6 +192,8 @@ def main():
|
||||
"error",
|
||||
)
|
||||
os._exit(1)
|
||||
elif config_path and os.path.exists(config_path):
|
||||
working_dir = os.path.dirname(config_path)
|
||||
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
elif not config_path and (
|
||||
@@ -185,19 +208,47 @@ def main():
|
||||
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)
|
||||
# 加载配置文件
|
||||
print_status(f"当前工作目录为 {working_dir}", "info")
|
||||
load_config_from_file(config_path, args_dict["labid"])
|
||||
load_config_from_file(config_path)
|
||||
if args_dict["addr"] == "test":
|
||||
print_status("使用测试环境地址", "info")
|
||||
HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
|
||||
elif args_dict["addr"] == "uat":
|
||||
print_status("使用uat环境地址", "info")
|
||||
HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
|
||||
elif args_dict["addr"] == "local":
|
||||
print_status("使用本地环境地址", "info")
|
||||
HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
|
||||
else:
|
||||
HTTPConfig.remote_addr = args_dict.get("addr", "")
|
||||
|
||||
if args_dict["use_remote_resource"]:
|
||||
print_status("使用远程资源启动", "info")
|
||||
from unilabos.app.web import http_client
|
||||
|
||||
res = http_client.resource_get("host_node", False)
|
||||
if str(res.get("code", 0)) == "0" and len(res.get("data", [])) > 0:
|
||||
print_status("远程资源已存在，使用云端物料！", "info")
|
||||
args_dict["graph"] = None
|
||||
else:
|
||||
print_status("远程资源不存在，本地将进行首次上报！", "info")
|
||||
|
||||
# 设置BasicConfig参数
|
||||
if args_dict.get("ak", ""):
|
||||
BasicConfig.ak = args_dict.get("ak", "")
|
||||
print_status("传入了ak参数，优先采用传入参数！", "info")
|
||||
if args_dict.get("sk", ""):
|
||||
BasicConfig.sk = args_dict.get("sk", "")
|
||||
print_status("传入了sk参数，优先采用传入参数！", "info")
|
||||
BasicConfig.working_dir = working_dir
|
||||
BasicConfig.is_host_mode = not args_dict.get("without_host", False)
|
||||
BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
|
||||
BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
|
||||
BasicConfig.upload_registry = args_dict.get("upload_registry", False)
|
||||
BasicConfig.communication_protocol = "websocket"
|
||||
machine_name = os.popen("hostname").read().strip()
|
||||
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
||||
BasicConfig.machine_name = machine_name
|
||||
@@ -210,17 +261,24 @@ def main():
|
||||
dict_to_nested_dict,
|
||||
initialize_resources,
|
||||
)
|
||||
from unilabos.app.mq import mqtt_client
|
||||
from unilabos.app.communication import get_communication_client
|
||||
from unilabos.registry.registry import build_registry
|
||||
from unilabos.app.backend import start_backend
|
||||
from unilabos.app.web import http_client
|
||||
from unilabos.app.web import start_server
|
||||
from unilabos.app.register import register_devices_and_resources
|
||||
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# 注册表
|
||||
build_registry(args_dict["registry_path"])
|
||||
lab_registry = build_registry(
|
||||
args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
|
||||
)
|
||||
|
||||
if not BasicConfig.ak or not BasicConfig.sk:
|
||||
print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
|
||||
os._exit(1)
|
||||
if args_dict["graph"] is None:
|
||||
request_startup_json = http_client.request_startup_json()
|
||||
if not request_startup_json:
|
||||
@@ -241,6 +299,37 @@ def main():
|
||||
|
||||
graph_res.physical_setup_graph = graph
|
||||
resource_edge_info = modify_to_backend_format(data["links"])
|
||||
materials = lab_registry.obtain_registry_resource_info()
|
||||
materials.extend(lab_registry.obtain_registry_device_info())
|
||||
materials = {k["id"]: k for k in materials}
|
||||
nodes = {k["id"]: k for k in data["nodes"]}
|
||||
edge_info = len(resource_edge_info)
|
||||
for ind, i in enumerate(resource_edge_info[::-1]):
|
||||
source_node = nodes[i["source"]]
|
||||
target_node = nodes[i["target"]]
|
||||
source_handle = i["sourceHandle"]
|
||||
target_handle = i["targetHandle"]
|
||||
source_handler_keys = [
|
||||
h["handler_key"] for h in materials[source_node["class"]]["handles"] if h["io_type"] == "source"
|
||||
]
|
||||
target_handler_keys = [
|
||||
h["handler_key"] for h in materials[target_node["class"]]["handles"] if h["io_type"] == "target"
|
||||
]
|
||||
if source_handle not in source_handler_keys:
|
||||
print_status(
|
||||
f"节点 {source_node['id']} 的source端点 {source_handle} 不存在，请检查，支持的端点 {source_handler_keys}",
|
||||
"error",
|
||||
)
|
||||
resource_edge_info.pop(edge_info - ind - 1)
|
||||
continue
|
||||
if target_handle not in target_handler_keys:
|
||||
print_status(
|
||||
f"节点 {target_node['id']} 的target端点 {target_handle} 不存在，请检查，支持的端点 {target_handler_keys}",
|
||||
"error",
|
||||
)
|
||||
resource_edge_info.pop(edge_info - ind - 1)
|
||||
continue
|
||||
|
||||
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())
|
||||
@@ -251,6 +340,22 @@ def main():
|
||||
for i in args_dict["resources_config"]:
|
||||
print_status(f"DeviceId: {i['id']}, Class: {i['class']}", "info")
|
||||
|
||||
if BasicConfig.upload_registry:
|
||||
# 设备注册到服务端 - 需要 ak 和 sk
|
||||
if args_dict.get("ak") and args_dict.get("sk"):
|
||||
print_status("开始注册设备到服务端...", "info")
|
||||
try:
|
||||
register_devices_and_resources(lab_registry)
|
||||
print_status("设备注册完成", "info")
|
||||
except Exception as e:
|
||||
print_status(f"设备注册失败: {e}", "error")
|
||||
else:
|
||||
print_status("未提供 ak 和 sk，跳过设备注册", "info")
|
||||
else:
|
||||
print_status(
|
||||
"本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning"
|
||||
)
|
||||
|
||||
if args_dict["controllers"] is not None:
|
||||
args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
|
||||
else:
|
||||
@@ -258,19 +363,22 @@ def main():
|
||||
|
||||
args_dict["bridges"] = []
|
||||
|
||||
if "mqtt" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(mqtt_client)
|
||||
# 获取通信客户端（仅支持WebSocket）
|
||||
comm_client = get_communication_client()
|
||||
|
||||
if "websocket" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(comm_client)
|
||||
if "fastapi" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(http_client)
|
||||
if "mqtt" in args_dict["app_bridges"]:
|
||||
if "websocket" in args_dict["app_bridges"]:
|
||||
|
||||
def _exit(signum, frame):
|
||||
mqtt_client.stop()
|
||||
comm_client.stop()
|
||||
sys.exit(0)
|
||||
|
||||
signal.signal(signal.SIGINT, _exit)
|
||||
signal.signal(signal.SIGTERM, _exit)
|
||||
mqtt_client.start()
|
||||
comm_client.start()
|
||||
args_dict["resources_mesh_config"] = {}
|
||||
args_dict["resources_edge_config"] = resource_edge_info
|
||||
# web visiualize 2D
|
||||
|
||||
@@ -50,11 +50,16 @@ class Resp(BaseModel):
|
||||
|
||||
class JobAddReq(BaseModel):
|
||||
device_id: str = Field(examples=["Gripper"], description="device id")
|
||||
data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}])
|
||||
action: str = Field(examples=["_execute_driver_command_async"], description="action name", default="")
|
||||
action_type: str = Field(examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action name", default="")
|
||||
action_args: dict = Field(examples=[{'string': 'string'}], description="action name", default="")
|
||||
task_id: str = Field(examples=["task_id"], description="task uuid")
|
||||
job_id: str = Field(examples=["job_id"], description="goal uuid")
|
||||
node_id: str = Field(examples=["node_id"], description="node uuid")
|
||||
server_info: dict = Field(examples=[{"send_timestamp": 1717000000.0}], description="server info")
|
||||
|
||||
data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}], default={})
|
||||
|
||||
|
||||
class JobStepFinishReq(BaseModel):
|
||||
token: str = Field(examples=["030944"], description="token")
|
||||
|
||||
@@ -1,221 +0,0 @@
|
||||
import json
|
||||
import time
|
||||
import traceback
|
||||
from typing import Optional
|
||||
import uuid
|
||||
|
||||
import paho.mqtt.client as mqtt
|
||||
import ssl
|
||||
import base64
|
||||
import hmac
|
||||
from hashlib import sha1
|
||||
import tempfile
|
||||
import os
|
||||
|
||||
from unilabos.config.config import MQConfig
|
||||
from unilabos.app.controler import job_add
|
||||
from unilabos.app.model import JobAddReq
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
|
||||
from paho.mqtt.enums import CallbackAPIVersion
|
||||
|
||||
|
||||
class MQTTClient:
|
||||
mqtt_disable = True
|
||||
|
||||
def __init__(self):
|
||||
self.mqtt_disable = not MQConfig.lab_id
|
||||
self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}"
|
||||
logger.info("[MQTT] Client_id: " + self.client_id)
|
||||
self.client = mqtt.Client(CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
|
||||
self._setup_callbacks()
|
||||
|
||||
def _setup_callbacks(self):
|
||||
self.client.on_log = self._on_log
|
||||
self.client.on_connect = self._on_connect
|
||||
self.client.on_message = self._on_message
|
||||
self.client.on_disconnect = self._on_disconnect
|
||||
|
||||
def _on_log(self, client, userdata, level, buf):
|
||||
# logger.info(f"[MQTT] log: {buf}")
|
||||
pass
|
||||
|
||||
def _on_connect(self, client, userdata, flags, rc, properties=None):
|
||||
logger.info("[MQTT] Connected with result code " + str(rc))
|
||||
client.subscribe(f"labs/{MQConfig.lab_id}/job/start/", 0)
|
||||
client.subscribe(f"labs/{MQConfig.lab_id}/pong/", 0)
|
||||
|
||||
def _on_message(self, client, userdata, msg) -> None:
|
||||
# logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
|
||||
try:
|
||||
payload_str = msg.payload.decode("utf-8")
|
||||
payload_json = json.loads(payload_str)
|
||||
if msg.topic == f"labs/{MQConfig.lab_id}/job/start/":
|
||||
if "data" not in payload_json:
|
||||
payload_json["data"] = {}
|
||||
if "action" in payload_json:
|
||||
payload_json["data"]["action"] = payload_json.pop("action")
|
||||
if "action_type" in payload_json:
|
||||
payload_json["data"]["action_type"] = payload_json.pop("action_type")
|
||||
if "action_args" in payload_json:
|
||||
payload_json["data"]["action_args"] = payload_json.pop("action_args")
|
||||
if "action_kwargs" in payload_json:
|
||||
payload_json["data"]["action_kwargs"] = payload_json.pop("action_kwargs")
|
||||
job_req = JobAddReq.model_validate(payload_json)
|
||||
data = job_add(job_req)
|
||||
return
|
||||
elif msg.topic == f"labs/{MQConfig.lab_id}/pong/":
|
||||
# 处理pong响应，通知HostNode
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
|
||||
host_instance = HostNode.get_instance(0)
|
||||
if host_instance:
|
||||
host_instance.handle_pong_response(payload_json)
|
||||
return
|
||||
|
||||
except json.JSONDecodeError as e:
|
||||
logger.error(f"[MQTT] JSON 解析错误: {e}")
|
||||
logger.error(f"[MQTT] Raw message: {msg.payload}")
|
||||
logger.error(traceback.format_exc())
|
||||
except Exception as e:
|
||||
logger.error(f"[MQTT] 处理消息时出错: {e}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
def _on_disconnect(self, client, userdata, rc, reasonCode=None, properties=None):
|
||||
if rc != 0:
|
||||
logger.error(f"[MQTT] Unexpected disconnection {rc}")
|
||||
|
||||
def _setup_ssl_context(self):
|
||||
temp_files = []
|
||||
try:
|
||||
with tempfile.NamedTemporaryFile(mode="w", delete=False) as ca_temp:
|
||||
ca_temp.write(MQConfig.ca_content)
|
||||
temp_files.append(ca_temp.name)
|
||||
|
||||
with tempfile.NamedTemporaryFile(mode="w", delete=False) as cert_temp:
|
||||
cert_temp.write(MQConfig.cert_content)
|
||||
temp_files.append(cert_temp.name)
|
||||
|
||||
with tempfile.NamedTemporaryFile(mode="w", delete=False) as key_temp:
|
||||
key_temp.write(MQConfig.key_content)
|
||||
temp_files.append(key_temp.name)
|
||||
|
||||
context = ssl.create_default_context(ssl.Purpose.SERVER_AUTH)
|
||||
context.load_verify_locations(cafile=temp_files[0])
|
||||
context.load_cert_chain(certfile=temp_files[1], keyfile=temp_files[2])
|
||||
self.client.tls_set_context(context)
|
||||
finally:
|
||||
for temp_file in temp_files:
|
||||
try:
|
||||
os.unlink(temp_file)
|
||||
except Exception as e:
|
||||
pass
|
||||
|
||||
def start(self):
|
||||
if self.mqtt_disable:
|
||||
logger.warning("MQTT is disabled, skipping connection.")
|
||||
return
|
||||
userName = f"Signature|{MQConfig.access_key}|{MQConfig.instance_id}"
|
||||
password = base64.b64encode(
|
||||
hmac.new(MQConfig.secret_key.encode(), self.client_id.encode(), sha1).digest()
|
||||
).decode()
|
||||
|
||||
self.client.username_pw_set(userName, password)
|
||||
self._setup_ssl_context()
|
||||
|
||||
# 创建连接线程
|
||||
def connect_thread_func():
|
||||
try:
|
||||
self.client.connect(MQConfig.broker_url, MQConfig.port, 60)
|
||||
self.client.loop_start()
|
||||
|
||||
# 添加连接超时检测
|
||||
max_attempts = 5
|
||||
attempt = 0
|
||||
while not self.client.is_connected() and attempt < max_attempts:
|
||||
logger.info(
|
||||
f"[MQTT] 正在连接到 {MQConfig.broker_url}:{MQConfig.port}，尝试 {attempt+1}/{max_attempts}"
|
||||
)
|
||||
time.sleep(3)
|
||||
attempt += 1
|
||||
|
||||
if self.client.is_connected():
|
||||
logger.info(f"[MQTT] 已成功连接到 {MQConfig.broker_url}:{MQConfig.port}")
|
||||
else:
|
||||
logger.error(f"[MQTT] 连接超时，可能是账号密码错误或网络问题")
|
||||
self.client.loop_stop()
|
||||
except Exception as e:
|
||||
logger.error(f"[MQTT] 连接失败: {str(e)}")
|
||||
|
||||
connect_thread_func()
|
||||
# connect_thread = threading.Thread(target=connect_thread_func)
|
||||
# connect_thread.daemon = True
|
||||
# connect_thread.start()
|
||||
|
||||
def stop(self):
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
self.client.disconnect()
|
||||
self.client.loop_stop()
|
||||
|
||||
def publish_device_status(self, device_status: dict, device_id, property_name):
|
||||
# status = device_status.get(device_id, {})
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
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.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:
|
||||
return
|
||||
if return_info is None:
|
||||
return_info = "{}"
|
||||
jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
|
||||
self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
|
||||
|
||||
def publish_registry(self, device_id: str, device_info: dict, print_debug: bool = True):
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
address = f"labs/{MQConfig.lab_id}/registry/"
|
||||
registry_data = json.dumps({device_id: device_info}, ensure_ascii=False, cls=TypeEncoder)
|
||||
self.client.publish(address, registry_data, qos=2)
|
||||
if print_debug:
|
||||
logger.debug(f"Registry data published: address: {address}, {registry_data}")
|
||||
|
||||
def publish_actions(self, action_id: str, action_info: dict):
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
address = f"labs/{MQConfig.lab_id}/actions/"
|
||||
self.client.publish(address, json.dumps(action_info), qos=2)
|
||||
logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
|
||||
|
||||
def send_ping(self, ping_id: str, timestamp: float):
|
||||
"""发送ping消息到服务端"""
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
address = f"labs/{MQConfig.lab_id}/ping/"
|
||||
ping_data = {"ping_id": ping_id, "client_timestamp": timestamp, "type": "ping"}
|
||||
self.client.publish(address, json.dumps(ping_data), qos=2)
|
||||
|
||||
def setup_pong_subscription(self):
|
||||
"""设置pong消息订阅"""
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
pong_topic = f"labs/{MQConfig.lab_id}/pong/"
|
||||
self.client.subscribe(pong_topic, 0)
|
||||
logger.debug(f"Subscribed to pong topic: {pong_topic}")
|
||||
|
||||
def handle_pong(self, pong_data: dict):
|
||||
"""处理pong响应（这个方法会在收到pong消息时被调用）"""
|
||||
logger.debug(f"Pong received: {pong_data}")
|
||||
# 这里会被HostNode的ping-pong处理逻辑调用
|
||||
pass
|
||||
|
||||
|
||||
mqtt_client = MQTTClient()
|
||||
|
||||
if __name__ == "__main__":
|
||||
mqtt_client.start()
|
||||
@@ -1,85 +1,62 @@
|
||||
import argparse
|
||||
import json
|
||||
import time
|
||||
|
||||
from unilabos.config.config import BasicConfig
|
||||
from unilabos.registry.registry import build_registry
|
||||
|
||||
from unilabos.app.main import load_config_from_file
|
||||
from unilabos.utils.log import logger
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
|
||||
|
||||
def register_devices_and_resources(mqtt_client, lab_registry):
|
||||
def register_devices_and_resources(lab_registry):
|
||||
"""
|
||||
注册设备和资源到 MQTT
|
||||
注册设备和资源到服务器（仅支持HTTP）
|
||||
"""
|
||||
logger.info("[UniLab Register] 开始注册设备和资源...")
|
||||
|
||||
# 注册设备信息
|
||||
for device_info in lab_registry.obtain_registry_device_info():
|
||||
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
|
||||
# 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']}")
|
||||
|
||||
# 注册资源信息 - 使用HTTP方式
|
||||
from unilabos.app.web.client import http_client
|
||||
|
||||
logger.info("[UniLab Register] 开始注册设备和资源...")
|
||||
|
||||
# 注册设备信息
|
||||
devices_to_register = {}
|
||||
for device_info in lab_registry.obtain_registry_device_info():
|
||||
devices_to_register[device_info["id"]] = json.loads(
|
||||
json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
|
||||
)
|
||||
logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
|
||||
resources_to_register = {}
|
||||
for resource_info in lab_registry.obtain_registry_resource_info():
|
||||
resources_to_register[resource_info["id"]] = resource_info
|
||||
logger.debug(f"[UniLab Register] 准备注册资源: {resource_info['id']}")
|
||||
logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
|
||||
# 注册设备
|
||||
if devices_to_register:
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry({"resources": list(devices_to_register.values())})
|
||||
cost_time = time.time() - start_time
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 设备注册异常: {e}")
|
||||
|
||||
# 注册资源
|
||||
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")
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry({"resources": list(resources_to_register.values())})
|
||||
cost_time = time.time() - start_time
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 资源注册异常: {e}")
|
||||
|
||||
logger.info("[UniLab Register] 设备和资源注册完成.")
|
||||
|
||||
|
||||
def main():
|
||||
"""
|
||||
命令行入口函数
|
||||
"""
|
||||
parser = argparse.ArgumentParser(description="注册设备和资源到 MQTT")
|
||||
parser.add_argument(
|
||||
"--registry",
|
||||
type=str,
|
||||
default=None,
|
||||
action="append",
|
||||
help="注册表路径",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--config",
|
||||
type=str,
|
||||
default=None,
|
||||
help="配置文件路径，支持.py格式的Python配置文件",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--complete_registry",
|
||||
action="store_true",
|
||||
default=False,
|
||||
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)
|
||||
from unilabos.app.mq import mqtt_client
|
||||
|
||||
# 连接mqtt
|
||||
mqtt_client.start()
|
||||
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
# 注册设备和资源
|
||||
register_devices_and_resources(mqtt_client, lab_registry)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -3,13 +3,14 @@ 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
|
||||
import os
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
import requests
|
||||
from unilabos.utils.log import info
|
||||
from unilabos.config.config import MQConfig, HTTPConfig, BasicConfig
|
||||
from unilabos.config.config import HTTPConfig, BasicConfig
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
@@ -28,7 +29,9 @@ class HTTPClient:
|
||||
if auth is not None:
|
||||
self.auth = auth
|
||||
else:
|
||||
self.auth = MQConfig.lab_id
|
||||
auth_secret = BasicConfig.auth_secret()
|
||||
self.auth = auth_secret
|
||||
info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
|
||||
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
|
||||
|
||||
def resource_edge_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
|
||||
@@ -41,13 +44,18 @@ 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={database_param}",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
f"{self.remote_addr}/lab/material/edge",
|
||||
json={
|
||||
"edges": resources,
|
||||
},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"添加物料关系失败: {response.text}")
|
||||
if response.status_code != 200 and response.status_code != 201:
|
||||
logger.error(f"添加物料关系失败: {response.status_code}, {response.text}")
|
||||
return response
|
||||
@@ -63,11 +71,15 @@ class HTTPClient:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
if response.status_code != 200:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
return response
|
||||
@@ -84,9 +96,9 @@ class HTTPClient:
|
||||
Dict: 返回的资源数据
|
||||
"""
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/lab/resource/?edge_format=1",
|
||||
f"{self.remote_addr}/lab/material",
|
||||
params={"id": id, "with_children": with_children},
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=20,
|
||||
)
|
||||
return response.json()
|
||||
@@ -104,7 +116,7 @@ class HTTPClient:
|
||||
response = requests.delete(
|
||||
f"{self.remote_addr}/lab/resource/batch_delete/",
|
||||
params={"id": id},
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=20,
|
||||
)
|
||||
return response
|
||||
@@ -122,7 +134,7 @@ class HTTPClient:
|
||||
response = requests.patch(
|
||||
f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
return response
|
||||
@@ -146,25 +158,25 @@ class HTTPClient:
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/api/account/file_upload/{scene}",
|
||||
files=files,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=30, # 上传文件可能需要更长的超时时间
|
||||
)
|
||||
return response
|
||||
|
||||
def resource_registry(self, registry_data: Dict[str, Any]) -> requests.Response:
|
||||
def resource_registry(self, registry_data: Dict[str, Any] | List[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}
|
||||
registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
|
||||
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/registry/",
|
||||
f"{self.remote_addr}/lab/resource",
|
||||
json=registry_data,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=30,
|
||||
)
|
||||
if response.status_code not in [200, 201]:
|
||||
@@ -183,7 +195,7 @@ class HTTPClient:
|
||||
"""
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/lab/resource/graph_info/",
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=(3, 30),
|
||||
)
|
||||
if response.status_code != 200:
|
||||
|
||||
@@ -78,21 +78,23 @@ def setup_web_pages(router: APIRouter) -> None:
|
||||
HTMLResponse: 渲染后的HTML页面
|
||||
"""
|
||||
try:
|
||||
# 准备设备数据
|
||||
# 准备初始数据结构（这些数据将通过WebSocket实时更新）
|
||||
devices = []
|
||||
resources = []
|
||||
modules = {"names": [], "classes": [], "displayed_count": 0, "total_count": 0}
|
||||
|
||||
# 获取在线设备信息
|
||||
# 获取在线设备信息（用于初始渲染）
|
||||
ros_node_info = get_ros_node_info()
|
||||
# 获取主机节点信息
|
||||
# 获取主机节点信息（用于初始渲染）
|
||||
host_node_info = get_host_node_info()
|
||||
# 获取Registry路径信息
|
||||
# 获取Registry路径信息（静态信息，不需要实时更新）
|
||||
registry_info = get_registry_info()
|
||||
|
||||
# 获取已加载的设备
|
||||
# 获取初始数据用于页面渲染（后续将被WebSocket数据覆盖）
|
||||
if lab_registry:
|
||||
devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
|
||||
devices = json.loads(
|
||||
json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder)
|
||||
)
|
||||
# 资源类型
|
||||
for resource_id, resource_info in lab_registry.resource_type_registry.items():
|
||||
resources.append(
|
||||
@@ -103,7 +105,7 @@ def setup_web_pages(router: APIRouter) -> None:
|
||||
}
|
||||
)
|
||||
|
||||
# 获取导入的模块
|
||||
# 获取导入的模块（初始数据）
|
||||
if msg_converter_manager:
|
||||
modules["names"] = msg_converter_manager.list_modules()
|
||||
all_classes = [i for i in msg_converter_manager.list_classes() if "." in i]
|
||||
@@ -171,3 +173,20 @@ def setup_web_pages(router: APIRouter) -> None:
|
||||
except Exception as e:
|
||||
error(f"打开文件夹时出错: {str(e)}")
|
||||
return {"status": "error", "message": f"Failed to open folder: {str(e)}"}
|
||||
|
||||
@router.get("/registry-editor", response_class=HTMLResponse, summary="Registry Editor")
|
||||
async def registry_editor_page() -> str:
|
||||
"""
|
||||
注册表编辑页面，用于导入Python文件并生成注册表
|
||||
|
||||
Returns:
|
||||
HTMLResponse: 渲染后的HTML页面
|
||||
"""
|
||||
try:
|
||||
# 使用模板渲染页面
|
||||
template = env.get_template("registry_editor.html")
|
||||
html = template.render()
|
||||
return html
|
||||
except Exception as e:
|
||||
error(f"生成注册表编辑页面时出错: {str(e)}")
|
||||
raise HTTPException(status_code=500, detail=f"Error generating registry editor page: {str(e)}")
|
||||
|
||||
@@ -162,7 +162,6 @@
|
||||
<body>
|
||||
<h1>{% block header %}UniLab{% endblock %}</h1>
|
||||
{% block nav %}
|
||||
<a href="/unilabos/webtic" class="home-link">Home</a>
|
||||
{% endblock %}
|
||||
|
||||
{% block top_info %}{% endblock %}
|
||||
|
||||
@@ -1,22 +1,25 @@
|
||||
{% extends "base.html" %}
|
||||
|
||||
{% block title %}UniLab API{% endblock %}
|
||||
|
||||
{% block header %}UniLab API{% endblock %}
|
||||
|
||||
{% block nav %}
|
||||
<a href="/status" class="status-link">System Status</a>
|
||||
{% endblock %}
|
||||
|
||||
{% block content %}
|
||||
<div class="card">
|
||||
<h2>Available Endpoints</h2>
|
||||
{% for route in routes %}
|
||||
<div class="endpoint">
|
||||
<span class="method">{{ route.method }}</span>
|
||||
<a href="{{ route.path }}">{{ route.path }}</a>
|
||||
<p>{{ route.summary }}</p>
|
||||
</div>
|
||||
{% endfor %}
|
||||
{% extends "base.html" %} {% block title %}UniLab API{% endblock %} {% block
|
||||
header %}UniLab API{% endblock %} {% block nav %}
|
||||
<div class="nav-tabs">
|
||||
<a
|
||||
href="/"
|
||||
class="nav-tab"
|
||||
style="background-color: #2196f3; color: white"
|
||||
target="_blank"
|
||||
>主页</a
|
||||
>
|
||||
<a href="/status" class="nav-tab">状态</a>
|
||||
<a href="/registry-editor" class="nav-tab" target="_blank">注册表编辑</a>
|
||||
</div>
|
||||
{% endblock %}
|
||||
{% endblock %} {% block content %}
|
||||
<div class="card">
|
||||
<h2>Available Endpoints</h2>
|
||||
{% for route in routes %}
|
||||
<div class="endpoint">
|
||||
<span class="method">{{ route.method }}</span>
|
||||
<a href="{{ route.path }}">{{ route.path }}</a>
|
||||
<p>{{ route.summary }}</p>
|
||||
</div>
|
||||
{% endfor %}
|
||||
</div>
|
||||
{% endblock %}
|
||||
|
||||
1411
unilabos/app/web/templates/registry_editor.html
Normal file
1411
unilabos/app/web/templates/registry_editor.html
Normal file
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
1024
unilabos/app/ws_client.py
Normal file
1024
unilabos/app/ws_client.py
Normal file
File diff suppressed because it is too large
Load Diff
@@ -15,7 +15,6 @@ from .heatchill_protocol import (
|
||||
generate_heat_chill_to_temp_protocol # 保留导入，但不注册为协议
|
||||
)
|
||||
from .stir_protocol import generate_stir_protocol, generate_start_stir_protocol, generate_stop_stir_protocol
|
||||
from .transfer_protocol import generate_transfer_protocol
|
||||
from .clean_vessel_protocol import generate_clean_vessel_protocol
|
||||
from .dissolve_protocol import generate_dissolve_protocol
|
||||
from .filter_through_protocol import generate_filter_through_protocol
|
||||
@@ -47,6 +46,7 @@ action_protocol_generators = {
|
||||
HeatChillStopProtocol: generate_heat_chill_stop_protocol,
|
||||
HydrogenateProtocol: generate_hydrogenate_protocol,
|
||||
PumpTransferProtocol: generate_pump_protocol_with_rinsing,
|
||||
TransferProtocol: generate_pump_protocol,
|
||||
RecrystallizeProtocol: generate_recrystallize_protocol,
|
||||
ResetHandlingProtocol: generate_reset_handling_protocol,
|
||||
RunColumnProtocol: generate_run_column_protocol,
|
||||
@@ -54,6 +54,5 @@ action_protocol_generators = {
|
||||
StartStirProtocol: generate_start_stir_protocol,
|
||||
StirProtocol: generate_stir_protocol,
|
||||
StopStirProtocol: generate_stop_stir_protocol,
|
||||
TransferProtocol: generate_transfer_protocol,
|
||||
WashSolidProtocol: generate_wash_solid_protocol,
|
||||
}
|
||||
@@ -1,313 +1,24 @@
|
||||
from functools import partial
|
||||
|
||||
import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
from typing import List, Dict, Any, Union
|
||||
|
||||
from .utils.unit_parser import parse_volume_input, parse_mass_input, parse_time_input
|
||||
from .utils.vessel_parser import get_vessel, find_solid_dispenser, find_connected_stirrer, find_reagent_vessel
|
||||
from .utils.logger_util import action_log
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"[ADD] {message}", flush=True)
|
||||
logger.info(f"[ADD] {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
|
||||
|
||||
Args:
|
||||
volume_input: 体积输入（如 "2.7 mL", "2.67 mL", "?", 10.0）
|
||||
|
||||
Returns:
|
||||
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}'")
|
||||
|
||||
# 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 🎯")
|
||||
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)
|
||||
|
||||
if not match:
|
||||
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))
|
||||
unit = match.group(2) or 'ml' # 默认单位为毫升
|
||||
|
||||
# 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")
|
||||
|
||||
return volume
|
||||
|
||||
def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析质量输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
mass_input: 质量输入（如 "19.3 g", "4.5 g", 2.5）
|
||||
|
||||
Returns:
|
||||
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}'")
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
mass_clean = re.sub(r'\s+', '', mass_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
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")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 'g' # 默认单位为克
|
||||
|
||||
# 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")
|
||||
|
||||
return mass
|
||||
|
||||
def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析时间输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
time_input: 时间输入（如 "1 h", "20 min", "30 s", 60.0）
|
||||
|
||||
Returns:
|
||||
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}'")
|
||||
|
||||
# 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 (1分钟) ⏰")
|
||||
return default_time
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
time_clean = re.sub(r'\s+', '', time_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
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")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 's' # 默认单位为秒
|
||||
|
||||
# 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")
|
||||
|
||||
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"🔍 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', '')
|
||||
config_data = G.nodes[node].get('config', {})
|
||||
|
||||
# 只搜索容器类型的节点
|
||||
if node_type == 'container':
|
||||
reagent_name = node_data.get('reagent_name', '').lower()
|
||||
config_reagent = config_data.get('reagent', '').lower()
|
||||
|
||||
# 精确匹配
|
||||
if reagent_name == reagent.lower() or config_reagent == reagent.lower():
|
||||
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} 🔍")
|
||||
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,
|
||||
f"flask_{reagent_clean}",
|
||||
f"bottle_{reagent_clean}",
|
||||
f"vessel_{reagent_clean}",
|
||||
f"{reagent_clean}_flask",
|
||||
f"{reagent_clean}_bottle",
|
||||
f"reagent_{reagent_clean}",
|
||||
f"reagent_bottle_{reagent_clean}",
|
||||
f"solid_reagent_bottle_{reagent_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} 📝")
|
||||
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} 🔍")
|
||||
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() == reagent.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())):
|
||||
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} 🔗")
|
||||
return stirrer
|
||||
|
||||
# 返回第一个搅拌器
|
||||
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 ""
|
||||
|
||||
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} 🥄")
|
||||
return node
|
||||
|
||||
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
|
||||
}
|
||||
}
|
||||
create_action_log = partial(action_log, prefix="[ADD]")
|
||||
|
||||
def generate_add_protocol(
|
||||
G: nx.DiGraph,
|
||||
@@ -346,16 +57,7 @@ def generate_add_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 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 {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
# 🔧 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"]:
|
||||
@@ -406,12 +108,7 @@ def generate_add_protocol(
|
||||
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" 体积: {final_volume}mL, 质量: {final_mass}g, 时间: {final_time}s, 摩尔: '{mol}', 事件: '{event}', 速率: '{rate_spec}'")
|
||||
|
||||
# === 判断添加类型 ===
|
||||
debug_print("🔍 步骤3: 判断添加类型...")
|
||||
|
||||
@@ -1,31 +1,15 @@
|
||||
import networkx as nx
|
||||
import logging
|
||||
from typing import List, Dict, Any, Union
|
||||
from .utils.vessel_parser import get_vessel
|
||||
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:
|
||||
"""
|
||||
查找酸碱试剂容器，支持多种匹配模式
|
||||
@@ -235,16 +219,7 @@ def generate_adjust_ph_protocol(
|
||||
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 {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
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}")
|
||||
|
||||
@@ -1,101 +1,9 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
from .utils.vessel_parser import get_vessel, find_solvent_vessel
|
||||
from .pump_protocol import generate_pump_protocol
|
||||
|
||||
|
||||
def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""
|
||||
查找溶剂容器，支持多种匹配模式：
|
||||
1. 容器名称匹配（如 flask_water, reagent_bottle_1-DMF）
|
||||
2. 容器内液体类型匹配（如 liquid_type: "DMF", "ethanol"）
|
||||
"""
|
||||
print(f"CLEAN_VESSEL: 正在查找溶剂 '{solvent}' 的容器...")
|
||||
|
||||
# 第一步：通过容器名称匹配
|
||||
possible_names = [
|
||||
f"flask_{solvent}", # flask_water, flask_ethanol
|
||||
f"bottle_{solvent}", # bottle_water, bottle_ethanol
|
||||
f"vessel_{solvent}", # vessel_water, vessel_ethanol
|
||||
f"{solvent}_flask", # water_flask, ethanol_flask
|
||||
f"{solvent}_bottle", # water_bottle, ethanol_bottle
|
||||
f"{solvent}", # 直接用溶剂名
|
||||
f"solvent_{solvent}", # solvent_water, solvent_ethanol
|
||||
f"reagent_bottle_{solvent}", # reagent_bottle_DMF
|
||||
]
|
||||
|
||||
# 尝试名称匹配
|
||||
for vessel_name in possible_names:
|
||||
if vessel_name in G.nodes():
|
||||
print(f"CLEAN_VESSEL: 通过名称匹配找到容器: {vessel_name}")
|
||||
return vessel_name
|
||||
|
||||
# 第二步：通过模糊名称匹配（名称中包含溶剂名）
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
# 检查节点ID或名称中是否包含溶剂名
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
if (solvent.lower() in node_id.lower() or
|
||||
solvent.lower() in node_name):
|
||||
print(f"CLEAN_VESSEL: 通过模糊名称匹配找到容器: {node_id} (名称: {node_name})")
|
||||
return node_id
|
||||
|
||||
# 第三步：通过液体类型匹配
|
||||
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', [])
|
||||
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
# 支持两种格式的液体类型字段
|
||||
liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
|
||||
reagent_name = vessel_data.get('reagent_name', '')
|
||||
config_reagent = G.nodes[node_id].get('config', {}).get('reagent', '')
|
||||
|
||||
# 检查多个可能的字段
|
||||
if (liquid_type.lower() == solvent.lower() or
|
||||
reagent_name.lower() == solvent.lower() or
|
||||
config_reagent.lower() == solvent.lower()):
|
||||
print(f"CLEAN_VESSEL: 通过液体类型匹配找到容器: {node_id}")
|
||||
print(f" - liquid_type: {liquid_type}")
|
||||
print(f" - reagent_name: {reagent_name}")
|
||||
print(f" - config.reagent: {config_reagent}")
|
||||
return node_id
|
||||
|
||||
# 第四步：列出所有可用的容器信息帮助调试
|
||||
available_containers = []
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
config_data = G.nodes[node_id].get('config', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
|
||||
container_info = {
|
||||
'id': node_id,
|
||||
'name': G.nodes[node_id].get('name', ''),
|
||||
'liquid_types': [],
|
||||
'reagent_name': vessel_data.get('reagent_name', ''),
|
||||
'config_reagent': config_data.get('reagent', '')
|
||||
}
|
||||
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
|
||||
if liquid_type:
|
||||
container_info['liquid_types'].append(liquid_type)
|
||||
|
||||
available_containers.append(container_info)
|
||||
|
||||
print(f"CLEAN_VESSEL: 可用容器列表:")
|
||||
for container in available_containers:
|
||||
print(f" - {container['id']}: {container['name']}")
|
||||
print(f" 液体类型: {container['liquid_types']}")
|
||||
print(f" 试剂名称: {container['reagent_name']}")
|
||||
print(f" 配置试剂: {container['config_reagent']}")
|
||||
|
||||
raise ValueError(f"未找到溶剂 '{solvent}' 的容器。尝试了名称匹配: {possible_names}")
|
||||
|
||||
|
||||
def find_solvent_vessel_by_any_match(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""
|
||||
增强版溶剂容器查找，支持各种匹配方式的别名函数
|
||||
@@ -181,16 +89,7 @@ def generate_clean_vessel_protocol(
|
||||
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 {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
|
||||
@@ -1,31 +1,22 @@
|
||||
from functools import partial
|
||||
|
||||
import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
from typing import List, Dict, Any, Union
|
||||
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.logger_util import action_log
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
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
|
||||
}
|
||||
}
|
||||
create_action_log = partial(action_log, prefix="[DISSOLVE]")
|
||||
|
||||
def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
"""
|
||||
@@ -446,7 +437,7 @@ def generate_dissolve_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("🧪 开始生成溶解协议")
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
import networkx as nx
|
||||
from typing import List, Dict, Any
|
||||
|
||||
from unilabos.compile.utils.vessel_parser import get_vessel
|
||||
|
||||
|
||||
def find_connected_heater(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""
|
||||
@@ -63,7 +65,7 @@ def generate_dry_protocol(
|
||||
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"]
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
|
||||
@@ -1,8 +1,12 @@
|
||||
from functools import partial
|
||||
|
||||
import networkx as nx
|
||||
import logging
|
||||
import uuid
|
||||
import sys
|
||||
from typing import List, Dict, Any, Optional
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.logger_util import action_log
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_protocol
|
||||
|
||||
# 设置日志
|
||||
@@ -21,48 +25,17 @@ def debug_print(message):
|
||||
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
|
||||
}
|
||||
}
|
||||
create_action_log = partial(action_log, prefix="[抽真空充气]")
|
||||
|
||||
def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||||
"""
|
||||
@@ -288,16 +261,7 @@ def generate_evacuateandrefill_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 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 {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
# 硬编码重复次数为 3
|
||||
repeats = 3
|
||||
|
||||
@@ -2,75 +2,15 @@ from typing import List, Dict, Any, Optional, Union
|
||||
import networkx as nx
|
||||
import logging
|
||||
import re
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.unit_parser import parse_time_input
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"🧪 [EVAPORATE] {message}", flush=True)
|
||||
logger.info(f"[EVAPORATE] {message}")
|
||||
|
||||
def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析时间输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
time_input: 时间输入（如 "3 min", "180", "0.5 h" 等）
|
||||
|
||||
Returns:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if isinstance(time_input, (int, float)):
|
||||
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}' 📝")
|
||||
|
||||
# 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 (3分钟) 🤷♀️")
|
||||
return default_time
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
time_clean = re.sub(r'\s+', '', time_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
|
||||
|
||||
if not match:
|
||||
# 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 (3分钟) 😅")
|
||||
return 180.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 's' # 默认单位为秒
|
||||
|
||||
# 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) ⏰")
|
||||
|
||||
return float(time_sec) # 🔧 确保返回float
|
||||
|
||||
def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
|
||||
"""
|
||||
@@ -201,16 +141,7 @@ def generate_evaporate_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 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 {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
debug_print("🌟" * 20)
|
||||
debug_print("🌪️ 开始生成蒸发协议（支持单位和体积运算）✨")
|
||||
|
||||
@@ -1,13 +1,13 @@
|
||||
from typing import List, Dict, Any, Optional
|
||||
import networkx as nx
|
||||
import logging
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"🧪 [FILTER] {message}", flush=True)
|
||||
logger.info(f"[FILTER] {message}")
|
||||
|
||||
def find_filter_device(G: nx.DiGraph) -> str:
|
||||
@@ -51,7 +51,7 @@ def validate_vessel(G: nx.DiGraph, vessel: str, vessel_type: str = "容器") ->
|
||||
def generate_filter_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
filtrate_vessel: str = "",
|
||||
filtrate_vessel: dict = {"id": "waste"},
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
@@ -68,16 +68,8 @@ def generate_filter_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 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 {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
filtrate_vessel_id, filtrate_vessel_data = get_vessel(filtrate_vessel)
|
||||
|
||||
debug_print("🌊" * 20)
|
||||
debug_print("🚀 开始生成过滤协议（支持体积运算）✨")
|
||||
@@ -111,7 +103,7 @@ def generate_filter_protocol(
|
||||
# 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")
|
||||
validate_vessel(G, filtrate_vessel_id, "滤液容器")
|
||||
debug_print(" 🌊 模式: 过滤并收集滤液 💧")
|
||||
else:
|
||||
debug_print(" 🧱 模式: 过滤并收集固体 🔬")
|
||||
@@ -168,8 +160,8 @@ def generate_filter_protocol(
|
||||
# 使用pump protocol转移液体到过滤器
|
||||
transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
to_vessel=filter_device,
|
||||
from_vessel={"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
to_vessel={"id": filter_device},
|
||||
volume=0.0, # 转移所有液体
|
||||
amount="",
|
||||
time=0.0,
|
||||
@@ -220,8 +212,8 @@ def generate_filter_protocol(
|
||||
# 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）
|
||||
"vessel": {"id": filter_device}, # 过滤器设备
|
||||
"filtrate_vessel": {"id": filtrate_vessel_id}, # 滤液容器（可能为空）
|
||||
"stir": kwargs.get("stir", False),
|
||||
"stir_speed": kwargs.get("stir_speed", 0.0),
|
||||
"temp": kwargs.get("temp", 25.0),
|
||||
@@ -252,8 +244,8 @@ def generate_filter_protocol(
|
||||
# === 收集滤液（如果需要）===
|
||||
debug_print("📍 步骤5: 收集滤液... 💧")
|
||||
|
||||
if filtrate_vessel:
|
||||
debug_print(f" 🧪 收集滤液: {filter_device} → {filtrate_vessel} 💧")
|
||||
if filtrate_vessel_id and filtrate_vessel_id not in G.neighbors(filter_device):
|
||||
debug_print(f" 🧪 收集滤液: {filter_device} → {filtrate_vessel_id} 💧")
|
||||
|
||||
try:
|
||||
debug_print(" 🔄 开始执行收集操作...")
|
||||
@@ -282,20 +274,20 @@ def generate_filter_protocol(
|
||||
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'] = {}
|
||||
if filtrate_vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[filtrate_vessel_id]:
|
||||
G.nodes[filtrate_vessel_id]['data'] = {}
|
||||
|
||||
current_filtrate_volume = G.nodes[filtrate_vessel]['data'].get('liquid_volume', 0.0)
|
||||
current_filtrate_volume = G.nodes[filtrate_vessel_id]['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
|
||||
G.nodes[filtrate_vessel_id]['data']['liquid_volume'][0] += expected_filtrate_volume
|
||||
else:
|
||||
G.nodes[filtrate_vessel]['data']['liquid_volume'] = [expected_filtrate_volume]
|
||||
G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = [expected_filtrate_volume]
|
||||
else:
|
||||
G.nodes[filtrate_vessel]['data']['liquid_volume'] = current_filtrate_volume + expected_filtrate_volume
|
||||
G.nodes[filtrate_vessel_id]['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")
|
||||
debug_print(f" 📊 滤液容器 {filtrate_vessel_id} 体积增加 {expected_filtrate_volume:.2f}mL")
|
||||
|
||||
else:
|
||||
debug_print(" ⚠️ 收集协议返回空序列 🤔")
|
||||
@@ -360,7 +352,7 @@ def generate_filter_protocol(
|
||||
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"💧 滤液容器: {filtrate_vessel_id 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:")
|
||||
@@ -372,4 +364,3 @@ def generate_filter_protocol(
|
||||
debug_print("🎊" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
@@ -2,81 +2,15 @@ from typing import List, Dict, Any, Union
|
||||
import networkx as nx
|
||||
import logging
|
||||
import re
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.unit_parser import parse_time_input
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"🌡️ [HEATCHILL] {message}", flush=True)
|
||||
logger.info(f"[HEATCHILL] {message}")
|
||||
|
||||
def parse_time_input(time_input: Union[str, float, int]) -> float:
|
||||
"""
|
||||
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）
|
||||
|
||||
Returns:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if not time_input:
|
||||
return 300.0
|
||||
|
||||
# 🔢 处理数值输入
|
||||
if isinstance(time_input, (int, float)):
|
||||
result = float(time_input)
|
||||
debug_print(f"⏰ 数值时间: {time_input} → {result}s")
|
||||
return result
|
||||
|
||||
# 📝 处理字符串输入
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"🔍 解析时间: '{time_str}'")
|
||||
|
||||
# ❓ 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
|
||||
}
|
||||
|
||||
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:
|
||||
result = float(time_str)
|
||||
debug_print(f"⏰ 纯数字: {time_str} → {result}s")
|
||||
return result
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
# 📐 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: 300s")
|
||||
return 300.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 's'
|
||||
|
||||
# 📏 单位转换
|
||||
unit_multipliers = {
|
||||
'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 ({result/60:.1f}分钟)")
|
||||
return result
|
||||
|
||||
def parse_temp_input(temp_input: Union[str, float], default_temp: float = 25.0) -> float:
|
||||
"""
|
||||
@@ -217,16 +151,7 @@ def generate_heat_chill_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 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 {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
debug_print("🌡️" * 20)
|
||||
debug_print("🚀 开始生成加热冷却协议（支持vessel字典）✨")
|
||||
@@ -295,7 +220,7 @@ def generate_heat_chill_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"vessel": vessel,
|
||||
"temp": float(final_temp),
|
||||
"time": float(final_time),
|
||||
"stir": bool(stir),
|
||||
@@ -329,7 +254,7 @@ def generate_heat_chill_to_temp_protocol(
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""生成加热到指定温度的协议（简化版）"""
|
||||
vessel_id = vessel["id"]
|
||||
vessel_id, _ = get_vessel(vessel)
|
||||
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)
|
||||
|
||||
@@ -343,7 +268,7 @@ def generate_heat_chill_start_protocol(
|
||||
"""生成开始加热操作的协议序列"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
vessel_id, _ = get_vessel(vessel)
|
||||
|
||||
debug_print("🔥 开始生成启动加热协议 ✨")
|
||||
debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id}), 🌡️ temp: {temp}°C")
|
||||
@@ -361,7 +286,6 @@ def generate_heat_chill_start_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"temp": temp,
|
||||
"purpose": purpose or f"开始加热到 {temp}°C"
|
||||
}
|
||||
@@ -378,7 +302,7 @@ def generate_heat_chill_stop_protocol(
|
||||
"""生成停止加热操作的协议序列"""
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
vessel_id, _ = get_vessel(vessel)
|
||||
|
||||
debug_print("🛑 开始生成停止加热协议 ✨")
|
||||
debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
@@ -396,10 +320,8 @@ def generate_heat_chill_stop_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id # 🔧 使用 vessel_id
|
||||
}
|
||||
}]
|
||||
|
||||
debug_print(f"✅ 停止加热协议生成完成 🎯")
|
||||
return action_sequence
|
||||
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
import networkx as nx
|
||||
from typing import List, Dict, Any, Optional
|
||||
from .utils.vessel_parser import get_vessel
|
||||
|
||||
|
||||
def parse_temperature(temp_str: str) -> float:
|
||||
@@ -170,16 +171,7 @@ def generate_hydrogenate_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 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 {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -2,91 +2,17 @@ import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
from typing import List, Dict, Any, Tuple, Union
|
||||
from .utils.vessel_parser import get_vessel, find_solvent_vessel
|
||||
from .utils.unit_parser import parse_volume_input
|
||||
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:
|
||||
"""
|
||||
解析带单位的体积输入
|
||||
|
||||
Args:
|
||||
volume_input: 体积输入（如 "100 mL", "2.5 L", "500", "?", 100.0）
|
||||
default_unit: 默认单位（默认为毫升）
|
||||
|
||||
Returns:
|
||||
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)
|
||||
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()
|
||||
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
|
||||
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
|
||||
try:
|
||||
value = float(volume_str)
|
||||
if default_unit.lower() in ["ml", "milliliter"]:
|
||||
result = value
|
||||
elif default_unit.lower() in ["l", "liter"]:
|
||||
result = value * 1000.0
|
||||
elif default_unit.lower() in ["μl", "ul", "microliter"]:
|
||||
result = value / 1000.0
|
||||
else:
|
||||
result = value # 默认mL
|
||||
debug_print(f"🔢 纯数字输入: {volume_str} → {result}mL（单位: {default_unit}）📏")
|
||||
return result
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
# 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)
|
||||
|
||||
if not match:
|
||||
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))
|
||||
unit = match.group(2) or default_unit.lower()
|
||||
|
||||
# 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 💧")
|
||||
|
||||
debug_print(f"✅ 体积解析完成: '{volume_str}' → {volume}mL ✨")
|
||||
return volume
|
||||
|
||||
|
||||
def parse_ratio(ratio_str: str) -> Tuple[float, float]:
|
||||
"""
|
||||
解析比例字符串，支持多种格式
|
||||
@@ -136,131 +62,6 @@ def parse_ratio(ratio_str: str) -> Tuple[float, float]:
|
||||
return 1.0, 1.0
|
||||
|
||||
|
||||
def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""
|
||||
查找溶剂容器
|
||||
|
||||
Args:
|
||||
G: 网络图
|
||||
solvent: 溶剂名称
|
||||
|
||||
Returns:
|
||||
str: 溶剂容器ID
|
||||
"""
|
||||
debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器... 🧪")
|
||||
|
||||
# 构建可能的容器名称
|
||||
possible_names = [
|
||||
f"flask_{solvent}",
|
||||
f"bottle_{solvent}",
|
||||
f"reagent_{solvent}",
|
||||
f"reagent_bottle_{solvent}",
|
||||
f"{solvent}_flask",
|
||||
f"{solvent}_bottle",
|
||||
f"{solvent}",
|
||||
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():
|
||||
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（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:
|
||||
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', {})
|
||||
|
||||
# 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()
|
||||
|
||||
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
|
||||
@@ -287,16 +88,7 @@ def generate_recrystallize_protocol(
|
||||
"""
|
||||
|
||||
# 🔧 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 {}
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
@@ -330,7 +122,7 @@ def generate_recrystallize_protocol(
|
||||
|
||||
# 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")
|
||||
final_volume = parse_volume_input(volume, "mL")
|
||||
debug_print(f"🎯 体积解析完成: {volume} → {final_volume}mL ✨")
|
||||
|
||||
# 3. 解析比例
|
||||
@@ -582,7 +374,7 @@ def test_recrystallize_protocol():
|
||||
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)
|
||||
parsed = parse_volume_input(vol)
|
||||
debug_print(f" 📊 体积 '{vol}' -> {parsed}mL")
|
||||
|
||||
# 测试比例解析
|
||||
|
||||
@@ -8,7 +8,6 @@ logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"🏛️ [RUN_COLUMN] {message}", flush=True)
|
||||
logger.info(f"[RUN_COLUMN] {message}")
|
||||
|
||||
def parse_percentage(pct_str: str) -> float:
|
||||
|
||||
@@ -1,8 +1,12 @@
|
||||
from functools import partial
|
||||
|
||||
import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
import sys
|
||||
from typing import List, Dict, Any, Union
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.logger_util import action_log
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
@@ -20,48 +24,472 @@ def debug_print(message):
|
||||
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"""
|
||||
create_action_log = partial(action_log, prefix="[SEPARATE]")
|
||||
|
||||
|
||||
def generate_separate_protocol(
|
||||
G: nx.DiGraph,
|
||||
# 🔧 基础参数，支持XDL的vessel参数
|
||||
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: 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
|
||||
volume: Union[str, float] = 0.0, # XDL: 体积（与solvent_volume同义）
|
||||
# 🔧 操作参数
|
||||
through: str = "", # 通过材料
|
||||
repeats: int = 1, # 重复次数
|
||||
stir_time: float = 30.0, # 搅拌时间（秒）
|
||||
stir_speed: float = 300.0, # 搅拌速度
|
||||
settling_time: float = 300.0, # 沉降时间（秒）
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
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: 分离容器字典（必需）
|
||||
- purpose: "wash", "extract", "separate"
|
||||
- product_phase: "top", "bottom"
|
||||
- product_vessel: 产物收集容器
|
||||
- waste_vessel: 废液收集容器
|
||||
- solvent: 溶剂名称
|
||||
- volume: "200 mL", "?" 或数值
|
||||
- repeats: 重复次数
|
||||
|
||||
分离流程：
|
||||
1. （可选）添加溶剂到分离容器
|
||||
2. 搅拌混合
|
||||
3. 静置分层
|
||||
4. 收集指定相到目标容器
|
||||
5. 重复指定次数
|
||||
"""
|
||||
|
||||
# 🔧 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
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
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...")
|
||||
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 - 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_vessel_id, _ = vessel_id
|
||||
final_to_vessel_id, _ = get_vessel(to_vessel) or get_vessel(product_vessel)
|
||||
final_waste_vessel_id, _ = get_vessel(waste_phase_to_vessel) or get_vessel(waste_vessel)
|
||||
|
||||
# 统一体积参数
|
||||
final_volume = parse_volume_input(volume or solvent_volume)
|
||||
|
||||
# 🔧 修复：确保repeats至少为1
|
||||
if repeats <= 0:
|
||||
repeats = 1
|
||||
debug_print(f"⚠️ 重复次数参数 <= 0，自动设置为 1")
|
||||
|
||||
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:
|
||||
purpose = "separate"
|
||||
if not product_phase:
|
||||
product_phase = "top"
|
||||
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...")
|
||||
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_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...")
|
||||
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:
|
||||
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
|
||||
}
|
||||
}
|
||||
for repeat_idx in range(repeats):
|
||||
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"🔄 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}", "💧"))
|
||||
|
||||
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: 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"🔄 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", "🧪"))
|
||||
|
||||
# 🔧 替换为具体的分离操作逻辑（基于old版本）
|
||||
|
||||
# 首先进行分液判断（电导突跃）
|
||||
action_sequence.append({
|
||||
"device_id": separator_device,
|
||||
"action_name": "valve_open",
|
||||
"action_kwargs": {
|
||||
"command": "delta > 0.05"
|
||||
}
|
||||
})
|
||||
|
||||
# 估算每相的体积（假设大致平分）
|
||||
phase_volume = current_volume / 2
|
||||
|
||||
# 智能查找分离容器底部
|
||||
separation_vessel_bottom = find_separation_vessel_bottom(G, final_vessel_id) # ✅
|
||||
|
||||
if product_phase == "bottom":
|
||||
debug_print(f"🔄 收集底相产物到 {final_to_vessel_id}")
|
||||
action_sequence.append(create_action_log("收集底相产物", "📦"))
|
||||
|
||||
# 产物转移到目标瓶
|
||||
if final_to_vessel_id:
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=separation_vessel_bottom,
|
||||
to_vessel=final_to_vessel_id,
|
||||
volume=current_volume,
|
||||
flowrate=2.5,
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
# 放出上面那一相，60秒后关阀门
|
||||
action_sequence.append({
|
||||
"device_id": separator_device,
|
||||
"action_name": "valve_open",
|
||||
"action_kwargs": {
|
||||
"command": "time > 60"
|
||||
}
|
||||
})
|
||||
|
||||
# 弃去上面那一相进废液
|
||||
if final_waste_vessel_id:
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=separation_vessel_bottom,
|
||||
to_vessel=final_waste_vessel_id,
|
||||
volume=current_volume,
|
||||
flowrate=2.5,
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
elif product_phase == "top":
|
||||
debug_print(f"🔄 收集上相产物到 {final_to_vessel_id}")
|
||||
action_sequence.append(create_action_log("收集上相产物", "📦"))
|
||||
|
||||
# 弃去下面那一相进废液
|
||||
if final_waste_vessel_id:
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=separation_vessel_bottom,
|
||||
to_vessel=final_waste_vessel_id,
|
||||
volume=phase_volume,
|
||||
flowrate=2.5,
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
# 放出上面那一相，60秒后关阀门
|
||||
action_sequence.append({
|
||||
"device_id": separator_device,
|
||||
"action_name": "valve_open",
|
||||
"action_kwargs": {
|
||||
"command": "time > 60"
|
||||
}
|
||||
})
|
||||
|
||||
# 产物转移到目标瓶
|
||||
if final_to_vessel_id:
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=separation_vessel_bottom,
|
||||
to_vessel=final_to_vessel_id,
|
||||
volume=phase_volume,
|
||||
flowrate=2.5,
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
debug_print(f"✅ 分离操作已完成")
|
||||
action_sequence.append(create_action_log("分离操作完成", "✅"))
|
||||
|
||||
# 🔧 新增：分离后体积估算
|
||||
separated_volume = phase_volume * 0.95 # 假设5%损失，只保留产物相体积
|
||||
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"🔄 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": 10.0}
|
||||
})
|
||||
|
||||
# 🔧 新增：如果不是最后一次，从中转瓶转移回分液漏斗（基于old版本逻辑）
|
||||
if repeat_idx < repeats - 1 and final_to_vessel_id and final_to_vessel_id != final_vessel_id:
|
||||
debug_print(f"🔄 第{cycle_num}轮: 产物转移回分离容器准备下一轮")
|
||||
action_sequence.append(create_action_log("产物转回分离容器，准备下一轮", "🔄"))
|
||||
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=final_to_vessel_id,
|
||||
to_vessel=final_vessel_id,
|
||||
volume=current_volume,
|
||||
flowrate=2.5,
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
# 更新体积回到分离容器
|
||||
update_vessel_volume(vessel, G, current_volume, f"产物转回分离容器（第{cycle_num}轮后）")
|
||||
|
||||
# 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:
|
||||
# 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
|
||||
}
|
||||
}
|
||||
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)}", "❌"))
|
||||
|
||||
# 🔧 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 ===
|
||||
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 × {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
|
||||
|
||||
def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
"""
|
||||
@@ -364,386 +792,54 @@ def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, descrip
|
||||
|
||||
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: 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: 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
|
||||
volume: Union[str, float] = 0.0, # XDL: 体积（与solvent_volume同义）
|
||||
# 🔧 操作参数
|
||||
through: str = "", # 通过材料
|
||||
repeats: int = 1, # 重复次数
|
||||
stir_time: float = 30.0, # 搅拌时间（秒）
|
||||
stir_speed: float = 300.0, # 搅拌速度
|
||||
settling_time: float = 300.0, # 沉降时间（秒）
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
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: 分离容器字典（必需）
|
||||
- purpose: "wash", "extract", "separate"
|
||||
- product_phase: "top", "bottom"
|
||||
- product_vessel: 产物收集容器
|
||||
- waste_vessel: 废液收集容器
|
||||
- solvent: 溶剂名称
|
||||
- volume: "200 mL", "?" 或数值
|
||||
- repeats: 重复次数
|
||||
|
||||
分离流程：
|
||||
1. （可选）添加溶剂到分离容器
|
||||
2. 搅拌混合
|
||||
3. 静置分层
|
||||
4. 收集指定相到目标容器
|
||||
5. 重复指定次数
|
||||
"""
|
||||
|
||||
# 🔧 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...")
|
||||
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 - 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_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)
|
||||
|
||||
# 🔧 修复：确保repeats至少为1
|
||||
if repeats <= 0:
|
||||
repeats = 1
|
||||
debug_print(f"⚠️ 重复次数参数 <= 0，自动设置为 1")
|
||||
|
||||
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:
|
||||
purpose = "separate"
|
||||
if not product_phase:
|
||||
product_phase = "top"
|
||||
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...")
|
||||
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_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...")
|
||||
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):
|
||||
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"🔄 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}", "💧"))
|
||||
|
||||
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: 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"🔄 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 = {
|
||||
"device_id": separator_device,
|
||||
"action_name": "separate",
|
||||
"action_kwargs": {
|
||||
"purpose": purpose,
|
||||
"product_phase": product_phase,
|
||||
"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": 0, # 已经在上面完成
|
||||
"stir_speed": stir_speed,
|
||||
"settling_time": 0 # 已经在上面完成
|
||||
}
|
||||
}
|
||||
action_sequence.append(separate_action)
|
||||
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"🔄 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": 10.0}
|
||||
})
|
||||
|
||||
# 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",
|
||||
"action_name": "log_message",
|
||||
"action_kwargs": {
|
||||
"message": f"分离操作失败: {str(e)}"
|
||||
}
|
||||
})
|
||||
|
||||
# 🔧 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 ===
|
||||
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 × {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
|
||||
|
||||
def find_separation_vessel_bottom(G: nx.DiGraph, vessel_id: str) -> str:
|
||||
"""
|
||||
智能查找分离容器的底部容器（假设为flask或vessel类型）
|
||||
|
||||
Args:
|
||||
G: 网络图
|
||||
vessel_id: 分离容器ID
|
||||
|
||||
Returns:
|
||||
str: 底部容器ID
|
||||
"""
|
||||
debug_print(f"🔍 查找分离容器 {vessel_id} 的底部容器...")
|
||||
|
||||
# 方法1：根据命名规则推测
|
||||
possible_bottoms = [
|
||||
f"{vessel_id}_bottom",
|
||||
f"flask_{vessel_id}",
|
||||
f"vessel_{vessel_id}",
|
||||
f"{vessel_id}_flask",
|
||||
f"{vessel_id}_vessel"
|
||||
]
|
||||
|
||||
debug_print(f"📋 尝试的底部容器名称: {possible_bottoms}")
|
||||
|
||||
for bottom_id in possible_bottoms:
|
||||
if bottom_id in G.nodes():
|
||||
node_type = G.nodes[bottom_id].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"✅ 通过命名规则找到底部容器: {bottom_id}")
|
||||
return bottom_id
|
||||
|
||||
# 方法2：查找与分离器相连的容器（假设底部容器会与分离器相连）
|
||||
debug_print(f"📋 方法2: 查找连接的容器...")
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
if 'separator' in node_class.lower():
|
||||
# 检查分离器的输入端
|
||||
if G.has_edge(node, vessel_id):
|
||||
for neighbor in G.neighbors(node):
|
||||
if neighbor != vessel_id:
|
||||
neighbor_type = G.nodes[neighbor].get('type', '')
|
||||
if neighbor_type == 'container':
|
||||
debug_print(f"✅ 通过连接找到底部容器: {neighbor}")
|
||||
return neighbor
|
||||
|
||||
debug_print(f"❌ 无法找到分离容器 {vessel_id} 的底部容器")
|
||||
return ""
|
||||
|
||||
|
||||
@@ -3,81 +3,14 @@ import networkx as nx
|
||||
import logging
|
||||
import re
|
||||
|
||||
from .utils.unit_parser import parse_time_input
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"🌪️ [STIR] {message}", flush=True)
|
||||
logger.info(f"[STIR] {message}")
|
||||
|
||||
def parse_time_input(time_input: Union[str, float, int], default_unit: str = "s") -> float:
|
||||
"""
|
||||
统一的时间解析函数（精简版）
|
||||
|
||||
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 100.0 # 默认100秒
|
||||
|
||||
# 🔢 处理数值输入
|
||||
if isinstance(time_input, (int, float)):
|
||||
result = float(time_input)
|
||||
debug_print(f"⏰ 数值时间: {time_input} → {result}s")
|
||||
return result
|
||||
|
||||
# 📝 处理字符串输入
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"🔍 解析时间: '{time_str}'")
|
||||
|
||||
# ❓ 特殊值处理
|
||||
special_times = {
|
||||
'?': 300.0, 'unknown': 300.0, 'tbd': 300.0,
|
||||
'briefly': 30.0, 'quickly': 60.0, 'slowly': 600.0,
|
||||
'several minutes': 300.0, 'few minutes': 180.0, 'overnight': 3600.0
|
||||
}
|
||||
|
||||
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:
|
||||
result = float(time_str)
|
||||
debug_print(f"⏰ 纯数字: {time_str} → {result}s")
|
||||
return result
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
# 📐 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: 100s")
|
||||
return 100.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or default_unit
|
||||
|
||||
# 📏 单位转换
|
||||
unit_multipliers = {
|
||||
'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 ({result/60:.1f}分钟)")
|
||||
return result
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str = None) -> str:
|
||||
"""查找与指定容器相连的搅拌设备"""
|
||||
|
||||
@@ -1,79 +0,0 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
|
||||
def generate_transfer_protocol(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
amount: str = "",
|
||||
time: float = 0,
|
||||
viscous: bool = False,
|
||||
rinsing_solvent: str = "",
|
||||
rinsing_volume: float = 0.0,
|
||||
rinsing_repeats: int = 0,
|
||||
solid: bool = False
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成液体转移操作的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
from_vessel: 源容器
|
||||
to_vessel: 目标容器
|
||||
volume: 转移体积 (mL)
|
||||
amount: 数量描述 (可选)
|
||||
time: 转移时间 (秒，可选)
|
||||
viscous: 是否为粘性液体
|
||||
rinsing_solvent: 冲洗溶剂 (可选)
|
||||
rinsing_volume: 冲洗体积 (mL，可选)
|
||||
rinsing_repeats: 冲洗重复次数
|
||||
solid: 是否涉及固体
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 转移操作的动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 当找不到合适的转移设备时抛出异常
|
||||
|
||||
Examples:
|
||||
transfer_protocol = generate_transfer_protocol(G, "flask_1", "reactor", 10.0)
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 查找虚拟转移泵设备用于液体转移 - 修复：应该查找 virtual_transfer_pump
|
||||
pump_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_transfer_pump']
|
||||
|
||||
if not pump_nodes:
|
||||
raise ValueError("没有找到可用的转移泵设备进行液体转移")
|
||||
|
||||
# 使用第一个可用的泵
|
||||
pump_id = pump_nodes[0]
|
||||
|
||||
# 验证容器是否存在
|
||||
if from_vessel not in G.nodes():
|
||||
raise ValueError(f"源容器 {from_vessel} 不存在于图中")
|
||||
|
||||
if to_vessel not in G.nodes():
|
||||
raise ValueError(f"目标容器 {to_vessel} 不存在于图中")
|
||||
|
||||
# 执行液体转移操作 - 参数完全匹配Transfer.action
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": from_vessel,
|
||||
"to_vessel": to_vessel,
|
||||
"volume": volume,
|
||||
"amount": amount,
|
||||
"time": time,
|
||||
"viscous": viscous,
|
||||
"rinsing_solvent": rinsing_solvent,
|
||||
"rinsing_volume": rinsing_volume,
|
||||
"rinsing_repeats": rinsing_repeats,
|
||||
"solid": solid
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
36
unilabos/compile/utils/logger_util.py
Normal file
36
unilabos/compile/utils/logger_util.py
Normal file
@@ -0,0 +1,36 @@
|
||||
# 🆕 创建进度日志动作
|
||||
import logging
|
||||
from typing import Dict, Any
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message, prefix="[UNIT_PARSER]"):
|
||||
"""调试输出"""
|
||||
logger.info(f"{prefix} {message}")
|
||||
|
||||
|
||||
def action_log(message: str, emoji: str = "📝", prefix="[HIGH-LEVEL OPERATION]") -> Dict[str, Any]:
|
||||
"""创建一个动作日志 - 支持中文和emoji"""
|
||||
try:
|
||||
full_message = f"{prefix} {emoji} {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"{prefix} {message}"
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": safe_message,
|
||||
"progress_message": safe_message
|
||||
}
|
||||
}
|
||||
@@ -4,108 +4,12 @@
|
||||
"""
|
||||
|
||||
import re
|
||||
import logging
|
||||
from typing import Union
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
from .logger_util import debug_print
|
||||
|
||||
def debug_print(message, prefix="[UNIT_PARSER]"):
|
||||
"""调试输出"""
|
||||
print(f"{prefix} {message}", flush=True)
|
||||
logger.info(f"{prefix} {message}")
|
||||
|
||||
def parse_time_with_units(time_input: Union[str, float, int], default_unit: str = "s") -> float:
|
||||
"""
|
||||
解析带单位的时间输入
|
||||
|
||||
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
|
||||
|
||||
# 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）")
|
||||
return result
|
||||
|
||||
# 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}'")
|
||||
|
||||
# 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
|
||||
|
||||
# 如果是纯数字，使用默认单位
|
||||
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}）")
|
||||
return result
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
# 使用正则表达式匹配数字和单位
|
||||
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
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or default_unit
|
||||
|
||||
# 单位转换映射
|
||||
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,
|
||||
}
|
||||
|
||||
multiplier = unit_multipliers.get(unit, 1.0)
|
||||
result = value * multiplier
|
||||
|
||||
debug_print(f"时间解析: '{time_str}' → {value} {unit} → {result}s")
|
||||
return result
|
||||
|
||||
def parse_volume_with_units(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
|
||||
def parse_volume_input(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
|
||||
"""
|
||||
解析带单位的体积输入
|
||||
|
||||
@@ -175,6 +79,111 @@ def parse_volume_with_units(volume_input: Union[str, float, int], default_unit:
|
||||
debug_print(f"体积解析: '{volume_str}' → {value} {unit} → {volume}mL")
|
||||
return volume
|
||||
|
||||
|
||||
def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析质量输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
mass_input: 质量输入（如 "19.3 g", "4.5 g", 2.5）
|
||||
|
||||
Returns:
|
||||
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}'")
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
mass_clean = re.sub(r'\s+', '', mass_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
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")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 'g' # 默认单位为克
|
||||
|
||||
# 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")
|
||||
|
||||
return mass
|
||||
|
||||
|
||||
def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析时间输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
time_input: 时间输入（如 "1 h", "20 min", "30 s", 60.0）
|
||||
|
||||
Returns:
|
||||
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}'")
|
||||
|
||||
# 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 (1分钟) ⏰")
|
||||
return default_time
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
time_clean = re.sub(r'\s+', '', time_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
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")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 's' # 默认单位为秒
|
||||
|
||||
# 转换为秒
|
||||
if unit in ['m', 'min', 'minute', 'mins', 'minutes']:
|
||||
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', 'hrs', 'hours']:
|
||||
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', 'days']:
|
||||
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")
|
||||
|
||||
return time_sec
|
||||
|
||||
# 测试函数
|
||||
def test_unit_parser():
|
||||
"""测试单位解析功能"""
|
||||
@@ -187,7 +196,7 @@ def test_unit_parser():
|
||||
|
||||
print("\n时间解析测试:")
|
||||
for time_input in time_tests:
|
||||
result = parse_time_with_units(time_input)
|
||||
result = parse_time_input(time_input)
|
||||
print(f" {time_input} → {result}s ({result/60:.1f}min)")
|
||||
|
||||
# 测试体积解析
|
||||
@@ -197,7 +206,7 @@ def test_unit_parser():
|
||||
|
||||
print("\n体积解析测试:")
|
||||
for volume_input in volume_tests:
|
||||
result = parse_volume_with_units(volume_input)
|
||||
result = parse_volume_input(volume_input)
|
||||
print(f" {volume_input} → {result}mL")
|
||||
|
||||
print("\n✅ 测试完成")
|
||||
|
||||
281
unilabos/compile/utils/vessel_parser.py
Normal file
281
unilabos/compile/utils/vessel_parser.py
Normal file
@@ -0,0 +1,281 @@
|
||||
import networkx as nx
|
||||
|
||||
from .logger_util import debug_print
|
||||
|
||||
|
||||
def get_vessel(vessel):
|
||||
"""
|
||||
统一处理vessel参数，返回vessel_id和vessel_data。
|
||||
|
||||
Args:
|
||||
vessel: 可以是一个字典或字符串，表示vessel的ID或数据。
|
||||
|
||||
Returns:
|
||||
tuple: 包含vessel_id和vessel_data。
|
||||
"""
|
||||
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 = {}
|
||||
return vessel_id, vessel_data
|
||||
|
||||
|
||||
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"🔍 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', '')
|
||||
config_data = G.nodes[node].get('config', {})
|
||||
|
||||
# 只搜索容器类型的节点
|
||||
if node_type == 'container':
|
||||
reagent_name = node_data.get('reagent_name', '').lower()
|
||||
config_reagent = config_data.get('reagent', '').lower()
|
||||
|
||||
# 精确匹配
|
||||
if reagent_name == reagent.lower() or config_reagent == reagent.lower():
|
||||
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} 🔍")
|
||||
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,
|
||||
f"flask_{reagent_clean}",
|
||||
f"bottle_{reagent_clean}",
|
||||
f"vessel_{reagent_clean}",
|
||||
f"{reagent_clean}_flask",
|
||||
f"{reagent_clean}_bottle",
|
||||
f"reagent_{reagent_clean}",
|
||||
f"reagent_bottle_{reagent_clean}",
|
||||
f"solid_reagent_bottle_{reagent_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} 📝")
|
||||
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} 🔍")
|
||||
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() == reagent.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())):
|
||||
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_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""
|
||||
查找溶剂容器
|
||||
|
||||
Args:
|
||||
G: 网络图
|
||||
solvent: 溶剂名称
|
||||
|
||||
Returns:
|
||||
str: 溶剂容器ID
|
||||
"""
|
||||
debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器... 🧪")
|
||||
|
||||
# 第四步：通过数据中的试剂信息匹配
|
||||
debug_print(" 🧪 步骤1: 数据试剂信息匹配...")
|
||||
for node_id in G.nodes():
|
||||
debug_print(f"查找 id {node_id}, type={G.nodes[node_id].get('type')}, data={G.nodes[node_id].get('data', {})} 的容器...")
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
|
||||
# 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', []) or vessel_data.get('liquids', [])
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
|
||||
|
||||
if solvent.lower() == liquid_type or 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
|
||||
|
||||
# 构建可能的容器名称
|
||||
possible_names = [
|
||||
f"flask_{solvent}",
|
||||
f"bottle_{solvent}",
|
||||
f"reagent_{solvent}",
|
||||
f"reagent_bottle_{solvent}",
|
||||
f"{solvent}_flask",
|
||||
f"{solvent}_bottle",
|
||||
f"{solvent}",
|
||||
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2: 精确名称匹配...")
|
||||
for vessel_name in possible_names:
|
||||
if vessel_name in G.nodes():
|
||||
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（节点ID和名称）
|
||||
debug_print(" 🔍 步骤3: 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:
|
||||
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：通过配置中的试剂信息匹配
|
||||
debug_print(" 🧪 步骤4: 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 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} 🔗")
|
||||
return stirrer
|
||||
|
||||
# 返回第一个搅拌器
|
||||
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 ""
|
||||
|
||||
|
||||
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} 🥄")
|
||||
return node
|
||||
|
||||
debug_print(f"❌ 未找到固体加样器")
|
||||
return ""
|
||||
@@ -3,118 +3,14 @@ import networkx as nx
|
||||
import logging
|
||||
import re
|
||||
|
||||
from .utils.unit_parser import parse_time_input, parse_volume_input
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
print(f"🧼 [WASH_SOLID] {message}", flush=True)
|
||||
logger.info(f"[WASH_SOLID] {message}")
|
||||
|
||||
def parse_time_input(time_input: Union[str, float, int]) -> float:
|
||||
"""统一时间解析函数（精简版）"""
|
||||
if not time_input:
|
||||
return 0.0
|
||||
|
||||
# 🔢 处理数值输入
|
||||
if isinstance(time_input, (int, float)):
|
||||
result = float(time_input)
|
||||
debug_print(f"⏰ 数值时间: {time_input} → {result}s")
|
||||
return result
|
||||
|
||||
# 📝 处理字符串输入
|
||||
time_str = str(time_input).lower().strip()
|
||||
|
||||
# ❓ 特殊值快速处理
|
||||
special_times = {
|
||||
'?': 60.0, 'unknown': 60.0, 'briefly': 30.0,
|
||||
'quickly': 45.0, 'slowly': 120.0
|
||||
}
|
||||
|
||||
if time_str in special_times:
|
||||
result = special_times[time_str]
|
||||
debug_print(f"🎯 特殊时间: '{time_str}' → {result}s")
|
||||
return result
|
||||
|
||||
# 🔢 数字提取（简化正则）
|
||||
try:
|
||||
# 提取数字
|
||||
numbers = re.findall(r'\d+\.?\d*', time_str)
|
||||
if numbers:
|
||||
value = float(numbers[0])
|
||||
|
||||
# 简化单位判断
|
||||
if any(unit in time_str for unit in ['min', 'm']):
|
||||
result = value * 60.0
|
||||
elif any(unit in time_str for unit in ['h', 'hour']):
|
||||
result = value * 3600.0
|
||||
else:
|
||||
result = value # 默认秒
|
||||
|
||||
debug_print(f"✅ 时间解析: '{time_str}' → {result}s")
|
||||
return result
|
||||
except:
|
||||
pass
|
||||
|
||||
debug_print(f"⚠️ 时间解析失败: '{time_str}'，使用默认60s")
|
||||
return 60.0
|
||||
|
||||
def parse_volume_input(volume: Union[float, str], volume_spec: str = "", mass: str = "") -> float:
|
||||
"""统一体积解析函数（精简版）"""
|
||||
debug_print(f"💧 解析体积: volume={volume}, spec='{volume_spec}', mass='{mass}'")
|
||||
|
||||
# 🎯 优先级1：volume_spec（快速映射）
|
||||
if volume_spec:
|
||||
spec_map = {
|
||||
'small': 20.0, 'medium': 50.0, 'large': 100.0,
|
||||
'minimal': 10.0, 'normal': 50.0, 'generous': 150.0
|
||||
}
|
||||
for key, val in spec_map.items():
|
||||
if key in volume_spec.lower():
|
||||
debug_print(f"🎯 规格匹配: '{volume_spec}' → {val}mL")
|
||||
return val
|
||||
|
||||
# 🧮 优先级2：mass转体积（简化：1g=1mL）
|
||||
if mass:
|
||||
try:
|
||||
numbers = re.findall(r'\d+\.?\d*', mass)
|
||||
if numbers:
|
||||
value = float(numbers[0])
|
||||
if 'mg' in mass.lower():
|
||||
result = value / 1000.0
|
||||
elif 'kg' in mass.lower():
|
||||
result = value * 1000.0
|
||||
else:
|
||||
result = value # 默认g
|
||||
debug_print(f"⚖️ 质量转换: {mass} → {result}mL")
|
||||
return result
|
||||
except:
|
||||
pass
|
||||
|
||||
# 📦 优先级3：volume
|
||||
if volume:
|
||||
if isinstance(volume, (int, float)):
|
||||
result = float(volume)
|
||||
debug_print(f"💧 数值体积: {volume} → {result}mL")
|
||||
return result
|
||||
elif isinstance(volume, str):
|
||||
try:
|
||||
# 提取数字
|
||||
numbers = re.findall(r'\d+\.?\d*', volume)
|
||||
if numbers:
|
||||
value = float(numbers[0])
|
||||
# 简化单位判断
|
||||
if 'l' in volume.lower() and 'ml' not in volume.lower():
|
||||
result = value * 1000.0 # L转mL
|
||||
else:
|
||||
result = value # 默认mL
|
||||
debug_print(f"💧 字符串体积: '{volume}' → {result}mL")
|
||||
return result
|
||||
except:
|
||||
pass
|
||||
|
||||
# 默认值
|
||||
debug_print(f"⚠️ 体积解析失败，使用默认50mL")
|
||||
return 50.0
|
||||
|
||||
def find_solvent_source(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""查找溶剂源（精简版）"""
|
||||
|
||||
@@ -1,14 +1,14 @@
|
||||
#!/usr/bin/env python
|
||||
# coding=utf-8
|
||||
# 定义配置变量和加载函数
|
||||
import base64
|
||||
import traceback
|
||||
import os
|
||||
import importlib.util
|
||||
from typing import Optional
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
class BasicConfig:
|
||||
ENV = "pro" # 'test'
|
||||
ak = ""
|
||||
sk = ""
|
||||
working_dir = ""
|
||||
config_path = ""
|
||||
is_host_mode = True
|
||||
@@ -17,25 +17,22 @@ class BasicConfig:
|
||||
machine_name = "undefined"
|
||||
vis_2d_enable = False
|
||||
enable_resource_load = True
|
||||
communication_protocol = "websocket"
|
||||
|
||||
@classmethod
|
||||
def auth_secret(cls):
|
||||
if not cls.ak or not cls.sk:
|
||||
return ""
|
||||
target = f"{cls.ak}:{cls.sk}"
|
||||
base64_target = base64.b64encode(target.encode("utf-8")).decode("utf-8")
|
||||
return base64_target
|
||||
|
||||
|
||||
# MQTT配置
|
||||
class MQConfig:
|
||||
lab_id = ""
|
||||
instance_id = ""
|
||||
access_key = ""
|
||||
secret_key = ""
|
||||
group_id = ""
|
||||
broker_url = ""
|
||||
port = 1883
|
||||
ca_content = ""
|
||||
cert_content = ""
|
||||
key_content = ""
|
||||
|
||||
# 指定
|
||||
ca_file = "" # 相对config.py所在目录的路径
|
||||
cert_file = "" # 相对config.py所在目录的路径
|
||||
key_file = "" # 相对config.py所在目录的路径
|
||||
# WebSocket配置
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
|
||||
|
||||
# OSS上传配置
|
||||
@@ -65,48 +62,13 @@ class ROSConfig:
|
||||
]
|
||||
|
||||
|
||||
def _update_config_from_module(module, override_labid: str):
|
||||
def _update_config_from_module(module):
|
||||
for name, obj in globals().items():
|
||||
if isinstance(obj, type) and name.endswith("Config"):
|
||||
if hasattr(module, name) and isinstance(getattr(module, name), type):
|
||||
for attr in dir(getattr(module, name)):
|
||||
if not attr.startswith("_"):
|
||||
setattr(obj, attr, getattr(getattr(module, name), attr))
|
||||
# 更新OSS认证
|
||||
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("."):
|
||||
MQConfig.ca_file = os.path.join(BasicConfig.config_path, MQConfig.ca_file)
|
||||
if len(MQConfig.ca_file) != 0:
|
||||
with open(MQConfig.ca_file, "r", encoding="utf-8") as f:
|
||||
MQConfig.ca_content = f.read()
|
||||
else:
|
||||
logger.warning("Skipping CA file loading, ca_file is empty")
|
||||
if len(MQConfig.cert_content) == 0:
|
||||
# 需要先判断是否为相对路径
|
||||
if MQConfig.cert_file.startswith("."):
|
||||
MQConfig.cert_file = os.path.join(BasicConfig.config_path, MQConfig.cert_file)
|
||||
if len(MQConfig.ca_file) != 0:
|
||||
with open(MQConfig.cert_file, "r", encoding="utf-8") as f:
|
||||
MQConfig.cert_content = f.read()
|
||||
else:
|
||||
logger.warning("Skipping cert file loading, cert_file is empty")
|
||||
if len(MQConfig.key_content) == 0:
|
||||
# 需要先判断是否为相对路径
|
||||
if MQConfig.key_file.startswith("."):
|
||||
MQConfig.key_file = os.path.join(BasicConfig.config_path, MQConfig.key_file)
|
||||
if len(MQConfig.ca_file) != 0:
|
||||
with open(MQConfig.key_file, "r", encoding="utf-8") as f:
|
||||
MQConfig.key_content = f.read()
|
||||
else:
|
||||
logger.warning("Skipping key file loading, key_file is empty")
|
||||
|
||||
|
||||
def _update_config_from_env():
|
||||
prefix = "UNILABOS_"
|
||||
@@ -159,8 +121,7 @@ def _update_config_from_env():
|
||||
logger.warning(f"[ENV] 解析环境变量 {env_key} 失败: {e}")
|
||||
|
||||
|
||||
|
||||
def load_config(config_path=None, override_labid=None):
|
||||
def load_config(config_path=None):
|
||||
# 如果提供了配置文件路径，从该文件导入配置
|
||||
if config_path:
|
||||
env_config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH")
|
||||
@@ -177,7 +138,7 @@ def load_config(config_path=None, override_labid=None):
|
||||
return
|
||||
module = importlib.util.module_from_spec(spec)
|
||||
spec.loader.exec_module(module) # type: ignore
|
||||
_update_config_from_module(module, override_labid)
|
||||
_update_config_from_module(module)
|
||||
logger.info(f"[ENV] 配置文件 {config_path} 加载成功")
|
||||
_update_config_from_env()
|
||||
except Exception as e:
|
||||
@@ -186,4 +147,4 @@ def load_config(config_path=None, override_labid=None):
|
||||
exit(1)
|
||||
else:
|
||||
config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
|
||||
load_config(config_path, override_labid)
|
||||
load_config(config_path)
|
||||
|
||||
@@ -1,17 +1,12 @@
|
||||
# MQTT配置
|
||||
class MQConfig:
|
||||
lab_id = ""
|
||||
instance_id = ""
|
||||
access_key = ""
|
||||
secret_key = ""
|
||||
group_id = ""
|
||||
broker_url = ""
|
||||
port = 1883
|
||||
# unilabos的配置文件
|
||||
|
||||
ca_file = "./CA.crt"
|
||||
cert_file = "./lab.crt"
|
||||
key_file = "./lab.key"
|
||||
class BasicConfig:
|
||||
ak = "" # 实验室网页给您提供的ak代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --ak 传入，优先按照传入参数解析
|
||||
sk = "" # 实验室网页给您提供的sk代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --sk 传入，优先按照传入参数解析
|
||||
|
||||
# HTTP配置
|
||||
class HTTPConfig:
|
||||
remote_addr = "https://uni-lab.bohrium.com/api/v1"
|
||||
|
||||
# WebSocket配置，一般无需调整
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
@@ -1 +0,0 @@
|
||||
from .eis_model import EISModelBasedController
|
||||
@@ -1,5 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
|
||||
def EISModelBasedController(eis: np.array) -> float:
|
||||
return 0.0
|
||||
@@ -1,11 +1,11 @@
|
||||
from __future__ import annotations
|
||||
|
||||
import re
|
||||
import traceback
|
||||
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set
|
||||
|
||||
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
|
||||
from collections import Counter
|
||||
import asyncio
|
||||
import time
|
||||
|
||||
import pprint as pp
|
||||
from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
|
||||
from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
|
||||
from pylabrobot.liquid_handling.standard import GripDirection
|
||||
@@ -29,6 +29,7 @@ from pylabrobot.resources import (
|
||||
class LiquidHandlerMiddleware(LiquidHandler):
|
||||
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
|
||||
self._simulator = simulator
|
||||
self.channel_num = channel_num
|
||||
if simulator:
|
||||
self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
|
||||
self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
|
||||
@@ -104,8 +105,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
offsets: Optional[List[Coordinate]] = None,
|
||||
**backend_kwargs,
|
||||
):
|
||||
print('222'*200)
|
||||
print(tip_spots)
|
||||
|
||||
if self._simulator:
|
||||
return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
|
||||
return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
|
||||
@@ -138,6 +138,8 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
offsets: Optional[List[Coordinate]] = None,
|
||||
**backend_kwargs,
|
||||
):
|
||||
if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)):
|
||||
offsets = [Coordinate.zero()] * len(use_channels)
|
||||
if self._simulator:
|
||||
return await self._simulate_handler.discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
|
||||
return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
|
||||
@@ -543,6 +545,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
deck: Deck to use.
|
||||
"""
|
||||
self._simulator = simulator
|
||||
self.group_info = dict()
|
||||
super().__init__(backend, deck, simulator, channel_num)
|
||||
|
||||
@classmethod
|
||||
@@ -554,6 +557,70 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
# REMOVE LIQUID --------------------------------------------------
|
||||
# ---------------------------------------------------------------
|
||||
|
||||
def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
|
||||
if self.channel_num == 8 and len(wells) != 8:
|
||||
raise RuntimeError(f"Expected 8 wells, got {len(wells)}")
|
||||
self.group_info[group_name] = wells
|
||||
self.set_liquid(wells, [group_name] * len(wells), volumes)
|
||||
|
||||
async def transfer_group(self, source_group_name: str, target_group_name: str, unit_volume: float):
|
||||
|
||||
source_wells = self.group_info.get(source_group_name, [])
|
||||
target_wells = self.group_info.get(target_group_name, [])
|
||||
|
||||
rack_info = dict()
|
||||
for child in self.deck.children:
|
||||
if issubclass(child.__class__, TipRack):
|
||||
rack: TipRack = cast(TipRack, child)
|
||||
if "plate" not in rack.name.lower():
|
||||
for tip in rack.get_all_tips():
|
||||
if unit_volume > tip.maximal_volume:
|
||||
break
|
||||
else:
|
||||
rack_info[rack.name] = (rack, tip.maximal_volume - unit_volume)
|
||||
|
||||
if len(rack_info) == 0:
|
||||
raise ValueError(f"No tip rack can support volume {unit_volume}.")
|
||||
|
||||
rack_info = sorted(rack_info.items(), key=lambda x: x[1][1])
|
||||
for child in self.deck.children:
|
||||
if child.name == rack_info[0][0]:
|
||||
target_rack = child
|
||||
target_rack = cast(TipRack, target_rack)
|
||||
available_tips = {}
|
||||
for (idx, tipSpot) in enumerate(target_rack.get_all_items()):
|
||||
if tipSpot.has_tip():
|
||||
available_tips[idx] = tipSpot
|
||||
continue
|
||||
# 一般移动液体有两种方式，一对多和多对多
|
||||
if self.channel_num == 8:
|
||||
|
||||
tip_prefix = list(available_tips.values())[0].name.split('_')[0]
|
||||
colnum_list = [int(tip.name.split('_')[-1][1:]) for tip in available_tips.values()]
|
||||
available_cols = [colnum for colnum, count in dict(Counter(colnum_list)).items() if count == 8]
|
||||
available_cols.sort()
|
||||
available_tips_dict = {tip.name: tip for tip in available_tips.values()}
|
||||
tips_to_use = [available_tips_dict[f"{tip_prefix}_{chr(65 + i)}{available_cols[0]}"] for i in range(8)]
|
||||
await self.pick_up_tips(tips_to_use, use_channels=list(range(0, 8)))
|
||||
await self.aspirate(source_wells, [unit_volume] * 8, use_channels=list(range(0, 8)))
|
||||
await self.dispense(target_wells, [unit_volume] * 8, use_channels=list(range(0, 8)))
|
||||
await self.discard_tips(use_channels=list(range(0, 8)))
|
||||
|
||||
elif self.channel_num == 1:
|
||||
|
||||
for num_well in range(len(target_wells)):
|
||||
tip_to_use = available_tips[list(available_tips.keys())[num_well]]
|
||||
await self.pick_up_tips([tip_to_use], use_channels=[0])
|
||||
if len(source_wells) == 1:
|
||||
await self.aspirate([source_wells[0]], [unit_volume], use_channels=[0])
|
||||
else:
|
||||
await self.aspirate([source_wells[num_well]], [unit_volume], use_channels=[0])
|
||||
await self.dispense([target_wells[num_well]], [unit_volume], use_channels=[0])
|
||||
await self.discard_tips(use_channels=[0])
|
||||
|
||||
else:
|
||||
raise ValueError(f"Unsupported channel number {self.channel_num}.")
|
||||
|
||||
async def create_protocol(
|
||||
self,
|
||||
protocol_name: str,
|
||||
@@ -567,6 +634,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
"""Create a new protocol with the given metadata."""
|
||||
pass
|
||||
|
||||
|
||||
async def remove_liquid(
|
||||
self,
|
||||
vols: List[float],
|
||||
@@ -985,8 +1053,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
if delays is not None:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
await self.touch_tip(current_targets)
|
||||
await self.discard_tips()
|
||||
|
||||
await self.discard_tips([0,1,2,3,4,5,6,7])
|
||||
|
||||
# except Exception as e:
|
||||
# traceback.print_exc()
|
||||
# raise RuntimeError(f"Liquid addition failed: {e}") from e
|
||||
|
||||
568
unilabos/devices/liquid_handling/prcxi/abstract_protocol.py
Normal file
568
unilabos/devices/liquid_handling/prcxi/abstract_protocol.py
Normal file
@@ -0,0 +1,568 @@
|
||||
import asyncio
|
||||
import collections
|
||||
import contextlib
|
||||
import json
|
||||
import socket
|
||||
import time
|
||||
from typing import Any, List, Dict, Optional, TypedDict, Union, Sequence, Iterator, Literal
|
||||
|
||||
from pylabrobot.liquid_handling import (
|
||||
LiquidHandlerBackend,
|
||||
Pickup,
|
||||
SingleChannelAspiration,
|
||||
Drop,
|
||||
SingleChannelDispense,
|
||||
PickupTipRack,
|
||||
DropTipRack,
|
||||
MultiHeadAspirationPlate, ChatterBoxBackend, LiquidHandlerChatterboxBackend,
|
||||
)
|
||||
from pylabrobot.liquid_handling.standard import (
|
||||
MultiHeadAspirationContainer,
|
||||
MultiHeadDispenseContainer,
|
||||
MultiHeadDispensePlate,
|
||||
ResourcePickup,
|
||||
ResourceMove,
|
||||
ResourceDrop,
|
||||
)
|
||||
from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
|
||||
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
|
||||
|
||||
|
||||
|
||||
|
||||
class MaterialResource:
|
||||
"""统一的液体/反应器资源，支持多孔（wells）场景：
|
||||
- wells: 列表，每个元素代表一个物料孔（unit）；
|
||||
- units: 与 wells 对齐的列表，每个元素是 {liquid_id: volume}；
|
||||
- 若传入 liquid_id + volume 或 composition，总量将**等分**到各 unit；
|
||||
"""
|
||||
def __init__(
|
||||
self,
|
||||
resource_name: str,
|
||||
slot: int,
|
||||
well: List[int],
|
||||
composition: Optional[Dict[str, float]] = None,
|
||||
liquid_id: Optional[str] = None,
|
||||
volume: Union[float, int] = 0.0,
|
||||
is_supply: Optional[bool] = None,
|
||||
):
|
||||
self.resource_name = resource_name
|
||||
self.slot = int(slot)
|
||||
self.well = list(well or [])
|
||||
self.is_supply = bool(is_supply) if is_supply is not None else (bool(composition) or (liquid_id is not None))
|
||||
|
||||
# 规范化：至少有 1 个 unit
|
||||
n = max(1, len(self.well))
|
||||
self.units: List[Dict[str, float]] = [dict() for _ in range(n)]
|
||||
|
||||
# 初始化内容：等分到各 unit
|
||||
if composition:
|
||||
for k, v in composition.items():
|
||||
share = float(v) / n
|
||||
for u in self.units:
|
||||
if share > 0:
|
||||
u[k] = u.get(k, 0.0) + share
|
||||
elif liquid_id is not None and float(volume) > 0:
|
||||
share = float(volume) / n
|
||||
for u in self.units:
|
||||
u[liquid_id] = u.get(liquid_id, 0.0) + share
|
||||
|
||||
# 位置描述
|
||||
def location(self) -> Dict[str, Any]:
|
||||
return {"slot": self.slot, "well": self.well}
|
||||
|
||||
def unit_count(self) -> int:
|
||||
return len(self.units)
|
||||
|
||||
def unit_volume(self, idx: int) -> float:
|
||||
return float(sum(self.units[idx].values()))
|
||||
|
||||
def total_volume(self) -> float:
|
||||
return float(sum(self.unit_volume(i) for i in range(self.unit_count())))
|
||||
|
||||
def add_to_unit(self, idx: int, liquid_id: str, vol: Union[float, int]):
|
||||
v = float(vol)
|
||||
if v < 0:
|
||||
return
|
||||
u = self.units[idx]
|
||||
if liquid_id not in u:
|
||||
u[liquid_id] = 0.0
|
||||
if v > 0:
|
||||
u[liquid_id] += v
|
||||
|
||||
def remove_from_unit(self, idx: int, total: Union[float, int]) -> Dict[str, float]:
|
||||
take = float(total)
|
||||
if take <= 0: return {}
|
||||
u = self.units[idx]
|
||||
avail = sum(u.values())
|
||||
if avail <= 0: return {}
|
||||
take = min(take, avail)
|
||||
ratio = take / avail
|
||||
removed: Dict[str, float] = {}
|
||||
for k, v in list(u.items()):
|
||||
dv = v * ratio
|
||||
nv = v - dv
|
||||
if nv < 1e-9: nv = 0.0
|
||||
u[k] = nv
|
||||
removed[k] = dv
|
||||
|
||||
self.units[idx] = {k: v for k, v in u.items() if v > 0}
|
||||
return removed
|
||||
|
||||
def transfer_unit_to(self, src_idx: int, other: "MaterialResource", dst_idx: int, total: Union[float, int]):
|
||||
moved = self.remove_from_unit(src_idx, total)
|
||||
for k, v in moved.items():
|
||||
other.add_to_unit(dst_idx, k, v)
|
||||
|
||||
def get_resource(self) -> Dict[str, Any]:
|
||||
return {
|
||||
"resource_name": self.resource_name,
|
||||
"slot": self.slot,
|
||||
"well": self.well,
|
||||
"units": [dict(u) for u in self.units],
|
||||
"total_volume": self.total_volume(),
|
||||
"is_supply": self.is_supply,
|
||||
}
|
||||
|
||||
def transfer_liquid(
|
||||
sources: MaterialResource,
|
||||
targets: MaterialResource,
|
||||
unit_volume: Optional[Union[float, int]] = None,
|
||||
tip: Optional[str] = None, #这里应该是指定种类的
|
||||
) -> Dict[str, Any]:
|
||||
try:
|
||||
vol_each = float(unit_volume)
|
||||
except (TypeError, ValueError):
|
||||
return {"action": "transfer_liquid", "error": "invalid unit_volume"}
|
||||
if vol_each <= 0:
|
||||
return {"action": "transfer_liquid", "error": "non-positive volume"}
|
||||
|
||||
ns, nt = sources.unit_count(), targets.unit_count()
|
||||
# one-to-many: 从单个 source unit(0) 扇出到目标各 unit
|
||||
if ns == 1 and nt >= 1:
|
||||
for j in range(nt):
|
||||
sources.transfer_unit_to(0, targets, j, vol_each)
|
||||
# many-to-many: 数量相同，逐一对应
|
||||
elif ns == nt and ns > 0:
|
||||
for i in range(ns):
|
||||
sources.transfer_unit_to(i, targets, i, vol_each)
|
||||
else:
|
||||
raise ValueError(f"Unsupported mapping: sources={ns} units, targets={nt} units. Only 1->N or N->N are allowed.")
|
||||
|
||||
return {
|
||||
"action": "transfer_liquid",
|
||||
"sources": sources.get_resource(),
|
||||
"targets": targets.get_resource(),
|
||||
"unit_volume": unit_volume,
|
||||
"tip": tip,
|
||||
}
|
||||
|
||||
def plan_transfer(pm: "ProtocolManager", **kwargs) -> Dict[str, Any]:
|
||||
"""Shorthand to add a non-committing transfer to a ProtocolManager.
|
||||
Accepts the same kwargs as ProtocolManager.add_transfer.
|
||||
"""
|
||||
return pm.add_transfer(**kwargs)
|
||||
|
||||
class ProtocolManager:
|
||||
"""Plan/track transfers and back‑solve minimum initial volumes.
|
||||
|
||||
Use add_transfer(...) to register steps (no mutation).
|
||||
Use compute_min_initials(...) to infer the minimal starting volume of each liquid
|
||||
per resource required to execute the plan in order.
|
||||
"""
|
||||
|
||||
# ---------- lifecycle ----------
|
||||
def __init__(self):
|
||||
# queued logical steps (keep live refs to MaterialResource)
|
||||
self.steps: List[Dict[str, Any]] = []
|
||||
|
||||
# simple tip catalog; choose the smallest that meets min_aspirate and capacity*safety
|
||||
self.tip_catalog = [
|
||||
{"name": "TIP_10uL", "capacity": 10.0, "min_aspirate": 0.5},
|
||||
{"name": "TIP_20uL", "capacity": 20.0, "min_aspirate": 1.0},
|
||||
{"name": "TIP_50uL", "capacity": 50.0, "min_aspirate": 2.0},
|
||||
{"name": "TIP_200uL", "capacity": 200.0, "min_aspirate": 5.0},
|
||||
{"name": "TIP_300uL", "capacity": 300.0, "min_aspirate": 10.0},
|
||||
{"name": "TIP_1000uL", "capacity": 1000.0, "min_aspirate": 20.0},
|
||||
]
|
||||
|
||||
# stable labels for unknown liquids per resource (A, B, C, ..., AA, AB, ...)
|
||||
self._unknown_labels: Dict[MaterialResource, str] = {}
|
||||
self._unknown_label_counter: int = 0
|
||||
|
||||
# ---------- public API ----------
|
||||
def recommend_tip(self, unit_volume: float, safety: float = 1.10) -> str:
|
||||
v = float(unit_volume)
|
||||
# prefer: meets min_aspirate and capacity with safety margin; else fallback to capacity-only; else max capacity
|
||||
eligible = [t for t in self.tip_catalog if t["min_aspirate"] <= v and t["capacity"] >= v * safety]
|
||||
if not eligible:
|
||||
eligible = [t for t in self.tip_catalog if t["capacity"] >= v]
|
||||
return min(eligible or self.tip_catalog, key=lambda t: t["capacity"]) ["name"]
|
||||
|
||||
def get_tip_capacity(self, tip_name: str) -> Optional[float]:
|
||||
for t in self.tip_catalog:
|
||||
if t["name"] == tip_name:
|
||||
return t["capacity"]
|
||||
return None
|
||||
|
||||
def add_transfer(
|
||||
self,
|
||||
sources: MaterialResource,
|
||||
targets: MaterialResource,
|
||||
unit_volume: Union[float, int],
|
||||
tip: Optional[str] = None,
|
||||
) -> Dict[str, Any]:
|
||||
step = {
|
||||
"action": "transfer_liquid",
|
||||
"sources": sources,
|
||||
"targets": targets,
|
||||
"unit_volume": float(unit_volume),
|
||||
"tip": tip or self.recommend_tip(unit_volume),
|
||||
}
|
||||
self.steps.append(step)
|
||||
# return a serializable shadow (no mutation)
|
||||
return {
|
||||
"action": "transfer_liquid",
|
||||
"sources": sources.get_resource(),
|
||||
"targets": targets.get_resource(),
|
||||
"unit_volume": step["unit_volume"],
|
||||
"tip": step["tip"],
|
||||
}
|
||||
|
||||
@staticmethod
|
||||
def _liquid_keys_of(resource: MaterialResource) -> List[str]:
|
||||
keys: set[str] = set()
|
||||
for u in resource.units:
|
||||
keys.update(u.keys())
|
||||
return sorted(keys)
|
||||
|
||||
@staticmethod
|
||||
def _fanout_multiplier(ns: int, nt: int) -> Optional[int]:
|
||||
"""Return the number of liquid movements for a mapping shape.
|
||||
1->N: N moves; N->N: N moves; otherwise unsupported (None).
|
||||
"""
|
||||
if ns == 1 and nt >= 1:
|
||||
return nt
|
||||
if ns == nt and ns > 0:
|
||||
return ns
|
||||
return None
|
||||
|
||||
# ---------- planning core ----------
|
||||
def compute_min_initials(
|
||||
self,
|
||||
use_initial: bool = False,
|
||||
external_only: bool = True,
|
||||
) -> Dict[str, Dict[str, float]]:
|
||||
"""Simulate the plan (non‑mutating) and return minimal starting volumes per resource/liquid."""
|
||||
ledger: Dict[MaterialResource, Dict[str, float]] = {}
|
||||
min_seen: Dict[MaterialResource, Dict[str, float]] = {}
|
||||
|
||||
def _ensure(res: MaterialResource) -> None:
|
||||
if res in ledger:
|
||||
return
|
||||
declared = self._liquid_keys_of(res)
|
||||
if use_initial:
|
||||
# sum actual held amounts across units
|
||||
totals = {k: 0.0 for k in declared}
|
||||
for u in res.units:
|
||||
for k, v in u.items():
|
||||
totals[k] = totals.get(k, 0.0) + float(v)
|
||||
ledger[res] = totals
|
||||
else:
|
||||
ledger[res] = {k: 0.0 for k in declared}
|
||||
min_seen[res] = {k: ledger[res].get(k, 0.0) for k in ledger[res]}
|
||||
|
||||
def _proportions(src: MaterialResource, src_bal: Dict[str, float]) -> tuple[List[str], Dict[str, float]]:
|
||||
keys = list(src_bal.keys())
|
||||
total_pos = sum(x for x in src_bal.values() if x > 0)
|
||||
|
||||
# if ledger has no keys yet, seed from declared types on the resource
|
||||
if not keys:
|
||||
keys = self._liquid_keys_of(src)
|
||||
for k in keys:
|
||||
src_bal.setdefault(k, 0.0)
|
||||
min_seen[src].setdefault(k, 0.0)
|
||||
|
||||
if total_pos > 0:
|
||||
# proportional to current positive balances
|
||||
props = {k: (src_bal.get(k, 0.0) / total_pos) for k in keys}
|
||||
return keys, props
|
||||
|
||||
# no material currently: evenly from known keys, or assign an unknown label
|
||||
if keys:
|
||||
eq = 1.0 / len(keys)
|
||||
return keys, {k: eq for k in keys}
|
||||
|
||||
unk = self._label_for_unknown(src)
|
||||
keys = [unk]
|
||||
src_bal.setdefault(unk, 0.0)
|
||||
min_seen[src].setdefault(unk, 0.0)
|
||||
return keys, {unk: 1.0}
|
||||
|
||||
for step in self.steps:
|
||||
if step.get("action") != "transfer_liquid":
|
||||
continue
|
||||
|
||||
src: MaterialResource = step["sources"]
|
||||
dst: MaterialResource = step["targets"]
|
||||
vol = float(step["unit_volume"])
|
||||
if vol <= 0:
|
||||
continue
|
||||
|
||||
_ensure(src)
|
||||
_ensure(dst)
|
||||
|
||||
mult = self._fanout_multiplier(src.unit_count(), dst.unit_count())
|
||||
if not mult:
|
||||
continue # unsupported mapping shape for this planner
|
||||
|
||||
eff_vol = vol * mult
|
||||
src_bal = ledger[src]
|
||||
keys, props = _proportions(src, src_bal)
|
||||
|
||||
# subtract from src; track minima; accumulate to dst
|
||||
moved: Dict[str, float] = {}
|
||||
for k in keys:
|
||||
dv = eff_vol * props[k]
|
||||
src_bal[k] = src_bal.get(k, 0.0) - dv
|
||||
moved[k] = dv
|
||||
prev_min = min_seen[src].get(k, 0.0)
|
||||
if src_bal[k] < prev_min:
|
||||
min_seen[src][k] = src_bal[k]
|
||||
|
||||
dst_bal = ledger[dst]
|
||||
for k, dv in moved.items():
|
||||
dst_bal[k] = dst_bal.get(k, 0.0) + dv
|
||||
min_seen[dst].setdefault(k, dst_bal[k])
|
||||
|
||||
# convert minima (negative) to required initials
|
||||
result: Dict[str, Dict[str, float]] = {}
|
||||
for res, mins in min_seen.items():
|
||||
if external_only and not getattr(res, "is_supply", False):
|
||||
continue
|
||||
need = {liq: max(0.0, -mn) for liq, mn in mins.items() if mn < 0.0}
|
||||
if need:
|
||||
result[res.resource_name] = need
|
||||
return result
|
||||
|
||||
def compute_tip_consumption(self) -> Dict[str, Any]:
|
||||
"""Compute how many tips are consumed at each transfer step, and aggregate by tip type.
|
||||
Rule: each liquid movement (source unit -> target unit) consumes one tip.
|
||||
For supported shapes: 1->N uses N tips; N->N uses N tips.
|
||||
"""
|
||||
per_step: List[Dict[str, Any]] = []
|
||||
totals_by_tip: Dict[str, int] = {}
|
||||
|
||||
for i, s in enumerate(self.steps):
|
||||
if s.get("action") != "transfer_liquid":
|
||||
continue
|
||||
ns = s["sources"].unit_count()
|
||||
nt = s["targets"].unit_count()
|
||||
moves = self._fanout_multiplier(ns, nt) or 0
|
||||
tip_name = s.get("tip") or self.recommend_tip(s["unit_volume"]) # per-step tip may vary
|
||||
per_step.append({
|
||||
"idx": i,
|
||||
"tip": tip_name,
|
||||
"tips_used": moves,
|
||||
"moves": moves,
|
||||
})
|
||||
totals_by_tip[tip_name] = totals_by_tip.get(tip_name, 0) + int(moves)
|
||||
|
||||
return {"per_step": per_step, "totals_by_tip": totals_by_tip}
|
||||
|
||||
def compute_min_initials_with_tips(
|
||||
self,
|
||||
use_initial: bool = False,
|
||||
external_only: bool = True,
|
||||
) -> Dict[str, Any]:
|
||||
needs = self.compute_min_initials(use_initial=use_initial, external_only=external_only)
|
||||
step_tips: List[Dict[str, Any]] = []
|
||||
totals_by_tip: Dict[str, int] = {}
|
||||
|
||||
for i, s in enumerate(self.steps):
|
||||
if s.get("action") != "transfer_liquid":
|
||||
continue
|
||||
ns = s["sources"].unit_count()
|
||||
nt = s["targets"].unit_count()
|
||||
moves = self._fanout_multiplier(ns, nt) or 0
|
||||
tip_name = s.get("tip") or self.recommend_tip(s["unit_volume"]) # step-specific tip
|
||||
totals_by_tip[self.get_tip_capacity(tip_name)] = totals_by_tip.get(tip_name, 0) + int(moves)
|
||||
|
||||
step_tips.append({
|
||||
"idx": i,
|
||||
"tip": tip_name,
|
||||
"tip_capacity": self.get_tip_capacity(tip_name),
|
||||
"unit_volume": s["unit_volume"],
|
||||
"tips_used": moves,
|
||||
})
|
||||
return {"liquid_setup": needs, "step_tips": step_tips, "totals_by_tip": totals_by_tip}
|
||||
|
||||
# ---------- unknown labels ----------
|
||||
def _index_to_letters(self, idx: int) -> str:
|
||||
"""0->A, 1->B, ... 25->Z, 26->AA, 27->AB ... (Excel-like)"""
|
||||
s: List[str] = []
|
||||
idx = int(idx)
|
||||
while True:
|
||||
idx, r = divmod(idx, 26)
|
||||
s.append(chr(ord('A') + r))
|
||||
if idx == 0:
|
||||
break
|
||||
idx -= 1 # Excel-style carry
|
||||
return "".join(reversed(s))
|
||||
|
||||
def _label_for_unknown(self, res: MaterialResource) -> str:
|
||||
"""Assign a stable unknown-liquid label (A/B/C/...) per resource."""
|
||||
if res not in self._unknown_labels:
|
||||
lab = self._index_to_letters(self._unknown_label_counter)
|
||||
self._unknown_label_counter += 1
|
||||
self._unknown_labels[res] = lab
|
||||
return self._unknown_labels[res]
|
||||
|
||||
|
||||
# 在这一步传输目前有的物料
|
||||
class LabResource:
|
||||
def __init__(self):
|
||||
self.tipracks = []
|
||||
self.plates = []
|
||||
self.trash = []
|
||||
|
||||
def add_tipracks(self, tiprack: List[TipRack]):
|
||||
self.tipracks.extend(tiprack)
|
||||
def add_plates(self, plate: List[Plate]):
|
||||
self.plates.extend(plate)
|
||||
def add_trash(self, trash: List[Plate]):
|
||||
self.trash.extend(trash)
|
||||
def get_resources_info(self) -> Dict[str, Any]:
|
||||
tipracks = [{"name": tr.name, "max_volume": tr.children[0].tracker._tip.maximal_volume, "count": len(tr.children)} for tr in self.tipracks]
|
||||
plates = [{"name": pl.name, "max_volume": pl.children[0].max_volume, "count": len(pl.children)} for pl in self.plates]
|
||||
trash = [{"name": t.name, "max_volume": t.children[0].max_volume, "count": len(t.children)} for t in self.trash]
|
||||
return {
|
||||
"tipracks": tipracks,
|
||||
"plates": plates,
|
||||
"trash": trash
|
||||
}
|
||||
|
||||
from typing import Dict, Any
|
||||
|
||||
class DefaultLayout:
|
||||
|
||||
def __init__(self, product_name: str = "PRCXI9300"):
|
||||
self.labresource = None
|
||||
if product_name not in ["PRCXI9300", "PRCXI9320"]:
|
||||
raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
|
||||
|
||||
if product_name == "PRCXI9300":
|
||||
self.rows = 2
|
||||
self.columns = 3
|
||||
self.layout = [1, 2, 3, 4, 5, 6]
|
||||
self.trash_slot = 3
|
||||
self.waste_liquid_slot = 6
|
||||
elif product_name == "PRCXI9320":
|
||||
self.rows = 3
|
||||
self.columns = 4
|
||||
self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]
|
||||
self.trash_slot = 3
|
||||
self.waste_liquid_slot = 12
|
||||
|
||||
def get_layout(self) -> Dict[str, Any]:
|
||||
return {
|
||||
"rows": self.rows,
|
||||
"columns": self.columns,
|
||||
"layout": self.layout,
|
||||
"trash_slot": self.trash_slot,
|
||||
"waste_liquid_slot": self.waste_liquid_slot
|
||||
}
|
||||
|
||||
def get_trash_slot(self) -> int:
|
||||
return self.trash_slot
|
||||
|
||||
def get_waste_liquid_slot(self) -> int:
|
||||
return self.waste_liquid_slot
|
||||
|
||||
def set_liquid_handler_layout(self, product_name: str):
|
||||
if product_name == "PRCXI9300":
|
||||
self.rows = 2
|
||||
self.columns = 3
|
||||
self.layout = [1, 2, 3, 4, 5, 6]
|
||||
self.trash_slot = 3
|
||||
self.waste_liquid_slot = 6
|
||||
|
||||
elif product_name == "PRCXI9320":
|
||||
self.rows = 3
|
||||
self.columns = 4
|
||||
self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]
|
||||
self.trash_slot = 3
|
||||
self.waste_liquid_slot = 12
|
||||
|
||||
def set_trash_slot(self, slot: int):
|
||||
self.trash_slot = slot
|
||||
|
||||
def set_waste_liquid_slot(self, slot: int):
|
||||
self.waste_liquid_slot = slot
|
||||
|
||||
def add_lab_resource(self, lab_resource: LabResource):
|
||||
self.labresource = lab_resource.get_resources_info()
|
||||
|
||||
def recommend_layout(self, needs: Dict[str, Any]) -> Dict[str, Any]:
|
||||
"""根据 needs 推荐布局"""
|
||||
liquid_info = needs['liquid_setup']
|
||||
tip_info = needs['totals_by_tip'] # 修改这里：直接访问 totals_by_tip
|
||||
print("当前实验所需物料信息：", liquid_info)
|
||||
print("当前实验所需枪头信息：", tip_info)
|
||||
print(self.labresource)
|
||||
|
||||
for liquid in liquid_info:
|
||||
# total_volume = liquid.values()
|
||||
print(liquid)
|
||||
#print(f"资源 {liquid} 需要的总体积: {total_volume}")
|
||||
|
||||
if __name__ == "__main__":
|
||||
# ---- 资源：SUP 供液（X），中间板 R1（4 孔空），目标板 R2（4 孔空）----
|
||||
sup = MaterialResource("SUP", slot=5, well=[1], liquid_id="X", volume=10000)
|
||||
r1 = MaterialResource("R1", slot=6, well=[1,2,3,4,5,6,7,8])
|
||||
r2 = MaterialResource("R2", slot=7, well=[1,2,3,4,5,6,7,8])
|
||||
|
||||
pm = ProtocolManager()
|
||||
# 步骤1：SUP -> R1，1->N 扇出，每孔 50 uL（总 200 uL）
|
||||
pm.add_transfer(sup, r1, unit_volume=10.0)
|
||||
# 步骤2：R1 -> R2，N->N 对应，每对 25 uL（总 100 uL；来自 R1 中已存在的混合物 X）
|
||||
pm.add_transfer(r1, r2, unit_volume=120.0)
|
||||
|
||||
out = pm.compute_min_initials_with_tips()
|
||||
|
||||
|
||||
|
||||
|
||||
# layout_planer = DefaultLayout('PRCXI9320')
|
||||
# print(layout_planer.get_layout())
|
||||
# print("回推最小需求：", out["liquid_setup"]) # {'SUP': {'X': 200.0}}
|
||||
# print("步骤枪头建议：", out["step_tips"]) # [{'idx':0,'tip':'TIP_200uL','unit_volume':50.0}, {'idx':1,'tip':'TIP_50uL','unit_volume':25.0}]
|
||||
|
||||
# # 实际执行（可选）
|
||||
# transfer_liquid(sup, r1, unit_volume=50.0)
|
||||
# transfer_liquid(r1, r2, unit_volume=25.0)
|
||||
# print("执行后 SUP：", sup.get_resource()) # 总体积 -200
|
||||
# print("执行后 R1：", r1.get_resource()) # 每孔 25 uL（50 进 -25 出）
|
||||
# print("执行后 R2：", r2.get_resource()) # 每孔 25 uL
|
||||
|
||||
|
||||
from pylabrobot.resources.opentrons.tube_racks import *
|
||||
from pylabrobot.resources.opentrons.plates import *
|
||||
from pylabrobot.resources.opentrons.tip_racks import *
|
||||
from pylabrobot.resources.opentrons.reservoirs import *
|
||||
|
||||
plate = [locals()['nest_96_wellplate_2ml_deep'](name="thermoscientificnunc_96_wellplate_2000ul"), locals()['corning_96_wellplate_360ul_flat'](name="corning_96_wellplate_360ul_flat")]
|
||||
tiprack = [locals()['opentrons_96_tiprack_300ul'](name="opentrons_96_tiprack_300ul"), locals()['opentrons_96_tiprack_1000ul'](name="opentrons_96_tiprack_1000ul")]
|
||||
trash = [locals()['axygen_1_reservoir_90ml'](name="axygen_1_reservoir_90ml")]
|
||||
|
||||
from pprint import pprint
|
||||
|
||||
lab_resource = LabResource()
|
||||
lab_resource.add_tipracks(tiprack)
|
||||
lab_resource.add_plates(plate)
|
||||
lab_resource.add_trash(trash)
|
||||
|
||||
layout_planer = DefaultLayout('PRCXI9300')
|
||||
layout_planer.add_lab_resource(lab_resource)
|
||||
layout_planer.recommend_layout(out)
|
||||
@@ -67,7 +67,7 @@ class PRCXI9300Deck(Deck):
|
||||
|
||||
|
||||
class PRCXI9300Container(Plate, TipRack):
|
||||
"""PRCXI 9300 的专用 Deck 类，继承自 Deck。
|
||||
"""PRCXI 9300 的专用 Container 类，继承自 Plate和TipRack。
|
||||
|
||||
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
||||
"""
|
||||
@@ -134,6 +134,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
|
||||
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
|
||||
return super().set_liquid(wells, liquid_names, volumes)
|
||||
|
||||
def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
|
||||
return super().set_group(group_name, wells, volumes)
|
||||
|
||||
async def transfer_group(self, source_group_name: str, target_group_name: str, unit_volume: float):
|
||||
return await super().transfer_group(source_group_name, target_group_name, unit_volume)
|
||||
|
||||
async def create_protocol(
|
||||
self,
|
||||
@@ -431,14 +437,14 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None):
|
||||
"""Pick up tips from the specified resource."""
|
||||
print('where?'*200)
|
||||
|
||||
plate_indexes = []
|
||||
for op in ops:
|
||||
plate = op.resource.parent
|
||||
deck = plate.parent
|
||||
plate_index = deck.children.index(plate)
|
||||
print(f"Plate index: {plate_index}, Plate name: {plate.name}")
|
||||
print(f"Number of children in deck: {len(deck.children)}")
|
||||
# print(f"Plate index: {plate_index}, Plate name: {plate.name}")
|
||||
# print(f"Number of children in deck: {len(deck.children)}")
|
||||
|
||||
plate_indexes.append(plate_index)
|
||||
|
||||
@@ -452,8 +458,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
tip_columns.append(tipspot_index // 8)
|
||||
if len(set(tip_columns)) != 1:
|
||||
raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
|
||||
# print('111'*99)
|
||||
# print(plate_indexes[0])
|
||||
PlateNo = plate_indexes[0] + 1
|
||||
hole_col = tip_columns[0] + 1
|
||||
hole_row = 1
|
||||
@@ -985,7 +989,7 @@ if __name__ == "__main__":
|
||||
# def get_well_container(name: str) -> PRCXI9300Container:
|
||||
# well_containers = corning_96_wellplate_360ul_flat(name).serialize()
|
||||
# plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
|
||||
# ordering=collections.OrderedDict())
|
||||
# ordering=well_containers["ordering"])
|
||||
# plate_serialized = plate.serialize()
|
||||
# plate_serialized["parent_name"] = deck.name
|
||||
# well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
|
||||
@@ -995,7 +999,7 @@ if __name__ == "__main__":
|
||||
# def get_tip_rack(name: str) -> PRCXI9300Container:
|
||||
# tip_racks = opentrons_96_tiprack_300ul("name").serialize()
|
||||
# tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
|
||||
# ordering=collections.OrderedDict())
|
||||
# ordering=tip_racks["ordering"])
|
||||
# tip_rack_serialized = tip_rack.serialize()
|
||||
# tip_rack_serialized["parent_name"] = deck.name
|
||||
# tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
|
||||
@@ -1062,68 +1066,75 @@ if __name__ == "__main__":
|
||||
# deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
|
||||
|
||||
# # print(plate2)
|
||||
# plate_2_liquids = [[('water', 500)]]*96
|
||||
# plate2.set_well_liquids(plate_2_liquids)
|
||||
# # # plate_2_liquids = [[('water', 500)]]*96
|
||||
|
||||
# # # plate2.set_well_liquids(plate_2_liquids)
|
||||
|
||||
|
||||
|
||||
|
||||
# handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
|
||||
# timeout=10.0, setup=False, debug=False,
|
||||
# simulator=True,
|
||||
# matrix_id="71593",
|
||||
# channel_num=8, axis="Left") # Initialize the handler with the deck and host settings
|
||||
|
||||
# plate_2_liquids = handler.set_group("water", plate2.children[:8], [200]*8)
|
||||
|
||||
# plate5_liquids = handler.set_group("master_mix", plate5.children[:8], [100]*8)
|
||||
|
||||
# handler.set_tiprack([plate1])
|
||||
|
||||
# asyncio.run(handler.setup()) # Initialize the handler and setup the connection
|
||||
# from pylabrobot.resources import set_volume_tracking
|
||||
# # from pylabrobot.resources import set_tip_tracking
|
||||
# from pylabrobot.resources import set_tip_tracking
|
||||
# set_volume_tracking(enabled=True)
|
||||
# from unilabos.resources.graphio import *
|
||||
# A = tree_to_list([resource_plr_to_ulab(deck)])
|
||||
# with open("deck_9300_new.json", "w", encoding="utf-8") as f:
|
||||
# json.dump(A, f, indent=4, ensure_ascii=False)
|
||||
# # A = tree_to_list([resource_plr_to_ulab(deck)])
|
||||
# # with open("deck_9300_new.json", "w", encoding="utf-8") as f:
|
||||
# # json.dump(A, f, indent=4, ensure_ascii=False)
|
||||
# asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
|
||||
# asyncio.run(handler.transfer_group("water", "master_mix", 100)) # Reset tip tracking
|
||||
|
||||
# # asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
|
||||
# # print(plate1.children[:8])
|
||||
# # asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
|
||||
# # print(plate2.children[:8])
|
||||
# # asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
|
||||
# # print(plate5.children[:8])
|
||||
# asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
|
||||
# print(plate1.children[:8])
|
||||
# asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
|
||||
# print(plate2.children[:8])
|
||||
# asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
|
||||
# print(plate5.children[:8])
|
||||
|
||||
# # # # # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
|
||||
# # asyncio.run(handler.discard_tips())
|
||||
# #asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
|
||||
# asyncio.run(handler.discard_tips([0,1,2,3,4,5,6,7]))
|
||||
|
||||
# # asyncio.run(handler.mix(well_containers.children[:8
|
||||
# # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# # asyncio.run(handler.add_liquid(
|
||||
# # asp_vols=[100]*16,
|
||||
# # dis_vols=[100]*16,
|
||||
# # reagent_sources=plate2.children[:16],
|
||||
# # targets=plate5.children[:16],
|
||||
# # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # flow_rates=[None] * 32,
|
||||
# # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # liquid_height=[None] * 16,
|
||||
# # blow_out_air_volume=[None] * 16,
|
||||
# # delays=None,
|
||||
# # mix_time=3,
|
||||
# # mix_vol=50,
|
||||
# # spread="wide",
|
||||
# # ))
|
||||
# # asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # asyncio.run(handler.remove_liquid(
|
||||
# # vols=[100]*16,
|
||||
# # sources=plate2.children[-16:],
|
||||
# # waste_liquid=plate5.children[:16], # 这个有些奇怪，但是好像也只能这么写
|
||||
# # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # flow_rates=[None] * 32,
|
||||
# # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # liquid_height=[None] * 32,
|
||||
# # blow_out_air_volume=[None] * 32,
|
||||
# # spread="wide",
|
||||
# # ))
|
||||
# asyncio.run(handler.mix(well_containers.children[:8
|
||||
# ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# asyncio.run(handler.add_liquid(
|
||||
# asp_vols=[100]*16,
|
||||
# dis_vols=[100]*16,
|
||||
# reagent_sources=plate2.children[:16],
|
||||
# targets=plate5.children[:16],
|
||||
# use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# flow_rates=[None] * 32,
|
||||
# offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# liquid_height=[None] * 16,
|
||||
# blow_out_air_volume=[None] * 16,
|
||||
# delays=None,
|
||||
# mix_time=3,
|
||||
# mix_vol=50,
|
||||
# spread="wide",
|
||||
# ))
|
||||
# asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# asyncio.run(handler.remove_liquid(
|
||||
# vols=[100]*16,
|
||||
# sources=plate2.children[-16:],
|
||||
# waste_liquid=plate5.children[:16], # 这个有些奇怪，但是好像也只能这么写
|
||||
# use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# flow_rates=[None] * 32,
|
||||
# offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# liquid_height=[None] * 32,
|
||||
# blow_out_air_volume=[None] * 32,
|
||||
# spread="wide",
|
||||
# ))
|
||||
|
||||
# acid = [20]*8+[40]*8+[60]*8+[80]*8+[100]*8+[120]*8+[140]*8+[160]*8+[180]*8+[200]*8+[220]*8+[240]*8
|
||||
# alkaline = acid[::-1] # Reverse the acid list for alkaline
|
||||
@@ -1144,14 +1155,13 @@ if __name__ == "__main__":
|
||||
# spread="wide",
|
||||
# ))
|
||||
# asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # # input("Running protocol...")
|
||||
# # # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
# # input("Running protocol...")
|
||||
# # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
|
||||
# # Example usage
|
||||
# # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
|
||||
# # 2. 设计一个单点动作流程，可以跑
|
||||
# # 3.
|
||||
|
||||
|
||||
### 9320 ###
|
||||
|
||||
|
||||
deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
|
||||
@@ -1278,10 +1288,10 @@ if __name__ == "__main__":
|
||||
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
|
||||
handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999,
|
||||
timeout=10.0, setup=False, debug=False,
|
||||
matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
|
||||
channel_num=1, axis="Right") # Initialize the handler with the deck and host settings
|
||||
handler = PRCXI9300Handler(deck=deck, host="172.21.5.75", port=9999,
|
||||
timeout=10.0, setup=False, debug=True,
|
||||
matrix_id="c1d0d5dc-40f2-4f24-97ac-9cc49c68496c",
|
||||
channel_num=1, axis="Left",simulator=True) # Initialize the handler with the deck and host settings
|
||||
|
||||
handler.set_tiprack([plate8]) # Set the tip rack for the handler
|
||||
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
|
||||
@@ -1289,20 +1299,28 @@ if __name__ == "__main__":
|
||||
# from pylabrobot.resources import set_tip_tracking
|
||||
set_volume_tracking(enabled=True)
|
||||
|
||||
plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
|
||||
plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
|
||||
#print(plate_2_liquids)
|
||||
plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
|
||||
#print(plate5_liquids)
|
||||
|
||||
# plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
|
||||
|
||||
from unilabos.resources.graphio import *
|
||||
|
||||
A = tree_to_list([resource_plr_to_ulab(deck)])
|
||||
# with open("deck.json", "w", encoding="utf-8") as f:
|
||||
# json.dump(A, f, indent=4, ensure_ascii=False)
|
||||
# A = tree_to_list([resource_plr_to_ulab(deck)])
|
||||
# # with open("deck.json", "w", encoding="utf-8") as f:
|
||||
# # json.dump(A, f, indent=4, ensure_ascii=False)
|
||||
|
||||
print(plate11.get_well(0).tracker.get_used_volume())
|
||||
# print(plate11.get_well(0).tracker.get_used_volume())
|
||||
asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
|
||||
|
||||
asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking
|
||||
|
||||
|
||||
# asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
|
||||
# print(plate8.children[8])
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
# asyncio.run(handler.run_protocol())
|
||||
# asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
|
||||
# print(plate11.children[0])
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
@@ -1311,91 +1329,95 @@ if __name__ == "__main__":
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
# asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# print(plate1.children[0])
|
||||
# asyncio.run(handler.discard_tips())
|
||||
# asyncio.run(handler.discard_tips([0]))
|
||||
|
||||
asyncio.run(handler.add_liquid(
|
||||
asp_vols=[10]*7,
|
||||
dis_vols=[10]*7,
|
||||
reagent_sources=plate11.children[:7],
|
||||
targets=plate1.children[2:9],
|
||||
use_channels=[0],
|
||||
flow_rates=[None] * 7,
|
||||
offsets=[Coordinate(0, 0, 0)] * 7,
|
||||
liquid_height=[None] * 7,
|
||||
blow_out_air_volume=[None] * 2,
|
||||
delays=None,
|
||||
mix_time=3,
|
||||
mix_vol=5,
|
||||
spread="custom",
|
||||
))
|
||||
# asyncio.run(handler.add_liquid(
|
||||
# asp_vols=[10]*7,
|
||||
# dis_vols=[10]*7,
|
||||
# reagent_sources=plate11.children[:7],
|
||||
# targets=plate1.children[2:9],
|
||||
# use_channels=[0],
|
||||
# flow_rates=[None] * 7,
|
||||
# offsets=[Coordinate(0, 0, 0)] * 7,
|
||||
# liquid_height=[None] * 7,
|
||||
# blow_out_air_volume=[None] * 2,
|
||||
# delays=None,
|
||||
# mix_time=3,
|
||||
# mix_vol=5,
|
||||
# spread="custom",
|
||||
# ))
|
||||
|
||||
asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # asyncio.run(handler.transfer_liquid(
|
||||
# # asp_vols=[10]*2,
|
||||
# # dis_vols=[10]*2,
|
||||
# # sources=plate11.children[:2],
|
||||
# # targets=plate11.children[-2:],
|
||||
# # use_channels=[0],
|
||||
# # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # liquid_height=[None] * 2,
|
||||
# # blow_out_air_volume=[None] * 2,
|
||||
# # delays=None,
|
||||
# # mix_times=3,
|
||||
# # mix_vol=5,
|
||||
# # spread="wide",
|
||||
# # tip_racks=[plate8]
|
||||
# # ))
|
||||
|
||||
# # asyncio.run(handler.remove_liquid(
|
||||
# # vols=[10]*2,
|
||||
# # sources=plate11.children[:2],
|
||||
# # waste_liquid=plate11.children[43],
|
||||
# # use_channels=[0],
|
||||
# # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # liquid_height=[None] * 2,
|
||||
# # blow_out_air_volume=[None] * 2,
|
||||
# # delays=None,
|
||||
# # spread="wide"
|
||||
# # ))
|
||||
# asyncio.run(handler.run_protocol())
|
||||
|
||||
# # asyncio.run(handler.discard_tips())
|
||||
# # asyncio.run(handler.mix(well_containers.children[:8
|
||||
# # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
|
||||
|
||||
# # asyncio.run(handler.remove_liquid(
|
||||
# # vols=[100]*16,
|
||||
# # sources=well_containers.children[-16:],
|
||||
# # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
|
||||
# # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # flow_rates=[None] * 32,
|
||||
# # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # liquid_height=[None] * 32,
|
||||
# # blow_out_air_volume=[None] * 32,
|
||||
# # spread="wide",
|
||||
# # ))
|
||||
# # asyncio.run(handler.transfer_liquid(
|
||||
# # asp_vols=[100]*16,
|
||||
# # dis_vols=[100]*16,
|
||||
# # tip_racks=[tip_rack],
|
||||
# # sources=well_containers.children[-16:],
|
||||
# # targets=well_containers.children[:16],
|
||||
# # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # asp_flow_rates=[None] * 16,
|
||||
# # dis_flow_rates=[None] * 16,
|
||||
# # liquid_height=[None] * 32,
|
||||
# # blow_out_air_volume=[None] * 32,
|
||||
# # mix_times=3,
|
||||
# # mix_vol=50,
|
||||
# # spread="wide",
|
||||
# # ))
|
||||
print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# # input("pick_up_tips add step")
|
||||
# #asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # input("Running protocol...")
|
||||
# # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
|
||||
|
||||
# # # asyncio.run(handler.transfer_liquid(
|
||||
# # # asp_vols=[10]*2,
|
||||
# # # dis_vols=[10]*2,
|
||||
# # # sources=plate11.children[:2],
|
||||
# # # targets=plate11.children[-2:],
|
||||
# # # use_channels=[0],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # # liquid_height=[None] * 2,
|
||||
# # # blow_out_air_volume=[None] * 2,
|
||||
# # # delays=None,
|
||||
# # # mix_times=3,
|
||||
# # # mix_vol=5,
|
||||
# # # spread="wide",
|
||||
# # # tip_racks=[plate8]
|
||||
# # # ))
|
||||
|
||||
# # # asyncio.run(handler.remove_liquid(
|
||||
# # # vols=[10]*2,
|
||||
# # # sources=plate11.children[:2],
|
||||
# # # waste_liquid=plate11.children[43],
|
||||
# # # use_channels=[0],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # # liquid_height=[None] * 2,
|
||||
# # # blow_out_air_volume=[None] * 2,
|
||||
# # # delays=None,
|
||||
# # # spread="wide"
|
||||
# # # ))
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
|
||||
# # # asyncio.run(handler.discard_tips())
|
||||
# # # asyncio.run(handler.mix(well_containers.children[:8
|
||||
# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
|
||||
|
||||
# # # asyncio.run(handler.remove_liquid(
|
||||
# # # vols=[100]*16,
|
||||
# # # sources=well_containers.children[-16:],
|
||||
# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
|
||||
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # # flow_rates=[None] * 32,
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # # liquid_height=[None] * 32,
|
||||
# # # blow_out_air_volume=[None] * 32,
|
||||
# # # spread="wide",
|
||||
# # # ))
|
||||
# # # asyncio.run(handler.transfer_liquid(
|
||||
# # # asp_vols=[100]*16,
|
||||
# # # dis_vols=[100]*16,
|
||||
# # # tip_racks=[tip_rack],
|
||||
# # # sources=well_containers.children[-16:],
|
||||
# # # targets=well_containers.children[:16],
|
||||
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # # asp_flow_rates=[None] * 16,
|
||||
# # # dis_flow_rates=[None] * 16,
|
||||
# # # liquid_height=[None] * 32,
|
||||
# # # blow_out_air_volume=[None] * 32,
|
||||
# # # mix_times=3,
|
||||
# # # mix_vol=50,
|
||||
# # # spread="wide",
|
||||
# # # ))
|
||||
# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# # # input("pick_up_tips add step")
|
||||
#asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # # input("Running protocol...")
|
||||
# # # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
|
||||
|
||||
44
unilabos/devices/liquid_handling/prcxi/prcxi_res.py
Normal file
44
unilabos/devices/liquid_handling/prcxi/prcxi_res.py
Normal file
@@ -0,0 +1,44 @@
|
||||
import collections
|
||||
|
||||
from pylabrobot.resources import opentrons_96_tiprack_10ul
|
||||
from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
|
||||
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container, PRCXI9300Trash
|
||||
|
||||
|
||||
def get_well_container(name: str) -> PRCXI9300Container:
|
||||
well_containers = corning_96_wellplate_360ul_flat(name).serialize()
|
||||
plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
|
||||
ordering=collections.OrderedDict())
|
||||
plate_serialized = plate.serialize()
|
||||
well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
|
||||
new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
|
||||
return new_plate
|
||||
|
||||
def get_tip_rack(name: str) -> PRCXI9300Container:
|
||||
tip_racks = opentrons_96_tiprack_10ul("name").serialize()
|
||||
tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
|
||||
ordering=collections.OrderedDict())
|
||||
tip_rack_serialized = tip_rack.serialize()
|
||||
tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
|
||||
new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
|
||||
return new_tip_rack
|
||||
|
||||
def prcxi_96_wellplate_360ul_flat(name: str):
|
||||
return get_well_container(name)
|
||||
|
||||
def prcxi_opentrons_96_tiprack_10ul(name: str):
|
||||
return get_tip_rack(name)
|
||||
|
||||
def prcxi_trash(name: str = None):
|
||||
return PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
|
||||
|
||||
if __name__ == "__main__":
|
||||
# Example usage
|
||||
test_plate = prcxi_96_wellplate_360ul_flat("test_plate")
|
||||
test_rack = prcxi_opentrons_96_tiprack_10ul("test_rack")
|
||||
tash = prcxi_trash("trash")
|
||||
print(test_plate)
|
||||
print(test_rack)
|
||||
print(tash)
|
||||
# Output will be a dictionary representation of the PRCXI9300Container with well details
|
||||
@@ -1,177 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
|
||||
|
||||
class MockChiller:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
self.port = port
|
||||
self._current_temperature: float = 25.0 # 室温开始
|
||||
self._target_temperature: float = 25.0
|
||||
self._status: str = "Idle"
|
||||
self._is_cooling: bool = False
|
||||
self._is_heating: bool = False
|
||||
self._vessel = "Unknown"
|
||||
self._purpose = "Unknown"
|
||||
|
||||
# 模拟温度变化的线程
|
||||
self._temperature_thread = None
|
||||
self._running = True
|
||||
self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
|
||||
self._temperature_thread.daemon = True
|
||||
self._temperature_thread.start()
|
||||
|
||||
@property
|
||||
def current_temperature(self) -> float:
|
||||
"""当前温度 - 会被自动识别的设备属性"""
|
||||
return self._current_temperature
|
||||
|
||||
@property
|
||||
def target_temperature(self) -> float:
|
||||
"""目标温度"""
|
||||
return self._target_temperature
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
"""设备状态 - 会被自动识别的设备属性"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def is_cooling(self) -> bool:
|
||||
"""是否正在冷却"""
|
||||
return self._is_cooling
|
||||
|
||||
@property
|
||||
def is_heating(self) -> bool:
|
||||
"""是否正在加热"""
|
||||
return self._is_heating
|
||||
|
||||
@property
|
||||
def vessel(self) -> str:
|
||||
"""当前操作的容器名称"""
|
||||
return self._vessel
|
||||
|
||||
@property
|
||||
def purpose(self) -> str:
|
||||
"""当前操作目的"""
|
||||
return self._purpose
|
||||
|
||||
def heat_chill_start(self, vessel: str, temp: float, purpose: str):
|
||||
"""设置目标温度并记录容器和目的"""
|
||||
self._vessel = str(vessel)
|
||||
self._purpose = str(purpose)
|
||||
self._target_temperature = float(temp)
|
||||
|
||||
diff = self._target_temperature - self._current_temperature
|
||||
if abs(diff) < 0.1:
|
||||
self._status = "At Target Temperature"
|
||||
self._is_cooling = False
|
||||
self._is_heating = False
|
||||
elif diff < 0:
|
||||
self._status = "Cooling"
|
||||
self._is_cooling = True
|
||||
self._is_heating = False
|
||||
else:
|
||||
self._status = "Heating"
|
||||
self._is_heating = True
|
||||
self._is_cooling = False
|
||||
|
||||
self._start_temperature_control()
|
||||
return True
|
||||
|
||||
def heat_chill_stop(self, vessel: str):
|
||||
"""停止加热/制冷"""
|
||||
if vessel != self._vessel:
|
||||
return {"success": False, "status": f"Wrong vessel: expected {self._vessel}, got {vessel}"}
|
||||
|
||||
# 停止温度控制线程，锁定当前温度
|
||||
self._stop_temperature_control()
|
||||
|
||||
# 更新状态
|
||||
self._status = "Stopped"
|
||||
self._is_cooling = False
|
||||
self._is_heating = False
|
||||
|
||||
# 重新启动线程但保持温度
|
||||
self._running = True
|
||||
self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
|
||||
self._temperature_thread.daemon = True
|
||||
self._temperature_thread.start()
|
||||
|
||||
return {"success": True, "status": self._status}
|
||||
|
||||
def _start_temperature_control(self):
|
||||
"""启动温度控制线程"""
|
||||
self._running = True
|
||||
if self._temperature_thread is None or not self._temperature_thread.is_alive():
|
||||
self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
|
||||
self._temperature_thread.daemon = True
|
||||
self._temperature_thread.start()
|
||||
|
||||
def _stop_temperature_control(self):
|
||||
"""停止温度控制"""
|
||||
self._running = False
|
||||
if self._temperature_thread:
|
||||
self._temperature_thread.join(timeout=1.0)
|
||||
|
||||
def _temperature_control_loop(self):
|
||||
"""温度控制循环 - 模拟真实冷却器的温度变化"""
|
||||
while self._running:
|
||||
# 如果状态是 Stopped，不改变温度
|
||||
if self._status == "Stopped":
|
||||
time.sleep(1.0)
|
||||
continue
|
||||
|
||||
temp_diff = self._target_temperature - self._current_temperature
|
||||
|
||||
if abs(temp_diff) < 0.1:
|
||||
self._status = "At Target Temperature"
|
||||
self._is_cooling = False
|
||||
self._is_heating = False
|
||||
elif temp_diff < 0:
|
||||
self._status = "Cooling"
|
||||
self._is_cooling = True
|
||||
self._is_heating = False
|
||||
self._current_temperature -= 0.5
|
||||
else:
|
||||
self._status = "Heating"
|
||||
self._is_heating = True
|
||||
self._is_cooling = False
|
||||
self._current_temperature += 0.3
|
||||
|
||||
time.sleep(1.0)
|
||||
|
||||
def emergency_stop(self):
|
||||
"""紧急停止"""
|
||||
self._status = "Emergency Stop"
|
||||
self._stop_temperature_control()
|
||||
self._is_cooling = False
|
||||
self._is_heating = False
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""获取完整状态信息"""
|
||||
return {
|
||||
"current_temperature": self._current_temperature,
|
||||
"target_temperature": self._target_temperature,
|
||||
"status": self._status,
|
||||
"is_cooling": self._is_cooling,
|
||||
"is_heating": self._is_heating,
|
||||
"vessel": self._vessel,
|
||||
"purpose": self._purpose,
|
||||
}
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
chiller = MockChiller()
|
||||
|
||||
# 测试基本功能
|
||||
print("启动冷却器测试...")
|
||||
print(f"初始状态: {chiller.get_status_info()}")
|
||||
|
||||
# 模拟运行10秒
|
||||
for i in range(10):
|
||||
time.sleep(1)
|
||||
print(f"第{i+1}秒: 当前温度={chiller.current_temperature:.1f}°C, 状态={chiller.status}")
|
||||
|
||||
chiller.emergency_stop()
|
||||
print("测试完成")
|
||||
@@ -1,235 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
|
||||
|
||||
class MockFilter:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
# 基本参数初始化
|
||||
self.port = port
|
||||
self._status: str = "Idle"
|
||||
self._is_filtering: bool = False
|
||||
|
||||
# 过滤性能参数
|
||||
self._flow_rate: float = 1.0 # 流速(L/min)
|
||||
self._pressure_drop: float = 0.0 # 压降(Pa)
|
||||
self._filter_life: float = 100.0 # 滤芯寿命(%)
|
||||
|
||||
# 过滤操作参数
|
||||
self._vessel: str = "" # 源容器
|
||||
self._filtrate_vessel: str = "" # 目标容器
|
||||
self._stir: bool = False # 是否搅拌
|
||||
self._stir_speed: float = 0.0 # 搅拌速度
|
||||
self._temperature: float = 25.0 # 温度(℃)
|
||||
self._continue_heatchill: bool = False # 是否继续加热/制冷
|
||||
self._target_volume: float = 0.0 # 目标过滤体积(L)
|
||||
self._filtered_volume: float = 0.0 # 已过滤体积(L)
|
||||
self._progress: float = 0.0 # 过滤进度(%)
|
||||
|
||||
# 线程控制
|
||||
self._filter_thread = None
|
||||
self._running = False
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def is_filtering(self) -> bool:
|
||||
return self._is_filtering
|
||||
|
||||
@property
|
||||
def flow_rate(self) -> float:
|
||||
return self._flow_rate
|
||||
|
||||
@property
|
||||
def pressure_drop(self) -> float:
|
||||
return self._pressure_drop
|
||||
|
||||
@property
|
||||
def filter_life(self) -> float:
|
||||
return self._filter_life
|
||||
# 新增 property
|
||||
@property
|
||||
def vessel(self) -> str:
|
||||
return self._vessel
|
||||
|
||||
@property
|
||||
def filtrate_vessel(self) -> str:
|
||||
return self._filtrate_vessel
|
||||
|
||||
@property
|
||||
def filtered_volume(self) -> float:
|
||||
return self._filtered_volume
|
||||
|
||||
@property
|
||||
def progress(self) -> float:
|
||||
return self._progress
|
||||
|
||||
@property
|
||||
def stir(self) -> bool:
|
||||
return self._stir
|
||||
|
||||
@property
|
||||
def stir_speed(self) -> float:
|
||||
return self._stir_speed
|
||||
|
||||
@property
|
||||
def temperature(self) -> float:
|
||||
return self._temperature
|
||||
|
||||
@property
|
||||
def continue_heatchill(self) -> bool:
|
||||
return self._continue_heatchill
|
||||
|
||||
@property
|
||||
def target_volume(self) -> float:
|
||||
return self._target_volume
|
||||
|
||||
def filter(self, vessel: str, filtrate_vessel: str, stir: bool = False, stir_speed: float = 0.0, temp: float = 25.0, continue_heatchill: bool = False, volume: float = 0.0) -> dict:
|
||||
"""新的过滤操作"""
|
||||
# 停止任何正在进行的过滤
|
||||
if self._is_filtering:
|
||||
self.stop_filtering()
|
||||
# 验证参数
|
||||
if volume <= 0:
|
||||
return {"success": False, "message": "Target volume must be greater than 0"}
|
||||
# 设置新的过滤参数
|
||||
self._vessel = vessel
|
||||
self._filtrate_vessel = filtrate_vessel
|
||||
self._stir = stir
|
||||
self._stir_speed = stir_speed
|
||||
self._temperature = temp
|
||||
self._continue_heatchill = continue_heatchill
|
||||
self._target_volume = volume
|
||||
# 重置过滤状态
|
||||
self._filtered_volume = 0.0
|
||||
self._progress = 0.0
|
||||
self._status = "Starting Filter"
|
||||
# 启动过滤过程
|
||||
self._flow_rate = 1.0 # 设置默认流速
|
||||
self._start_filter_process()
|
||||
|
||||
return {"success": True, "message": "Filter started"}
|
||||
|
||||
def stop_filtering(self):
|
||||
"""停止过滤"""
|
||||
self._status = "Stopping Filter"
|
||||
self._stop_filter_process()
|
||||
self._flow_rate = 0.0
|
||||
self._is_filtering = False
|
||||
self._status = "Stopped"
|
||||
return True
|
||||
|
||||
def replace_filter(self):
|
||||
"""更换滤芯"""
|
||||
self._filter_life = 100.0
|
||||
self._status = "Filter Replaced"
|
||||
return True
|
||||
|
||||
def _start_filter_process(self):
|
||||
"""启动过滤过程线程"""
|
||||
if not self._running:
|
||||
self._running = True
|
||||
self._is_filtering = True
|
||||
self._filter_thread = threading.Thread(target=self._filter_loop)
|
||||
self._filter_thread.daemon = True
|
||||
self._filter_thread.start()
|
||||
|
||||
def _stop_filter_process(self):
|
||||
"""停止过滤过程"""
|
||||
self._running = False
|
||||
if self._filter_thread:
|
||||
self._filter_thread.join(timeout=1.0)
|
||||
|
||||
def _filter_loop(self):
|
||||
"""过滤进程主循环"""
|
||||
update_interval = 1.0 # 更新间隔(秒)
|
||||
|
||||
while self._running and self._is_filtering:
|
||||
try:
|
||||
self._status = "Filtering"
|
||||
|
||||
# 计算这一秒过滤的体积 (L/min -> L/s)
|
||||
volume_increment = (self._flow_rate / 60.0) * update_interval
|
||||
|
||||
# 更新已过滤体积
|
||||
self._filtered_volume += volume_increment
|
||||
|
||||
# 更新进度 (避免除零错误)
|
||||
if self._target_volume > 0:
|
||||
self._progress = min(100.0, (self._filtered_volume / self._target_volume) * 100.0)
|
||||
|
||||
# 更新滤芯寿命 (每过滤1L减少0.5%寿命)
|
||||
self._filter_life = max(0.0, self._filter_life - (volume_increment * 0.5))
|
||||
|
||||
# 更新压降 (根据滤芯寿命和流速动态计算)
|
||||
life_factor = self._filter_life / 100.0 # 将寿命转换为0-1的因子
|
||||
flow_factor = self._flow_rate / 2.0 # 将流速标准化(假设2L/min是标准流速)
|
||||
base_pressure = 100.0 # 基础压降
|
||||
# 压降随滤芯寿命降低而增加，随流速增加而增加
|
||||
self._pressure_drop = base_pressure * (2 - life_factor) * flow_factor
|
||||
|
||||
# 检查是否完成目标体积
|
||||
if self._target_volume > 0 and self._filtered_volume >= self._target_volume:
|
||||
self._status = "Completed"
|
||||
self._progress = 100.0
|
||||
self.stop_filtering()
|
||||
break
|
||||
|
||||
# 检查滤芯寿命
|
||||
if self._filter_life <= 10.0:
|
||||
self._status = "Filter Needs Replacement"
|
||||
|
||||
time.sleep(update_interval)
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error in filter loop: {e}")
|
||||
self.emergency_stop()
|
||||
break
|
||||
|
||||
def emergency_stop(self):
|
||||
"""紧急停止"""
|
||||
self._status = "Emergency Stop"
|
||||
self._stop_filter_process()
|
||||
self._is_filtering = False
|
||||
self._flow_rate = 0.0
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""扩展的状态信息"""
|
||||
return {
|
||||
"status": self._status,
|
||||
"is_filtering": self._is_filtering,
|
||||
"flow_rate": self._flow_rate,
|
||||
"pressure_drop": self._pressure_drop,
|
||||
"filter_life": self._filter_life,
|
||||
"vessel": self._vessel,
|
||||
"filtrate_vessel": self._filtrate_vessel,
|
||||
"filtered_volume": self._filtered_volume,
|
||||
"target_volume": self._target_volume,
|
||||
"progress": self._progress,
|
||||
"temperature": self._temperature,
|
||||
"stir": self._stir,
|
||||
"stir_speed": self._stir_speed
|
||||
}
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
filter_device = MockFilter()
|
||||
|
||||
# 测试基本功能
|
||||
print("启动过滤器测试...")
|
||||
print(f"初始状态: {filter_device.get_status_info()}")
|
||||
|
||||
|
||||
|
||||
# 模拟运行10秒
|
||||
for i in range(10):
|
||||
time.sleep(1)
|
||||
print(
|
||||
f"第{i+1}秒: "
|
||||
f"寿命={filter_device.filter_life:.1f}%, 状态={filter_device.status}"
|
||||
)
|
||||
|
||||
filter_device.emergency_stop()
|
||||
print("测试完成")
|
||||
@@ -1,247 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
|
||||
class MockHeater:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
self.port = port
|
||||
self._current_temperature: float = 25.0 # 室温开始
|
||||
self._target_temperature: float = 25.0
|
||||
self._status: str = "Idle"
|
||||
self._is_heating: bool = False
|
||||
self._heating_power: float = 0.0 # 加热功率百分比 0-100
|
||||
self._max_temperature: float = 300.0 # 最大加热温度
|
||||
|
||||
# 新增加的属性
|
||||
self._vessel: str = "Unknown"
|
||||
self._purpose: str = "Unknown"
|
||||
self._stir: bool = False
|
||||
self._stir_speed: float = 0.0
|
||||
|
||||
# 模拟加热过程的线程
|
||||
self._heating_thread = None
|
||||
self._running = True
|
||||
self._heating_thread = threading.Thread(target=self._heating_control_loop)
|
||||
self._heating_thread.daemon = True
|
||||
self._heating_thread.start()
|
||||
|
||||
@property
|
||||
def current_temperature(self) -> float:
|
||||
"""当前温度 - 会被自动识别的设备属性"""
|
||||
return self._current_temperature
|
||||
|
||||
@property
|
||||
def target_temperature(self) -> float:
|
||||
"""目标温度"""
|
||||
return self._target_temperature
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
"""设备状态 - 会被自动识别的设备属性"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def is_heating(self) -> bool:
|
||||
"""是否正在加热"""
|
||||
return self._is_heating
|
||||
|
||||
@property
|
||||
def heating_power(self) -> float:
|
||||
"""加热功率百分比"""
|
||||
return self._heating_power
|
||||
|
||||
@property
|
||||
def max_temperature(self) -> float:
|
||||
"""最大加热温度"""
|
||||
return self._max_temperature
|
||||
|
||||
@property
|
||||
def vessel(self) -> str:
|
||||
"""当前操作的容器名称"""
|
||||
return self._vessel
|
||||
|
||||
@property
|
||||
def purpose(self) -> str:
|
||||
"""操作目的"""
|
||||
return self._purpose
|
||||
|
||||
@property
|
||||
def stir(self) -> bool:
|
||||
"""是否搅拌"""
|
||||
return self._stir
|
||||
|
||||
@property
|
||||
def stir_speed(self) -> float:
|
||||
"""搅拌速度"""
|
||||
return self._stir_speed
|
||||
|
||||
def heat_chill_start(self, vessel: str, temp: float, purpose: str) -> dict:
|
||||
"""开始加热/制冷过程"""
|
||||
self._vessel = str(vessel)
|
||||
self._purpose = str(purpose)
|
||||
self._target_temperature = float(temp)
|
||||
|
||||
diff = self._target_temperature - self._current_temperature
|
||||
if abs(diff) < 0.1:
|
||||
self._status = "At Target Temperature"
|
||||
self._is_heating = False
|
||||
elif diff > 0:
|
||||
self._status = "Heating"
|
||||
self._is_heating = True
|
||||
else:
|
||||
self._status = "Cooling Down"
|
||||
self._is_heating = False
|
||||
|
||||
return {"success": True, "status": self._status}
|
||||
|
||||
def heat_chill_stop(self, vessel: str) -> dict:
|
||||
"""停止加热/制冷"""
|
||||
if vessel != self._vessel:
|
||||
return {"success": False, "status": f"Wrong vessel: expected {self._vessel}, got {vessel}"}
|
||||
|
||||
self._status = "Stopped"
|
||||
self._is_heating = False
|
||||
self._heating_power = 0.0
|
||||
|
||||
return {"success": True, "status": self._status}
|
||||
|
||||
def heat_chill(self, vessel: str, temp: float, time: float,
|
||||
stir: bool = False, stir_speed: float = 0.0,
|
||||
purpose: str = "Unknown") -> dict:
|
||||
"""完整的加热/制冷控制"""
|
||||
self._vessel = str(vessel)
|
||||
self._target_temperature = float(temp)
|
||||
self._purpose = str(purpose)
|
||||
self._stir = stir
|
||||
self._stir_speed = stir_speed
|
||||
|
||||
diff = self._target_temperature - self._current_temperature
|
||||
if abs(diff) < 0.1:
|
||||
self._status = "At Target Temperature"
|
||||
self._is_heating = False
|
||||
elif diff > 0:
|
||||
self._status = "Heating"
|
||||
self._is_heating = True
|
||||
else:
|
||||
self._status = "Cooling Down"
|
||||
self._is_heating = False
|
||||
|
||||
return {"success": True, "status": self._status}
|
||||
|
||||
def set_temperature(self, temperature: float):
|
||||
"""设置目标温度 - 需要在注册表添加的设备动作"""
|
||||
try:
|
||||
temperature = float(temperature)
|
||||
except ValueError:
|
||||
self._status = "Error: Invalid temperature value"
|
||||
return False
|
||||
|
||||
if temperature > self._max_temperature:
|
||||
self._status = f"Error: Temperature exceeds maximum ({self._max_temperature}°C)"
|
||||
return False
|
||||
|
||||
self._target_temperature = temperature
|
||||
self._status = "Setting Temperature"
|
||||
|
||||
# 启动加热控制
|
||||
self._start_heating_control()
|
||||
return True
|
||||
|
||||
def set_heating_power(self, power: float):
|
||||
"""设置加热功率"""
|
||||
try:
|
||||
power = float(power)
|
||||
except ValueError:
|
||||
self._status = "Error: Invalid power value"
|
||||
return False
|
||||
|
||||
self._heating_power = max(0.0, min(100.0, power)) # 限制在0-100%
|
||||
return True
|
||||
|
||||
def _start_heating_control(self):
|
||||
"""启动加热控制线程"""
|
||||
if not self._running:
|
||||
self._running = True
|
||||
self._heating_thread = threading.Thread(target=self._heating_control_loop)
|
||||
self._heating_thread.daemon = True
|
||||
self._heating_thread.start()
|
||||
|
||||
def _stop_heating_control(self):
|
||||
"""停止加热控制"""
|
||||
self._running = False
|
||||
if self._heating_thread:
|
||||
self._heating_thread.join(timeout=1.0)
|
||||
|
||||
def _heating_control_loop(self):
|
||||
"""加热控制循环"""
|
||||
while self._running:
|
||||
# 如果状态是 Stopped，不改变温度
|
||||
if self._status == "Stopped":
|
||||
time.sleep(1.0)
|
||||
continue
|
||||
|
||||
temp_diff = self._target_temperature - self._current_temperature
|
||||
|
||||
if abs(temp_diff) < 0.1:
|
||||
self._status = "At Target Temperature"
|
||||
self._is_heating = False
|
||||
self._heating_power = 10.0
|
||||
elif temp_diff > 0:
|
||||
self._status = "Heating"
|
||||
self._is_heating = True
|
||||
self._heating_power = min(100.0, abs(temp_diff) * 2)
|
||||
self._current_temperature += 0.5
|
||||
else:
|
||||
self._status = "Cooling Down"
|
||||
self._is_heating = False
|
||||
self._heating_power = 0.0
|
||||
self._current_temperature -= 0.2
|
||||
|
||||
time.sleep(1.0)
|
||||
|
||||
def emergency_stop(self):
|
||||
"""紧急停止"""
|
||||
self._status = "Emergency Stop"
|
||||
self._stop_heating_control()
|
||||
self._is_heating = False
|
||||
self._heating_power = 0.0
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""获取完整状态信息"""
|
||||
return {
|
||||
"current_temperature": self._current_temperature,
|
||||
"target_temperature": self._target_temperature,
|
||||
"status": self._status,
|
||||
"is_heating": self._is_heating,
|
||||
"heating_power": self._heating_power,
|
||||
"max_temperature": self._max_temperature,
|
||||
"vessel": self._vessel,
|
||||
"purpose": self._purpose,
|
||||
"stir": self._stir,
|
||||
"stir_speed": self._stir_speed
|
||||
}
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
heater = MockHeater()
|
||||
|
||||
print("启动加热器测试...")
|
||||
print(f"初始状态: {heater.get_status_info()}")
|
||||
|
||||
# 设置目标温度为80度
|
||||
heater.set_temperature(80.0)
|
||||
|
||||
# 模拟运行15秒
|
||||
try:
|
||||
for i in range(15):
|
||||
time.sleep(1)
|
||||
status = heater.get_status_info()
|
||||
print(
|
||||
f"\r温度: {status['current_temperature']:.1f}°C / {status['target_temperature']:.1f}°C | "
|
||||
f"功率: {status['heating_power']:.1f}% | 状态: {status['status']}",
|
||||
end=""
|
||||
)
|
||||
except KeyboardInterrupt:
|
||||
heater.emergency_stop()
|
||||
print("\n测试被手动停止")
|
||||
|
||||
print("\n测试完成")
|
||||
@@ -1,360 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
from datetime import datetime, timedelta
|
||||
|
||||
class MockPump:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
self.port = port
|
||||
|
||||
# 设备基本状态属性
|
||||
self._current_device = "MockPump1" # 设备标识符
|
||||
self._status: str = "Idle" # 设备状态：Idle, Running, Error, Stopped
|
||||
self._pump_state: str = "Stopped" # 泵运行状态：Running, Stopped, Paused
|
||||
|
||||
# 流量相关属性
|
||||
self._flow_rate: float = 0.0 # 当前流速 (mL/min)
|
||||
self._target_flow_rate: float = 0.0 # 目标流速 (mL/min)
|
||||
self._max_flow_rate: float = 100.0 # 最大流速 (mL/min)
|
||||
self._total_volume: float = 0.0 # 累计流量 (mL)
|
||||
|
||||
# 压力相关属性
|
||||
self._pressure: float = 0.0 # 当前压力 (bar)
|
||||
self._max_pressure: float = 10.0 # 最大压力 (bar)
|
||||
|
||||
# 运行控制线程
|
||||
self._pump_thread = None
|
||||
self._running = False
|
||||
self._thread_lock = threading.Lock()
|
||||
|
||||
# 新增 PumpTransfer 相关属性
|
||||
self._from_vessel: str = ""
|
||||
self._to_vessel: str = ""
|
||||
self._transfer_volume: float = 0.0
|
||||
self._amount: str = ""
|
||||
self._transfer_time: float = 0.0
|
||||
self._is_viscous: bool = False
|
||||
self._rinsing_solvent: str = ""
|
||||
self._rinsing_volume: float = 0.0
|
||||
self._rinsing_repeats: int = 0
|
||||
self._is_solid: bool = False
|
||||
|
||||
# 时间追踪
|
||||
self._start_time: datetime = None
|
||||
self._time_spent: timedelta = timedelta()
|
||||
self._time_remaining: timedelta = timedelta()
|
||||
|
||||
# ==================== 状态属性 ====================
|
||||
# 这些属性会被Uni-Lab系统自动识别并定时对外广播
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def current_device(self) -> str:
|
||||
"""当前设备标识符"""
|
||||
return self._current_device
|
||||
|
||||
@property
|
||||
def pump_state(self) -> str:
|
||||
return self._pump_state
|
||||
|
||||
@property
|
||||
def flow_rate(self) -> float:
|
||||
return self._flow_rate
|
||||
|
||||
@property
|
||||
def target_flow_rate(self) -> float:
|
||||
return self._target_flow_rate
|
||||
|
||||
@property
|
||||
def pressure(self) -> float:
|
||||
return self._pressure
|
||||
|
||||
@property
|
||||
def total_volume(self) -> float:
|
||||
return self._total_volume
|
||||
|
||||
@property
|
||||
def max_flow_rate(self) -> float:
|
||||
return self._max_flow_rate
|
||||
|
||||
@property
|
||||
def max_pressure(self) -> float:
|
||||
return self._max_pressure
|
||||
|
||||
# 添加新的属性访问器
|
||||
@property
|
||||
def from_vessel(self) -> str:
|
||||
return self._from_vessel
|
||||
|
||||
@property
|
||||
def to_vessel(self) -> str:
|
||||
return self._to_vessel
|
||||
|
||||
@property
|
||||
def transfer_volume(self) -> float:
|
||||
return self._transfer_volume
|
||||
|
||||
@property
|
||||
def amount(self) -> str:
|
||||
return self._amount
|
||||
|
||||
@property
|
||||
def transfer_time(self) -> float:
|
||||
return self._transfer_time
|
||||
|
||||
@property
|
||||
def is_viscous(self) -> bool:
|
||||
return self._is_viscous
|
||||
|
||||
@property
|
||||
def rinsing_solvent(self) -> str:
|
||||
return self._rinsing_solvent
|
||||
|
||||
@property
|
||||
def rinsing_volume(self) -> float:
|
||||
return self._rinsing_volume
|
||||
|
||||
@property
|
||||
def rinsing_repeats(self) -> int:
|
||||
return self._rinsing_repeats
|
||||
|
||||
@property
|
||||
def is_solid(self) -> bool:
|
||||
return self._is_solid
|
||||
|
||||
# 修改这两个属性装饰器
|
||||
@property
|
||||
def time_spent(self) -> float:
|
||||
"""已用时间（秒）"""
|
||||
if isinstance(self._time_spent, timedelta):
|
||||
return self._time_spent.total_seconds()
|
||||
return float(self._time_spent)
|
||||
|
||||
@property
|
||||
def time_remaining(self) -> float:
|
||||
"""剩余时间（秒）"""
|
||||
if isinstance(self._time_remaining, timedelta):
|
||||
return self._time_remaining.total_seconds()
|
||||
return float(self._time_remaining)
|
||||
|
||||
# ==================== 设备控制方法 ====================
|
||||
# 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
|
||||
def pump_transfer(self, from_vessel: str, to_vessel: str, volume: float,
|
||||
amount: str = "", time: float = 0.0, viscous: bool = False,
|
||||
rinsing_solvent: str = "", rinsing_volume: float = 0.0,
|
||||
rinsing_repeats: int = 0, solid: bool = False) -> dict:
|
||||
"""Execute pump transfer operation"""
|
||||
# Stop any existing operation first
|
||||
self._stop_pump_operation()
|
||||
|
||||
# Set transfer parameters
|
||||
self._from_vessel = from_vessel
|
||||
self._to_vessel = to_vessel
|
||||
self._transfer_volume = float(volume)
|
||||
self._amount = amount
|
||||
self._transfer_time = float(time)
|
||||
self._is_viscous = viscous
|
||||
self._rinsing_solvent = rinsing_solvent
|
||||
self._rinsing_volume = float(rinsing_volume)
|
||||
self._rinsing_repeats = int(rinsing_repeats)
|
||||
self._is_solid = solid
|
||||
|
||||
# Calculate flow rate
|
||||
if self._transfer_time > 0 and self._transfer_volume > 0:
|
||||
self._target_flow_rate = (self._transfer_volume / self._transfer_time) * 60.0
|
||||
else:
|
||||
self._target_flow_rate = 10.0 if not self._is_viscous else 5.0
|
||||
|
||||
# Reset timers and counters
|
||||
self._start_time = datetime.now()
|
||||
self._time_spent = timedelta()
|
||||
self._time_remaining = timedelta(seconds=self._transfer_time)
|
||||
self._total_volume = 0.0
|
||||
self._flow_rate = 0.0
|
||||
|
||||
# Start pump operation
|
||||
self._pump_state = "Running"
|
||||
self._status = "Starting Transfer"
|
||||
self._running = True
|
||||
|
||||
# Start pump operation thread
|
||||
self._pump_thread = threading.Thread(target=self._pump_operation_loop)
|
||||
self._pump_thread.daemon = True
|
||||
self._pump_thread.start()
|
||||
|
||||
# Wait briefly to ensure thread starts
|
||||
time.sleep(0.1)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"status": self._status,
|
||||
"current_device": self._current_device,
|
||||
"time_spent": 0.0,
|
||||
"time_remaining": float(self._transfer_time)
|
||||
}
|
||||
|
||||
def pause_pump(self) -> str:
|
||||
|
||||
if self._pump_state != "Running":
|
||||
self._status = "Error: Pump not running"
|
||||
return "Error"
|
||||
|
||||
self._pump_state = "Paused"
|
||||
self._status = "Pump Paused"
|
||||
self._stop_pump_operation()
|
||||
|
||||
return "Success"
|
||||
|
||||
def resume_pump(self) -> str:
|
||||
|
||||
if self._pump_state != "Paused":
|
||||
self._status = "Error: Pump not paused"
|
||||
return "Error"
|
||||
|
||||
self._pump_state = "Running"
|
||||
self._status = "Resuming Pump"
|
||||
self._start_pump_operation()
|
||||
|
||||
return "Success"
|
||||
|
||||
def reset_volume_counter(self) -> str:
|
||||
self._total_volume = 0.0
|
||||
self._status = "Volume counter reset"
|
||||
return "Success"
|
||||
|
||||
def emergency_stop(self) -> str:
|
||||
self._status = "Emergency Stop"
|
||||
self._pump_state = "Stopped"
|
||||
self._stop_pump_operation()
|
||||
self._flow_rate = 0.0
|
||||
self._pressure = 0.0
|
||||
self._target_flow_rate = 0.0
|
||||
|
||||
return "Success"
|
||||
|
||||
# ==================== 内部控制方法 ====================
|
||||
|
||||
def _start_pump_operation(self):
|
||||
with self._thread_lock:
|
||||
if not self._running:
|
||||
self._running = True
|
||||
self._pump_thread = threading.Thread(target=self._pump_operation_loop)
|
||||
self._pump_thread.daemon = True
|
||||
self._pump_thread.start()
|
||||
|
||||
def _stop_pump_operation(self):
|
||||
with self._thread_lock:
|
||||
self._running = False
|
||||
if self._pump_thread and self._pump_thread.is_alive():
|
||||
self._pump_thread.join(timeout=2.0)
|
||||
|
||||
def _pump_operation_loop(self):
|
||||
"""泵运行主循环"""
|
||||
print("Pump operation loop started") # Debug print
|
||||
|
||||
while self._running and self._pump_state == "Running":
|
||||
try:
|
||||
# Calculate flow rate adjustment
|
||||
flow_diff = self._target_flow_rate - self._flow_rate
|
||||
|
||||
# Adjust flow rate more aggressively (50% of difference)
|
||||
adjustment = flow_diff * 0.5
|
||||
self._flow_rate += adjustment
|
||||
|
||||
# Ensure flow rate is within bounds
|
||||
self._flow_rate = max(0.1, min(self._max_flow_rate, self._flow_rate))
|
||||
|
||||
# Update status based on flow rate
|
||||
if abs(flow_diff) < 0.1:
|
||||
self._status = "Running at Target Flow Rate"
|
||||
else:
|
||||
self._status = "Adjusting Flow Rate"
|
||||
|
||||
# Calculate volume increment
|
||||
volume_increment = (self._flow_rate / 60.0) # mL/s
|
||||
self._total_volume += volume_increment
|
||||
|
||||
# Update time tracking
|
||||
self._time_spent = datetime.now() - self._start_time
|
||||
if self._transfer_time > 0:
|
||||
remaining = self._transfer_time - self._time_spent.total_seconds()
|
||||
self._time_remaining = timedelta(seconds=max(0, remaining))
|
||||
|
||||
# Check completion
|
||||
if self._total_volume >= self._transfer_volume:
|
||||
self._status = "Transfer Completed"
|
||||
self._pump_state = "Stopped"
|
||||
self._running = False
|
||||
break
|
||||
|
||||
# Update pressure
|
||||
self._pressure = (self._flow_rate / self._max_flow_rate) * self._max_pressure
|
||||
|
||||
print(f"Debug - Flow: {self._flow_rate:.1f}, Volume: {self._total_volume:.1f}") # Debug print
|
||||
|
||||
time.sleep(1.0)
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error in pump operation: {str(e)}")
|
||||
self._status = "Error in pump operation"
|
||||
self._pump_state = "Stopped"
|
||||
self._running = False
|
||||
break
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""
|
||||
获取完整的设备状态信息
|
||||
|
||||
Returns:
|
||||
dict: 包含所有设备状态的字典
|
||||
"""
|
||||
return {
|
||||
"status": self._status,
|
||||
"pump_state": self._pump_state,
|
||||
"flow_rate": self._flow_rate,
|
||||
"target_flow_rate": self._target_flow_rate,
|
||||
"pressure": self._pressure,
|
||||
"total_volume": self._total_volume,
|
||||
"max_flow_rate": self._max_flow_rate,
|
||||
"max_pressure": self._max_pressure,
|
||||
"current_device": self._current_device,
|
||||
"from_vessel": self._from_vessel,
|
||||
"to_vessel": self._to_vessel,
|
||||
"transfer_volume": self._transfer_volume,
|
||||
"amount": self._amount,
|
||||
"transfer_time": self._transfer_time,
|
||||
"is_viscous": self._is_viscous,
|
||||
"rinsing_solvent": self._rinsing_solvent,
|
||||
"rinsing_volume": self._rinsing_volume,
|
||||
"rinsing_repeats": self._rinsing_repeats,
|
||||
"is_solid": self._is_solid,
|
||||
"time_spent": self._time_spent.total_seconds(),
|
||||
"time_remaining": self._time_remaining.total_seconds()
|
||||
}
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
pump = MockPump()
|
||||
|
||||
# 测试基本功能
|
||||
print("启动泵设备测试...")
|
||||
print(f"初始状态: {pump.get_status_info()}")
|
||||
|
||||
# 设置流速并启动
|
||||
pump.set_flow_rate(50.0)
|
||||
pump.start_pump()
|
||||
|
||||
# 模拟运行10秒
|
||||
for i in range(10):
|
||||
time.sleep(1)
|
||||
print(f"第{i+1}秒: 流速={pump.flow_rate:.1f}mL/min, 压力={pump.pressure:.2f}bar, 状态={pump.status}")
|
||||
|
||||
# 测试方向切换
|
||||
print("切换泵方向...")
|
||||
|
||||
|
||||
pump.emergency_stop()
|
||||
print("测试完成")
|
||||
@@ -1,390 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
import json
|
||||
|
||||
|
||||
class MockRotavap:
|
||||
"""
|
||||
模拟旋转蒸发器设备类
|
||||
|
||||
这个类模拟了一个实验室旋转蒸发器的行为，包括旋转控制、
|
||||
真空泵控制、温度控制等功能。参考了现有的 RotavapOne 实现。
|
||||
"""
|
||||
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
"""
|
||||
初始化MockRotavap实例
|
||||
|
||||
Args:
|
||||
port (str): 设备端口，默认为"MOCK"表示模拟设备
|
||||
"""
|
||||
self.port = port
|
||||
|
||||
# 设备基本状态属性
|
||||
self._status: str = "Idle" # 设备状态：Idle, Running, Error, Stopped
|
||||
|
||||
# 旋转相关属性
|
||||
self._rotate_state: str = "Stopped" # 旋转状态：Running, Stopped
|
||||
self._rotate_time: float = 0.0 # 旋转剩余时间 (秒)
|
||||
self._rotate_speed: float = 0.0 # 旋转速度 (rpm)
|
||||
self._max_rotate_speed: float = 300.0 # 最大旋转速度 (rpm)
|
||||
|
||||
# 真空泵相关属性
|
||||
self._pump_state: str = "Stopped" # 泵状态：Running, Stopped
|
||||
self._pump_time: float = 0.0 # 泵剩余时间 (秒)
|
||||
self._vacuum_level: float = 0.0 # 真空度 (mbar)
|
||||
self._target_vacuum: float = 50.0 # 目标真空度 (mbar)
|
||||
|
||||
# 温度相关属性
|
||||
self._temperature: float = 25.0 # 水浴温度 (°C)
|
||||
self._target_temperature: float = 25.0 # 目标温度 (°C)
|
||||
self._max_temperature: float = 180.0 # 最大温度 (°C)
|
||||
|
||||
# 运行控制线程
|
||||
self._operation_thread = None
|
||||
self._running = False
|
||||
self._thread_lock = threading.Lock()
|
||||
|
||||
# 操作成功标志
|
||||
self.success: str = "True" # 使用字符串而不是布尔值
|
||||
|
||||
# ==================== 状态属性 ====================
|
||||
# 这些属性会被Uni-Lab系统自动识别并定时对外广播
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def rotate_state(self) -> str:
|
||||
return self._rotate_state
|
||||
|
||||
@property
|
||||
def rotate_time(self) -> float:
|
||||
return self._rotate_time
|
||||
|
||||
@property
|
||||
def rotate_speed(self) -> float:
|
||||
return self._rotate_speed
|
||||
|
||||
@property
|
||||
def pump_state(self) -> str:
|
||||
return self._pump_state
|
||||
|
||||
@property
|
||||
def pump_time(self) -> float:
|
||||
return self._pump_time
|
||||
|
||||
@property
|
||||
def vacuum_level(self) -> float:
|
||||
return self._vacuum_level
|
||||
|
||||
@property
|
||||
def temperature(self) -> float:
|
||||
return self._temperature
|
||||
|
||||
@property
|
||||
def target_temperature(self) -> float:
|
||||
return self._target_temperature
|
||||
|
||||
# ==================== 设备控制方法 ====================
|
||||
# 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
|
||||
|
||||
def set_timer(self, command: str) -> str:
|
||||
"""
|
||||
设置定时器 - 兼容现有RotavapOne接口
|
||||
|
||||
Args:
|
||||
command (str): JSON格式的命令字符串，包含rotate_time和pump_time
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
try:
|
||||
timer = json.loads(command)
|
||||
rotate_time = timer.get("rotate_time", 0)
|
||||
pump_time = timer.get("pump_time", 0)
|
||||
|
||||
self.success = "False"
|
||||
self._rotate_time = float(rotate_time)
|
||||
self._pump_time = float(pump_time)
|
||||
self.success = "True"
|
||||
|
||||
self._status = "Timer Set"
|
||||
return "Success"
|
||||
|
||||
except (json.JSONDecodeError, ValueError, KeyError) as e:
|
||||
self._status = f"Error: Invalid command format - {str(e)}"
|
||||
self.success = "False"
|
||||
return "Error"
|
||||
|
||||
def set_rotate_time(self, time_seconds: float) -> str:
|
||||
"""
|
||||
设置旋转时间
|
||||
|
||||
Args:
|
||||
time_seconds (float): 旋转时间 (秒)
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
self.success = "False"
|
||||
self._rotate_time = max(0.0, float(time_seconds))
|
||||
self.success = "True"
|
||||
self._status = "Rotate time set"
|
||||
return "Success"
|
||||
|
||||
def set_pump_time(self, time_seconds: float) -> str:
|
||||
"""
|
||||
设置泵时间
|
||||
|
||||
Args:
|
||||
time_seconds (float): 泵时间 (秒)
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
self.success = "False"
|
||||
self._pump_time = max(0.0, float(time_seconds))
|
||||
self.success = "True"
|
||||
self._status = "Pump time set"
|
||||
return "Success"
|
||||
|
||||
def set_rotate_speed(self, speed: float) -> str:
|
||||
"""
|
||||
设置旋转速度
|
||||
|
||||
Args:
|
||||
speed (float): 旋转速度 (rpm)
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
if speed < 0 or speed > self._max_rotate_speed:
|
||||
self._status = f"Error: Speed out of range (0-{self._max_rotate_speed})"
|
||||
return "Error"
|
||||
|
||||
self._rotate_speed = speed
|
||||
self._status = "Rotate speed set"
|
||||
return "Success"
|
||||
|
||||
def set_temperature(self, temperature: float) -> str:
|
||||
"""
|
||||
设置水浴温度
|
||||
|
||||
Args:
|
||||
temperature (float): 目标温度 (°C)
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
if temperature < 0 or temperature > self._max_temperature:
|
||||
self._status = f"Error: Temperature out of range (0-{self._max_temperature})"
|
||||
return "Error"
|
||||
|
||||
self._target_temperature = temperature
|
||||
self._status = "Temperature set"
|
||||
|
||||
# 启动操作线程以开始温度控制
|
||||
self._start_operation()
|
||||
|
||||
return "Success"
|
||||
|
||||
def start_rotation(self) -> str:
|
||||
"""
|
||||
启动旋转
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
if self._rotate_time <= 0:
|
||||
self._status = "Error: No rotate time set"
|
||||
return "Error"
|
||||
|
||||
self._rotate_state = "Running"
|
||||
self._status = "Rotation started"
|
||||
return "Success"
|
||||
|
||||
def start_pump(self) -> str:
|
||||
"""
|
||||
启动真空泵
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
|
||||
if self._pump_time <= 0:
|
||||
self._status = "Error: No pump time set"
|
||||
return "Error"
|
||||
|
||||
self._pump_state = "Running"
|
||||
self._status = "Pump started"
|
||||
return "Success"
|
||||
|
||||
def stop_all_operations(self) -> str:
|
||||
"""
|
||||
停止所有操作
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
self._rotate_state = "Stopped"
|
||||
self._pump_state = "Stopped"
|
||||
self._stop_operation()
|
||||
self._rotate_time = 0.0
|
||||
self._pump_time = 0.0
|
||||
self._vacuum_level = 0.0
|
||||
self._status = "All operations stopped"
|
||||
return "Success"
|
||||
|
||||
def emergency_stop(self) -> str:
|
||||
"""
|
||||
紧急停止
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
self._status = "Emergency Stop"
|
||||
self.stop_all_operations()
|
||||
return "Success"
|
||||
|
||||
# ==================== 内部控制方法 ====================
|
||||
|
||||
def _start_operation(self):
|
||||
"""
|
||||
启动操作线程
|
||||
|
||||
这个方法启动一个后台线程来模拟旋蒸的实际运行过程。
|
||||
"""
|
||||
with self._thread_lock:
|
||||
if not self._running:
|
||||
self._running = True
|
||||
self._operation_thread = threading.Thread(target=self._operation_loop)
|
||||
self._operation_thread.daemon = True
|
||||
self._operation_thread.start()
|
||||
|
||||
def _stop_operation(self):
|
||||
"""
|
||||
停止操作线程
|
||||
|
||||
安全地停止后台运行线程并等待其完成。
|
||||
"""
|
||||
with self._thread_lock:
|
||||
self._running = False
|
||||
if self._operation_thread and self._operation_thread.is_alive():
|
||||
self._operation_thread.join(timeout=2.0)
|
||||
|
||||
def _operation_loop(self):
|
||||
"""
|
||||
操作主循环
|
||||
|
||||
这个方法在后台线程中运行，模拟真实旋蒸的工作过程：
|
||||
1. 时间倒计时
|
||||
2. 温度控制
|
||||
3. 真空度控制
|
||||
4. 状态更新
|
||||
"""
|
||||
while self._running:
|
||||
try:
|
||||
# 处理旋转时间倒计时
|
||||
if self._rotate_time > 0:
|
||||
self._rotate_state = "Running"
|
||||
self._rotate_time = max(0.0, self._rotate_time - 1.0)
|
||||
else:
|
||||
self._rotate_state = "Stopped"
|
||||
|
||||
# 处理泵时间倒计时
|
||||
if self._pump_time > 0:
|
||||
self._pump_state = "Running"
|
||||
self._pump_time = max(0.0, self._pump_time - 1.0)
|
||||
# 模拟真空度变化
|
||||
if self._vacuum_level > self._target_vacuum:
|
||||
self._vacuum_level = max(self._target_vacuum, self._vacuum_level - 5.0)
|
||||
else:
|
||||
self._pump_state = "Stopped"
|
||||
# 真空度逐渐回升
|
||||
self._vacuum_level = min(1013.25, self._vacuum_level + 2.0)
|
||||
|
||||
# 模拟温度控制
|
||||
temp_diff = self._target_temperature - self._temperature
|
||||
if abs(temp_diff) > 0.5:
|
||||
if temp_diff > 0:
|
||||
self._temperature += min(1.0, temp_diff * 0.1)
|
||||
else:
|
||||
self._temperature += max(-1.0, temp_diff * 0.1)
|
||||
|
||||
# 更新整体状态
|
||||
if self._rotate_state == "Running" or self._pump_state == "Running":
|
||||
self._status = "Operating"
|
||||
elif self._rotate_time > 0 or self._pump_time > 0:
|
||||
self._status = "Ready"
|
||||
else:
|
||||
self._status = "Idle"
|
||||
|
||||
# 等待1秒后继续下一次循环
|
||||
time.sleep(1.0)
|
||||
|
||||
except Exception as e:
|
||||
self._status = f"Error in operation: {str(e)}"
|
||||
break
|
||||
|
||||
# 循环结束时的清理工作
|
||||
self._status = "Idle"
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""
|
||||
获取完整的设备状态信息
|
||||
|
||||
Returns:
|
||||
dict: 包含所有设备状态的字典
|
||||
"""
|
||||
return {
|
||||
"status": self._status,
|
||||
"rotate_state": self._rotate_state,
|
||||
"rotate_time": self._rotate_time,
|
||||
"rotate_speed": self._rotate_speed,
|
||||
"pump_state": self._pump_state,
|
||||
"pump_time": self._pump_time,
|
||||
"vacuum_level": self._vacuum_level,
|
||||
"temperature": self._temperature,
|
||||
"target_temperature": self._target_temperature,
|
||||
"success": self.success,
|
||||
}
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
rotavap = MockRotavap()
|
||||
|
||||
# 测试基本功能
|
||||
print("启动旋转蒸发器测试...")
|
||||
print(f"初始状态: {rotavap.get_status_info()}")
|
||||
|
||||
# 设置定时器
|
||||
timer_command = '{"rotate_time": 300, "pump_time": 600}'
|
||||
rotavap.set_timer(timer_command)
|
||||
|
||||
# 设置温度和转速
|
||||
rotavap.set_temperature(60.0)
|
||||
rotavap.set_rotate_speed(120.0)
|
||||
|
||||
# 启动操作
|
||||
rotavap.start_rotation()
|
||||
rotavap.start_pump()
|
||||
|
||||
# 模拟运行10秒
|
||||
for i in range(10):
|
||||
time.sleep(1)
|
||||
print(
|
||||
f"第{i+1}秒: 旋转={rotavap.rotate_time:.0f}s, 泵={rotavap.pump_time:.0f}s, "
|
||||
f"温度={rotavap.temperature:.1f}°C, 真空={rotavap.vacuum_level:.1f}mbar"
|
||||
)
|
||||
|
||||
rotavap.emergency_stop()
|
||||
print("测试完成")
|
||||
@@ -1,399 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
from datetime import datetime, timedelta
|
||||
|
||||
class MockSeparator:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
self.port = port
|
||||
|
||||
# 基本状态属性
|
||||
self._status: str = "Idle" # 当前总体状态
|
||||
self._valve_state: str = "Closed" # 阀门状态：Open 或 Closed
|
||||
self._settling_time: float = 0.0 # 静置时间（秒）
|
||||
|
||||
# 搅拌相关属性
|
||||
self._shake_time: float = 0.0 # 剩余摇摆时间（秒）
|
||||
self._shake_status: str = "Not Shaking" # 摇摆状态
|
||||
|
||||
# 用于后台模拟 shake 动作
|
||||
self._operation_thread = None
|
||||
self._thread_lock = threading.Lock()
|
||||
self._running = False
|
||||
|
||||
# Separate action 相关属性
|
||||
self._current_device: str = "MockSeparator1"
|
||||
self._purpose: str = "" # wash or extract
|
||||
self._product_phase: str = "" # top or bottom
|
||||
self._from_vessel: str = ""
|
||||
self._separation_vessel: str = ""
|
||||
self._to_vessel: str = ""
|
||||
self._waste_phase_to_vessel: str = ""
|
||||
self._solvent: str = ""
|
||||
self._solvent_volume: float = 0.0
|
||||
self._through: str = ""
|
||||
self._repeats: int = 1
|
||||
self._stir_time: float = 0.0
|
||||
self._stir_speed: float = 0.0
|
||||
self._time_spent = timedelta()
|
||||
self._time_remaining = timedelta()
|
||||
self._start_time = datetime.now() # 添加这一行
|
||||
|
||||
@property
|
||||
def current_device(self) -> str:
|
||||
return self._current_device
|
||||
|
||||
@property
|
||||
def purpose(self) -> str:
|
||||
return self._purpose
|
||||
|
||||
@property
|
||||
def valve_state(self) -> str:
|
||||
return self._valve_state
|
||||
|
||||
@property
|
||||
def settling_time(self) -> float:
|
||||
return self._settling_time
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def shake_time(self) -> float:
|
||||
with self._thread_lock:
|
||||
return self._shake_time
|
||||
|
||||
@property
|
||||
def shake_status(self) -> str:
|
||||
with self._thread_lock:
|
||||
return self._shake_status
|
||||
|
||||
@property
|
||||
def product_phase(self) -> str:
|
||||
return self._product_phase
|
||||
|
||||
@property
|
||||
def from_vessel(self) -> str:
|
||||
return self._from_vessel
|
||||
|
||||
@property
|
||||
def separation_vessel(self) -> str:
|
||||
return self._separation_vessel
|
||||
|
||||
@property
|
||||
def to_vessel(self) -> str:
|
||||
return self._to_vessel
|
||||
|
||||
@property
|
||||
def waste_phase_to_vessel(self) -> str:
|
||||
return self._waste_phase_to_vessel
|
||||
|
||||
@property
|
||||
def solvent(self) -> str:
|
||||
return self._solvent
|
||||
|
||||
@property
|
||||
def solvent_volume(self) -> float:
|
||||
return self._solvent_volume
|
||||
|
||||
@property
|
||||
def through(self) -> str:
|
||||
return self._through
|
||||
|
||||
@property
|
||||
def repeats(self) -> int:
|
||||
return self._repeats
|
||||
|
||||
@property
|
||||
def stir_time(self) -> float:
|
||||
return self._stir_time
|
||||
|
||||
@property
|
||||
def stir_speed(self) -> float:
|
||||
return self._stir_speed
|
||||
|
||||
@property
|
||||
def time_spent(self) -> float:
|
||||
if self._running:
|
||||
self._time_spent = datetime.now() - self._start_time
|
||||
return self._time_spent.total_seconds()
|
||||
|
||||
@property
|
||||
def time_remaining(self) -> float:
|
||||
if self._running:
|
||||
elapsed = (datetime.now() - self._start_time).total_seconds()
|
||||
total_time = (self._stir_time + self._settling_time + 10) * self._repeats
|
||||
remain = max(0, total_time - elapsed)
|
||||
self._time_remaining = timedelta(seconds=remain)
|
||||
return self._time_remaining.total_seconds()
|
||||
|
||||
def separate(self, purpose: str, product_phase: str, from_vessel: str,
|
||||
separation_vessel: str, to_vessel: str, waste_phase_to_vessel: str = "",
|
||||
solvent: str = "", solvent_volume: float = 0.0, through: str = "",
|
||||
repeats: int = 1, stir_time: float = 0.0, stir_speed: float = 0.0,
|
||||
settling_time: float = 60.0) -> dict:
|
||||
"""
|
||||
执行分离操作
|
||||
"""
|
||||
with self._thread_lock:
|
||||
# 检查是否已经在运行
|
||||
if self._running:
|
||||
return {
|
||||
"success": False,
|
||||
"status": "Error: Operation already in progress"
|
||||
}
|
||||
# 必填参数验证
|
||||
if not all([from_vessel, separation_vessel, to_vessel]):
|
||||
self._status = "Error: Missing required vessel parameters"
|
||||
return {"success": False}
|
||||
# 验证参数
|
||||
if purpose not in ["wash", "extract"]:
|
||||
self._status = "Error: Invalid purpose"
|
||||
return {"success": False}
|
||||
|
||||
if product_phase not in ["top", "bottom"]:
|
||||
self._status = "Error: Invalid product phase"
|
||||
return {"success": False}
|
||||
# 数值参数验证
|
||||
try:
|
||||
solvent_volume = float(solvent_volume)
|
||||
repeats = int(repeats)
|
||||
stir_time = float(stir_time)
|
||||
stir_speed = float(stir_speed)
|
||||
settling_time = float(settling_time)
|
||||
except ValueError:
|
||||
self._status = "Error: Invalid numeric parameters"
|
||||
return {"success": False}
|
||||
|
||||
# 设置参数
|
||||
self._purpose = purpose
|
||||
self._product_phase = product_phase
|
||||
self._from_vessel = from_vessel
|
||||
self._separation_vessel = separation_vessel
|
||||
self._to_vessel = to_vessel
|
||||
self._waste_phase_to_vessel = waste_phase_to_vessel
|
||||
self._solvent = solvent
|
||||
self._solvent_volume = float(solvent_volume)
|
||||
self._through = through
|
||||
self._repeats = int(repeats)
|
||||
self._stir_time = float(stir_time)
|
||||
self._stir_speed = float(stir_speed)
|
||||
self._settling_time = float(settling_time)
|
||||
|
||||
# 重置计时器
|
||||
self._start_time = datetime.now()
|
||||
self._time_spent = timedelta()
|
||||
total_time = (self._stir_time + self._settling_time + 10) * self._repeats
|
||||
self._time_remaining = timedelta(seconds=total_time)
|
||||
|
||||
# 启动分离操作
|
||||
self._status = "Starting Separation"
|
||||
self._running = True
|
||||
|
||||
# 在锁内创建和启动线程
|
||||
self._operation_thread = threading.Thread(target=self._operation_loop)
|
||||
self._operation_thread.daemon = True
|
||||
self._operation_thread.start()
|
||||
|
||||
# 等待确认操作已经开始
|
||||
time.sleep(0.1) # 短暂等待确保操作线程已启动
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"status": self._status,
|
||||
"current_device": self._current_device,
|
||||
"time_spent": self._time_spent.total_seconds(),
|
||||
"time_remaining": self._time_remaining.total_seconds()
|
||||
}
|
||||
|
||||
def shake(self, shake_time: float) -> str:
|
||||
"""
|
||||
模拟 shake（搅拌）操作：
|
||||
- 进入 "Shaking" 状态，倒计时 shake_time 秒
|
||||
- shake 结束后，进入 "Settling" 状态，静置时间固定为 5 秒
|
||||
- 最后恢复为 Idle
|
||||
"""
|
||||
try:
|
||||
shake_time = float(shake_time)
|
||||
except ValueError:
|
||||
self._status = "Error: Invalid shake time"
|
||||
return "Error"
|
||||
|
||||
with self._thread_lock:
|
||||
self._status = "Shaking"
|
||||
self._settling_time = 0.0
|
||||
self._shake_time = shake_time
|
||||
self._shake_status = "Shaking"
|
||||
|
||||
def _run_shake():
|
||||
remaining = shake_time
|
||||
while remaining > 0:
|
||||
time.sleep(1)
|
||||
remaining -= 1
|
||||
with self._thread_lock:
|
||||
self._shake_time = remaining
|
||||
with self._thread_lock:
|
||||
self._status = "Settling"
|
||||
self._settling_time = 60.0 # 固定静置时间为60秒
|
||||
self._shake_status = "Settling"
|
||||
while True:
|
||||
with self._thread_lock:
|
||||
if self._settling_time <= 0:
|
||||
self._status = "Idle"
|
||||
self._shake_status = "Idle"
|
||||
break
|
||||
time.sleep(1)
|
||||
with self._thread_lock:
|
||||
self._settling_time = max(0.0, self._settling_time - 1)
|
||||
|
||||
self._operation_thread = threading.Thread(target=_run_shake)
|
||||
self._operation_thread.daemon = True
|
||||
self._operation_thread.start()
|
||||
return "Success"
|
||||
|
||||
def set_valve(self, command: str) -> str:
|
||||
"""
|
||||
阀门控制命令：传入 "open" 或 "close"
|
||||
"""
|
||||
|
||||
command = command.lower()
|
||||
if command == "open":
|
||||
self._valve_state = "Open"
|
||||
self._status = "Valve Opened"
|
||||
elif command == "close":
|
||||
self._valve_state = "Closed"
|
||||
self._status = "Valve Closed"
|
||||
else:
|
||||
self._status = "Error: Invalid valve command"
|
||||
return "Error"
|
||||
return "Success"
|
||||
|
||||
def _operation_loop(self):
|
||||
"""分离操作主循环"""
|
||||
try:
|
||||
current_repeat = 1
|
||||
|
||||
# 立即更新状态，确保不会停留在Starting Separation
|
||||
with self._thread_lock:
|
||||
self._status = f"Separation Cycle {current_repeat}/{self._repeats}"
|
||||
|
||||
while self._running and current_repeat <= self._repeats:
|
||||
# 第一步：搅拌
|
||||
if self._stir_time > 0:
|
||||
with self._thread_lock:
|
||||
self._status = f"Stirring (Repeat {current_repeat}/{self._repeats})"
|
||||
remaining_stir = self._stir_time
|
||||
while remaining_stir > 0 and self._running:
|
||||
time.sleep(1)
|
||||
remaining_stir -= 1
|
||||
|
||||
# 第二步：静置
|
||||
if self._settling_time > 0:
|
||||
with self._thread_lock:
|
||||
self._status = f"Settling (Repeat {current_repeat}/{self._repeats})"
|
||||
remaining_settle = self._settling_time
|
||||
while remaining_settle > 0 and self._running:
|
||||
time.sleep(1)
|
||||
remaining_settle -= 1
|
||||
|
||||
# 第三步：打开阀门排出
|
||||
with self._thread_lock:
|
||||
self._valve_state = "Open"
|
||||
self._status = f"Draining (Repeat {current_repeat}/{self._repeats})"
|
||||
|
||||
# 模拟排出时间（5秒）
|
||||
time.sleep(10)
|
||||
|
||||
# 关闭阀门
|
||||
with self._thread_lock:
|
||||
self._valve_state = "Closed"
|
||||
|
||||
# 检查是否继续下一次重复
|
||||
if current_repeat < self._repeats:
|
||||
current_repeat += 1
|
||||
else:
|
||||
with self._thread_lock:
|
||||
self._status = "Separation Complete"
|
||||
break
|
||||
|
||||
except Exception as e:
|
||||
with self._thread_lock:
|
||||
self._status = f"Error in separation: {str(e)}"
|
||||
finally:
|
||||
with self._thread_lock:
|
||||
self._running = False
|
||||
self._valve_state = "Closed"
|
||||
if self._status == "Starting Separation":
|
||||
self._status = "Error: Operation failed to start"
|
||||
elif self._status != "Separation Complete":
|
||||
self._status = "Stopped"
|
||||
|
||||
def stop_operations(self) -> str:
|
||||
"""停止任何正在执行的操作"""
|
||||
with self._thread_lock:
|
||||
self._running = False
|
||||
if self._operation_thread and self._operation_thread.is_alive():
|
||||
self._operation_thread.join(timeout=1.0)
|
||||
self._operation_thread = None
|
||||
self._settling_time = 0.0
|
||||
self._status = "Idle"
|
||||
self._shake_status = "Idle"
|
||||
self._shake_time = 0.0
|
||||
self._time_remaining = timedelta()
|
||||
return "Success"
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""获取当前设备状态信息"""
|
||||
with self._thread_lock:
|
||||
current_time = datetime.now()
|
||||
if self._start_time:
|
||||
self._time_spent = current_time - self._start_time
|
||||
|
||||
return {
|
||||
"status": self._status,
|
||||
"valve_state": self._valve_state,
|
||||
"settling_time": self._settling_time,
|
||||
"shake_time": self._shake_time,
|
||||
"shake_status": self._shake_status,
|
||||
"current_device": self._current_device,
|
||||
"purpose": self._purpose,
|
||||
"product_phase": self._product_phase,
|
||||
"from_vessel": self._from_vessel,
|
||||
"separation_vessel": self._separation_vessel,
|
||||
"to_vessel": self._to_vessel,
|
||||
"waste_phase_to_vessel": self._waste_phase_to_vessel,
|
||||
"solvent": self._solvent,
|
||||
"solvent_volume": self._solvent_volume,
|
||||
"through": self._through,
|
||||
"repeats": self._repeats,
|
||||
"stir_time": self._stir_time,
|
||||
"stir_speed": self._stir_speed,
|
||||
"time_spent": self._time_spent.total_seconds(),
|
||||
"time_remaining": self._time_remaining.total_seconds()
|
||||
}
|
||||
|
||||
|
||||
# 主函数用于测试
|
||||
if __name__ == "__main__":
|
||||
separator = MockSeparator()
|
||||
|
||||
print("启动简单版分离器测试...")
|
||||
print("初始状态:", separator.get_status_info())
|
||||
|
||||
# 触发 shake 操作，模拟 10 秒的搅拌
|
||||
print("执行 shake 操作...")
|
||||
print(separator.shake(10.0))
|
||||
|
||||
# 循环显示状态变化
|
||||
for i in range(20):
|
||||
time.sleep(1)
|
||||
info = separator.get_status_info()
|
||||
print(
|
||||
f"第{i+1}秒: 状态={info['status']}, 静置时间={info['settling_time']:.1f}秒, "
|
||||
f"阀门状态={info['valve_state']}, shake_time={info['shake_time']:.1f}, "
|
||||
f"shake_status={info['shake_status']}"
|
||||
)
|
||||
|
||||
# 模拟打开阀门
|
||||
print("打开阀门...", separator.set_valve("open"))
|
||||
print("最终状态:", separator.get_status_info())
|
||||
@@ -1,89 +0,0 @@
|
||||
import time
|
||||
|
||||
|
||||
class MockSolenoidValve:
|
||||
"""
|
||||
模拟电磁阀设备类 - 简化版本
|
||||
|
||||
这个类提供了电磁阀的基本功能：开启、关闭和状态查询
|
||||
"""
|
||||
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
"""
|
||||
初始化MockSolenoidValve实例
|
||||
|
||||
Args:
|
||||
port (str): 设备端口，默认为"MOCK"表示模拟设备
|
||||
"""
|
||||
self.port = port
|
||||
self._status: str = "Idle"
|
||||
self._valve_status: str = "Closed" # 阀门位置：Open, Closed
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
"""设备状态 - 会被自动识别的设备属性"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def valve_status(self) -> str:
|
||||
"""阀门状态"""
|
||||
return self._valve_status
|
||||
|
||||
def set_valve_status(self, status: str) -> str:
|
||||
"""
|
||||
设置阀门位置
|
||||
|
||||
Args:
|
||||
position (str): 阀门位置，可选值："Open", "Closed"
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
if status not in ["Open", "Closed"]:
|
||||
self._status = "Error: Invalid position"
|
||||
return "Error"
|
||||
|
||||
self._status = "Moving"
|
||||
time.sleep(1) # 模拟阀门动作时间
|
||||
|
||||
self._valve_status = status
|
||||
self._status = "Idle"
|
||||
return "Success"
|
||||
|
||||
def open_valve(self) -> str:
|
||||
"""打开阀门"""
|
||||
return self.set_valve_status("Open")
|
||||
|
||||
def close_valve(self) -> str:
|
||||
"""关闭阀门"""
|
||||
return self.set_valve_status("Closed")
|
||||
|
||||
def get_valve_status(self) -> str:
|
||||
"""获取阀门位置"""
|
||||
return self._valve_status
|
||||
|
||||
def is_open(self) -> bool:
|
||||
"""检查阀门是否打开"""
|
||||
return self._valve_status == "Open"
|
||||
|
||||
def is_closed(self) -> bool:
|
||||
"""检查阀门是否关闭"""
|
||||
return self._valve_status == "Closed"
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
valve = MockSolenoidValve()
|
||||
|
||||
print("启动电磁阀测试...")
|
||||
print(f"初始状态: 位置={valve.valve_status}, 状态={valve.status}")
|
||||
|
||||
# 测试开启阀门
|
||||
valve.open_valve()
|
||||
print(f"开启后: 位置={valve.valve_status}, 状态={valve.status}")
|
||||
|
||||
# 测试关闭阀门
|
||||
valve.close_valve()
|
||||
print(f"关闭后: 位置={valve.valve_status}, 状态={valve.status}")
|
||||
|
||||
print("测试完成")
|
||||
@@ -1,307 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
|
||||
|
||||
class MockStirrer:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
self.port = port
|
||||
|
||||
# 设备基本状态属性
|
||||
self._status: str = "Idle" # 设备状态：Idle, Running, Error, Stopped
|
||||
|
||||
# 搅拌相关属性
|
||||
self._stir_speed: float = 0.0 # 当前搅拌速度 (rpm)
|
||||
self._target_stir_speed: float = 0.0 # 目标搅拌速度 (rpm)
|
||||
self._max_stir_speed: float = 2000.0 # 最大搅拌速度 (rpm)
|
||||
self._stir_state: str = "Stopped" # 搅拌状态：Running, Stopped
|
||||
|
||||
# 温度相关属性
|
||||
self._temperature: float = 25.0 # 当前温度 (°C)
|
||||
self._target_temperature: float = 25.0 # 目标温度 (°C)
|
||||
self._max_temperature: float = 300.0 # 最大温度 (°C)
|
||||
self._heating_state: str = "Off" # 加热状态：On, Off
|
||||
self._heating_power: float = 0.0 # 加热功率百分比 0-100
|
||||
|
||||
# 运行控制线程
|
||||
self._operation_thread = None
|
||||
self._running = False
|
||||
self._thread_lock = threading.Lock()
|
||||
|
||||
# ==================== 状态属性 ====================
|
||||
# 这些属性会被Uni-Lab系统自动识别并定时对外广播
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def stir_speed(self) -> float:
|
||||
return self._stir_speed
|
||||
|
||||
@property
|
||||
def target_stir_speed(self) -> float:
|
||||
return self._target_stir_speed
|
||||
|
||||
@property
|
||||
def stir_state(self) -> str:
|
||||
return self._stir_state
|
||||
|
||||
@property
|
||||
def temperature(self) -> float:
|
||||
"""
|
||||
当前温度
|
||||
|
||||
Returns:
|
||||
float: 当前温度 (°C)
|
||||
"""
|
||||
return self._temperature
|
||||
|
||||
@property
|
||||
def target_temperature(self) -> float:
|
||||
"""
|
||||
目标温度
|
||||
|
||||
Returns:
|
||||
float: 目标温度 (°C)
|
||||
"""
|
||||
return self._target_temperature
|
||||
|
||||
@property
|
||||
def heating_state(self) -> str:
|
||||
return self._heating_state
|
||||
|
||||
@property
|
||||
def heating_power(self) -> float:
|
||||
return self._heating_power
|
||||
|
||||
@property
|
||||
def max_stir_speed(self) -> float:
|
||||
return self._max_stir_speed
|
||||
|
||||
@property
|
||||
def max_temperature(self) -> float:
|
||||
return self._max_temperature
|
||||
|
||||
# ==================== 设备控制方法 ====================
|
||||
# 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
|
||||
|
||||
def set_stir_speed(self, speed: float) -> str:
|
||||
|
||||
speed = float(speed) # 确保传入的速度是浮点数
|
||||
|
||||
if speed < 0 or speed > self._max_stir_speed:
|
||||
self._status = f"Error: Speed out of range (0-{self._max_stir_speed})"
|
||||
return "Error"
|
||||
|
||||
self._target_stir_speed = speed
|
||||
self._status = "Setting Stir Speed"
|
||||
|
||||
# 如果设置了非零速度，启动搅拌
|
||||
if speed > 0:
|
||||
self._stir_state = "Running"
|
||||
else:
|
||||
self._stir_state = "Stopped"
|
||||
|
||||
return "Success"
|
||||
|
||||
def set_temperature(self, temperature: float) -> str:
|
||||
temperature = float(temperature) # 确保传入的温度是浮点数
|
||||
|
||||
if temperature < 0 or temperature > self._max_temperature:
|
||||
self._status = f"Error: Temperature out of range (0-{self._max_temperature})"
|
||||
return "Error"
|
||||
|
||||
self._target_temperature = temperature
|
||||
self._status = "Setting Temperature"
|
||||
|
||||
return "Success"
|
||||
|
||||
def start_stirring(self) -> str:
|
||||
|
||||
if self._target_stir_speed <= 0:
|
||||
self._status = "Error: No target speed set"
|
||||
return "Error"
|
||||
|
||||
self._stir_state = "Running"
|
||||
self._status = "Stirring Started"
|
||||
return "Success"
|
||||
|
||||
def stop_stirring(self) -> str:
|
||||
self._stir_state = "Stopped"
|
||||
self._target_stir_speed = 0.0
|
||||
self._status = "Stirring Stopped"
|
||||
return "Success"
|
||||
|
||||
def heating_control(self, heating_state: str = "On") -> str:
|
||||
|
||||
if heating_state not in ["On", "Off"]:
|
||||
self._status = "Error: Invalid heating state"
|
||||
return "Error"
|
||||
|
||||
self._heating_state = heating_state
|
||||
|
||||
if heating_state == "On":
|
||||
self._status = "Heating On"
|
||||
else:
|
||||
self._status = "Heating Off"
|
||||
self._heating_power = 0.0
|
||||
|
||||
return "Success"
|
||||
|
||||
def stop_all_operations(self) -> str:
|
||||
self._stir_state = "Stopped"
|
||||
self._heating_state = "Off"
|
||||
self._stop_operation()
|
||||
self._stir_speed = 0.0
|
||||
self._target_stir_speed = 0.0
|
||||
self._heating_power = 0.0
|
||||
self._status = "All operations stopped"
|
||||
return "Success"
|
||||
|
||||
def emergency_stop(self) -> str:
|
||||
"""
|
||||
紧急停止
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
self._status = "Emergency Stop"
|
||||
self.stop_all_operations()
|
||||
return "Success"
|
||||
|
||||
# ==================== 内部控制方法 ====================
|
||||
|
||||
def _start_operation(self):
|
||||
with self._thread_lock:
|
||||
if not self._running:
|
||||
self._running = True
|
||||
self._operation_thread = threading.Thread(target=self._operation_loop)
|
||||
self._operation_thread.daemon = True
|
||||
self._operation_thread.start()
|
||||
|
||||
def _stop_operation(self):
|
||||
"""
|
||||
停止操作线程
|
||||
|
||||
安全地停止后台运行线程并等待其完成。
|
||||
"""
|
||||
with self._thread_lock:
|
||||
self._running = False
|
||||
if self._operation_thread and self._operation_thread.is_alive():
|
||||
self._operation_thread.join(timeout=2.0)
|
||||
|
||||
def _operation_loop(self):
|
||||
while self._running:
|
||||
try:
|
||||
# 处理搅拌速度控制
|
||||
if self._stir_state == "Running":
|
||||
speed_diff = self._target_stir_speed - self._stir_speed
|
||||
|
||||
if abs(speed_diff) < 1.0: # 速度接近目标值
|
||||
self._stir_speed = self._target_stir_speed
|
||||
if self._stir_speed > 0:
|
||||
self._status = "Stirring at Target Speed"
|
||||
else:
|
||||
# 模拟速度调节，每秒调整10%的差值
|
||||
adjustment = speed_diff * 0.1
|
||||
self._stir_speed += adjustment
|
||||
self._status = "Adjusting Stir Speed"
|
||||
|
||||
# 确保速度在合理范围内
|
||||
self._stir_speed = max(0.0, min(self._max_stir_speed, self._stir_speed))
|
||||
else:
|
||||
# 搅拌停止时，速度逐渐降为0
|
||||
if self._stir_speed > 0:
|
||||
self._stir_speed = max(0.0, self._stir_speed - 50.0) # 每秒减少50rpm
|
||||
|
||||
# 处理温度控制
|
||||
if self._heating_state == "On":
|
||||
temp_diff = self._target_temperature - self._temperature
|
||||
|
||||
if abs(temp_diff) < 0.5: # 温度接近目标值
|
||||
self._heating_power = 20.0 # 维持温度的最小功率
|
||||
elif temp_diff > 0: # 需要加热
|
||||
# 根据温差调整加热功率
|
||||
if temp_diff > 50:
|
||||
self._heating_power = 100.0
|
||||
elif temp_diff > 20:
|
||||
self._heating_power = 80.0
|
||||
elif temp_diff > 10:
|
||||
self._heating_power = 60.0
|
||||
else:
|
||||
self._heating_power = 40.0
|
||||
|
||||
# 模拟加热过程
|
||||
heating_rate = self._heating_power / 100.0 * 1.5 # 最大每秒升温1.5度
|
||||
self._temperature += heating_rate
|
||||
else: # 目标温度低于当前温度
|
||||
self._heating_power = 0.0
|
||||
# 自然冷却
|
||||
self._temperature -= 0.1
|
||||
else:
|
||||
self._heating_power = 0.0
|
||||
# 自然冷却到室温
|
||||
if self._temperature > 25.0:
|
||||
self._temperature -= 0.2
|
||||
|
||||
# 限制温度范围
|
||||
self._temperature = max(20.0, min(self._max_temperature, self._temperature))
|
||||
|
||||
# 更新整体状态
|
||||
if self._stir_state == "Running" and self._heating_state == "On":
|
||||
self._status = "Stirring and Heating"
|
||||
elif self._stir_state == "Running":
|
||||
self._status = "Stirring Only"
|
||||
elif self._heating_state == "On":
|
||||
self._status = "Heating Only"
|
||||
else:
|
||||
self._status = "Idle"
|
||||
|
||||
# 等待1秒后继续下一次循环
|
||||
time.sleep(1.0)
|
||||
|
||||
except Exception as e:
|
||||
self._status = f"Error in operation: {str(e)}"
|
||||
break
|
||||
|
||||
# 循环结束时的清理工作
|
||||
self._status = "Idle"
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
return {
|
||||
"status": self._status,
|
||||
"stir_speed": self._stir_speed,
|
||||
"target_stir_speed": self._target_stir_speed,
|
||||
"stir_state": self._stir_state,
|
||||
"temperature": self._temperature,
|
||||
"target_temperature": self._target_temperature,
|
||||
"heating_state": self._heating_state,
|
||||
"heating_power": self._heating_power,
|
||||
"max_stir_speed": self._max_stir_speed,
|
||||
"max_temperature": self._max_temperature,
|
||||
}
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
stirrer = MockStirrer()
|
||||
|
||||
# 测试基本功能
|
||||
print("启动搅拌器测试...")
|
||||
print(f"初始状态: {stirrer.get_status_info()}")
|
||||
|
||||
# 设置搅拌速度和温度
|
||||
stirrer.set_stir_speed(800.0)
|
||||
stirrer.set_temperature(60.0)
|
||||
stirrer.heating_control("On")
|
||||
|
||||
# 模拟运行15秒
|
||||
for i in range(15):
|
||||
time.sleep(1)
|
||||
print(
|
||||
f"第{i+1}秒: 速度={stirrer.stir_speed:.0f}rpm, 温度={stirrer.temperature:.1f}°C, "
|
||||
f"功率={stirrer.heating_power:.1f}%, 状态={stirrer.status}"
|
||||
)
|
||||
|
||||
stirrer.emergency_stop()
|
||||
print("测试完成")
|
||||
@@ -1,229 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
from datetime import datetime, timedelta
|
||||
|
||||
class MockStirrer_new:
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
self.port = port
|
||||
|
||||
# 基本状态属性
|
||||
self._status: str = "Idle"
|
||||
self._vessel: str = ""
|
||||
self._purpose: str = ""
|
||||
|
||||
# 搅拌相关属性
|
||||
self._stir_speed: float = 0.0
|
||||
self._target_stir_speed: float = 0.0
|
||||
self._max_stir_speed: float = 2000.0
|
||||
self._stir_state: str = "Stopped"
|
||||
|
||||
# 计时相关
|
||||
self._stir_time: float = 0.0
|
||||
self._settling_time: float = 0.0
|
||||
self._start_time = datetime.now()
|
||||
self._time_remaining = timedelta()
|
||||
|
||||
# 运行控制
|
||||
self._operation_thread = None
|
||||
self._running = False
|
||||
self._thread_lock = threading.Lock()
|
||||
|
||||
# 创建操作线程
|
||||
self._operation_thread = threading.Thread(target=self._operation_loop)
|
||||
self._operation_thread.daemon = True
|
||||
self._operation_thread.start()
|
||||
|
||||
# ==================== 状态属性 ====================
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def stir_speed(self) -> float:
|
||||
return self._stir_speed
|
||||
|
||||
@property
|
||||
def target_stir_speed(self) -> float:
|
||||
return self._target_stir_speed
|
||||
|
||||
@property
|
||||
def stir_state(self) -> str:
|
||||
return self._stir_state
|
||||
|
||||
@property
|
||||
def vessel(self) -> str:
|
||||
return self._vessel
|
||||
|
||||
@property
|
||||
def purpose(self) -> str:
|
||||
return self._purpose
|
||||
|
||||
@property
|
||||
def stir_time(self) -> float:
|
||||
return self._stir_time
|
||||
|
||||
@property
|
||||
def settling_time(self) -> float:
|
||||
return self._settling_time
|
||||
|
||||
@property
|
||||
def max_stir_speed(self) -> float:
|
||||
return self._max_stir_speed
|
||||
|
||||
@property
|
||||
def progress(self) -> float:
|
||||
"""返回当前操作的进度（0-100）"""
|
||||
if not self._running:
|
||||
return 0.0
|
||||
elapsed = (datetime.now() - self._start_time).total_seconds()
|
||||
total_time = self._stir_time + self._settling_time
|
||||
if total_time <= 0:
|
||||
return 100.0
|
||||
return min(100.0, (elapsed / total_time) * 100)
|
||||
|
||||
# ==================== Action Server 方法 ====================
|
||||
def start_stir(self, vessel: str, stir_speed: float = 0.0, purpose: str = "") -> dict:
|
||||
"""
|
||||
StartStir.action 对应的方法
|
||||
"""
|
||||
with self._thread_lock:
|
||||
if self._running:
|
||||
return {
|
||||
"success": False,
|
||||
"message": "Operation already in progress"
|
||||
}
|
||||
|
||||
try:
|
||||
# 重置所有参数
|
||||
self._vessel = vessel
|
||||
self._purpose = purpose
|
||||
self._stir_time = 0.0 # 连续搅拌模式下不设置搅拌时间
|
||||
self._settling_time = 0.0
|
||||
self._start_time = datetime.now() # 重置开始时间
|
||||
|
||||
if stir_speed > 0:
|
||||
self._target_stir_speed = min(stir_speed, self._max_stir_speed)
|
||||
|
||||
self._stir_state = "Running"
|
||||
self._status = "Stirring Started"
|
||||
self._running = True
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"message": "Stirring started successfully"
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
return {
|
||||
"success": False,
|
||||
"message": f"Error: {str(e)}"
|
||||
}
|
||||
|
||||
def stir(self, stir_time: float, stir_speed: float, settling_time: float) -> dict:
|
||||
"""
|
||||
Stir.action 对应的方法
|
||||
"""
|
||||
with self._thread_lock:
|
||||
try:
|
||||
# 如果已经在运行，先停止当前操作
|
||||
if self._running:
|
||||
self._running = False
|
||||
self._stir_state = "Stopped"
|
||||
self._target_stir_speed = 0.0
|
||||
time.sleep(0.1) # 给一个短暂的停止时间
|
||||
|
||||
|
||||
# 重置所有参数
|
||||
self._stir_time = float(stir_time)
|
||||
self._settling_time = float(settling_time)
|
||||
self._target_stir_speed = min(float(stir_speed), self._max_stir_speed)
|
||||
self._start_time = datetime.now() # 重置开始时间
|
||||
self._stir_state = "Running"
|
||||
self._status = "Stirring"
|
||||
self._running = True
|
||||
|
||||
return {"success": True}
|
||||
|
||||
except ValueError:
|
||||
self._status = "Error: Invalid parameters"
|
||||
return {"success": False}
|
||||
|
||||
def stop_stir(self, vessel: str) -> dict:
|
||||
"""
|
||||
StopStir.action 对应的方法
|
||||
"""
|
||||
with self._thread_lock:
|
||||
if vessel != self._vessel:
|
||||
return {
|
||||
"success": False,
|
||||
"message": "Vessel mismatch"
|
||||
}
|
||||
|
||||
self._running = False
|
||||
self._stir_state = "Stopped"
|
||||
self._target_stir_speed = 0.0
|
||||
self._status = "Stirring Stopped"
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"message": "Stirring stopped successfully"
|
||||
}
|
||||
|
||||
# ==================== 内部控制方法 ====================
|
||||
|
||||
def _operation_loop(self):
|
||||
"""操作主循环"""
|
||||
while True:
|
||||
try:
|
||||
current_time = datetime.now()
|
||||
|
||||
with self._thread_lock: # 添加锁保护
|
||||
if self._stir_state == "Running":
|
||||
# 实际搅拌逻辑
|
||||
speed_diff = self._target_stir_speed - self._stir_speed
|
||||
if abs(speed_diff) > 0.1:
|
||||
adjustment = speed_diff * 0.1
|
||||
self._stir_speed += adjustment
|
||||
else:
|
||||
self._stir_speed = self._target_stir_speed
|
||||
|
||||
# 更新进度
|
||||
if self._running:
|
||||
if self._stir_time > 0: # 定时搅拌模式
|
||||
elapsed = (current_time - self._start_time).total_seconds()
|
||||
if elapsed >= self._stir_time + self._settling_time:
|
||||
self._running = False
|
||||
self._stir_state = "Stopped"
|
||||
self._target_stir_speed = 0.0
|
||||
self._stir_speed = 0.0
|
||||
self._status = "Stirring Complete"
|
||||
elif elapsed >= self._stir_time:
|
||||
self._status = "Settling"
|
||||
else: # 连续搅拌模式
|
||||
self._status = "Stirring"
|
||||
else:
|
||||
# 停止状态下慢慢降低速度
|
||||
if self._stir_speed > 0:
|
||||
self._stir_speed = max(0, self._stir_speed - 20.0)
|
||||
|
||||
time.sleep(0.1)
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error in operation loop: {str(e)}") # 添加错误输出
|
||||
self._status = f"Error: {str(e)}"
|
||||
time.sleep(1.0) # 错误发生时等待较长时间
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""获取设备状态信息"""
|
||||
return {
|
||||
"status": self._status,
|
||||
"vessel": self._vessel,
|
||||
"purpose": self._purpose,
|
||||
"stir_speed": self._stir_speed,
|
||||
"target_stir_speed": self._target_stir_speed,
|
||||
"stir_state": self._stir_state,
|
||||
"stir_time": self._stir_time, # 添加
|
||||
"settling_time": self._settling_time, # 添加
|
||||
"progress": self.progress,
|
||||
"max_stir_speed": self._max_stir_speed
|
||||
}
|
||||
@@ -1,410 +0,0 @@
|
||||
import time
|
||||
import threading
|
||||
|
||||
|
||||
class MockVacuum:
|
||||
"""
|
||||
模拟真空泵设备类
|
||||
|
||||
这个类模拟了一个实验室真空泵的行为，包括真空度控制、
|
||||
压力监测、运行状态管理等功能。参考了现有的 VacuumPumpMock 实现。
|
||||
"""
|
||||
|
||||
def __init__(self, port: str = "MOCK"):
|
||||
"""
|
||||
初始化MockVacuum实例
|
||||
|
||||
Args:
|
||||
port (str): 设备端口，默认为"MOCK"表示模拟设备
|
||||
"""
|
||||
self.port = port
|
||||
|
||||
# 设备基本状态属性
|
||||
self._status: str = "Idle" # 设备状态：Idle, Running, Error, Stopped
|
||||
self._power_state: str = "Off" # 电源状态：On, Off
|
||||
self._pump_state: str = "Stopped" # 泵运行状态：Running, Stopped, Paused
|
||||
|
||||
# 真空相关属性
|
||||
self._vacuum_level: float = 1013.25 # 当前真空度 (mbar) - 大气压开始
|
||||
self._target_vacuum: float = 50.0 # 目标真空度 (mbar)
|
||||
self._min_vacuum: float = 1.0 # 最小真空度 (mbar)
|
||||
self._max_vacuum: float = 1013.25 # 最大真空度 (mbar) - 大气压
|
||||
|
||||
# 泵性能相关属性
|
||||
self._pump_speed: float = 0.0 # 泵速 (L/s)
|
||||
self._max_pump_speed: float = 100.0 # 最大泵速 (L/s)
|
||||
self._pump_efficiency: float = 95.0 # 泵效率百分比
|
||||
|
||||
# 运行控制线程
|
||||
self._vacuum_thread = None
|
||||
self._running = False
|
||||
self._thread_lock = threading.Lock()
|
||||
|
||||
# ==================== 状态属性 ====================
|
||||
# 这些属性会被Uni-Lab系统自动识别并定时对外广播
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
"""
|
||||
设备状态 - 会被自动识别的设备属性
|
||||
|
||||
Returns:
|
||||
str: 当前设备状态 (Idle, Running, Error, Stopped)
|
||||
"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
def power_state(self) -> str:
|
||||
"""
|
||||
电源状态
|
||||
|
||||
Returns:
|
||||
str: 电源状态 (On, Off)
|
||||
"""
|
||||
return self._power_state
|
||||
|
||||
@property
|
||||
def pump_state(self) -> str:
|
||||
"""
|
||||
泵运行状态
|
||||
|
||||
Returns:
|
||||
str: 泵状态 (Running, Stopped, Paused)
|
||||
"""
|
||||
return self._pump_state
|
||||
|
||||
@property
|
||||
def vacuum_level(self) -> float:
|
||||
"""
|
||||
当前真空度
|
||||
|
||||
Returns:
|
||||
float: 当前真空度 (mbar)
|
||||
"""
|
||||
return self._vacuum_level
|
||||
|
||||
@property
|
||||
def target_vacuum(self) -> float:
|
||||
"""
|
||||
目标真空度
|
||||
|
||||
Returns:
|
||||
float: 目标真空度 (mbar)
|
||||
"""
|
||||
return self._target_vacuum
|
||||
|
||||
@property
|
||||
def pump_speed(self) -> float:
|
||||
"""
|
||||
泵速
|
||||
|
||||
Returns:
|
||||
float: 泵速 (L/s)
|
||||
"""
|
||||
return self._pump_speed
|
||||
|
||||
@property
|
||||
def pump_efficiency(self) -> float:
|
||||
"""
|
||||
泵效率
|
||||
|
||||
Returns:
|
||||
float: 泵效率百分比
|
||||
"""
|
||||
return self._pump_efficiency
|
||||
|
||||
@property
|
||||
def max_pump_speed(self) -> float:
|
||||
"""
|
||||
最大泵速
|
||||
|
||||
Returns:
|
||||
float: 最大泵速 (L/s)
|
||||
"""
|
||||
return self._max_pump_speed
|
||||
|
||||
# ==================== 设备控制方法 ====================
|
||||
# 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
|
||||
|
||||
def power_control(self, power_state: str = "On") -> str:
|
||||
"""
|
||||
电源控制方法
|
||||
|
||||
Args:
|
||||
power_state (str): 电源状态，可选值："On", "Off"
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
if power_state not in ["On", "Off"]:
|
||||
self._status = "Error: Invalid power state"
|
||||
return "Error"
|
||||
|
||||
self._power_state = power_state
|
||||
|
||||
if power_state == "On":
|
||||
self._status = "Power On"
|
||||
self._start_vacuum_operation()
|
||||
else:
|
||||
self._status = "Power Off"
|
||||
self.stop_vacuum()
|
||||
|
||||
return "Success"
|
||||
|
||||
def set_vacuum_level(self, vacuum_level: float) -> str:
|
||||
"""
|
||||
设置目标真空度
|
||||
|
||||
Args:
|
||||
vacuum_level (float): 目标真空度 (mbar)
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
try:
|
||||
vacuum_level = float(vacuum_level)
|
||||
except ValueError:
|
||||
self._status = "Error: Invalid vacuum level"
|
||||
return "Error"
|
||||
if self._power_state != "On":
|
||||
self._status = "Error: Power Off"
|
||||
return "Error"
|
||||
|
||||
if vacuum_level < self._min_vacuum or vacuum_level > self._max_vacuum:
|
||||
self._status = f"Error: Vacuum level out of range ({self._min_vacuum}-{self._max_vacuum})"
|
||||
return "Error"
|
||||
|
||||
self._target_vacuum = vacuum_level
|
||||
self._status = "Setting Vacuum Level"
|
||||
|
||||
return "Success"
|
||||
|
||||
def start_vacuum(self) -> str:
|
||||
"""
|
||||
启动真空泵
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
if self._power_state != "On":
|
||||
self._status = "Error: Power Off"
|
||||
return "Error"
|
||||
|
||||
self._pump_state = "Running"
|
||||
self._status = "Starting Vacuum Pump"
|
||||
self._start_vacuum_operation()
|
||||
|
||||
return "Success"
|
||||
|
||||
def stop_vacuum(self) -> str:
|
||||
"""
|
||||
停止真空泵
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
self._pump_state = "Stopped"
|
||||
self._status = "Stopping Vacuum Pump"
|
||||
self._stop_vacuum_operation()
|
||||
self._pump_speed = 0.0
|
||||
|
||||
return "Success"
|
||||
|
||||
def pause_vacuum(self) -> str:
|
||||
"""
|
||||
暂停真空泵
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
if self._pump_state != "Running":
|
||||
self._status = "Error: Pump not running"
|
||||
return "Error"
|
||||
|
||||
self._pump_state = "Paused"
|
||||
self._status = "Vacuum Pump Paused"
|
||||
self._stop_vacuum_operation()
|
||||
|
||||
return "Success"
|
||||
|
||||
def resume_vacuum(self) -> str:
|
||||
"""
|
||||
恢复真空泵运行
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
if self._pump_state != "Paused":
|
||||
self._status = "Error: Pump not paused"
|
||||
return "Error"
|
||||
|
||||
if self._power_state != "On":
|
||||
self._status = "Error: Power Off"
|
||||
return "Error"
|
||||
|
||||
self._pump_state = "Running"
|
||||
self._status = "Resuming Vacuum Pump"
|
||||
self._start_vacuum_operation()
|
||||
|
||||
return "Success"
|
||||
|
||||
def vent_to_atmosphere(self) -> str:
|
||||
"""
|
||||
通大气 - 将真空度恢复到大气压
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
self._target_vacuum = self._max_vacuum # 设置为大气压
|
||||
self._status = "Venting to Atmosphere"
|
||||
return "Success"
|
||||
|
||||
def emergency_stop(self) -> str:
|
||||
"""
|
||||
紧急停止
|
||||
|
||||
Returns:
|
||||
str: 操作结果状态 ("Success", "Error")
|
||||
"""
|
||||
self._status = "Emergency Stop"
|
||||
self._pump_state = "Stopped"
|
||||
self._stop_vacuum_operation()
|
||||
self._pump_speed = 0.0
|
||||
|
||||
return "Success"
|
||||
|
||||
# ==================== 内部控制方法 ====================
|
||||
|
||||
def _start_vacuum_operation(self):
|
||||
"""
|
||||
启动真空操作线程
|
||||
|
||||
这个方法启动一个后台线程来模拟真空泵的实际运行过程。
|
||||
"""
|
||||
with self._thread_lock:
|
||||
if not self._running and self._power_state == "On":
|
||||
self._running = True
|
||||
self._vacuum_thread = threading.Thread(target=self._vacuum_operation_loop)
|
||||
self._vacuum_thread.daemon = True
|
||||
self._vacuum_thread.start()
|
||||
|
||||
def _stop_vacuum_operation(self):
|
||||
"""
|
||||
停止真空操作线程
|
||||
|
||||
安全地停止后台运行线程并等待其完成。
|
||||
"""
|
||||
with self._thread_lock:
|
||||
self._running = False
|
||||
if self._vacuum_thread and self._vacuum_thread.is_alive():
|
||||
self._vacuum_thread.join(timeout=2.0)
|
||||
|
||||
def _vacuum_operation_loop(self):
|
||||
"""
|
||||
真空操作主循环
|
||||
|
||||
这个方法在后台线程中运行，模拟真空泵的工作过程：
|
||||
1. 检查电源状态和运行状态
|
||||
2. 如果泵状态为 "Running"，根据目标真空调整泵速和真空度
|
||||
3. 否则等待
|
||||
"""
|
||||
while self._running and self._power_state == "On":
|
||||
try:
|
||||
with self._thread_lock:
|
||||
# 只有泵状态为 Running 时才进行更新
|
||||
if self._pump_state == "Running":
|
||||
vacuum_diff = self._vacuum_level - self._target_vacuum
|
||||
|
||||
if abs(vacuum_diff) < 1.0: # 真空度接近目标值
|
||||
self._status = "At Target Vacuum"
|
||||
self._pump_speed = self._max_pump_speed * 0.2 # 维持真空的最小泵速
|
||||
elif vacuum_diff > 0: # 需要抽真空（降低压力）
|
||||
self._status = "Pumping Down"
|
||||
if vacuum_diff > 500:
|
||||
self._pump_speed = self._max_pump_speed
|
||||
elif vacuum_diff > 100:
|
||||
self._pump_speed = self._max_pump_speed * 0.8
|
||||
elif vacuum_diff > 50:
|
||||
self._pump_speed = self._max_pump_speed * 0.6
|
||||
else:
|
||||
self._pump_speed = self._max_pump_speed * 0.4
|
||||
|
||||
# 根据泵速和效率计算真空降幅
|
||||
pump_rate = (self._pump_speed / self._max_pump_speed) * self._pump_efficiency / 100.0
|
||||
vacuum_reduction = pump_rate * 10.0 # 每秒最大降低10 mbar
|
||||
self._vacuum_level = max(self._target_vacuum, self._vacuum_level - vacuum_reduction)
|
||||
else: # 目标真空度高于当前值，需要通气
|
||||
self._status = "Venting"
|
||||
self._pump_speed = 0.0
|
||||
self._vacuum_level = min(self._target_vacuum, self._vacuum_level + 5.0)
|
||||
|
||||
# 限制真空度范围
|
||||
self._vacuum_level = max(self._min_vacuum, min(self._max_vacuum, self._vacuum_level))
|
||||
else:
|
||||
# 当泵状态不是 Running 时，可保持原状态
|
||||
self._status = "Vacuum Pump Not Running"
|
||||
# 释放锁后等待1秒钟
|
||||
time.sleep(1.0)
|
||||
except Exception as e:
|
||||
with self._thread_lock:
|
||||
self._status = f"Error in vacuum operation: {str(e)}"
|
||||
break
|
||||
|
||||
# 循环结束后的清理工作
|
||||
if self._pump_state == "Running":
|
||||
self._status = "Idle"
|
||||
# 停止泵后，真空度逐渐回升到大气压
|
||||
while self._vacuum_level < self._max_vacuum * 0.9:
|
||||
with self._thread_lock:
|
||||
self._vacuum_level += 2.0
|
||||
time.sleep(0.1)
|
||||
|
||||
def get_status_info(self) -> dict:
|
||||
"""
|
||||
获取完整的设备状态信息
|
||||
|
||||
Returns:
|
||||
dict: 包含所有设备状态的字典
|
||||
"""
|
||||
return {
|
||||
"status": self._status,
|
||||
"power_state": self._power_state,
|
||||
"pump_state": self._pump_state,
|
||||
"vacuum_level": self._vacuum_level,
|
||||
"target_vacuum": self._target_vacuum,
|
||||
"pump_speed": self._pump_speed,
|
||||
"pump_efficiency": self._pump_efficiency,
|
||||
"max_pump_speed": self._max_pump_speed,
|
||||
}
|
||||
|
||||
|
||||
# 用于测试的主函数
|
||||
if __name__ == "__main__":
|
||||
vacuum = MockVacuum()
|
||||
|
||||
# 测试基本功能
|
||||
print("启动真空泵测试...")
|
||||
vacuum.power_control("On")
|
||||
print(f"初始状态: {vacuum.get_status_info()}")
|
||||
|
||||
# 设置目标真空度并启动
|
||||
vacuum.set_vacuum_level(10.0) # 设置为10mbar
|
||||
vacuum.start_vacuum()
|
||||
|
||||
# 模拟运行15秒
|
||||
for i in range(15):
|
||||
time.sleep(1)
|
||||
print(
|
||||
f"第{i+1}秒: 真空度={vacuum.vacuum_level:.1f}mbar, 泵速={vacuum.pump_speed:.1f}L/s, 状态={vacuum.status}"
|
||||
)
|
||||
# 测试通大气
|
||||
print("测试通大气...")
|
||||
vacuum.vent_to_atmosphere()
|
||||
|
||||
# 继续运行5秒观察通大气过程
|
||||
for i in range(5):
|
||||
time.sleep(1)
|
||||
print(f"通大气第{i+1}秒: 真空度={vacuum.vacuum_level:.1f}mbar, 状态={vacuum.status}")
|
||||
|
||||
vacuum.emergency_stop()
|
||||
print("测试完成")
|
||||
@@ -1,9 +1,9 @@
|
||||
import asyncio
|
||||
from threading import Lock, Event
|
||||
from enum import Enum
|
||||
from dataclasses import dataclass
|
||||
import time
|
||||
from typing import Any, Union, Optional, overload
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from threading import Lock, Event
|
||||
from typing import Union, Optional
|
||||
|
||||
import serial.tools.list_ports
|
||||
from serial import Serial
|
||||
@@ -17,47 +17,47 @@ class RunzeSyringePumpMode(Enum):
|
||||
|
||||
|
||||
pulse_freq_grades = {
|
||||
6000: "0" ,
|
||||
5600: "1" ,
|
||||
5000: "2" ,
|
||||
4400: "3" ,
|
||||
3800: "4" ,
|
||||
3200: "5" ,
|
||||
2600: "6" ,
|
||||
2200: "7" ,
|
||||
2000: "8" ,
|
||||
1800: "9" ,
|
||||
6000: "0",
|
||||
5600: "1",
|
||||
5000: "2",
|
||||
4400: "3",
|
||||
3800: "4",
|
||||
3200: "5",
|
||||
2600: "6",
|
||||
2200: "7",
|
||||
2000: "8",
|
||||
1800: "9",
|
||||
1600: "10",
|
||||
1400: "11",
|
||||
1200: "12",
|
||||
1000: "13",
|
||||
800 : "14",
|
||||
600 : "15",
|
||||
400 : "16",
|
||||
200 : "17",
|
||||
190 : "18",
|
||||
180 : "19",
|
||||
170 : "20",
|
||||
160 : "21",
|
||||
150 : "22",
|
||||
140 : "23",
|
||||
130 : "24",
|
||||
120 : "25",
|
||||
110 : "26",
|
||||
100 : "27",
|
||||
90 : "28",
|
||||
80 : "29",
|
||||
70 : "30",
|
||||
60 : "31",
|
||||
50 : "32",
|
||||
40 : "33",
|
||||
30 : "34",
|
||||
20 : "35",
|
||||
18 : "36",
|
||||
16 : "37",
|
||||
14 : "38",
|
||||
12 : "39",
|
||||
10 : "40",
|
||||
800: "14",
|
||||
600: "15",
|
||||
400: "16",
|
||||
200: "17",
|
||||
190: "18",
|
||||
180: "19",
|
||||
170: "20",
|
||||
160: "21",
|
||||
150: "22",
|
||||
140: "23",
|
||||
130: "24",
|
||||
120: "25",
|
||||
110: "26",
|
||||
100: "27",
|
||||
90: "28",
|
||||
80: "29",
|
||||
70: "30",
|
||||
60: "31",
|
||||
50: "32",
|
||||
40: "33",
|
||||
30: "34",
|
||||
20: "35",
|
||||
18: "36",
|
||||
16: "37",
|
||||
14: "38",
|
||||
12: "39",
|
||||
10: "40",
|
||||
}
|
||||
|
||||
|
||||
@@ -69,7 +69,7 @@ class RunzeSyringePumpConnectionError(Exception):
|
||||
class RunzeSyringePumpInfo:
|
||||
port: str
|
||||
address: str = "1"
|
||||
|
||||
|
||||
max_volume: float = 25.0
|
||||
mode: RunzeSyringePumpMode = RunzeSyringePumpMode.Normal
|
||||
|
||||
@@ -81,16 +81,16 @@ class RunzeSyringePump:
|
||||
def __init__(self, port: str, address: str = "1", max_volume: float = 25.0, mode: RunzeSyringePumpMode = None):
|
||||
self.port = port
|
||||
self.address = address
|
||||
|
||||
|
||||
self.max_volume = max_volume
|
||||
self.total_steps = self.total_steps_vel = 6000
|
||||
|
||||
|
||||
self._status = "Idle"
|
||||
self._mode = mode
|
||||
self._max_velocity = 0
|
||||
self._valve_position = "I"
|
||||
self._position = 0
|
||||
|
||||
|
||||
try:
|
||||
# if port in serial_ports and serial_ports[port].is_open:
|
||||
# self.hardware_interface = serial_ports[port]
|
||||
@@ -99,11 +99,8 @@ class RunzeSyringePump:
|
||||
# baudrate=9600,
|
||||
# port=port
|
||||
# )
|
||||
self.hardware_interface = Serial(
|
||||
baudrate=9600,
|
||||
port=port
|
||||
)
|
||||
|
||||
self.hardware_interface = Serial(baudrate=9600, port=port)
|
||||
|
||||
except (OSError, SerialException) as e:
|
||||
# raise RunzeSyringePumpConnectionError from e
|
||||
self.hardware_interface = port
|
||||
@@ -113,13 +110,13 @@ class RunzeSyringePump:
|
||||
self._error_event = Event()
|
||||
self._query_lock = Lock()
|
||||
self._run_lock = Lock()
|
||||
|
||||
|
||||
def _adjust_total_steps(self):
|
||||
self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
|
||||
self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
|
||||
|
||||
|
||||
def send_command(self, full_command: str):
|
||||
full_command_data = bytearray(full_command, 'ascii')
|
||||
full_command_data = bytearray(full_command, "ascii")
|
||||
response = self.hardware_interface.write(full_command_data)
|
||||
time.sleep(0.05)
|
||||
output = self._receive(self.hardware_interface.read_until(b"\n"))
|
||||
@@ -130,9 +127,9 @@ class RunzeSyringePump:
|
||||
if self._closing:
|
||||
raise RunzeSyringePumpConnectionError
|
||||
|
||||
run = 'R' if not "?" in command else ''
|
||||
run = "R" if "?" not in command else ""
|
||||
full_command = f"/{self.address}{command}{run}\r\n"
|
||||
|
||||
|
||||
output = self.send_command(full_command)[3:-3]
|
||||
return output
|
||||
|
||||
@@ -160,7 +157,7 @@ class RunzeSyringePump:
|
||||
time.sleep(0.5) # Wait for 0.5 seconds before polling again
|
||||
|
||||
status = self.get_status()
|
||||
if status == 'Idle':
|
||||
if status == "Idle":
|
||||
break
|
||||
finally:
|
||||
pass
|
||||
@@ -176,7 +173,7 @@ class RunzeSyringePump:
|
||||
# # self.set_mode(self.mode)
|
||||
# self.mode = self.get_mode()
|
||||
return response
|
||||
|
||||
|
||||
# Settings
|
||||
|
||||
def set_baudrate(self, baudrate):
|
||||
@@ -186,32 +183,32 @@ class RunzeSyringePump:
|
||||
return self._run("U47")
|
||||
else:
|
||||
raise ValueError("Unsupported baudrate")
|
||||
|
||||
|
||||
# Device Status
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
|
||||
def _standardize_status(self, status_raw):
|
||||
return "Idle" if status_raw == "`" else "Busy"
|
||||
|
||||
|
||||
def get_status(self):
|
||||
status_raw = self._query("Q")
|
||||
self._status = self._standardize_status(status_raw)
|
||||
return self._status
|
||||
|
||||
|
||||
# Mode Settings and Queries
|
||||
|
||||
|
||||
@property
|
||||
def mode(self) -> int:
|
||||
return self._mode
|
||||
|
||||
|
||||
# def set_mode(self, mode: RunzeSyringePumpMode):
|
||||
# self.mode = mode
|
||||
# self._adjust_total_steps()
|
||||
# command = f"N{mode.value}"
|
||||
# return self._run(command)
|
||||
|
||||
|
||||
# def get_mode(self):
|
||||
# response = self._query("?28")
|
||||
# status_raw, mode = response[0], int(response[1])
|
||||
@@ -220,11 +217,11 @@ class RunzeSyringePump:
|
||||
# return self.mode
|
||||
|
||||
# Speed Settings and Queries
|
||||
|
||||
|
||||
@property
|
||||
def max_velocity(self) -> float:
|
||||
return self._max_velocity
|
||||
|
||||
|
||||
def set_max_velocity(self, velocity: float):
|
||||
self._max_velocity = velocity
|
||||
pulse_freq = int(velocity / self.max_volume * self.total_steps_vel)
|
||||
@@ -237,10 +234,10 @@ class RunzeSyringePump:
|
||||
self._status = self._standardize_status(status_raw)
|
||||
self._max_velocity = pulse_freq / self.total_steps_vel * self.max_volume
|
||||
return self._max_velocity
|
||||
|
||||
|
||||
def set_velocity_grade(self, velocity: Union[int, str]):
|
||||
return self._run(f"S{velocity}")
|
||||
|
||||
|
||||
def get_velocity_grade(self):
|
||||
response = self._query("?2")
|
||||
status_raw, pulse_freq = response[0], int(response[1:])
|
||||
@@ -264,21 +261,21 @@ class RunzeSyringePump:
|
||||
self._status = self._standardize_status(status_raw)
|
||||
velocity = pulse_freq / self.total_steps_vel * self.max_volume
|
||||
return pulse_freq, velocity
|
||||
|
||||
|
||||
# Operations
|
||||
|
||||
|
||||
# Valve Setpoint and Queries
|
||||
|
||||
@property
|
||||
def valve_position(self) -> str:
|
||||
return self._valve_position
|
||||
|
||||
|
||||
def set_valve_position(self, position: Union[int, str, float]):
|
||||
if type(position) == float:
|
||||
if isinstance(position, float):
|
||||
position = round(position / 120)
|
||||
command = f"I{position}" if type(position) == int or ord(position) <= 57 else position.upper()
|
||||
command = f"I{position}" if isinstance(position, int) or ord(position) <= 57 else position.upper()
|
||||
response = self._run(command)
|
||||
self._valve_position = f"{position}" if type(position) == int or ord(position) <= 57 else position.upper()
|
||||
self._valve_position = f"{position}" if isinstance(position, int) or ord(position) <= 57 else position.upper()
|
||||
return response
|
||||
|
||||
def get_valve_position(self) -> str:
|
||||
@@ -287,9 +284,9 @@ class RunzeSyringePump:
|
||||
self._valve_position = pos_valve
|
||||
self._status = self._standardize_status(status_raw)
|
||||
return pos_valve
|
||||
|
||||
|
||||
# Plunger Setpoint and Queries
|
||||
|
||||
|
||||
@property
|
||||
def position(self) -> float:
|
||||
return self._position
|
||||
@@ -320,7 +317,7 @@ class RunzeSyringePump:
|
||||
velocity_cmd = ""
|
||||
pos_step = int(position / self.max_volume * self.total_steps)
|
||||
return self._run(f"{velocity_cmd}A{pos_step}")
|
||||
|
||||
|
||||
def pull_plunger(self, volume: float):
|
||||
"""
|
||||
Pull a fixed volume (unit: ml)
|
||||
@@ -333,7 +330,7 @@ class RunzeSyringePump:
|
||||
"""
|
||||
pos_step = int(volume / self.max_volume * self.total_steps)
|
||||
return self._run(f"P{pos_step}")
|
||||
|
||||
|
||||
def push_plunger(self, volume: float):
|
||||
"""
|
||||
Push a fixed volume (unit: ml)
|
||||
@@ -354,7 +351,7 @@ class RunzeSyringePump:
|
||||
|
||||
def stop_operation(self):
|
||||
return self._run("T")
|
||||
|
||||
|
||||
# Queries
|
||||
|
||||
def query_command_buffer_status(self):
|
||||
@@ -386,3 +383,8 @@ class RunzeSyringePump:
|
||||
def list():
|
||||
for item in serial.tools.list_ports.comports():
|
||||
yield RunzeSyringePumpInfo(port=item.device)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
r = RunzeSyringePump("/dev/tty.usbserial-D30JUGG5", "1", 25.0)
|
||||
r.initialize()
|
||||
|
||||
391
unilabos/devices/pump_and_valve/runze_multiple_backbone.py
Normal file
391
unilabos/devices/pump_and_valve/runze_multiple_backbone.py
Normal file
@@ -0,0 +1,391 @@
|
||||
"""
|
||||
Runze Syringe Pump Controller (SY-03B-T08)
|
||||
|
||||
本模块用于控制润泽注射泵 SY-03B-T08 型号的多泵系统。
|
||||
支持通过串口同时控制多个具有不同地址的泵。
|
||||
泵每次连接前要先进行初始化。
|
||||
|
||||
基础用法:
|
||||
# 创建控制器实例
|
||||
pump_controller = RunzeMultiplePump("COM3") # 或 "/dev/ttyUSB0" (Linux)
|
||||
|
||||
# 初始化特定地址的泵
|
||||
pump_controller.initialize("1")
|
||||
|
||||
# 设置阀门位置
|
||||
pump_controller.set_valve_position("1", 1) # 设置到位置1
|
||||
|
||||
# 移动到绝对位置
|
||||
pump_controller.set_position("1", 10.0) # 移动到10ml位置
|
||||
|
||||
# 推拉柱塞操作
|
||||
pump_controller.pull_plunger("1", 5.0) # 吸取5ml
|
||||
pump_controller.push_plunger("1", 5.0) # 推出5ml
|
||||
|
||||
# 关闭连接
|
||||
pump_controller.close()
|
||||
|
||||
支持的泵地址: 1-8 (字符串格式，如 "1", "2", "3" 等)
|
||||
默认最大容量: 25.0 ml
|
||||
通信协议: RS485, 9600波特率
|
||||
"""
|
||||
|
||||
from threading import Lock, Event
|
||||
import time
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from typing import Union, Optional, List, Dict
|
||||
|
||||
import serial.tools.list_ports
|
||||
from serial import Serial
|
||||
from serial.serialutil import SerialException
|
||||
|
||||
|
||||
class RunzeSyringePumpMode(Enum):
|
||||
Normal = 0
|
||||
AccuratePos = 1
|
||||
AccuratePosVel = 2
|
||||
|
||||
|
||||
pulse_freq_grades = {
|
||||
6000: "0",
|
||||
5600: "1",
|
||||
5000: "2",
|
||||
4400: "3",
|
||||
3800: "4",
|
||||
3200: "5",
|
||||
2600: "6",
|
||||
2200: "7",
|
||||
2000: "8",
|
||||
1800: "9",
|
||||
1600: "10",
|
||||
1400: "11",
|
||||
1200: "12",
|
||||
1000: "13",
|
||||
800: "14",
|
||||
600: "15",
|
||||
400: "16",
|
||||
200: "17",
|
||||
190: "18",
|
||||
180: "19",
|
||||
170: "20",
|
||||
160: "21",
|
||||
150: "22",
|
||||
140: "23",
|
||||
130: "24",
|
||||
120: "25",
|
||||
110: "26",
|
||||
100: "27",
|
||||
90: "28",
|
||||
80: "29",
|
||||
70: "30",
|
||||
60: "31",
|
||||
50: "32",
|
||||
40: "33",
|
||||
30: "34",
|
||||
20: "35",
|
||||
18: "36",
|
||||
16: "37",
|
||||
14: "38",
|
||||
12: "39",
|
||||
10: "40",
|
||||
}
|
||||
|
||||
|
||||
class RunzeSyringePumpConnectionError(Exception):
|
||||
pass
|
||||
|
||||
|
||||
@dataclass
|
||||
class PumpConfig:
|
||||
address: str
|
||||
max_volume: float = 25.0
|
||||
mode: RunzeSyringePumpMode = RunzeSyringePumpMode.Normal
|
||||
|
||||
|
||||
class RunzeMultiplePump:
|
||||
"""
|
||||
Multi-address Runze Syringe Pump Controller
|
||||
|
||||
Supports controlling multiple pumps on the same serial port with different addresses.
|
||||
"""
|
||||
|
||||
def __init__(self, port: str):
|
||||
"""
|
||||
Initialize multiple pump controller
|
||||
|
||||
Args:
|
||||
port (str): Serial port path
|
||||
"""
|
||||
self.port = port
|
||||
|
||||
# Default pump parameters
|
||||
self.max_volume = 25.0
|
||||
self.total_steps = 6000
|
||||
self.total_steps_vel = 6000
|
||||
|
||||
# Connection management
|
||||
try:
|
||||
self.hardware_interface = Serial(baudrate=9600, port=port, timeout=1.0)
|
||||
print(f"✓ 成功连接到串口: {port}")
|
||||
except (OSError, SerialException) as e:
|
||||
print(f"✗ 串口连接失败: {e}")
|
||||
raise RunzeSyringePumpConnectionError(f"无法连接到串口 {port}: {e}") from e
|
||||
|
||||
# Thread safety
|
||||
self._query_lock = Lock()
|
||||
self._run_lock = Lock()
|
||||
self._closing = False
|
||||
|
||||
# Pump status tracking
|
||||
self._pump_status: Dict[str, str] = {} # address -> status
|
||||
|
||||
def _adjust_total_steps(self, mode: RunzeSyringePumpMode):
|
||||
total_steps = 6000 if mode == RunzeSyringePumpMode.Normal else 48000
|
||||
total_steps_vel = 48000 if mode == RunzeSyringePumpMode.AccuratePosVel else 6000
|
||||
return total_steps, total_steps_vel
|
||||
|
||||
def _receive(self, data: bytes) -> str:
|
||||
"""
|
||||
Keep this method as original. Always use chr to decode, avoid "/0"
|
||||
"""
|
||||
if not data:
|
||||
return ""
|
||||
# **Do not use decode method
|
||||
ascii_string = "".join(chr(byte) for byte in data)
|
||||
return ascii_string
|
||||
|
||||
def send_command(self, full_command: str) -> str:
|
||||
"""Send command to hardware and get response"""
|
||||
full_command_data = bytearray(full_command, "ascii")
|
||||
self.hardware_interface.write(full_command_data)
|
||||
time.sleep(0.05)
|
||||
response = self.hardware_interface.read_until(b"\n") # \n should direct use, not \\n
|
||||
output = self._receive(response)
|
||||
return output
|
||||
|
||||
def _query(self, address: str, command: str) -> str:
|
||||
"""
|
||||
Send query command to specific pump
|
||||
|
||||
Args:
|
||||
address (str): Pump address (e.g., "1", "2", "3")
|
||||
command (str): Command to send
|
||||
|
||||
Returns:
|
||||
str: Response from pump
|
||||
"""
|
||||
with self._query_lock:
|
||||
if self._closing:
|
||||
raise RunzeSyringePumpConnectionError("Connection is closing")
|
||||
|
||||
run = "R" if "?" not in command else ""
|
||||
full_command = f"/{address}{command}{run}\r\n" # \r\n should direct use, not \\r\\n
|
||||
|
||||
output = self.send_command(full_command)[3:-3]
|
||||
return output
|
||||
|
||||
|
||||
def _run(self, address: str, command: str) -> str:
|
||||
"""
|
||||
Run command and wait for completion
|
||||
|
||||
Args:
|
||||
address (str): Pump address
|
||||
command (str): Command to execute
|
||||
|
||||
Returns:
|
||||
str: Command response
|
||||
"""
|
||||
with self._run_lock:
|
||||
try:
|
||||
print(f"[泵 {address}] 执行命令: {command}")
|
||||
response = self._query(address, command)
|
||||
|
||||
# Wait for operation completion
|
||||
while True:
|
||||
time.sleep(0.5)
|
||||
status = self.get_status(address)
|
||||
if status == "Idle":
|
||||
break
|
||||
|
||||
except Exception as e:
|
||||
print(f"[泵 {address}] 命令执行错误: {e}")
|
||||
response = ""
|
||||
|
||||
return response
|
||||
|
||||
def _standardize_status(self, status_raw: str) -> str:
|
||||
"""Convert raw status to standard format"""
|
||||
return "Idle" if status_raw == "`" else "Busy"
|
||||
|
||||
# === Core Operations ===
|
||||
|
||||
def initialize(self, address: str) -> str:
|
||||
"""Initialize specific pump"""
|
||||
print(f"[泵 {address}] 正在初始化...")
|
||||
response = self._run(address, "Z")
|
||||
print(f"[泵 {address}] 初始化完成")
|
||||
return response
|
||||
|
||||
# === Status Queries ===
|
||||
|
||||
def get_status(self, address: str) -> str:
|
||||
"""Get pump status"""
|
||||
try:
|
||||
status_raw = self._query(address, "Q")
|
||||
status = self._standardize_status(status_raw)
|
||||
self._pump_status[address] = status
|
||||
return status
|
||||
except Exception:
|
||||
return "Error"
|
||||
|
||||
# === Velocity Control ===
|
||||
|
||||
def set_max_velocity(self, address: str, velocity: float, max_volume: float = None) -> str:
|
||||
"""Set maximum velocity for pump"""
|
||||
if max_volume is None:
|
||||
max_volume = self.max_volume
|
||||
|
||||
pulse_freq = int(velocity / max_volume * self.total_steps_vel)
|
||||
pulse_freq = min(6000, pulse_freq)
|
||||
return self._run(address, f"V{pulse_freq}")
|
||||
|
||||
def get_max_velocity(self, address: str, max_volume: float = None) -> float:
|
||||
"""Get maximum velocity of pump"""
|
||||
if max_volume is None:
|
||||
max_volume = self.max_volume
|
||||
|
||||
response = self._query(address, "?2")
|
||||
status_raw, pulse_freq = response[0], int(response[1:])
|
||||
velocity = pulse_freq / self.total_steps_vel * max_volume
|
||||
return velocity
|
||||
|
||||
def set_velocity_grade(self, address: str, velocity: Union[int, str]) -> str:
|
||||
"""Set velocity grade"""
|
||||
return self._run(address, f"S{velocity}")
|
||||
|
||||
# === Position Control ===
|
||||
|
||||
def get_position(self, address: str, max_volume: float = None) -> float:
|
||||
"""Get current plunger position in ml"""
|
||||
if max_volume is None:
|
||||
max_volume = self.max_volume
|
||||
|
||||
response = self._query(address, "?0")
|
||||
status_raw, pos_step = response[0], int(response[1:])
|
||||
position = pos_step / self.total_steps * max_volume
|
||||
return position
|
||||
|
||||
def set_position(self, address: str, position: float, max_velocity: float = None, max_volume: float = None) -> str:
|
||||
"""
|
||||
Move to absolute volume position
|
||||
|
||||
Args:
|
||||
address (str): Pump address
|
||||
position (float): Target position in ml
|
||||
max_velocity (float): Maximum velocity in ml/s
|
||||
max_volume (float): Maximum syringe volume in ml
|
||||
"""
|
||||
if max_volume is None:
|
||||
max_volume = self.max_volume
|
||||
|
||||
velocity_cmd = ""
|
||||
if max_velocity is not None:
|
||||
pulse_freq = int(max_velocity / max_volume * self.total_steps_vel)
|
||||
pulse_freq = min(6000, pulse_freq)
|
||||
velocity_cmd = f"V{pulse_freq}"
|
||||
|
||||
pos_step = int(position / max_volume * self.total_steps)
|
||||
return self._run(address, f"{velocity_cmd}A{pos_step}")
|
||||
|
||||
def pull_plunger(self, address: str, volume: float, max_volume: float = None) -> str:
|
||||
"""Pull plunger by specified volume"""
|
||||
if max_volume is None:
|
||||
max_volume = self.max_volume
|
||||
|
||||
pos_step = int(volume / max_volume * self.total_steps)
|
||||
return self._run(address, f"P{pos_step}")
|
||||
|
||||
def push_plunger(self, address: str, volume: float, max_volume: float = None) -> str:
|
||||
"""Push plunger by specified volume"""
|
||||
if max_volume is None:
|
||||
max_volume = self.max_volume
|
||||
|
||||
pos_step = int(volume / max_volume * self.total_steps)
|
||||
return self._run(address, f"D{pos_step}")
|
||||
|
||||
# === Valve Control ===
|
||||
|
||||
def set_valve_position(self, address: str, position: Union[int, str, float]) -> str:
|
||||
"""Set valve position"""
|
||||
if isinstance(position, float):
|
||||
position = round(position / 120)
|
||||
command = f"I{position}" if isinstance(position, int) or ord(str(position)) <= 57 else str(position).upper()
|
||||
return self._run(address, command)
|
||||
|
||||
def get_valve_position(self, address: str) -> str:
|
||||
"""Get current valve position"""
|
||||
response = self._query(address, "?6")
|
||||
status_raw, pos_valve = response[0], response[1].upper()
|
||||
return pos_valve
|
||||
|
||||
# === Utility Functions ===
|
||||
|
||||
def stop_operation(self, address: str) -> str:
|
||||
"""Stop current operation"""
|
||||
return self._run(address, "T")
|
||||
|
||||
def close(self):
|
||||
"""Close connection"""
|
||||
if self._closing:
|
||||
raise RunzeSyringePumpConnectionError("Already closing")
|
||||
|
||||
self._closing = True
|
||||
self.hardware_interface.close()
|
||||
print("✓ 串口连接已关闭")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
"""
|
||||
示例：初始化3个泵（地址1、2、3），然后断开连接
|
||||
"""
|
||||
try:
|
||||
# 请根据实际串口修改端口号
|
||||
# Windows: "COM3", "COM4", 等
|
||||
# Linux/Mac: "/dev/ttyUSB0", "/dev/ttyACM0", 等
|
||||
port = "/dev/cn." # 修改为实际使用的串口
|
||||
|
||||
print("正在创建泵控制器...")
|
||||
pump_controller = RunzeMultiplePump(port)
|
||||
|
||||
# 初始化3个泵 (地址: 1, 2, 3)
|
||||
pump_addresses = ["1", "2", "3"]
|
||||
|
||||
for address in pump_addresses:
|
||||
try:
|
||||
print(f"\n正在初始化泵 {address}...")
|
||||
pump_controller.initialize(address)
|
||||
|
||||
# 检查泵状态
|
||||
status = pump_controller.get_status(address)
|
||||
print(f"泵 {address} 状态: {status}")
|
||||
except Exception as e:
|
||||
print(f"泵 {address} 初始化失败: {e}")
|
||||
|
||||
print("\n所有泵初始化完成！")
|
||||
|
||||
# 断开连接
|
||||
print("\n正在断开连接...")
|
||||
pump_controller.close()
|
||||
print("程序结束")
|
||||
|
||||
except RunzeSyringePumpConnectionError as e:
|
||||
print(f"连接错误: {e}")
|
||||
print("请检查:")
|
||||
print("1. 串口是否正确")
|
||||
print("2. 设备是否已连接")
|
||||
print("3. 串口是否被其他程序占用")
|
||||
|
||||
except Exception as e:
|
||||
print(f"未知错误: {e}")
|
||||
282
unilabos/devices/separator/chinwe.py
Normal file
282
unilabos/devices/separator/chinwe.py
Normal file
@@ -0,0 +1,282 @@
|
||||
import sys
|
||||
import threading
|
||||
import serial
|
||||
import serial.tools.list_ports
|
||||
import re
|
||||
import time
|
||||
from typing import Optional, List, Dict, Tuple
|
||||
|
||||
class ChinweDevice:
|
||||
"""
|
||||
ChinWe设备控制类
|
||||
提供串口通信、电机控制、传感器数据读取等功能
|
||||
"""
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 115200, debug: bool = False):
|
||||
"""
|
||||
初始化ChinWe设备
|
||||
|
||||
Args:
|
||||
port: 串口名称，如果为None则自动检测
|
||||
baudrate: 波特率，默认115200
|
||||
"""
|
||||
self.debug = debug
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.serial_port: Optional[serial.Serial] = None
|
||||
self._voltage: float = 0.0
|
||||
self._ec_value: float = 0.0
|
||||
self._ec_adc_value: int = 0
|
||||
self._is_connected = False
|
||||
self.connect()
|
||||
|
||||
@property
|
||||
def is_connected(self) -> bool:
|
||||
"""获取连接状态"""
|
||||
return self._is_connected and self.serial_port and self.serial_port.is_open
|
||||
|
||||
@property
|
||||
def voltage(self) -> float:
|
||||
"""获取电源电压值"""
|
||||
return self._voltage
|
||||
|
||||
@property
|
||||
def ec_value(self) -> float:
|
||||
"""获取电导率值 (ms/cm)"""
|
||||
return self._ec_value
|
||||
|
||||
@property
|
||||
def ec_adc_value(self) -> int:
|
||||
"""获取EC ADC原始值"""
|
||||
return self._ec_adc_value
|
||||
|
||||
|
||||
@property
|
||||
def device_status(self) -> Dict[str, any]:
|
||||
"""
|
||||
获取设备状态信息
|
||||
|
||||
Returns:
|
||||
包含设备状态的字典
|
||||
"""
|
||||
return {
|
||||
"connected": self.is_connected,
|
||||
"port": self.port,
|
||||
"baudrate": self.baudrate,
|
||||
"voltage": self.voltage,
|
||||
"ec_value": self.ec_value,
|
||||
"ec_adc_value": self.ec_adc_value
|
||||
}
|
||||
|
||||
def connect(self, port: Optional[str] = None, baudrate: Optional[int] = None) -> bool:
|
||||
"""
|
||||
连接到串口设备
|
||||
|
||||
Args:
|
||||
port: 串口名称，如果为None则使用初始化时的port或自动检测
|
||||
baudrate: 波特率，如果为None则使用初始化时的baudrate
|
||||
|
||||
Returns:
|
||||
连接是否成功
|
||||
"""
|
||||
if self.is_connected:
|
||||
return True
|
||||
|
||||
target_port = port or self.port
|
||||
target_baudrate = baudrate or self.baudrate
|
||||
|
||||
try:
|
||||
self.serial_port = serial.Serial(target_port, target_baudrate, timeout=0.5)
|
||||
self._is_connected = True
|
||||
self.port = target_port
|
||||
self.baudrate = target_baudrate
|
||||
connect_allow_times = 5
|
||||
while not self.serial_port.is_open and connect_allow_times > 0:
|
||||
time.sleep(0.5)
|
||||
connect_allow_times -= 1
|
||||
print(f"尝试连接到 {target_port} @ {target_baudrate}，剩余尝试次数: {connect_allow_times}", self.debug)
|
||||
raise ValueError("串口未打开，请检查设备连接")
|
||||
print(f"已连接到 {target_port} @ {target_baudrate}", self.debug)
|
||||
threading.Thread(target=self._read_data, daemon=True).start()
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"ChinweDevice连接失败: {e}")
|
||||
self._is_connected = False
|
||||
return False
|
||||
|
||||
def disconnect(self) -> bool:
|
||||
"""
|
||||
断开串口连接
|
||||
|
||||
Returns:
|
||||
断开是否成功
|
||||
"""
|
||||
if self.serial_port and self.serial_port.is_open:
|
||||
try:
|
||||
self.serial_port.close()
|
||||
self._is_connected = False
|
||||
print("已断开串口连接")
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"断开连接失败: {e}")
|
||||
return False
|
||||
return True
|
||||
|
||||
def _send_motor_command(self, command: str) -> bool:
|
||||
"""
|
||||
发送电机控制命令
|
||||
|
||||
Args:
|
||||
command: 电机命令字符串，例如 "M 1 CW 1.5"
|
||||
|
||||
Returns:
|
||||
发送是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
print("设备未连接")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.serial_port.write((command + "\n").encode('utf-8'))
|
||||
print(f"发送命令: {command}")
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"发送命令失败: {e}")
|
||||
return False
|
||||
|
||||
def rotate_motor(self, motor_id: int, turns: float, clockwise: bool = True) -> bool:
|
||||
"""
|
||||
使电机转动指定圈数
|
||||
|
||||
Args:
|
||||
motor_id: 电机ID（1, 2, 3...）
|
||||
turns: 转动圈数，支持小数
|
||||
clockwise: True为顺时针，False为逆时针
|
||||
|
||||
Returns:
|
||||
命令发送是否成功
|
||||
"""
|
||||
if clockwise:
|
||||
command = f"M {motor_id} CW {turns}"
|
||||
else:
|
||||
command = f"M {motor_id} CCW {turns}"
|
||||
return self._send_motor_command(command)
|
||||
|
||||
def set_motor_speed(self, motor_id: int, speed: float) -> bool:
|
||||
"""
|
||||
设置电机转速（如果设备支持）
|
||||
|
||||
Args:
|
||||
motor_id: 电机ID（1, 2, 3...）
|
||||
speed: 转速值
|
||||
|
||||
Returns:
|
||||
命令发送是否成功
|
||||
"""
|
||||
command = f"M {motor_id} SPEED {speed}"
|
||||
return self._send_motor_command(command)
|
||||
|
||||
def _read_data(self) -> List[str]:
|
||||
"""
|
||||
读取串口数据并解析
|
||||
|
||||
Returns:
|
||||
读取到的数据行列表
|
||||
"""
|
||||
print("开始读取串口数据...")
|
||||
if not self.is_connected:
|
||||
return []
|
||||
|
||||
data_lines = []
|
||||
try:
|
||||
while self.serial_port.in_waiting:
|
||||
time.sleep(0.1) # 等待数据稳定
|
||||
try:
|
||||
line = self.serial_port.readline().decode('utf-8', errors='ignore').strip()
|
||||
if line:
|
||||
data_lines.append(line)
|
||||
self._parse_sensor_data(line)
|
||||
except Exception as ex:
|
||||
print(f"解码数据错误: {ex}")
|
||||
except Exception as e:
|
||||
print(f"读取串口数据错误: {e}")
|
||||
|
||||
return data_lines
|
||||
|
||||
def _parse_sensor_data(self, line: str) -> None:
|
||||
"""
|
||||
解析传感器数据
|
||||
|
||||
Args:
|
||||
line: 接收到的数据行
|
||||
"""
|
||||
# 解析电源电压
|
||||
if "电源电压" in line:
|
||||
try:
|
||||
val = float(line.split("：")[1].replace("V", "").strip())
|
||||
self._voltage = val
|
||||
if self.debug:
|
||||
print(f"电源电压更新: {val}V")
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
# 解析电导率和ADC原始值（支持两种格式）
|
||||
if "电导率" in line and "ADC原始值" in line:
|
||||
try:
|
||||
# 支持格式如：电导率：2.50ms/cm, ADC原始值：2052
|
||||
ec_match = re.search(r"电导率[:：]\s*([\d\.]+)", line)
|
||||
adc_match = re.search(r"ADC原始值[:：]\s*(\d+)", line)
|
||||
if ec_match:
|
||||
ec_val = float(ec_match.group(1))
|
||||
self._ec_value = ec_val
|
||||
if self.debug:
|
||||
print(f"电导率更新: {ec_val:.2f} ms/cm")
|
||||
if adc_match:
|
||||
adc_val = int(adc_match.group(1))
|
||||
self._ec_adc_value = adc_val
|
||||
if self.debug:
|
||||
print(f"EC ADC原始值更新: {adc_val}")
|
||||
except Exception:
|
||||
pass
|
||||
# 仅电导率，无ADC原始值
|
||||
elif "电导率" in line:
|
||||
try:
|
||||
val = float(line.split("：")[1].replace("ms/cm", "").strip())
|
||||
self._ec_value = val
|
||||
if self.debug:
|
||||
print(f"电导率更新: {val:.2f} ms/cm")
|
||||
except Exception:
|
||||
pass
|
||||
# 仅ADC原始值（如有分开回传场景）
|
||||
elif "ADC原始值" in line:
|
||||
try:
|
||||
adc_val = int(line.split("：")[1].strip())
|
||||
self._ec_adc_value = adc_val
|
||||
if self.debug:
|
||||
print(f"EC ADC原始值更新: {adc_val}")
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
def spin_when_ec_ge_0():
|
||||
pass
|
||||
|
||||
|
||||
def main():
|
||||
"""测试函数"""
|
||||
print("=== ChinWe设备测试 ===")
|
||||
|
||||
# 创建设备实例
|
||||
device = ChinweDevice("/dev/tty.usbserial-A5069RR4", debug=True)
|
||||
try:
|
||||
# 测试5: 发送电机命令
|
||||
print("\n5. 发送电机命令测试:")
|
||||
print(" 5.3 使用通用函数控制电机20顺时针转2圈:")
|
||||
device.rotate_motor(2, 20.0, clockwise=True)
|
||||
time.sleep(0.5)
|
||||
finally:
|
||||
time.sleep(10)
|
||||
# 测试7: 断开连接
|
||||
print("\n7. 断开连接:")
|
||||
device.disconnect()
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -3,6 +3,8 @@ import logging
|
||||
import time as time_module
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
from unilabos.compile.utils.vessel_parser import get_vessel
|
||||
|
||||
|
||||
class VirtualFilter:
|
||||
"""Virtual filter device - 完全按照 Filter.action 规范 🌊"""
|
||||
@@ -40,7 +42,6 @@ class VirtualFilter:
|
||||
"progress": 0.0, # Filter.action feedback
|
||||
"current_temp": 25.0, # Filter.action feedback
|
||||
"filtered_volume": 0.0, # Filter.action feedback
|
||||
"current_status": "Ready for filtration", # Filter.action feedback
|
||||
"message": "Ready for filtration"
|
||||
})
|
||||
|
||||
@@ -52,9 +53,7 @@ class VirtualFilter:
|
||||
self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
|
||||
|
||||
self.data.update({
|
||||
"status": "Offline",
|
||||
"current_status": "System offline",
|
||||
"message": "System offline"
|
||||
"status": "Offline"
|
||||
})
|
||||
|
||||
self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
|
||||
@@ -62,8 +61,8 @@ class VirtualFilter:
|
||||
|
||||
async def filter(
|
||||
self,
|
||||
vessel: str,
|
||||
filtrate_vessel: str = "",
|
||||
vessel: dict,
|
||||
filtrate_vessel: dict = {},
|
||||
stir: bool = False,
|
||||
stir_speed: float = 300.0,
|
||||
temp: float = 25.0,
|
||||
@@ -71,7 +70,9 @@ class VirtualFilter:
|
||||
volume: float = 0.0
|
||||
) -> bool:
|
||||
"""Execute filter action - 完全按照 Filter.action 参数 🌊"""
|
||||
|
||||
vessel_id, _ = get_vessel(vessel)
|
||||
filtrate_vessel_id, _ = get_vessel(filtrate_vessel) if filtrate_vessel else (f"{vessel_id}_filtrate", {})
|
||||
|
||||
# 🔧 新增：温度自动调整
|
||||
original_temp = temp
|
||||
if temp == 0.0:
|
||||
@@ -81,7 +82,7 @@ class VirtualFilter:
|
||||
temp = 4.0 # 小于4度自动设置为4度
|
||||
self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️")
|
||||
|
||||
self.logger.info(f"🌊 开始过滤操作: {vessel} → {filtrate_vessel} 🚰")
|
||||
self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰")
|
||||
self.logger.info(f" 🌪️ 搅拌: {stir} ({stir_speed} RPM)")
|
||||
self.logger.info(f" 🌡️ 温度: {temp}°C")
|
||||
self.logger.info(f" 💧 体积: {volume}mL")
|
||||
@@ -93,7 +94,6 @@ class VirtualFilter:
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update({
|
||||
"status": f"Error: 温度超出范围 ⚠️",
|
||||
"current_status": f"Error: 温度超出范围 ⚠️",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
@@ -103,7 +103,6 @@ class VirtualFilter:
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update({
|
||||
"status": f"Error: 搅拌速度超出范围 ⚠️",
|
||||
"current_status": f"Error: 搅拌速度超出范围 ⚠️",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
@@ -112,8 +111,7 @@ class VirtualFilter:
|
||||
error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update({
|
||||
"status": f"Error: 体积超出范围 ⚠️",
|
||||
"current_status": f"Error: 体积超出范围 ⚠️",
|
||||
"status": f"Error",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
@@ -123,12 +121,11 @@ class VirtualFilter:
|
||||
self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
|
||||
|
||||
self.data.update({
|
||||
"status": f"🌊 过滤中: {vessel}",
|
||||
"status": f"Running",
|
||||
"current_temp": temp,
|
||||
"filtered_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"current_status": f"🌊 Filtering {vessel} → {filtrate_vessel}",
|
||||
"message": f"🚀 Starting filtration: {vessel} → {filtrate_vessel}"
|
||||
"message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}"
|
||||
})
|
||||
|
||||
try:
|
||||
@@ -164,8 +161,7 @@ class VirtualFilter:
|
||||
"progress": progress, # Filter.action feedback
|
||||
"current_temp": temp, # Filter.action feedback
|
||||
"filtered_volume": current_filtered, # Filter.action feedback
|
||||
"current_status": f"🌊 Filtering: {progress:.1f}% complete", # Filter.action feedback
|
||||
"status": status_msg,
|
||||
"status": "Running",
|
||||
"message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered"
|
||||
})
|
||||
|
||||
@@ -190,11 +186,10 @@ class VirtualFilter:
|
||||
"progress": 100.0, # Filter.action feedback
|
||||
"current_temp": final_temp, # Filter.action feedback
|
||||
"filtered_volume": filter_volume, # Filter.action feedback
|
||||
"current_status": f"✅ Filtration completed: {filter_volume}mL", # Filter.action feedback
|
||||
"message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel}"
|
||||
"message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}"
|
||||
})
|
||||
|
||||
self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel} 过滤到 {filtrate_vessel} ✨")
|
||||
self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
|
||||
self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
|
||||
return True
|
||||
|
||||
@@ -202,8 +197,7 @@ class VirtualFilter:
|
||||
error_msg = f"过滤过程中发生错误: {str(e)} 💥"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update({
|
||||
"status": f"❌ 过滤错误: {str(e)}",
|
||||
"current_status": f"❌ Filtration failed: {str(e)}",
|
||||
"status": f"Error",
|
||||
"message": f"❌ Filtration failed: {str(e)}"
|
||||
})
|
||||
return False
|
||||
@@ -222,17 +216,17 @@ class VirtualFilter:
|
||||
def current_temp(self) -> float:
|
||||
"""Filter.action feedback 字段 🌡️"""
|
||||
return self.data.get("current_temp", 25.0)
|
||||
|
||||
@property
|
||||
def filtered_volume(self) -> float:
|
||||
"""Filter.action feedback 字段 💧"""
|
||||
return self.data.get("filtered_volume", 0.0)
|
||||
|
||||
|
||||
@property
|
||||
def current_status(self) -> str:
|
||||
"""Filter.action feedback 字段 📋"""
|
||||
return self.data.get("current_status", "")
|
||||
|
||||
|
||||
@property
|
||||
def filtered_volume(self) -> float:
|
||||
"""Filter.action feedback 字段 💧"""
|
||||
return self.data.get("filtered_volume", 0.0)
|
||||
|
||||
@property
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
|
||||
@@ -67,8 +67,8 @@ class VirtualHeatChill:
|
||||
self.logger.info(f"✅ 温控设备 {self.device_id} 清理完成 💤")
|
||||
return True
|
||||
|
||||
async def heat_chill(self, vessel: str, temp: float, time, stir: bool,
|
||||
stir_speed: float, purpose: str) -> bool:
|
||||
async def heat_chill(self, temp: float, time, stir: bool,
|
||||
stir_speed: float, purpose: str, vessel: dict = {}) -> bool:
|
||||
"""Execute heat chill action - 🔧 修复：确保参数类型正确"""
|
||||
|
||||
# 🔧 关键修复：确保所有参数类型正确
|
||||
@@ -77,7 +77,6 @@ class VirtualHeatChill:
|
||||
time_value = float(time) # 强制转换为浮点数
|
||||
stir_speed = float(stir_speed)
|
||||
stir = bool(stir)
|
||||
vessel = str(vessel)
|
||||
purpose = str(purpose)
|
||||
except (ValueError, TypeError) as e:
|
||||
error_msg = f"参数类型转换错误: temp={temp}({type(temp)}), time={time}({type(time)}), error={str(e)}"
|
||||
@@ -102,8 +101,7 @@ class VirtualHeatChill:
|
||||
operation_mode = "Maintaining"
|
||||
status_action = "保温"
|
||||
|
||||
self.logger.info(f"🌡️ 开始温控操作: {vessel} → {temp}°C {temp_emoji}")
|
||||
self.logger.info(f" 🥽 容器: {vessel}")
|
||||
self.logger.info(f"🌡️ 开始温控操作: {temp}°C {temp_emoji}")
|
||||
self.logger.info(f" 🎯 目标温度: {temp}°C {temp_emoji}")
|
||||
self.logger.info(f" ⏰ 持续时间: {time_value}s")
|
||||
self.logger.info(f" 🌪️ 搅拌: {stir} ({stir_speed} RPM)")
|
||||
@@ -147,7 +145,7 @@ class VirtualHeatChill:
|
||||
stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""
|
||||
|
||||
self.data.update({
|
||||
"status": f"{temp_emoji} 运行中: {status_action} {vessel} 至 {temp}°C | ⏰ 剩余: {total_time:.0f}s{stir_info}",
|
||||
"status": f"{temp_emoji} 运行中: {status_action} 至 {temp}°C | ⏰ 剩余: {total_time:.0f}s{stir_info}",
|
||||
"operation_mode": operation_mode,
|
||||
"is_stirring": stir,
|
||||
"stir_speed": stir_speed if stir else 0.0,
|
||||
@@ -165,7 +163,7 @@ class VirtualHeatChill:
|
||||
# 更新剩余时间和状态
|
||||
self.data.update({
|
||||
"remaining_time": remaining,
|
||||
"status": f"{temp_emoji} 运行中: {status_action} {vessel} 至 {temp}°C | ⏰ 剩余: {remaining:.0f}s{stir_info}",
|
||||
"status": f"{temp_emoji} 运行中: {status_action} 至 {temp}°C | ⏰ 剩余: {remaining:.0f}s{stir_info}",
|
||||
"progress": progress
|
||||
})
|
||||
|
||||
@@ -185,7 +183,7 @@ class VirtualHeatChill:
|
||||
final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""
|
||||
|
||||
self.data.update({
|
||||
"status": f"✅ 完成: {vessel} 已达到 {temp}°C {temp_emoji} | ⏱️ 用时: {total_time:.0f}s{final_stir_info}",
|
||||
"status": f"✅ 完成: 已达到 {temp}°C {temp_emoji} | ⏱️ 用时: {total_time:.0f}s{final_stir_info}",
|
||||
"operation_mode": "Completed",
|
||||
"remaining_time": 0.0,
|
||||
"is_stirring": False,
|
||||
@@ -195,7 +193,6 @@ class VirtualHeatChill:
|
||||
|
||||
self.logger.info(f"🎉 温控操作完成! ✨")
|
||||
self.logger.info(f"📊 操作结果:")
|
||||
self.logger.info(f" 🥽 容器: {vessel}")
|
||||
self.logger.info(f" 🌡️ 达到温度: {temp}°C {temp_emoji}")
|
||||
self.logger.info(f" ⏱️ 总用时: {total_time:.0f}s")
|
||||
if stir:
|
||||
@@ -204,13 +201,12 @@ class VirtualHeatChill:
|
||||
|
||||
return True
|
||||
|
||||
async def heat_chill_start(self, vessel: str, temp: float, purpose: str) -> bool:
|
||||
async def heat_chill_start(self, temp: float, purpose: str, vessel: dict = {}) -> bool:
|
||||
"""Start continuous heat chill 🔄"""
|
||||
|
||||
# 🔧 添加类型转换
|
||||
try:
|
||||
temp = float(temp)
|
||||
vessel = str(vessel)
|
||||
purpose = str(purpose)
|
||||
except (ValueError, TypeError) as e:
|
||||
error_msg = f"参数类型转换错误: {str(e)}"
|
||||
@@ -235,8 +231,7 @@ class VirtualHeatChill:
|
||||
operation_mode = "Maintaining"
|
||||
status_action = "恒温保持"
|
||||
|
||||
self.logger.info(f"🔄 启动持续温控: {vessel} → {temp}°C {temp_emoji}")
|
||||
self.logger.info(f" 🥽 容器: {vessel}")
|
||||
self.logger.info(f"🔄 启动持续温控: {temp}°C {temp_emoji}")
|
||||
self.logger.info(f" 🎯 目标温度: {temp}°C {temp_emoji}")
|
||||
self.logger.info(f" 🔄 模式: {status_action}")
|
||||
self.logger.info(f" 📝 目的: {purpose}")
|
||||
@@ -252,7 +247,7 @@ class VirtualHeatChill:
|
||||
return False
|
||||
|
||||
self.data.update({
|
||||
"status": f"🔄 启动: {status_action} {vessel} 至 {temp}°C {temp_emoji} | ♾️ 持续运行",
|
||||
"status": f"🔄 启动: {status_action} 至 {temp}°C {temp_emoji} | ♾️ 持续运行",
|
||||
"operation_mode": operation_mode,
|
||||
"is_stirring": False,
|
||||
"stir_speed": 0.0,
|
||||
@@ -262,28 +257,20 @@ class VirtualHeatChill:
|
||||
self.logger.info(f"✅ 持续温控已启动! {temp_emoji} {status_action}模式 🚀")
|
||||
return True
|
||||
|
||||
async def heat_chill_stop(self, vessel: str) -> bool:
|
||||
async def heat_chill_stop(self, vessel: dict = {}) -> bool:
|
||||
"""Stop heat chill 🛑"""
|
||||
|
||||
# 🔧 添加类型转换
|
||||
try:
|
||||
vessel = str(vessel)
|
||||
except (ValueError, TypeError) as e:
|
||||
error_msg = f"参数类型转换错误: {str(e)}"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
return False
|
||||
|
||||
self.logger.info(f"🛑 停止温控: {vessel}")
|
||||
self.logger.info(f"🛑 停止温控:")
|
||||
|
||||
self.data.update({
|
||||
"status": f"🛑 已停止: {vessel} 温控停止",
|
||||
"status": f"🛑 {self.device_id} 温控停止",
|
||||
"operation_mode": "Stopped",
|
||||
"is_stirring": False,
|
||||
"stir_speed": 0.0,
|
||||
"remaining_time": 0.0,
|
||||
})
|
||||
|
||||
self.logger.info(f"✅ 温控设备已停止 {vessel} 的温度控制 🏁")
|
||||
self.logger.info(f"✅ 温控设备已停止 {self.device_id} 温度控制 🏁")
|
||||
return True
|
||||
|
||||
# 状态属性
|
||||
|
||||
@@ -21,19 +21,6 @@ class VirtualMultiwayValve:
|
||||
self._current_position = 0 # 默认在0号位（transfer pump位置）
|
||||
self._target_position = 0
|
||||
|
||||
# 位置映射说明
|
||||
self.position_map = {
|
||||
0: "transfer_pump", # 0号位连接转移泵
|
||||
1: "port_1", # 1号位
|
||||
2: "port_2", # 2号位
|
||||
3: "port_3", # 3号位
|
||||
4: "port_4", # 4号位
|
||||
5: "port_5", # 5号位
|
||||
6: "port_6", # 6号位
|
||||
7: "port_7", # 7号位
|
||||
8: "port_8" # 8号位
|
||||
}
|
||||
|
||||
print(f"🔄 === 虚拟多通阀门已创建 === ✨")
|
||||
print(f"🎯 端口: {port} | 📊 位置范围: 0-{self.max_positions} | 🏠 初始位置: 0 (transfer_pump)")
|
||||
self.logger.info(f"🔧 多通阀门初始化: 端口={port}, 最大位置={self.max_positions}")
|
||||
@@ -60,7 +47,7 @@ class VirtualMultiwayValve:
|
||||
|
||||
def get_current_port(self) -> str:
|
||||
"""获取当前连接的端口名称 🔌"""
|
||||
return self.position_map.get(self._current_position, "unknown")
|
||||
return self._current_position
|
||||
|
||||
def set_position(self, command: Union[int, str]):
|
||||
"""
|
||||
@@ -115,7 +102,7 @@ class VirtualMultiwayValve:
|
||||
old_position = self._current_position
|
||||
old_port = self.get_current_port()
|
||||
|
||||
self.logger.info(f"🔄 阀门切换: {old_position}({old_port}) → {pos}({self.position_map.get(pos, 'unknown')}) {pos_emoji}")
|
||||
self.logger.info(f"🔄 阀门切换: {old_position}({old_port}) → {pos} {pos_emoji}")
|
||||
|
||||
self._status = "Busy"
|
||||
self._valve_state = "Moving"
|
||||
@@ -190,6 +177,17 @@ class VirtualMultiwayValve:
|
||||
"""获取阀门位置 - 兼容性方法 📍"""
|
||||
return self._current_position
|
||||
|
||||
def set_valve_position(self, command: Union[int, str]):
|
||||
"""
|
||||
设置阀门位置 - 兼容pump_protocol调用 🎯
|
||||
这是set_position的别名方法，用于兼容pump_protocol.py
|
||||
|
||||
Args:
|
||||
command: 目标位置 (0-8) 或位置字符串
|
||||
"""
|
||||
# 删除debug日志：self.logger.debug(f"🎯 兼容性调用: set_valve_position({command})")
|
||||
return self.set_position(command)
|
||||
|
||||
def is_at_position(self, position: int) -> bool:
|
||||
"""检查是否在指定位置 🎯"""
|
||||
result = self._current_position == position
|
||||
@@ -210,17 +208,6 @@ class VirtualMultiwayValve:
|
||||
# 删除debug日志：self.logger.debug(f"🔌 端口{port_number}检查: {port_status} (当前位置: {self._current_position})")
|
||||
return result
|
||||
|
||||
def get_available_positions(self) -> list:
|
||||
"""获取可用位置列表 📋"""
|
||||
positions = list(range(0, self.max_positions + 1))
|
||||
# 删除debug日志：self.logger.debug(f"📋 可用位置: {positions}")
|
||||
return positions
|
||||
|
||||
def get_available_ports(self) -> Dict[int, str]:
|
||||
"""获取可用端口映射 🗺️"""
|
||||
# 删除debug日志：self.logger.debug(f"🗺️ 端口映射: {self.position_map}")
|
||||
return self.position_map.copy()
|
||||
|
||||
def reset(self):
|
||||
"""重置阀门到transfer pump位置（0号位）🔄"""
|
||||
self.logger.info(f"🔄 重置阀门到泵位置...")
|
||||
@@ -253,41 +240,12 @@ class VirtualMultiwayValve:
|
||||
# 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
|
||||
return flow_path
|
||||
|
||||
def get_info(self) -> dict:
|
||||
"""获取阀门详细信息 📊"""
|
||||
info = {
|
||||
"port": self.port,
|
||||
"max_positions": self.max_positions,
|
||||
"total_positions": self.total_positions,
|
||||
"current_position": self._current_position,
|
||||
"current_port": self.get_current_port(),
|
||||
"target_position": self._target_position,
|
||||
"status": self._status,
|
||||
"valve_state": self._valve_state,
|
||||
"flow_path": self.get_flow_path(),
|
||||
"position_map": self.position_map
|
||||
}
|
||||
|
||||
# 删除debug日志：self.logger.debug(f"📊 阀门信息: 位置={self._current_position}, 状态={self._status}, 端口={self.get_current_port()}")
|
||||
return info
|
||||
|
||||
def __str__(self):
|
||||
current_port = self.get_current_port()
|
||||
status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
|
||||
|
||||
return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
|
||||
|
||||
def set_valve_position(self, command: Union[int, str]):
|
||||
"""
|
||||
设置阀门位置 - 兼容pump_protocol调用 🎯
|
||||
这是set_position的别名方法，用于兼容pump_protocol.py
|
||||
|
||||
Args:
|
||||
command: 目标位置 (0-8) 或位置字符串
|
||||
"""
|
||||
# 删除debug日志：self.logger.debug(f"🎯 兼容性调用: set_valve_position({command})")
|
||||
return self.set_position(command)
|
||||
|
||||
|
||||
# 使用示例
|
||||
if __name__ == "__main__":
|
||||
@@ -309,13 +267,6 @@ if __name__ == "__main__":
|
||||
print(f"\n🔌 切换到2号位: {valve.set_to_port(2)}")
|
||||
print(f"📍 当前状态: {valve}")
|
||||
|
||||
# 显示所有可用位置
|
||||
print(f"\n📋 可用位置: {valve.get_available_positions()}")
|
||||
print(f"🗺️ 端口映射: {valve.get_available_ports()}")
|
||||
|
||||
# 获取详细信息
|
||||
print(f"\n📊 详细信息: {valve.get_info()}")
|
||||
|
||||
# 测试切换功能
|
||||
print(f"\n🔄 智能切换测试:")
|
||||
print(f"当前位置: {valve._current_position}")
|
||||
|
||||
@@ -1,197 +0,0 @@
|
||||
import asyncio
|
||||
import logging
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
class VirtualPump:
|
||||
"""Virtual pump device for transfer and cleaning operations"""
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
if device_id is None and 'id' in kwargs:
|
||||
device_id = kwargs.pop('id')
|
||||
if config is None and 'config' in kwargs:
|
||||
config = kwargs.pop('config')
|
||||
|
||||
# 设置默认值
|
||||
self.device_id = device_id or "unknown_pump"
|
||||
self.config = config or {}
|
||||
|
||||
self.logger = logging.getLogger(f"VirtualPump.{self.device_id}")
|
||||
self.data = {}
|
||||
|
||||
# 从config或kwargs中获取配置参数
|
||||
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
|
||||
self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 50.0)
|
||||
self._transfer_rate = self.config.get('transfer_rate') or kwargs.get('transfer_rate', 10.0)
|
||||
|
||||
print(f"=== VirtualPump {self.device_id} created with max_volume={self._max_volume}, transfer_rate={self._transfer_rate} ===")
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual pump"""
|
||||
self.logger.info(f"Initializing virtual pump {self.device_id}")
|
||||
self.data.update({
|
||||
"status": "Idle",
|
||||
"valve_position": 0,
|
||||
"current_volume": 0.0,
|
||||
"max_volume": self._max_volume,
|
||||
"transfer_rate": self._transfer_rate,
|
||||
"from_vessel": "",
|
||||
"to_vessel": "",
|
||||
"progress": 0.0,
|
||||
"transferred_volume": 0.0,
|
||||
"current_status": "Ready"
|
||||
})
|
||||
return True
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""Cleanup virtual pump"""
|
||||
self.logger.info(f"Cleaning up virtual pump {self.device_id}")
|
||||
return True
|
||||
|
||||
async def transfer(self, from_vessel: str, to_vessel: str, volume: float,
|
||||
amount: str = "", time: float = 0.0, viscous: bool = False,
|
||||
rinsing_solvent: str = "", rinsing_volume: float = 0.0,
|
||||
rinsing_repeats: int = 0, solid: bool = False) -> bool:
|
||||
"""Execute transfer operation"""
|
||||
self.logger.info(f"Transferring {volume}mL from {from_vessel} to {to_vessel}")
|
||||
|
||||
# 计算转移时间
|
||||
transfer_time = volume / self._transfer_rate if time == 0 else time
|
||||
|
||||
self.data.update({
|
||||
"status": "Running",
|
||||
"from_vessel": from_vessel,
|
||||
"to_vessel": to_vessel,
|
||||
"current_status": "Transferring",
|
||||
"progress": 0.0,
|
||||
"transferred_volume": 0.0
|
||||
})
|
||||
|
||||
# 模拟转移过程
|
||||
steps = 10
|
||||
step_time = transfer_time / steps
|
||||
step_volume = volume / steps
|
||||
|
||||
for i in range(steps):
|
||||
await asyncio.sleep(step_time)
|
||||
progress = (i + 1) / steps * 100
|
||||
current_volume = step_volume * (i + 1)
|
||||
|
||||
self.data.update({
|
||||
"progress": progress,
|
||||
"transferred_volume": current_volume,
|
||||
"current_status": f"Transferring: {progress:.1f}%"
|
||||
})
|
||||
|
||||
self.logger.info(f"Transfer progress: {progress:.1f}%")
|
||||
|
||||
self.data.update({
|
||||
"status": "Idle",
|
||||
"current_status": "Transfer completed",
|
||||
"progress": 100.0,
|
||||
"transferred_volume": volume
|
||||
})
|
||||
|
||||
return True
|
||||
|
||||
async def clean_vessel(self, vessel: str, solvent: str, volume: float,
|
||||
temp: float, repeats: int = 1) -> bool:
|
||||
"""Execute vessel cleaning operation - matches CleanVessel action"""
|
||||
self.logger.info(f"Starting vessel cleaning: {vessel} with {solvent} ({volume}mL at {temp}°C, {repeats} repeats)")
|
||||
|
||||
# 更新设备状态
|
||||
self.data.update({
|
||||
"status": "Running",
|
||||
"from_vessel": f"flask_{solvent}",
|
||||
"to_vessel": vessel,
|
||||
"current_status": "Cleaning in progress",
|
||||
"progress": 0.0,
|
||||
"transferred_volume": 0.0
|
||||
})
|
||||
|
||||
# 计算清洗时间（基于体积和重复次数）
|
||||
# 假设清洗速度为 transfer_rate 的一半（因为需要加载和排放）
|
||||
cleaning_rate = self._transfer_rate / 2
|
||||
cleaning_time_per_cycle = volume / cleaning_rate
|
||||
total_cleaning_time = cleaning_time_per_cycle * repeats
|
||||
|
||||
# 模拟清洗过程
|
||||
steps_per_repeat = 10 # 每次重复清洗分10个步骤
|
||||
total_steps = steps_per_repeat * repeats
|
||||
step_time = total_cleaning_time / total_steps
|
||||
|
||||
for repeat in range(repeats):
|
||||
self.logger.info(f"Starting cleaning cycle {repeat + 1}/{repeats}")
|
||||
|
||||
for step in range(steps_per_repeat):
|
||||
await asyncio.sleep(step_time)
|
||||
|
||||
# 计算当前进度
|
||||
current_step = repeat * steps_per_repeat + step + 1
|
||||
progress = (current_step / total_steps) * 100
|
||||
|
||||
# 计算已处理的体积
|
||||
volume_processed = (current_step / total_steps) * volume * repeats
|
||||
|
||||
# 更新状态
|
||||
self.data.update({
|
||||
"progress": progress,
|
||||
"transferred_volume": volume_processed,
|
||||
"current_status": f"Cleaning cycle {repeat + 1}/{repeats} - Step {step + 1}/{steps_per_repeat} ({progress:.1f}%)"
|
||||
})
|
||||
|
||||
self.logger.info(f"Cleaning progress: {progress:.1f}% (Cycle {repeat + 1}/{repeats})")
|
||||
|
||||
# 清洗完成
|
||||
self.data.update({
|
||||
"status": "Idle",
|
||||
"current_status": "Cleaning completed successfully",
|
||||
"progress": 100.0,
|
||||
"transferred_volume": volume * repeats,
|
||||
"from_vessel": "",
|
||||
"to_vessel": ""
|
||||
})
|
||||
|
||||
self.logger.info(f"Vessel cleaning completed: {vessel}")
|
||||
return True
|
||||
|
||||
# 状态属性
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Unknown")
|
||||
|
||||
@property
|
||||
def valve_position(self) -> int:
|
||||
return self.data.get("valve_position", 0)
|
||||
|
||||
@property
|
||||
def current_volume(self) -> float:
|
||||
return self.data.get("current_volume", 0.0)
|
||||
|
||||
@property
|
||||
def max_volume(self) -> float:
|
||||
return self.data.get("max_volume", 0.0)
|
||||
|
||||
@property
|
||||
def transfer_rate(self) -> float:
|
||||
return self.data.get("transfer_rate", 0.0)
|
||||
|
||||
@property
|
||||
def from_vessel(self) -> str:
|
||||
return self.data.get("from_vessel", "")
|
||||
|
||||
@property
|
||||
def to_vessel(self) -> str:
|
||||
return self.data.get("to_vessel", "")
|
||||
|
||||
@property
|
||||
def progress(self) -> float:
|
||||
return self.data.get("progress", 0.0)
|
||||
|
||||
@property
|
||||
def transferred_volume(self) -> float:
|
||||
return self.data.get("transferred_volume", 0.0)
|
||||
|
||||
@property
|
||||
def current_status(self) -> str:
|
||||
return self.data.get("current_status", "Ready")
|
||||
@@ -99,8 +99,8 @@ class VirtualRotavap:
|
||||
self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
|
||||
time = 180.0
|
||||
|
||||
# 确保time是float类型
|
||||
time = float(time)
|
||||
# 确保time是float类型; 并加速
|
||||
time = float(time) / 10.0
|
||||
|
||||
# 🔧 简化处理：如果vessel就是设备自己，直接操作
|
||||
if vessel == self.device_id:
|
||||
|
||||
@@ -48,20 +48,6 @@ class VirtualSolenoidValve:
|
||||
"""获取阀门位置状态"""
|
||||
return "OPEN" if self._is_open else "CLOSED"
|
||||
|
||||
@property
|
||||
def state(self) -> dict:
|
||||
"""获取阀门完整状态"""
|
||||
return {
|
||||
"device_id": self.device_id,
|
||||
"port": self.port,
|
||||
"voltage": self.voltage,
|
||||
"response_time": self.response_time,
|
||||
"is_open": self._is_open,
|
||||
"valve_state": self._valve_state,
|
||||
"status": self._status,
|
||||
"position": self.valve_position
|
||||
}
|
||||
|
||||
async def set_valve_position(self, command: str = None, **kwargs):
|
||||
"""
|
||||
设置阀门位置 - ROS动作接口
|
||||
|
||||
@@ -319,21 +319,6 @@ class VirtualSolidDispenser:
|
||||
def total_operations(self) -> int:
|
||||
return self._total_operations
|
||||
|
||||
def get_device_info(self) -> Dict[str, Any]:
|
||||
"""获取设备状态信息 📊"""
|
||||
info = {
|
||||
"device_id": self.device_id,
|
||||
"status": self._status,
|
||||
"current_reagent": self._current_reagent,
|
||||
"last_dispensed_amount": self._dispensed_amount,
|
||||
"total_operations": self._total_operations,
|
||||
"max_capacity": self.max_capacity,
|
||||
"precision": self.precision
|
||||
}
|
||||
|
||||
self.logger.debug(f"📊 设备信息: 状态={self._status}, 试剂={self._current_reagent}, 加样量={self._dispensed_amount:.6f}g")
|
||||
return info
|
||||
|
||||
def __str__(self):
|
||||
status_emoji = "✅" if self._status == "Ready" else "🔄" if self._status == "Dispensing" else "❌" if self._status == "Error" else "🏠"
|
||||
return f"⚗️ VirtualSolidDispenser({status_emoji} {self.device_id}: {self._status}, 最后加样 {self._dispensed_amount:.3f}g)"
|
||||
@@ -380,8 +365,6 @@ async def test_solid_dispenser():
|
||||
mass="150 g" # 超过100g限制
|
||||
)
|
||||
print(f"📊 测试4结果: {result4}")
|
||||
|
||||
print(f"\n📊 最终设备信息: {dispenser.get_device_info()}")
|
||||
print(f"✅ === 测试完成 === 🎉")
|
||||
|
||||
|
||||
|
||||
@@ -321,7 +321,7 @@ class VirtualStirrer:
|
||||
"min_speed": self._min_speed
|
||||
}
|
||||
|
||||
self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
|
||||
# self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
|
||||
return info
|
||||
|
||||
def __str__(self):
|
||||
|
||||
@@ -380,22 +380,6 @@ class VirtualTransferPump:
|
||||
"""检查是否已满"""
|
||||
return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
|
||||
|
||||
# 调试和状态信息
|
||||
def get_pump_info(self) -> dict:
|
||||
"""获取泵的详细信息"""
|
||||
return {
|
||||
"device_id": self.device_id,
|
||||
"status": self._status,
|
||||
"position": self._position,
|
||||
"current_volume": self._current_volume,
|
||||
"max_volume": self.max_volume,
|
||||
"max_velocity": self._max_velocity,
|
||||
"mode": self.mode.name,
|
||||
"is_empty": self.is_empty(),
|
||||
"is_full": self.is_full(),
|
||||
"remaining_capacity": self.get_remaining_capacity()
|
||||
}
|
||||
|
||||
def __str__(self):
|
||||
return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
|
||||
|
||||
@@ -425,8 +409,6 @@ async def demo():
|
||||
result = await pump.set_position(0.0)
|
||||
print(f"Empty result: {result}")
|
||||
print(f"After emptying: {pump}")
|
||||
|
||||
print("\nPump info:", pump.get_pump_info())
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
serial:
|
||||
category:
|
||||
- serial
|
||||
- communication_devices
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-handle_serial_request:
|
||||
@@ -9,7 +9,7 @@ serial:
|
||||
goal_default:
|
||||
request: null
|
||||
response: null
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: handle_serial_request的参数schema
|
||||
@@ -35,7 +35,7 @@ serial:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: read_data的参数schema
|
||||
@@ -56,7 +56,7 @@ serial:
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: send_command的参数schema
|
||||
@@ -1,4 +1,4 @@
|
||||
camera:
|
||||
camera.USB:
|
||||
category:
|
||||
- camera
|
||||
class:
|
||||
@@ -7,7 +7,7 @@ camera:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
|
||||
@@ -27,7 +27,7 @@ camera:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
|
||||
|
||||
404
unilabos/registry/devices/characterization_chromatic.yaml
Normal file
404
unilabos/registry/devices/characterization_chromatic.yaml
Normal file
@@ -0,0 +1,404 @@
|
||||
hplc.agilent:
|
||||
category:
|
||||
- characterization_chromatic
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_status参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-extract_data_from_txt:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file_path: null
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
file_path:
|
||||
type: string
|
||||
required:
|
||||
- file_path
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: extract_data_from_txt参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start_sequence:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
params: null
|
||||
resource: null
|
||||
wf_name: null
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
params:
|
||||
type: string
|
||||
resource:
|
||||
type: object
|
||||
wf_name:
|
||||
type: string
|
||||
required:
|
||||
- wf_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: start_sequence参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-try_close_sub_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_name:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: try_close_sub_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-try_open_sub_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_name:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: try_open_sub_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
execute_command_from_outer:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
|
||||
status_types:
|
||||
could_run: bool
|
||||
data_file: list
|
||||
device_status: str
|
||||
driver_init_ok: bool
|
||||
finish_status: str
|
||||
is_running: bool
|
||||
status_text: str
|
||||
success: bool
|
||||
type: python
|
||||
config_info: []
|
||||
description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
driver_debug:
|
||||
default: false
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
could_run:
|
||||
type: boolean
|
||||
data_file:
|
||||
type: array
|
||||
device_status:
|
||||
type: string
|
||||
driver_init_ok:
|
||||
type: boolean
|
||||
finish_status:
|
||||
type: string
|
||||
is_running:
|
||||
type: boolean
|
||||
status_text:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- status_text
|
||||
- device_status
|
||||
- could_run
|
||||
- driver_init_ok
|
||||
- is_running
|
||||
- success
|
||||
- finish_status
|
||||
- data_file
|
||||
type: object
|
||||
version: 1.0.0
|
||||
hplc.agilent-zhida:
|
||||
category:
|
||||
- characterization_chromatic
|
||||
class:
|
||||
action_value_mappings:
|
||||
abort:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: HPLC设备连接关闭函数。安全地断开与智达HPLC设备的TCP socket连接，释放网络资源。该函数确保连接的正确关闭，避免网络资源泄露。通常在设备使用完毕或系统关闭时调用。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-connect:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: HPLC设备连接建立函数。与智达HPLC设备建立TCP socket通信连接，配置通信超时参数。该函数是设备使用前的必要步骤，建立成功后可进行状态查询、方法获取、任务启动等操作。连接失败时会抛出异常。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: connect参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
get_methods:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
start:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
|
||||
status_types:
|
||||
methods: dict
|
||||
status: dict
|
||||
type: python
|
||||
config_info: []
|
||||
description: 智达高效液相色谱（HPLC）分析设备，用于实验室样品的分离、检测和定量分析。该设备通过TCP socket与HPLC控制系统通信，支持远程控制和状态监控。具备自动进样、梯度洗脱、多检测器数据采集等功能，可执行复杂的色谱分析方法。适用于化学分析、药物检测、环境监测、生物样品分析等需要高精度分离分析的实验室应用场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
host:
|
||||
default: 192.168.1.47
|
||||
type: string
|
||||
port:
|
||||
default: 5792
|
||||
type: string
|
||||
timeout:
|
||||
default: 10.0
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
methods:
|
||||
type: object
|
||||
status:
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
- methods
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -1,225 +1,4 @@
|
||||
hplc.agilent:
|
||||
category:
|
||||
- characterization_optic
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_status参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-extract_data_from_txt:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file_path: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
file_path:
|
||||
type: string
|
||||
required:
|
||||
- file_path
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: extract_data_from_txt参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start_sequence:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
params: null
|
||||
resource: null
|
||||
wf_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
params:
|
||||
type: string
|
||||
resource:
|
||||
type: object
|
||||
wf_name:
|
||||
type: string
|
||||
required:
|
||||
- wf_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: start_sequence参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-try_close_sub_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_name:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: try_close_sub_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-try_open_sub_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_name:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: try_open_sub_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
execute_command_from_outer:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
|
||||
status_types:
|
||||
could_run: bool
|
||||
data_file: list
|
||||
device_status: str
|
||||
driver_init_ok: bool
|
||||
finish_status: str
|
||||
is_running: bool
|
||||
status_text: str
|
||||
success: bool
|
||||
type: python
|
||||
config_info: []
|
||||
description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
driver_debug:
|
||||
default: false
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
could_run:
|
||||
type: boolean
|
||||
data_file:
|
||||
type: array
|
||||
device_status:
|
||||
type: string
|
||||
driver_init_ok:
|
||||
type: boolean
|
||||
finish_status:
|
||||
type: string
|
||||
is_running:
|
||||
type: boolean
|
||||
status_text:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- status_text
|
||||
- device_status
|
||||
- could_run
|
||||
- driver_init_ok
|
||||
- is_running
|
||||
- success
|
||||
- finish_status
|
||||
- data_file
|
||||
type: object
|
||||
version: 1.0.0
|
||||
raman_home_made:
|
||||
raman.home_made:
|
||||
category:
|
||||
- characterization_optic
|
||||
class:
|
||||
@@ -229,7 +8,7 @@ raman_home_made:
|
||||
goal: {}
|
||||
goal_default:
|
||||
int_time: null
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 设置CCD检测器积分时间的函数。用于配置拉曼光谱仪的信号采集时间，控制光谱数据的质量和信噪比。较长的积分时间可获得更高的信号强度和更好的光谱质量，但会增加测量时间。该函数允许根据样品特性和测量要求动态调整检测参数，优化测量效果。
|
||||
@@ -253,7 +32,7 @@ raman_home_made:
|
||||
goal: {}
|
||||
goal_default:
|
||||
output_voltage_laser: null
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 设置激光器输出功率的函数。用于控制拉曼光谱仪激光器的功率输出，调节激光强度以适应不同样品的测量需求。适当的激光功率能够获得良好的拉曼信号同时避免样品损伤。该函数支持精确的功率控制，确保测量结果的稳定性和重现性。
|
||||
@@ -278,7 +57,7 @@ raman_home_made:
|
||||
goal_default:
|
||||
int_time: null
|
||||
laser_power: null
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 执行无背景扣除的拉曼光谱测量函数。用于直接采集样品的拉曼光谱信号，不进行背景校正处理。该函数配置积分时间和激光功率参数，获取原始光谱数据用于后续的数据处理分析。适用于对光谱数据质量要求较高或需要自定义背景处理流程的测量场景。
|
||||
@@ -308,7 +87,7 @@ raman_home_made:
|
||||
int_time: null
|
||||
laser_power: null
|
||||
sample_name: null
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 执行多次平均的无背景拉曼光谱测量函数。通过多次测量取平均值来提高光谱数据的信噪比和测量精度，减少随机噪声影响。该函数支持自定义平均次数、积分时间、激光功率等参数，并可为样品指定名称便于数据管理。适用于对测量精度要求较高的定量分析和研究应用。
|
||||
@@ -342,7 +121,7 @@ raman_home_made:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
|
||||
@@ -1,13 +1,13 @@
|
||||
gas_source.mock:
|
||||
category:
|
||||
- vacuum_and_purge
|
||||
- gas_handler
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-is_closed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
@@ -27,7 +27,7 @@ gas_source.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
@@ -47,7 +47,7 @@ gas_source.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -79,7 +79,7 @@ gas_source.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -113,7 +113,7 @@ gas_source.mock:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -180,13 +180,14 @@ gas_source.mock:
|
||||
vacuum_pump.mock:
|
||||
category:
|
||||
- vacuum_and_purge
|
||||
- gas_handler
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-is_closed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
@@ -206,7 +207,7 @@ vacuum_pump.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
@@ -226,7 +227,7 @@ vacuum_pump.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -258,7 +259,7 @@ vacuum_pump.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -292,7 +293,7 @@ vacuum_pump.mock:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user