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104 Commits
v0.9.5
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275e3a36f7 |
@@ -1,5 +1,3 @@
|
||||
recursive-include unilabos/registry *.yaml
|
||||
recursive-include unilabos/app/web *.html
|
||||
recursive-include unilabos/app/web *.css
|
||||
recursive-include unilabos/device_mesh/devices *
|
||||
recursive-include unilabos/device_mesh/resources *
|
||||
|
||||
@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
|
||||
|
||||
# Currently, you need to install the `unilabos_msgs` package
|
||||
# You can download the system-specific package from the Release page
|
||||
conda install ros-humble-unilabos-msgs-0.9.5-xxxxx.tar.bz2
|
||||
conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
|
||||
|
||||
# Install PyLabRobot and other prerequisites
|
||||
git clone https://github.com/PyLabRobot/pylabrobot plr_repo
|
||||
|
||||
@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
|
||||
|
||||
# 现阶段，需要安装 `unilabos_msgs` 包
|
||||
# 可以前往 Release 页面下载系统对应的包进行安装
|
||||
conda install ros-humble-unilabos-msgs-0.9.5-xxxxx.tar.bz2
|
||||
conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
|
||||
|
||||
# 安装PyLabRobot等前置
|
||||
git clone https://github.com/PyLabRobot/pylabrobot plr_repo
|
||||
|
||||
@@ -1,7 +0,0 @@
|
||||
CONDA_BUILD_SYSROOT:
|
||||
- /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk
|
||||
MACOSX_DEPLOYMENT_TARGET:
|
||||
- "11.0"
|
||||
CONDA_SUBDIR:
|
||||
- osx-arm64
|
||||
# boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.9.5
|
||||
version: 0.9.1
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
folder: ros-humble-unilabos-msgs/src/work
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.9.5"
|
||||
version: "0.9.1"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
@@ -1,2 +1,4 @@
|
||||
[develop]
|
||||
script_dir=$base/lib/unilabos
|
||||
[install]
|
||||
install_scripts=$base/lib/unilabos
|
||||
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.9.5',
|
||||
version='0.9.1',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
|
||||
@@ -1,22 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "BIOMEK",
|
||||
"name": "BIOMEK",
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "liquid_handler.biomek",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
},
|
||||
"data": {},
|
||||
"children": [
|
||||
]
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,296 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "MockChiller1",
|
||||
"name": "模拟冷却器",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_chiller",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"current_temperature": 25.0,
|
||||
"target_temperature": 25.0,
|
||||
"status": "Idle",
|
||||
"is_cooling": false,
|
||||
"is_heating": false,
|
||||
"vessel": "",
|
||||
"purpose": ""
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "MockFilter1",
|
||||
"name": "模拟过滤器",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_filter",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"is_filtering": false,
|
||||
"flow_rate": 0.0,
|
||||
"filter_life": 100.0,
|
||||
"vessel": "",
|
||||
"filtrate_vessel": "",
|
||||
"filtered_volume": 0.0,
|
||||
"target_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"stir": false,
|
||||
"stir_speed": 0.0,
|
||||
"temperature": 25.0,
|
||||
"continue_heatchill": false
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "MockHeater1",
|
||||
"name": "模拟加热器",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_heater",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"current_temperature": 25.0,
|
||||
"target_temperature": 25.0,
|
||||
"status": "Idle",
|
||||
"is_heating": false,
|
||||
"heating_power": 0.0,
|
||||
"max_temperature": 300.0,
|
||||
"vessel": "Unknown",
|
||||
"purpose": "Unknown",
|
||||
"stir": false,
|
||||
"stir_speed": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "MockPump1",
|
||||
"name": "模拟泵设备",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_pump",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_device": "MockPump1",
|
||||
"pump_state": "Stopped",
|
||||
"flow_rate": 0.0,
|
||||
"target_flow_rate": 0.0,
|
||||
"pressure": 0.0,
|
||||
"total_volume": 0.0,
|
||||
"max_flow_rate": 100.0,
|
||||
"max_pressure": 10.0,
|
||||
"from_vessel": "",
|
||||
"to_vessel": "",
|
||||
"transfer_volume": 0.0,
|
||||
"amount": "",
|
||||
"transfer_time": 0.0,
|
||||
"is_viscous": false,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"is_solid": false,
|
||||
"time_spent": 0.0,
|
||||
"time_remaining": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "MockRotavap1",
|
||||
"name": "模拟旋转蒸发器",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_rotavap",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"rotate_state": "Stopped",
|
||||
"rotate_time": 0.0,
|
||||
"rotate_speed": 0.0,
|
||||
"pump_state": "Stopped",
|
||||
"pump_time": 0.0,
|
||||
"vacuum_level": 1013.25,
|
||||
"temperature": 25.0,
|
||||
"target_temperature": 25.0,
|
||||
"success": "True"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "MockSeparator1",
|
||||
"name": "模拟分离器",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_separator",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"settling_time": 0.0,
|
||||
"valve_state": "Closed",
|
||||
"shake_time": 0.0,
|
||||
"shake_status": "Not Shaking",
|
||||
"current_device": "MockSeparator1",
|
||||
"purpose": "",
|
||||
"product_phase": "",
|
||||
"from_vessel": "",
|
||||
"separation_vessel": "",
|
||||
"to_vessel": "",
|
||||
"waste_phase_to_vessel": "",
|
||||
"solvent": "",
|
||||
"solvent_volume": 0.0,
|
||||
"through": "",
|
||||
"repeats": 1,
|
||||
"stir_time": 0.0,
|
||||
"stir_speed": 0.0,
|
||||
"time_spent": 0.0,
|
||||
"time_remaining": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "MockSolenoidValve1",
|
||||
"name": "模拟电磁阀",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_solenoid_valve",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"valve_status": "Closed"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "MockStirrer1NEW",
|
||||
"name": "模拟搅拌器(new)",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_stirrer_new",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"vessel": "",
|
||||
"purpose": "",
|
||||
"stir_speed": 0.0,
|
||||
"target_stir_speed": 0.0,
|
||||
"stir_state": "Stopped",
|
||||
"stir_time": 0.0,
|
||||
"settling_time": 0.0,
|
||||
"progress": 0.0,
|
||||
"max_stir_speed": 2000.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "MockStirrer1",
|
||||
"name": "模拟搅拌器",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_stirrer",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"stir_speed": 0.0,
|
||||
"target_stir_speed": 0.0,
|
||||
"stir_state": "Stopped",
|
||||
"temperature": 25.0,
|
||||
"target_temperature": 25.0,
|
||||
"heating_state": "Off",
|
||||
"heating_power": 0.0,
|
||||
"max_stir_speed": 2000.0,
|
||||
"max_temperature": 300.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "MockVacuum1",
|
||||
"name": "模拟真空泵",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_vacuum",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"power_state": "Off",
|
||||
"pump_state": "Stopped",
|
||||
"vacuum_level": 1013.25,
|
||||
"target_vacuum": 50.0,
|
||||
"pump_speed": 0.0,
|
||||
"pump_efficiency": 95.0,
|
||||
"max_pump_speed": 100.0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,30 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "MockChiller1",
|
||||
"name": "模拟冷却器",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_chiller",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"current_temperature": 25.0,
|
||||
"target_temperature": 25.0,
|
||||
"status": "Idle",
|
||||
"is_cooling": false,
|
||||
"is_heating": false,
|
||||
"vessel": "",
|
||||
"purpose": ""
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,36 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "MockFilter1",
|
||||
"name": "模拟过滤器",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_filter",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"is_filtering": false,
|
||||
"flow_rate": 0.0,
|
||||
"filter_life": 100.0,
|
||||
"vessel": "",
|
||||
"filtrate_vessel": "",
|
||||
"filtered_volume": 0.0,
|
||||
"target_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"stir": false,
|
||||
"stir_speed": 0.0,
|
||||
"temperature": 25.0,
|
||||
"continue_heatchill": false
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,33 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "MockHeater1",
|
||||
"name": "模拟加热器",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_heater",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"current_temperature": 25.0,
|
||||
"target_temperature": 25.0,
|
||||
"status": "Idle",
|
||||
"is_heating": false,
|
||||
"heating_power": 0.0,
|
||||
"max_temperature": 300.0,
|
||||
"vessel": "Unknown",
|
||||
"purpose": "Unknown",
|
||||
"stir": false,
|
||||
"stir_speed": 0.0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,44 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "MockPump1",
|
||||
"name": "模拟泵设备",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_pump",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_device": "MockPump1",
|
||||
"pump_state": "Stopped",
|
||||
"flow_rate": 0.0,
|
||||
"target_flow_rate": 0.0,
|
||||
"pressure": 0.0,
|
||||
"total_volume": 0.0,
|
||||
"max_flow_rate": 100.0,
|
||||
"max_pressure": 10.0,
|
||||
"from_vessel": "",
|
||||
"to_vessel": "",
|
||||
"transfer_volume": 0.0,
|
||||
"amount": "",
|
||||
"transfer_time": 0.0,
|
||||
"is_viscous": false,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"is_solid": false,
|
||||
"time_spent": 0.0,
|
||||
"time_remaining": 0.0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,33 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "MockRotavap1",
|
||||
"name": "模拟旋转蒸发器",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_rotavap",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"rotate_state": "Stopped",
|
||||
"rotate_time": 0.0,
|
||||
"rotate_speed": 0.0,
|
||||
"pump_state": "Stopped",
|
||||
"pump_time": 0.0,
|
||||
"vacuum_level": 1013.25,
|
||||
"temperature": 25.0,
|
||||
"target_temperature": 25.0,
|
||||
"success": "True"
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,43 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "MockSeparator1",
|
||||
"name": "模拟分离器",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_separator",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"settling_time": 0.0,
|
||||
"valve_state": "Closed",
|
||||
"shake_time": 0.0,
|
||||
"shake_status": "Not Shaking",
|
||||
"current_device": "MockSeparator1",
|
||||
"purpose": "",
|
||||
"product_phase": "",
|
||||
"from_vessel": "",
|
||||
"separation_vessel": "",
|
||||
"to_vessel": "",
|
||||
"waste_phase_to_vessel": "",
|
||||
"solvent": "",
|
||||
"solvent_volume": 0.0,
|
||||
"through": "",
|
||||
"repeats": 1,
|
||||
"stir_time": 0.0,
|
||||
"stir_speed": 0.0,
|
||||
"time_spent": 0.0,
|
||||
"time_remaining": 0.0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,25 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "MockSolenoidValve1",
|
||||
"name": "模拟电磁阀",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_solenoid_valve",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"valve_status": "Closed"
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,33 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "MockStirrer1",
|
||||
"name": "模拟搅拌器",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_stirrer",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"stir_speed": 0.0,
|
||||
"target_stir_speed": 0.0,
|
||||
"stir_state": "Stopped",
|
||||
"temperature": 25.0,
|
||||
"target_temperature": 25.0,
|
||||
"heating_state": "Off",
|
||||
"heating_power": 0.0,
|
||||
"max_stir_speed": 2000.0,
|
||||
"max_temperature": 300.0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,33 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "MockStirrer1COPY",
|
||||
"name": "模拟搅拌器(Copy)",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_stirrer_new",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"vessel": "",
|
||||
"purpose": "",
|
||||
"stir_speed": 0.0,
|
||||
"target_stir_speed": 0.0,
|
||||
"stir_state": "Stopped",
|
||||
"stir_time": 0.0,
|
||||
"settling_time": 0.0,
|
||||
"progress": 0.0,
|
||||
"max_stir_speed": 2000.0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,31 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "MockVacuum1",
|
||||
"name": "模拟真空泵",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "mock_vacuum",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "MOCK"
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"power_state": "Off",
|
||||
"pump_state": "Stopped",
|
||||
"vacuum_level": 1013.25,
|
||||
"target_vacuum": 50.0,
|
||||
"pump_speed": 0.0,
|
||||
"pump_efficiency": 95.0,
|
||||
"max_pump_speed": 100.0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,250 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "AddTestStation",
|
||||
"name": "添加试剂测试工作站",
|
||||
"children": [
|
||||
"pump_add",
|
||||
"flask_1",
|
||||
"flask_2",
|
||||
"flask_3",
|
||||
"flask_4",
|
||||
"reactor",
|
||||
"stirrer",
|
||||
"flask_air"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol"]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "pump_add",
|
||||
"name": "pump_add",
|
||||
"children": [],
|
||||
"parent": "AddTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_pump",
|
||||
"position": {
|
||||
"x": 520.6111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_volume": 25.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "stirrer",
|
||||
"name": "stirrer",
|
||||
"children": [],
|
||||
"parent": "AddTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_temp": 100.0,
|
||||
"max_speed": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_1",
|
||||
"name": "通用试剂瓶1",
|
||||
"children": [],
|
||||
"parent": "AddTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_2",
|
||||
"name": "通用试剂瓶2",
|
||||
"children": [],
|
||||
"parent": "AddTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 250,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_3",
|
||||
"name": "通用试剂瓶3",
|
||||
"children": [],
|
||||
"parent": "AddTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_4",
|
||||
"name": "通用试剂瓶4",
|
||||
"children": [],
|
||||
"parent": "AddTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 550,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "reactor",
|
||||
"children": [],
|
||||
"parent": "AddTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 5000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_air",
|
||||
"name": "flask_air",
|
||||
"children": [],
|
||||
"parent": "AddTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 800,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "stirrer",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"stirrer": "top",
|
||||
"reactor": "bottom"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_1",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "outlet",
|
||||
"flask_1": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_2",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_2": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_3",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_3": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_4",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_4": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "outlet",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_air",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_air": "top"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,271 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "CentrifugeTestStation",
|
||||
"name": "离心机测试工作站",
|
||||
"children": [
|
||||
"pump_add",
|
||||
"flask_1",
|
||||
"flask_2",
|
||||
"flask_3",
|
||||
"reactor",
|
||||
"stirrer",
|
||||
"centrifuge_1",
|
||||
"flask_air"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "CentrifugeProtocol"]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "pump_add",
|
||||
"name": "pump_add",
|
||||
"children": [],
|
||||
"parent": "CentrifugeTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_pump",
|
||||
"position": {
|
||||
"x": 520.6111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_volume": 25.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "stirrer",
|
||||
"name": "stirrer",
|
||||
"children": [],
|
||||
"parent": "CentrifugeTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"position": {
|
||||
"x": 650.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_temp": 100.0,
|
||||
"max_speed": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "centrifuge_1",
|
||||
"name": "离心机",
|
||||
"children": [],
|
||||
"parent": "CentrifugeTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_centrifuge",
|
||||
"position": {
|
||||
"x": 800,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_speed": 15000.0,
|
||||
"max_temp": 40.0,
|
||||
"min_temp": 4.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_1",
|
||||
"name": "样品瓶1",
|
||||
"children": [],
|
||||
"parent": "CentrifugeTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1500.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_2",
|
||||
"name": "样品瓶2",
|
||||
"children": [],
|
||||
"parent": "CentrifugeTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 250,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1500.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_3",
|
||||
"name": "缓冲液瓶",
|
||||
"children": [],
|
||||
"parent": "CentrifugeTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "反应器",
|
||||
"children": [],
|
||||
"parent": "CentrifugeTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 5000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_air",
|
||||
"name": "空气瓶",
|
||||
"children": [],
|
||||
"parent": "CentrifugeTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 950,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "stirrer",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"stirrer": "top",
|
||||
"reactor": "bottom"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_1",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "outlet",
|
||||
"flask_1": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_2",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_2": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_3",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_3": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "outlet",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_air",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_air": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "centrifuge_1",
|
||||
"target": "reactor",
|
||||
"type": "logical",
|
||||
"port": {
|
||||
"centrifuge_1": "chamber",
|
||||
"reactor": "vessel"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "centrifuge_1",
|
||||
"target": "flask_1",
|
||||
"type": "logical",
|
||||
"port": {
|
||||
"centrifuge_1": "chamber",
|
||||
"flask_1": "vessel"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "centrifuge_1",
|
||||
"target": "flask_2",
|
||||
"type": "logical",
|
||||
"port": {
|
||||
"centrifuge_1": "chamber",
|
||||
"flask_2": "vessel"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,362 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "CleanVesselTestStation",
|
||||
"name": "容器清洗测试工作站",
|
||||
"children": [
|
||||
"transfer_pump_cleaner",
|
||||
"heatchill_1",
|
||||
"flask_water",
|
||||
"flask_ethanol",
|
||||
"flask_acetone",
|
||||
"flask_waste",
|
||||
"reactor",
|
||||
"flask_buffer",
|
||||
"flask_sample",
|
||||
"flask_air"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["CleanVesselProtocol", "TransferProtocol", "AddProtocol"]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "transfer_pump_cleaner",
|
||||
"name": "清洗转移泵",
|
||||
"children": [],
|
||||
"parent": "CleanVesselTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_transfer_pump",
|
||||
"position": {
|
||||
"x": 520.6111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_volume": 50.0,
|
||||
"transfer_rate": 10.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_volume": 0.0,
|
||||
"max_volume": 50.0,
|
||||
"transfer_rate": 10.0,
|
||||
"from_vessel": "",
|
||||
"to_vessel": "",
|
||||
"progress": 0.0,
|
||||
"transferred_volume": 0.0,
|
||||
"current_status": "Ready"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "heatchill_1",
|
||||
"name": "加热冷却器",
|
||||
"children": [],
|
||||
"parent": "CleanVesselTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_heatchill",
|
||||
"position": {
|
||||
"x": 650.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_temp": 150.0,
|
||||
"min_temp": -20.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_temp": 25.0,
|
||||
"target_temp": 25.0,
|
||||
"vessel": "",
|
||||
"purpose": "",
|
||||
"progress": 0.0,
|
||||
"current_status": "Ready"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_water",
|
||||
"name": "水溶剂瓶",
|
||||
"children": [],
|
||||
"parent": "CleanVesselTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "water",
|
||||
"volume": 1500.0,
|
||||
"concentration": 100.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_ethanol",
|
||||
"name": "乙醇溶剂瓶",
|
||||
"children": [],
|
||||
"parent": "CleanVesselTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 250,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "ethanol",
|
||||
"volume": 1500.0,
|
||||
"concentration": 99.5
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_acetone",
|
||||
"name": "丙酮溶剂瓶",
|
||||
"children": [],
|
||||
"parent": "CleanVesselTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "acetone",
|
||||
"volume": 1800.0,
|
||||
"concentration": 99.9
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_waste",
|
||||
"name": "废液瓶",
|
||||
"children": [],
|
||||
"parent": "CleanVesselTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 550,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 5000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "反应器",
|
||||
"children": [],
|
||||
"parent": "CleanVesselTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "residue",
|
||||
"volume": 50.0,
|
||||
"concentration": 100.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_buffer",
|
||||
"name": "缓冲液瓶",
|
||||
"children": [],
|
||||
"parent": "CleanVesselTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 850,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "buffer",
|
||||
"volume": 1000.0,
|
||||
"concentration": 10.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_sample",
|
||||
"name": "样品瓶",
|
||||
"children": [],
|
||||
"parent": "CleanVesselTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 1000,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 500.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_air",
|
||||
"name": "空气瓶",
|
||||
"children": [],
|
||||
"parent": "CleanVesselTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 950,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "transfer_pump_cleaner",
|
||||
"target": "flask_water",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_cleaner": "1",
|
||||
"flask_water": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_cleaner",
|
||||
"target": "flask_ethanol",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_cleaner": "2",
|
||||
"flask_ethanol": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_cleaner",
|
||||
"target": "flask_acetone",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_cleaner": "3",
|
||||
"flask_acetone": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_cleaner",
|
||||
"target": "flask_waste",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_cleaner": "4",
|
||||
"flask_waste": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_cleaner",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_cleaner": "5",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_cleaner",
|
||||
"target": "flask_buffer",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_cleaner": "6",
|
||||
"flask_buffer": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_cleaner",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_cleaner": "7",
|
||||
"flask_sample": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_cleaner",
|
||||
"target": "flask_air",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_cleaner": "8",
|
||||
"flask_air": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "heatchill_1",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"heatchill_1": "heating_element",
|
||||
"reactor": "bottom"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "heatchill_1",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"heatchill_1": "heating_element",
|
||||
"flask_sample": "bottom"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,343 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "DissolveTestStation",
|
||||
"name": "溶解测试工作站",
|
||||
"children": [
|
||||
"transfer_pump_1",
|
||||
"heatchill_1",
|
||||
"stirrer_1",
|
||||
"flask_water",
|
||||
"flask_ethanol",
|
||||
"flask_dmso",
|
||||
"reactor",
|
||||
"flask_sample",
|
||||
"flask_buffer"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["DissolveProtocol", "TransferProtocol", "HeatChillProtocol", "StirProtocol"]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "transfer_pump_1",
|
||||
"name": "转移泵",
|
||||
"children": [],
|
||||
"parent": "DissolveTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_transfer_pump",
|
||||
"position": {
|
||||
"x": 520.6111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_volume": 50.0,
|
||||
"transfer_rate": 10.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_volume": 0.0,
|
||||
"max_volume": 50.0,
|
||||
"transfer_rate": 10.0,
|
||||
"from_vessel": "",
|
||||
"to_vessel": "",
|
||||
"progress": 0.0,
|
||||
"transferred_volume": 0.0,
|
||||
"current_status": "Ready"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "heatchill_1",
|
||||
"name": "加热冷却器",
|
||||
"children": [],
|
||||
"parent": "DissolveTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_heatchill",
|
||||
"position": {
|
||||
"x": 650.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_temp": 150.0,
|
||||
"min_temp": -20.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_temp": 25.0,
|
||||
"target_temp": 25.0,
|
||||
"vessel": "",
|
||||
"purpose": "",
|
||||
"progress": 0.0,
|
||||
"current_status": "Ready"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "stirrer_1",
|
||||
"name": "搅拌器",
|
||||
"children": [],
|
||||
"parent": "DissolveTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"position": {
|
||||
"x": 750.1111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_speed": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_water",
|
||||
"name": "水溶剂瓶",
|
||||
"children": [],
|
||||
"parent": "DissolveTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "water",
|
||||
"volume": 1500.0,
|
||||
"concentration": 100.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_ethanol",
|
||||
"name": "乙醇溶剂瓶",
|
||||
"children": [],
|
||||
"parent": "DissolveTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 250,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "ethanol",
|
||||
"volume": 1500.0,
|
||||
"concentration": 99.5
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_dmso",
|
||||
"name": "DMSO溶剂瓶",
|
||||
"children": [],
|
||||
"parent": "DissolveTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "dmso",
|
||||
"volume": 800.0,
|
||||
"concentration": 99.9
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "反应器",
|
||||
"children": [],
|
||||
"parent": "DissolveTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "solid_sample",
|
||||
"volume": 10.0,
|
||||
"concentration": 100.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_sample",
|
||||
"name": "样品瓶",
|
||||
"children": [],
|
||||
"parent": "DissolveTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 1000,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 500.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_buffer",
|
||||
"name": "缓冲液瓶",
|
||||
"children": [],
|
||||
"parent": "DissolveTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 850,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "buffer",
|
||||
"volume": 1000.0,
|
||||
"concentration": 10.0
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_water",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "1",
|
||||
"flask_water": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_ethanol",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "2",
|
||||
"flask_ethanol": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_dmso",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "3",
|
||||
"flask_dmso": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "4",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "5",
|
||||
"flask_sample": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_buffer",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "6",
|
||||
"flask_buffer": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "heatchill_1",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"heatchill_1": "heating_element",
|
||||
"reactor": "bottom"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "heatchill_1",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"heatchill_1": "heating_element",
|
||||
"flask_sample": "bottom"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "stirrer_1",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"stirrer_1": "stir_rod",
|
||||
"reactor": "center"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "stirrer_1",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"stirrer_1": "stir_rod",
|
||||
"flask_sample": "center"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,270 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "FilterTestStation",
|
||||
"name": "过滤器测试工作站",
|
||||
"children": [
|
||||
"pump_add",
|
||||
"flask_sample",
|
||||
"flask_filtrate",
|
||||
"flask_buffer",
|
||||
"reactor",
|
||||
"stirrer",
|
||||
"filter_1",
|
||||
"flask_air"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "FilterProtocol"]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "pump_add",
|
||||
"name": "pump_add",
|
||||
"children": [],
|
||||
"parent": "FilterTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_pump",
|
||||
"position": {
|
||||
"x": 520.6111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_volume": 25.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "stirrer",
|
||||
"name": "stirrer",
|
||||
"children": [],
|
||||
"parent": "FilterTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"position": {
|
||||
"x": 650.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_temp": 100.0,
|
||||
"max_speed": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "filter_1",
|
||||
"name": "过滤器",
|
||||
"children": [],
|
||||
"parent": "FilterTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_filter",
|
||||
"position": {
|
||||
"x": 800,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_temp": 100.0,
|
||||
"max_stir_speed": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_sample",
|
||||
"name": "样品瓶",
|
||||
"children": [],
|
||||
"parent": "FilterTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_filtrate",
|
||||
"name": "滤液瓶",
|
||||
"children": [],
|
||||
"parent": "FilterTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 250,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_buffer",
|
||||
"name": "缓冲液瓶",
|
||||
"children": [],
|
||||
"parent": "FilterTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "反应器",
|
||||
"children": [],
|
||||
"parent": "FilterTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 5000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_air",
|
||||
"name": "空气瓶",
|
||||
"children": [],
|
||||
"parent": "FilterTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 950,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "stirrer",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"stirrer": "top",
|
||||
"reactor": "bottom"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "outlet",
|
||||
"flask_sample": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_filtrate",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_filtrate": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_buffer",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_buffer": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "outlet",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_air",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_air": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "filter_1",
|
||||
"target": "reactor",
|
||||
"type": "logical",
|
||||
"port": {
|
||||
"filter_1": "input",
|
||||
"reactor": "vessel"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "filter_1",
|
||||
"target": "flask_sample",
|
||||
"type": "logical",
|
||||
"port": {
|
||||
"filter_1": "input",
|
||||
"flask_sample": "vessel"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "filter_1",
|
||||
"target": "flask_filtrate",
|
||||
"type": "logical",
|
||||
"port": {
|
||||
"filter_1": "output",
|
||||
"flask_filtrate": "vessel"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,388 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "FilterThroughTestStation",
|
||||
"name": "过滤通过测试工作站",
|
||||
"children": [
|
||||
"transfer_pump_1",
|
||||
"filter_1",
|
||||
"flask_ethanol",
|
||||
"flask_water",
|
||||
"flask_methanol",
|
||||
"reactor",
|
||||
"collection_flask",
|
||||
"waste_flask",
|
||||
"flask_sample",
|
||||
"flask_celite",
|
||||
"flask_silica"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["FilterThroughProtocol", "TransferProtocol", "FilterProtocol"]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "transfer_pump_1",
|
||||
"name": "转移泵",
|
||||
"children": [],
|
||||
"parent": "FilterThroughTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_transfer_pump",
|
||||
"position": {
|
||||
"x": 520.6111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_volume": 50.0,
|
||||
"transfer_rate": 10.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_volume": 0.0,
|
||||
"max_volume": 50.0,
|
||||
"transfer_rate": 10.0,
|
||||
"from_vessel": "",
|
||||
"to_vessel": "",
|
||||
"progress": 0.0,
|
||||
"transferred_volume": 0.0,
|
||||
"current_status": "Ready"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "filter_1",
|
||||
"name": "过滤器",
|
||||
"children": [],
|
||||
"parent": "FilterThroughTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_filter",
|
||||
"position": {
|
||||
"x": 650.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_temp": 100.0,
|
||||
"max_stir_speed": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"filter_state": "Ready",
|
||||
"current_temp": 25.0,
|
||||
"target_temp": 25.0,
|
||||
"max_temp": 100.0,
|
||||
"stir_speed": 0.0,
|
||||
"max_stir_speed": 1000.0,
|
||||
"filtered_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"message": ""
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_ethanol",
|
||||
"name": "乙醇溶剂瓶",
|
||||
"children": [],
|
||||
"parent": "FilterThroughTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "ethanol",
|
||||
"volume": 1500.0,
|
||||
"concentration": 99.5
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_water",
|
||||
"name": "水溶剂瓶",
|
||||
"children": [],
|
||||
"parent": "FilterThroughTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 250,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "water",
|
||||
"volume": 1800.0,
|
||||
"concentration": 100.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_methanol",
|
||||
"name": "甲醇溶剂瓶",
|
||||
"children": [],
|
||||
"parent": "FilterThroughTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "methanol",
|
||||
"volume": 800.0,
|
||||
"concentration": 99.9
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "反应器",
|
||||
"children": [],
|
||||
"parent": "FilterThroughTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "crude_product",
|
||||
"volume": 200.0,
|
||||
"concentration": 80.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "collection_flask",
|
||||
"name": "收集瓶",
|
||||
"children": [],
|
||||
"parent": "FilterThroughTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 850,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "waste_flask",
|
||||
"name": "废液瓶",
|
||||
"children": [],
|
||||
"parent": "FilterThroughTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 1000,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_sample",
|
||||
"name": "样品瓶",
|
||||
"children": [],
|
||||
"parent": "FilterThroughTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 550,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 500.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "sample_mixture",
|
||||
"volume": 100.0,
|
||||
"concentration": 50.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_celite",
|
||||
"name": "硅藻土容器",
|
||||
"children": [],
|
||||
"parent": "FilterThroughTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 150,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 500.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "celite",
|
||||
"volume": 50.0,
|
||||
"concentration": 100.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_silica",
|
||||
"name": "硅胶容器",
|
||||
"children": [],
|
||||
"parent": "FilterThroughTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 300,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 500.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "silica",
|
||||
"volume": 30.0,
|
||||
"concentration": 100.0
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_ethanol",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "1",
|
||||
"flask_ethanol": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_water",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "2",
|
||||
"flask_water": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_methanol",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "3",
|
||||
"flask_methanol": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "4",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "collection_flask",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "5",
|
||||
"collection_flask": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "waste_flask",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "6",
|
||||
"waste_flask": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "7",
|
||||
"flask_sample": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "filter_1",
|
||||
"target": "collection_flask",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"filter_1": "filter_element",
|
||||
"collection_flask": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "filter_1",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"filter_1": "filter_element",
|
||||
"reactor": "top"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,262 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "HeatChillTestStation",
|
||||
"name": "加热冷却测试工作站",
|
||||
"children": [
|
||||
"pump_add",
|
||||
"flask_sample",
|
||||
"flask_buffer1",
|
||||
"flask_buffer2",
|
||||
"reactor",
|
||||
"stirrer",
|
||||
"heatchill_1",
|
||||
"flask_air"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "HeatChillProtocol", "HeatChillStartProtocol", "HeatChillStopProtocol"]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "pump_add",
|
||||
"name": "pump_add",
|
||||
"children": [],
|
||||
"parent": "HeatChillTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_pump",
|
||||
"position": {
|
||||
"x": 520.6111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_volume": 25.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "stirrer",
|
||||
"name": "stirrer",
|
||||
"children": [],
|
||||
"parent": "HeatChillTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"position": {
|
||||
"x": 650.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_temp": 100.0,
|
||||
"max_speed": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "heatchill_1",
|
||||
"name": "加热冷却器",
|
||||
"children": [],
|
||||
"parent": "HeatChillTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_heatchill",
|
||||
"position": {
|
||||
"x": 800,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_temp": 200.0,
|
||||
"min_temp": -80.0,
|
||||
"max_stir_speed": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_sample",
|
||||
"name": "样品瓶",
|
||||
"children": [],
|
||||
"parent": "HeatChillTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_buffer1",
|
||||
"name": "缓冲液瓶1",
|
||||
"children": [],
|
||||
"parent": "HeatChillTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 250,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_buffer2",
|
||||
"name": "缓冲液瓶2",
|
||||
"children": [],
|
||||
"parent": "HeatChillTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "反应器",
|
||||
"children": [],
|
||||
"parent": "HeatChillTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 5000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_air",
|
||||
"name": "空气瓶",
|
||||
"children": [],
|
||||
"parent": "HeatChillTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 950,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "stirrer",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"stirrer": "top",
|
||||
"reactor": "bottom"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "outlet",
|
||||
"flask_sample": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_buffer1",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_buffer1": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_buffer2",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_buffer2": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "outlet",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_air",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_air": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "heatchill_1",
|
||||
"target": "reactor",
|
||||
"type": "logical",
|
||||
"port": {
|
||||
"heatchill_1": "heating_element",
|
||||
"reactor": "vessel"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "heatchill_1",
|
||||
"target": "flask_sample",
|
||||
"type": "logical",
|
||||
"port": {
|
||||
"heatchill_1": "heating_element",
|
||||
"flask_sample": "vessel"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,412 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "RunColumnTestStation",
|
||||
"name": "柱层析测试工作站",
|
||||
"children": [
|
||||
"transfer_pump_1",
|
||||
"column_1",
|
||||
"flask_sample",
|
||||
"flask_hexane",
|
||||
"flask_ethyl_acetate",
|
||||
"flask_methanol",
|
||||
"collection_flask_1",
|
||||
"collection_flask_2",
|
||||
"collection_flask_3",
|
||||
"waste_flask",
|
||||
"reactor"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["RunColumnProtocol", "TransferProtocol"]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "transfer_pump_1",
|
||||
"name": "转移泵",
|
||||
"children": [],
|
||||
"parent": "RunColumnTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_transfer_pump",
|
||||
"position": {
|
||||
"x": 520.6111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_volume": 50.0,
|
||||
"transfer_rate": 10.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_volume": 0.0,
|
||||
"max_volume": 50.0,
|
||||
"transfer_rate": 10.0,
|
||||
"from_vessel": "",
|
||||
"to_vessel": "",
|
||||
"progress": 0.0,
|
||||
"transferred_volume": 0.0,
|
||||
"current_status": "Ready"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "column_1",
|
||||
"name": "柱层析设备",
|
||||
"children": [],
|
||||
"parent": "RunColumnTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_column",
|
||||
"position": {
|
||||
"x": 650.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_flow_rate": 5.0,
|
||||
"column_length": 30.0,
|
||||
"column_diameter": 2.5
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"column_state": "Ready",
|
||||
"current_flow_rate": 0.0,
|
||||
"max_flow_rate": 5.0,
|
||||
"column_length": 30.0,
|
||||
"column_diameter": 2.5,
|
||||
"processed_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"current_status": "Ready"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_sample",
|
||||
"name": "样品瓶",
|
||||
"children": [],
|
||||
"parent": "RunColumnTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 500.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "crude_mixture",
|
||||
"volume": 200.0,
|
||||
"concentration": 70.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_hexane",
|
||||
"name": "正己烷洗脱剂",
|
||||
"children": [],
|
||||
"parent": "RunColumnTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 250,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "hexane",
|
||||
"volume": 1500.0,
|
||||
"concentration": 99.8
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_ethyl_acetate",
|
||||
"name": "乙酸乙酯洗脱剂",
|
||||
"children": [],
|
||||
"parent": "RunColumnTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "ethyl_acetate",
|
||||
"volume": 1500.0,
|
||||
"concentration": 99.5
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_methanol",
|
||||
"name": "甲醇洗脱剂",
|
||||
"children": [],
|
||||
"parent": "RunColumnTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 550,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "methanol",
|
||||
"volume": 800.0,
|
||||
"concentration": 99.9
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "collection_flask_1",
|
||||
"name": "收集瓶1",
|
||||
"children": [],
|
||||
"parent": "RunColumnTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 750,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "collection_flask_2",
|
||||
"name": "收集瓶2",
|
||||
"children": [],
|
||||
"parent": "RunColumnTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 900,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "collection_flask_3",
|
||||
"name": "收集瓶3",
|
||||
"children": [],
|
||||
"parent": "RunColumnTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 1050,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "waste_flask",
|
||||
"name": "废液瓶",
|
||||
"children": [],
|
||||
"parent": "RunColumnTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 1200,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "反应器",
|
||||
"children": [],
|
||||
"parent": "RunColumnTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "reaction_mixture",
|
||||
"volume": 300.0,
|
||||
"concentration": 85.0
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "1",
|
||||
"flask_sample": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_hexane",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "2",
|
||||
"flask_hexane": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_ethyl_acetate",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "3",
|
||||
"flask_ethyl_acetate": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_methanol",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "4",
|
||||
"flask_methanol": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "column_1",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "5",
|
||||
"column_1": "inlet"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "collection_flask_1",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "6",
|
||||
"collection_flask_1": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "collection_flask_2",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "7",
|
||||
"collection_flask_2": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "collection_flask_3",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "8",
|
||||
"collection_flask_3": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "waste_flask",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "9",
|
||||
"waste_flask": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "10",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "column_1",
|
||||
"target": "collection_flask_1",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"column_1": "outlet",
|
||||
"collection_flask_1": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "column_1",
|
||||
"target": "collection_flask_2",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"column_1": "outlet",
|
||||
"collection_flask_2": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "column_1",
|
||||
"target": "collection_flask_3",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"column_1": "outlet",
|
||||
"collection_flask_3": "top"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,250 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "StirTestStation",
|
||||
"name": "搅拌测试工作站",
|
||||
"children": [
|
||||
"pump_add",
|
||||
"flask_sample",
|
||||
"flask_buffer1",
|
||||
"flask_buffer2",
|
||||
"reactor",
|
||||
"stirrer",
|
||||
"flask_waste",
|
||||
"flask_air"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "StirProtocol", "StartStirProtocol", "StopStirProtocol"]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "pump_add",
|
||||
"name": "添加泵",
|
||||
"children": [],
|
||||
"parent": "StirTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_pump",
|
||||
"position": {
|
||||
"x": 520.6111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_volume": 25.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "stirrer",
|
||||
"name": "搅拌器",
|
||||
"children": [],
|
||||
"parent": "StirTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"position": {
|
||||
"x": 650.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_temp": 100.0,
|
||||
"max_speed": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_sample",
|
||||
"name": "样品瓶",
|
||||
"children": [],
|
||||
"parent": "StirTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_buffer1",
|
||||
"name": "缓冲液瓶1",
|
||||
"children": [],
|
||||
"parent": "StirTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 250,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_buffer2",
|
||||
"name": "缓冲液瓶2",
|
||||
"children": [],
|
||||
"parent": "StirTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "反应器",
|
||||
"children": [],
|
||||
"parent": "StirTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 5000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_waste",
|
||||
"name": "废液瓶",
|
||||
"children": [],
|
||||
"parent": "StirTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 850,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 3000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_air",
|
||||
"name": "空气瓶",
|
||||
"children": [],
|
||||
"parent": "StirTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 950,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "stirrer",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"stirrer": "top",
|
||||
"reactor": "bottom"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_sample": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_buffer1",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_buffer1": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_buffer2",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_buffer2": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "outlet",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_waste",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "outlet",
|
||||
"flask_waste": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_add",
|
||||
"target": "flask_air",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_add": "inlet",
|
||||
"flask_air": "top"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,249 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "TransferTestStation",
|
||||
"name": "液体转移测试工作站",
|
||||
"children": [
|
||||
"transfer_pump",
|
||||
"flask_source1",
|
||||
"flask_source2",
|
||||
"flask_target1",
|
||||
"flask_target2",
|
||||
"reactor",
|
||||
"flask_waste",
|
||||
"flask_rinsing"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["TransferProtocol"]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "transfer_pump",
|
||||
"name": "转移泵",
|
||||
"children": [],
|
||||
"parent": "TransferTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_transfer_pump",
|
||||
"position": {
|
||||
"x": 520.6111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_volume": 50.0,
|
||||
"transfer_rate": 5.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_source1",
|
||||
"name": "源容器1",
|
||||
"children": [],
|
||||
"parent": "TransferTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_source2",
|
||||
"name": "源容器2",
|
||||
"children": [],
|
||||
"parent": "TransferTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 250,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_target1",
|
||||
"name": "目标容器1",
|
||||
"children": [],
|
||||
"parent": "TransferTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_target2",
|
||||
"name": "目标容器2",
|
||||
"children": [],
|
||||
"parent": "TransferTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 550,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "反应器",
|
||||
"children": [],
|
||||
"parent": "TransferTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_waste",
|
||||
"name": "废液瓶",
|
||||
"children": [],
|
||||
"parent": "TransferTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 850,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_rinsing",
|
||||
"name": "冲洗液瓶",
|
||||
"children": [],
|
||||
"parent": "TransferTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 950,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "transfer_pump",
|
||||
"target": "flask_source1",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump": "inlet",
|
||||
"flask_source1": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump",
|
||||
"target": "flask_source2",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump": "inlet",
|
||||
"flask_source2": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump",
|
||||
"target": "flask_target1",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump": "outlet",
|
||||
"flask_target1": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump",
|
||||
"target": "flask_target2",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump": "outlet",
|
||||
"flask_target2": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump": "outlet",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump",
|
||||
"target": "flask_waste",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump": "outlet",
|
||||
"flask_waste": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump",
|
||||
"target": "flask_rinsing",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump": "inlet",
|
||||
"flask_rinsing": "top"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,494 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "WashSolidTestStation",
|
||||
"name": "固体清洗测试工作站",
|
||||
"children": [
|
||||
"transfer_pump_1",
|
||||
"heatchill_1",
|
||||
"stirrer_1",
|
||||
"filter_1",
|
||||
"flask_ethanol",
|
||||
"flask_water",
|
||||
"flask_acetone",
|
||||
"flask_methanol",
|
||||
"reactor",
|
||||
"collection_flask",
|
||||
"waste_flask",
|
||||
"flask_sample",
|
||||
"filtrate_flask"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["WashSolidProtocol", "TransferProtocol", "FilterProtocol", "HeatChillProtocol", "StirProtocol"]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "transfer_pump_1",
|
||||
"name": "转移泵",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_transfer_pump",
|
||||
"position": {
|
||||
"x": 520.6111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_volume": 50.0,
|
||||
"transfer_rate": 10.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_volume": 0.0,
|
||||
"max_volume": 50.0,
|
||||
"transfer_rate": 10.0,
|
||||
"from_vessel": "",
|
||||
"to_vessel": "",
|
||||
"progress": 0.0,
|
||||
"transferred_volume": 0.0,
|
||||
"current_status": "Ready"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "heatchill_1",
|
||||
"name": "加热冷却器",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_heatchill",
|
||||
"position": {
|
||||
"x": 650.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_temp": 150.0,
|
||||
"min_temp": -20.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_temp": 25.0,
|
||||
"target_temp": 25.0,
|
||||
"vessel": "",
|
||||
"purpose": "",
|
||||
"progress": 0.0,
|
||||
"current_status": "Ready"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "stirrer_1",
|
||||
"name": "搅拌器",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"position": {
|
||||
"x": 750.1111111111111,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_speed": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "filter_1",
|
||||
"name": "过滤器",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "device",
|
||||
"class": "virtual_filter",
|
||||
"position": {
|
||||
"x": 850.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "VIRTUAL",
|
||||
"max_temp": 100.0,
|
||||
"max_stir_speed": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"filter_state": "Ready",
|
||||
"current_temp": 25.0,
|
||||
"target_temp": 25.0,
|
||||
"max_temp": 100.0,
|
||||
"stir_speed": 0.0,
|
||||
"max_stir_speed": 1000.0,
|
||||
"filtered_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"message": ""
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_ethanol",
|
||||
"name": "乙醇清洗剂",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "ethanol",
|
||||
"volume": 1500.0,
|
||||
"concentration": 99.5
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_water",
|
||||
"name": "水清洗剂",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 250,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "water",
|
||||
"volume": 1800.0,
|
||||
"concentration": 100.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_acetone",
|
||||
"name": "丙酮清洗剂",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "acetone",
|
||||
"volume": 800.0,
|
||||
"concentration": 99.8
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_methanol",
|
||||
"name": "甲醇清洗剂",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 550,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "methanol",
|
||||
"volume": 800.0,
|
||||
"concentration": 99.9
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "反应器",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "solid_product",
|
||||
"volume": 50.0,
|
||||
"concentration": 100.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "collection_flask",
|
||||
"name": "收集瓶",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 850,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "waste_flask",
|
||||
"name": "废液瓶",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 1000,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_sample",
|
||||
"name": "样品瓶",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 1150,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 500.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
{
|
||||
"name": "crude_solid",
|
||||
"volume": 30.0,
|
||||
"concentration": 80.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "filtrate_flask",
|
||||
"name": "滤液收集瓶",
|
||||
"children": [],
|
||||
"parent": "WashSolidTestStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 1000,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1500.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": []
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_ethanol",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "1",
|
||||
"flask_ethanol": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_water",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "2",
|
||||
"flask_water": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_acetone",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "3",
|
||||
"flask_acetone": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_methanol",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "4",
|
||||
"flask_methanol": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "5",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "collection_flask",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "6",
|
||||
"collection_flask": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "waste_flask",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "7",
|
||||
"waste_flask": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "8",
|
||||
"flask_sample": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "transfer_pump_1",
|
||||
"target": "filtrate_flask",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"transfer_pump_1": "9",
|
||||
"filtrate_flask": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "heatchill_1",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"heatchill_1": "heating_element",
|
||||
"reactor": "bottom"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "heatchill_1",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"heatchill_1": "heating_element",
|
||||
"flask_sample": "bottom"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "stirrer_1",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"stirrer_1": "stir_rod",
|
||||
"reactor": "center"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "stirrer_1",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"stirrer_1": "stir_rod",
|
||||
"flask_sample": "center"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "filter_1",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"filter_1": "filter_element",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "filter_1",
|
||||
"target": "flask_sample",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"filter_1": "filter_element",
|
||||
"flask_sample": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "filter_1",
|
||||
"target": "filtrate_flask",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"filter_1": "filter_element",
|
||||
"filtrate_flask": "top"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -8,14 +8,14 @@
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "moveit.arm_slider",
|
||||
"class": "moveit.benyao_arm",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"moveit_type": "arm_slider",
|
||||
"moveit_type": "benyao_arm",
|
||||
"joint_poses": {
|
||||
"arm": {
|
||||
"home": [0.0, 0.2, 0.0, 0.0, 0.0],
|
||||
|
||||
@@ -10,8 +10,6 @@ from copy import deepcopy
|
||||
|
||||
import yaml
|
||||
|
||||
from unilabos.resources.graphio import tree_to_list
|
||||
|
||||
# 首先添加项目根目录到路径
|
||||
current_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
@@ -146,19 +144,19 @@ def main():
|
||||
else read_graphml(args_dict["graph"])
|
||||
)
|
||||
devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
|
||||
# args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
|
||||
args_dict["resources_config"] = list(devices_and_resources.values())
|
||||
args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
|
||||
args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
|
||||
# args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
|
||||
|
||||
args_dict["graph"] = graph_res.physical_setup_graph
|
||||
else:
|
||||
if args_dict["devices"] is None or args_dict["resources"] is None:
|
||||
print_status("Either graph or devices and resources must be provided.", "error")
|
||||
sys.exit(1)
|
||||
args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
|
||||
# args_dict["resources_config"] = initialize_resources(
|
||||
# list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
|
||||
# )
|
||||
args_dict["resources_config"] = list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
|
||||
args_dict["resources_config"] = initialize_resources(
|
||||
list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
|
||||
)
|
||||
|
||||
print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
|
||||
for i in args_dict["resources_config"]:
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
import json
|
||||
import time
|
||||
import traceback
|
||||
from typing import Optional
|
||||
import uuid
|
||||
|
||||
import paho.mqtt.client as mqtt
|
||||
@@ -162,14 +161,12 @@ class MQTTClient:
|
||||
status = {"data": device_status.get(device_id, {}), "device_id": device_id}
|
||||
address = f"labs/{MQConfig.lab_id}/devices/"
|
||||
self.client.publish(address, json.dumps(status), qos=2)
|
||||
logger.debug(f"Device status published: address: {address}, {status}")
|
||||
logger.critical(f"Device status published: address: {address}, {status}")
|
||||
|
||||
def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
|
||||
def publish_job_status(self, feedback_data: dict, job_id: str, status: str):
|
||||
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}
|
||||
jobdata = {"job_id": job_id, "data": feedback_data, "status": status}
|
||||
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):
|
||||
|
||||
@@ -30,18 +30,18 @@ class HTTPClient:
|
||||
self.auth = MQConfig.lab_id
|
||||
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
|
||||
|
||||
def resource_add(self, resources: List[Dict[str, Any]], database_process_later:bool) -> requests.Response:
|
||||
def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
|
||||
"""
|
||||
添加资源
|
||||
|
||||
Args:
|
||||
resources: 要添加的资源列表
|
||||
database_process_later: 后台处理资源
|
||||
|
||||
Returns:
|
||||
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}",
|
||||
f"{self.remote_addr}/lab/resource/",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=5,
|
||||
@@ -60,7 +60,7 @@ 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/resource/",
|
||||
params={"id": id, "with_children": with_children},
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=5,
|
||||
@@ -96,7 +96,7 @@ class HTTPClient:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.patch(
|
||||
f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
|
||||
f"{self.remote_addr}/lab/resource/batch_update/",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=5,
|
||||
|
||||
@@ -5,17 +5,6 @@ from .separate_protocol import generate_separate_protocol
|
||||
from .evaporate_protocol import generate_evaporate_protocol
|
||||
from .evacuateandrefill_protocol import generate_evacuateandrefill_protocol
|
||||
from .agv_transfer_protocol import generate_agv_transfer_protocol
|
||||
from .add_protocol import generate_add_protocol
|
||||
from .centrifuge_protocol import generate_centrifuge_protocol
|
||||
from .filter_protocol import generate_filter_protocol
|
||||
from .heatchill_protocol import generate_heat_chill_protocol, generate_heat_chill_start_protocol, generate_heat_chill_stop_protocol
|
||||
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
|
||||
from .run_column_protocol import generate_run_column_protocol
|
||||
from .wash_solid_protocol import generate_wash_solid_protocol
|
||||
|
||||
|
||||
# Define a dictionary of protocol generators.
|
||||
@@ -26,19 +15,5 @@ action_protocol_generators = {
|
||||
EvaporateProtocol: generate_evaporate_protocol,
|
||||
EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,
|
||||
AGVTransferProtocol: generate_agv_transfer_protocol,
|
||||
CentrifugeProtocol: generate_centrifuge_protocol,
|
||||
AddProtocol: generate_add_protocol,
|
||||
FilterProtocol: generate_filter_protocol,
|
||||
HeatChillProtocol: generate_heat_chill_protocol,
|
||||
HeatChillStartProtocol: generate_heat_chill_start_protocol,
|
||||
HeatChillStopProtocol: generate_heat_chill_stop_protocol,
|
||||
StirProtocol: generate_stir_protocol,
|
||||
StartStirProtocol: generate_start_stir_protocol,
|
||||
StopStirProtocol: generate_stop_stir_protocol,
|
||||
TransferProtocol: generate_transfer_protocol,
|
||||
CleanVesselProtocol: generate_clean_vessel_protocol,
|
||||
DissolveProtocol: generate_dissolve_protocol,
|
||||
FilterThroughProtocol: generate_filter_through_protocol,
|
||||
RunColumnProtocol: generate_run_column_protocol,
|
||||
WashSolidProtocol: generate_wash_solid_protocol,
|
||||
}
|
||||
# End Protocols
|
||||
|
||||
@@ -1,74 +0,0 @@
|
||||
import networkx as nx
|
||||
from typing import List, Dict, Any
|
||||
|
||||
def generate_add_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
reagent: str,
|
||||
volume: float,
|
||||
mass: float,
|
||||
amount: str,
|
||||
time: float,
|
||||
stir: bool,
|
||||
stir_speed: float,
|
||||
viscous: bool,
|
||||
purpose: str
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成添加试剂的协议序列 - 严格按照 Add.action
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 如果指定了体积，执行液体转移
|
||||
if volume > 0:
|
||||
# 查找可用的试剂瓶
|
||||
available_flasks = [node for node in G.nodes()
|
||||
if node.startswith('flask_')
|
||||
and G.nodes[node].get('type') == 'container']
|
||||
|
||||
if not available_flasks:
|
||||
raise ValueError("没有找到可用的试剂容器")
|
||||
|
||||
reagent_vessel = available_flasks[0]
|
||||
|
||||
# 查找泵设备
|
||||
pump_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_pump']
|
||||
|
||||
if pump_nodes:
|
||||
pump_id = pump_nodes[0]
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": reagent_vessel,
|
||||
"to_vessel": vessel,
|
||||
"volume": volume,
|
||||
"amount": amount,
|
||||
"time": time,
|
||||
"viscous": viscous,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"solid": False
|
||||
}
|
||||
})
|
||||
|
||||
# 如果需要搅拌，使用 StartStir 而不是 Stir
|
||||
if stir:
|
||||
stirrer_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_stirrer']
|
||||
|
||||
if stirrer_nodes:
|
||||
stirrer_id = stirrer_nodes[0]
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir", # 使用 start_stir 而不是 stir
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"添加 {reagent} 后搅拌"
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
@@ -1,123 +0,0 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
|
||||
def generate_centrifuge_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
speed: float,
|
||||
time: float,
|
||||
temp: float = 25.0
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成离心操作的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
vessel: 离心容器名称
|
||||
speed: 离心速度 (rpm)
|
||||
time: 离心时间 (秒)
|
||||
temp: 温度 (摄氏度，可选)
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 离心操作的动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 当找不到离心机设备时抛出异常
|
||||
|
||||
Examples:
|
||||
centrifuge_protocol = generate_centrifuge_protocol(G, "reactor", 5000, 300, 4.0)
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 查找离心机设备
|
||||
centrifuge_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_centrifuge']
|
||||
|
||||
if not centrifuge_nodes:
|
||||
raise ValueError("没有找到可用的离心机设备")
|
||||
|
||||
# 使用第一个可用的离心机
|
||||
centrifuge_id = centrifuge_nodes[0]
|
||||
|
||||
# 验证容器是否存在
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 {vessel} 不存在于图中")
|
||||
|
||||
# 执行离心操作
|
||||
action_sequence.append({
|
||||
"device_id": centrifuge_id,
|
||||
"action_name": "centrifuge",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"speed": speed,
|
||||
"time": time,
|
||||
"temp": temp
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
def generate_multi_step_centrifuge_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
steps: List[Dict[str, Any]]
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成多步骤离心操作的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
vessel: 离心容器名称
|
||||
steps: 离心步骤列表，每个步骤包含 speed, time, temp 参数
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 多步骤离心操作的动作序列
|
||||
|
||||
Examples:
|
||||
steps = [
|
||||
{"speed": 1000, "time": 60, "temp": 4.0}, # 低速预离心
|
||||
{"speed": 12000, "time": 600, "temp": 4.0} # 高速离心
|
||||
]
|
||||
protocol = generate_multi_step_centrifuge_protocol(G, "reactor", steps)
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 查找离心机设备
|
||||
centrifuge_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_centrifuge']
|
||||
|
||||
if not centrifuge_nodes:
|
||||
raise ValueError("没有找到可用的离心机设备")
|
||||
|
||||
centrifuge_id = centrifuge_nodes[0]
|
||||
|
||||
# 验证容器是否存在
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 {vessel} 不存在于图中")
|
||||
|
||||
# 执行每个离心步骤
|
||||
for i, step in enumerate(steps):
|
||||
speed = step.get('speed', 5000)
|
||||
time = step.get('time', 300)
|
||||
temp = step.get('temp', 25.0)
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": centrifuge_id,
|
||||
"action_name": "centrifuge",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"speed": speed,
|
||||
"time": time,
|
||||
"temp": temp
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤间等待时间（除了最后一步）
|
||||
if i < len(steps) - 1:
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 3}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
@@ -1,126 +0,0 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
|
||||
def generate_clean_vessel_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
solvent: str,
|
||||
volume: float,
|
||||
temp: float,
|
||||
repeats: int = 1
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成容器清洗操作的协议序列，使用transfer操作实现清洗
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
vessel: 要清洗的容器名称
|
||||
solvent: 用于清洗容器的溶剂名称
|
||||
volume: 清洗溶剂的体积
|
||||
temp: 清洗时的温度
|
||||
repeats: 清洗操作的重复次数，默认为 1
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 容器清洗操作的动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 当找不到必要的设备时抛出异常
|
||||
|
||||
Examples:
|
||||
clean_vessel_protocol = generate_clean_vessel_protocol(G, "reactor", "water", 50.0, 25.0, 2)
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 查找虚拟转移泵设备进行清洗操作
|
||||
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容器清洗")
|
||||
|
||||
pump_id = pump_nodes[0]
|
||||
|
||||
# 验证容器是否存在
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 {vessel} 不存在于图中")
|
||||
|
||||
# 查找溶剂容器
|
||||
solvent_vessel = f"flask_{solvent}"
|
||||
if solvent_vessel not in G.nodes():
|
||||
raise ValueError(f"溶剂容器 {solvent_vessel} 不存在于图中")
|
||||
|
||||
# 查找废液容器
|
||||
waste_vessel = "flask_waste"
|
||||
if waste_vessel not in G.nodes():
|
||||
raise ValueError(f"废液容器 {waste_vessel} 不存在于图中")
|
||||
|
||||
# 查找加热设备（如果需要加热）
|
||||
heatchill_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_heatchill']
|
||||
|
||||
heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
|
||||
|
||||
# 执行清洗操作序列
|
||||
for repeat in range(repeats):
|
||||
# 1. 如果需要加热，先设置温度
|
||||
if temp > 25.0 and heatchill_id:
|
||||
action_sequence.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"temp": temp,
|
||||
"purpose": "cleaning"
|
||||
}
|
||||
})
|
||||
|
||||
# 2. 使用transfer操作：从溶剂容器转移清洗溶剂到目标容器
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": solvent_vessel,
|
||||
"to_vessel": vessel,
|
||||
"volume": volume,
|
||||
"amount": f"cleaning with {solvent} - cycle {repeat + 1}",
|
||||
"time": 0.0,
|
||||
"viscous": False,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"solid": False
|
||||
}
|
||||
})
|
||||
|
||||
# 3. 等待清洗作用时间（可选，可以添加wait操作）
|
||||
# 这里省略wait操作，直接进行下一步
|
||||
|
||||
# 4. 将清洗后的溶剂转移到废液容器
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": vessel,
|
||||
"to_vessel": waste_vessel,
|
||||
"volume": volume,
|
||||
"amount": f"waste from cleaning {vessel} - cycle {repeat + 1}",
|
||||
"time": 0.0,
|
||||
"viscous": False,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"solid": False
|
||||
}
|
||||
})
|
||||
|
||||
# 5. 如果加热了，停止加热
|
||||
if temp > 25.0 and heatchill_id:
|
||||
action_sequence.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
@@ -1,162 +0,0 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
|
||||
def generate_dissolve_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
solvent: str,
|
||||
volume: float,
|
||||
amount: str = "",
|
||||
temp: float = 25.0,
|
||||
time: float = 0.0,
|
||||
stir_speed: float = 0.0
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成溶解操作的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
vessel: 装有要溶解物质的容器名称
|
||||
solvent: 用于溶解物质的溶剂名称
|
||||
volume: 溶剂的体积，可选参数
|
||||
amount: 要溶解物质的量，可选参数
|
||||
temp: 溶解时的温度，可选参数
|
||||
time: 溶解的时间，可选参数
|
||||
stir_speed: 搅拌速度，可选参数
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 溶解操作的动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 当找不到必要的设备时抛出异常
|
||||
|
||||
Examples:
|
||||
dissolve_protocol = generate_dissolve_protocol(G, "reactor", "water", 100.0, "NaCl 5g", 60.0, 300.0, 500.0)
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 验证容器是否存在
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 {vessel} 不存在于图中")
|
||||
|
||||
# 查找溶剂容器
|
||||
solvent_vessel = f"flask_{solvent}"
|
||||
if solvent_vessel not in G.nodes():
|
||||
# 如果没有找到特定溶剂容器，查找可用的源容器
|
||||
available_vessels = [node for node in G.nodes()
|
||||
if node.startswith('flask_') and
|
||||
G.nodes[node].get('type') == 'container']
|
||||
if available_vessels:
|
||||
solvent_vessel = available_vessels[0]
|
||||
else:
|
||||
raise ValueError(f"没有找到溶剂容器 {solvent}")
|
||||
|
||||
# 查找转移泵设备
|
||||
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")
|
||||
|
||||
pump_id = pump_nodes[0]
|
||||
|
||||
# 查找加热设备（如果需要加热）
|
||||
heatchill_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_heatchill']
|
||||
|
||||
heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
|
||||
|
||||
# 查找搅拌设备（如果需要搅拌）
|
||||
stirrer_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_stirrer']
|
||||
|
||||
stirrer_id = stirrer_nodes[0] if stirrer_nodes else None
|
||||
|
||||
# 步骤1：如果需要加热，先设置温度
|
||||
if temp > 25.0 and heatchill_id:
|
||||
action_sequence.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"temp": temp,
|
||||
"purpose": "dissolution"
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤2：添加溶剂到容器中
|
||||
if volume > 0:
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": solvent_vessel,
|
||||
"to_vessel": vessel,
|
||||
"volume": volume,
|
||||
"amount": f"solvent {solvent} for dissolving {amount}",
|
||||
"time": 0.0,
|
||||
"viscous": False,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"solid": False
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤3：如果需要搅拌，开始搅拌
|
||||
if stir_speed > 0 and stirrer_id:
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"dissolving {amount} in {solvent}"
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤4：如果指定了溶解时间，等待溶解完成
|
||||
if time > 0:
|
||||
# 这里可以添加等待操作，或者使用搅拌操作来模拟溶解时间
|
||||
if stirrer_id and stir_speed > 0:
|
||||
# 停止之前的搅拌，使用定时搅拌
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
}
|
||||
})
|
||||
|
||||
# 开始定时搅拌
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stir",
|
||||
"action_kwargs": {
|
||||
"stir_time": time,
|
||||
"stir_speed": stir_speed,
|
||||
"settling_time": 10.0 # 搅拌后静置10秒
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤5：如果加热了，停止加热
|
||||
if temp > 25.0 and heatchill_id:
|
||||
action_sequence.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤6：如果还在搅拌，停止搅拌（除非已经用定时搅拌）
|
||||
if stir_speed > 0 and stirrer_id and time == 0:
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
@@ -69,14 +69,14 @@ def generate_evacuateandrefill_protocol(
|
||||
"device_id": vacuum_backbone["pump"],
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {
|
||||
"string": "ON"
|
||||
"command": "ON"
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": vacuum_backbone["gas"],
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {
|
||||
"string": "OFF"
|
||||
"command": "OFF"
|
||||
}
|
||||
}
|
||||
])
|
||||
@@ -106,14 +106,14 @@ def generate_evacuateandrefill_protocol(
|
||||
"device_id": vacuum_backbone["pump"],
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {
|
||||
"string": "OFF"
|
||||
"command": "OFF"
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": vacuum_backbone["gas"],
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {
|
||||
"string": "ON"
|
||||
"command": "ON"
|
||||
}
|
||||
}
|
||||
])
|
||||
@@ -125,7 +125,7 @@ def generate_evacuateandrefill_protocol(
|
||||
"device_id": vacuum_backbone["gas"],
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {
|
||||
"string": "OFF"
|
||||
"command": "OFF"
|
||||
}
|
||||
}
|
||||
)
|
||||
|
||||
@@ -1,70 +0,0 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
|
||||
def generate_filter_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
filtrate_vessel: str = "",
|
||||
stir: bool = False,
|
||||
stir_speed: float = 300.0,
|
||||
temp: float = 25.0,
|
||||
continue_heatchill: bool = False,
|
||||
volume: float = 0.0
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成过滤操作的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
vessel: 过滤容器
|
||||
filtrate_vessel: 滤液容器（可选）
|
||||
stir: 是否搅拌
|
||||
stir_speed: 搅拌速度（可选）
|
||||
temp: 温度（可选，摄氏度）
|
||||
continue_heatchill: 是否继续加热冷却
|
||||
volume: 过滤体积（可选）
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 过滤操作的动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 当找不到过滤设备时抛出异常
|
||||
|
||||
Examples:
|
||||
filter_protocol = generate_filter_protocol(G, "reactor", "filtrate_vessel", stir=True, volume=100.0)
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 查找过滤设备
|
||||
filter_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_filter']
|
||||
|
||||
if not filter_nodes:
|
||||
raise ValueError("没有找到可用的过滤设备")
|
||||
|
||||
# 使用第一个可用的过滤器
|
||||
filter_id = filter_nodes[0]
|
||||
|
||||
# 验证容器是否存在
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"过滤容器 {vessel} 不存在于图中")
|
||||
|
||||
if filtrate_vessel and filtrate_vessel not in G.nodes():
|
||||
raise ValueError(f"滤液容器 {filtrate_vessel} 不存在于图中")
|
||||
|
||||
# 执行过滤操作
|
||||
action_sequence.append({
|
||||
"device_id": filter_id,
|
||||
"action_name": "filter_sample",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"filtrate_vessel": filtrate_vessel,
|
||||
"stir": stir,
|
||||
"stir_speed": stir_speed,
|
||||
"temp": temp,
|
||||
"continue_heatchill": continue_heatchill,
|
||||
"volume": volume
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
@@ -1,150 +0,0 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
|
||||
def generate_filter_through_protocol(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
filter_through: str,
|
||||
eluting_solvent: str = "",
|
||||
eluting_volume: float = 0.0,
|
||||
eluting_repeats: int = 0,
|
||||
residence_time: float = 0.0
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成通过过滤介质过滤的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
from_vessel: 源容器的名称，即物质起始所在的容器
|
||||
to_vessel: 目标容器的名称，物质过滤后要到达的容器
|
||||
filter_through: 过滤时所通过的介质，如滤纸、柱子等
|
||||
eluting_solvent: 洗脱溶剂的名称，可选参数
|
||||
eluting_volume: 洗脱溶剂的体积，可选参数
|
||||
eluting_repeats: 洗脱操作的重复次数，默认为 0
|
||||
residence_time: 物质在过滤介质中的停留时间，可选参数
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 过滤操作的动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 当找不到必要的设备时抛出异常
|
||||
|
||||
Examples:
|
||||
filter_through_protocol = generate_filter_through_protocol(
|
||||
G, "reactor", "collection_flask", "celite", "ethanol", 50.0, 2, 60.0
|
||||
)
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 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")
|
||||
|
||||
# 查找转移泵设备（用于液体转移）
|
||||
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")
|
||||
|
||||
pump_id = pump_nodes[0]
|
||||
|
||||
# 查找过滤设备（可选，如果有专门的过滤设备）
|
||||
filter_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_filter']
|
||||
|
||||
filter_id = filter_nodes[0] if filter_nodes else None
|
||||
|
||||
# 查找洗脱溶剂容器（如果需要洗脱）
|
||||
eluting_vessel = None
|
||||
if eluting_solvent and eluting_volume > 0:
|
||||
eluting_vessel = f"flask_{eluting_solvent}"
|
||||
if eluting_vessel not in G.nodes():
|
||||
# 查找可用的溶剂容器
|
||||
available_vessels = [node for node in G.nodes()
|
||||
if node.startswith('flask_') and
|
||||
G.nodes[node].get('type') == 'container']
|
||||
if available_vessels:
|
||||
eluting_vessel = available_vessels[0]
|
||||
else:
|
||||
raise ValueError(f"没有找到洗脱溶剂容器 {eluting_solvent}")
|
||||
|
||||
# 步骤1：将样品从源容器转移到过滤装置（模拟通过过滤介质）
|
||||
# 这里我们将过滤过程分解为多个转移步骤来模拟通过介质的过程
|
||||
|
||||
# 首先转移样品（模拟样品通过过滤介质）
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": from_vessel,
|
||||
"to_vessel": to_vessel,
|
||||
"volume": 0.0, # 转移所有液体，体积由系统确定
|
||||
"amount": f"通过 {filter_through} 过滤",
|
||||
"time": residence_time if residence_time > 0 else 0.0,
|
||||
"viscous": False,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"solid": True # 通过过滤介质可能涉及固体分离
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤2：如果有专门的过滤设备，使用过滤设备处理
|
||||
if filter_id:
|
||||
action_sequence.append({
|
||||
"device_id": filter_id,
|
||||
"action_name": "filter_sample",
|
||||
"action_kwargs": {
|
||||
"vessel": to_vessel,
|
||||
"filtrate_vessel": to_vessel,
|
||||
"stir": False,
|
||||
"stir_speed": 0.0,
|
||||
"temp": 25.0,
|
||||
"continue_heatchill": False,
|
||||
"volume": 0.0
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤3：洗脱操作（如果指定了洗脱溶剂和重复次数）
|
||||
if eluting_solvent and eluting_volume > 0 and eluting_repeats > 0 and eluting_vessel:
|
||||
for repeat in range(eluting_repeats):
|
||||
# 添加洗脱溶剂
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": eluting_vessel,
|
||||
"to_vessel": to_vessel,
|
||||
"volume": eluting_volume,
|
||||
"amount": f"洗脱溶剂 {eluting_solvent} - 第 {repeat + 1} 次",
|
||||
"time": 0.0,
|
||||
"viscous": False,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"solid": False
|
||||
}
|
||||
})
|
||||
|
||||
# 如果有过滤设备，再次过滤洗脱液
|
||||
if filter_id:
|
||||
action_sequence.append({
|
||||
"device_id": filter_id,
|
||||
"action_name": "filter_sample",
|
||||
"action_kwargs": {
|
||||
"vessel": to_vessel,
|
||||
"filtrate_vessel": to_vessel,
|
||||
"stir": False,
|
||||
"stir_speed": 0.0,
|
||||
"temp": 25.0,
|
||||
"continue_heatchill": False,
|
||||
"volume": eluting_volume
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
@@ -1,117 +0,0 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
|
||||
def generate_heat_chill_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
temp: float,
|
||||
time: float,
|
||||
stir: bool,
|
||||
stir_speed: float,
|
||||
purpose: str
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成加热/冷却操作的协议序列 - 严格按照 HeatChill.action
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 查找加热/冷却设备
|
||||
heatchill_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_heatchill']
|
||||
|
||||
if not heatchill_nodes:
|
||||
raise ValueError("没有找到可用的加热/冷却设备")
|
||||
|
||||
heatchill_id = heatchill_nodes[0]
|
||||
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 {vessel} 不存在于图中")
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"temp": temp,
|
||||
"time": time,
|
||||
"stir": stir,
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": purpose
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
def generate_heat_chill_start_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
temp: float,
|
||||
purpose: str
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成开始加热/冷却操作的协议序列 - 严格按照 HeatChillStart.action
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
heatchill_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_heatchill']
|
||||
|
||||
if not heatchill_nodes:
|
||||
raise ValueError("没有找到可用的加热/冷却设备")
|
||||
|
||||
heatchill_id = heatchill_nodes[0]
|
||||
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 {vessel} 不存在于图中")
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"temp": temp,
|
||||
"purpose": purpose
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
def generate_heat_chill_stop_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成停止加热/冷却操作的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
vessel: 容器名称
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 停止加热/冷却操作的动作序列
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 查找加热/冷却设备
|
||||
heatchill_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_heatchill']
|
||||
|
||||
if not heatchill_nodes:
|
||||
raise ValueError("没有找到可用的加热/冷却设备")
|
||||
|
||||
heatchill_id = heatchill_nodes[0]
|
||||
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 {vessel} 不存在于图中")
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
@@ -2,42 +2,17 @@ import numpy as np
|
||||
import networkx as nx
|
||||
|
||||
|
||||
def is_integrated_pump(node_name):
|
||||
return "pump" in node_name and "valve" in node_name
|
||||
|
||||
|
||||
def find_connected_pump(G, valve_node):
|
||||
for neighbor in G.neighbors(valve_node):
|
||||
if "pump" in G.nodes[neighbor]["class"]:
|
||||
return neighbor
|
||||
raise ValueError(f"未找到与阀 {valve_node} 唯一相连的泵节点")
|
||||
|
||||
|
||||
def build_pump_valve_maps(G, pump_backbone):
|
||||
pumps_from_node = {}
|
||||
valve_from_node = {}
|
||||
for node in pump_backbone:
|
||||
if is_integrated_pump(node):
|
||||
pumps_from_node[node] = node
|
||||
valve_from_node[node] = node
|
||||
else:
|
||||
pump_node = find_connected_pump(G, node)
|
||||
pumps_from_node[node] = pump_node
|
||||
valve_from_node[node] = node
|
||||
return pumps_from_node, valve_from_node
|
||||
|
||||
|
||||
def generate_pump_protocol(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
flowrate: float = 0.5,
|
||||
transfer_flowrate: float = 0,
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
flowrate: float = 0.5,
|
||||
transfer_flowrate: float = 0,
|
||||
) -> list[dict]:
|
||||
"""
|
||||
生成泵操作的动作序列。
|
||||
|
||||
|
||||
:param G: 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
|
||||
:param from_vessel: 容器A
|
||||
:param to_vessel: 容器B
|
||||
@@ -46,7 +21,7 @@ def generate_pump_protocol(
|
||||
:param transfer_flowrate: 泵骨架中转移流速（若不指定，默认与注入流速相同）
|
||||
:return: 泵操作的动作序列
|
||||
"""
|
||||
|
||||
|
||||
# 生成泵操作的动作序列
|
||||
pump_action_sequence = []
|
||||
nodes = G.nodes(data=True)
|
||||
@@ -59,33 +34,31 @@ def generate_pump_protocol(
|
||||
pump_backbone = pump_backbone[1:]
|
||||
if not to_vessel.startswith("pump"):
|
||||
pump_backbone = pump_backbone[:-1]
|
||||
|
||||
|
||||
if transfer_flowrate == 0:
|
||||
transfer_flowrate = flowrate
|
||||
|
||||
pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone)
|
||||
|
||||
min_transfer_volume = min([nodes[pumps_from_node[node]]["config"]["max_volume"] for node in pump_backbone])
|
||||
|
||||
min_transfer_volume = min([nodes[pump]["max_volume"] for pump in pump_backbone])
|
||||
repeats = int(np.ceil(volume / min_transfer_volume))
|
||||
if repeats > 1 and (from_vessel.startswith("pump") or to_vessel.startswith("pump")):
|
||||
raise ValueError("Cannot transfer volume larger than min_transfer_volume between two pumps.")
|
||||
|
||||
|
||||
volume_left = volume
|
||||
|
||||
|
||||
# 生成泵操作的动作序列
|
||||
for i in range(repeats):
|
||||
# 单泵依次执行阀指令、活塞指令，将液体吸入与之相连的第一台泵
|
||||
if not from_vessel.startswith("pump"):
|
||||
pump_action_sequence.extend([
|
||||
{
|
||||
"device_id": valve_from_node[pump_backbone[0]],
|
||||
"device_id": pump_backbone[0],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(pump_backbone[0], from_vessel)["port"][pump_backbone[0]]
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumps_from_node[pump_backbone[0]],
|
||||
"device_id": pump_backbone[0],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(min(volume_left, min_transfer_volume)),
|
||||
@@ -94,57 +67,57 @@ def generate_pump_protocol(
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
for nodeA, nodeB in zip(pump_backbone[:-1], pump_backbone[1:]):
|
||||
for pumpA, pumpB in zip(pump_backbone[:-1], pump_backbone[1:]):
|
||||
# 相邻两泵同时切换阀门至连通位置
|
||||
pump_action_sequence.append([
|
||||
{
|
||||
"device_id": valve_from_node[nodeA],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(nodeA, nodeB)["port"][nodeA]
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": valve_from_node[nodeB],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(nodeB, nodeA)["port"][nodeB],
|
||||
}
|
||||
{
|
||||
"device_id": pumpA,
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(pumpA, pumpB)["port"][pumpA]
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumpB,
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(pumpB, pumpA)["port"][pumpB],
|
||||
}
|
||||
}
|
||||
])
|
||||
# 相邻两泵液体转移：泵A排出液体，泵B吸入液体
|
||||
pump_action_sequence.append([
|
||||
{
|
||||
"device_id": pumps_from_node[nodeA],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumps_from_node[nodeB],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(min(volume_left, min_transfer_volume)),
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
{
|
||||
"device_id": pumpA,
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumpB,
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(min(volume_left, min_transfer_volume)),
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
|
||||
|
||||
if not to_vessel.startswith("pump"):
|
||||
# 单泵依次执行阀指令、活塞指令，将最后一台泵液体缓慢加入容器B
|
||||
pump_action_sequence.extend([
|
||||
{
|
||||
"device_id": valve_from_node[pump_backbone[-1]],
|
||||
"device_id": pump_backbone[-1],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(pump_backbone[-1], to_vessel)["port"][pump_backbone[-1]]
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumps_from_node[pump_backbone[-1]],
|
||||
"device_id": pump_backbone[-1],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
@@ -153,30 +126,30 @@ def generate_pump_protocol(
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
|
||||
|
||||
volume_left -= min_transfer_volume
|
||||
return pump_action_sequence
|
||||
|
||||
|
||||
# Pump protocol compilation
|
||||
def generate_pump_protocol_with_rinsing(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
amount: str = "",
|
||||
time: float = 0,
|
||||
viscous: bool = False,
|
||||
rinsing_solvent: str = "air",
|
||||
rinsing_volume: float = 5.0,
|
||||
rinsing_repeats: int = 2,
|
||||
solid: bool = False,
|
||||
flowrate: float = 2.5,
|
||||
transfer_flowrate: float = 0.5,
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
amount: str = "",
|
||||
time: float = 0,
|
||||
viscous: bool = False,
|
||||
rinsing_solvent: str = "air",
|
||||
rinsing_volume: float = 5.0,
|
||||
rinsing_repeats: int = 2,
|
||||
solid: bool = False,
|
||||
flowrate: float = 2.5,
|
||||
transfer_flowrate: float = 0.5,
|
||||
) -> list[dict]:
|
||||
"""
|
||||
Generates a pump protocol for transferring a specified volume between vessels, including rinsing steps with a chosen solvent. This function constructs a sequence of pump actions based on the provided parameters and the shortest path in a directed graph.
|
||||
|
||||
|
||||
Args:
|
||||
G (nx.DiGraph): The directed graph representing the vessels and connections. 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
|
||||
from_vessel (str): The name of the vessel to transfer from.
|
||||
@@ -191,64 +164,50 @@ def generate_pump_protocol_with_rinsing(
|
||||
solid (bool, optional): Indicates if the transfer involves a solid (default is False).
|
||||
flowrate (float, optional): The flow rate for the transfer (default is 2.5). 最终注入容器B时的流速
|
||||
transfer_flowrate (float, optional): The flow rate for the transfer action (default is 0.5). 泵骨架中转移流速（若不指定，默认与注入流速相同）
|
||||
|
||||
|
||||
Returns:
|
||||
list[dict]: A sequence of pump actions to be executed for the transfer and rinsing process. 泵操作的动作序列.
|
||||
|
||||
|
||||
Raises:
|
||||
AssertionError: If the number of rinsing solvents does not match the number of rinsing repeats.
|
||||
|
||||
|
||||
Examples:
|
||||
pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 0.1, rinsing_solvent="water")
|
||||
"""
|
||||
air_vessel = "flask_air"
|
||||
waste_vessel = f"waste_workup"
|
||||
|
||||
|
||||
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
||||
pump_backbone = shortest_path[1: -1]
|
||||
nodes = G.nodes(data=True)
|
||||
|
||||
pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone)
|
||||
|
||||
min_transfer_volume = min([nodes[pumps_from_node[node]]["config"]["max_volume"] for node in pump_backbone])
|
||||
min_transfer_volume = float(min([nodes[pump]["max_volume"] for pump in pump_backbone]))
|
||||
if time != 0:
|
||||
flowrate = transfer_flowrate = volume / time
|
||||
|
||||
|
||||
pump_action_sequence = generate_pump_protocol(G, from_vessel, to_vessel, float(volume), flowrate, transfer_flowrate)
|
||||
if rinsing_solvent != "air" and rinsing_solvent != "":
|
||||
if rinsing_solvent != "air":
|
||||
if "," in rinsing_solvent:
|
||||
rinsing_solvents = rinsing_solvent.split(",")
|
||||
assert len(
|
||||
rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
|
||||
assert len(rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
|
||||
else:
|
||||
rinsing_solvents = [rinsing_solvent] * rinsing_repeats
|
||||
|
||||
|
||||
for rinsing_solvent in rinsing_solvents:
|
||||
solvent_vessel = f"flask_{rinsing_solvent}"
|
||||
# 清洗泵
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate,
|
||||
transfer_flowrate) +
|
||||
generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate,
|
||||
transfer_flowrate) +
|
||||
generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate,
|
||||
transfer_flowrate)
|
||||
generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate, transfer_flowrate) +
|
||||
generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate, transfer_flowrate) +
|
||||
generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate, transfer_flowrate)
|
||||
)
|
||||
# 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。
|
||||
if rinsing_solvent == rinsing_solvents[0]:
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
if rinsing_solvent != "":
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||
|
||||
return pump_action_sequence
|
||||
# End Protocols
|
||||
|
||||
@@ -1,102 +0,0 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
|
||||
def generate_run_column_protocol(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
column: str
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成柱层析分离的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
from_vessel: 源容器的名称，即样品起始所在的容器
|
||||
to_vessel: 目标容器的名称，分离后的样品要到达的容器
|
||||
column: 所使用的柱子的名称
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 柱层析分离操作的动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 当找不到必要的设备时抛出异常
|
||||
|
||||
Examples:
|
||||
run_column_protocol = generate_run_column_protocol(G, "reactor", "collection_flask", "silica_column")
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 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")
|
||||
|
||||
# 查找转移泵设备（用于样品转移）
|
||||
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")
|
||||
|
||||
pump_id = pump_nodes[0]
|
||||
|
||||
# 查找柱层析设备
|
||||
column_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_column']
|
||||
|
||||
if not column_nodes:
|
||||
raise ValueError("没有找到可用的柱层析设备")
|
||||
|
||||
column_id = column_nodes[0]
|
||||
|
||||
# 步骤1：将样品从源容器转移到柱子上
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": from_vessel,
|
||||
"to_vessel": column_id, # 将样品转移到柱子设备
|
||||
"volume": 0.0, # 转移所有液体，体积由系统确定
|
||||
"amount": f"样品上柱 - 使用 {column}",
|
||||
"time": 0.0,
|
||||
"viscous": False,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"solid": False
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤2：运行柱层析分离
|
||||
action_sequence.append({
|
||||
"device_id": column_id,
|
||||
"action_name": "run_column",
|
||||
"action_kwargs": {
|
||||
"from_vessel": from_vessel,
|
||||
"to_vessel": to_vessel,
|
||||
"column": column
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤3：将分离后的产物从柱子转移到目标容器
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": column_id, # 从柱子设备转移
|
||||
"to_vessel": to_vessel,
|
||||
"volume": 0.0, # 转移所有液体，体积由系统确定
|
||||
"amount": f"收集分离产物 - 来自 {column}",
|
||||
"time": 0.0,
|
||||
"viscous": False,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"solid": False
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
@@ -1,137 +0,0 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
|
||||
def generate_stir_protocol(
|
||||
G: nx.DiGraph,
|
||||
stir_time: float,
|
||||
stir_speed: float,
|
||||
settling_time: float
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成搅拌操作的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
stir_time: 搅拌时间 (秒)
|
||||
stir_speed: 搅拌速度 (rpm)
|
||||
settling_time: 沉降时间 (秒)
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 搅拌操作的动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 当找不到搅拌设备时抛出异常
|
||||
|
||||
Examples:
|
||||
stir_protocol = generate_stir_protocol(G, 300.0, 500.0, 60.0)
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 查找搅拌设备
|
||||
stirrer_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_stirrer']
|
||||
|
||||
if not stirrer_nodes:
|
||||
raise ValueError("没有找到可用的搅拌设备")
|
||||
|
||||
# 使用第一个可用的搅拌器
|
||||
stirrer_id = stirrer_nodes[0]
|
||||
|
||||
# 执行搅拌操作
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stir",
|
||||
"action_kwargs": {
|
||||
"stir_time": stir_time,
|
||||
"stir_speed": stir_speed,
|
||||
"settling_time": settling_time
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
def generate_start_stir_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
stir_speed: float,
|
||||
purpose: str
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成开始搅拌操作的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
vessel: 搅拌容器
|
||||
stir_speed: 搅拌速度 (rpm)
|
||||
purpose: 搅拌目的
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 开始搅拌操作的动作序列
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 查找搅拌设备
|
||||
stirrer_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_stirrer']
|
||||
|
||||
if not stirrer_nodes:
|
||||
raise ValueError("没有找到可用的搅拌设备")
|
||||
|
||||
stirrer_id = stirrer_nodes[0]
|
||||
|
||||
# 验证容器是否存在
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 {vessel} 不存在于图中")
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": purpose
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
def generate_stop_stir_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成停止搅拌操作的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
vessel: 搅拌容器
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 停止搅拌操作的动作序列
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 查找搅拌设备
|
||||
stirrer_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_stirrer']
|
||||
|
||||
if not stirrer_nodes:
|
||||
raise ValueError("没有找到可用的搅拌设备")
|
||||
|
||||
stirrer_id = stirrer_nodes[0]
|
||||
|
||||
# 验证容器是否存在
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"容器 {vessel} 不存在于图中")
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
@@ -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
|
||||
@@ -1,216 +0,0 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
|
||||
def generate_wash_solid_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: str,
|
||||
solvent: str,
|
||||
volume: float,
|
||||
filtrate_vessel: str = "",
|
||||
temp: float = 25.0,
|
||||
stir: bool = False,
|
||||
stir_speed: float = 0.0,
|
||||
time: float = 0.0,
|
||||
repeats: int = 1
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成固体清洗的协议序列
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器
|
||||
vessel: 装有固体物质的容器名称
|
||||
solvent: 用于清洗固体的溶剂名称
|
||||
volume: 清洗溶剂的体积
|
||||
filtrate_vessel: 滤液要收集到的容器名称，可选参数
|
||||
temp: 清洗时的温度，可选参数
|
||||
stir: 是否在清洗过程中搅拌，默认为 False
|
||||
stir_speed: 搅拌速度，可选参数
|
||||
time: 清洗的时间，可选参数
|
||||
repeats: 清洗操作的重复次数，默认为 1
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 固体清洗操作的动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 当找不到必要的设备时抛出异常
|
||||
|
||||
Examples:
|
||||
wash_solid_protocol = generate_wash_solid_protocol(
|
||||
G, "reactor", "ethanol", 100.0, "waste_flask", 60.0, True, 300.0, 600.0, 3
|
||||
)
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 验证容器是否存在
|
||||
if vessel not in G.nodes():
|
||||
raise ValueError(f"固体容器 {vessel} 不存在于图中")
|
||||
|
||||
if filtrate_vessel and filtrate_vessel not in G.nodes():
|
||||
raise ValueError(f"滤液容器 {filtrate_vessel} 不存在于图中")
|
||||
|
||||
# 查找转移泵设备（用于添加溶剂和转移滤液）
|
||||
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")
|
||||
|
||||
pump_id = pump_nodes[0]
|
||||
|
||||
# 查找加热设备（如果需要加热）
|
||||
heatchill_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_heatchill']
|
||||
|
||||
heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
|
||||
|
||||
# 查找搅拌设备（如果需要搅拌）
|
||||
stirrer_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_stirrer']
|
||||
|
||||
stirrer_id = stirrer_nodes[0] if stirrer_nodes else None
|
||||
|
||||
# 查找过滤设备（用于分离固体和滤液）
|
||||
filter_nodes = [node for node in G.nodes()
|
||||
if G.nodes[node].get('class') == 'virtual_filter']
|
||||
|
||||
filter_id = filter_nodes[0] if filter_nodes else None
|
||||
|
||||
# 查找溶剂容器
|
||||
solvent_vessel = f"flask_{solvent}"
|
||||
if solvent_vessel not in G.nodes():
|
||||
# 如果没有找到特定溶剂容器，查找可用的源容器
|
||||
available_vessels = [node for node in G.nodes()
|
||||
if node.startswith('flask_') and
|
||||
G.nodes[node].get('type') == 'container']
|
||||
if available_vessels:
|
||||
solvent_vessel = available_vessels[0]
|
||||
else:
|
||||
raise ValueError(f"没有找到溶剂容器 {solvent}")
|
||||
|
||||
# 如果没有指定滤液容器，使用废液容器
|
||||
if not filtrate_vessel:
|
||||
waste_vessels = [node for node in G.nodes()
|
||||
if 'waste' in node.lower() and
|
||||
G.nodes[node].get('type') == 'container']
|
||||
filtrate_vessel = waste_vessels[0] if waste_vessels else "waste_flask"
|
||||
|
||||
# 重复清洗操作
|
||||
for repeat in range(repeats):
|
||||
repeat_num = repeat + 1
|
||||
|
||||
# 步骤1：如果需要加热，先设置温度
|
||||
if temp > 25.0 and heatchill_id:
|
||||
action_sequence.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"temp": temp,
|
||||
"purpose": f"固体清洗 - 第 {repeat_num} 次"
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤2：添加清洗溶剂到固体容器
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": solvent_vessel,
|
||||
"to_vessel": vessel,
|
||||
"volume": volume,
|
||||
"amount": f"清洗溶剂 {solvent} - 第 {repeat_num} 次",
|
||||
"time": 0.0,
|
||||
"viscous": False,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"solid": False
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤3：如果需要搅拌，开始搅拌
|
||||
if stir and stir_speed > 0 and stirrer_id:
|
||||
if time > 0:
|
||||
# 定时搅拌
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stir",
|
||||
"action_kwargs": {
|
||||
"stir_time": time,
|
||||
"stir_speed": stir_speed,
|
||||
"settling_time": 30.0 # 搅拌后静置30秒
|
||||
}
|
||||
})
|
||||
else:
|
||||
# 开始搅拌（需要手动停止）
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"固体清洗搅拌 - 第 {repeat_num} 次"
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤4：如果指定了清洗时间但没有搅拌，等待清洗时间
|
||||
if time > 0 and (not stir or stir_speed == 0):
|
||||
# 这里可以添加等待操作，暂时跳过
|
||||
pass
|
||||
|
||||
# 步骤5：如果有搅拌且没有定时，停止搅拌
|
||||
if stir and stir_speed > 0 and time == 0 and stirrer_id:
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤6：过滤分离固体和滤液
|
||||
if filter_id:
|
||||
action_sequence.append({
|
||||
"device_id": filter_id,
|
||||
"action_name": "filter_sample",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"filtrate_vessel": filtrate_vessel,
|
||||
"stir": False,
|
||||
"stir_speed": 0.0,
|
||||
"temp": temp,
|
||||
"continue_heatchill": temp > 25.0,
|
||||
"volume": volume
|
||||
}
|
||||
})
|
||||
else:
|
||||
# 没有专门的过滤设备，使用转移泵模拟过滤过程
|
||||
# 将滤液转移到滤液容器
|
||||
action_sequence.append({
|
||||
"device_id": pump_id,
|
||||
"action_name": "transfer",
|
||||
"action_kwargs": {
|
||||
"from_vessel": vessel,
|
||||
"to_vessel": filtrate_vessel,
|
||||
"volume": volume,
|
||||
"amount": f"转移滤液 - 第 {repeat_num} 次清洗",
|
||||
"time": 0.0,
|
||||
"viscous": False,
|
||||
"rinsing_solvent": "",
|
||||
"rinsing_volume": 0.0,
|
||||
"rinsing_repeats": 0,
|
||||
"solid": False
|
||||
}
|
||||
})
|
||||
|
||||
# 步骤7：如果加热了，停止加热（在最后一次清洗后）
|
||||
if temp > 25.0 and heatchill_id and repeat_num == repeats:
|
||||
action_sequence.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel
|
||||
}
|
||||
})
|
||||
|
||||
return action_sequence
|
||||
@@ -1,9 +0,0 @@
|
||||
# Default initial positions for full_dev's ros2_control fake system
|
||||
|
||||
initial_positions:
|
||||
arm_base_joint: 0
|
||||
arm_link_1_joint: 0
|
||||
arm_link_2_joint: 0
|
||||
arm_link_3_joint: 0
|
||||
gripper_base_joint: 0
|
||||
gripper_right_joint: 0.03
|
||||
@@ -1,40 +0,0 @@
|
||||
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
|
||||
|
||||
# For beginners, we downscale velocity and acceleration limits.
|
||||
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
|
||||
default_velocity_scaling_factor: 0.1
|
||||
default_acceleration_scaling_factor: 0.1
|
||||
|
||||
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
|
||||
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
|
||||
joint_limits:
|
||||
arm_base_joint:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
arm_link_1_joint:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
arm_link_2_joint:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
arm_link_3_joint:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
gripper_base_joint:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
gripper_right_joint:
|
||||
has_velocity_limits: true
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
@@ -1,4 +0,0 @@
|
||||
arm:
|
||||
kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
|
||||
kinematics_solver_search_resolution: 0.0050000000000000001
|
||||
kinematics_solver_timeout: 0.0050000000000000001
|
||||
@@ -1,56 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="arm_slider_ros2_control" params="device_name mesh_path">
|
||||
<xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/arm_slider/config/initial_positions.yaml')['initial_positions']}"/>
|
||||
|
||||
<ros2_control name="${device_name}arm_slider" type="system">
|
||||
<hardware>
|
||||
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
|
||||
<plugin>mock_components/GenericSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="${device_name}arm_base_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_base_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}arm_link_1_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}arm_link_2_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}arm_link_3_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}gripper_base_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['gripper_base_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}gripper_right_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['gripper_right_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
|
||||
</ros2_control>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -1,46 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!--This does not replace URDF, and is not an extension of URDF.
|
||||
This is a format for representing semantic information about the robot structure.
|
||||
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
|
||||
-->
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:macro name="arm_slider_srdf" params="device_name">
|
||||
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
|
||||
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
|
||||
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
|
||||
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
|
||||
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
|
||||
<group name="${device_name}arm">
|
||||
<chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
|
||||
</group>
|
||||
<group name="${device_name}arm_gripper">
|
||||
<joint name="${device_name}gripper_right_joint"/>
|
||||
</group>
|
||||
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -1,14 +0,0 @@
|
||||
{
|
||||
"arm":
|
||||
{
|
||||
"joint_names": [
|
||||
"arm_base_joint",
|
||||
"arm_link_1_joint",
|
||||
"arm_link_2_joint",
|
||||
"arm_link_3_joint",
|
||||
"gripper_base_joint"
|
||||
],
|
||||
"base_link_name": "device_link",
|
||||
"end_effector_name": "gripper_base"
|
||||
}
|
||||
}
|
||||
@@ -1,29 +0,0 @@
|
||||
# MoveIt uses this configuration for controller management
|
||||
|
||||
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
|
||||
|
||||
moveit_simple_controller_manager:
|
||||
controller_names:
|
||||
- arm_controller
|
||||
- gripper_controller
|
||||
|
||||
arm_controller:
|
||||
type: FollowJointTrajectory
|
||||
action_ns: follow_joint_trajectory
|
||||
default: true
|
||||
joints:
|
||||
- arm_base_joint
|
||||
- arm_link_1_joint
|
||||
- arm_link_2_joint
|
||||
- arm_link_3_joint
|
||||
- gripper_base_joint
|
||||
action_ns: follow_joint_trajectory
|
||||
default: true
|
||||
gripper_controller:
|
||||
type: FollowJointTrajectory
|
||||
action_ns: follow_joint_trajectory
|
||||
default: true
|
||||
joints:
|
||||
- gripper_right_joint
|
||||
action_ns: follow_joint_trajectory
|
||||
default: true
|
||||
@@ -1,2 +0,0 @@
|
||||
planner_configs:
|
||||
- ompl_interface/OMPLPlanner
|
||||
@@ -1,6 +0,0 @@
|
||||
# Limits for the Pilz planner
|
||||
cartesian_limits:
|
||||
max_trans_vel: 1.0
|
||||
max_trans_acc: 2.25
|
||||
max_trans_dec: -5.0
|
||||
max_rot_vel: 1.57
|
||||
@@ -1,39 +0,0 @@
|
||||
# This config file is used by ros2_control
|
||||
controller_manager:
|
||||
ros__parameters:
|
||||
update_rate: 100 # Hz
|
||||
|
||||
arm_controller:
|
||||
type: joint_trajectory_controller/JointTrajectoryController
|
||||
|
||||
|
||||
gripper_controller:
|
||||
type: joint_trajectory_controller/JointTrajectoryController
|
||||
|
||||
|
||||
joint_state_broadcaster:
|
||||
type: joint_state_broadcaster/JointStateBroadcaster
|
||||
|
||||
arm_controller:
|
||||
ros__parameters:
|
||||
joints:
|
||||
- arm_base_joint
|
||||
- arm_link_1_joint
|
||||
- arm_link_2_joint
|
||||
- arm_link_3_joint
|
||||
- gripper_base_joint
|
||||
command_interfaces:
|
||||
- position
|
||||
state_interfaces:
|
||||
- position
|
||||
- velocity
|
||||
|
||||
gripper_controller:
|
||||
ros__parameters:
|
||||
joints:
|
||||
- gripper_right_joint
|
||||
command_interfaces:
|
||||
- position
|
||||
state_interfaces:
|
||||
- position
|
||||
- velocity
|
||||
@@ -1,44 +0,0 @@
|
||||
joint_limits:
|
||||
|
||||
arm_base_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: 0
|
||||
upper: 1.5
|
||||
|
||||
arm_link_1_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: 0
|
||||
upper: 0.6
|
||||
|
||||
arm_link_2_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: !degrees -95
|
||||
upper: !degrees 95
|
||||
|
||||
arm_link_3_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: !degrees -195
|
||||
upper: !degrees 195
|
||||
|
||||
gripper_base_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: !degrees -95
|
||||
upper: !degrees 95
|
||||
|
||||
|
||||
gripper_right_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: 0
|
||||
upper: 0.03
|
||||
|
||||
gripper_left_joint:
|
||||
effort: 50
|
||||
velocity: 1.0
|
||||
lower: 0
|
||||
upper: 0.03
|
||||
@@ -1,293 +0,0 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm_slider">
|
||||
|
||||
<xacro:macro name="arm_slider" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
|
||||
<!-- Read .yaml files from disk, load content into properties -->
|
||||
<xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/arm_slider/joint_limit.yaml')}"/>
|
||||
|
||||
<!-- Extract subsections from yaml dictionaries -->
|
||||
<xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
|
||||
|
||||
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
|
||||
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
|
||||
<parent link="${parent_link}"/>
|
||||
<child link="${station_name}${device_name}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}device_link"/>
|
||||
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="${station_name}${device_name}device_link"/>
|
||||
<child link="${station_name}${device_name}arm_slideway"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- JOINTS LIMIT PARAMETERS -->
|
||||
<xacro:property name="limit_arm_base_joint" value="${sec_limits['arm_base_joint']}" />
|
||||
<xacro:property name="limit_arm_link_1_joint" value="${sec_limits['arm_link_1_joint']}" />
|
||||
<xacro:property name="limit_arm_link_2_joint" value="${sec_limits['arm_link_2_joint']}" />
|
||||
<xacro:property name="limit_arm_link_3_joint" value="${sec_limits['arm_link_3_joint']}" />
|
||||
<xacro:property name="limit_gripper_base_joint" value="${sec_limits['gripper_base_joint']}" />
|
||||
<xacro:property name="limit_gripper_right_joint" value="${sec_limits['gripper_right_joint']}"/>
|
||||
<xacro:property name="limit_gripper_left_joint" value="${sec_limits['gripper_left_joint']}" />
|
||||
<link name="${station_name}${device_name}arm_slideway">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
|
||||
<mass value="13.6578107753627"/>
|
||||
<inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
|
||||
<parent link="${station_name}${device_name}arm_slideway"/>
|
||||
<child link="${station_name}${device_name}arm_base"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${limit_arm_base_joint['effort']}"
|
||||
lower="${limit_arm_base_joint['lower']}"
|
||||
upper="${limit_arm_base_joint['upper']}"
|
||||
velocity="${limit_arm_base_joint['velocity']}"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}arm_base">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
|
||||
<mass value="16.1341586205194"/>
|
||||
<inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${station_name}${device_name}arm_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
|
||||
<mass value="0.828629227096429"/>
|
||||
<inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
|
||||
<parent link="${station_name}${device_name}arm_base"/>
|
||||
<child link="${station_name}${device_name}arm_link_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_arm_link_1_joint['effort']}"
|
||||
lower="${limit_arm_link_1_joint['lower']}"
|
||||
upper="${limit_arm_link_1_joint['upper']}"
|
||||
velocity="${limit_arm_link_1_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}arm_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
|
||||
<mass value="2.04764861029349"/>
|
||||
<inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="${station_name}${device_name}arm_link_1"/>
|
||||
<child link="${station_name}${device_name}arm_link_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_arm_link_2_joint['effort']}"
|
||||
lower="${limit_arm_link_2_joint['lower']}"
|
||||
upper="${limit_arm_link_2_joint['upper']}"
|
||||
velocity="${limit_arm_link_2_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}arm_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
|
||||
<mass value="1.19870202871083"/>
|
||||
<inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
|
||||
<parent link="${station_name}${device_name}arm_link_2"/>
|
||||
<child link="${station_name}${device_name}arm_link_3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_arm_link_3_joint['effort']}"
|
||||
lower="${limit_arm_link_3_joint['lower']}"
|
||||
upper="${limit_arm_link_3_joint['upper']}"
|
||||
velocity="${limit_arm_link_3_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}gripper_base">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
|
||||
<mass value="0.511925198394943"/>
|
||||
<inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
|
||||
<parent link="${station_name}${device_name}arm_link_3"/>
|
||||
<child link="${station_name}${device_name}gripper_base"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_gripper_base_joint['effort']}"
|
||||
lower="${limit_gripper_base_joint['lower']}"
|
||||
upper="${limit_gripper_base_joint['upper']}"
|
||||
velocity="${limit_gripper_base_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}gripper_right">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
|
||||
<mass value="0.013337481136229"/>
|
||||
<inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
|
||||
<parent link="${station_name}${device_name}gripper_base"/>
|
||||
<child link="${station_name}${device_name}gripper_right"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${limit_gripper_right_joint['effort']}"
|
||||
lower="${limit_gripper_right_joint['lower']}"
|
||||
upper="${limit_gripper_right_joint['upper']}"
|
||||
velocity="${limit_gripper_right_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}gripper_left">
|
||||
<inertial>
|
||||
<origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
|
||||
<mass value="0.0133374811362292"/>
|
||||
<inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
|
||||
<origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
|
||||
<parent link="${station_name}${device_name}gripper_base"/>
|
||||
<child link="${station_name}${device_name}gripper_left"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${limit_gripper_left_joint['effort']}"
|
||||
lower="${limit_gripper_left_joint['lower']}"
|
||||
upper="${limit_gripper_left_joint['upper']}"
|
||||
velocity="${limit_gripper_left_joint['velocity']}"/>
|
||||
<mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
|
||||
</joint>
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
Binary file not shown.
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Binary file not shown.
Binary file not shown.
Binary file not shown.
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Binary file not shown.
@@ -125,13 +125,8 @@ class ResourceVisualization:
|
||||
new_dev.set("parent_link", "world")
|
||||
new_dev.set("mesh_path", str(self.mesh_path))
|
||||
new_dev.set("device_name", node["id"]+"_")
|
||||
# if node["parent"] is not None:
|
||||
# new_dev.set("station_name", node["parent"]+'_')
|
||||
|
||||
print('o'*20)
|
||||
node["parent"]
|
||||
node["id"]
|
||||
print('o'*20)
|
||||
if node["parent"] is not None:
|
||||
new_dev.set("station_name", node["parent"]+'_')
|
||||
new_dev.set("x",str(float(node["position"]["x"])/1000))
|
||||
new_dev.set("y",str(float(node["position"]["y"])/1000))
|
||||
new_dev.set("z",str(float(node["position"]["z"])/1000))
|
||||
|
||||
@@ -1,30 +1,30 @@
|
||||
arm_slider_arm_controller:
|
||||
benyao_arm_controller:
|
||||
ros__parameters:
|
||||
command_interfaces:
|
||||
- position
|
||||
joints:
|
||||
- arm_slider_arm_base_joint
|
||||
- arm_slider_arm_link_1_joint
|
||||
- arm_slider_arm_link_2_joint
|
||||
- arm_slider_arm_link_3_joint
|
||||
- arm_slider_gripper_base_joint
|
||||
- benyao_arm_base_joint
|
||||
- benyao_arm_link_1_joint
|
||||
- benyao_arm_link_2_joint
|
||||
- benyao_arm_link_3_joint
|
||||
- benyao_gripper_base_joint
|
||||
state_interfaces:
|
||||
- position
|
||||
- velocity
|
||||
arm_slider_gripper_controller:
|
||||
benyao_gripper_controller:
|
||||
ros__parameters:
|
||||
command_interfaces:
|
||||
- position
|
||||
joints:
|
||||
- arm_slider_gripper_right_joint
|
||||
- benyao_gripper_right_joint
|
||||
state_interfaces:
|
||||
- position
|
||||
- velocity
|
||||
controller_manager:
|
||||
ros__parameters:
|
||||
arm_slider_arm_controller:
|
||||
benyao_arm_controller:
|
||||
type: joint_trajectory_controller/JointTrajectoryController
|
||||
arm_slider_gripper_controller:
|
||||
benyao_gripper_controller:
|
||||
type: joint_trajectory_controller/JointTrajectoryController
|
||||
joint_state_broadcaster:
|
||||
type: joint_state_broadcaster/JointStateBroadcaster
|
||||
|
||||
@@ -105,83 +105,83 @@ Visualization Manager:
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
arm_slider_arm_base:
|
||||
PLR_STATION_deck_device_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
PLR_STATION_deck_first_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_arm_link_1:
|
||||
PLR_STATION_deck_fourth_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_arm_link_2:
|
||||
PLR_STATION_deck_main_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_arm_link_3:
|
||||
PLR_STATION_deck_second_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_arm_slideway:
|
||||
PLR_STATION_deck_socketTypeGenericSbsFootprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
PLR_STATION_deck_socketTypeHEPAModule:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
PLR_STATION_deck_third_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_device_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
arm_slider_gripper_base:
|
||||
benyao_arm_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_gripper_left:
|
||||
benyao_arm_link_1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_gripper_right:
|
||||
benyao_arm_link_2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_device_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
deck_first_link:
|
||||
benyao_arm_link_3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_fourth_link:
|
||||
benyao_arm_slideway:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_main_link:
|
||||
benyao_device_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
benyao_gripper_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_second_link:
|
||||
benyao_gripper_left:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_socketTypeGenericSbsFootprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
deck_socketTypeHEPAModule:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
deck_third_link:
|
||||
benyao_gripper_right:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
@@ -256,83 +256,83 @@ Visualization Manager:
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
arm_slider_arm_base:
|
||||
PLR_STATION_deck_device_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
PLR_STATION_deck_first_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_arm_link_1:
|
||||
PLR_STATION_deck_fourth_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_arm_link_2:
|
||||
PLR_STATION_deck_main_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_arm_link_3:
|
||||
PLR_STATION_deck_second_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_arm_slideway:
|
||||
PLR_STATION_deck_socketTypeGenericSbsFootprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
PLR_STATION_deck_socketTypeHEPAModule:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
PLR_STATION_deck_third_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_device_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
arm_slider_gripper_base:
|
||||
benyao_arm_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_gripper_left:
|
||||
benyao_arm_link_1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_gripper_right:
|
||||
benyao_arm_link_2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_device_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
deck_first_link:
|
||||
benyao_arm_link_3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_fourth_link:
|
||||
benyao_arm_slideway:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_main_link:
|
||||
benyao_device_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
benyao_gripper_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_second_link:
|
||||
benyao_gripper_left:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_socketTypeGenericSbsFootprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
deck_socketTypeHEPAModule:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
deck_third_link:
|
||||
benyao_gripper_right:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
@@ -377,7 +377,7 @@ Visualization Manager:
|
||||
Goal State Color: 250; 128; 0
|
||||
Interactive Marker Size: 0
|
||||
Joint Violation Color: 255; 0; 255
|
||||
Planning Group: arm_slider_arm
|
||||
Planning Group: benyao_arm
|
||||
Query Goal State: false
|
||||
Query Start State: false
|
||||
Show Workspace: false
|
||||
@@ -400,83 +400,83 @@ Visualization Manager:
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
arm_slider_arm_base:
|
||||
PLR_STATION_deck_device_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
PLR_STATION_deck_first_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_arm_link_1:
|
||||
PLR_STATION_deck_fourth_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_arm_link_2:
|
||||
PLR_STATION_deck_main_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_arm_link_3:
|
||||
PLR_STATION_deck_second_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_arm_slideway:
|
||||
PLR_STATION_deck_socketTypeGenericSbsFootprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
PLR_STATION_deck_socketTypeHEPAModule:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
PLR_STATION_deck_third_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_device_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
arm_slider_gripper_base:
|
||||
benyao_arm_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_gripper_left:
|
||||
benyao_arm_link_1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
arm_slider_gripper_right:
|
||||
benyao_arm_link_2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_device_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
deck_first_link:
|
||||
benyao_arm_link_3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_fourth_link:
|
||||
benyao_arm_slideway:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_main_link:
|
||||
benyao_device_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
benyao_gripper_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_second_link:
|
||||
benyao_gripper_left:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
deck_socketTypeGenericSbsFootprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
deck_socketTypeHEPAModule:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
deck_third_link:
|
||||
benyao_gripper_right:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
@@ -564,10 +564,10 @@ Visualization Manager:
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.4297958016395569
|
||||
Pitch: 0.48479583859443665
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.3525616228580475
|
||||
Yaw: 0.042561568319797516
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
@@ -576,10 +576,10 @@ Window Geometry:
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
MotionPlanning:
|
||||
collapsed: true
|
||||
collapsed: false
|
||||
MotionPlanning - Trajectory Slider:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000003a30000079bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000027000004c60000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000004f9000002c9000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000bc50000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000003a30000079bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000027000004c60000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000002600000026fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000004f9000002c9000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000bc50000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because one or more lines are too long
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -6,8 +6,13 @@ import asyncio
|
||||
import time
|
||||
|
||||
from pylabrobot.liquid_handling import LiquidHandler
|
||||
from pylabrobot.resources import Resource, TipRack, Container, Coordinate, Well
|
||||
|
||||
from pylabrobot.resources import (
|
||||
Resource,
|
||||
TipRack,
|
||||
Container,
|
||||
Coordinate,
|
||||
Well
|
||||
)
|
||||
|
||||
class LiquidHandlerAbstract(LiquidHandler):
|
||||
"""Extended LiquidHandler with additional operations."""
|
||||
@@ -16,19 +21,6 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
# REMOVE LIQUID --------------------------------------------------
|
||||
# ---------------------------------------------------------------
|
||||
|
||||
async def create_protocol(
|
||||
self,
|
||||
protocol_name: str,
|
||||
protocol_description: str,
|
||||
protocol_version: str,
|
||||
protocol_author: str,
|
||||
protocol_date: str,
|
||||
protocol_type: str,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
"""Create a new protocol with the given metadata."""
|
||||
pass
|
||||
|
||||
async def remove_liquid(
|
||||
self,
|
||||
vols: List[float],
|
||||
@@ -43,26 +35,26 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
|
||||
delays: Optional[List[int]] = None,
|
||||
is_96_well: Optional[bool] = False,
|
||||
top: Optional[List[float]] = None,
|
||||
none_keys: List[str] = [],
|
||||
top: Optional[List(float)] = None,
|
||||
none_keys: List[str] = []
|
||||
):
|
||||
"""A complete *remove* (aspirate → waste) operation."""
|
||||
trash = self.deck.get_trash_area()
|
||||
try:
|
||||
if is_96_well:
|
||||
pass # This mode is not verified
|
||||
pass # This mode is not verified
|
||||
else:
|
||||
if len(vols) != len(sources):
|
||||
raise ValueError("Length of `vols` must match `sources`.")
|
||||
|
||||
for src, vol in zip(sources, vols):
|
||||
await self.move_to(src, dis_to_top=top[0] if top else 0)
|
||||
self.move_to(src, dis_to_top=top[0] if top else 0)
|
||||
tip = next(self.current_tip)
|
||||
await self.pick_up_tips(tip)
|
||||
await self.aspirate(
|
||||
resources=[src],
|
||||
vols=[vol],
|
||||
use_channels=use_channels, # only aspirate96 used, default to None
|
||||
use_channels=use_channels, # only aspirate96 used, default to None
|
||||
flow_rates=[flow_rates[0]] if flow_rates else None,
|
||||
offsets=[offsets[0]] if offsets else None,
|
||||
liquid_height=[liquid_height[0]] if liquid_height else None,
|
||||
@@ -72,15 +64,15 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
await self.custom_delay(seconds=delays[0] if delays else 0)
|
||||
await self.dispense(
|
||||
resources=waste_liquid,
|
||||
vols=[vol],
|
||||
use_channels=use_channels,
|
||||
flow_rates=[flow_rates[1]] if flow_rates else None,
|
||||
offsets=[offsets[1]] if offsets else None,
|
||||
liquid_height=[liquid_height[1]] if liquid_height else None,
|
||||
blow_out_air_volume=blow_out_air_volume[1] if blow_out_air_volume else None,
|
||||
spread=spread,
|
||||
)
|
||||
await self.discard_tips() # For now, each of tips is discarded after use
|
||||
vols=[vol],
|
||||
use_channels=use_channels,
|
||||
flow_rates=[flow_rates[1]] if flow_rates else None,
|
||||
offsets=[offsets[1]] if offsets else None,
|
||||
liquid_height=[liquid_height[1]] if liquid_height else None,
|
||||
blow_out_air_volume=blow_out_air_volume[1] if blow_out_air_volume else None,
|
||||
spread=spread,
|
||||
)
|
||||
await self.discard_tips() # For now, each of tips is discarded after use
|
||||
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"Liquid removal failed: {e}") from e
|
||||
@@ -108,13 +100,13 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
mix_vol: Optional[int] = None,
|
||||
mix_rate: Optional[int] = None,
|
||||
mix_liquid_height: Optional[float] = None,
|
||||
none_keys: List[str] = [],
|
||||
none_keys: List[str] = []
|
||||
):
|
||||
"""A complete *add* (aspirate reagent → dispense into targets) operation."""
|
||||
|
||||
try:
|
||||
if is_96_well:
|
||||
pass # This mode is not verified.
|
||||
pass # This mode is not verified.
|
||||
else:
|
||||
if len(asp_vols) != len(targets):
|
||||
raise ValueError("Length of `vols` must match `targets`.")
|
||||
@@ -130,7 +122,7 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
offsets=[offsets[0]] if offsets else None,
|
||||
liquid_height=[liquid_height[0]] if liquid_height else None,
|
||||
blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
|
||||
spread=spread,
|
||||
spread=spread
|
||||
)
|
||||
if delays is not None:
|
||||
await self.custom_delay(seconds=delays[0])
|
||||
@@ -152,8 +144,7 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
mix_vol=mix_vol,
|
||||
offsets=offsets if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
)
|
||||
mix_rate=mix_rate if mix_rate else None)
|
||||
if delays is not None:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
await self.touch_tip(targets[_])
|
||||
@@ -167,13 +158,13 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
# ---------------------------------------------------------------
|
||||
async def transfer_liquid(
|
||||
self,
|
||||
asp_vols: Union[List[float], float],
|
||||
dis_vols: Union[List[float], float],
|
||||
sources: Sequence[Container],
|
||||
targets: Sequence[Container],
|
||||
tip_racks: Sequence[TipRack],
|
||||
*,
|
||||
use_channels: Optional[List[int]] = None,
|
||||
asp_vols: Union[List[float], float],
|
||||
dis_vols: Union[List[float], float],
|
||||
asp_flow_rates: Optional[List[Optional[float]]] = None,
|
||||
dis_flow_rates: Optional[List[Optional[float]]] = None,
|
||||
offsets: Optional[List[Coordinate]] = None,
|
||||
@@ -188,7 +179,7 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
mix_rate: Optional[int] = None,
|
||||
mix_liquid_height: Optional[float] = None,
|
||||
delays: Optional[List[int]] = None,
|
||||
none_keys: List[str] = [],
|
||||
none_keys: List[str] = []
|
||||
):
|
||||
"""Transfer liquid from each *source* well/plate to the corresponding *target*.
|
||||
|
||||
@@ -210,15 +201,14 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
# 96‑channel head mode
|
||||
# ------------------------------------------------------------------
|
||||
if is_96_well:
|
||||
pass # This mode is not verified
|
||||
pass # This mode is not verified
|
||||
else:
|
||||
if not (len(asp_vols) == len(sources) and len(dis_vols) == len(targets)):
|
||||
raise ValueError("`sources`, `targets`, and `vols` must have the same length.")
|
||||
|
||||
tip_iter = self.iter_tips(tip_racks)
|
||||
for src, tgt, asp_vol, asp_flow_rate, dis_vol, dis_flow_rate in zip(
|
||||
sources, targets, asp_vols, asp_flow_rates, dis_vols, dis_flow_rates
|
||||
):
|
||||
for src, tgt, asp_vol, asp_flow_rate, dis_vol, dis_flow_rate in (
|
||||
zip(sources, targets, asp_vols, asp_flow_rates, dis_vols, dis_flow_rates)):
|
||||
tip = next(tip_iter)
|
||||
await self.pick_up_tips(tip)
|
||||
# Aspirate from source
|
||||
@@ -257,9 +247,9 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
except Exception as exc:
|
||||
raise RuntimeError(f"Liquid transfer failed: {exc}") from exc
|
||||
|
||||
# ---------------------------------------------------------------
|
||||
# Helper utilities
|
||||
# ---------------------------------------------------------------
|
||||
# ---------------------------------------------------------------
|
||||
# Helper utilities
|
||||
# ---------------------------------------------------------------
|
||||
|
||||
async def custom_delay(self, seconds=0, msg=None):
|
||||
"""
|
||||
@@ -276,26 +266,28 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
print(f"Done: {msg}")
|
||||
print(f"Current time: {time.strftime('%H:%M:%S')}")
|
||||
|
||||
async def touch_tip(self, targets: Sequence[Container]):
|
||||
async def touch_tip(self,
|
||||
targets: Sequence[Container],
|
||||
):
|
||||
"""Touch the tip to the side of the well."""
|
||||
await self.aspirate(
|
||||
resources=[targets],
|
||||
vols=[0],
|
||||
use_channels=None,
|
||||
flow_rates=None,
|
||||
offsets=[Coordinate(x=-targets.get_size_x() / 2, y=0, z=0)],
|
||||
offsets=[Coordinate(x=-targets.get_size_x()/2,y=0,z=0)],
|
||||
liquid_height=None,
|
||||
blow_out_air_volume=None,
|
||||
blow_out_air_volume=None
|
||||
)
|
||||
# await self.custom_delay(seconds=1) # In the simulation, we do not need to wait
|
||||
#await self.custom_delay(seconds=1) # In the simulation, we do not need to wait
|
||||
await self.aspirate(
|
||||
resources=[targets],
|
||||
vols=[0],
|
||||
use_channels=None,
|
||||
flow_rates=None,
|
||||
offsets=[Coordinate(x=targets.get_size_x() / 2, y=0, z=0)],
|
||||
offsets=[Coordinate(x=targets.get_size_x()/2,y=0,z=0)],
|
||||
liquid_height=None,
|
||||
blow_out_air_volume=None,
|
||||
blow_out_air_volume=None
|
||||
)
|
||||
|
||||
async def mix(
|
||||
@@ -306,9 +298,9 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
height_to_bottom: Optional[float] = None,
|
||||
offsets: Optional[Coordinate] = None,
|
||||
mix_rate: Optional[float] = None,
|
||||
none_keys: List[str] = [],
|
||||
none_keys: List[str] = []
|
||||
):
|
||||
if mix_time is None: # No mixing required
|
||||
if mix_time is None: # No mixing required
|
||||
return
|
||||
"""Mix the liquid in the target wells."""
|
||||
for _ in range(mix_time):
|
||||
@@ -341,7 +333,7 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
tip_iter = self.iter_tips(tip_racks)
|
||||
self.current_tip = tip_iter
|
||||
|
||||
async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):
|
||||
async def move_to(self, well: Well, dis_to_top: float = 0 , channel: int = 0):
|
||||
"""
|
||||
Move a single channel to a specific well with a given z-height.
|
||||
|
||||
@@ -360,3 +352,4 @@ class LiquidHandlerAbstract(LiquidHandler):
|
||||
await self.move_channel_x(channel, abs_loc.x)
|
||||
await self.move_channel_y(channel, abs_loc.y)
|
||||
await self.move_channel_z(channel, abs_loc.z + well_height + dis_to_top)
|
||||
|
||||
|
||||
@@ -1,154 +0,0 @@
|
||||
|
||||
import json
|
||||
from typing import Sequence, Optional, List, Union, Literal
|
||||
json_path = "/Users/guangxinzhang/Documents/Deep Potential/opentrons/convert/protocols/enriched_steps/sci-lucif-assay4.json"
|
||||
|
||||
with open(json_path, "r") as f:
|
||||
data = json.load(f)
|
||||
|
||||
transfer_example = data[0]
|
||||
#print(transfer_example)
|
||||
|
||||
|
||||
temp_protocol = []
|
||||
TipLocation = "BC1025F" # Assuming this is a fixed tip location for the transfer
|
||||
sources = transfer_example["sources"] # Assuming sources is a list of Container objects
|
||||
targets = transfer_example["targets"] # Assuming targets is a list of Container objects
|
||||
tip_racks = transfer_example["tip_racks"] # Assuming tip_racks is a list of TipRack objects
|
||||
asp_vols = transfer_example["asp_vols"] # Assuming asp_vols is a list of volumes
|
||||
solvent = "PBS"
|
||||
|
||||
def transfer_liquid(
|
||||
#self,
|
||||
sources,#: Sequence[Container],
|
||||
targets,#: Sequence[Container],
|
||||
tip_racks,#: Sequence[TipRack],
|
||||
TipLocation,
|
||||
# *,
|
||||
# use_channels: Optional[List[int]] = None,
|
||||
asp_vols: Union[List[float], float],
|
||||
solvent: Optional[str] = None,
|
||||
# dis_vols: Union[List[float], float],
|
||||
# asp_flow_rates: Optional[List[Optional[float]]] = None,
|
||||
# dis_flow_rates: Optional[List[Optional[float]]] = None,
|
||||
# offsets,#: Optional[List[]] = None,
|
||||
# touch_tip: bool = False,
|
||||
# liquid_height: Optional[List[Optional[float]]] = None,
|
||||
# blow_out_air_volume: Optional[List[Optional[float]]] = None,
|
||||
# spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
# is_96_well: bool = False,
|
||||
# mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
|
||||
# mix_times,#: Optional[list() = None,
|
||||
# mix_vol: Optional[int] = None,
|
||||
# mix_rate: Optional[int] = None,
|
||||
# mix_liquid_height: Optional[float] = None,
|
||||
# delays: Optional[List[int]] = None,
|
||||
# none_keys: List[str] = []
|
||||
):
|
||||
# -------- Build Biomek transfer step --------
|
||||
# 1) Construct default parameter scaffold (values mirror Biomek “Transfer” block).
|
||||
|
||||
transfer_params = {
|
||||
"Span8": False,
|
||||
"Pod": "Pod1",
|
||||
"items": {}, # to be filled below
|
||||
"Wash": False,
|
||||
"Dynamic?": True,
|
||||
"AutoSelectActiveWashTechnique": False,
|
||||
"ActiveWashTechnique": "",
|
||||
"ChangeTipsBetweenDests": False,
|
||||
"ChangeTipsBetweenSources": False,
|
||||
"DefaultCaption": "", # filled after we know first pair/vol
|
||||
"UseExpression": False,
|
||||
"LeaveTipsOn": False,
|
||||
"MandrelExpression": "",
|
||||
"Repeats": "1",
|
||||
"RepeatsByVolume": False,
|
||||
"Replicates": "1",
|
||||
"ShowTipHandlingDetails": False,
|
||||
"ShowTransferDetails": True,
|
||||
"Solvent": "Water",
|
||||
"Span8Wash": False,
|
||||
"Span8WashVolume": "2",
|
||||
"Span8WasteVolume": "1",
|
||||
"SplitVolume": False,
|
||||
"SplitVolumeCleaning": False,
|
||||
"Stop": "Destinations",
|
||||
"TipLocation": "BC1025F",
|
||||
"UseCurrentTips": False,
|
||||
"UseDisposableTips": True,
|
||||
"UseFixedTips": False,
|
||||
"UseJIT": True,
|
||||
"UseMandrelSelection": True,
|
||||
"UseProbes": [True, True, True, True, True, True, True, True],
|
||||
"WashCycles": "1",
|
||||
"WashVolume": "110%",
|
||||
"Wizard": False
|
||||
}
|
||||
|
||||
items: dict = {}
|
||||
for idx, (src, dst) in enumerate(zip(sources, targets)):
|
||||
items[str(idx)] = {
|
||||
"Source": str(src),
|
||||
"Destination": str(dst),
|
||||
"Volume": asp_vols[idx]
|
||||
}
|
||||
transfer_params["items"] = items
|
||||
transfer_params["Solvent"] = solvent if solvent else "Water"
|
||||
transfer_params["TipLocation"] = TipLocation
|
||||
|
||||
if len(tip_racks) == 1:
|
||||
transfer_params['UseCurrentTips'] = True
|
||||
elif len(tip_racks) > 1:
|
||||
transfer_params["ChangeTipsBetweenDests"] = True
|
||||
|
||||
return transfer_params
|
||||
|
||||
action = transfer_liquid(sources=sources,targets=targets,tip_racks=tip_racks, asp_vols=asp_vols,solvent = solvent, TipLocation=TipLocation)
|
||||
print(json.dumps(action,indent=2))
|
||||
# print(action)
|
||||
|
||||
|
||||
|
||||
|
||||
"""
|
||||
"transfer": {
|
||||
|
||||
"items": {},
|
||||
"Wash": false,
|
||||
"Dynamic?": true,
|
||||
"AutoSelectActiveWashTechnique": false,
|
||||
"ActiveWashTechnique": "",
|
||||
"ChangeTipsBetweenDests": true,
|
||||
"ChangeTipsBetweenSources": false,
|
||||
"DefaultCaption": "Transfer 100 µL from P13 to P3",
|
||||
"UseExpression": false,
|
||||
"LeaveTipsOn": false,
|
||||
"MandrelExpression": "",
|
||||
"Repeats": "1",
|
||||
"RepeatsByVolume": false,
|
||||
"Replicates": "1",
|
||||
"ShowTipHandlingDetails": true,
|
||||
"ShowTransferDetails": true,
|
||||
|
||||
"Span8Wash": false,
|
||||
"Span8WashVolume": "2",
|
||||
"Span8WasteVolume": "1",
|
||||
"SplitVolume": false,
|
||||
"SplitVolumeCleaning": false,
|
||||
"Stop": "Destinations",
|
||||
"TipLocation": "BC1025F",
|
||||
"UseCurrentTips": false,
|
||||
"UseDisposableTips": false,
|
||||
"UseFixedTips": false,
|
||||
"UseJIT": true,
|
||||
"UseMandrelSelection": true,
|
||||
"UseProbes": [true, true, true, true, true, true, true, true],
|
||||
"WashCycles": "3",
|
||||
"WashVolume": "110%",
|
||||
"Wizard": false
|
||||
"""
|
||||
|
||||
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -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")
|
||||
@@ -5,22 +5,22 @@ class SolenoidValveMock:
|
||||
def __init__(self, port: str = "COM6"):
|
||||
self._status = "Idle"
|
||||
self._valve_position = "OPEN"
|
||||
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
|
||||
@property
|
||||
def valve_position(self) -> str:
|
||||
return self._valve_position
|
||||
|
||||
def get_valve_position(self) -> str:
|
||||
return self._valve_position
|
||||
|
||||
|
||||
def set_valve_position(self, position):
|
||||
self._status = "Busy"
|
||||
time.sleep(5)
|
||||
|
||||
|
||||
self._valve_position = position
|
||||
time.sleep(5)
|
||||
self._status = "Idle"
|
||||
|
||||
@@ -4,16 +4,18 @@ import time
|
||||
class VacuumPumpMock:
|
||||
def __init__(self, port: str = "COM6"):
|
||||
self._status = "OPEN"
|
||||
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
def get_status(self) -> str:
|
||||
return self._status
|
||||
|
||||
def set_status(self, string):
|
||||
self._status = string
|
||||
|
||||
def set_status(self, position):
|
||||
time.sleep(5)
|
||||
|
||||
self._status = position
|
||||
time.sleep(5)
|
||||
|
||||
def open(self):
|
||||
|
||||
@@ -15,7 +15,7 @@
|
||||
"y":{
|
||||
"first_joint":{
|
||||
"factor":-0.001,
|
||||
"offset":0.166
|
||||
"offset":0.163
|
||||
}
|
||||
},
|
||||
"x":{
|
||||
|
||||
@@ -57,8 +57,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
|
||||
if resource['class'] == 'liquid_handler':
|
||||
deck_id = resource['config']['data']['children'][0]['_resource_child_name']
|
||||
deck_class = resource['config']['data']['children'][0]['_resource_type'].split(':')[-1]
|
||||
key = f'{deck_id}'
|
||||
# key = f'{resource["id"]}_{deck_id}'
|
||||
key = f'{resource["id"]}_{deck_id}'
|
||||
self.lh_devices[key] = {
|
||||
'joint_msg':JointState(
|
||||
name=[f'{key}_{x}' for x in joint_config[deck_class]['joint_names']],
|
||||
@@ -68,9 +67,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
|
||||
}
|
||||
self.deck_list.append(deck_id)
|
||||
|
||||
print('='*20)
|
||||
print(self.lh_devices)
|
||||
print('='*20)
|
||||
|
||||
self.j_action = ActionServer(
|
||||
self,
|
||||
SendCmd,
|
||||
@@ -106,7 +103,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
|
||||
try:
|
||||
if parent_id in self.deck_list:
|
||||
p_ = self.resources_config[parent_id]['parent']
|
||||
str_ = f'{parent_id}'
|
||||
str_ = f'{p_}_{parent_id}'
|
||||
return str(str_)
|
||||
else:
|
||||
return self.find_resource_parent(parent_id)
|
||||
@@ -218,10 +215,6 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
|
||||
|
||||
parent_id = self.find_resource_parent(resource_name_)
|
||||
|
||||
|
||||
print('!'*20)
|
||||
print(parent_id)
|
||||
print('!'*20)
|
||||
if x_joint is None:
|
||||
xa,xb = next(iter(self.lh_devices[parent_id]['joint_config']['x'].items()))
|
||||
x_joint_config = {xa:xb}
|
||||
@@ -250,7 +243,6 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
|
||||
|
||||
self.move_to(joint_positions_target_zero, speed, parent_id)
|
||||
self.move_to(joint_positions_target, speed, parent_id)
|
||||
time.sleep(1)
|
||||
if option == "pick":
|
||||
link_name = self.lh_devices[parent_id]['joint_config']['link_names'][z_index]
|
||||
link_name = f'{parent_id}_{link_name}'
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user