import asyncio import logging from typing import Dict, Any, Optional from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode class VirtualColumn: """Virtual column device for RunColumn protocol 🏛️""" _ros_node: BaseROS2DeviceNode def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): # 处理可能的不同调用方式 if device_id is None and 'id' in kwargs: device_id = kwargs.pop('id') if config is None and 'config' in kwargs: config = kwargs.pop('config') # 设置默认值 self.device_id = device_id or "unknown_column" self.config = config or {} self.logger = logging.getLogger(f"VirtualColumn.{self.device_id}") self.data = {} # 从config或kwargs中获取配置参数 self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL') self._max_flow_rate = self.config.get('max_flow_rate') or kwargs.get('max_flow_rate', 10.0) self._column_length = self.config.get('column_length') or kwargs.get('column_length', 25.0) self._column_diameter = self.config.get('column_diameter') or kwargs.get('column_diameter', 2.0) print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨") print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬") def post_init(self, ros_node: BaseROS2DeviceNode): self._ros_node = ros_node async def initialize(self) -> bool: """Initialize virtual column 🚀""" self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨") self.data.update({ "status": "Idle", "column_state": "Ready", "current_flow_rate": 0.0, "max_flow_rate": self._max_flow_rate, "column_length": self._column_length, "column_diameter": self._column_diameter, "processed_volume": 0.0, "progress": 0.0, "current_status": "Ready for separation" }) self.logger.info(f"✅ 色谱柱 {self.device_id} 初始化完成 🏛️") self.logger.info(f"📊 设备规格: 最大流速 {self._max_flow_rate}mL/min | 柱长 {self._column_length}cm 📏") return True async def cleanup(self) -> bool: """Cleanup virtual column 🧹""" self.logger.info(f"🧹 清理虚拟色谱柱 {self.device_id} 🔚") self.data.update({ "status": "Offline", "column_state": "Offline", "current_status": "System offline" }) self.logger.info(f"✅ 色谱柱 {self.device_id} 清理完成 💤") return True async def run_column(self, from_vessel: str, to_vessel: str, column: str, **kwargs) -> bool: """Execute column chromatography run - matches RunColumn action 🏛️""" # 提取额外参数 rf = kwargs.get('rf', '0.3') solvent1 = kwargs.get('solvent1', 'ethyl_acetate') solvent2 = kwargs.get('solvent2', 'hexane') ratio = kwargs.get('ratio', '30:70') self.logger.info(f"🏛️ 开始柱层析分离: {from_vessel} → {to_vessel} 🚰") self.logger.info(f" 🧪 使用色谱柱: {column}") self.logger.info(f" 🎯 Rf值: {rf}") self.logger.info(f" 🧪 洗脱溶剂: {solvent1}:{solvent2} ({ratio}) 💧") # 更新设备状态 self.data.update({ "status": "Running", "column_state": "Separating", "current_status": "🏛️ Column separation in progress", "progress": 0.0, "processed_volume": 0.0, "current_from_vessel": from_vessel, "current_to_vessel": to_vessel, "current_column": column, "current_rf": rf, "current_solvents": f"{solvent1}:{solvent2} ({ratio})" }) # 模拟柱层析分离过程 # 假设处理时间基于流速和柱子长度 base_time = (self._column_length * 2) / self._max_flow_rate # 简化计算 separation_time = max(base_time, 20.0) # 最少20秒 self.logger.info(f"⏱️ 预计分离时间: {separation_time:.1f}秒 ⌛") self.logger.info(f"📏 柱参数: 长度 {self._column_length}cm | 流速 {self._max_flow_rate}mL/min 🌊") steps = 20 # 分20个步骤模拟分离过程 step_time = separation_time / steps for i in range(steps): await self._ros_node.sleep(step_time) progress = (i + 1) / steps * 100 volume_processed = (i + 1) * 5.0 # 假设每步处理5mL # 不同阶段的状态描述 if progress <= 25: phase = "🌊 样品上柱阶段" phase_emoji = "📥" elif progress <= 50: phase = "🧪 洗脱开始" phase_emoji = "💧" elif progress <= 75: phase = "⚗️ 成分分离中" phase_emoji = "🔄" else: phase = "🎯 收集产物" phase_emoji = "📤" # 更新状态 status_msg = f"{phase_emoji} {phase}: {progress:.1f}% | 💧 已处理: {volume_processed:.1f}mL" self.data.update({ "progress": progress, "processed_volume": volume_processed, "current_status": status_msg, "current_phase": phase }) # 进度日志（每25%打印一次） if progress >= 25 and (i + 1) % 5 == 0: # 每5步（25%）打印一次 self.logger.info(f"📊 分离进度: {progress:.0f}% | {phase} | 💧 {volume_processed:.1f}mL 完成 ✨") # 分离完成 final_status = f"✅ 柱层析分离完成: {from_vessel} → {to_vessel} | 💧 共处理 {volume_processed:.1f}mL" self.data.update({ "status": "Idle", "column_state": "Ready", "current_status": final_status, "progress": 100.0, "final_volume": volume_processed }) self.logger.info(f"🎉 柱层析分离完成! ✨") self.logger.info(f"📊 分离结果:") self.logger.info(f" 🥽 源容器: {from_vessel}") self.logger.info(f" 🥽 目标容器: {to_vessel}") self.logger.info(f" 🏛️ 使用色谱柱: {column}") self.logger.info(f" 💧 处理体积: {volume_processed:.1f}mL") self.logger.info(f" 🧪 洗脱条件: {solvent1}:{solvent2} ({ratio})") self.logger.info(f" 🎯 Rf值: {rf}") self.logger.info(f" ⏱️ 总耗时: {separation_time:.1f}秒 🏁") return True # 状态属性 @property def status(self) -> str: return self.data.get("status", "❓ Unknown") @property def column_state(self) -> str: return self.data.get("column_state", "❓ Unknown") @property def current_flow_rate(self) -> float: return self.data.get("current_flow_rate", 0.0) @property def max_flow_rate(self) -> float: return self.data.get("max_flow_rate", 0.0) @property def column_length(self) -> float: return self.data.get("column_length", 0.0) @property def column_diameter(self) -> float: return self.data.get("column_diameter", 0.0) @property def processed_volume(self) -> float: return self.data.get("processed_volume", 0.0) @property def progress(self) -> float: return self.data.get("progress", 0.0) @property def current_status(self) -> str: return self.data.get("current_status", "📋 Ready") @property def current_phase(self) -> str: return self.data.get("current_phase", "🏠 待机中") @property def final_volume(self) -> float: return self.data.get("final_volume", 0.0)