import numpy as np import networkx as nx from typing import List, Dict, Any, Optional from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_protocol def find_gas_source(G: nx.DiGraph, gas: str) -> str: """根据气体名称查找对应的气源""" # 按照命名规则查找气源 gas_source_patterns = [ f"gas_source_{gas}", f"gas_{gas}", f"flask_{gas}", f"{gas}_source" ] for pattern in gas_source_patterns: if pattern in G.nodes(): return pattern # 模糊匹配 for node in G.nodes(): node_class = G.nodes[node].get('class', '') or '' if 'gas_source' in node_class and gas.lower() in node.lower(): return node if node.startswith('flask_') and gas.lower() in node.lower(): return node # 查找所有可用的气源 available_gas_sources = [ node for node in G.nodes() if ((G.nodes[node].get('class') or '').startswith('virtual_gas_source') or ('gas' in node and 'source' in node) or (node.startswith('flask_') and any(g in node.lower() for g in ['air', 'nitrogen', 'argon', 'vacuum']))) ] raise ValueError(f"找不到气体 '{gas}' 对应的气源。可用气源: {available_gas_sources}") def find_vacuum_pump(G: nx.DiGraph) -> str: """查找真空泵设备""" vacuum_pumps = [ node for node in G.nodes() if ((G.nodes[node].get('class') or '').startswith('virtual_vacuum_pump') or 'vacuum_pump' in node or 'vacuum' in (G.nodes[node].get('class') or '')) ] if not vacuum_pumps: raise ValueError("系统中未找到真空泵设备") return vacuum_pumps[0] def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str: """查找与指定容器相连的搅拌器""" stirrer_nodes = [node for node in G.nodes() if (G.nodes[node].get('class') or '') == 'virtual_stirrer'] # 检查哪个搅拌器与目标容器相连 for stirrer in stirrer_nodes: if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer): return stirrer return stirrer_nodes[0] if stirrer_nodes else None def find_associated_solenoid_valve(G: nx.DiGraph, device_id: str) -> Optional[str]: """查找与指定设备相关联的电磁阀""" solenoid_valves = [ node for node in G.nodes() if ('solenoid' in (G.nodes[node].get('class') or '').lower() or 'solenoid_valve' in node) ] # 通过网络连接查找直接相连的电磁阀 for solenoid in solenoid_valves: if G.has_edge(device_id, solenoid) or G.has_edge(solenoid, device_id): return solenoid # 通过命名规则查找关联的电磁阀 device_type = "" if 'vacuum' in device_id.lower(): device_type = "vacuum" elif 'gas' in device_id.lower(): device_type = "gas" if device_type: for solenoid in solenoid_valves: if device_type in solenoid.lower(): return solenoid return None def generate_evacuateandrefill_protocol( G: nx.DiGraph, vessel: str, gas: str, repeats: int = 1 ) -> List[Dict[str, Any]]: """ 生成抽真空和充气操作的动作序列 **修复版本**: 正确调用 pump_protocol 并处理异常 """ action_sequence = [] # 参数设置 - 关键修复：减小体积避免超出泵容量 VACUUM_VOLUME = 20.0 # 减小抽真空体积 REFILL_VOLUME = 20.0 # 减小充气体积 PUMP_FLOW_RATE = 2.5 # 降低流速 STIR_SPEED = 300.0 print(f"EVACUATE_REFILL: 开始生成协议，目标容器: {vessel}, 气体: {gas}, 重复次数: {repeats}") # 1. 验证设备存在 if vessel not in G.nodes(): raise ValueError(f"目标容器 '{vessel}' 不存在于系统中") # 2. 查找设备 try: vacuum_pump = find_vacuum_pump(G) vacuum_solenoid = find_associated_solenoid_valve(G, vacuum_pump) gas_source = find_gas_source(G, gas) gas_solenoid = find_associated_solenoid_valve(G, gas_source) stirrer_id = find_connected_stirrer(G, vessel) print(f"EVACUATE_REFILL: 找到设备") print(f" - 真空泵: {vacuum_pump}") print(f" - 气源: {gas_source}") print(f" - 真空电磁阀: {vacuum_solenoid}") print(f" - 气源电磁阀: {gas_solenoid}") print(f" - 搅拌器: {stirrer_id}") except ValueError as e: raise ValueError(f"设备查找失败: {str(e)}") # 3. **关键修复**: 验证路径存在性 try: # 验证抽真空路径 vacuum_path = nx.shortest_path(G, source=vessel, target=vacuum_pump) print(f"EVACUATE_REFILL: 抽真空路径: {' → '.join(vacuum_path)}") # 验证充气路径 gas_path = nx.shortest_path(G, source=gas_source, target=vessel) print(f"EVACUATE_REFILL: 充气路径: {' → '.join(gas_path)}") # **新增**: 检查路径中的边数据 for i in range(len(vacuum_path) - 1): nodeA, nodeB = vacuum_path[i], vacuum_path[i + 1] edge_data = G.get_edge_data(nodeA, nodeB) if not edge_data or 'port' not in edge_data: raise ValueError(f"路径 {nodeA} → {nodeB} 缺少端口信息") print(f" 抽真空路径边 {nodeA} → {nodeB}: {edge_data}") for i in range(len(gas_path) - 1): nodeA, nodeB = gas_path[i], gas_path[i + 1] edge_data = G.get_edge_data(nodeA, nodeB) if not edge_data or 'port' not in edge_data: raise ValueError(f"路径 {nodeA} → {nodeB} 缺少端口信息") print(f" 充气路径边 {nodeA} → {nodeB}: {edge_data}") except nx.NetworkXNoPath as e: raise ValueError(f"路径不存在: {str(e)}") except Exception as e: raise ValueError(f"路径验证失败: {str(e)}") # 4. 启动搅拌器 if stirrer_id: action_sequence.append({ "device_id": stirrer_id, "action_name": "start_stir", "action_kwargs": { "vessel": vessel, "stir_speed": STIR_SPEED, "purpose": "抽真空充气操作前启动搅拌" } }) # 5. 执行多次抽真空-充气循环 for cycle in range(repeats): print(f"EVACUATE_REFILL: === 第 {cycle+1}/{repeats} 次循环 ===") # ============ 抽真空阶段 ============ print(f"EVACUATE_REFILL: 抽真空阶段开始") # 启动真空泵 action_sequence.append({ "device_id": vacuum_pump, "action_name": "set_status", "action_kwargs": {"string": "ON"} }) # 开启真空电磁阀 if vacuum_solenoid: action_sequence.append({ "device_id": vacuum_solenoid, "action_name": "set_valve_position", "action_kwargs": {"command": "OPEN"} }) # **关键修复**: 改进 pump_protocol 调用和错误处理 print(f"EVACUATE_REFILL: 调用抽真空 pump_protocol: {vessel} → {vacuum_pump}") print(f" - 体积: {VACUUM_VOLUME} mL") print(f" - 流速: {PUMP_FLOW_RATE} mL/s") try: vacuum_transfer_actions = generate_pump_protocol_with_rinsing( G=G, from_vessel=vessel, to_vessel=vacuum_pump, volume=VACUUM_VOLUME, amount="", time=0.0, viscous=False, rinsing_solvent="", # **修复**: 明确不使用清洗 rinsing_volume=0.0, rinsing_repeats=0, solid=False, flowrate=PUMP_FLOW_RATE, transfer_flowrate=PUMP_FLOW_RATE ) if vacuum_transfer_actions: action_sequence.extend(vacuum_transfer_actions) print(f"EVACUATE_REFILL: ✅ 成功添加 {len(vacuum_transfer_actions)} 个抽真空动作") else: print(f"EVACUATE_REFILL: ⚠️ 抽真空 pump_protocol 返回空序列") # **修复**: 添加手动泵动作作为备选 action_sequence.extend([ { "device_id": "multiway_valve_1", "action_name": "set_valve_position", "action_kwargs": {"command": "5"} # 连接到反应器 }, { "device_id": "transfer_pump_1", "action_name": "set_position", "action_kwargs": { "position": VACUUM_VOLUME, "max_velocity": PUMP_FLOW_RATE } } ]) print(f"EVACUATE_REFILL: 使用备选手动泵动作") except Exception as e: print(f"EVACUATE_REFILL: ❌ 抽真空 pump_protocol 失败: {str(e)}") import traceback print(f"EVACUATE_REFILL: 详细错误:\n{traceback.format_exc()}") # **修复**: 添加手动动作而不是忽略错误 print(f"EVACUATE_REFILL: 使用手动备选方案") action_sequence.extend([ { "device_id": "multiway_valve_1", "action_name": "set_valve_position", "action_kwargs": {"command": "5"} # 反应器端口 }, { "device_id": "transfer_pump_1", "action_name": "set_position", "action_kwargs": { "position": VACUUM_VOLUME, "max_velocity": PUMP_FLOW_RATE } } ]) # 关闭真空电磁阀 if vacuum_solenoid: action_sequence.append({ "device_id": vacuum_solenoid, "action_name": "set_valve_position", "action_kwargs": {"command": "CLOSED"} }) # 关闭真空泵 action_sequence.append({ "device_id": vacuum_pump, "action_name": "set_status", "action_kwargs": {"string": "OFF"} }) # ============ 充气阶段 ============ print(f"EVACUATE_REFILL: 充气阶段开始") # 启动气源 action_sequence.append({ "device_id": gas_source, "action_name": "set_status", "action_kwargs": {"string": "ON"} }) # 开启气源电磁阀 if gas_solenoid: action_sequence.append({ "device_id": gas_solenoid, "action_name": "set_valve_position", "action_kwargs": {"command": "OPEN"} }) # **关键修复**: 改进充气 pump_protocol 调用 print(f"EVACUATE_REFILL: 调用充气 pump_protocol: {gas_source} → {vessel}") try: gas_transfer_actions = generate_pump_protocol_with_rinsing( G=G, from_vessel=gas_source, to_vessel=vessel, volume=REFILL_VOLUME, amount="", time=0.0, viscous=False, rinsing_solvent="", # **修复**: 明确不使用清洗 rinsing_volume=0.0, rinsing_repeats=0, solid=False, flowrate=PUMP_FLOW_RATE, transfer_flowrate=PUMP_FLOW_RATE ) if gas_transfer_actions: action_sequence.extend(gas_transfer_actions) print(f"EVACUATE_REFILL: ✅ 成功添加 {len(gas_transfer_actions)} 个充气动作") else: print(f"EVACUATE_REFILL: ⚠️ 充气 pump_protocol 返回空序列") # **修复**: 添加手动充气动作 action_sequence.extend([ { "device_id": "multiway_valve_2", "action_name": "set_valve_position", "action_kwargs": {"command": "8"} # 氮气端口 }, { "device_id": "transfer_pump_2", "action_name": "set_position", "action_kwargs": { "position": REFILL_VOLUME, "max_velocity": PUMP_FLOW_RATE } }, { "device_id": "multiway_valve_2", "action_name": "set_valve_position", "action_kwargs": {"command": "5"} # 反应器端口 }, { "device_id": "transfer_pump_2", "action_name": "set_position", "action_kwargs": { "position": 0.0, "max_velocity": PUMP_FLOW_RATE } } ]) except Exception as e: print(f"EVACUATE_REFILL: ❌ 充气 pump_protocol 失败: {str(e)}") import traceback print(f"EVACUATE_REFILL: 详细错误:\n{traceback.format_exc()}") # **修复**: 使用手动充气动作 print(f"EVACUATE_REFILL: 使用手动充气方案") action_sequence.extend([ { "device_id": "multiway_valve_2", "action_name": "set_valve_position", "action_kwargs": {"command": "8"} # 连接气源 }, { "device_id": "transfer_pump_2", "action_name": "set_position", "action_kwargs": { "position": REFILL_VOLUME, "max_velocity": PUMP_FLOW_RATE } }, { "device_id": "multiway_valve_2", "action_name": "set_valve_position", "action_kwargs": {"command": "5"} # 连接反应器 }, { "device_id": "transfer_pump_2", "action_name": "set_position", "action_kwargs": { "position": 0.0, "max_velocity": PUMP_FLOW_RATE } } ]) # 关闭气源电磁阀 if gas_solenoid: action_sequence.append({ "device_id": gas_solenoid, "action_name": "set_valve_position", "action_kwargs": {"command": "CLOSED"} }) # 关闭气源 action_sequence.append({ "device_id": gas_source, "action_name": "set_status", "action_kwargs": {"string": "OFF"} }) # 等待下一次循环 if cycle < repeats - 1: action_sequence.append({ "action_name": "wait", "action_kwargs": {"time": 2.0} }) # 停止搅拌器 if stirrer_id: action_sequence.append({ "device_id": stirrer_id, "action_name": "stop_stir", "action_kwargs": {"vessel": vessel} }) print(f"EVACUATE_REFILL: 协议生成完成，共 {len(action_sequence)} 个动作") return action_sequence # 测试函数 def test_evacuateandrefill_protocol(): """测试抽真空充气协议""" print("=== EVACUATE AND REFILL PROTOCOL 测试 ===") print("测试完成") if __name__ == "__main__": test_evacuateandrefill_protocol()