import asyncio import logging import time as time_module from typing import Dict, Any from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode class VirtualStirrer: """Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️""" _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_stirrer" self.config = config or {} self.logger = logging.getLogger(f"VirtualStirrer.{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_speed = self.config.get('max_speed') or kwargs.get('max_speed', 1500.0) self._min_speed = self.config.get('min_speed') or kwargs.get('min_speed', 50.0) # 处理其他kwargs参数 skip_keys = {'port', 'max_speed', 'min_speed'} for key, value in kwargs.items(): if key not in skip_keys and not hasattr(self, key): setattr(self, key, value) print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨") print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}") def post_init(self, ros_node: BaseROS2DeviceNode): self._ros_node = ros_node async def initialize(self) -> bool: """Initialize virtual stirrer 🚀""" self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨") # 初始化状态信息 self.data.update({ "status": "🏠 待机中", "operation_mode": "Idle", # 操作模式: Idle, Stirring, Settling, Completed, Error "current_vessel": "", # 当前搅拌的容器 "current_speed": 0.0, # 当前搅拌速度 "is_stirring": False, # 是否正在搅拌 "remaining_time": 0.0, # 剩余时间 }) self.logger.info(f"✅ 搅拌器 {self.device_id} 初始化完成 🌪️") self.logger.info(f"📊 设备规格: 速度范围 {self._min_speed} ~ {self._max_speed} RPM") return True async def cleanup(self) -> bool: """Cleanup virtual stirrer 🧹""" self.logger.info(f"🧹 清理虚拟搅拌器 {self.device_id} 🔚") self.data.update({ "status": "💤 离线", "operation_mode": "Offline", "current_vessel": "", "current_speed": 0.0, "is_stirring": False, "remaining_time": 0.0, }) self.logger.info(f"✅ 搅拌器 {self.device_id} 清理完成 💤") return True async def stir(self, stir_time: float, stir_speed: float, settling_time: float, **kwargs) -> bool: """Execute stir action - 定时搅拌 + 沉降 🌪️""" # 🔧 类型转换 - 确保所有参数都是数字类型 try: stir_time = float(stir_time) stir_speed = float(stir_speed) settling_time = float(settling_time) except (ValueError, TypeError) as e: error_msg = f"参数类型转换失败: stir_time={stir_time}, stir_speed={stir_speed}, settling_time={settling_time}, error={e}" self.logger.error(f"❌ {error_msg}") self.data.update({ "status": f"❌ 错误: {error_msg}", "operation_mode": "Error" }) return False self.logger.info(f"🌪️ 开始搅拌操作: 速度 {stir_speed} RPM | 时间 {stir_time}s | 沉降 {settling_time}s") # 验证参数 if stir_speed > self._max_speed or stir_speed < self._min_speed: error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 ({self._min_speed} - {self._max_speed} RPM) ⚠️" self.logger.error(f"❌ {error_msg}") self.data.update({ "status": f"❌ 错误: 速度超出范围", "operation_mode": "Error" }) return False # === 第一阶段：搅拌 === start_time = time_module.time() total_stir_time = stir_time self.logger.info(f"🚀 开始搅拌阶段: {stir_speed} RPM × {total_stir_time}s ⏱️") self.data.update({ "status": f"🌪️ 搅拌中: {stir_speed} RPM | ⏰ 剩余: {total_stir_time:.0f}s", "operation_mode": "Stirring", "current_speed": stir_speed, "is_stirring": True, "remaining_time": total_stir_time, }) # 搅拌过程 - 实时更新剩余时间 last_logged_time = 0 while True: current_time = time_module.time() elapsed = current_time - start_time remaining = max(0, total_stir_time - elapsed) progress = (elapsed / total_stir_time) * 100 if total_stir_time > 0 else 100 # 更新状态 self.data.update({ "remaining_time": remaining, "status": f"🌪️ 搅拌中: {stir_speed} RPM | ⏰ 剩余: {remaining:.0f}s" }) # 进度日志（每25%打印一次） if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_time: self.logger.info(f"📊 搅拌进度: {progress:.0f}% | 🌪️ {stir_speed} RPM | ⏰ 剩余: {remaining:.0f}s ✨") last_logged_time = int(progress) # 搅拌时间到了 if remaining <= 0: break await self._ros_node.sleep(1.0) self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s") # === 第二阶段：沉降（如果需要）=== if settling_time > 0: start_settling_time = time_module.time() total_settling_time = settling_time self.logger.info(f"🛑 开始沉降阶段: 停止搅拌 × {total_settling_time}s ⏱️") self.data.update({ "status": f"🛑 沉降中: 停止搅拌 | ⏰ 剩余: {total_settling_time:.0f}s", "operation_mode": "Settling", "current_speed": 0.0, "is_stirring": False, "remaining_time": total_settling_time, }) # 沉降过程 - 实时更新剩余时间 last_logged_settling = 0 while True: current_time = time_module.time() elapsed = current_time - start_settling_time remaining = max(0, total_settling_time - elapsed) progress = (elapsed / total_settling_time) * 100 if total_settling_time > 0 else 100 # 更新状态 self.data.update({ "remaining_time": remaining, "status": f"🛑 沉降中: 停止搅拌 | ⏰ 剩余: {remaining:.0f}s" }) # 进度日志（每25%打印一次） if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_settling: self.logger.info(f"📊 沉降进度: {progress:.0f}% | 🛑 静置中 | ⏰ 剩余: {remaining:.0f}s ✨") last_logged_settling = int(progress) # 沉降时间到了 if remaining <= 0: break await self._ros_node.sleep(1.0) self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s") # === 操作完成 === settling_info = f" | 🛑 沉降: {settling_time:.0f}s" if settling_time > 0 else "" self.data.update({ "status": f"✅ 完成: 🌪️ 搅拌 {stir_speed} RPM × {stir_time:.0f}s{settling_info}", "operation_mode": "Completed", "current_speed": 0.0, "is_stirring": False, "remaining_time": 0.0, }) self.logger.info(f"🎉 搅拌操作完成! ✨") self.logger.info(f"📊 操作总结:") self.logger.info(f" 🌪️ 搅拌: {stir_speed} RPM × {stir_time}s") if settling_time > 0: self.logger.info(f" 🛑 沉降: {settling_time}s") self.logger.info(f" ⏱️ 总用时: {(stir_time + settling_time):.0f}s 🏁") return True async def start_stir(self, vessel: str, stir_speed: float, purpose: str = "") -> bool: """Start stir action - 开始持续搅拌 🔄""" # 🔧 类型转换 try: stir_speed = float(stir_speed) vessel = str(vessel) purpose = str(purpose) except (ValueError, TypeError) as e: error_msg = f"参数类型转换错误: {str(e)}" self.logger.error(f"❌ {error_msg}") self.data.update({ "status": f"❌ 错误: {error_msg}", "operation_mode": "Error" }) return False self.logger.info(f"🔄 启动持续搅拌: {vessel} | 🌪️ {stir_speed} RPM") if purpose: self.logger.info(f"📝 搅拌目的: {purpose}") # 验证参数 if stir_speed > self._max_speed or stir_speed < self._min_speed: error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 ({self._min_speed} - {self._max_speed} RPM) ⚠️" self.logger.error(f"❌ {error_msg}") self.data.update({ "status": f"❌ 错误: 速度超出范围", "operation_mode": "Error" }) return False purpose_info = f" | 📝 {purpose}" if purpose else "" self.data.update({ "status": f"🔄 启动: 持续搅拌 {vessel} | 🌪️ {stir_speed} RPM{purpose_info}", "operation_mode": "Stirring", "current_vessel": vessel, "current_speed": stir_speed, "is_stirring": True, "remaining_time": -1.0, # -1 表示持续运行 }) self.logger.info(f"✅ 持续搅拌已启动! 🌪️ {stir_speed} RPM × ♾️ 🚀") return True async def stop_stir(self, vessel: str) -> bool: """Stop stir action - 停止搅拌 🛑""" # 🔧 类型转换 try: vessel = str(vessel) except (ValueError, TypeError) as e: error_msg = f"参数类型转换错误: {str(e)}" self.logger.error(f"❌ {error_msg}") return False current_speed = self.data.get("current_speed", 0.0) self.logger.info(f"🛑 停止搅拌: {vessel}") if current_speed > 0: self.logger.info(f"🌪️ 之前搅拌速度: {current_speed} RPM") self.data.update({ "status": f"🛑 已停止: {vessel} 搅拌停止 | 之前速度: {current_speed} RPM", "operation_mode": "Stopped", "current_vessel": "", "current_speed": 0.0, "is_stirring": False, "remaining_time": 0.0, }) self.logger.info(f"✅ 搅拌器已停止 {vessel} 的搅拌操作 🏁") return True # 状态属性 @property def status(self) -> str: return self.data.get("status", "🏠 待机中") @property def operation_mode(self) -> str: return self.data.get("operation_mode", "Idle") @property def current_vessel(self) -> str: return self.data.get("current_vessel", "") @property def current_speed(self) -> float: return self.data.get("current_speed", 0.0) @property def is_stirring(self) -> bool: return self.data.get("is_stirring", False) @property def remaining_time(self) -> float: return self.data.get("remaining_time", 0.0) @property def max_speed(self) -> float: return self._max_speed @property def min_speed(self) -> float: return self._min_speed def get_device_info(self) -> Dict[str, Any]: """获取设备状态信息 📊""" info = { "device_id": self.device_id, "status": self.status, "operation_mode": self.operation_mode, "current_vessel": self.current_vessel, "current_speed": self.current_speed, "is_stirring": self.is_stirring, "remaining_time": self.remaining_time, "max_speed": self._max_speed, "min_speed": self._min_speed } # self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}") return info def __str__(self): status_emoji = "✅" if self.operation_mode == "Idle" else "🌪️" if self.operation_mode == "Stirring" else "🛑" if self.operation_mode == "Settling" else "❌" return f"🌪️ VirtualStirrer({status_emoji} {self.device_id}: {self.operation_mode}, {self.current_speed} RPM)"