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，支持多种匹配模式： 1. 容器名称匹配 2. 气体类型匹配（data.gas_type） 3. 默认气源 """ print(f"EVACUATE_REFILL: 正在查找气体 '{gas}' 的气源...") # 第一步：通过容器名称匹配 gas_source_patterns = [ f"gas_source_{gas}", f"gas_{gas}", f"flask_{gas}", f"{gas}_source", f"source_{gas}", f"reagent_bottle_{gas}", f"bottle_{gas}" ] for pattern in gas_source_patterns: if pattern in G.nodes(): print(f"EVACUATE_REFILL: 通过名称匹配找到气源: {pattern}") return pattern # 第二步：通过气体类型匹配 (data.gas_type) for node_id in G.nodes(): node_data = G.nodes[node_id] node_class = node_data.get('class', '') or '' # 检查是否是气源设备 if ('gas_source' in node_class or 'gas' in node_id.lower() or node_id.startswith('flask_')): # 检查 data.gas_type data = node_data.get('data', {}) gas_type = data.get('gas_type', '') if gas_type.lower() == gas.lower(): print(f"EVACUATE_REFILL: 通过气体类型匹配找到气源: {node_id} (gas_type: {gas_type})") return node_id # 检查 config.gas_type config = node_data.get('config', {}) config_gas_type = config.get('gas_type', '') if config_gas_type.lower() == gas.lower(): print(f"EVACUATE_REFILL: 通过配置气体类型匹配找到气源: {node_id} (config.gas_type: {config_gas_type})") return node_id # 第三步：查找所有可用的气源设备 available_gas_sources = [] for node_id in G.nodes(): node_data = G.nodes[node_id] node_class = node_data.get('class', '') or '' if ('gas_source' in node_class or 'gas' in node_id.lower() or (node_id.startswith('flask_') and any(g in node_id.lower() for g in ['air', 'nitrogen', 'argon']))): data = node_data.get('data', {}) gas_type = data.get('gas_type', 'unknown') available_gas_sources.append(f"{node_id} (gas_type: {gas_type})") print(f"EVACUATE_REFILL: 可用气源列表: {available_gas_sources}") # 第四步：如果找不到特定气体，使用默认的第一个气源 default_gas_sources = [ node for node in G.nodes() if ((G.nodes[node].get('class') or '').startswith('virtual_gas_source') or 'gas_source' in node) ] if default_gas_sources: default_source = default_gas_sources[0] print(f"EVACUATE_REFILL: ⚠️ 未找到特定气体 '{gas}'，使用默认气源: {default_source}") return default_source raise ValueError(f"找不到气体 '{gas}' 对应的气源。可用气源: {available_gas_sources}") def find_gas_source_by_any_match(G: nx.DiGraph, gas: str) -> str: """ 增强版气源查找，支持各种匹配方式的别名函数 """ return find_gas_source(G, gas) def get_gas_source_type(G: nx.DiGraph, gas_source: str) -> str: """获取气源的气体类型""" if gas_source not in G.nodes(): return "unknown" node_data = G.nodes[gas_source] data = node_data.get('data', {}) config = node_data.get('config', {}) # 检查多个可能的字段 gas_type = (data.get('gas_type') or config.get('gas_type') or data.get('gas') or config.get('gas') or "air") # 默认为空气 return gas_type def find_vessels_by_gas_type(G: nx.DiGraph, gas: str) -> List[str]: """ 根据气体类型查找所有匹配的容器/气源 """ matching_vessels = [] for node_id in G.nodes(): node_data = G.nodes[node_id] # 检查容器名称匹配 if gas.lower() in node_id.lower(): matching_vessels.append(f"{node_id} (名称匹配)") continue # 检查气体类型匹配 data = node_data.get('data', {}) config = node_data.get('config', {}) gas_type = data.get('gas_type', '') or config.get('gas_type', '') if gas_type.lower() == gas.lower(): matching_vessels.append(f"{node_id} (gas_type: {gas_type})") return matching_vessels 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, # 🔧 删除 repeats 参数，直接硬编码为 3 **kwargs # 🔧 接受额外参数，增强兼容性 ) -> List[Dict[str, Any]]: """ 生成抽真空和充气操作的动作序列 - 简化版本 Args: G: 设备图 vessel: 目标容器名称（必需） gas: 气体名称（必需） **kwargs: 其他参数（兼容性） Returns: List[Dict[str, Any]]: 动作序列 """ # 🔧 硬编码重复次数为 3 repeats = 3 debug_print("=" * 60) debug_print("开始生成抽真空充气协议") debug_print(f"输入参数:") debug_print(f" - vessel: {vessel}") debug_print(f" - gas: {gas}") debug_print(f" - repeats: {repeats} (硬编码)") debug_print(f" - 其他参数: {kwargs}") debug_print("=" * 60) action_sequence = [] # === 参数验证和修正 === debug_print("步骤1: 参数验证和修正...") # 验证必需参数 if not vessel: raise ValueError("vessel 参数不能为空") if not gas: raise ValueError("gas 参数不能为空") if vessel not in G.nodes(): raise ValueError(f"容器 '{vessel}' 不存在于系统中") # 标准化气体名称 gas_aliases = { 'n2': 'nitrogen', 'ar': 'argon', 'air': 'air', 'o2': 'oxygen', 'co2': 'carbon_dioxide', 'h2': 'hydrogen' } original_gas = gas gas_lower = gas.lower().strip() if gas_lower in gas_aliases: gas = gas_aliases[gas_lower] debug_print(f"标准化气体名称: {original_gas} -> {gas}") debug_print(f"最终参数: vessel={vessel}, gas={gas}, repeats={repeats}") # === 查找设备 === debug_print("步骤2: 查找设备...") try: vacuum_pump = find_vacuum_pump(G) gas_source = find_gas_source(G, gas) vacuum_solenoid = find_associated_solenoid_valve(G, vacuum_pump) gas_solenoid = find_associated_solenoid_valve(G, gas_source) stirrer_id = find_connected_stirrer(G, vessel) debug_print(f"设备配置:") debug_print(f" - 真空泵: {vacuum_pump}") debug_print(f" - 气源: {gas_source}") debug_print(f" - 真空电磁阀: {vacuum_solenoid}") debug_print(f" - 气源电磁阀: {gas_solenoid}") debug_print(f" - 搅拌器: {stirrer_id}") except Exception as e: debug_print(f"❌ 设备查找失败: {str(e)}") raise ValueError(f"设备查找失败: {str(e)}") # === 参数设置 === debug_print("步骤3: 参数设置...") # 根据气体类型调整参数 if gas.lower() in ['nitrogen', 'argon']: VACUUM_VOLUME = 25.0 REFILL_VOLUME = 25.0 PUMP_FLOW_RATE = 2.0 VACUUM_TIME = 30.0 REFILL_TIME = 20.0 debug_print("惰性气体：使用标准参数") elif gas.lower() in ['air', 'oxygen']: VACUUM_VOLUME = 20.0 REFILL_VOLUME = 20.0 PUMP_FLOW_RATE = 1.5 VACUUM_TIME = 45.0 REFILL_TIME = 25.0 debug_print("活性气体：使用保守参数") else: VACUUM_VOLUME = 15.0 REFILL_VOLUME = 15.0 PUMP_FLOW_RATE = 1.0 VACUUM_TIME = 60.0 REFILL_TIME = 30.0 debug_print("未知气体：使用安全参数") STIR_SPEED = 200.0 debug_print(f"操作参数:") debug_print(f" - 抽真空体积: {VACUUM_VOLUME}mL") debug_print(f" - 充气体积: {REFILL_VOLUME}mL") debug_print(f" - 泵流速: {PUMP_FLOW_RATE}mL/s") debug_print(f" - 抽真空时间: {VACUUM_TIME}s") debug_print(f" - 充气时间: {REFILL_TIME}s") debug_print(f" - 搅拌速度: {STIR_SPEED}RPM") # === 路径验证 === debug_print("步骤4: 路径验证...") try: # 验证抽真空路径 vacuum_path = nx.shortest_path(G, source=vessel, target=vacuum_pump) debug_print(f"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) debug_print(f"充气路径: {' → '.join(gas_path)}") except nx.NetworkXNoPath as e: debug_print(f"❌ 路径不存在: {str(e)}") raise ValueError(f"路径不存在: {str(e)}") except Exception as e: debug_print(f"❌ 路径验证失败: {str(e)}") raise ValueError(f"路径验证失败: {str(e)}") # === 启动搅拌器 === debug_print("步骤5: 启动搅拌器...") if stirrer_id: debug_print(f"启动搅拌器: {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" } }) # 等待搅拌稳定 action_sequence.append({ "action_name": "wait", "action_kwargs": {"time": 5.0} }) else: debug_print("未找到搅拌器，跳过搅拌启动") # === 执行 3 次抽真空-充气循环 === debug_print("步骤6: 执行抽真空-充气循环...") for cycle in range(repeats): # 这里 repeats = 3 debug_print(f"=== 第 {cycle+1}/{repeats} 次循环 ===") # ============ 抽真空阶段 ============ debug_print(f"抽真空阶段开始") # 启动真空泵 debug_print(f"启动真空泵: {vacuum_pump}") 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: debug_print(f"开启真空电磁阀: {vacuum_solenoid}") action_sequence.append({ "device_id": vacuum_solenoid, "action_name": "set_valve_position", "action_kwargs": {"command": "OPEN"} }) # 抽真空操作 debug_print(f"抽真空操作: {vessel} → {vacuum_pump}") try: vacuum_transfer_actions = generate_pump_protocol_with_rinsing( G=G, from_vessel=vessel, to_vessel=vacuum_pump, volume=VACUUM_VOLUME, amount="", duration=0.0, # 🔧 修复time参数名冲突 viscous=False, rinsing_solvent="", 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) debug_print(f"✅ 添加了 {len(vacuum_transfer_actions)} 个抽真空动作") else: debug_print("⚠️ 抽真空协议返回空序列，添加手动动作") action_sequence.append({ "action_name": "wait", "action_kwargs": {"time": VACUUM_TIME} }) except Exception as e: debug_print(f"❌ 抽真空失败: {str(e)}") # 添加等待时间作为备选 action_sequence.append({ "action_name": "wait", "action_kwargs": {"time": VACUUM_TIME} }) # 抽真空后等待 action_sequence.append({ "action_name": "wait", "action_kwargs": {"time": 5.0} }) # 关闭真空电磁阀 if vacuum_solenoid: debug_print(f"关闭真空电磁阀: {vacuum_solenoid}") action_sequence.append({ "device_id": vacuum_solenoid, "action_name": "set_valve_position", "action_kwargs": {"command": "CLOSED"} }) # 关闭真空泵 debug_print(f"关闭真空泵: {vacuum_pump}") action_sequence.append({ "device_id": vacuum_pump, "action_name": "set_status", "action_kwargs": {"string": "OFF"} }) # ============ 充气阶段 ============ debug_print(f"充气阶段开始") # 启动气源 debug_print(f"启动气源: {gas_source}") 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: debug_print(f"开启气源电磁阀: {gas_solenoid}") action_sequence.append({ "device_id": gas_solenoid, "action_name": "set_valve_position", "action_kwargs": {"command": "OPEN"} }) # 充气操作 debug_print(f"充气操作: {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="", duration=0.0, # 🔧 修复time参数名冲突 viscous=False, rinsing_solvent="", 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) debug_print(f"✅ 添加了 {len(gas_transfer_actions)} 个充气动作") else: debug_print("⚠️ 充气协议返回空序列，添加手动动作") action_sequence.append({ "action_name": "wait", "action_kwargs": {"time": REFILL_TIME} }) except Exception as e: debug_print(f"❌ 充气失败: {str(e)}") # 添加等待时间作为备选 action_sequence.append({ "action_name": "wait", "action_kwargs": {"time": REFILL_TIME} }) # 充气后等待 action_sequence.append({ "action_name": "wait", "action_kwargs": {"time": 5.0} }) # 关闭气源电磁阀 if gas_solenoid: debug_print(f"关闭气源电磁阀: {gas_solenoid}") action_sequence.append({ "device_id": gas_solenoid, "action_name": "set_valve_position", "action_kwargs": {"command": "CLOSED"} }) # 关闭气源 debug_print(f"关闭气源: {gas_source}") 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: debug_print(f"等待下一次循环...") action_sequence.append({ "action_name": "wait", "action_kwargs": {"time": 10.0} }) # === 停止搅拌器 === debug_print("步骤7: 停止搅拌器...") if stirrer_id: debug_print(f"停止搅拌器: {stirrer_id}") action_sequence.append({ "device_id": stirrer_id, "action_name": "stop_stir", "action_kwargs": {"vessel": vessel} }) # === 最终等待 === action_sequence.append({ "action_name": "wait", "action_kwargs": {"time": 10.0} }) # === 总结 === debug_print("=" * 60) debug_print(f"抽真空充气协议生成完成") debug_print(f"总动作数: {len(action_sequence)}") debug_print(f"处理容器: {vessel}") debug_print(f"使用气体: {gas}") debug_print(f"重复次数: {repeats} (硬编码)") debug_print("=" * 60) 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()