import asyncio import time from enum import Enum from typing import Union, Optional import logging class VirtualPumpMode(Enum): Normal = 0 AccuratePos = 1 AccuratePosVel = 2 class VirtualTransferPump: """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件""" def __init__(self, device_id: str = None, config: dict = None, **kwargs): """ 初始化虚拟转移泵 Args: device_id: 设备ID config: 配置字典，包含max_volume, port等参数 **kwargs: 其他参数，确保兼容性 """ self.device_id = device_id or "virtual_transfer_pump" # 从config或kwargs中获取参数，确保类型正确 if config: self.max_volume = float(config.get('max_volume', 25.0)) self.port = config.get('port', 'VIRTUAL') else: self.max_volume = float(kwargs.get('max_volume', 25.0)) self.port = kwargs.get('port', 'VIRTUAL') self._transfer_rate = float(kwargs.get('transfer_rate', 0)) self.mode = kwargs.get('mode', VirtualPumpMode.Normal) # 状态变量 - 确保都是正确类型 self._status = "Idle" self._position = 0.0 # float self._max_velocity = 5.0 # float self._current_volume = 0.0 # float self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}") async def initialize(self) -> bool: """初始化虚拟泵""" self.logger.info(f"Initializing virtual pump {self.device_id}") self._status = "Idle" self._position = 0.0 self._current_volume = 0.0 return True async def cleanup(self) -> bool: """清理虚拟泵""" self.logger.info(f"Cleaning up virtual pump {self.device_id}") self._status = "Idle" return True # 基本属性 @property def status(self) -> str: return self._status @property def position(self) -> float: """当前柱塞位置 (ml)""" return self._position @property def current_volume(self) -> float: """当前注射器中的体积 (ml)""" return self._current_volume @property def max_velocity(self) -> float: return self._max_velocity @property def transfer_rate(self) -> float: return self._transfer_rate def set_max_velocity(self, velocity: float): """设置最大速度 (ml/s)""" self._max_velocity = max(0.1, min(50.0, velocity)) # 限制在合理范围内 self.logger.info(f"Set max velocity to {self._max_velocity} ml/s") def get_status(self) -> str: """获取泵状态""" return self._status async def _simulate_operation(self, duration: float): """模拟操作延时""" self._status = "Busy" await asyncio.sleep(duration) self._status = "Idle" def _calculate_duration(self, volume: float, velocity: float = None) -> float: """计算操作持续时间""" if velocity is None: velocity = self._max_velocity return abs(volume) / velocity # 新的set_position方法 - 专门用于SetPumpPosition动作 async def set_position(self, position: float, max_velocity: float = None): """ 移动到绝对位置 - 专门用于SetPumpPosition动作 Args: position (float): 目标位置 (ml) max_velocity (float): 移动速度 (ml/s) Returns: dict: 符合SetPumpPosition.action定义的结果 """ try: # 验证并转换参数 target_position = float(position) velocity = float(max_velocity) if max_velocity is not None else self._max_velocity # 限制位置在有效范围内 target_position = max(0.0, min(float(self.max_volume), target_position)) # 计算移动距离和时间 volume_to_move = abs(target_position - self._position) duration = self._calculate_duration(volume_to_move, velocity) self.logger.info(f"SET_POSITION: Moving to {target_position} ml (current: {self._position} ml), velocity: {velocity} ml/s") # 模拟移动过程 start_position = self._position steps = 10 if duration > 0.1 else 1 # 如果移动距离很小，只用1步 step_duration = duration / steps if steps > 1 else duration for i in range(steps + 1): # 计算当前位置和进度 progress = (i / steps) * 100 if steps > 0 else 100 current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position # 更新状态 self._status = "Moving" if i < steps else "Idle" self._position = current_pos self._current_volume = current_pos # 等待一小步时间 if i < steps and step_duration > 0: await asyncio.sleep(step_duration) # 确保最终位置准确 self._position = target_position self._current_volume = target_position self._status = "Idle" self.logger.info(f"SET_POSITION: Reached position {self._position} ml, current volume: {self._current_volume} ml") # 返回符合action定义的结果 return { "success": True, "message": f"Successfully moved to position {self._position} ml" } except Exception as e: error_msg = f"Failed to set position: {str(e)}" self.logger.error(error_msg) return { "success": False, "message": error_msg } # 其他泵操作方法 async def pull_plunger(self, volume: float, velocity: float = None): """ 拉取柱塞（吸液） Args: volume (float): 要拉取的体积 (ml) velocity (float): 拉取速度 (ml/s) """ new_position = min(self.max_volume, self._position + volume) actual_volume = new_position - self._position if actual_volume <= 0: self.logger.warning("Cannot pull - already at maximum volume") return duration = self._calculate_duration(actual_volume, velocity) self.logger.info(f"Pulling {actual_volume} ml (from {self._position} to {new_position})") await self._simulate_operation(duration) self._position = new_position self._current_volume = new_position self.logger.info(f"Pulled {actual_volume} ml, current volume: {self._current_volume} ml") async def push_plunger(self, volume: float, velocity: float = None): """ 推出柱塞（排液） Args: volume (float): 要推出的体积 (ml) velocity (float): 推出速度 (ml/s) """ new_position = max(0, self._position - volume) actual_volume = self._position - new_position if actual_volume <= 0: self.logger.warning("Cannot push - already at minimum volume") return duration = self._calculate_duration(actual_volume, velocity) self.logger.info(f"Pushing {actual_volume} ml (from {self._position} to {new_position})") await self._simulate_operation(duration) self._position = new_position self._current_volume = new_position self.logger.info(f"Pushed {actual_volume} ml, current volume: {self._current_volume} ml") # 便捷操作方法 async def aspirate(self, volume: float, velocity: float = None): """吸液操作""" await self.pull_plunger(volume, velocity) async def dispense(self, volume: float, velocity: float = None): """排液操作""" await self.push_plunger(volume, velocity) async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None): """转移操作（先吸后排）""" # 吸液 await self.aspirate(volume, aspirate_velocity) # 短暂停顿 await asyncio.sleep(0.1) # 排液 await self.dispense(volume, dispense_velocity) async def empty_syringe(self, velocity: float = None): """清空注射器""" await self.set_position(0, velocity) async def fill_syringe(self, velocity: float = None): """充满注射器""" await self.set_position(self.max_volume, velocity) async def stop_operation(self): """停止当前操作""" self._status = "Idle" self.logger.info("Operation stopped") # 状态查询方法 def get_position(self) -> float: """获取当前位置""" return self._position def get_current_volume(self) -> float: """获取当前体积""" return self._current_volume def get_remaining_capacity(self) -> float: """获取剩余容量""" return self.max_volume - self._current_volume def is_empty(self) -> bool: """检查是否为空""" return self._current_volume <= 0.01 # 允许小量误差 def is_full(self) -> bool: """检查是否已满""" return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差 # 调试和状态信息 def get_pump_info(self) -> dict: """获取泵的详细信息""" return { "device_id": self.device_id, "status": self._status, "position": self._position, "current_volume": self._current_volume, "max_volume": self.max_volume, "max_velocity": self._max_velocity, "mode": self.mode.name, "is_empty": self.is_empty(), "is_full": self.is_full(), "remaining_capacity": self.get_remaining_capacity() } def __str__(self): return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})" def __repr__(self): return self.__str__() # 使用示例 async def demo(): """虚拟泵使用示例""" pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0}) await pump.initialize() print(f"Initial state: {pump}") # 测试set_position方法 result = await pump.set_position(10.0, max_velocity=2.0) print(f"Set position result: {result}") print(f"After setting position to 10ml: {pump}") # 吸液测试 await pump.aspirate(5.0, velocity=2.0) print(f"After aspirating 5ml: {pump}") # 清空测试 result = await pump.set_position(0.0) print(f"Empty result: {result}") print(f"After emptying: {pump}") print("\nPump info:", pump.get_pump_info()) if __name__ == "__main__": asyncio.run(demo())