mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 21:11:12 +00:00
360 lines
14 KiB
Python
360 lines
14 KiB
Python
import asyncio
|
||
import logging
|
||
import time as time_module
|
||
from typing import Dict, Any, Optional
|
||
|
||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||
|
||
|
||
def debug_print(message):
|
||
"""调试输出 🔍"""
|
||
print(f"🌪️ [ROTAVAP] {message}", flush=True)
|
||
|
||
|
||
class VirtualRotavap:
|
||
"""Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️"""
|
||
|
||
_ros_node: BaseROS2DeviceNode
|
||
|
||
def __init__(self, device_id: Optional[str] = None, config: Optional[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_rotavap"
|
||
self.config = config or {}
|
||
|
||
self.logger = logging.getLogger(f"VirtualRotavap.{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_temp = self.config.get("max_temp") or kwargs.get("max_temp", 180.0)
|
||
self._max_rotation_speed = self.config.get("max_rotation_speed") or kwargs.get("max_rotation_speed", 280.0)
|
||
|
||
# 处理其他kwargs参数
|
||
skip_keys = {"port", "max_temp", "max_rotation_speed"}
|
||
for key, value in kwargs.items():
|
||
if key not in skip_keys and not hasattr(self, key):
|
||
setattr(self, key, value)
|
||
|
||
print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨")
|
||
print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM")
|
||
|
||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||
self._ros_node = ros_node
|
||
|
||
async def initialize(self) -> bool:
|
||
"""Initialize virtual rotary evaporator 🚀"""
|
||
self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨")
|
||
|
||
# 只保留核心状态
|
||
self.data.update(
|
||
{
|
||
"status": "🏠 待机中",
|
||
"rotavap_state": "Ready", # Ready, Evaporating, Completed, Error
|
||
"current_temp": 25.0,
|
||
"target_temp": 25.0,
|
||
"rotation_speed": 0.0,
|
||
"vacuum_pressure": 1.0, # 大气压
|
||
"evaporated_volume": 0.0,
|
||
"progress": 0.0,
|
||
"remaining_time": 0.0,
|
||
"message": "🌪️ Ready for evaporation",
|
||
}
|
||
)
|
||
|
||
self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️")
|
||
self.logger.info(
|
||
f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM"
|
||
)
|
||
return True
|
||
|
||
async def cleanup(self) -> bool:
|
||
"""Cleanup virtual rotary evaporator 🧹"""
|
||
self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚")
|
||
|
||
self.data.update(
|
||
{
|
||
"status": "💤 离线",
|
||
"rotavap_state": "Offline",
|
||
"current_temp": 25.0,
|
||
"rotation_speed": 0.0,
|
||
"vacuum_pressure": 1.0,
|
||
"message": "💤 System offline",
|
||
}
|
||
)
|
||
|
||
self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤")
|
||
return True
|
||
|
||
async def evaporate(
|
||
self,
|
||
vessel: str,
|
||
pressure: float = 0.1,
|
||
temp: float = 60.0,
|
||
time: float = 180.0,
|
||
stir_speed: float = 100.0,
|
||
solvent: str = "",
|
||
**kwargs,
|
||
) -> bool:
|
||
"""Execute evaporate action - 简化版 🌪️"""
|
||
|
||
# 🔧 新增：确保time参数是数值类型
|
||
if isinstance(time, str):
|
||
try:
|
||
time = float(time)
|
||
except ValueError:
|
||
self.logger.error(f"❌ 无法转换时间参数 '{time}' 为数值，使用默认值180.0秒")
|
||
time = 180.0
|
||
elif not isinstance(time, (int, float)):
|
||
self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
|
||
time = 180.0
|
||
|
||
# 确保time是float类型; 并加速
|
||
time = float(time) / 10.0
|
||
|
||
# 🔧 简化处理：如果vessel就是设备自己，直接操作
|
||
if vessel == self.device_id:
|
||
debug_print(f"🎯 在设备 {self.device_id} 上直接执行蒸发操作")
|
||
actual_vessel = self.device_id
|
||
else:
|
||
actual_vessel = vessel
|
||
|
||
# 参数预处理
|
||
if solvent:
|
||
self.logger.info(f"🧪 识别到溶剂: {solvent}")
|
||
# 根据溶剂调整参数
|
||
solvent_lower = solvent.lower()
|
||
if any(s in solvent_lower for s in ["water", "aqueous"]):
|
||
temp = max(temp, 80.0)
|
||
pressure = max(pressure, 0.2)
|
||
self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
|
||
elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]):
|
||
temp = min(temp, 50.0)
|
||
pressure = min(pressure, 0.05)
|
||
self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
|
||
|
||
self.logger.info(f"🌪️ 开始蒸发操作: {actual_vessel}")
|
||
self.logger.info(f" 🥽 容器: {actual_vessel}")
|
||
self.logger.info(f" 🌡️ 温度: {temp}°C")
|
||
self.logger.info(f" 💨 真空度: {pressure} bar")
|
||
self.logger.info(f" ⏰ 时间: {time}s")
|
||
self.logger.info(f" 🌀 转速: {stir_speed} RPM")
|
||
if solvent:
|
||
self.logger.info(f" 🧪 溶剂: {solvent}")
|
||
|
||
# 验证参数
|
||
if temp > self._max_temp or temp < 10.0:
|
||
error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️"
|
||
self.logger.error(f"❌ {error_msg}")
|
||
self.data.update(
|
||
{
|
||
"status": f"❌ 错误: 温度超出范围",
|
||
"rotavap_state": "Error",
|
||
"current_temp": 25.0,
|
||
"progress": 0.0,
|
||
"evaporated_volume": 0.0,
|
||
"message": error_msg,
|
||
}
|
||
)
|
||
return False
|
||
|
||
if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
|
||
error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️"
|
||
self.logger.error(f"❌ {error_msg}")
|
||
self.data.update(
|
||
{
|
||
"status": f"❌ 错误: 转速超出范围",
|
||
"rotavap_state": "Error",
|
||
"current_temp": 25.0,
|
||
"progress": 0.0,
|
||
"evaporated_volume": 0.0,
|
||
"message": error_msg,
|
||
}
|
||
)
|
||
return False
|
||
|
||
if pressure < 0.01 or pressure > 1.0:
|
||
error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️"
|
||
self.logger.error(f"❌ {error_msg}")
|
||
self.data.update(
|
||
{
|
||
"status": f"❌ 错误: 压力超出范围",
|
||
"rotavap_state": "Error",
|
||
"current_temp": 25.0,
|
||
"progress": 0.0,
|
||
"evaporated_volume": 0.0,
|
||
"message": error_msg,
|
||
}
|
||
)
|
||
return False
|
||
|
||
# 开始蒸发 - 🔧 现在time已经确保是float类型
|
||
self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
|
||
|
||
self.data.update(
|
||
{
|
||
"status": f"🌪️ 蒸发中: {actual_vessel}",
|
||
"rotavap_state": "Evaporating",
|
||
"current_temp": temp,
|
||
"target_temp": temp,
|
||
"rotation_speed": stir_speed,
|
||
"vacuum_pressure": pressure,
|
||
"remaining_time": time,
|
||
"progress": 0.0,
|
||
"evaporated_volume": 0.0,
|
||
"message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM",
|
||
}
|
||
)
|
||
|
||
try:
|
||
# 蒸发过程 - 实时更新进度
|
||
start_time = time_module.time()
|
||
total_time = time
|
||
last_logged_progress = 0
|
||
|
||
while True:
|
||
current_time = time_module.time()
|
||
elapsed = current_time - start_time
|
||
remaining = max(0, total_time - elapsed)
|
||
progress = min(100.0, (elapsed / total_time) * 100)
|
||
|
||
# 模拟蒸发体积 - 根据溶剂类型调整
|
||
if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
|
||
evaporated_vol = progress * 0.6 # 水系溶剂蒸发慢
|
||
elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
|
||
evaporated_vol = progress * 1.0 # 易挥发溶剂蒸发快
|
||
else:
|
||
evaporated_vol = progress * 0.8 # 默认蒸发量
|
||
|
||
# 🔧 更新状态 - 确保包含所有必需字段
|
||
status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s"
|
||
|
||
self.data.update(
|
||
{
|
||
"remaining_time": remaining,
|
||
"progress": progress,
|
||
"evaporated_volume": evaporated_vol,
|
||
"current_temp": temp,
|
||
"status": status_msg,
|
||
"message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining",
|
||
}
|
||
)
|
||
|
||
# 进度日志（每25%打印一次）
|
||
if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress:
|
||
self.logger.info(
|
||
f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨"
|
||
)
|
||
last_logged_progress = int(progress)
|
||
|
||
# 时间到了，退出循环
|
||
if remaining <= 0:
|
||
break
|
||
|
||
# 每秒更新一次
|
||
await self._ros_node.sleep(1.0)
|
||
|
||
# 蒸发完成
|
||
if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
|
||
final_evaporated = 60.0 # 水系溶剂
|
||
elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
|
||
final_evaporated = 100.0 # 易挥发溶剂
|
||
else:
|
||
final_evaporated = 80.0 # 默认
|
||
|
||
self.data.update(
|
||
{
|
||
"status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
|
||
"rotavap_state": "Completed",
|
||
"evaporated_volume": final_evaporated,
|
||
"progress": 100.0,
|
||
"current_temp": temp,
|
||
"remaining_time": 0.0,
|
||
"rotation_speed": 0.0,
|
||
"vacuum_pressure": 1.0,
|
||
"message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}",
|
||
}
|
||
)
|
||
|
||
self.logger.info(f"🎉 蒸发操作完成! ✨")
|
||
self.logger.info(f"📊 蒸发结果:")
|
||
self.logger.info(f" 🥽 容器: {actual_vessel}")
|
||
self.logger.info(f" 💧 蒸发量: {final_evaporated:.1f}mL")
|
||
self.logger.info(f" 🌡️ 蒸发温度: {temp}°C")
|
||
self.logger.info(f" 💨 真空度: {pressure} bar")
|
||
self.logger.info(f" 🌀 旋转速度: {stir_speed} RPM")
|
||
self.logger.info(f" ⏱️ 总用时: {total_time:.0f}s")
|
||
if solvent:
|
||
self.logger.info(f" 🧪 处理溶剂: {solvent} 🏁")
|
||
|
||
return True
|
||
|
||
except Exception as e:
|
||
# 出错处理
|
||
error_msg = f"蒸发过程中发生错误: {str(e)} 💥"
|
||
self.logger.error(f"❌ {error_msg}")
|
||
|
||
self.data.update(
|
||
{
|
||
"status": f"❌ 蒸发错误: {str(e)}",
|
||
"rotavap_state": "Error",
|
||
"current_temp": 25.0,
|
||
"progress": 0.0,
|
||
"evaporated_volume": 0.0,
|
||
"rotation_speed": 0.0,
|
||
"vacuum_pressure": 1.0,
|
||
"message": f"❌ Evaporation failed: {str(e)}",
|
||
}
|
||
)
|
||
return False
|
||
|
||
# === 核心状态属性 ===
|
||
@property
|
||
def status(self) -> str:
|
||
return self.data.get("status", "❓ Unknown")
|
||
|
||
@property
|
||
def rotavap_state(self) -> str:
|
||
return self.data.get("rotavap_state", "Unknown")
|
||
|
||
@property
|
||
def current_temp(self) -> float:
|
||
return self.data.get("current_temp", 25.0)
|
||
|
||
@property
|
||
def rotation_speed(self) -> float:
|
||
return self.data.get("rotation_speed", 0.0)
|
||
|
||
@property
|
||
def vacuum_pressure(self) -> float:
|
||
return self.data.get("vacuum_pressure", 1.0)
|
||
|
||
@property
|
||
def evaporated_volume(self) -> float:
|
||
return self.data.get("evaporated_volume", 0.0)
|
||
|
||
@property
|
||
def progress(self) -> float:
|
||
return self.data.get("progress", 0.0)
|
||
|
||
@property
|
||
def message(self) -> str:
|
||
return self.data.get("message", "")
|
||
|
||
@property
|
||
def max_temp(self) -> float:
|
||
return self._max_temp
|
||
|
||
@property
|
||
def max_rotation_speed(self) -> float:
|
||
return self._max_rotation_speed
|
||
|
||
@property
|
||
def remaining_time(self) -> float:
|
||
return self.data.get("remaining_time", 0.0)
|