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https://github.com/dptech-corp/Uni-Lab-OS.git
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0bfb52df00
Update recipe.yaml fix: figure_resource use call_async in all service to avoid deadlock fix: prcxi import error 临时兼容错误的driver写法 fix protocol node fix filter protocol bugfixes on organic protocols fix and remove redundant info feat: 新增use_remote_resource参数 fix all protocol_compilers and remove deprecated devices feat: 优化protocol node节点运行日志 fix pumps and liquid_handler handle feat: workstation example add: prcxi res fix: startup slow fix: prcxi_res fix: discard_tips fix: discard_tips error fix: drop_tips not using auto resource select feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79) feat: add trace log level modify default discovery_interval to 15s fix: working dir error when input config path feat: report publish topic when error fix: workstation handlers and vessel_id parsing Cleanup registry to be easy-understanding (#76) * delete deprecated mock devices * rename categories * combine chromatographic devices * rename rviz simulation nodes * organic virtual devices * parse vessel_id * run registry completion before merge --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
416 lines
16 KiB
Python
416 lines
16 KiB
Python
import asyncio
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import time
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from enum import Enum
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from typing import Union, Optional
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import logging
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class VirtualPumpMode(Enum):
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Normal = 0
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AccuratePos = 1
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AccuratePosVel = 2
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class VirtualTransferPump:
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"""虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
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def __init__(self, device_id: str = None, config: dict = None, **kwargs):
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"""
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初始化虚拟转移泵
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Args:
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device_id: 设备ID
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config: 配置字典，包含max_volume, port等参数
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**kwargs: 其他参数，确保兼容性
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"""
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self.device_id = device_id or "virtual_transfer_pump"
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# 从config或kwargs中获取参数，确保类型正确
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if config:
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self.max_volume = float(config.get('max_volume', 25.0))
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self.port = config.get('port', 'VIRTUAL')
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else:
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self.max_volume = float(kwargs.get('max_volume', 25.0))
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self.port = kwargs.get('port', 'VIRTUAL')
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self._transfer_rate = float(kwargs.get('transfer_rate', 0))
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self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
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# 状态变量 - 确保都是正确类型
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self._status = "Idle"
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self._position = 0.0 # float
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self._max_velocity = 5.0 # float
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self._current_volume = 0.0 # float
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# 🚀 新增：快速模式设置 - 大幅缩短执行时间
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self._fast_mode = True # 是否启用快速模式
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self._fast_move_time = 1.0 # 快速移动时间（秒）
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self._fast_dispense_time = 1.0 # 快速喷射时间（秒）
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self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
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print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
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print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
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print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
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async def initialize(self) -> bool:
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"""初始化虚拟泵 🚀"""
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self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
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self._status = "Idle"
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self._position = 0.0
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self._current_volume = 0.0
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self.logger.info(f"✅ 转移泵 {self.device_id} 初始化完成 🚰")
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return True
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async def cleanup(self) -> bool:
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"""清理虚拟泵 🧹"""
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self.logger.info(f"🧹 清理虚拟转移泵 {self.device_id} 🔚")
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self._status = "Idle"
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self.logger.info(f"✅ 转移泵 {self.device_id} 清理完成 💤")
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return True
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# 基本属性
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@property
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def status(self) -> str:
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return self._status
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@property
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def position(self) -> float:
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"""当前柱塞位置 (ml) 📍"""
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return self._position
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@property
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def current_volume(self) -> float:
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"""当前注射器中的体积 (ml) 💧"""
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return self._current_volume
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@property
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def max_velocity(self) -> float:
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return self._max_velocity
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@property
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def transfer_rate(self) -> float:
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return self._transfer_rate
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def set_max_velocity(self, velocity: float):
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"""设置最大速度 (ml/s) 🌊"""
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self._max_velocity = max(0.1, min(50.0, velocity)) # 限制在合理范围内
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self.logger.info(f"🌊 设置最大速度为 {self._max_velocity} mL/s")
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def get_status(self) -> str:
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"""获取泵状态 📋"""
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return self._status
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async def _simulate_operation(self, duration: float):
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"""模拟操作延时 ⏱️"""
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self._status = "Busy"
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await asyncio.sleep(duration)
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self._status = "Idle"
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def _calculate_duration(self, volume: float, velocity: float = None) -> float:
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"""
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计算操作持续时间 ⏰
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🚀 快速模式：保留计算逻辑用于日志显示，但实际使用固定的快速时间
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"""
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if velocity is None:
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velocity = self._max_velocity
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# 📊 计算理论时间（用于日志显示）
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theoretical_duration = abs(volume) / velocity
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# 🚀 如果启用快速模式，使用固定的快速时间
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if self._fast_mode:
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# 根据操作类型选择快速时间
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if abs(volume) > 0.1: # 大于0.1mL的操作
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actual_duration = self._fast_move_time
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else: # 很小的操作
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actual_duration = 0.5
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self.logger.debug(f"⚡ 快速模式: 理论时间 {theoretical_duration:.2f}s → 实际时间 {actual_duration:.2f}s")
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return actual_duration
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else:
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# 正常模式使用理论时间
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return theoretical_duration
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def _calculate_display_duration(self, volume: float, velocity: float = None) -> float:
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"""
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计算显示用的持续时间（用于日志） 📊
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这个函数返回理论计算时间，用于日志显示
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"""
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if velocity is None:
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velocity = self._max_velocity
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return abs(volume) / velocity
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# 新的set_position方法 - 专门用于SetPumpPosition动作
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async def set_position(self, position: float, max_velocity: float = None):
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"""
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移动到绝对位置 - 专门用于SetPumpPosition动作 🎯
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Args:
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position (float): 目标位置 (ml)
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max_velocity (float): 移动速度 (ml/s)
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Returns:
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dict: 符合SetPumpPosition.action定义的结果
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"""
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try:
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# 验证并转换参数
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target_position = float(position)
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velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
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# 限制位置在有效范围内
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target_position = max(0.0, min(float(self.max_volume), target_position))
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# 计算移动距离
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volume_to_move = abs(target_position - self._position)
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# 📊 计算显示用的时间（用于日志）
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display_duration = self._calculate_display_duration(volume_to_move, velocity)
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# ⚡ 计算实际执行时间（快速模式）
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actual_duration = self._calculate_duration(volume_to_move, velocity)
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# 🎯 确定操作类型和emoji
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if target_position > self._position:
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operation_type = "吸液"
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operation_emoji = "📥"
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elif target_position < self._position:
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operation_type = "排液"
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operation_emoji = "📤"
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else:
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operation_type = "保持"
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operation_emoji = "📍"
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self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
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self.logger.info(f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
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self.logger.info(f" 🌊 速度: {velocity:.2f} mL/s")
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self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
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if self._fast_mode:
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self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
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# 🚀 模拟移动过程
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if volume_to_move > 0.01: # 只有当移动距离足够大时才显示进度
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start_position = self._position
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steps = 5 if actual_duration > 0.5 else 2 # 根据实际时间调整步数
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step_duration = actual_duration / steps
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self.logger.info(f"🚀 开始{operation_type}... {operation_emoji}")
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for i in range(steps + 1):
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# 计算当前位置和进度
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progress = (i / steps) * 100 if steps > 0 else 100
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current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
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# 更新状态
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if i < steps:
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self._status = f"{operation_type}中"
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status_emoji = "🔄"
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else:
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self._status = "Idle"
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status_emoji = "✅"
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self._position = current_pos
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self._current_volume = current_pos
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# 显示进度（每25%或最后一步）
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if i == 0:
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self.logger.debug(f" 🔄 {operation_type}开始: {progress:.0f}%")
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elif progress >= 50 and i == steps // 2:
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self.logger.debug(f" 🔄 {operation_type}进度: {progress:.0f}%")
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elif i == steps:
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self.logger.info(f" ✅ {operation_type}完成: {progress:.0f}% | 当前位置: {current_pos:.2f}mL")
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# 等待一小步时间
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if i < steps and step_duration > 0:
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await asyncio.sleep(step_duration)
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else:
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# 移动距离很小，直接完成
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self._position = target_position
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self._current_volume = target_position
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self.logger.info(f" 📍 微调完成: {target_position:.2f}mL")
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# 确保最终位置准确
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self._position = target_position
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self._current_volume = target_position
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self._status = "Idle"
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# 📊 最终状态日志
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if volume_to_move > 0.01:
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self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
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# 返回符合action定义的结果
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return {
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"success": True,
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"message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
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"final_position": self._position,
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"final_volume": self._current_volume,
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"operation_type": operation_type
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}
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except Exception as e:
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error_msg = f"❌ 设置位置失败: {str(e)}"
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self.logger.error(error_msg)
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return {
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"success": False,
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"message": error_msg,
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"final_position": self._position,
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"final_volume": self._current_volume
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}
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# 其他泵操作方法
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async def pull_plunger(self, volume: float, velocity: float = None):
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"""
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拉取柱塞（吸液） 📥
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Args:
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volume (float): 要拉取的体积 (ml)
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velocity (float): 拉取速度 (ml/s)
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"""
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new_position = min(self.max_volume, self._position + volume)
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actual_volume = new_position - self._position
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if actual_volume <= 0:
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self.logger.warning("⚠️ 无法吸液 - 已达到最大容量")
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return
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display_duration = self._calculate_display_duration(actual_volume, velocity)
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actual_duration = self._calculate_duration(actual_volume, velocity)
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self.logger.info(f"📥 开始吸液: {actual_volume:.2f}mL")
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self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
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self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
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if self._fast_mode:
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self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
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await self._simulate_operation(actual_duration)
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self._position = new_position
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self._current_volume = new_position
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self.logger.info(f"✅ 吸液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
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async def push_plunger(self, volume: float, velocity: float = None):
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"""
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推出柱塞（排液） 📤
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Args:
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volume (float): 要推出的体积 (ml)
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velocity (float): 推出速度 (ml/s)
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"""
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new_position = max(0, self._position - volume)
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actual_volume = self._position - new_position
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if actual_volume <= 0:
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self.logger.warning("⚠️ 无法排液 - 已达到最小容量")
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return
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display_duration = self._calculate_display_duration(actual_volume, velocity)
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actual_duration = self._calculate_duration(actual_volume, velocity)
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self.logger.info(f"📤 开始排液: {actual_volume:.2f}mL")
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self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
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self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
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if self._fast_mode:
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self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
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await self._simulate_operation(actual_duration)
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self._position = new_position
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self._current_volume = new_position
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self.logger.info(f"✅ 排液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
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# 便捷操作方法
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async def aspirate(self, volume: float, velocity: float = None):
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"""吸液操作 📥"""
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await self.pull_plunger(volume, velocity)
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async def dispense(self, volume: float, velocity: float = None):
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"""排液操作 📤"""
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await self.push_plunger(volume, velocity)
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async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
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"""转移操作（先吸后排） 🔄"""
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self.logger.info(f"🔄 开始转移操作: {volume:.2f}mL")
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# 吸液
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await self.aspirate(volume, aspirate_velocity)
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# 短暂停顿
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self.logger.debug("⏸️ 短暂停顿...")
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await asyncio.sleep(0.1)
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# 排液
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await self.dispense(volume, dispense_velocity)
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async def empty_syringe(self, velocity: float = None):
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"""清空注射器"""
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await self.set_position(0, velocity)
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async def fill_syringe(self, velocity: float = None):
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"""充满注射器"""
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await self.set_position(self.max_volume, velocity)
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async def stop_operation(self):
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"""停止当前操作"""
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self._status = "Idle"
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self.logger.info("Operation stopped")
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# 状态查询方法
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def get_position(self) -> float:
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"""获取当前位置"""
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return self._position
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def get_current_volume(self) -> float:
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"""获取当前体积"""
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return self._current_volume
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def get_remaining_capacity(self) -> float:
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"""获取剩余容量"""
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return self.max_volume - self._current_volume
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def is_empty(self) -> bool:
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"""检查是否为空"""
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return self._current_volume <= 0.01 # 允许小量误差
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def is_full(self) -> bool:
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"""检查是否已满"""
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return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
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def __str__(self):
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return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
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def __repr__(self):
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return self.__str__()
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# 使用示例
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async def demo():
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"""虚拟泵使用示例"""
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pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
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await pump.initialize()
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print(f"Initial state: {pump}")
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# 测试set_position方法
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result = await pump.set_position(10.0, max_velocity=2.0)
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print(f"Set position result: {result}")
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print(f"After setting position to 10ml: {pump}")
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# 吸液测试
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await pump.aspirate(5.0, velocity=2.0)
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print(f"After aspirating 5ml: {pump}")
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# 清空测试
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result = await pump.set_position(0.0)
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print(f"Empty result: {result}")
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print(f"After emptying: {pump}")
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if __name__ == "__main__":
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asyncio.run(demo())
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