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361 lines
11 KiB
Python
361 lines
11 KiB
Python
import time
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import threading
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from datetime import datetime, timedelta
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class MockPump:
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def __init__(self, port: str = "MOCK"):
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self.port = port
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# 设备基本状态属性
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self._current_device = "MockPump1" # 设备标识符
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self._status: str = "Idle" # 设备状态：Idle, Running, Error, Stopped
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self._pump_state: str = "Stopped" # 泵运行状态：Running, Stopped, Paused
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# 流量相关属性
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self._flow_rate: float = 0.0 # 当前流速 (mL/min)
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self._target_flow_rate: float = 0.0 # 目标流速 (mL/min)
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self._max_flow_rate: float = 100.0 # 最大流速 (mL/min)
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self._total_volume: float = 0.0 # 累计流量 (mL)
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# 压力相关属性
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self._pressure: float = 0.0 # 当前压力 (bar)
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self._max_pressure: float = 10.0 # 最大压力 (bar)
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# 运行控制线程
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self._pump_thread = None
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self._running = False
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self._thread_lock = threading.Lock()
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# 新增 PumpTransfer 相关属性
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self._from_vessel: str = ""
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self._to_vessel: str = ""
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self._transfer_volume: float = 0.0
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self._amount: str = ""
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self._transfer_time: float = 0.0
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self._is_viscous: bool = False
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self._rinsing_solvent: str = ""
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self._rinsing_volume: float = 0.0
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self._rinsing_repeats: int = 0
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self._is_solid: bool = False
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# 时间追踪
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self._start_time: datetime = None
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self._time_spent: timedelta = timedelta()
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self._time_remaining: timedelta = timedelta()
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# ==================== 状态属性 ====================
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# 这些属性会被Uni-Lab系统自动识别并定时对外广播
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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 current_device(self) -> str:
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"""当前设备标识符"""
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return self._current_device
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@property
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def pump_state(self) -> str:
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return self._pump_state
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@property
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def flow_rate(self) -> float:
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return self._flow_rate
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@property
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def target_flow_rate(self) -> float:
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return self._target_flow_rate
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@property
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def pressure(self) -> float:
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return self._pressure
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@property
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def total_volume(self) -> float:
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return self._total_volume
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@property
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def max_flow_rate(self) -> float:
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return self._max_flow_rate
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@property
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def max_pressure(self) -> float:
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return self._max_pressure
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# 添加新的属性访问器
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@property
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def from_vessel(self) -> str:
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return self._from_vessel
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@property
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def to_vessel(self) -> str:
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return self._to_vessel
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@property
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def transfer_volume(self) -> float:
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return self._transfer_volume
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@property
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def amount(self) -> str:
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return self._amount
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@property
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def transfer_time(self) -> float:
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return self._transfer_time
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@property
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def is_viscous(self) -> bool:
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return self._is_viscous
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@property
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def rinsing_solvent(self) -> str:
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return self._rinsing_solvent
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@property
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def rinsing_volume(self) -> float:
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return self._rinsing_volume
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@property
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def rinsing_repeats(self) -> int:
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return self._rinsing_repeats
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@property
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def is_solid(self) -> bool:
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return self._is_solid
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# 修改这两个属性装饰器
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@property
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def time_spent(self) -> float:
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"""已用时间（秒）"""
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if isinstance(self._time_spent, timedelta):
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return self._time_spent.total_seconds()
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return float(self._time_spent)
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@property
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def time_remaining(self) -> float:
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"""剩余时间（秒）"""
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if isinstance(self._time_remaining, timedelta):
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return self._time_remaining.total_seconds()
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return float(self._time_remaining)
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# ==================== 设备控制方法 ====================
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# 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
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def pump_transfer(self, from_vessel: str, to_vessel: str, volume: float,
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amount: str = "", time: float = 0.0, viscous: bool = False,
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rinsing_solvent: str = "", rinsing_volume: float = 0.0,
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rinsing_repeats: int = 0, solid: bool = False) -> dict:
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"""Execute pump transfer operation"""
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# Stop any existing operation first
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self._stop_pump_operation()
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# Set transfer parameters
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self._from_vessel = from_vessel
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self._to_vessel = to_vessel
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self._transfer_volume = float(volume)
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self._amount = amount
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self._transfer_time = float(time)
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self._is_viscous = viscous
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self._rinsing_solvent = rinsing_solvent
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self._rinsing_volume = float(rinsing_volume)
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self._rinsing_repeats = int(rinsing_repeats)
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self._is_solid = solid
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# Calculate flow rate
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if self._transfer_time > 0 and self._transfer_volume > 0:
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self._target_flow_rate = (self._transfer_volume / self._transfer_time) * 60.0
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else:
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self._target_flow_rate = 10.0 if not self._is_viscous else 5.0
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# Reset timers and counters
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self._start_time = datetime.now()
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self._time_spent = timedelta()
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self._time_remaining = timedelta(seconds=self._transfer_time)
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self._total_volume = 0.0
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self._flow_rate = 0.0
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# Start pump operation
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self._pump_state = "Running"
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self._status = "Starting Transfer"
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self._running = True
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# Start pump operation thread
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self._pump_thread = threading.Thread(target=self._pump_operation_loop)
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self._pump_thread.daemon = True
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self._pump_thread.start()
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# Wait briefly to ensure thread starts
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time.sleep(0.1)
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return {
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"success": True,
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"status": self._status,
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"current_device": self._current_device,
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"time_spent": 0.0,
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"time_remaining": float(self._transfer_time)
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}
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def pause_pump(self) -> str:
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if self._pump_state != "Running":
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self._status = "Error: Pump not running"
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return "Error"
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self._pump_state = "Paused"
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self._status = "Pump Paused"
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self._stop_pump_operation()
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return "Success"
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def resume_pump(self) -> str:
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if self._pump_state != "Paused":
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self._status = "Error: Pump not paused"
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return "Error"
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self._pump_state = "Running"
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self._status = "Resuming Pump"
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self._start_pump_operation()
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return "Success"
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def reset_volume_counter(self) -> str:
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self._total_volume = 0.0
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self._status = "Volume counter reset"
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return "Success"
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def emergency_stop(self) -> str:
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self._status = "Emergency Stop"
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self._pump_state = "Stopped"
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self._stop_pump_operation()
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self._flow_rate = 0.0
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self._pressure = 0.0
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self._target_flow_rate = 0.0
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return "Success"
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# ==================== 内部控制方法 ====================
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def _start_pump_operation(self):
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with self._thread_lock:
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if not self._running:
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self._running = True
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self._pump_thread = threading.Thread(target=self._pump_operation_loop)
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self._pump_thread.daemon = True
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self._pump_thread.start()
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def _stop_pump_operation(self):
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with self._thread_lock:
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self._running = False
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if self._pump_thread and self._pump_thread.is_alive():
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self._pump_thread.join(timeout=2.0)
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def _pump_operation_loop(self):
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"""泵运行主循环"""
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print("Pump operation loop started") # Debug print
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while self._running and self._pump_state == "Running":
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try:
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# Calculate flow rate adjustment
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flow_diff = self._target_flow_rate - self._flow_rate
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# Adjust flow rate more aggressively (50% of difference)
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adjustment = flow_diff * 0.5
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self._flow_rate += adjustment
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# Ensure flow rate is within bounds
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self._flow_rate = max(0.1, min(self._max_flow_rate, self._flow_rate))
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# Update status based on flow rate
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if abs(flow_diff) < 0.1:
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self._status = "Running at Target Flow Rate"
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else:
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self._status = "Adjusting Flow Rate"
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# Calculate volume increment
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volume_increment = (self._flow_rate / 60.0) # mL/s
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self._total_volume += volume_increment
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# Update time tracking
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self._time_spent = datetime.now() - self._start_time
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if self._transfer_time > 0:
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remaining = self._transfer_time - self._time_spent.total_seconds()
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self._time_remaining = timedelta(seconds=max(0, remaining))
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# Check completion
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if self._total_volume >= self._transfer_volume:
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self._status = "Transfer Completed"
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self._pump_state = "Stopped"
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self._running = False
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break
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# Update pressure
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self._pressure = (self._flow_rate / self._max_flow_rate) * self._max_pressure
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print(f"Debug - Flow: {self._flow_rate:.1f}, Volume: {self._total_volume:.1f}") # Debug print
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time.sleep(1.0)
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except Exception as e:
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print(f"Error in pump operation: {str(e)}")
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self._status = "Error in pump operation"
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self._pump_state = "Stopped"
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self._running = False
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break
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def get_status_info(self) -> dict:
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"""
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获取完整的设备状态信息
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Returns:
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dict: 包含所有设备状态的字典
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"""
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return {
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"status": self._status,
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"pump_state": self._pump_state,
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"flow_rate": self._flow_rate,
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"target_flow_rate": self._target_flow_rate,
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"pressure": self._pressure,
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"total_volume": self._total_volume,
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"max_flow_rate": self._max_flow_rate,
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"max_pressure": self._max_pressure,
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"current_device": self._current_device,
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"from_vessel": self._from_vessel,
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"to_vessel": self._to_vessel,
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"transfer_volume": self._transfer_volume,
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"amount": self._amount,
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"transfer_time": self._transfer_time,
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"is_viscous": self._is_viscous,
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"rinsing_solvent": self._rinsing_solvent,
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"rinsing_volume": self._rinsing_volume,
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"rinsing_repeats": self._rinsing_repeats,
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"is_solid": self._is_solid,
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"time_spent": self._time_spent.total_seconds(),
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"time_remaining": self._time_remaining.total_seconds()
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}
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# 用于测试的主函数
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if __name__ == "__main__":
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pump = MockPump()
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# 测试基本功能
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print("启动泵设备测试...")
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print(f"初始状态: {pump.get_status_info()}")
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# 设置流速并启动
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pump.set_flow_rate(50.0)
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pump.start_pump()
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# 模拟运行10秒
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for i in range(10):
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time.sleep(1)
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print(f"第{i+1}秒: 流速={pump.flow_rate:.1f}mL/min, 压力={pump.pressure:.2f}bar, 状态={pump.status}")
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# 测试方向切换
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print("切换泵方向...")
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pump.emergency_stop()
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print("测试完成")
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