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329 lines
11 KiB
Python
329 lines
11 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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self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
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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"Initializing virtual pump {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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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"Cleaning up virtual pump {self.device_id}")
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self._status = "Idle"
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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"Set max velocity to {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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"""计算操作持续时间"""
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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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# 计算移动距离和时间
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volume_to_move = abs(target_position - self._position)
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duration = self._calculate_duration(volume_to_move, velocity)
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self.logger.info(f"SET_POSITION: Moving to {target_position} ml (current: {self._position} ml), velocity: {velocity} ml/s")
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# 模拟移动过程
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start_position = self._position
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steps = 10 if duration > 0.1 else 1 # 如果移动距离很小，只用1步
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step_duration = duration / steps if steps > 1 else duration
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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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self._status = "Moving" if i < steps else "Idle"
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self._position = current_pos
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self._current_volume = current_pos
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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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# 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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self.logger.info(f"SET_POSITION: Reached position {self._position} ml, current volume: {self._current_volume} 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"Successfully moved to position {self._position} ml"
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}
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except Exception as e:
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error_msg = f"Failed to set position: {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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}
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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("Cannot pull - already at maximum volume")
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return
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duration = self._calculate_duration(actual_volume, velocity)
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self.logger.info(f"Pulling {actual_volume} ml (from {self._position} to {new_position})")
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await self._simulate_operation(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"Pulled {actual_volume} ml, current volume: {self._current_volume} 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("Cannot push - already at minimum volume")
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return
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duration = self._calculate_duration(actual_volume, velocity)
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self.logger.info(f"Pushing {actual_volume} ml (from {self._position} to {new_position})")
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await self._simulate_operation(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"Pushed {actual_volume} ml, current volume: {self._current_volume} 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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# 吸液
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await self.aspirate(volume, aspirate_velocity)
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# 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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# 调试和状态信息
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def get_pump_info(self) -> dict:
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"""获取泵的详细信息"""
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return {
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"device_id": self.device_id,
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"status": self._status,
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"position": self._position,
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"current_volume": self._current_volume,
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"max_volume": self.max_volume,
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"max_velocity": self._max_velocity,
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"mode": self.mode.name,
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"is_empty": self.is_empty(),
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"is_full": self.is_full(),
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"remaining_capacity": self.get_remaining_capacity()
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}
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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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print("\nPump info:", pump.get_pump_info())
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if __name__ == "__main__":
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asyncio.run(demo())
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