Uni-Lab-OS/unilabos/devices/mock/mock_stirrer.py

import time
import threading


class MockStirrer:
    def __init__(self, port: str = "MOCK"):
        self.port = port

        # 设备基本状态属性
        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped

        # 搅拌相关属性
        self._stir_speed: float = 0.0  # 当前搅拌速度 (rpm)
        self._target_stir_speed: float = 0.0  # 目标搅拌速度 (rpm)
        self._max_stir_speed: float = 2000.0  # 最大搅拌速度 (rpm)
        self._stir_state: str = "Stopped"  # 搅拌状态：Running, Stopped

        # 温度相关属性
        self._temperature: float = 25.0  # 当前温度 (°C)
        self._target_temperature: float = 25.0  # 目标温度 (°C)
        self._max_temperature: float = 300.0  # 最大温度 (°C)
        self._heating_state: str = "Off"  # 加热状态：On, Off
        self._heating_power: float = 0.0  # 加热功率百分比 0-100

        # 运行控制线程
        self._operation_thread = None
        self._running = False
        self._thread_lock = threading.Lock()

    # ==================== 状态属性 ====================
    # 这些属性会被Uni-Lab系统自动识别并定时对外广播

    @property
    def status(self) -> str:
        return self._status

    @property
    def stir_speed(self) -> float:
        return self._stir_speed

    @property
    def target_stir_speed(self) -> float:
        return self._target_stir_speed

    @property
    def stir_state(self) -> str:
        return self._stir_state

    @property
    def temperature(self) -> float:
        """
        当前温度

        Returns:
            float: 当前温度 (°C)
        """
        return self._temperature

    @property
    def target_temperature(self) -> float:
        """
        目标温度

        Returns:
            float: 目标温度 (°C)
        """
        return self._target_temperature

    @property
    def heating_state(self) -> str:
        return self._heating_state

    @property
    def heating_power(self) -> float:
        return self._heating_power

    @property
    def max_stir_speed(self) -> float:
        return self._max_stir_speed

    @property
    def max_temperature(self) -> float:
        return self._max_temperature

    # ==================== 设备控制方法 ====================
    # 这些方法需要在注册表中添加，会作为ActionServer接受控制指令

    def set_stir_speed(self, speed: float) -> str:

        speed = float(speed)  # 确保传入的速度是浮点数

        if speed < 0 or speed > self._max_stir_speed:
            self._status = f"Error: Speed out of range (0-{self._max_stir_speed})"
            return "Error"

        self._target_stir_speed = speed
        self._status = "Setting Stir Speed"

        # 如果设置了非零速度，启动搅拌
        if speed > 0:
            self._stir_state = "Running"
        else:
            self._stir_state = "Stopped"

        return "Success"

    def set_temperature(self, temperature: float) -> str:
        temperature = float(temperature)  # 确保传入的温度是浮点数

        if temperature < 0 or temperature > self._max_temperature:
            self._status = f"Error: Temperature out of range (0-{self._max_temperature})"
            return "Error"

        self._target_temperature = temperature
        self._status = "Setting Temperature"

        return "Success"

    def start_stirring(self) -> str:

        if self._target_stir_speed <= 0:
            self._status = "Error: No target speed set"
            return "Error"

        self._stir_state = "Running"
        self._status = "Stirring Started"
        return "Success"

    def stop_stirring(self) -> str:
        self._stir_state = "Stopped"
        self._target_stir_speed = 0.0
        self._status = "Stirring Stopped"
        return "Success"

    def heating_control(self, heating_state: str = "On") -> str:

        if heating_state not in ["On", "Off"]:
            self._status = "Error: Invalid heating state"
            return "Error"

        self._heating_state = heating_state

        if heating_state == "On":
            self._status = "Heating On"
        else:
            self._status = "Heating Off"
            self._heating_power = 0.0

        return "Success"

    def stop_all_operations(self) -> str:
        self._stir_state = "Stopped"
        self._heating_state = "Off"
        self._stop_operation()
        self._stir_speed = 0.0
        self._target_stir_speed = 0.0
        self._heating_power = 0.0
        self._status = "All operations stopped"
        return "Success"

    def emergency_stop(self) -> str:
        """
        紧急停止

        Returns:
            str: 操作结果状态 ("Success", "Error")
        """
        self._status = "Emergency Stop"
        self.stop_all_operations()
        return "Success"

    # ==================== 内部控制方法 ====================

    def _start_operation(self):
        with self._thread_lock:
            if not self._running:
                self._running = True
                self._operation_thread = threading.Thread(target=self._operation_loop)
                self._operation_thread.daemon = True
                self._operation_thread.start()

    def _stop_operation(self):
        """
        停止操作线程

        安全地停止后台运行线程并等待其完成。
        """
        with self._thread_lock:
            self._running = False
            if self._operation_thread and self._operation_thread.is_alive():
                self._operation_thread.join(timeout=2.0)

    def _operation_loop(self):
        while self._running:
            try:
                # 处理搅拌速度控制
                if self._stir_state == "Running":
                    speed_diff = self._target_stir_speed - self._stir_speed

                    if abs(speed_diff) < 1.0:  # 速度接近目标值
                        self._stir_speed = self._target_stir_speed
                        if self._stir_speed > 0:
                            self._status = "Stirring at Target Speed"
                    else:
                        # 模拟速度调节，每秒调整10%的差值
                        adjustment = speed_diff * 0.1
                        self._stir_speed += adjustment
                        self._status = "Adjusting Stir Speed"

                    # 确保速度在合理范围内
                    self._stir_speed = max(0.0, min(self._max_stir_speed, self._stir_speed))
                else:
                    # 搅拌停止时，速度逐渐降为0
                    if self._stir_speed > 0:
                        self._stir_speed = max(0.0, self._stir_speed - 50.0)  # 每秒减少50rpm

                # 处理温度控制
                if self._heating_state == "On":
                    temp_diff = self._target_temperature - self._temperature

                    if abs(temp_diff) < 0.5:  # 温度接近目标值
                        self._heating_power = 20.0  # 维持温度的最小功率
                    elif temp_diff > 0:  # 需要加热
                        # 根据温差调整加热功率
                        if temp_diff > 50:
                            self._heating_power = 100.0
                        elif temp_diff > 20:
                            self._heating_power = 80.0
                        elif temp_diff > 10:
                            self._heating_power = 60.0
                        else:
                            self._heating_power = 40.0

                        # 模拟加热过程
                        heating_rate = self._heating_power / 100.0 * 1.5  # 最大每秒升温1.5度
                        self._temperature += heating_rate
                    else:  # 目标温度低于当前温度
                        self._heating_power = 0.0
                        # 自然冷却
                        self._temperature -= 0.1
                else:
                    self._heating_power = 0.0
                    # 自然冷却到室温
                    if self._temperature > 25.0:
                        self._temperature -= 0.2

                # 限制温度范围
                self._temperature = max(20.0, min(self._max_temperature, self._temperature))

                # 更新整体状态
                if self._stir_state == "Running" and self._heating_state == "On":
                    self._status = "Stirring and Heating"
                elif self._stir_state == "Running":
                    self._status = "Stirring Only"
                elif self._heating_state == "On":
                    self._status = "Heating Only"
                else:
                    self._status = "Idle"

                # 等待1秒后继续下一次循环
                time.sleep(1.0)

            except Exception as e:
                self._status = f"Error in operation: {str(e)}"
                break

        # 循环结束时的清理工作
            self._status = "Idle"

    def get_status_info(self) -> dict:
        return {
            "status": self._status,
            "stir_speed": self._stir_speed,
            "target_stir_speed": self._target_stir_speed,
            "stir_state": self._stir_state,
            "temperature": self._temperature,
            "target_temperature": self._target_temperature,
            "heating_state": self._heating_state,
            "heating_power": self._heating_power,
            "max_stir_speed": self._max_stir_speed,
            "max_temperature": self._max_temperature,
        }


# 用于测试的主函数
if __name__ == "__main__":
    stirrer = MockStirrer()

    # 测试基本功能
    print("启动搅拌器测试...")
    print(f"初始状态: {stirrer.get_status_info()}")

    # 设置搅拌速度和温度
    stirrer.set_stir_speed(800.0)
    stirrer.set_temperature(60.0)
    stirrer.heating_control("On")

    # 模拟运行15秒
    for i in range(15):
        time.sleep(1)
        print(
            f"第{i+1}秒: 速度={stirrer.stir_speed:.0f}rpm, 温度={stirrer.temperature:.1f}°C, "
            f"功率={stirrer.heating_power:.1f}%, 状态={stirrer.status}"
        )

    stirrer.emergency_stop()
    print("测试完成")