mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 05:45:10 +00:00
537 lines
19 KiB
Python
537 lines
19 KiB
Python
import numpy as np
|
||
import networkx as nx
|
||
from typing import List, Dict, Any, Optional
|
||
from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_protocol
|
||
|
||
|
||
def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||
"""
|
||
根据气体名称查找对应的气源，支持多种匹配模式：
|
||
1. 容器名称匹配
|
||
2. 气体类型匹配（data.gas_type）
|
||
3. 默认气源
|
||
"""
|
||
print(f"EVACUATE_REFILL: 正在查找气体 '{gas}' 的气源...")
|
||
|
||
# 第一步：通过容器名称匹配
|
||
gas_source_patterns = [
|
||
f"gas_source_{gas}",
|
||
f"gas_{gas}",
|
||
f"flask_{gas}",
|
||
f"{gas}_source",
|
||
f"source_{gas}",
|
||
f"reagent_bottle_{gas}",
|
||
f"bottle_{gas}"
|
||
]
|
||
|
||
for pattern in gas_source_patterns:
|
||
if pattern in G.nodes():
|
||
print(f"EVACUATE_REFILL: 通过名称匹配找到气源: {pattern}")
|
||
return pattern
|
||
|
||
# 第二步：通过气体类型匹配 (data.gas_type)
|
||
for node_id in G.nodes():
|
||
node_data = G.nodes[node_id]
|
||
node_class = node_data.get('class', '') or ''
|
||
|
||
# 检查是否是气源设备
|
||
if ('gas_source' in node_class or
|
||
'gas' in node_id.lower() or
|
||
node_id.startswith('flask_')):
|
||
|
||
# 检查 data.gas_type
|
||
data = node_data.get('data', {})
|
||
gas_type = data.get('gas_type', '')
|
||
|
||
if gas_type.lower() == gas.lower():
|
||
print(f"EVACUATE_REFILL: 通过气体类型匹配找到气源: {node_id} (gas_type: {gas_type})")
|
||
return node_id
|
||
|
||
# 检查 config.gas_type
|
||
config = node_data.get('config', {})
|
||
config_gas_type = config.get('gas_type', '')
|
||
|
||
if config_gas_type.lower() == gas.lower():
|
||
print(f"EVACUATE_REFILL: 通过配置气体类型匹配找到气源: {node_id} (config.gas_type: {config_gas_type})")
|
||
return node_id
|
||
|
||
# 第三步：查找所有可用的气源设备
|
||
available_gas_sources = []
|
||
for node_id in G.nodes():
|
||
node_data = G.nodes[node_id]
|
||
node_class = node_data.get('class', '') or ''
|
||
|
||
if ('gas_source' in node_class or
|
||
'gas' in node_id.lower() or
|
||
(node_id.startswith('flask_') and any(g in node_id.lower() for g in ['air', 'nitrogen', 'argon']))):
|
||
|
||
data = node_data.get('data', {})
|
||
gas_type = data.get('gas_type', 'unknown')
|
||
available_gas_sources.append(f"{node_id} (gas_type: {gas_type})")
|
||
|
||
print(f"EVACUATE_REFILL: 可用气源列表: {available_gas_sources}")
|
||
|
||
# 第四步：如果找不到特定气体，使用默认的第一个气源
|
||
default_gas_sources = [
|
||
node for node in G.nodes()
|
||
if ((G.nodes[node].get('class') or '').startswith('virtual_gas_source')
|
||
or 'gas_source' in node)
|
||
]
|
||
|
||
if default_gas_sources:
|
||
default_source = default_gas_sources[0]
|
||
print(f"EVACUATE_REFILL: ⚠️ 未找到特定气体 '{gas}'，使用默认气源: {default_source}")
|
||
return default_source
|
||
|
||
raise ValueError(f"找不到气体 '{gas}' 对应的气源。可用气源: {available_gas_sources}")
|
||
|
||
|
||
def find_gas_source_by_any_match(G: nx.DiGraph, gas: str) -> str:
|
||
"""
|
||
增强版气源查找，支持各种匹配方式的别名函数
|
||
"""
|
||
return find_gas_source(G, gas)
|
||
|
||
|
||
def get_gas_source_type(G: nx.DiGraph, gas_source: str) -> str:
|
||
"""获取气源的气体类型"""
|
||
if gas_source not in G.nodes():
|
||
return "unknown"
|
||
|
||
node_data = G.nodes[gas_source]
|
||
data = node_data.get('data', {})
|
||
config = node_data.get('config', {})
|
||
|
||
# 检查多个可能的字段
|
||
gas_type = (data.get('gas_type') or
|
||
config.get('gas_type') or
|
||
data.get('gas') or
|
||
config.get('gas') or
|
||
"air") # 默认为空气
|
||
|
||
return gas_type
|
||
|
||
|
||
def find_vessels_by_gas_type(G: nx.DiGraph, gas: str) -> List[str]:
|
||
"""
|
||
根据气体类型查找所有匹配的容器/气源
|
||
"""
|
||
matching_vessels = []
|
||
|
||
for node_id in G.nodes():
|
||
node_data = G.nodes[node_id]
|
||
|
||
# 检查容器名称匹配
|
||
if gas.lower() in node_id.lower():
|
||
matching_vessels.append(f"{node_id} (名称匹配)")
|
||
continue
|
||
|
||
# 检查气体类型匹配
|
||
data = node_data.get('data', {})
|
||
config = node_data.get('config', {})
|
||
|
||
gas_type = data.get('gas_type', '') or config.get('gas_type', '')
|
||
if gas_type.lower() == gas.lower():
|
||
matching_vessels.append(f"{node_id} (gas_type: {gas_type})")
|
||
|
||
return matching_vessels
|
||
|
||
|
||
def find_vacuum_pump(G: nx.DiGraph) -> str:
|
||
"""查找真空泵设备"""
|
||
vacuum_pumps = [
|
||
node for node in G.nodes()
|
||
if ((G.nodes[node].get('class') or '').startswith('virtual_vacuum_pump')
|
||
or 'vacuum_pump' in node
|
||
or 'vacuum' in (G.nodes[node].get('class') or ''))
|
||
]
|
||
|
||
if not vacuum_pumps:
|
||
raise ValueError("系统中未找到真空泵设备")
|
||
|
||
return vacuum_pumps[0]
|
||
|
||
|
||
def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
|
||
"""查找与指定容器相连的搅拌器"""
|
||
stirrer_nodes = [node for node in G.nodes()
|
||
if (G.nodes[node].get('class') or '') == 'virtual_stirrer']
|
||
|
||
# 检查哪个搅拌器与目标容器相连
|
||
for stirrer in stirrer_nodes:
|
||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||
return stirrer
|
||
|
||
return stirrer_nodes[0] if stirrer_nodes else None
|
||
|
||
|
||
def find_associated_solenoid_valve(G: nx.DiGraph, device_id: str) -> Optional[str]:
|
||
"""查找与指定设备相关联的电磁阀"""
|
||
solenoid_valves = [
|
||
node for node in G.nodes()
|
||
if ('solenoid' in (G.nodes[node].get('class') or '').lower()
|
||
or 'solenoid_valve' in node)
|
||
]
|
||
|
||
# 通过网络连接查找直接相连的电磁阀
|
||
for solenoid in solenoid_valves:
|
||
if G.has_edge(device_id, solenoid) or G.has_edge(solenoid, device_id):
|
||
return solenoid
|
||
|
||
# 通过命名规则查找关联的电磁阀
|
||
device_type = ""
|
||
if 'vacuum' in device_id.lower():
|
||
device_type = "vacuum"
|
||
elif 'gas' in device_id.lower():
|
||
device_type = "gas"
|
||
|
||
if device_type:
|
||
for solenoid in solenoid_valves:
|
||
if device_type in solenoid.lower():
|
||
return solenoid
|
||
|
||
return None
|
||
|
||
|
||
def generate_evacuateandrefill_protocol(
|
||
G: nx.DiGraph,
|
||
vessel: str,
|
||
gas: str,
|
||
repeats: int = 1
|
||
) -> List[Dict[str, Any]]:
|
||
"""
|
||
生成抽真空和充气操作的动作序列
|
||
|
||
**修复版本**: 正确调用 pump_protocol 并处理异常
|
||
"""
|
||
action_sequence = []
|
||
|
||
# 参数设置 - 关键修复：减小体积避免超出泵容量
|
||
VACUUM_VOLUME = 20.0 # 减小抽真空体积
|
||
REFILL_VOLUME = 20.0 # 减小充气体积
|
||
PUMP_FLOW_RATE = 2.5 # 降低流速
|
||
STIR_SPEED = 300.0
|
||
|
||
print(f"EVACUATE_REFILL: 开始生成协议，目标容器: {vessel}, 气体: {gas}, 重复次数: {repeats}")
|
||
|
||
# 1. 验证设备存在
|
||
if vessel not in G.nodes():
|
||
raise ValueError(f"目标容器 '{vessel}' 不存在于系统中")
|
||
|
||
# 2. 查找设备
|
||
try:
|
||
vacuum_pump = find_vacuum_pump(G)
|
||
vacuum_solenoid = find_associated_solenoid_valve(G, vacuum_pump)
|
||
gas_source = find_gas_source(G, gas)
|
||
gas_solenoid = find_associated_solenoid_valve(G, gas_source)
|
||
stirrer_id = find_connected_stirrer(G, vessel)
|
||
|
||
print(f"EVACUATE_REFILL: 找到设备")
|
||
print(f" - 真空泵: {vacuum_pump}")
|
||
print(f" - 气源: {gas_source}")
|
||
print(f" - 真空电磁阀: {vacuum_solenoid}")
|
||
print(f" - 气源电磁阀: {gas_solenoid}")
|
||
print(f" - 搅拌器: {stirrer_id}")
|
||
|
||
except ValueError as e:
|
||
raise ValueError(f"设备查找失败: {str(e)}")
|
||
|
||
# 3. **关键修复**: 验证路径存在性
|
||
try:
|
||
# 验证抽真空路径
|
||
vacuum_path = nx.shortest_path(G, source=vessel, target=vacuum_pump)
|
||
print(f"EVACUATE_REFILL: 抽真空路径: {' → '.join(vacuum_path)}")
|
||
|
||
# 验证充气路径
|
||
gas_path = nx.shortest_path(G, source=gas_source, target=vessel)
|
||
print(f"EVACUATE_REFILL: 充气路径: {' → '.join(gas_path)}")
|
||
|
||
# **新增**: 检查路径中的边数据
|
||
for i in range(len(vacuum_path) - 1):
|
||
nodeA, nodeB = vacuum_path[i], vacuum_path[i + 1]
|
||
edge_data = G.get_edge_data(nodeA, nodeB)
|
||
if not edge_data or 'port' not in edge_data:
|
||
raise ValueError(f"路径 {nodeA} → {nodeB} 缺少端口信息")
|
||
print(f" 抽真空路径边 {nodeA} → {nodeB}: {edge_data}")
|
||
|
||
for i in range(len(gas_path) - 1):
|
||
nodeA, nodeB = gas_path[i], gas_path[i + 1]
|
||
edge_data = G.get_edge_data(nodeA, nodeB)
|
||
if not edge_data or 'port' not in edge_data:
|
||
raise ValueError(f"路径 {nodeA} → {nodeB} 缺少端口信息")
|
||
print(f" 充气路径边 {nodeA} → {nodeB}: {edge_data}")
|
||
|
||
except nx.NetworkXNoPath as e:
|
||
raise ValueError(f"路径不存在: {str(e)}")
|
||
except Exception as e:
|
||
raise ValueError(f"路径验证失败: {str(e)}")
|
||
|
||
# 4. 启动搅拌器
|
||
if stirrer_id:
|
||
action_sequence.append({
|
||
"device_id": stirrer_id,
|
||
"action_name": "start_stir",
|
||
"action_kwargs": {
|
||
"vessel": vessel,
|
||
"stir_speed": STIR_SPEED,
|
||
"purpose": "抽真空充气操作前启动搅拌"
|
||
}
|
||
})
|
||
|
||
# 5. 执行多次抽真空-充气循环
|
||
for cycle in range(repeats):
|
||
print(f"EVACUATE_REFILL: === 第 {cycle+1}/{repeats} 次循环 ===")
|
||
|
||
# ============ 抽真空阶段 ============
|
||
print(f"EVACUATE_REFILL: 抽真空阶段开始")
|
||
|
||
# 启动真空泵
|
||
action_sequence.append({
|
||
"device_id": vacuum_pump,
|
||
"action_name": "set_status",
|
||
"action_kwargs": {"string": "ON"}
|
||
})
|
||
|
||
# 开启真空电磁阀
|
||
if vacuum_solenoid:
|
||
action_sequence.append({
|
||
"device_id": vacuum_solenoid,
|
||
"action_name": "set_valve_position",
|
||
"action_kwargs": {"command": "OPEN"}
|
||
})
|
||
|
||
# **关键修复**: 改进 pump_protocol 调用和错误处理
|
||
print(f"EVACUATE_REFILL: 调用抽真空 pump_protocol: {vessel} → {vacuum_pump}")
|
||
print(f" - 体积: {VACUUM_VOLUME} mL")
|
||
print(f" - 流速: {PUMP_FLOW_RATE} mL/s")
|
||
|
||
try:
|
||
vacuum_transfer_actions = generate_pump_protocol_with_rinsing(
|
||
G=G,
|
||
from_vessel=vessel,
|
||
to_vessel=vacuum_pump,
|
||
volume=VACUUM_VOLUME,
|
||
amount="",
|
||
time=0.0,
|
||
viscous=False,
|
||
rinsing_solvent="", # **修复**: 明确不使用清洗
|
||
rinsing_volume=0.0,
|
||
rinsing_repeats=0,
|
||
solid=False,
|
||
flowrate=PUMP_FLOW_RATE,
|
||
transfer_flowrate=PUMP_FLOW_RATE
|
||
)
|
||
|
||
if vacuum_transfer_actions:
|
||
action_sequence.extend(vacuum_transfer_actions)
|
||
print(f"EVACUATE_REFILL: ✅ 成功添加 {len(vacuum_transfer_actions)} 个抽真空动作")
|
||
else:
|
||
print(f"EVACUATE_REFILL: ⚠️ 抽真空 pump_protocol 返回空序列")
|
||
# **修复**: 添加手动泵动作作为备选
|
||
action_sequence.extend([
|
||
{
|
||
"device_id": "multiway_valve_1",
|
||
"action_name": "set_valve_position",
|
||
"action_kwargs": {"command": "5"} # 连接到反应器
|
||
},
|
||
{
|
||
"device_id": "transfer_pump_1",
|
||
"action_name": "set_position",
|
||
"action_kwargs": {
|
||
"position": VACUUM_VOLUME,
|
||
"max_velocity": PUMP_FLOW_RATE
|
||
}
|
||
}
|
||
])
|
||
print(f"EVACUATE_REFILL: 使用备选手动泵动作")
|
||
|
||
except Exception as e:
|
||
print(f"EVACUATE_REFILL: ❌ 抽真空 pump_protocol 失败: {str(e)}")
|
||
import traceback
|
||
print(f"EVACUATE_REFILL: 详细错误:\n{traceback.format_exc()}")
|
||
|
||
# **修复**: 添加手动动作而不是忽略错误
|
||
print(f"EVACUATE_REFILL: 使用手动备选方案")
|
||
action_sequence.extend([
|
||
{
|
||
"device_id": "multiway_valve_1",
|
||
"action_name": "set_valve_position",
|
||
"action_kwargs": {"command": "5"} # 反应器端口
|
||
},
|
||
{
|
||
"device_id": "transfer_pump_1",
|
||
"action_name": "set_position",
|
||
"action_kwargs": {
|
||
"position": VACUUM_VOLUME,
|
||
"max_velocity": PUMP_FLOW_RATE
|
||
}
|
||
}
|
||
])
|
||
|
||
# 关闭真空电磁阀
|
||
if vacuum_solenoid:
|
||
action_sequence.append({
|
||
"device_id": vacuum_solenoid,
|
||
"action_name": "set_valve_position",
|
||
"action_kwargs": {"command": "CLOSED"}
|
||
})
|
||
|
||
# 关闭真空泵
|
||
action_sequence.append({
|
||
"device_id": vacuum_pump,
|
||
"action_name": "set_status",
|
||
"action_kwargs": {"string": "OFF"}
|
||
})
|
||
|
||
# ============ 充气阶段 ============
|
||
print(f"EVACUATE_REFILL: 充气阶段开始")
|
||
|
||
# 启动气源
|
||
action_sequence.append({
|
||
"device_id": gas_source,
|
||
"action_name": "set_status",
|
||
"action_kwargs": {"string": "ON"}
|
||
})
|
||
|
||
# 开启气源电磁阀
|
||
if gas_solenoid:
|
||
action_sequence.append({
|
||
"device_id": gas_solenoid,
|
||
"action_name": "set_valve_position",
|
||
"action_kwargs": {"command": "OPEN"}
|
||
})
|
||
|
||
# **关键修复**: 改进充气 pump_protocol 调用
|
||
print(f"EVACUATE_REFILL: 调用充气 pump_protocol: {gas_source} → {vessel}")
|
||
|
||
try:
|
||
gas_transfer_actions = generate_pump_protocol_with_rinsing(
|
||
G=G,
|
||
from_vessel=gas_source,
|
||
to_vessel=vessel,
|
||
volume=REFILL_VOLUME,
|
||
amount="",
|
||
time=0.0,
|
||
viscous=False,
|
||
rinsing_solvent="", # **修复**: 明确不使用清洗
|
||
rinsing_volume=0.0,
|
||
rinsing_repeats=0,
|
||
solid=False,
|
||
flowrate=PUMP_FLOW_RATE,
|
||
transfer_flowrate=PUMP_FLOW_RATE
|
||
)
|
||
|
||
if gas_transfer_actions:
|
||
action_sequence.extend(gas_transfer_actions)
|
||
print(f"EVACUATE_REFILL: ✅ 成功添加 {len(gas_transfer_actions)} 个充气动作")
|
||
else:
|
||
print(f"EVACUATE_REFILL: ⚠️ 充气 pump_protocol 返回空序列")
|
||
# **修复**: 添加手动充气动作
|
||
action_sequence.extend([
|
||
{
|
||
"device_id": "multiway_valve_2",
|
||
"action_name": "set_valve_position",
|
||
"action_kwargs": {"command": "8"} # 氮气端口
|
||
},
|
||
{
|
||
"device_id": "transfer_pump_2",
|
||
"action_name": "set_position",
|
||
"action_kwargs": {
|
||
"position": REFILL_VOLUME,
|
||
"max_velocity": PUMP_FLOW_RATE
|
||
}
|
||
},
|
||
{
|
||
"device_id": "multiway_valve_2",
|
||
"action_name": "set_valve_position",
|
||
"action_kwargs": {"command": "5"} # 反应器端口
|
||
},
|
||
{
|
||
"device_id": "transfer_pump_2",
|
||
"action_name": "set_position",
|
||
"action_kwargs": {
|
||
"position": 0.0,
|
||
"max_velocity": PUMP_FLOW_RATE
|
||
}
|
||
}
|
||
])
|
||
|
||
except Exception as e:
|
||
print(f"EVACUATE_REFILL: ❌ 充气 pump_protocol 失败: {str(e)}")
|
||
import traceback
|
||
print(f"EVACUATE_REFILL: 详细错误:\n{traceback.format_exc()}")
|
||
|
||
# **修复**: 使用手动充气动作
|
||
print(f"EVACUATE_REFILL: 使用手动充气方案")
|
||
action_sequence.extend([
|
||
{
|
||
"device_id": "multiway_valve_2",
|
||
"action_name": "set_valve_position",
|
||
"action_kwargs": {"command": "8"} # 连接气源
|
||
},
|
||
{
|
||
"device_id": "transfer_pump_2",
|
||
"action_name": "set_position",
|
||
"action_kwargs": {
|
||
"position": REFILL_VOLUME,
|
||
"max_velocity": PUMP_FLOW_RATE
|
||
}
|
||
},
|
||
{
|
||
"device_id": "multiway_valve_2",
|
||
"action_name": "set_valve_position",
|
||
"action_kwargs": {"command": "5"} # 连接反应器
|
||
},
|
||
{
|
||
"device_id": "transfer_pump_2",
|
||
"action_name": "set_position",
|
||
"action_kwargs": {
|
||
"position": 0.0,
|
||
"max_velocity": PUMP_FLOW_RATE
|
||
}
|
||
}
|
||
])
|
||
|
||
# 关闭气源电磁阀
|
||
if gas_solenoid:
|
||
action_sequence.append({
|
||
"device_id": gas_solenoid,
|
||
"action_name": "set_valve_position",
|
||
"action_kwargs": {"command": "CLOSED"}
|
||
})
|
||
|
||
# 关闭气源
|
||
action_sequence.append({
|
||
"device_id": gas_source,
|
||
"action_name": "set_status",
|
||
"action_kwargs": {"string": "OFF"}
|
||
})
|
||
|
||
# 等待下一次循环
|
||
if cycle < repeats - 1:
|
||
action_sequence.append({
|
||
"action_name": "wait",
|
||
"action_kwargs": {"time": 2.0}
|
||
})
|
||
|
||
# 停止搅拌器
|
||
if stirrer_id:
|
||
action_sequence.append({
|
||
"device_id": stirrer_id,
|
||
"action_name": "stop_stir",
|
||
"action_kwargs": {"vessel": vessel}
|
||
})
|
||
|
||
print(f"EVACUATE_REFILL: 协议生成完成，共 {len(action_sequence)} 个动作")
|
||
return action_sequence
|
||
|
||
|
||
# 测试函数
|
||
def test_evacuateandrefill_protocol():
|
||
"""测试抽真空充气协议"""
|
||
print("=== EVACUATE AND REFILL PROTOCOL 测试 ===")
|
||
print("测试完成")
|
||
|
||
|
||
if __name__ == "__main__":
|
||
test_evacuateandrefill_protocol() |