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379 lines
14 KiB
Python
379 lines
14 KiB
Python
import asyncio
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import logging
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import re
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from typing import Dict, Any, Optional
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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class VirtualSolidDispenser:
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"""
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虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️
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特点：
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- 高兼容性：缺少参数不报错 ✅
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- 智能识别：自动查找固体试剂瓶 🔍
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- 简单反馈：成功/失败 + 消息 📊
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"""
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_ros_node: BaseROS2DeviceNode
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def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
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self.device_id = device_id or "virtual_solid_dispenser"
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self.config = config or {}
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# 设备参数
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self.max_capacity = float(self.config.get('max_capacity', 100.0)) # 最大加样量 (g)
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self.precision = float(self.config.get('precision', 0.001)) # 精度 (g)
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# 状态变量
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self._status = "Idle"
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self._current_reagent = ""
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self._dispensed_amount = 0.0
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self._total_operations = 0
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self.logger = logging.getLogger(f"VirtualSolidDispenser.{self.device_id}")
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print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨")
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print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯")
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def post_init(self, ros_node: BaseROS2DeviceNode):
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self._ros_node = ros_node
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async def initialize(self) -> bool:
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"""初始化固体加样器 🚀"""
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self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨")
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self._status = "Ready"
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self._current_reagent = ""
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self._dispensed_amount = 0.0
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self.logger.info(f"✅ 固体分配器 {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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"""清理固体加样器 🧹"""
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self.logger.info(f"🧹 清理固体分配器 {self.device_id} 🔚")
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self._status = "Idle"
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self.logger.info(f"✅ 固体分配器 {self.device_id} 清理完成 💤")
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return True
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def parse_mass_string(self, mass_str: str) -> float:
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"""
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解析质量字符串为数值 (g) ⚖️
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支持格式: "2.9 g", "19.3g", "4.5 mg", "1.2 kg" 等
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"""
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if not mass_str or not isinstance(mass_str, str):
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return 0.0
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# 移除空格并转小写
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mass_clean = mass_str.strip().lower()
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# 正则匹配数字和单位
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pattern = r'(\d+(?:\.\d+)?)\s*([a-z]*)'
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match = re.search(pattern, mass_clean)
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if not match:
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self.logger.debug(f"🔍 无法解析质量字符串: {mass_str}")
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return 0.0
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try:
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value = float(match.group(1))
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unit = match.group(2) or 'g' # 默认单位 g
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# 单位转换为 g
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unit_multipliers = {
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'g': 1.0,
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'gram': 1.0,
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'grams': 1.0,
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'mg': 0.001,
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'milligram': 0.001,
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'milligrams': 0.001,
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'kg': 1000.0,
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'kilogram': 1000.0,
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'kilograms': 1000.0,
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'μg': 0.000001,
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'ug': 0.000001,
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'microgram': 0.000001,
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'micrograms': 0.000001,
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}
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multiplier = unit_multipliers.get(unit, 1.0)
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result = value * multiplier
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self.logger.debug(f"⚖️ 质量解析: {mass_str} → {result:.6f}g (原值: {value} {unit})")
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return result
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except (ValueError, TypeError):
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self.logger.warning(f"⚠️ 无法解析质量字符串: {mass_str}")
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return 0.0
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def parse_mol_string(self, mol_str: str) -> float:
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"""
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解析摩尔数字符串为数值 (mol) 🧮
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支持格式: "0.12 mol", "16.2 mmol", "25.2mmol" 等
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"""
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if not mol_str or not isinstance(mol_str, str):
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return 0.0
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# 移除空格并转小写
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mol_clean = mol_str.strip().lower()
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# 正则匹配数字和单位
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pattern = r'(\d+(?:\.\d+)?)\s*(m?mol)'
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match = re.search(pattern, mol_clean)
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if not match:
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self.logger.debug(f"🔍 无法解析摩尔数字符串: {mol_str}")
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return 0.0
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try:
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value = float(match.group(1))
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unit = match.group(2)
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# 单位转换为 mol
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if unit == 'mmol':
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result = value * 0.001
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else: # mol
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result = value
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self.logger.debug(f"🧮 摩尔数解析: {mol_str} → {result:.6f}mol (原值: {value} {unit})")
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return result
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except (ValueError, TypeError):
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self.logger.warning(f"⚠️ 无法解析摩尔数字符串: {mol_str}")
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return 0.0
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def find_solid_reagent_bottle(self, reagent_name: str) -> str:
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"""
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查找固体试剂瓶 🔍
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这是一个简化版本，实际使用时应该连接到系统的设备图
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"""
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if not reagent_name:
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self.logger.debug(f"🔍 未指定试剂名称，使用默认瓶")
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return "unknown_solid_bottle"
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# 可能的固体试剂瓶命名模式
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possible_names = [
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f"solid_bottle_{reagent_name}",
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f"reagent_solid_{reagent_name}",
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f"powder_{reagent_name}",
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f"{reagent_name}_solid",
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f"{reagent_name}_powder",
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f"solid_{reagent_name}",
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]
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# 这里简化处理，实际应该查询设备图
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selected_bottle = possible_names[0]
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self.logger.debug(f"🔍 为试剂 {reagent_name} 选择试剂瓶: {selected_bottle}")
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return selected_bottle
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async def add_solid(
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self,
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vessel: str,
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reagent: str,
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mass: str = "",
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mol: str = "",
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purpose: str = "",
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**kwargs # 兼容额外参数
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) -> Dict[str, Any]:
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"""
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添加固体试剂的主要方法 ⚗️
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Args:
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vessel: 目标容器
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reagent: 试剂名称
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mass: 质量字符串 (如 "2.9 g")
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mol: 摩尔数字符串 (如 "0.12 mol")
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purpose: 添加目的
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**kwargs: 其他兼容参数
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Returns:
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Dict: 操作结果
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"""
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try:
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self.logger.info(f"⚗️ === 开始固体加样操作 === ✨")
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self.logger.info(f" 🥽 目标容器: {vessel}")
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self.logger.info(f" 🧪 试剂: {reagent}")
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self.logger.info(f" ⚖️ 质量: {mass}")
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self.logger.info(f" 🧮 摩尔数: {mol}")
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self.logger.info(f" 📝 目的: {purpose}")
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# 参数验证 - 宽松处理
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if not vessel:
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vessel = "main_reactor" # 默认容器
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self.logger.warning(f"⚠️ 未指定容器，使用默认容器: {vessel} 🏠")
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if not reagent:
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error_msg = "❌ 错误: 必须指定试剂名称"
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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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"return_info": "missing_reagent"
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}
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# 解析质量和摩尔数
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mass_value = self.parse_mass_string(mass)
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mol_value = self.parse_mol_string(mol)
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self.logger.info(f"📊 解析结果 - 质量: {mass_value:.6f}g | 摩尔数: {mol_value:.6f}mol")
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# 确定实际加样量
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if mass_value > 0:
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actual_amount = mass_value
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amount_unit = "g"
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amount_emoji = "⚖️"
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self.logger.info(f"⚖️ 按质量加样: {actual_amount:.6f} {amount_unit}")
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elif mol_value > 0:
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# 简化处理：假设分子量为100 g/mol
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assumed_mw = 100.0
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actual_amount = mol_value * assumed_mw
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amount_unit = "g (from mol)"
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amount_emoji = "🧮"
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self.logger.info(f"🧮 按摩尔数加样: {mol_value:.6f} mol → {actual_amount:.6f} g (假设分子量 {assumed_mw})")
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else:
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# 没有指定量，使用默认值
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actual_amount = 1.0
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amount_unit = "g (default)"
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amount_emoji = "🎯"
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self.logger.warning(f"⚠️ 未指定质量或摩尔数，使用默认值: {actual_amount} {amount_unit} 🎯")
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# 检查容量限制
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if actual_amount > self.max_capacity:
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error_msg = f"❌ 错误: 请求量 {actual_amount:.3f}g 超过最大容量 {self.max_capacity}g"
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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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"return_info": "exceeds_capacity"
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}
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# 查找试剂瓶
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reagent_bottle = self.find_solid_reagent_bottle(reagent)
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self.logger.info(f"🔍 使用试剂瓶: {reagent_bottle}")
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# 模拟加样过程
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self._status = "Dispensing"
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self._current_reagent = reagent
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# 计算操作时间 (基于质量)
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operation_time = max(0.5, actual_amount * 0.1) # 每克0.1秒，最少0.5秒
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self.logger.info(f"🚀 开始加样，预计时间: {operation_time:.1f}秒 ⏱️")
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# 显示进度的模拟
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steps = max(3, int(operation_time))
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step_time = operation_time / steps
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for i in range(steps):
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progress = (i + 1) / steps * 100
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await self._ros_node.sleep(step_time)
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if i % 2 == 0: # 每隔一步显示进度
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self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...")
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# 更新状态
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self._dispensed_amount = actual_amount
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self._total_operations += 1
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self._status = "Ready"
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# 成功结果
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success_message = f"✅ 成功添加 {reagent} {actual_amount:.6f} {amount_unit} 到 {vessel}"
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self.logger.info(f"🎉 === 固体加样完成 === ✨")
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self.logger.info(f"📊 操作结果:")
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self.logger.info(f" ✅ {success_message}")
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self.logger.info(f" 🧪 试剂瓶: {reagent_bottle}")
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self.logger.info(f" ⏱️ 用时: {operation_time:.1f}秒")
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self.logger.info(f" 🎯 总操作次数: {self._total_operations} 🏁")
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return {
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"success": True,
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"message": success_message,
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"return_info": f"dispensed_{actual_amount:.6f}g",
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"dispensed_amount": actual_amount,
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"reagent": reagent,
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"vessel": {"id": vessel},
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}
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except Exception as e:
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error_message = f"❌ 固体加样失败: {str(e)} 💥"
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self.logger.error(error_message)
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self._status = "Error"
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return {
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"success": False,
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"message": error_message,
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"return_info": "operation_failed"
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}
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# 状态属性
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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 current_reagent(self) -> str:
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return self._current_reagent
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@property
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def dispensed_amount(self) -> float:
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return self._dispensed_amount
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@property
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def total_operations(self) -> int:
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return self._total_operations
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def __str__(self):
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status_emoji = "✅" if self._status == "Ready" else "🔄" if self._status == "Dispensing" else "❌" if self._status == "Error" else "🏠"
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return f"⚗️ VirtualSolidDispenser({status_emoji} {self.device_id}: {self._status}, 最后加样 {self._dispensed_amount:.3f}g)"
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# 测试函数
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async def test_solid_dispenser():
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"""测试固体加样器 🧪"""
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print("⚗️ === 固体加样器测试开始 === 🧪")
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dispenser = VirtualSolidDispenser("test_dispenser")
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await dispenser.initialize()
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# 测试1: 按质量加样
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print(f"\n🧪 测试1: 按质量加样...")
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result1 = await dispenser.add_solid(
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vessel="main_reactor",
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reagent="magnesium",
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mass="2.9 g"
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)
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print(f"📊 测试1结果: {result1}")
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# 测试2: 按摩尔数加样
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print(f"\n🧮 测试2: 按摩尔数加样...")
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result2 = await dispenser.add_solid(
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vessel="main_reactor",
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reagent="sodium_nitrite",
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mol="0.28 mol"
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)
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print(f"📊 测试2结果: {result2}")
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# 测试3: 缺少参数
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print(f"\n⚠️ 测试3: 缺少参数测试...")
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result3 = await dispenser.add_solid(
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reagent="test_compound"
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)
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print(f"📊 测试3结果: {result3}")
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# 测试4: 超容量测试
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print(f"\n❌ 测试4: 超容量测试...")
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result4 = await dispenser.add_solid(
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vessel="main_reactor",
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reagent="heavy_compound",
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mass="150 g" # 超过100g限制
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)
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print(f"📊 测试4结果: {result4}")
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print(f"✅ === 测试完成 === 🎉")
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if __name__ == "__main__":
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asyncio.run(test_solid_dispenser()) |