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https://github.com/dptech-corp/Uni-Lab-OS.git
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0bfb52df00
Update recipe.yaml fix: figure_resource use call_async in all service to avoid deadlock fix: prcxi import error 临时兼容错误的driver写法 fix protocol node fix filter protocol bugfixes on organic protocols fix and remove redundant info feat: 新增use_remote_resource参数 fix all protocol_compilers and remove deprecated devices feat: 优化protocol node节点运行日志 fix pumps and liquid_handler handle feat: workstation example add: prcxi res fix: startup slow fix: prcxi_res fix: discard_tips fix: discard_tips error fix: drop_tips not using auto resource select feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79) feat: add trace log level modify default discovery_interval to 15s fix: working dir error when input config path feat: report publish topic when error fix: workstation handlers and vessel_id parsing Cleanup registry to be easy-understanding (#76) * delete deprecated mock devices * rename categories * combine chromatographic devices * rename rviz simulation nodes * organic virtual devices * parse vessel_id * run registry completion before merge --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
458 lines
16 KiB
Python
458 lines
16 KiB
Python
import networkx as nx
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from typing import List, Dict, Any, Optional
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from .utils.vessel_parser import get_vessel
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def parse_temperature(temp_str: str) -> float:
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"""
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解析温度字符串，支持多种格式
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Args:
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temp_str: 温度字符串（如 "45 °C", "45°C", "45"）
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Returns:
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float: 温度值（摄氏度）
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"""
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try:
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# 移除常见的温度单位和符号
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temp_clean = temp_str.replace("°C", "").replace("°", "").replace("C", "").strip()
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return float(temp_clean)
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except ValueError:
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print(f"HYDROGENATE: 无法解析温度 '{temp_str}'，使用默认温度 25°C")
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return 25.0
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def parse_time(time_str: str) -> float:
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"""
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解析时间字符串，支持多种格式
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Args:
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time_str: 时间字符串（如 "2 h", "120 min", "7200 s"）
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Returns:
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float: 时间值（秒）
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"""
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try:
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time_clean = time_str.lower().strip()
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# 处理小时
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if "h" in time_clean:
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hours = float(time_clean.replace("h", "").strip())
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return hours * 3600.0
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# 处理分钟
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if "min" in time_clean:
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minutes = float(time_clean.replace("min", "").strip())
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return minutes * 60.0
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# 处理秒
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if "s" in time_clean:
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seconds = float(time_clean.replace("s", "").strip())
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return seconds
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# 默认按小时处理
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return float(time_clean) * 3600.0
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except ValueError:
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print(f"HYDROGENATE: 无法解析时间 '{time_str}'，使用默认时间 2小时")
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return 7200.0 # 2小时
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def find_associated_solenoid_valve(G: nx.DiGraph, device_id: str) -> Optional[str]:
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"""查找与指定设备相关联的电磁阀"""
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solenoid_valves = [
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node for node in G.nodes()
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if ('solenoid' in (G.nodes[node].get('class') or '').lower()
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or 'solenoid_valve' in node)
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]
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# 通过网络连接查找直接相连的电磁阀
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for solenoid in solenoid_valves:
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if G.has_edge(device_id, solenoid) or G.has_edge(solenoid, device_id):
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return solenoid
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# 通过命名规则查找关联的电磁阀
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device_type = ""
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if 'gas' in device_id.lower():
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device_type = "gas"
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elif 'h2' in device_id.lower() or 'hydrogen' in device_id.lower():
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device_type = "gas"
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if device_type:
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for solenoid in solenoid_valves:
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if device_type in solenoid.lower():
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return solenoid
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return None
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def find_connected_device(G: nx.DiGraph, vessel: str, device_type: str) -> str:
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"""
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查找与容器相连的指定类型设备
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Args:
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G: 网络图
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vessel: 容器名称
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device_type: 设备类型 ('heater', 'stirrer', 'gas_source')
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Returns:
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str: 设备ID，如果没有则返回None
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"""
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print(f"HYDROGENATE: 正在查找与容器 '{vessel}' 相连的 {device_type}...")
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# 根据设备类型定义搜索关键词
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if device_type == 'heater':
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keywords = ['heater', 'heat', 'heatchill']
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device_class = 'virtual_heatchill'
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elif device_type == 'stirrer':
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keywords = ['stirrer', 'stir']
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device_class = 'virtual_stirrer'
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elif device_type == 'gas_source':
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keywords = ['gas', 'h2', 'hydrogen']
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device_class = 'virtual_gas_source'
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else:
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return None
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# 查找设备节点
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device_nodes = []
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for node in G.nodes():
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node_data = G.nodes[node]
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node_name = node.lower()
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node_class = node_data.get('class', '').lower()
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# 通过名称匹配
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if any(keyword in node_name for keyword in keywords):
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device_nodes.append(node)
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# 通过类型匹配
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elif device_class in node_class:
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device_nodes.append(node)
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print(f"HYDROGENATE: 找到的{device_type}节点: {device_nodes}")
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# 检查是否有设备与目标容器相连
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for device in device_nodes:
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if G.has_edge(device, vessel) or G.has_edge(vessel, device):
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print(f"HYDROGENATE: 找到与容器 '{vessel}' 相连的{device_type}: {device}")
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return device
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# 如果没有直接连接，查找距离最近的设备
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for device in device_nodes:
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try:
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path = nx.shortest_path(G, source=device, target=vessel)
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if len(path) <= 3: # 最多2个中间节点
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print(f"HYDROGENATE: 找到距离较近的{device_type}: {device}")
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return device
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except nx.NetworkXNoPath:
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continue
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print(f"HYDROGENATE: 未找到与容器 '{vessel}' 相连的{device_type}")
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return None
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def generate_hydrogenate_protocol(
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G: nx.DiGraph,
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vessel: dict, # 🔧 修改：从字符串改为字典类型
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temp: str,
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time: str,
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**kwargs # 接收其他可能的参数但不使用
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) -> List[Dict[str, Any]]:
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"""
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生成氢化反应协议序列 - 支持vessel字典
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Args:
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G: 有向图，节点为容器和设备
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vessel: 反应容器字典（从XDL传入）
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temp: 反应温度（如 "45 °C"）
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time: 反应时间（如 "2 h"）
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**kwargs: 其他可选参数，但不使用
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Returns:
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List[Dict[str, Any]]: 动作序列
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"""
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# 🔧 核心修改：从字典中提取容器ID
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vessel_id, vessel_data = get_vessel(vessel)
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action_sequence = []
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# 解析参数
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temperature = parse_temperature(temp)
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reaction_time = parse_time(time)
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print("🧪" * 20)
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print(f"HYDROGENATE: 开始生成氢化反应协议（支持vessel字典）✨")
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print(f"📝 输入参数:")
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print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
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print(f" 🌡️ 反应温度: {temperature}°C")
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print(f" ⏰ 反应时间: {reaction_time/3600:.1f} 小时")
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print("🧪" * 20)
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# 🔧 新增：记录氢化前的容器状态（可选，氢化反应通常不改变体积）
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original_liquid_volume = 0.0
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if "data" in vessel and "liquid_volume" in vessel["data"]:
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current_volume = vessel["data"]["liquid_volume"]
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if isinstance(current_volume, list) and len(current_volume) > 0:
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original_liquid_volume = current_volume[0]
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elif isinstance(current_volume, (int, float)):
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original_liquid_volume = current_volume
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print(f"📊 氢化前液体体积: {original_liquid_volume:.2f}mL")
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# 1. 验证目标容器存在
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print("📍 步骤1: 验证目标容器...")
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if vessel_id not in G.nodes(): # 🔧 使用 vessel_id
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print(f"⚠️ HYDROGENATE: 警告 - 容器 '{vessel_id}' 不存在于系统中，跳过氢化反应")
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return action_sequence
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print(f"✅ 容器 '{vessel_id}' 验证通过")
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# 2. 查找相连的设备
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print("📍 步骤2: 查找相连设备...")
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heater_id = find_connected_device(G, vessel_id, 'heater') # 🔧 使用 vessel_id
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stirrer_id = find_connected_device(G, vessel_id, 'stirrer') # 🔧 使用 vessel_id
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gas_source_id = find_connected_device(G, vessel_id, 'gas_source') # 🔧 使用 vessel_id
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print(f"🔧 设备配置:")
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print(f" 🔥 加热器: {heater_id or '未找到'}")
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print(f" 🌪️ 搅拌器: {stirrer_id or '未找到'}")
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print(f" 💨 气源: {gas_source_id or '未找到'}")
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# 3. 启动搅拌器
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print("📍 步骤3: 启动搅拌器...")
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if stirrer_id:
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print(f"🌪️ 启动搅拌器 {stirrer_id}")
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action_sequence.append({
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"device_id": stirrer_id,
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"action_name": "start_stir",
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"action_kwargs": {
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"vessel": vessel_id, # 🔧 使用 vessel_id
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"stir_speed": 300.0,
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"purpose": "氢化反应: 开始搅拌"
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}
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})
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print("✅ 搅拌器启动动作已添加")
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else:
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print(f"⚠️ HYDROGENATE: 警告 - 未找到搅拌器，继续执行")
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# 4. 启动气源（氢气）
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print("📍 步骤4: 启动氢气源...")
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if gas_source_id:
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print(f"💨 启动气源 {gas_source_id} (氢气)")
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action_sequence.append({
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"device_id": gas_source_id,
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"action_name": "set_status",
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"action_kwargs": {
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"string": "ON"
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}
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})
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# 查找相关的电磁阀
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gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
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if gas_solenoid:
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print(f"🚪 开启气源电磁阀 {gas_solenoid}")
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action_sequence.append({
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"device_id": gas_solenoid,
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"action_name": "set_valve_position",
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"action_kwargs": {
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"command": "OPEN"
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}
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})
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print("✅ 氢气源启动动作已添加")
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else:
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print(f"⚠️ HYDROGENATE: 警告 - 未找到气源，继续执行")
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# 5. 等待气体稳定
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print("📍 步骤5: 等待气体环境稳定...")
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action_sequence.append({
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"action_name": "wait",
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"action_kwargs": {
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"time": 30.0,
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"description": "等待氢气环境稳定"
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}
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})
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print("✅ 气体稳定等待动作已添加")
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# 6. 启动加热器
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print("📍 步骤6: 启动加热反应...")
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if heater_id:
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print(f"🔥 启动加热器 {heater_id} 到 {temperature}°C")
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action_sequence.append({
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"device_id": heater_id,
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"action_name": "heat_chill_start",
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"action_kwargs": {
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"vessel": vessel_id, # 🔧 使用 vessel_id
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"temp": temperature,
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"purpose": f"氢化反应: 加热到 {temperature}°C"
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}
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})
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# 等待温度稳定
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action_sequence.append({
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"action_name": "wait",
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"action_kwargs": {
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"time": 20.0,
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"description": f"等待温度稳定到 {temperature}°C"
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}
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})
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# 🕐 模拟运行时间优化
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print(" ⏰ 检查模拟运行时间限制...")
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original_reaction_time = reaction_time
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simulation_time_limit = 60.0 # 模拟运行时间限制：60秒
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if reaction_time > simulation_time_limit:
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reaction_time = simulation_time_limit
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print(f" 🎮 模拟运行优化: {original_reaction_time}s → {reaction_time}s (限制为{simulation_time_limit}s)")
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print(f" 📊 时间缩短: {original_reaction_time/3600:.2f}小时 → {reaction_time/60:.1f}分钟")
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else:
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print(f" ✅ 时间在限制内: {reaction_time}s ({reaction_time/60:.1f}分钟) 保持不变")
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# 保持反应温度
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action_sequence.append({
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"device_id": heater_id,
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"action_name": "heat_chill",
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"action_kwargs": {
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"vessel": vessel_id, # 🔧 使用 vessel_id
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"temp": temperature,
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"time": reaction_time,
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"purpose": f"氢化反应: 保持 {temperature}°C，反应 {reaction_time/60:.1f}分钟" + (f" (模拟时间)" if original_reaction_time != reaction_time else "")
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}
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})
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# 显示时间调整信息
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if original_reaction_time != reaction_time:
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print(f" 🎭 模拟优化说明: 原计划 {original_reaction_time/3600:.2f}小时，实际模拟 {reaction_time/60:.1f}分钟")
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print("✅ 加热反应动作已添加")
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else:
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print(f"⚠️ HYDROGENATE: 警告 - 未找到加热器，使用室温反应")
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# 🕐 室温反应也需要时间优化
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print(" ⏰ 检查室温反应模拟时间限制...")
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original_reaction_time = reaction_time
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simulation_time_limit = 60.0 # 模拟运行时间限制：60秒
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if reaction_time > simulation_time_limit:
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reaction_time = simulation_time_limit
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print(f" 🎮 室温反应时间优化: {original_reaction_time}s → {reaction_time}s")
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print(f" 📊 时间缩短: {original_reaction_time/3600:.2f}小时 → {reaction_time/60:.1f}分钟")
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else:
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print(f" ✅ 室温反应时间在限制内: {reaction_time}s 保持不变")
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# 室温反应，只等待时间
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action_sequence.append({
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"action_name": "wait",
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"action_kwargs": {
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"time": reaction_time,
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"description": f"室温氢化反应 {reaction_time/60:.1f}分钟" + (f" (模拟时间)" if original_reaction_time != reaction_time else "")
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}
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})
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# 显示时间调整信息
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if original_reaction_time != reaction_time:
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print(f" 🎭 室温反应优化说明: 原计划 {original_reaction_time/3600:.2f}小时，实际模拟 {reaction_time/60:.1f}分钟")
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print("✅ 室温反应等待动作已添加")
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# 7. 停止加热
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print("📍 步骤7: 停止加热...")
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if heater_id:
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action_sequence.append({
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"device_id": heater_id,
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"action_name": "heat_chill_stop",
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"action_kwargs": {
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"vessel": vessel_id, # 🔧 使用 vessel_id
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"purpose": "氢化反应完成，停止加热"
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}
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})
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print("✅ 停止加热动作已添加")
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# 8. 等待冷却
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print("📍 步骤8: 等待冷却...")
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action_sequence.append({
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"action_name": "wait",
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"action_kwargs": {
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"time": 300.0,
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"description": "等待反应混合物冷却"
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}
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})
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print("✅ 冷却等待动作已添加")
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# 9. 停止气源
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print("📍 步骤9: 停止氢气源...")
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if gas_source_id:
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# 先关闭电磁阀
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gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
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if gas_solenoid:
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print(f"🚪 关闭气源电磁阀 {gas_solenoid}")
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action_sequence.append({
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"device_id": gas_solenoid,
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"action_name": "set_valve_position",
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"action_kwargs": {
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"command": "CLOSED"
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}
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})
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# 再关闭气源
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action_sequence.append({
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"device_id": gas_source_id,
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"action_name": "set_status",
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"action_kwargs": {
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"string": "OFF"
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}
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})
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print("✅ 氢气源停止动作已添加")
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# 10. 停止搅拌
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print("📍 步骤10: 停止搅拌...")
|
||
if stirrer_id:
|
||
action_sequence.append({
|
||
"device_id": stirrer_id,
|
||
"action_name": "stop_stir",
|
||
"action_kwargs": {
|
||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||
"purpose": "氢化反应完成，停止搅拌"
|
||
}
|
||
})
|
||
print("✅ 停止搅拌动作已添加")
|
||
|
||
# 🔧 新增：氢化完成后的状态（氢化反应通常不改变体积）
|
||
final_liquid_volume = original_liquid_volume # 氢化反应体积基本不变
|
||
|
||
# 总结
|
||
print("🎊" * 20)
|
||
print(f"🎉 氢化反应协议生成完成! ✨")
|
||
print(f"📊 总动作数: {len(action_sequence)} 个")
|
||
print(f"🥽 反应容器: {vessel_id}")
|
||
print(f"🌡️ 反应温度: {temperature}°C")
|
||
print(f"⏰ 反应时间: {reaction_time/60:.1f}分钟")
|
||
print(f"⏱️ 预计总时间: {(reaction_time + 450)/3600:.1f} 小时")
|
||
print(f"📊 体积状态:")
|
||
print(f" - 反应前体积: {original_liquid_volume:.2f}mL")
|
||
print(f" - 反应后体积: {final_liquid_volume:.2f}mL (氢化反应体积基本不变)")
|
||
print("🎊" * 20)
|
||
|
||
return action_sequence
|
||
|
||
|
||
# 测试函数
|
||
def test_hydrogenate_protocol():
|
||
"""测试氢化反应协议"""
|
||
print("🧪 === HYDROGENATE PROTOCOL 测试 === ✨")
|
||
|
||
# 测试温度解析
|
||
test_temps = ["45 °C", "45°C", "45", "25 C", "invalid"]
|
||
for temp in test_temps:
|
||
parsed = parse_temperature(temp)
|
||
print(f"温度 '{temp}' -> {parsed}°C")
|
||
|
||
# 测试时间解析
|
||
test_times = ["2 h", "120 min", "7200 s", "2", "invalid"]
|
||
for time in test_times:
|
||
parsed = parse_time(time)
|
||
print(f"时间 '{time}' -> {parsed/3600:.1f} 小时")
|
||
|
||
print("✅ 测试完成 🎉")
|
||
|
||
|
||
if __name__ == "__main__":
|
||
test_hydrogenate_protocol() |