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415 lines
12 KiB
Python
415 lines
12 KiB
Python
import time
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import threading
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class MockPump:
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"""
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模拟泵设备类
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这个类模拟了一个实验室泵设备的行为，包括流量控制、压力监测、
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运行状态管理等功能。所有的控制参数都使用字符串类型以提供更好的
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可读性和扩展性。
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"""
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def __init__(self, port: str = "MOCK"):
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"""
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初始化MockPump实例
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Args:
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port (str): 设备端口，默认为"MOCK"表示模拟设备
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"""
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self.port = port
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# 设备基本状态属性
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self._status: str = "Idle" # 设备状态：Idle, Running, Error, Stopped
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self._power_state: str = "Off" # 电源状态：On, Off
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self._pump_state: str = "Stopped" # 泵运行状态：Running, Stopped, Paused
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# 流量相关属性
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self._flow_rate: float = 0.0 # 当前流速 (mL/min)
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self._target_flow_rate: float = 0.0 # 目标流速 (mL/min)
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self._max_flow_rate: float = 100.0 # 最大流速 (mL/min)
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self._total_volume: float = 0.0 # 累计流量 (mL)
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# 压力相关属性
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self._pressure: float = 0.0 # 当前压力 (bar)
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self._max_pressure: float = 10.0 # 最大压力 (bar)
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# 方向控制属性
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self._direction: str = "Forward" # 泵方向：Forward, Reverse
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# 运行控制线程
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self._pump_thread = None
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self._running = False
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self._thread_lock = threading.Lock()
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# ==================== 状态属性 ====================
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# 这些属性会被Uni-Lab系统自动识别并定时对外广播
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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 power_state(self) -> str:
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return self._power_state
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@property
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def pump_state(self) -> str:
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return self._pump_state
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@property
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def flow_rate(self) -> float:
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return self._flow_rate
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@property
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def target_flow_rate(self) -> float:
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return self._target_flow_rate
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@property
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def pressure(self) -> float:
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return self._pressure
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@property
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def total_volume(self) -> float:
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return self._total_volume
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@property
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def direction(self) -> str:
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return self._direction
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@property
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def max_flow_rate(self) -> float:
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return self._max_flow_rate
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@property
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def max_pressure(self) -> float:
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return self._max_pressure
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# ==================== 设备控制方法 ====================
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# 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
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def power_control(self, power_state: str = "On") -> str:
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"""
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电源控制方法
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Args:
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power_state (str): 电源状态，可选值："On", "Off"
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Returns:
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str: 操作结果状态 ("Success", "Error")
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"""
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if power_state not in ["On", "Off"]:
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self._status = "Error: Invalid power state"
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return "Error"
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self._power_state = power_state
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if power_state == "On":
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self._status = "Power On"
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else:
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self._status = "Power Off"
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# 关机时停止所有运行
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self.stop_pump()
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return "Success"
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def set_flow_rate(self, flow_rate: float) -> str:
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"""
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设置目标流速
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Args:
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flow_rate (float): 目标流速 (mL/min)
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Returns:
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str: 操作结果状态 ("Success", "Error")
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"""
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try:
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flow_rate = float(flow_rate)
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except ValueError:
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self._status = "Error: Invalid flow rate"
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return "Error"
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if self._power_state != "On":
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self._status = "Error: Power Off"
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return "Error"
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if flow_rate < 0 or flow_rate > self._max_flow_rate:
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self._status = f"Error: Flow rate out of range (0-{self._max_flow_rate})"
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return "Error"
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self._target_flow_rate = flow_rate
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self._status = "Setting Flow Rate"
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# 如果设置了非零流速，自动启动泵
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if flow_rate > 0:
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# 自动切换泵状态为 "Running" 以触发操作循环
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self._pump_state = "Running"
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self._start_pump_operation()
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else:
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self.stop_pump()
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return "Success"
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def start_pump(self) -> str:
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"""
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启动泵运行
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Returns:
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str: 操作结果状态 ("Success", "Error")
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"""
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if self._power_state != "On":
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self._status = "Error: Power Off"
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return "Error"
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if self._target_flow_rate <= 0:
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self._status = "Error: No target flow rate set"
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return "Error"
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self._pump_state = "Running"
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self._status = "Starting Pump"
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self._start_pump_operation()
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return "Success"
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def stop_pump(self) -> str:
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"""
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停止泵运行
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Returns:
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str: 操作结果状态 ("Success", "Error")
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"""
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self._pump_state = "Stopped"
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self._status = "Stopping Pump"
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self._stop_pump_operation()
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self._flow_rate = 0.0
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self._pressure = 0.0
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return "Success"
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def pause_pump(self) -> str:
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"""
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暂停泵运行
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Returns:
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str: 操作结果状态 ("Success", "Error")
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"""
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if self._pump_state != "Running":
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self._status = "Error: Pump not running"
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return "Error"
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self._pump_state = "Paused"
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self._status = "Pump Paused"
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self._stop_pump_operation()
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return "Success"
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def resume_pump(self) -> str:
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"""
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恢复泵运行
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Returns:
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str: 操作结果状态 ("Success", "Error")
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"""
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if self._pump_state != "Paused":
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self._status = "Error: Pump not paused"
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return "Error"
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if self._power_state != "On":
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self._status = "Error: Power Off"
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return "Error"
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self._pump_state = "Running"
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self._status = "Resuming Pump"
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self._start_pump_operation()
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return "Success"
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def set_direction(self, direction: str = "Forward") -> str:
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"""
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设置泵方向
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Args:
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direction (str): 泵方向，可选值："Forward", "Reverse"
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Returns:
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str: 操作结果状态 ("Success", "Error")
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"""
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if direction not in ["Forward", "Reverse"]:
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self._status = "Error: Invalid direction"
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return "Error"
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# 如果泵正在运行，需要先停止
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was_running = self._pump_state == "Running"
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if was_running:
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self.stop_pump()
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time.sleep(0.5) # 等待停止完成
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self._direction = direction
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self._status = f"Direction set to {direction}"
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# 如果之前在运行，重新启动
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if was_running:
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self.start_pump()
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return "Success"
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def reset_volume_counter(self) -> str:
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"""
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重置累计流量计数器
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Returns:
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str: 操作结果状态 ("Success", "Error")
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"""
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self._total_volume = 0.0
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self._status = "Volume counter reset"
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return "Success"
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def emergency_stop(self) -> str:
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"""
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紧急停止
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Returns:
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str: 操作结果状态 ("Success", "Error")
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"""
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self._status = "Emergency Stop"
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self._pump_state = "Stopped"
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self._stop_pump_operation()
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self._flow_rate = 0.0
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self._pressure = 0.0
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self._target_flow_rate = 0.0
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return "Success"
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# ==================== 内部控制方法 ====================
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def _start_pump_operation(self):
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"""
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启动泵运行线程
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这个方法启动一个后台线程来模拟泵的实际运行过程，
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包括流速控制、压力变化和累计流量计算。
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"""
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with self._thread_lock:
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if not self._running and self._power_state == "On":
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self._running = True
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self._pump_thread = threading.Thread(target=self._pump_operation_loop)
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self._pump_thread.daemon = True
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self._pump_thread.start()
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def _stop_pump_operation(self):
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"""
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停止泵运行线程
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安全地停止后台运行线程并等待其完成。
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"""
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with self._thread_lock:
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self._running = False
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if self._pump_thread and self._pump_thread.is_alive():
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self._pump_thread.join(timeout=2.0)
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def _pump_operation_loop(self):
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"""
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泵运行主循环
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这个方法在后台线程中运行，模拟真实泵的工作过程：
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1. 逐步调整流速到目标值
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2. 根据流速计算压力
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3. 累计流量统计
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4. 状态更新
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"""
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while self._running and self._power_state == "On" and self._pump_state == "Running":
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try:
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# 模拟流速调节过程（逐步接近目标流速）
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flow_diff = self._target_flow_rate - self._flow_rate
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if abs(flow_diff) < 0.1: # 流速接近目标值
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self._flow_rate = self._target_flow_rate
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self._status = "At Target Flow Rate"
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else:
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# 模拟流速调节，每秒调整10%的差值
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adjustment = flow_diff * 0.1
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self._flow_rate += adjustment
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self._status = "Adjusting Flow Rate"
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# 确保流速在合理范围内
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self._flow_rate = max(0.0, min(self._max_flow_rate, self._flow_rate))
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# 模拟压力变化（压力与流速成正比，加上一些随机波动）
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base_pressure = (self._flow_rate / self._max_flow_rate) * self._max_pressure
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pressure_variation = 0.1 * base_pressure * (time.time() % 1.0 - 0.5) # ±5%波动
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self._pressure = max(0.0, base_pressure + pressure_variation)
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# 累计流量计算（每秒更新）
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if self._flow_rate > 0:
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volume_increment = self._flow_rate / 60.0 # 转换为mL/s
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if self._direction == "Reverse":
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volume_increment = -volume_increment
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self._total_volume += volume_increment
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# 压力保护检查
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if self._pressure > self._max_pressure * 0.95:
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self._status = "Warning: High Pressure"
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# 等待1秒后继续下一次循环
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time.sleep(1.0)
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except Exception as e:
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self._status = f"Error in pump operation: {str(e)}"
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break
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# 循环结束时的清理工作
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if self._pump_state == "Running":
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self._status = "Idle"
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def get_status_info(self) -> dict:
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"""
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获取完整的设备状态信息
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Returns:
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dict: 包含所有设备状态的字典
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"""
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return {
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"status": self._status,
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"power_state": self._power_state,
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"pump_state": self._pump_state,
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"flow_rate": self._flow_rate,
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"target_flow_rate": self._target_flow_rate,
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"pressure": self._pressure,
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"total_volume": self._total_volume,
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"direction": self._direction,
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"max_flow_rate": self._max_flow_rate,
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"max_pressure": self._max_pressure,
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}
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# 用于测试的主函数
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if __name__ == "__main__":
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pump = MockPump()
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# 测试基本功能
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print("启动泵设备测试...")
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pump.power_control("On")
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print(f"初始状态: {pump.get_status_info()}")
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# 设置流速并启动
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pump.set_flow_rate(50.0)
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pump.start_pump()
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# 模拟运行10秒
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for i in range(10):
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time.sleep(1)
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print(f"第{i+1}秒: 流速={pump.flow_rate:.1f}mL/min, 压力={pump.pressure:.2f}bar, 状态={pump.status}")
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# 测试方向切换
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print("切换泵方向...")
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pump.set_direction("Reverse")
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# 继续运行5秒
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for i in range(5):
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time.sleep(1)
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print(f"反向第{i+1}秒: 累计流量={pump.total_volume:.1f}mL, 方向={pump.direction}")
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pump.emergency_stop()
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print("测试完成")
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