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483 lines
14 KiB
Python
483 lines
14 KiB
Python
import time
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import threading
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class MockStirrer:
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"""
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模拟搅拌器设备类
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这个类模拟了一个实验室搅拌器的行为，包括搅拌速度控制、
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温度监测、加热控制等功能。参考了现有的 HeaterStirrer_DaLong 实现。
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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MockStirrer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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# 搅拌相关属性
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self._stir_speed: float = 0.0 # 当前搅拌速度 (rpm)
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self._target_stir_speed: float = 0.0 # 目标搅拌速度 (rpm)
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self._max_stir_speed: float = 2000.0 # 最大搅拌速度 (rpm)
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self._stir_state: str = "Stopped" # 搅拌状态：Running, Stopped
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# 温度相关属性
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self._temperature: float = 25.0 # 当前温度 (°C)
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self._target_temperature: float = 25.0 # 目标温度 (°C)
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self._max_temperature: float = 300.0 # 最大温度 (°C)
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self._heating_state: str = "Off" # 加热状态：On, Off
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self._heating_power: float = 0.0 # 加热功率百分比 0-100
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# 运行控制线程
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self._operation_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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"""
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设备状态 - 会被自动识别的设备属性
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Returns:
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str: 当前设备状态 (Idle, Running, Error, Stopped)
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"""
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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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"""
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电源状态
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Returns:
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str: 电源状态 (On, Off)
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"""
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return self._power_state
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@property
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def stir_speed(self) -> float:
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"""
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当前搅拌速度
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Returns:
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float: 当前搅拌速度 (rpm)
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"""
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return self._stir_speed
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@property
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def target_stir_speed(self) -> float:
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"""
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目标搅拌速度
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Returns:
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float: 目标搅拌速度 (rpm)
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"""
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return self._target_stir_speed
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@property
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def stir_state(self) -> str:
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"""
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搅拌状态
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Returns:
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str: 搅拌状态 (Running, Stopped)
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"""
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return self._stir_state
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@property
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def temperature(self) -> float:
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"""
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当前温度
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Returns:
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float: 当前温度 (°C)
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"""
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return self._temperature
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@property
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def target_temperature(self) -> float:
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"""
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目标温度
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Returns:
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float: 目标温度 (°C)
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"""
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return self._target_temperature
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@property
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def heating_state(self) -> str:
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"""
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加热状态
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Returns:
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str: 加热状态 (On, Off)
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"""
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return self._heating_state
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@property
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def heating_power(self) -> float:
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"""
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加热功率
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Returns:
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float: 加热功率百分比 (0-100)
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"""
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return self._heating_power
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@property
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def max_stir_speed(self) -> float:
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"""
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最大搅拌速度
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Returns:
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float: 最大搅拌速度 (rpm)
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"""
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return self._max_stir_speed
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@property
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def max_temperature(self) -> float:
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"""
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最大温度
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Returns:
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float: 最大温度 (°C)
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"""
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return self._max_temperature
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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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self._start_operation()
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else:
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self._status = "Power Off"
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self.stop_all_operations()
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return "Success"
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def set_stir_speed(self, speed: float) -> str:
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"""
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设置搅拌速度
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Args:
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speed (float): 目标搅拌速度 (rpm)
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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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speed = float(speed) # 确保传入的速度是浮点数
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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 speed < 0 or speed > self._max_stir_speed:
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self._status = f"Error: Speed out of range (0-{self._max_stir_speed})"
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return "Error"
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self._target_stir_speed = speed
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self._status = "Setting Stir Speed"
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# 如果设置了非零速度，启动搅拌
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if speed > 0:
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self._stir_state = "Running"
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else:
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self._stir_state = "Stopped"
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return "Success"
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def set_temperature(self, temperature: float) -> str:
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"""
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设置目标温度
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Args:
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temperature (float): 目标温度 (°C)
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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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temperature = float(temperature) # 确保传入的温度是浮点数
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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 temperature < 0 or temperature > self._max_temperature:
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self._status = f"Error: Temperature out of range (0-{self._max_temperature})"
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return "Error"
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self._target_temperature = temperature
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self._status = "Setting Temperature"
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return "Success"
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def start_stirring(self) -> str:
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"""
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启动搅拌
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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_stir_speed <= 0:
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self._status = "Error: No target speed set"
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return "Error"
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self._stir_state = "Running"
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self._status = "Stirring Started"
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return "Success"
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def stop_stirring(self) -> str:
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"""
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停止搅拌
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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._stir_state = "Stopped"
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self._target_stir_speed = 0.0
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self._status = "Stirring Stopped"
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return "Success"
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def heating_control(self, heating_state: str = "On") -> str:
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"""
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加热控制
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Args:
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heating_state (str): 加热状态，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 self._power_state != "On":
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self._status = "Error: Power Off"
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return "Error"
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if heating_state not in ["On", "Off"]:
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self._status = "Error: Invalid heating state"
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return "Error"
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self._heating_state = heating_state
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if heating_state == "On":
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self._status = "Heating On"
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else:
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self._status = "Heating Off"
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self._heating_power = 0.0
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return "Success"
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def stop_all_operations(self) -> str:
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"""
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停止所有操作
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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._stir_state = "Stopped"
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self._heating_state = "Off"
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self._stop_operation()
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self._stir_speed = 0.0
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self._target_stir_speed = 0.0
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self._heating_power = 0.0
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self._status = "All operations stopped"
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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.stop_all_operations()
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return "Success"
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# ==================== 内部控制方法 ====================
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def _start_operation(self):
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"""
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启动操作线程
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这个方法启动一个后台线程来模拟搅拌器的实际运行过程。
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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._operation_thread = threading.Thread(target=self._operation_loop)
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self._operation_thread.daemon = True
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self._operation_thread.start()
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def _stop_operation(self):
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"""
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停止操作线程
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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._operation_thread and self._operation_thread.is_alive():
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self._operation_thread.join(timeout=2.0)
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def _operation_loop(self):
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"""
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操作主循环
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这个方法在后台线程中运行，模拟真实搅拌器的工作过程：
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1. 搅拌速度控制
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2. 温度控制和加热
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3. 状态更新
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"""
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while self._running and self._power_state == "On":
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try:
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# 处理搅拌速度控制
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if self._stir_state == "Running":
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speed_diff = self._target_stir_speed - self._stir_speed
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if abs(speed_diff) < 1.0: # 速度接近目标值
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self._stir_speed = self._target_stir_speed
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if self._stir_speed > 0:
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self._status = "Stirring at Target Speed"
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else:
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# 模拟速度调节，每秒调整10%的差值
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adjustment = speed_diff * 0.1
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self._stir_speed += adjustment
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self._status = "Adjusting Stir Speed"
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# 确保速度在合理范围内
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self._stir_speed = max(0.0, min(self._max_stir_speed, self._stir_speed))
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else:
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# 搅拌停止时，速度逐渐降为0
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if self._stir_speed > 0:
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self._stir_speed = max(0.0, self._stir_speed - 50.0) # 每秒减少50rpm
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# 处理温度控制
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if self._heating_state == "On":
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temp_diff = self._target_temperature - self._temperature
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if abs(temp_diff) < 0.5: # 温度接近目标值
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self._heating_power = 20.0 # 维持温度的最小功率
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elif temp_diff > 0: # 需要加热
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# 根据温差调整加热功率
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if temp_diff > 50:
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self._heating_power = 100.0
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elif temp_diff > 20:
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self._heating_power = 80.0
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elif temp_diff > 10:
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self._heating_power = 60.0
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else:
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self._heating_power = 40.0
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# 模拟加热过程
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heating_rate = self._heating_power / 100.0 * 1.5 # 最大每秒升温1.5度
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self._temperature += heating_rate
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else: # 目标温度低于当前温度
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self._heating_power = 0.0
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# 自然冷却
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self._temperature -= 0.1
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else:
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self._heating_power = 0.0
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# 自然冷却到室温
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if self._temperature > 25.0:
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self._temperature -= 0.2
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# 限制温度范围
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self._temperature = max(20.0, min(self._max_temperature, self._temperature))
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# 更新整体状态
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if self._stir_state == "Running" and self._heating_state == "On":
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self._status = "Stirring and Heating"
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elif self._stir_state == "Running":
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self._status = "Stirring Only"
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elif self._heating_state == "On":
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self._status = "Heating Only"
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else:
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self._status = "Idle"
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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 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._power_state == "On":
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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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"stir_speed": self._stir_speed,
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"target_stir_speed": self._target_stir_speed,
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"stir_state": self._stir_state,
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"temperature": self._temperature,
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"target_temperature": self._target_temperature,
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"heating_state": self._heating_state,
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"heating_power": self._heating_power,
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"max_stir_speed": self._max_stir_speed,
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"max_temperature": self._max_temperature,
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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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stirrer = MockStirrer()
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# 测试基本功能
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print("启动搅拌器测试...")
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stirrer.power_control("On")
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print(f"初始状态: {stirrer.get_status_info()}")
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# 设置搅拌速度和温度
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stirrer.set_stir_speed(800.0)
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stirrer.set_temperature(60.0)
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stirrer.heating_control("On")
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# 模拟运行15秒
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for i in range(15):
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time.sleep(1)
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print(
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f"第{i+1}秒: 速度={stirrer.stir_speed:.0f}rpm, 温度={stirrer.temperature:.1f}°C, "
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f"功率={stirrer.heating_power:.1f}%, 状态={stirrer.status}"
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)
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stirrer.emergency_stop()
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print("测试完成")
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