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688 lines
24 KiB
Python
688 lines
24 KiB
Python
"""
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Virtual Workbench Device - 模拟工作台设备
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包含：
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- 1个机械臂 (每次操作3s, 独占锁)
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- 3个加热台 (每次加热10s, 可并行)
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工作流程：
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1. A1-A5 物料同时启动，竞争机械臂
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2. 机械臂将物料移动到空闲加热台
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3. 加热完成后，机械臂将物料移动到C1-C5
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注意：调用来自线程池，使用 threading.Lock 进行同步
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"""
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import logging
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import time
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from typing import Dict, Any, Optional
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from dataclasses import dataclass
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from enum import Enum
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from threading import Lock, RLock
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from typing_extensions import TypedDict
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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from unilabos.utils.decorator import not_action
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# ============ TypedDict 返回类型定义 ============
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class MoveToHeatingStationResult(TypedDict):
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"""move_to_heating_station 返回类型"""
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success: bool
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station_id: int
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material_id: str
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material_number: int
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message: str
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class StartHeatingResult(TypedDict):
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"""start_heating 返回类型"""
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success: bool
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station_id: int
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material_id: str
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material_number: int
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message: str
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class MoveToOutputResult(TypedDict):
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"""move_to_output 返回类型"""
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success: bool
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station_id: int
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material_id: str
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class PrepareMaterialsResult(TypedDict):
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"""prepare_materials 返回类型 - 批量准备物料"""
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success: bool
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count: int
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material_1: int # 物料编号1
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material_2: int # 物料编号2
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material_3: int # 物料编号3
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material_4: int # 物料编号4
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material_5: int # 物料编号5
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message: str
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# ============ 状态枚举 ============
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class HeatingStationState(Enum):
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"""加热台状态枚举"""
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IDLE = "idle" # 空闲
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OCCUPIED = "occupied" # 已放置物料，等待加热
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HEATING = "heating" # 加热中
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COMPLETED = "completed" # 加热完成，等待取走
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class ArmState(Enum):
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"""机械臂状态枚举"""
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IDLE = "idle" # 空闲
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BUSY = "busy" # 工作中
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@dataclass
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class HeatingStation:
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"""加热台数据结构"""
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station_id: int
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state: HeatingStationState = HeatingStationState.IDLE
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current_material: Optional[str] = None # 当前物料 (如 "A1", "A2")
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material_number: Optional[int] = None # 物料编号 (1-5)
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heating_start_time: Optional[float] = None
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heating_progress: float = 0.0
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class VirtualWorkbench:
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"""
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Virtual Workbench Device - 虚拟工作台设备
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模拟一个包含1个机械臂和3个加热台的工作站
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- 机械臂操作耗时3秒，同一时间只能执行一个操作
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- 加热台加热耗时10秒，3个加热台可并行工作
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工作流:
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1. 物料A1-A5并发启动（线程池），竞争机械臂使用权
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2. 获取机械臂后，查找空闲加热台
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3. 机械臂将物料放入加热台，开始加热
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4. 加热完成后，机械臂将物料移动到目标位置Cn
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"""
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_ros_node: BaseROS2DeviceNode
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# 配置常量
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ARM_OPERATION_TIME: float = 3.0 # 机械臂操作时间(秒)
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HEATING_TIME: float = 10.0 # 加热时间(秒)
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NUM_HEATING_STATIONS: int = 3 # 加热台数量
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def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
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# 处理可能的不同调用方式
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if device_id is None and "id" in kwargs:
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device_id = kwargs.pop("id")
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if config is None and "config" in kwargs:
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config = kwargs.pop("config")
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self.device_id = device_id or "virtual_workbench"
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self.config = config or {}
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self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}")
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self.data: Dict[str, Any] = {}
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# 从config中获取可配置参数
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self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", 3.0))
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self.HEATING_TIME = float(self.config.get("heating_time", 10.0))
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self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", 3))
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# 机械臂状态和锁 (使用threading.Lock)
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self._arm_lock = Lock()
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self._arm_state = ArmState.IDLE
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self._arm_current_task: Optional[str] = None
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# 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
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self._heating_stations: Dict[int, HeatingStation] = {
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i: HeatingStation(station_id=i)
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for i in range(1, self.NUM_HEATING_STATIONS + 1)
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}
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self._stations_lock = RLock() # 可重入锁，保护加热台状态
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# 任务追踪
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self._active_tasks: Dict[str, Dict[str, Any]] = {} # material_id -> task_info
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self._tasks_lock = Lock()
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# 处理其他kwargs参数
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skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"}
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for key, value in kwargs.items():
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if key not in skip_keys and not hasattr(self, key):
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setattr(self, key, value)
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self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===")
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self.logger.info(
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f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | "
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f"加热时间: {self.HEATING_TIME}s | "
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f"加热台数量: {self.NUM_HEATING_STATIONS}"
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)
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@not_action
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def post_init(self, ros_node: BaseROS2DeviceNode):
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"""ROS节点初始化后回调"""
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self._ros_node = ros_node
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@not_action
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def initialize(self) -> bool:
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"""初始化虚拟工作台"""
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self.logger.info(f"初始化虚拟工作台 {self.device_id}")
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# 重置加热台状态 (已在__init__中创建，这里重置为初始状态)
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with self._stations_lock:
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for station in self._heating_stations.values():
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station.state = HeatingStationState.IDLE
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station.current_material = None
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station.material_number = None
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station.heating_progress = 0.0
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# 初始化状态
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self.data.update({
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"status": "Ready",
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"arm_state": ArmState.IDLE.value,
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"arm_current_task": None,
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"heating_stations": self._get_stations_status(),
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"active_tasks_count": 0,
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"message": "工作台就绪",
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})
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self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
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return True
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@not_action
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def cleanup(self) -> bool:
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"""清理虚拟工作台"""
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self.logger.info(f"清理虚拟工作台 {self.device_id}")
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self._arm_state = ArmState.IDLE
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self._arm_current_task = None
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with self._stations_lock:
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self._heating_stations.clear()
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with self._tasks_lock:
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self._active_tasks.clear()
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self.data.update({
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"status": "Offline",
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"arm_state": ArmState.IDLE.value,
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"heating_stations": {},
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"message": "工作台已关闭",
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})
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return True
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def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
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"""获取所有加热台状态"""
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with self._stations_lock:
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return {
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station_id: {
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"state": station.state.value,
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"current_material": station.current_material,
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"material_number": station.material_number,
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"heating_progress": station.heating_progress,
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}
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for station_id, station in self._heating_stations.items()
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}
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def _update_data_status(self, message: Optional[str] = None):
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"""更新状态数据"""
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self.data.update({
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"arm_state": self._arm_state.value,
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"arm_current_task": self._arm_current_task,
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"heating_stations": self._get_stations_status(),
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"active_tasks_count": len(self._active_tasks),
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})
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if message:
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self.data["message"] = message
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def _find_available_heating_station(self) -> Optional[int]:
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"""查找空闲的加热台
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Returns:
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空闲加热台ID，如果没有则返回None
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"""
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with self._stations_lock:
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for station_id, station in self._heating_stations.items():
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if station.state == HeatingStationState.IDLE:
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return station_id
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return None
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def _acquire_arm(self, task_description: str) -> bool:
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"""获取机械臂使用权（阻塞直到获取）
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Args:
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task_description: 任务描述，用于日志
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Returns:
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是否成功获取
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"""
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self.logger.info(f"[{task_description}] 等待获取机械臂...")
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# 阻塞等待获取锁
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self._arm_lock.acquire()
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self._arm_state = ArmState.BUSY
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self._arm_current_task = task_description
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self._update_data_status(f"机械臂执行: {task_description}")
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self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
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return True
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def _release_arm(self):
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"""释放机械臂"""
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task = self._arm_current_task
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self._arm_state = ArmState.IDLE
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self._arm_current_task = None
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self._arm_lock.release()
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self._update_data_status(f"机械臂已释放 (完成: {task})")
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self.logger.info(f"机械臂已释放 (完成: {task})")
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def prepare_materials(
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self,
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count: int = 5,
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) -> PrepareMaterialsResult:
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"""
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批量准备物料 - 虚拟起始节点
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作为工作流的起始节点，生成指定数量的物料编号供后续节点使用。
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输出5个handle (material_1 ~ material_5)，分别对应实验1~5。
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Args:
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count: 待生成的物料数量，默认5 (生成 A1-A5)
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Returns:
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PrepareMaterialsResult: 包含 material_1 ~ material_5 用于传递给 move_to_heating_station
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"""
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# 生成物料列表 A1 - A{count}
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materials = [i for i in range(1, count + 1)]
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self.logger.info(
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f"[准备物料] 生成 {count} 个物料: "
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f"A1-A{count} -> material_1~material_{count}"
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)
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return {
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"success": True,
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"count": count,
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"material_1": materials[0] if len(materials) > 0 else 0,
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"material_2": materials[1] if len(materials) > 1 else 0,
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"material_3": materials[2] if len(materials) > 2 else 0,
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"material_4": materials[3] if len(materials) > 3 else 0,
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"material_5": materials[4] if len(materials) > 4 else 0,
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"message": f"已准备 {count} 个物料: A1-A{count}",
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}
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def move_to_heating_station(
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self,
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material_number: int,
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) -> MoveToHeatingStationResult:
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"""
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将物料从An位置移动到加热台
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多线程并发调用时，会竞争机械臂使用权，并自动查找空闲加热台
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Args:
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material_number: 物料编号 (1-5)
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Returns:
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MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
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"""
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# 根据物料编号生成物料ID
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material_id = f"A{material_number}"
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task_desc = f"移动{material_id}到加热台"
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self.logger.info(f"[任务] {task_desc} - 开始执行")
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# 记录任务
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with self._tasks_lock:
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self._active_tasks[material_id] = {
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"status": "waiting_for_arm",
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"start_time": time.time(),
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}
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try:
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# 步骤1: 等待获取机械臂使用权(竞争)
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with self._tasks_lock:
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self._active_tasks[material_id]["status"] = "waiting_for_arm"
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self._acquire_arm(task_desc)
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# 步骤2: 查找空闲加热台
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with self._tasks_lock:
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self._active_tasks[material_id]["status"] = "finding_station"
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station_id = None
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# 循环等待直到找到空闲加热台
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while station_id is None:
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station_id = self._find_available_heating_station()
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if station_id is None:
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self.logger.info(f"[{material_id}] 没有空闲加热台，等待中...")
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# 释放机械臂，等待后重试
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self._release_arm()
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time.sleep(0.5)
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self._acquire_arm(task_desc)
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# 步骤3: 占用加热台 - 立即标记为OCCUPIED，防止其他任务选择同一加热台
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with self._stations_lock:
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self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
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self._heating_stations[station_id].current_material = material_id
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self._heating_stations[station_id].material_number = material_number
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# 步骤4: 模拟机械臂移动操作 (3秒)
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with self._tasks_lock:
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self._active_tasks[material_id]["status"] = "arm_moving"
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self._active_tasks[material_id]["assigned_station"] = station_id
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self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...")
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time.sleep(self.ARM_OPERATION_TIME)
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# 步骤5: 放入加热台完成
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self._update_data_status(f"{material_id}已放入加热台{station_id}")
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self.logger.info(f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)")
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# 释放机械臂
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self._release_arm()
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with self._tasks_lock:
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self._active_tasks[material_id]["status"] = "placed_on_station"
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return {
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"success": True,
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"station_id": station_id,
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"material_id": material_id,
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"material_number": material_number,
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"message": f"{material_id}已成功移动到加热台{station_id}",
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}
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except Exception as e:
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self.logger.error(f"[{material_id}] 移动失败: {str(e)}")
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if self._arm_lock.locked():
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self._release_arm()
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return {
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"success": False,
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"station_id": -1,
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"material_id": material_id,
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"material_number": material_number,
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"message": f"移动失败: {str(e)}",
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}
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def start_heating(
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self,
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station_id: int,
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material_number: int,
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) -> StartHeatingResult:
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"""
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启动指定加热台的加热程序
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Args:
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station_id: 加热台ID (1-3)，从 move_to_heating_station 的 handle 传入
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material_number: 物料编号，从 move_to_heating_station 的 handle 传入
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Returns:
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StartHeatingResult: 包含 station_id, material_number 等用于传递给下一个节点
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"""
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self.logger.info(f"[加热台{station_id}] 开始加热")
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if station_id not in self._heating_stations:
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return {
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"success": False,
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"station_id": station_id,
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"material_id": "",
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"material_number": material_number,
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"message": f"无效的加热台ID: {station_id}",
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}
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with self._stations_lock:
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station = self._heating_stations[station_id]
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if station.current_material is None:
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return {
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"success": False,
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"station_id": station_id,
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"material_id": "",
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"material_number": material_number,
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"message": f"加热台{station_id}上没有物料",
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}
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if station.state == HeatingStationState.HEATING:
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return {
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"success": False,
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"station_id": station_id,
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"material_id": station.current_material,
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"material_number": material_number,
|
||
"message": f"加热台{station_id}已经在加热中",
|
||
}
|
||
|
||
material_id = station.current_material
|
||
|
||
# 开始加热
|
||
station.state = HeatingStationState.HEATING
|
||
station.heating_start_time = time.time()
|
||
station.heating_progress = 0.0
|
||
|
||
with self._tasks_lock:
|
||
if material_id in self._active_tasks:
|
||
self._active_tasks[material_id]["status"] = "heating"
|
||
|
||
self._update_data_status(f"加热台{station_id}开始加热{material_id}")
|
||
|
||
# 模拟加热过程 (10秒)
|
||
start_time = time.time()
|
||
while True:
|
||
elapsed = time.time() - start_time
|
||
progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
|
||
|
||
with self._stations_lock:
|
||
self._heating_stations[station_id].heating_progress = progress
|
||
|
||
self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
|
||
|
||
if elapsed >= self.HEATING_TIME:
|
||
break
|
||
|
||
time.sleep(1.0)
|
||
|
||
# 加热完成
|
||
with self._stations_lock:
|
||
self._heating_stations[station_id].state = HeatingStationState.COMPLETED
|
||
self._heating_stations[station_id].heating_progress = 100.0
|
||
|
||
with self._tasks_lock:
|
||
if material_id in self._active_tasks:
|
||
self._active_tasks[material_id]["status"] = "heating_completed"
|
||
|
||
self._update_data_status(f"加热台{station_id}加热完成")
|
||
self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
|
||
|
||
return {
|
||
"success": True,
|
||
"station_id": station_id,
|
||
"material_id": material_id,
|
||
"material_number": material_number,
|
||
"message": f"加热台{station_id}加热完成",
|
||
}
|
||
|
||
def move_to_output(
|
||
self,
|
||
station_id: int,
|
||
material_number: int,
|
||
) -> MoveToOutputResult:
|
||
"""
|
||
将物料从加热台移动到输出位置Cn
|
||
|
||
Args:
|
||
station_id: 加热台ID (1-3)，从 start_heating 的 handle 传入
|
||
material_number: 物料编号，从 start_heating 的 handle 传入，用于确定输出位置 Cn
|
||
|
||
Returns:
|
||
MoveToOutputResult: 包含执行结果
|
||
"""
|
||
output_number = material_number # 物料编号决定输出位置
|
||
|
||
if station_id not in self._heating_stations:
|
||
return {
|
||
"success": False,
|
||
"station_id": station_id,
|
||
"material_id": "",
|
||
"output_position": f"C{output_number}",
|
||
"message": f"无效的加热台ID: {station_id}",
|
||
}
|
||
|
||
with self._stations_lock:
|
||
station = self._heating_stations[station_id]
|
||
material_id = station.current_material
|
||
|
||
if material_id is None:
|
||
return {
|
||
"success": False,
|
||
"station_id": station_id,
|
||
"material_id": "",
|
||
"output_position": f"C{output_number}",
|
||
"message": f"加热台{station_id}上没有物料",
|
||
}
|
||
|
||
if station.state != HeatingStationState.COMPLETED:
|
||
return {
|
||
"success": False,
|
||
"station_id": station_id,
|
||
"material_id": material_id,
|
||
"output_position": f"C{output_number}",
|
||
"message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
|
||
}
|
||
|
||
output_position = f"C{output_number}"
|
||
task_desc = f"从加热台{station_id}移动{material_id}到{output_position}"
|
||
self.logger.info(f"[任务] {task_desc}")
|
||
|
||
try:
|
||
with self._tasks_lock:
|
||
if material_id in self._active_tasks:
|
||
self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
|
||
|
||
# 获取机械臂
|
||
self._acquire_arm(task_desc)
|
||
|
||
with self._tasks_lock:
|
||
if material_id in self._active_tasks:
|
||
self._active_tasks[material_id]["status"] = "arm_moving_to_output"
|
||
|
||
# 模拟机械臂操作 (3秒)
|
||
self.logger.info(f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}...")
|
||
time.sleep(self.ARM_OPERATION_TIME)
|
||
|
||
# 清空加热台
|
||
with self._stations_lock:
|
||
self._heating_stations[station_id].state = HeatingStationState.IDLE
|
||
self._heating_stations[station_id].current_material = None
|
||
self._heating_stations[station_id].material_number = None
|
||
self._heating_stations[station_id].heating_progress = 0.0
|
||
self._heating_stations[station_id].heating_start_time = None
|
||
|
||
# 释放机械臂
|
||
self._release_arm()
|
||
|
||
# 任务完成
|
||
with self._tasks_lock:
|
||
if material_id in self._active_tasks:
|
||
self._active_tasks[material_id]["status"] = "completed"
|
||
self._active_tasks[material_id]["end_time"] = time.time()
|
||
|
||
self._update_data_status(f"{material_id}已移动到{output_position}")
|
||
self.logger.info(f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)")
|
||
|
||
return {
|
||
"success": True,
|
||
"station_id": station_id,
|
||
"material_id": material_id,
|
||
"output_position": output_position,
|
||
"message": f"{material_id}已成功移动到{output_position}",
|
||
}
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"移动到输出位置失败: {str(e)}")
|
||
if self._arm_lock.locked():
|
||
self._release_arm()
|
||
return {
|
||
"success": False,
|
||
"station_id": station_id,
|
||
"material_id": "",
|
||
"output_position": output_position,
|
||
"message": f"移动失败: {str(e)}",
|
||
}
|
||
|
||
# ============ 状态属性 ============
|
||
|
||
@property
|
||
def status(self) -> str:
|
||
return self.data.get("status", "Unknown")
|
||
|
||
@property
|
||
def arm_state(self) -> str:
|
||
return self._arm_state.value
|
||
|
||
@property
|
||
def arm_current_task(self) -> str:
|
||
return self._arm_current_task or ""
|
||
|
||
@property
|
||
def heating_station_1_state(self) -> str:
|
||
with self._stations_lock:
|
||
station = self._heating_stations.get(1)
|
||
return station.state.value if station else "unknown"
|
||
|
||
@property
|
||
def heating_station_1_material(self) -> str:
|
||
with self._stations_lock:
|
||
station = self._heating_stations.get(1)
|
||
return station.current_material or "" if station else ""
|
||
|
||
@property
|
||
def heating_station_1_progress(self) -> float:
|
||
with self._stations_lock:
|
||
station = self._heating_stations.get(1)
|
||
return station.heating_progress if station else 0.0
|
||
|
||
@property
|
||
def heating_station_2_state(self) -> str:
|
||
with self._stations_lock:
|
||
station = self._heating_stations.get(2)
|
||
return station.state.value if station else "unknown"
|
||
|
||
@property
|
||
def heating_station_2_material(self) -> str:
|
||
with self._stations_lock:
|
||
station = self._heating_stations.get(2)
|
||
return station.current_material or "" if station else ""
|
||
|
||
@property
|
||
def heating_station_2_progress(self) -> float:
|
||
with self._stations_lock:
|
||
station = self._heating_stations.get(2)
|
||
return station.heating_progress if station else 0.0
|
||
|
||
@property
|
||
def heating_station_3_state(self) -> str:
|
||
with self._stations_lock:
|
||
station = self._heating_stations.get(3)
|
||
return station.state.value if station else "unknown"
|
||
|
||
@property
|
||
def heating_station_3_material(self) -> str:
|
||
with self._stations_lock:
|
||
station = self._heating_stations.get(3)
|
||
return station.current_material or "" if station else ""
|
||
|
||
@property
|
||
def heating_station_3_progress(self) -> float:
|
||
with self._stations_lock:
|
||
station = self._heating_stations.get(3)
|
||
return station.heating_progress if station else 0.0
|
||
|
||
@property
|
||
def active_tasks_count(self) -> int:
|
||
with self._tasks_lock:
|
||
return len(self._active_tasks)
|
||
|
||
@property
|
||
def message(self) -> str:
|
||
return self.data.get("message", "")
|