宜宾线下赛高分子组组态图构建 #122
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宜宾线下赛高分子组组态图构建 #122
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Reviewer's GuideComplete the Yibin offline high-polymer configuration by introducing IKA heater-stirrer support via a NAMUR serial client, updating registry entries for temperature and valve devices, extending resource type mappings, and wiring device_uuid propagation in ROS nodes. Sequence diagram for device_uuid propagation in serial_node initializationsequenceDiagram
participant "SerialNode"
participant "BaseROS2DeviceNode"
"SerialNode"->>"BaseROS2DeviceNode": __init__(device_uuid, driver_instance, device_id, status_types)
"SerialNode"->>"BaseROS2DeviceNode": Passes device_uuid from kwargs or generates new UUID
ER diagram for updated temperature device registryerDiagram
heaterstirrer_ika {
port string
baudrate integer
status string
stir_speed number
temp number
temp_target number
}
heaterstirrer_ika ||--o{ action_value_mappings : has
heaterstirrer_ika ||--o{ status_types : has
action_value_mappings {
auto-set_stir_speed
set_temp_target
}
status_types {
status str
stir_speed float
temp float
temp_target float
}
ER diagram for updated valve device registry (SY03B-T06)erDiagram
syringe_pump_with_valve_runze_SY03B_T06 {
fluid_port_1
fluid_port_2
fluid_port_3
fluid_port_4
fluid_port_5
fluid_port_6
}
syringe_pump_with_valve_runze_SY03B_T06 ||--o{ fluid_port_5 : has
Class diagram for new IKA heater-stirrer integrationclassDiagram
class IkaNamurClient {
+port: str
+baud: int
+timeout: float
+_ser: serial.Serial | None
+open()
+close()
+send(*tokens: str): str
+read_name(): str
+read_speed(): str
+read_speed_setpoint(): str
+set_speed(rpm: int): str
+start(): str
+stop(): str
}
class HeaterStirrer_IKA {
+_status: str
+_stir_speed: float
+_temp_target: float
+_cli: IkaNamurClient
+status: str
+stir_speed: float
+set_stir_speed(speed: float)
+temp_target: float
+set_temp_target(temp: float)
+temp: float
+start_stir(vessel, stir_speed: float, purpose: str): bool
+stop_stir(vessel): bool
+stir(stir_time: float, stir_speed: float, settling_time: float, **kwargs): bool
+close()
}
IkaNamurClient <.. HeaterStirrer_IKA : uses
Class diagram for updated resource type mapping in resource_tracker.pyclassDiagram
class ResourceDictInstance {
+res_content: ResourceContent
}
class ResourceContent {
+name: str
+uuid: str
+type: str
}
class PLRResource {
+type: str
}
ResourceDictInstance o-- ResourceContent
class ResourceTypeMap {
+TYPE_MAP: dict
}
ResourceTypeMap : plate -> Plate
ResourceTypeMap : well -> Well
ResourceTypeMap : deck -> Deck
ResourceTypeMap : container -> Container
ResourceTypeMap : resource -> Container
File-Level Changes
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Hey there - I've reviewed your changes - here's some feedback:
- In IkaNamurClient.send(), the loop condition
while time.time() < end or self._ser.in_waitingcould spin indefinitely if the port always shows pending bytes; consider switching to an AND condition or adding a secondary timeout to guarantee exit. - The HeaterStirrer_IKA.temp property returns the setpoint rather than an actual reading; either implement a real NAMUR query for current temperature or clearly document that it only reflects the target.
- Defaulting to a random UUID in serial_node.py on each init may break stable device identity across restarts; consider requiring a consistent device_uuid injection or persisting it externally.
Prompt for AI Agents
Please address the comments from this code review:
## Overall Comments
- In IkaNamurClient.send(), the loop condition `while time.time() < end or self._ser.in_waiting` could spin indefinitely if the port always shows pending bytes; consider switching to an AND condition or adding a secondary timeout to guarantee exit.
- The HeaterStirrer_IKA.temp property returns the setpoint rather than an actual reading; either implement a real NAMUR query for current temperature or clearly document that it only reflects the target.
- Defaulting to a random UUID in serial_node.py on each init may break stable device identity across restarts; consider requiring a consistent device_uuid injection or persisting it externally.
## Individual Comments
### Comment 1
<location> `unilabos/devices/heaterstirrer/ika.py:146-148` </location>
<code_context>
+ except (ValueError, TypeError):
+ speed_int = 0
+ # 同步串口调用放入线程，避免阻塞事件循环
+ await asyncio.to_thread(self.set_stir_speed, speed_int)
+ return True
+
+ async def stop_stir(self, vessel) -> bool:
</code_context>
<issue_to_address>
**suggestion:** Using asyncio.to_thread for synchronous serial calls is appropriate, but error handling is minimal.
Add exception handling for errors during serial communication to improve robustness.
```suggestion
# 同步串口调用放入线程，避免阻塞事件循环
try:
await asyncio.to_thread(self.set_stir_speed, speed_int)
return True
except Exception as e:
import logging
logging.error(f"Error during serial communication in set_stir_speed: {e}")
return False
```
</issue_to_address>
### Comment 2
<location> `unilabos/devices/heaterstirrer/ika.py:49-50` </location>
<code_context>
def send(self, *tokens: str) -> str:
if not self._ser or not self._ser.is_open:
self.open()
line = " ".join(tokens).upper()
payload = (line + "\r\n").encode("ascii")
self._ser.reset_input_buffer()
self._ser.write(payload)
time.sleep(0.25)
buf = bytearray()
end = time.time() + self.timeout
while time.time() < end or self._ser.in_waiting:
data = self._ser.read(self._ser.in_waiting or 1)
if data:
buf.extend(data)
else:
time.sleep(0.02)
return buf.decode("ascii", errors="ignore").strip()
</code_context>
<issue_to_address>
**suggestion (code-quality):** Use named expression to simplify assignment and conditional ([`use-named-expression`](https://docs.sourcery.ai/Reference/Default-Rules/refactorings/use-named-expression/))
```suggestion
if data := self._ser.read(self._ser.in_waiting or 1):
```
</issue_to_address>
### Comment 3
<location> `unilabos/devices/heaterstirrer/ika.py:106` </location>
<code_context>
def set_stir_speed(self, speed: float):
speed_int = int(float(speed))
self._cli.set_speed(speed_int)
if speed_int > 0:
self._cli.start()
else:
self._cli.stop()
self._stir_speed = float(speed_int)
</code_context>
<issue_to_address>
**suggestion (code-quality):** Remove unnecessary casts to int, str, float or bool ([`remove-unnecessary-cast`](https://docs.sourcery.ai/Reference/Default-Rules/refactorings/remove-unnecessary-cast/))
```suggestion
speed_int = int(speed)
```
</issue_to_address>
### Comment 4
<location> `unilabos/devices/heaterstirrer/ika.py:119` </location>
<code_context>
def set_temp_target(self, temp: float):
self._temp_target = float(temp)
self._cli.send("OUT_SP_1", f"{int(self._temp_target)}")
self._cli.send("START_1")
</code_context>
<issue_to_address>
**suggestion (code-quality):** Remove unnecessary casts to int, str, float or bool ([`remove-unnecessary-cast`](https://docs.sourcery.ai/Reference/Default-Rules/refactorings/remove-unnecessary-cast/))
```suggestion
self._temp_target = temp
```
</issue_to_address>
### Comment 5
<location> `unilabos/devices/heaterstirrer/ika.py:130-132` </location>
<code_context>
def _extract_vessel_id(self, vessel) -> str:
if isinstance(vessel, dict):
return str(vessel.get("id", ""))
return str(vessel)
</code_context>
<issue_to_address>
**suggestion (code-quality):** We've found these issues:
- Lift code into else after jump in control flow ([`reintroduce-else`](https://docs.sourcery.ai/Reference/Default-Rules/refactorings/reintroduce-else/))
- Replace if statement with if expression ([`assign-if-exp`](https://docs.sourcery.ai/Reference/Default-Rules/refactorings/assign-if-exp/))
```suggestion
return str(vessel.get("id", "")) if isinstance(vessel, dict) else str(vessel)
```
</issue_to_address>
### Comment 6
<location> `unilabos/devices/heaterstirrer/ika.py:143` </location>
<code_context>
async def start_stir(self, vessel, stir_speed: float, purpose: str = "") -> bool:
"""开始持续搅拌（协议动作）
- vessel: 可为字符串或形如 {"id": "..."} 的字典
- stir_speed: 目标转速 RPM
- purpose: 可选用途描述（仅用于上层日志）
"""
_ = self._extract_vessel_id(vessel) # 当前实现不强依赖容器，仅做形参兼容
try:
speed_int = int(float(stir_speed))
except (ValueError, TypeError):
speed_int = 0
# 同步串口调用放入线程，避免阻塞事件循环
await asyncio.to_thread(self.set_stir_speed, speed_int)
return True
</code_context>
<issue_to_address>
**suggestion (code-quality):** Remove unnecessary casts to int, str, float or bool ([`remove-unnecessary-cast`](https://docs.sourcery.ai/Reference/Default-Rules/refactorings/remove-unnecessary-cast/))
```suggestion
speed_int = int(stir_speed)
```
</issue_to_address>
### Comment 7
<location> `unilabos/devices/heaterstirrer/ika.py:165-173` </location>
<code_context>
async def stir(self, stir_time: float, stir_speed: float, settling_time: float, **kwargs) -> bool:
"""定时搅拌 + 沉降（协议动作）
- stir_time: 搅拌时间（秒）
- stir_speed: 搅拌速度（RPM）
- settling_time: 沉降时间（秒）
其余 kwargs（如 vessel/time/time_spec/event）按协议形态传入，此处可忽略。
"""
try:
total_stir_seconds = max(0.0, float(stir_time))
except (ValueError, TypeError):
total_stir_seconds = 0.0
try:
speed_int = int(float(stir_speed))
except (ValueError, TypeError):
speed_int = 0
try:
total_settle_seconds = max(0.0, float(settling_time))
except (ValueError, TypeError):
total_settle_seconds = 0.0
# 开始搅拌
await asyncio.to_thread(self.set_stir_speed, speed_int)
if total_stir_seconds > 0:
await asyncio.sleep(total_stir_seconds)
# 停止搅拌进入沉降
await asyncio.to_thread(self.set_stir_speed, 0)
if total_settle_seconds > 0:
await asyncio.sleep(total_settle_seconds)
return True
</code_context>
<issue_to_address>
**issue (code-quality):** Remove unnecessary casts to int, str, float or bool [×3] ([`remove-unnecessary-cast`](https://docs.sourcery.ai/Reference/Default-Rules/refactorings/remove-unnecessary-cast/))
</issue_to_address>Help me be more useful! Please click 👍 or 👎 on each comment and I'll use the feedback to improve your reviews.
Comment on lines
+146
to
+148
| # 同步串口调用放入线程，避免阻塞事件循环 | ||
| await asyncio.to_thread(self.set_stir_speed, speed_int) | ||
| return True |
There was a problem hiding this comment.
suggestion: Using asyncio.to_thread for synchronous serial calls is appropriate, but error handling is minimal.
Add exception handling for errors during serial communication to improve robustness.
Suggested change
| # 同步串口调用放入线程，避免阻塞事件循环 | |
| await asyncio.to_thread(self.set_stir_speed, speed_int) | |
| return True | |
| # 同步串口调用放入线程，避免阻塞事件循环 | |
| try: | |
| await asyncio.to_thread(self.set_stir_speed, speed_int) | |
| return True | |
| except Exception as e: | |
| import logging | |
| logging.error(f"Error during serial communication in set_stir_speed: {e}") | |
| return False |
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四川宜宾线下高分子组组态图完整搭建结果
Summary by Sourcery
Add support for IKA heater‐stirrer devices via NAMUR protocol and update device and resource registries to handle new mappings and identifiers
New Features:
Tests: