更新workstation注册表

unilabos/compile/__init__.py

@@ -25,26 +25,25 @@ from .wash_solid_protocol import generate_wash_solid_protocol
 
 # Define a dictionary of protocol generators.
 action_protocol_generators = {
-    PumpTransferProtocol: generate_pump_protocol_with_rinsing,
+    AddProtocol: generate_add_protocol,
-    CleanProtocol: generate_clean_protocol,
-    SeparateProtocol: generate_separate_protocol,
-    EvaporateProtocol: generate_evaporate_protocol,
-    EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,
     AGVTransferProtocol: generate_agv_transfer_protocol,
     CentrifugeProtocol: generate_centrifuge_protocol,
-    AddProtocol: generate_add_protocol,
+    CleanProtocol: generate_clean_protocol,
+    CleanVesselProtocol: generate_clean_vessel_protocol,
+    DissolveProtocol: generate_dissolve_protocol,
+    EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,
+    EvaporateProtocol: generate_evaporate_protocol,
     FilterProtocol: generate_filter_protocol,
+    FilterThroughProtocol: generate_filter_through_protocol,
     HeatChillProtocol: generate_heat_chill_protocol,
     HeatChillStartProtocol: generate_heat_chill_start_protocol,
     HeatChillStopProtocol: generate_heat_chill_stop_protocol,
-    # HeatChillToTempProtocol: generate_heat_chill_to_temp_protocol,  # **移除这行**
+    PumpTransferProtocol: generate_pump_protocol_with_rinsing,
-    StirProtocol: generate_stir_protocol,
+    RunColumnProtocol: generate_run_column_protocol,
+    SeparateProtocol: generate_separate_protocol,
     StartStirProtocol: generate_start_stir_protocol,
+    StirProtocol: generate_stir_protocol,
     StopStirProtocol: generate_stop_stir_protocol,
     TransferProtocol: generate_transfer_protocol,
-    CleanVesselProtocol: generate_clean_vessel_protocol,
-    DissolveProtocol: generate_dissolve_protocol,
-    FilterThroughProtocol: generate_filter_through_protocol,
-    RunColumnProtocol: generate_run_column_protocol,
     WashSolidProtocol: generate_wash_solid_protocol,
-}
+}

unilabos/registry/devices/work_station.yaml

@@ -3,5 +3,248 @@ workstation:
   class:
     module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
     type: ros2
-  schema:
+  action_value_mappings:
-    properties: {}
+    AddProtocol:
+      type: Add
+      goal:
+        vessel: vessel
+        reagent: reagent
+        volume: volume
+        mass: mass
+        amount: amount
+        time: time
+        stir: stir
+        stir_speed: stir_speed
+        viscous: viscous
+        purpose: purpose
+      feedback: {}
+      result: {}
+
+    AGVTransferProtocol:
+      type: AGVTransfer
+      goal:
+        from_repo: from_repo
+        from_repo_position: from_repo_position
+        to_repo: to_repo
+        to_repo_position: to_repo_position
+      feedback: {}
+      result: {}
+
+    CentrifugeProtocol:
+      type: Centrifuge
+      goal:
+        vessel: vessel
+        speed: speed
+        time: time
+        temp: temp
+      feedback: {}
+      result: {}
+
+    CleanProtocol:
+      type: Clean
+      goal:
+        vessel: vessel
+        solvent: solvent
+        volume: volume
+        temp: temp
+        repeats: repeats
+      feedback: {}
+      result: {}
+
+    CleanVesselProtocol:
+      type: CleanVessel
+      goal:
+        vessel: vessel
+        solvent: solvent
+        volume: volume
+        temp: temp
+        repeats: repeats
+      feedback: {}
+      result: {}
+
+    DissolveProtocol:
+      type: Dissolve
+      goal:
+        vessel: vessel
+        solvent: solvent
+        volume: volume
+        amount: amount
+        temp: temp
+        time: time
+        stir_speed: stir_speed
+      feedback: {}
+      result: {}
+
+    EvacuateAndRefillProtocol:
+      type: EvacuateAndRefill
+      goal:
+        vessel: vessel
+        gas: gas
+        repeats: repeats
+      feedback: {}
+      result: {}
+
+    EvaporateProtocol:
+      type: Evaporate
+      goal:
+        vessel: vessel
+        pressure: pressure
+        temp: temp
+        time: time
+        stir_speed: stir_speed
+      feedback: {}
+      result: {}
+
+    FilterProtocol:
+      type: Filter
+      goal:
+        vessel: vessel
+        filtrate_vessel: filtrate_vessel
+        stir: stir
+        stir_speed: stir_speed
+        temp: temp
+        continue_heatchill: continue_heatchill
+        volume: volume
+      feedback: {}
+      result: {}
+
+    FilterThroughProtocol:
+      type: FilterThrough
+      goal:
+        from_vessel: from_vessel
+        to_vessel: to_vessel
+        filter_through: filter_through
+        eluting_solvent: eluting_solvent
+        eluting_volume: eluting_volume
+        eluting_repeats: eluting_repeats
+        residence_time: residence_time
+      feedback: {}
+      result: {}
+
+    HeatChillProtocol:
+      type: HeatChill
+      goal:
+        vessel: vessel
+        temp: temp
+        time: time
+        stir: stir
+        stir_speed: stir_speed
+        purpose: purpose
+      feedback: {}
+      result: {}
+
+    HeatChillStartProtocol:
+      type: HeatChillStart
+      goal:
+        vessel: vessel
+        temp: temp
+        purpose: purpose
+      feedback: {}
+      result: {}
+
+    HeatChillStopProtocol:
+      type: HeatChillStop
+      goal:
+        vessel: vessel
+      feedback: {}
+      result: {}
+
+    PumpTransferProtocol:
+      type: PumpTransfer
+      goal:
+        from_vessel: from_vessel
+        to_vessel: to_vessel
+        volume: volume
+        amount: amount
+        time: time
+        viscous: viscous
+        rinsing_solvent: rinsing_solvent
+        rinsing_volume: rinsing_volume
+        rinsing_repeats: rinsing_repeats
+        solid: solid
+      feedback: {}
+      result: {}
+
+    RunColumnProtocol:
+      type: RunColumn
+      goal:
+        from_vessel: from_vessel
+        to_vessel: to_vessel
+        column: column
+      feedback: {}
+      result: {}
+
+    SeparateProtocol:
+      type: Separate
+      goal:
+        purpose: purpose
+        product_phase: product_phase
+        from_vessel: from_vessel
+        separation_vessel: separation_vessel
+        to_vessel: to_vessel
+        waste_phase_to_vessel: waste_phase_to_vessel
+        solvent: solvent
+        solvent_volume: solvent_volume
+        through: through
+        repeats: repeats
+        stir_time: stir_time
+        stir_speed: stir_speed
+        settling_time: settling_time
+      feedback: {}
+      result: {}
+
+    StartStirProtocol:
+      type: StartStir
+      goal:
+        vessel: vessel
+        stir_speed: stir_speed
+        purpose: purpose
+      feedback: {}
+      result: {}
+
+    StirProtocol:
+      type: Stir
+      goal:
+        stir_time: stir_time
+        stir_speed: stir_speed
+        settling_time: settling_time
+      feedback: {}
+      result: {}
+
+    StopStirProtocol:
+      type: StopStir
+      goal:
+        vessel: vessel
+      feedback: {}
+      result: {}
+
+    TransferProtocol:
+      type: Transfer
+      goal:
+        from_vessel: from_vessel
+        to_vessel: to_vessel
+        volume: volume
+        amount: amount
+        time: time
+        viscous: viscous
+        rinsing_solvent: rinsing_solvent
+        rinsing_volume: rinsing_volume
+        rinsing_repeats: rinsing_repeats
+        solid: solid
+      feedback: {}
+      result: {}
+
+    WashSolidProtocol:
+      type: WashSolid
+      goal:
+        vessel: vessel
+        solvent: solvent
+        volume: volume
+        filtrate_vessel: filtrate_vessel
+        temp: temp
+        stir: stir
+        stir_speed: stir_speed
+        time: time
+        repeats: repeats
+      feedback: {}
+      result: {}