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Merge branch 'workstation_dev' into dev

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# Conflicts:
#	.conda/recipe.yaml
#	recipes/msgs/recipe.yaml
#	recipes/unilabos/recipe.yaml
#	setup.py
#	unilabos/registry/devices/work_station.yaml
#	unilabos/ros/nodes/base_device_node.py
#	unilabos/ros/nodes/presets/protocol_node.py
#	unilabos_msgs/package.xml
This commit is contained in:
Xuwznln
2025-09-19 19:52:53 +08:00
parent 67ca45a240 bdddbd57ba
commit 091c9fa247
35 changed files with 5734 additions and 110 deletions
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15
unilabos_msgs/action/DispenStationSolnPrep.action Normal file
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# Goal - （二胺）溶液配置
string order_name # 任务名称
string material_name #固体物料名称
string target_weigh #固体重量
string volume #液体体积
string liquid_material_name # 溶剂名称
string speed #磁力转动速度
string temperature #温度
string delay_time #等待时间
string hold_m_name #样品名称
---
# Result - 操作结果
string return_info # 结果消息
---
# Feedback - 实时反馈

29
unilabos_msgs/action/DispenStationVialFeed.action Normal file
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# Goal - 小瓶投料
string order_name # 任务名称
string percent_90_1_assign_material_name
string percent_90_1_target_weigh
string percent_90_2_assign_material_name
string percent_90_2_target_weigh
string percent_90_3_assign_material_name
string percent_90_3_target_weigh
string percent_10_1_assign_material_name
string percent_10_1_target_weigh
string percent_10_1_volume
string percent_10_1_liquid_material_name
string percent_10_2_assign_material_name
string percent_10_2_target_weigh
string percent_10_2_volume
string percent_10_2_liquid_material_name
string percent_10_3_assign_material_name
string percent_10_3_target_weigh
string percent_10_3_volume
string percent_10_3_liquid_material_name
string speed
string temperature
string delay_time
string hold_m_name
---
# Result - 操作结果
string return_info # 结果消息
---
# Feedback - 实时反馈

8
unilabos_msgs/action/PostProcessGrab.action Normal file
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# Goal - 抓取参数
int32 reaction_tank_number #反应罐号码
int32 raw_tank_number #原料罐号码
---
# Result - 操作结果
string return_info
---
# Feedback - 实时反馈

46
unilabos_msgs/action/PostProcessTriggerClean.action Normal file
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# Goal - 清洗参数
float64 nmp_outer_wall_cleaning_injection
int32 nmp_outer_wall_cleaning_count
int32 nmp_outer_wall_cleaning_wait_time
int32 nmp_outer_wall_cleaning_waste_time
float64 nmp_inner_wall_cleaning_injection
int32 nmp_inner_wall_cleaning_count
int32 nmp_pump_cleaning_suction_count
int32 nmp_inner_wall_cleaning_waste_time
float64 nmp_stirrer_cleaning_injection
int32 nmp_stirrer_cleaning_count
int32 nmp_stirrer_cleaning_wait_time
int32 nmp_stirrer_cleaning_waste_time
float64 water_outer_wall_cleaning_injection
int32 water_outer_wall_cleaning_count
int32 water_outer_wall_cleaning_wait_time
int32 water_outer_wall_cleaning_waste_time
float64 water_inner_wall_cleaning_injection
int32 water_inner_wall_cleaning_count
int32 water_pump_cleaning_suction_count
int32 water_inner_wall_cleaning_waste_time
float64 water_stirrer_cleaning_injection
int32 water_stirrer_cleaning_count
int32 water_stirrer_cleaning_wait_time
int32 water_stirrer_cleaning_waste_time
float64 acetone_outer_wall_cleaning_injection
int32 acetone_outer_wall_cleaning_count
int32 acetone_outer_wall_cleaning_wait_time
int32 acetone_outer_wall_cleaning_waste_time
float64 acetone_inner_wall_cleaning_injection
int32 acetone_inner_wall_cleaning_count
int32 acetone_pump_cleaning_suction_count
int32 acetone_inner_wall_cleaning_waste_time
float64 acetone_stirrer_cleaning_injection
int32 acetone_stirrer_cleaning_count
int32 acetone_stirrer_cleaning_wait_time
int32 acetone_stirrer_cleaning_waste_time
int32 pipe_blowing_time
int32 injection_pump_forward_empty_suction_count
int32 injection_pump_reverse_empty_suction_count
int32 filtration_liquid_selection
---
# Result - 操作结果
string return_info # 操作是否成功
---
# Feedback - 实时反馈

20
unilabos_msgs/action/PostProcessTriggerPostPro.action Normal file
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# Goal - 后处理参数
float64 atomization_fast_speed
float64 wash_slow_speed
int32 injection_pump_suction_speed
int32 injection_pump_push_speed
int32 raw_liquid_suction_count
float64 first_wash_water_amount
float64 second_wash_water_amount
int32 first_powder_mixing_tim
int32 second_powder_mixing_time
int32 first_powder_wash_count
int32 second_powder_wash_count
float64 initial_water_amount
int32 pre_filtration_mixing_time
int32 atomization_pressure_kpa
---
# Result - 操作结果
string return_info # 操作是否成功
---
# Feedback - 实时反馈

11
unilabos_msgs/action/ReactionStationDripBack.action Normal file
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# Goal - 滴回去
string volume # 投料体积
string assign_material_name # 溶剂名称
string time # 观察时间（单位min）
string torque_variation #是否观察1否2是
---
# Result - 操作结果
string return_info # 结果消息
---
# Feedback - 实时反馈

11
unilabos_msgs/action/ReactionStationLiquidFeed.action Normal file
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# Goal - 液体投料
string titration_type # 滴定类型1否2是
string volume # 投料体积
string assign_material_name # 溶剂名称
string time # 观察时间（单位min）
string torque_variation #是否观察1否2是
---
# Result - 操作结果
string return_info # 结果消息
---
# Feedback - 实时反馈

8
unilabos_msgs/action/ReactionStationProExecu.action Normal file
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# Goal - 合并工作流+执行
string workflow_name # 工作流名称
string task_name # 任务名称
---
# Result - 操作结果
string return_info # 结果消息
---
# Feedback - 实时反馈

9
unilabos_msgs/action/ReactionStationReaTackIn.action Normal file
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# Goal - 通量-配置
string cutoff # 黏度_通量-配置
string temperature # 温度_通量-配置
string assign_material_name # 分液类型_通量-配置
---
# Result - 操作结果
string return_info # 结果消息
---
# Feedback - 实时反馈

10
unilabos_msgs/action/ReactionStationSolidFeedVial.action Normal file
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# Goal - 固体投料-小瓶
string assign_material_name # 固体名称_粉末加样模块-投料
string material_id # 固体投料类型_粉末加样模块-投料
string time # 观察时间_反应模块-观察搅拌结果
string torque_variation #是否观察1否2是_反应模块-观察搅拌结果
---
# Result - 操作结果
string return_info # 结果消息
---
# Feedback - 实时反馈