mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 13:01:12 +00:00
Squash merge from dev
Update recipe.yaml fix: figure_resource use call_async in all service to avoid deadlock fix: prcxi import error 临时兼容错误的driver写法 fix protocol node fix filter protocol bugfixes on organic protocols fix and remove redundant info feat: 新增use_remote_resource参数 fix all protocol_compilers and remove deprecated devices feat: 优化protocol node节点运行日志 fix pumps and liquid_handler handle feat: workstation example add: prcxi res fix: startup slow fix: prcxi_res fix: discard_tips fix: discard_tips error fix: drop_tips not using auto resource select feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79) feat: add trace log level modify default discovery_interval to 15s fix: working dir error when input config path feat: report publish topic when error fix: workstation handlers and vessel_id parsing Cleanup registry to be easy-understanding (#76) * delete deprecated mock devices * rename categories * combine chromatographic devices * rename rviz simulation nodes * organic virtual devices * parse vessel_id * run registry completion before merge --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
This commit is contained in:
Junhan Chang
Xuwznln
@@ -2161,12 +2161,9 @@ virtual_multiway_valve:
|
||||
type: SendCmd
|
||||
module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve
|
||||
status_types:
|
||||
available_ports: dict
|
||||
available_positions: list
|
||||
current_port: str
|
||||
current_position: int
|
||||
flow_path: str
|
||||
info: dict
|
||||
status: str
|
||||
target_position: int
|
||||
valve_position: int
|
||||
@@ -2239,6 +2236,14 @@ virtual_multiway_valve:
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||||
io_type: source
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||||
label: '7'
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||||
side: WEST
|
||||
- data_key: fluid_port_8
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 八通阀门端口8-特殊输入
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||||
handler_key: '8'
|
||||
io_type: target
|
||||
label: '8'
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||||
side: WEST
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||||
- data_key: fluid_port_8
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data_source: executor
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||||
data_type: fluid
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||||
@@ -2261,18 +2266,12 @@ virtual_multiway_valve:
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
available_ports:
|
||||
type: object
|
||||
available_positions:
|
||||
type: array
|
||||
current_port:
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||||
type: string
|
||||
current_position:
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||||
type: integer
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||||
flow_path:
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||||
type: string
|
||||
info:
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||||
type: object
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||||
status:
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||||
type: string
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||||
target_position:
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||||
@@ -2288,532 +2287,7 @@ virtual_multiway_valve:
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- target_position
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||||
- current_port
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||||
- valve_position
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||||
- available_positions
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||||
- available_ports
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||||
- flow_path
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||||
- info
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||||
type: object
|
||||
version: 1.0.0
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||||
virtual_pump:
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||||
category:
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||||
- virtual_device
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||||
class:
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||||
action_value_mappings:
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||||
auto-clean_vessel:
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||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
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||||
repeats: 1
|
||||
solvent: null
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||||
temp: null
|
||||
vessel: null
|
||||
volume: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: clean_vessel的参数schema
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||||
properties:
|
||||
feedback: {}
|
||||
goal:
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||||
properties:
|
||||
repeats:
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||||
default: 1
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||||
type: integer
|
||||
solvent:
|
||||
type: string
|
||||
temp:
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||||
type: number
|
||||
vessel:
|
||||
type: string
|
||||
volume:
|
||||
type: number
|
||||
required:
|
||||
- vessel
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||||
- solvent
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||||
- volume
|
||||
- temp
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: clean_vessel参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-cleanup:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: cleanup参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-initialize:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
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||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
set_valve_position:
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||||
feedback:
|
||||
status: status
|
||||
goal:
|
||||
float_in: valve_position
|
||||
goal_default:
|
||||
float_in: 0.0
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: FloatSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
float_in:
|
||||
type: number
|
||||
required:
|
||||
- float_in
|
||||
title: FloatSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: FloatSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: FloatSingleInput
|
||||
type: object
|
||||
type: FloatSingleInput
|
||||
transfer:
|
||||
feedback:
|
||||
status: status
|
||||
goal:
|
||||
amount: amount
|
||||
from_vessel: from_vessel
|
||||
rinsing_repeats: rinsing_repeats
|
||||
rinsing_solvent: rinsing_solvent
|
||||
rinsing_volume: rinsing_volume
|
||||
solid: solid
|
||||
time: time
|
||||
to_vessel: to_vessel
|
||||
viscous: viscous
|
||||
volume: volume
|
||||
goal_default:
|
||||
amount: ''
|
||||
event: ''
|
||||
flowrate: 0.0
|
||||
from_vessel:
|
||||
category: ''
|
||||
children: []
|
||||
config: ''
|
||||
data: ''
|
||||
id: ''
|
||||
name: ''
|
||||
parent: ''
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
rate_spec: ''
|
||||
rinsing_repeats: 0
|
||||
rinsing_solvent: ''
|
||||
rinsing_volume: 0.0
|
||||
solid: false
|
||||
through: ''
|
||||
time: 0.0
|
||||
to_vessel:
|
||||
category: ''
|
||||
children: []
|
||||
config: ''
|
||||
data: ''
|
||||
id: ''
|
||||
name: ''
|
||||
parent: ''
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
transfer_flowrate: 0.0
|
||||
viscous: false
|
||||
volume: 0.0
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
current_device:
|
||||
type: string
|
||||
status:
|
||||
type: string
|
||||
time_remaining:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
time_spent:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
- current_device
|
||||
- time_spent
|
||||
- time_remaining
|
||||
title: PumpTransfer_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
amount:
|
||||
type: string
|
||||
event:
|
||||
type: string
|
||||
flowrate:
|
||||
type: number
|
||||
from_vessel:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
type: object
|
||||
rate_spec:
|
||||
type: string
|
||||
rinsing_repeats:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
rinsing_solvent:
|
||||
type: string
|
||||
rinsing_volume:
|
||||
type: number
|
||||
solid:
|
||||
type: boolean
|
||||
through:
|
||||
type: string
|
||||
time:
|
||||
type: number
|
||||
to_vessel:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
type: object
|
||||
transfer_flowrate:
|
||||
type: number
|
||||
viscous:
|
||||
type: boolean
|
||||
volume:
|
||||
type: number
|
||||
required:
|
||||
- from_vessel
|
||||
- to_vessel
|
||||
- volume
|
||||
- amount
|
||||
- time
|
||||
- viscous
|
||||
- rinsing_solvent
|
||||
- rinsing_volume
|
||||
- rinsing_repeats
|
||||
- solid
|
||||
- flowrate
|
||||
- transfer_flowrate
|
||||
- rate_spec
|
||||
- event
|
||||
- through
|
||||
title: PumpTransfer_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: PumpTransfer_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: PumpTransfer
|
||||
type: object
|
||||
type: PumpTransfer
|
||||
module: unilabos.devices.virtual.virtual_pump:VirtualPump
|
||||
status_types:
|
||||
current_status: str
|
||||
current_volume: float
|
||||
from_vessel: str
|
||||
max_volume: float
|
||||
progress: float
|
||||
status: str
|
||||
to_vessel: str
|
||||
transfer_rate: float
|
||||
transferred_volume: float
|
||||
valve_position: int
|
||||
type: python
|
||||
config_info: []
|
||||
description: Virtual Pump for PumpTransferProtocol Testing
|
||||
handles:
|
||||
- data_key: fluid_in
|
||||
data_source: handle
|
||||
data_type: fluid
|
||||
description: 泵的输出口
|
||||
handler_key: pumpio
|
||||
io_type: source
|
||||
label: pumpio
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: object
|
||||
device_id:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
current_status:
|
||||
type: string
|
||||
current_volume:
|
||||
type: number
|
||||
from_vessel:
|
||||
type: string
|
||||
max_volume:
|
||||
type: number
|
||||
progress:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
to_vessel:
|
||||
type: string
|
||||
transfer_rate:
|
||||
type: number
|
||||
transferred_volume:
|
||||
type: number
|
||||
valve_position:
|
||||
type: integer
|
||||
required:
|
||||
- status
|
||||
- valve_position
|
||||
- current_volume
|
||||
- max_volume
|
||||
- transfer_rate
|
||||
- from_vessel
|
||||
- to_vessel
|
||||
- progress
|
||||
- transferred_volume
|
||||
- current_status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_rotavap:
|
||||
@@ -3983,14 +3457,6 @@ virtual_separator:
|
||||
io_type: source
|
||||
label: bottom_phase_out
|
||||
side: SOUTH
|
||||
- data_key: top_outlet
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 上相（轻相）液体输出口
|
||||
handler_key: topphaseout
|
||||
io_type: source
|
||||
label: top_phase_out
|
||||
side: EAST
|
||||
- data_key: mechanical_port
|
||||
data_source: handle
|
||||
data_type: mechanical
|
||||
@@ -4301,7 +3767,6 @@ virtual_solenoid_valve:
|
||||
module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve
|
||||
status_types:
|
||||
is_open: bool
|
||||
state: dict
|
||||
status: str
|
||||
valve_position: str
|
||||
valve_state: str
|
||||
@@ -4339,8 +3804,6 @@ virtual_solenoid_valve:
|
||||
properties:
|
||||
is_open:
|
||||
type: boolean
|
||||
state:
|
||||
type: object
|
||||
status:
|
||||
type: string
|
||||
valve_position:
|
||||
@@ -4352,7 +3815,6 @@ virtual_solenoid_valve:
|
||||
- valve_state
|
||||
- is_open
|
||||
- valve_position
|
||||
- state
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_solid_dispenser:
|
||||
@@ -4683,7 +4145,6 @@ virtual_solid_dispenser:
|
||||
module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
|
||||
status_types:
|
||||
current_reagent: str
|
||||
device_info: dict
|
||||
dispensed_amount: float
|
||||
status: str
|
||||
total_operations: int
|
||||
@@ -4722,8 +4183,6 @@ virtual_solid_dispenser:
|
||||
properties:
|
||||
current_reagent:
|
||||
type: string
|
||||
device_info:
|
||||
type: object
|
||||
dispensed_amount:
|
||||
type: number
|
||||
status:
|
||||
@@ -4735,7 +4194,6 @@ virtual_solid_dispenser:
|
||||
- current_reagent
|
||||
- dispensed_amount
|
||||
- total_operations
|
||||
- device_info
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_stirrer:
|
||||
@@ -5246,7 +4704,6 @@ virtual_stirrer:
|
||||
status_types:
|
||||
current_speed: float
|
||||
current_vessel: str
|
||||
device_info: dict
|
||||
is_stirring: bool
|
||||
max_speed: float
|
||||
min_speed: float
|
||||
@@ -5281,8 +4738,6 @@ virtual_stirrer:
|
||||
type: number
|
||||
current_vessel:
|
||||
type: string
|
||||
device_info:
|
||||
type: object
|
||||
is_stirring:
|
||||
type: boolean
|
||||
max_speed:
|
||||
@@ -5304,7 +4759,6 @@ virtual_stirrer:
|
||||
- remaining_time
|
||||
- max_speed
|
||||
- min_speed
|
||||
- device_info
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_transfer_pump:
|
||||
@@ -5761,7 +5215,6 @@ virtual_transfer_pump:
|
||||
current_volume: float
|
||||
max_velocity: float
|
||||
position: float
|
||||
pump_info: dict
|
||||
remaining_capacity: float
|
||||
status: str
|
||||
transfer_rate: float
|
||||
@@ -5795,8 +5248,6 @@ virtual_transfer_pump:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
pump_info:
|
||||
type: object
|
||||
remaining_capacity:
|
||||
type: number
|
||||
status:
|
||||
@@ -5810,7 +5261,6 @@ virtual_transfer_pump:
|
||||
- max_velocity
|
||||
- transfer_rate
|
||||
- remaining_capacity
|
||||
- pump_info
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_vacuum_pump:
|
||||
|
||||
Reference in New Issue
Block a user