diff --git a/.conda/base/recipe.yaml b/.conda/base/recipe.yaml index cec00e2..3c5bb88 100644 --- a/.conda/base/recipe.yaml +++ b/.conda/base/recipe.yaml @@ -41,7 +41,6 @@ requirements: - networkx - typing_extensions - websockets - - opentrons_shared_data - pint - fastapi - jinja2 diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index 71eb96d..7e3aaeb 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -9743,7 +9743,34 @@ liquid_handler.prcxi: touch_tip: false use_channels: - 0 - handles: {} + handles: + input: + - data_key: sources + data_source: handle + data_type: resource + handler_key: sources_identifier + label: 待移动液体 + - data_key: targets + data_source: handle + data_type: resource + handler_key: targets_identifier + label: 转移目标 + - data_key: tip_rack + data_source: handle + data_type: resource + handler_key: tip_rack_identifier + label: 墙头盒 + output: + - data_key: liquid + data_source: handle + data_type: resource + handler_key: sources_out + label: sources + - data_key: liquid + data_source: executor + data_type: resource + handler_key: targets_out + label: targets placeholder_keys: sources: unilabos_resources targets: unilabos_resources diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml index b1b1ab6..c38655c 100644 --- a/unilabos/registry/devices/virtual_device.yaml +++ b/unilabos/registry/devices/virtual_device.yaml @@ -1,3 +1,5797 @@ +virtual_centrifuge: + category: + - virtual_device + class: + action_value_mappings: + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + 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: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + centrifuge: + feedback: + current_speed: current_speed + current_status: status + current_temp: current_temp + progress: progress + goal: + speed: speed + temp: temp + time: time + vessel: vessel + goal_default: + speed: 0.0 + temp: 0.0 + time: 0.0 + 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: '' + handles: {} + result: + message: message + success: success + schema: + description: '' + properties: + feedback: + properties: + current_speed: + type: number + current_status: + type: string + current_temp: + type: number + progress: + type: number + required: + - progress + - current_speed + - current_temp + - current_status + title: Centrifuge_Feedback + type: object + goal: + properties: + speed: + type: number + temp: + type: number + time: + type: number + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: vessel + type: object + required: + - vessel + - speed + - time + - temp + title: Centrifuge_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Centrifuge_Result + type: object + required: + - goal + title: Centrifuge + type: object + type: Centrifuge + module: unilabos.devices.virtual.virtual_centrifuge:VirtualCentrifuge + status_types: + centrifuge_state: str + current_speed: float + current_temp: float + max_speed: float + max_temp: float + message: str + min_temp: float + progress: float + status: str + target_speed: float + target_temp: float + time_remaining: float + type: python + config_info: [] + description: Virtual Centrifuge for CentrifugeProtocol Testing + handles: + - data_key: vessel + data_source: handle + data_type: transport + description: 需要离心的样品容器 + handler_key: centrifuge + io_type: target + label: centrifuge + side: NORTH + icon: '' + init_param_schema: + config: + properties: + config: + type: string + device_id: + type: string + required: [] + type: object + data: + properties: + centrifuge_state: + type: string + current_speed: + type: number + current_temp: + type: number + max_speed: + type: number + max_temp: + type: number + message: + type: string + min_temp: + type: number + progress: + type: number + status: + type: string + target_speed: + type: number + target_temp: + type: number + time_remaining: + type: number + required: + - status + - centrifuge_state + - current_speed + - target_speed + - current_temp + - target_temp + - max_speed + - max_temp + - min_temp + - time_remaining + - progress + - message + type: object + version: 1.0.0 +virtual_column: + category: + - virtual_device + class: + action_value_mappings: + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + 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: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + run_column: + feedback: + current_status: current_status + processed_volume: processed_volume + progress: progress + goal: + column: column + from_vessel: from_vessel + to_vessel: to_vessel + goal_default: + column: '' + 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: '' + pct1: '' + pct2: '' + ratio: '' + rf: '' + solvent1: '' + solvent2: '' + 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: '' + handles: {} + result: + message: current_status + return_info: current_status + success: success + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: RunColumn_Feedback + type: object + goal: + properties: + column: + type: string + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: from_vessel + type: object + pct1: + type: string + pct2: + type: string + ratio: + type: string + rf: + type: string + solvent1: + type: string + solvent2: + type: string + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: to_vessel + type: object + required: + - from_vessel + - to_vessel + - column + - rf + - pct1 + - pct2 + - solvent1 + - solvent2 + - ratio + title: RunColumn_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: RunColumn_Result + type: object + required: + - goal + title: RunColumn + type: object + type: RunColumn + module: unilabos.devices.virtual.virtual_column:VirtualColumn + status_types: + column_diameter: float + column_length: float + column_state: str + current_flow_rate: float + current_phase: str + current_status: str + final_volume: float + max_flow_rate: float + processed_volume: float + progress: float + status: str + type: python + config_info: [] + description: Virtual Column Chromatography Device for RunColumn Protocol Testing + handles: + - data_key: from_vessel + data_source: handle + data_type: transport + description: 样品输入口 + handler_key: columnin + io_type: target + label: columnin + side: WEST + - data_key: to_vessel + data_source: handle + data_type: transport + description: 产物输出口 + handler_key: columnout + io_type: source + label: columnout + side: EAST + icon: '' + init_param_schema: + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + column_diameter: + type: number + column_length: + type: number + column_state: + type: string + current_flow_rate: + type: number + current_phase: + type: string + current_status: + type: string + final_volume: + type: number + max_flow_rate: + type: number + processed_volume: + type: number + progress: + type: number + status: + type: string + required: + - status + - column_state + - current_flow_rate + - max_flow_rate + - column_length + - column_diameter + - processed_volume + - progress + - current_status + - current_phase + - final_volume + type: object + version: 1.0.0 +virtual_filter: + category: + - virtual_device + class: + action_value_mappings: + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + 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: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + filter: + feedback: + current_status: current_status + current_temp: current_temp + filtered_volume: filtered_volume + progress: progress + goal: + continue_heatchill: continue_heatchill + filtrate_vessel: filtrate_vessel + stir: stir + stir_speed: stir_speed + temp: temp + vessel: vessel + volume: volume + goal_default: + continue_heatchill: false + filtrate_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: '' + stir: false + stir_speed: 0.0 + temp: 0.0 + 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: '' + volume: 0.0 + handles: {} + result: + message: message + return_info: message + success: success + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + current_temp: + type: number + filtered_volume: + type: number + progress: + type: number + required: + - progress + - current_temp + - filtered_volume + - current_status + title: Filter_Feedback + type: object + goal: + properties: + continue_heatchill: + type: boolean + filtrate_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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: filtrate_vessel + type: object + stir: + type: boolean + stir_speed: + type: number + temp: + type: number + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: vessel + type: object + volume: + type: number + required: + - vessel + - filtrate_vessel + - stir + - stir_speed + - temp + - continue_heatchill + - volume + title: Filter_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Filter_Result + type: object + required: + - goal + title: Filter + type: object + type: Filter + module: unilabos.devices.virtual.virtual_filter:VirtualFilter + status_types: + current_status: str + current_temp: float + filtered_volume: float + max_stir_speed: float + max_temp: float + max_volume: float + message: str + progress: float + status: str + type: python + config_info: [] + description: Virtual Filter for FilterProtocol Testing + handles: + - data_key: vessel_in + data_source: handle + data_type: transport + description: 需要过滤的样品容器 + handler_key: filterin + io_type: target + label: filter_in + side: NORTH + - data_key: filtrate_out + data_source: handle + data_type: transport + description: 滤液出口 + handler_key: filtrateout + io_type: source + label: filtrate_out + side: SOUTH + - data_key: retentate_out + data_source: handle + data_type: transport + description: 滤渣/固体出口 + handler_key: retentateout + io_type: source + label: retentate_out + side: EAST + icon: '' + init_param_schema: + config: + properties: + config: + type: string + device_id: + type: string + required: [] + type: object + data: + properties: + current_status: + type: string + current_temp: + type: number + filtered_volume: + type: number + max_stir_speed: + type: number + max_temp: + type: number + max_volume: + type: number + message: + type: string + progress: + type: number + status: + type: string + required: + - status + - progress + - current_temp + - current_status + - filtered_volume + - message + - max_temp + - max_stir_speed + - max_volume + type: object + version: 1.0.0 +virtual_gas_source: + category: + - virtual_device + class: + action_value_mappings: + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + 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: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-is_closed: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: is_closed的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: is_closed参数 + type: object + type: UniLabJsonCommand + auto-is_open: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: is_open的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: is_open参数 + type: object + type: UniLabJsonCommand + close: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: EmptyIn_Feedback + type: object + goal: + properties: {} + required: [] + title: EmptyIn_Goal + type: object + result: + properties: + return_info: + type: string + required: + - return_info + title: EmptyIn_Result + type: object + required: + - goal + title: EmptyIn + type: object + type: EmptyIn + open: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: EmptyIn_Feedback + type: object + goal: + properties: {} + required: [] + title: EmptyIn_Goal + type: object + result: + properties: + return_info: + type: string + required: + - return_info + title: EmptyIn_Result + type: object + required: + - goal + title: EmptyIn + type: object + type: EmptyIn + set_status: + feedback: {} + goal: + string: string + goal_default: + string: '' + handles: {} + result: {} + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: StrSingleInput_Feedback + type: object + goal: + properties: + string: + type: string + required: + - string + title: StrSingleInput_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: StrSingleInput_Result + type: object + required: + - goal + title: StrSingleInput + type: object + type: StrSingleInput + module: unilabos.devices.virtual.virtual_gas_source:VirtualGasSource + status_types: + status: str + type: python + config_info: [] + description: Virtual gas source + handles: + - data_key: fluid_out + data_source: executor + data_type: fluid + description: 气源出气口 + handler_key: gassource + io_type: source + label: gassource + side: SOUTH + icon: '' + init_param_schema: + config: + properties: + config: + type: string + device_id: + type: string + required: [] + type: object + data: + properties: + status: + type: string + required: + - status + type: object + version: 1.0.0 +virtual_heatchill: + category: + - virtual_device + class: + action_value_mappings: + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + 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: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + heat_chill: + feedback: + status: status + goal: + purpose: purpose + stir: stir + stir_speed: stir_speed + temp: temp + time: time + vessel: vessel + goal_default: + pressure: '' + purpose: '' + reflux_solvent: '' + stir: false + stir_speed: 0.0 + temp: 0.0 + temp_spec: '' + time: '' + time_spec: '' + 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: '' + handles: {} + result: + success: success + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: HeatChill_Feedback + type: object + goal: + properties: + pressure: + type: string + purpose: + type: string + reflux_solvent: + type: string + stir: + type: boolean + stir_speed: + type: number + temp: + type: number + temp_spec: + type: string + time: + type: string + time_spec: + type: string + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: vessel + type: object + required: + - vessel + - temp + - time + - temp_spec + - time_spec + - pressure + - reflux_solvent + - stir + - stir_speed + - purpose + title: HeatChill_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: HeatChill_Result + type: object + required: + - goal + title: HeatChill + type: object + type: HeatChill + heat_chill_start: + feedback: + status: status + goal: + purpose: purpose + temp: temp + vessel: vessel + goal_default: + purpose: '' + temp: 0.0 + 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: '' + handles: {} + result: + success: success + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: HeatChillStart_Feedback + type: object + goal: + properties: + purpose: + type: string + temp: + type: number + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: vessel + type: object + required: + - vessel + - temp + - purpose + title: HeatChillStart_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: HeatChillStart_Result + type: object + required: + - goal + title: HeatChillStart + type: object + type: HeatChillStart + heat_chill_stop: + feedback: + status: status + goal: + vessel: vessel + goal_default: + 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: '' + handles: {} + result: + success: success + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: HeatChillStop_Feedback + type: object + goal: + properties: + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: vessel + type: object + required: + - vessel + title: HeatChillStop_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: HeatChillStop_Result + type: object + required: + - goal + title: HeatChillStop + type: object + type: HeatChillStop + module: unilabos.devices.virtual.virtual_heatchill:VirtualHeatChill + status_types: + is_stirring: bool + max_stir_speed: float + max_temp: float + min_temp: float + operation_mode: str + progress: float + remaining_time: float + status: str + stir_speed: float + type: python + config_info: [] + description: Virtual HeatChill for HeatChillProtocol Testing + handles: + - data_key: vessel + data_source: handle + data_type: mechanical + description: 加热/冷却器的物理连接口 + handler_key: heatchill + io_type: source + label: heatchill + side: NORTH + icon: Heater.webp + init_param_schema: + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + is_stirring: + type: boolean + max_stir_speed: + type: number + max_temp: + type: number + min_temp: + type: number + operation_mode: + type: string + progress: + type: number + remaining_time: + type: number + status: + type: string + stir_speed: + type: number + required: + - status + - operation_mode + - is_stirring + - stir_speed + - remaining_time + - progress + - max_temp + - min_temp + - max_stir_speed + type: object + version: 1.0.0 +virtual_multiway_valve: + category: + - virtual_device + class: + action_value_mappings: + auto-close: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: close的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: close参数 + type: object + type: UniLabJsonCommand + auto-is_at_port: + feedback: {} + goal: {} + goal_default: + port_number: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: is_at_port的参数schema + properties: + feedback: {} + goal: + properties: + port_number: + type: integer + required: + - port_number + type: object + result: {} + required: + - goal + title: is_at_port参数 + type: object + type: UniLabJsonCommand + auto-is_at_position: + feedback: {} + goal: {} + goal_default: + position: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: is_at_position的参数schema + properties: + feedback: {} + goal: + properties: + position: + type: integer + required: + - position + type: object + result: {} + required: + - goal + title: is_at_position参数 + type: object + type: UniLabJsonCommand + auto-is_at_pump_position: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: is_at_pump_position的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: is_at_pump_position参数 + type: object + type: UniLabJsonCommand + auto-open: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: open参数 + type: object + type: UniLabJsonCommand + auto-reset: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: reset的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: reset参数 + type: object + type: UniLabJsonCommand + auto-set_to_port: + feedback: {} + goal: {} + goal_default: + port_number: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: set_to_port的参数schema + properties: + feedback: {} + goal: + properties: + port_number: + type: integer + required: + - port_number + type: object + result: {} + required: + - goal + title: set_to_port参数 + type: object + type: UniLabJsonCommand + auto-set_to_pump_position: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: set_to_pump_position的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: set_to_pump_position参数 + type: object + type: UniLabJsonCommand + auto-switch_between_pump_and_port: + feedback: {} + goal: {} + goal_default: + port_number: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: switch_between_pump_and_port的参数schema + properties: + feedback: {} + goal: + properties: + port_number: + type: integer + required: + - port_number + type: object + result: {} + required: + - goal + title: switch_between_pump_and_port参数 + type: object + type: UniLabJsonCommand + set_position: + feedback: {} + goal: + command: command + goal_default: + command: '' + handles: {} + result: + success: success + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: SendCmd_Feedback + type: object + goal: + properties: + command: + type: string + required: + - command + title: SendCmd_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: SendCmd_Result + type: object + required: + - goal + title: SendCmd + type: object + type: SendCmd + set_valve_position: + feedback: {} + goal: + command: command + goal_default: + command: '' + handles: {} + result: + success: success + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: SendCmd_Feedback + type: object + goal: + properties: + command: + type: string + required: + - command + title: SendCmd_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: SendCmd_Result + type: object + required: + - goal + title: SendCmd + type: object + type: SendCmd + module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve + status_types: + current_port: str + current_position: int + flow_path: str + status: str + target_position: int + valve_position: int + valve_state: str + type: python + config_info: [] + description: Virtual 8-Way Valve for flow direction control + handles: + - data_key: fluid_in + data_source: handle + data_type: fluid + description: 八通阀门进液口 + handler_key: transferpump + io_type: target + label: transferpump + side: NORTH + - data_key: fluid_port_1 + data_source: executor + data_type: fluid + description: 八通阀门端口1 + handler_key: '1' + io_type: source + label: '1' + side: NORTH + - data_key: fluid_port_2 + data_source: executor + data_type: fluid + description: 八通阀门端口2 + handler_key: '2' + io_type: source + label: '2' + side: EAST + - data_key: fluid_port_3 + data_source: executor + data_type: fluid + description: 八通阀门端口3 + handler_key: '3' + io_type: source + label: '3' + side: EAST + - data_key: fluid_port_4 + data_source: executor + data_type: fluid + description: 八通阀门端口4 + handler_key: '4' + io_type: source + label: '4' + side: SOUTH + - data_key: fluid_port_5 + data_source: executor + data_type: fluid + description: 八通阀门端口5 + handler_key: '5' + io_type: source + label: '5' + side: SOUTH + - data_key: fluid_port_6 + data_source: executor + data_type: fluid + description: 八通阀门端口6 + handler_key: '6' + io_type: source + label: '6' + side: WEST + - data_key: fluid_port_7 + data_source: executor + data_type: fluid + description: 八通阀门端口7 + handler_key: '7' + io_type: source + label: '7' + 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 + handler_key: '8' + io_type: target + label: '8' + side: WEST + - data_key: fluid_port_8 + data_source: executor + data_type: fluid + description: 八通阀门端口8 + handler_key: '8' + io_type: source + label: '8' + side: NORTH + icon: EightPipeline.webp + init_param_schema: + config: + properties: + port: + default: VIRTUAL + type: string + positions: + default: 8 + type: integer + required: [] + type: object + data: + properties: + current_port: + type: string + current_position: + type: integer + flow_path: + type: string + status: + type: string + target_position: + type: integer + valve_position: + type: integer + valve_state: + type: string + required: + - status + - valve_state + - current_position + - target_position + - current_port + - valve_position + - flow_path + type: object + version: 1.0.0 +virtual_rotavap: + category: + - virtual_device + class: + action_value_mappings: + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + 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: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + evaporate: + feedback: + current_device: current_device + status: status + goal: + pressure: pressure + stir_speed: stir_speed + temp: temp + time: time + vessel: vessel + goal_default: + pressure: 0.0 + solvent: '' + stir_speed: 0.0 + temp: 0.0 + time: '' + 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: '' + handles: {} + result: + message: message + 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: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: Evaporate_Feedback + type: object + goal: + properties: + pressure: + type: number + solvent: + type: string + stir_speed: + type: number + temp: + type: number + time: + type: string + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: vessel + type: object + required: + - vessel + - pressure + - temp + - time + - stir_speed + - solvent + title: Evaporate_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: Evaporate_Result + type: object + required: + - goal + title: Evaporate + type: object + type: Evaporate + module: unilabos.devices.virtual.virtual_rotavap:VirtualRotavap + status_types: + current_temp: float + evaporated_volume: float + max_rotation_speed: float + max_temp: float + message: str + progress: float + remaining_time: float + rotation_speed: float + rotavap_state: str + status: str + vacuum_pressure: float + type: python + config_info: [] + description: Virtual Rotary Evaporator for EvaporateProtocol Testing + handles: + - data_key: vessel_in + data_source: handle + data_type: fluid + description: 样品连接口 + handler_key: samplein + io_type: target + label: sample_in + side: NORTH + - data_key: product_out + data_source: handle + data_type: fluid + description: 浓缩产物出口 + handler_key: productout + io_type: source + label: product_out + side: SOUTH + - data_key: solvent_out + data_source: handle + data_type: fluid + description: 冷凝溶剂出口 + handler_key: solventout + io_type: source + label: solvent_out + side: EAST + icon: Rotaryevaporator.webp + init_param_schema: + config: + properties: + config: + type: string + device_id: + type: string + required: [] + type: object + data: + properties: + current_temp: + type: number + evaporated_volume: + type: number + max_rotation_speed: + type: number + max_temp: + type: number + message: + type: string + progress: + type: number + remaining_time: + type: number + rotation_speed: + type: number + rotavap_state: + type: string + status: + type: string + vacuum_pressure: + type: number + required: + - status + - rotavap_state + - current_temp + - rotation_speed + - vacuum_pressure + - evaporated_volume + - progress + - message + - max_temp + - max_rotation_speed + - remaining_time + type: object + version: 1.0.0 +virtual_separator: + category: + - virtual_device + class: + action_value_mappings: + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + 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: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + separate: + feedback: + current_status: status + progress: progress + goal: + from_vessel: from_vessel + product_phase: product_phase + purpose: purpose + repeats: repeats + separation_vessel: separation_vessel + settling_time: settling_time + solvent: solvent + solvent_volume: solvent_volume + stir_speed: stir_speed + stir_time: stir_time + through: through + to_vessel: to_vessel + waste_phase_to_vessel: waste_phase_to_vessel + goal_default: + 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: '' + product_phase: '' + product_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: '' + purpose: '' + repeats: 0 + separation_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: '' + settling_time: 0.0 + solvent: '' + solvent_volume: '' + stir_speed: 0.0 + stir_time: 0.0 + through: '' + 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: '' + 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: '' + volume: '' + waste_phase_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: '' + waste_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: '' + handles: {} + result: + message: message + success: success + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Separate_Feedback + type: object + goal: + properties: + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: from_vessel + type: object + product_phase: + type: string + product_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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: product_vessel + type: object + purpose: + type: string + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + separation_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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: separation_vessel + type: object + settling_time: + type: number + solvent: + type: string + solvent_volume: + type: string + stir_speed: + type: number + stir_time: + type: number + through: + type: string + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: to_vessel + type: object + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: vessel + type: object + volume: + type: string + waste_phase_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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: waste_phase_to_vessel + type: object + waste_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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: waste_vessel + type: object + required: + - vessel + - purpose + - product_phase + - from_vessel + - separation_vessel + - to_vessel + - waste_phase_to_vessel + - product_vessel + - waste_vessel + - solvent + - solvent_volume + - volume + - through + - repeats + - stir_time + - stir_speed + - settling_time + title: Separate_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Separate_Result + type: object + required: + - goal + title: Separate + type: object + type: Separate + module: unilabos.devices.virtual.virtual_separator:VirtualSeparator + status_types: + has_phases: bool + message: str + phase_separation: bool + progress: float + separator_state: str + settling_time: float + status: str + stir_speed: float + volume: float + type: python + config_info: [] + description: Virtual Separator for SeparateProtocol Testing + handles: + - data_key: from_vessel + data_source: handle + data_type: fluid + description: 需要分离的混合液体输入口 + handler_key: separatorin + io_type: target + label: separator_in + side: NORTH + - data_key: bottom_outlet + data_source: executor + data_type: fluid + description: 下相（重相）液体输出口 + handler_key: bottomphaseout + io_type: source + label: bottom_phase_out + side: SOUTH + - data_key: mechanical_port + data_source: handle + data_type: mechanical + description: 用于连接搅拌器等机械设备的接口 + handler_key: bind + io_type: target + label: bind + side: WEST + icon: Separator.webp + init_param_schema: + config: + properties: + config: + type: string + device_id: + type: string + required: [] + type: object + data: + properties: + has_phases: + type: boolean + message: + type: string + phase_separation: + type: boolean + progress: + type: number + separator_state: + type: string + settling_time: + type: number + status: + type: string + stir_speed: + type: number + volume: + type: number + required: + - status + - separator_state + - volume + - has_phases + - phase_separation + - stir_speed + - settling_time + - progress + - message + type: object + version: 1.0.0 +virtual_solenoid_valve: + category: + - virtual_device + class: + action_value_mappings: + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + 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: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-is_closed: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: is_closed的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: is_closed参数 + type: object + type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + auto-reset: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: reset的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: reset参数 + type: object + type: UniLabJsonCommandAsync + auto-toggle: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: toggle的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: toggle参数 + type: object + type: UniLabJsonCommand + close: + feedback: {} + goal: + command: CLOSED + goal_default: {} + handles: {} + result: + success: success + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: EmptyIn_Feedback + type: object + goal: + properties: {} + required: [] + title: EmptyIn_Goal + type: object + result: + properties: + return_info: + type: string + required: + - return_info + title: EmptyIn_Result + type: object + required: + - goal + title: EmptyIn + type: object + type: EmptyIn + open: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: EmptyIn_Feedback + type: object + goal: + properties: {} + required: [] + title: EmptyIn_Goal + type: object + result: + properties: + return_info: + type: string + required: + - return_info + title: EmptyIn_Result + type: object + required: + - goal + title: EmptyIn + type: object + type: EmptyIn + set_status: + feedback: {} + goal: + string: string + goal_default: + string: '' + handles: {} + result: {} + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: StrSingleInput_Feedback + type: object + goal: + properties: + string: + type: string + required: + - string + title: StrSingleInput_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: StrSingleInput_Result + type: object + required: + - goal + title: StrSingleInput + type: object + type: StrSingleInput + set_valve_position: + feedback: {} + goal: + command: command + goal_default: + command: '' + handles: {} + result: + message: message + success: success + valve_position: valve_position + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: SendCmd_Feedback + type: object + goal: + properties: + command: + type: string + required: + - command + title: SendCmd_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: SendCmd_Result + type: object + required: + - goal + title: SendCmd + type: object + type: SendCmd + module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve + status_types: + is_open: bool + status: str + valve_position: str + valve_state: str + type: python + config_info: [] + description: Virtual Solenoid Valve for simple on/off flow control + handles: + - data_key: fluid_port_in + data_source: handle + data_type: fluid + description: 电磁阀的进液口 + handler_key: in + io_type: target + label: in + side: NORTH + - data_key: fluid_port_out + data_source: handle + data_type: fluid + description: 电磁阀的出液口 + handler_key: out + io_type: source + label: out + side: SOUTH + icon: '' + init_param_schema: + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + is_open: + type: boolean + status: + type: string + valve_position: + type: string + valve_state: + type: string + required: + - status + - valve_state + - is_open + - valve_position + type: object + version: 1.0.0 +virtual_solid_dispenser: + category: + - virtual_device + class: + action_value_mappings: + add_solid: + feedback: + current_status: status + progress: progress + goal: + equiv: equiv + event: event + mass: mass + mol: mol + purpose: purpose + rate_spec: rate_spec + ratio: ratio + reagent: reagent + vessel: vessel + goal_default: + amount: '' + equiv: '' + event: '' + mass: '' + mol: '' + purpose: '' + rate_spec: '' + ratio: '' + reagent: '' + stir: false + stir_speed: 0.0 + time: '' + 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: '' + viscous: false + volume: '' + handles: {} + result: + message: message + return_info: return_info + success: success + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + required: + - progress + - current_status + title: Add_Feedback + type: object + goal: + properties: + amount: + type: string + equiv: + type: string + event: + type: string + mass: + type: string + mol: + type: string + purpose: + type: string + rate_spec: + type: string + ratio: + type: string + reagent: + type: string + stir: + type: boolean + stir_speed: + type: number + time: + type: string + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: vessel + type: object + viscous: + type: boolean + volume: + type: string + required: + - vessel + - reagent + - volume + - mass + - amount + - time + - stir + - stir_speed + - viscous + - purpose + - event + - mol + - rate_spec + - equiv + - ratio + title: Add_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Add_Result + type: object + required: + - goal + title: Add + type: object + type: Add + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + 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-find_solid_reagent_bottle: + feedback: {} + goal: {} + goal_default: + reagent_name: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + reagent_name: + type: string + required: + - reagent_name + type: object + result: {} + required: + - goal + title: find_solid_reagent_bottle参数 + type: object + type: UniLabJsonCommand + auto-initialize: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-parse_mass_string: + feedback: {} + goal: {} + goal_default: + mass_str: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + mass_str: + type: string + required: + - mass_str + type: object + result: {} + required: + - goal + title: parse_mass_string参数 + type: object + type: UniLabJsonCommand + auto-parse_mol_string: + feedback: {} + goal: {} + goal_default: + mol_str: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + mol_str: + type: string + required: + - mol_str + type: object + result: {} + required: + - goal + title: parse_mol_string参数 + type: object + type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser + status_types: + current_reagent: str + dispensed_amount: float + status: str + total_operations: int + type: python + config_info: [] + description: Virtual Solid Dispenser for Add Protocol Testing - supports mass and + molar additions + handles: + - data_key: solid_out + data_source: executor + data_type: resource + description: 固体试剂输出口 + handler_key: SolidOut + io_type: source + label: SolidOut + side: SOUTH + - data_key: solid_in + data_source: handle + data_type: resource + description: 固体试剂输入口（连接试剂瓶） + handler_key: SolidIn + io_type: target + label: SolidIn + side: NORTH + icon: '' + init_param_schema: + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + current_reagent: + type: string + dispensed_amount: + type: number + status: + type: string + total_operations: + type: integer + required: + - status + - current_reagent + - dispensed_amount + - total_operations + type: object + version: 1.0.0 +virtual_stirrer: + category: + - virtual_device + class: + action_value_mappings: + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + 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: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + start_stir: + feedback: + status: status + goal: + purpose: purpose + stir_speed: stir_speed + vessel: vessel + goal_default: + purpose: '' + stir_speed: 0.0 + 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: '' + handles: {} + result: + success: success + schema: + description: '' + properties: + feedback: + properties: + current_speed: + type: number + current_status: + type: string + progress: + type: number + required: + - progress + - current_speed + - current_status + title: StartStir_Feedback + type: object + goal: + properties: + purpose: + type: string + stir_speed: + type: number + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: vessel + type: object + required: + - vessel + - stir_speed + - purpose + title: StartStir_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: StartStir_Result + type: object + required: + - goal + title: StartStir + type: object + type: StartStir + stir: + feedback: + status: status + goal: + settling_time: settling_time + stir_speed: stir_speed + stir_time: stir_time + goal_default: + event: '' + settling_time: '' + stir_speed: 0.0 + stir_time: 0.0 + time: '' + time_spec: '' + 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: '' + handles: {} + result: + success: success + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: Stir_Feedback + type: object + goal: + properties: + event: + type: string + settling_time: + type: string + stir_speed: + type: number + stir_time: + type: number + time: + type: string + time_spec: + type: string + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: vessel + type: object + required: + - vessel + - time + - event + - time_spec + - stir_time + - stir_speed + - settling_time + title: Stir_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Stir_Result + type: object + required: + - goal + title: Stir + type: object + type: Stir + stop_stir: + feedback: + status: status + goal: + vessel: vessel + goal_default: + 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: '' + handles: {} + result: + success: success + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + required: + - progress + - current_status + title: StopStir_Feedback + type: object + goal: + properties: + 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: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + 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: vessel + type: object + required: + - vessel + title: StopStir_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: StopStir_Result + type: object + required: + - goal + title: StopStir + type: object + type: StopStir + module: unilabos.devices.virtual.virtual_stirrer:VirtualStirrer + status_types: + current_speed: float + current_vessel: str + device_info: dict + is_stirring: bool + max_speed: float + min_speed: float + operation_mode: str + remaining_time: float + status: str + type: python + config_info: [] + description: Virtual Stirrer for StirProtocol Testing + handles: + - data_key: vessel + data_source: handle + data_type: mechanical + description: 搅拌器的机械连接口 + handler_key: stirrer + io_type: source + label: stirrer + side: NORTH + icon: Stirrer.webp + init_param_schema: + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + current_speed: + type: number + current_vessel: + type: string + device_info: + type: object + is_stirring: + type: boolean + max_speed: + type: number + min_speed: + type: number + operation_mode: + type: string + remaining_time: + type: number + status: + type: string + required: + - status + - operation_mode + - current_vessel + - current_speed + - is_stirring + - remaining_time + - max_speed + - min_speed + - device_info + type: object + version: 1.0.0 +virtual_transfer_pump: + category: + - virtual_device + class: + action_value_mappings: + auto-aspirate: + feedback: {} + goal: {} + goal_default: + velocity: null + volume: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: aspirate的参数schema + properties: + feedback: {} + goal: + properties: + velocity: + type: number + volume: + type: number + required: + - volume + type: object + result: {} + required: + - goal + title: aspirate参数 + type: object + type: UniLabJsonCommandAsync + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + 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-dispense: + feedback: {} + goal: {} + goal_default: + velocity: null + volume: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: dispense的参数schema + properties: + feedback: {} + goal: + properties: + velocity: + type: number + volume: + type: number + required: + - volume + type: object + result: {} + required: + - goal + title: dispense参数 + type: object + type: UniLabJsonCommandAsync + auto-empty_syringe: + feedback: {} + goal: {} + goal_default: + velocity: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: empty_syringe的参数schema + properties: + feedback: {} + goal: + properties: + velocity: + type: number + required: [] + type: object + result: {} + required: + - goal + title: empty_syringe参数 + type: object + type: UniLabJsonCommandAsync + auto-fill_syringe: + feedback: {} + goal: {} + goal_default: + velocity: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: fill_syringe的参数schema + properties: + feedback: {} + goal: + properties: + velocity: + type: number + required: [] + type: object + result: {} + required: + - goal + title: fill_syringe参数 + type: object + type: UniLabJsonCommandAsync + auto-initialize: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-is_empty: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: is_empty的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: is_empty参数 + type: object + type: UniLabJsonCommand + auto-is_full: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: is_full的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: is_full参数 + type: object + type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + auto-pull_plunger: + feedback: {} + goal: {} + goal_default: + velocity: null + volume: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: pull_plunger的参数schema + properties: + feedback: {} + goal: + properties: + velocity: + type: number + volume: + type: number + required: + - volume + type: object + result: {} + required: + - goal + title: pull_plunger参数 + type: object + type: UniLabJsonCommandAsync + auto-push_plunger: + feedback: {} + goal: {} + goal_default: + velocity: null + volume: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: push_plunger的参数schema + properties: + feedback: {} + goal: + properties: + velocity: + type: number + volume: + type: number + required: + - volume + type: object + result: {} + required: + - goal + title: push_plunger参数 + type: object + type: UniLabJsonCommandAsync + auto-set_max_velocity: + feedback: {} + goal: {} + goal_default: + velocity: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: set_max_velocity的参数schema + properties: + feedback: {} + goal: + properties: + velocity: + type: number + required: + - velocity + type: object + result: {} + required: + - goal + title: set_max_velocity参数 + type: object + type: UniLabJsonCommand + auto-stop_operation: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: stop_operation的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: stop_operation参数 + type: object + type: UniLabJsonCommandAsync + set_position: + feedback: + current_position: current_position + progress: progress + status: status + goal: + max_velocity: max_velocity + position: position + goal_default: + max_velocity: 0.0 + position: 0.0 + handles: {} + result: + message: message + success: success + schema: + description: '' + properties: + feedback: + properties: + current_position: + type: number + progress: + type: number + status: + type: string + required: + - status + - current_position + - progress + title: SetPumpPosition_Feedback + type: object + goal: + properties: + max_velocity: + type: number + position: + type: number + required: + - position + - max_velocity + title: SetPumpPosition_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + - message + title: SetPumpPosition_Result + type: object + required: + - goal + title: SetPumpPosition + type: object + type: SetPumpPosition + transfer: + feedback: + current_status: current_status + progress: progress + transferred_volume: transferred_volume + 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: '' + from_vessel: '' + rinsing_repeats: 0 + rinsing_solvent: '' + rinsing_volume: 0.0 + solid: false + time: 0.0 + to_vessel: '' + viscous: false + volume: 0.0 + handles: {} + result: + message: message + success: success + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + transferred_volume: + type: number + required: + - progress + - transferred_volume + - current_status + title: Transfer_Feedback + type: object + goal: + properties: + amount: + type: string + from_vessel: + type: string + rinsing_repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + rinsing_solvent: + type: string + rinsing_volume: + type: number + solid: + type: boolean + time: + type: number + to_vessel: + type: string + viscous: + type: boolean + volume: + type: number + required: + - from_vessel + - to_vessel + - volume + - amount + - time + - viscous + - rinsing_solvent + - rinsing_volume + - rinsing_repeats + - solid + title: Transfer_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Transfer_Result + type: object + required: + - goal + title: Transfer + type: object + type: Transfer + module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump + status_types: + current_volume: float + max_velocity: float + position: float + remaining_capacity: float + status: str + transfer_rate: float + type: python + config_info: [] + description: Virtual Transfer Pump for TransferProtocol Testing (Syringe-style) + handles: + - data_key: fluid_port + data_source: handle + data_type: fluid + description: 注射器式转移泵的连接口 + handler_key: transferpump + io_type: source + label: transferpump + side: SOUTH + icon: Pump.webp + init_param_schema: + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + current_volume: + type: number + max_velocity: + type: number + position: + type: number + remaining_capacity: + type: number + status: + type: string + transfer_rate: + type: number + required: + - status + - position + - current_volume + - max_velocity + - transfer_rate + - remaining_capacity + type: object + version: 1.0.0 +virtual_vacuum_pump: + category: + - virtual_device + class: + action_value_mappings: + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + 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: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-is_closed: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: is_closed的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: is_closed参数 + type: object + type: UniLabJsonCommand + auto-is_open: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: is_open的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: is_open参数 + type: object + type: UniLabJsonCommand + close: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: EmptyIn_Feedback + type: object + goal: + properties: {} + required: [] + title: EmptyIn_Goal + type: object + result: + properties: + return_info: + type: string + required: + - return_info + title: EmptyIn_Result + type: object + required: + - goal + title: EmptyIn + type: object + type: EmptyIn + open: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: EmptyIn_Feedback + type: object + goal: + properties: {} + required: [] + title: EmptyIn_Goal + type: object + result: + properties: + return_info: + type: string + required: + - return_info + title: EmptyIn_Result + type: object + required: + - goal + title: EmptyIn + type: object + type: EmptyIn + set_status: + feedback: {} + goal: + string: string + goal_default: + string: '' + handles: {} + result: {} + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: StrSingleInput_Feedback + type: object + goal: + properties: + string: + type: string + required: + - string + title: StrSingleInput_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: StrSingleInput_Result + type: object + required: + - goal + title: StrSingleInput + type: object + type: StrSingleInput + module: unilabos.devices.virtual.virtual_vacuum_pump:VirtualVacuumPump + status_types: + status: str + type: python + config_info: [] + description: Virtual vacuum pump + handles: + - data_key: fluid_in + data_source: handle + data_type: fluid + description: 真空泵进气口 + handler_key: vacuumpump + io_type: source + label: vacuumpump + side: SOUTH + icon: Vacuum.webp + init_param_schema: + config: + properties: + config: + type: string + device_id: + type: string + required: [] + type: object + data: + properties: + status: + type: string + required: + - status + type: object + version: 1.0.0 virtual_workbench: category: - virtual_device diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index f8c2fbc..da36fb5 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -597,6 +597,8 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w "tube": "tube", "bottle_carrier": "bottle_carrier", "plate_adapter": "plate_adapter", + "electrode_sheet": "electrode_sheet", + "material_hole": "material_hole", } if source in replace_info: return replace_info[source] diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 9a27e04..e95b393 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -808,6 +808,7 @@ class HostNode(BaseROS2DeviceNode): goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs) self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}") + self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}") self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}") action_client.wait_for_server() goal_uuid_obj = UUID(uuid=list(u.bytes))