mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 14:05:12 +00:00
修复了部分的protocol因为XDL更新导致的问题
但是pumptransfer，add，dissolve，separate还没修，后续还需要写virtual固体加料器
This commit is contained in:
KCFeng425
@@ -755,11 +755,9 @@ workstation:
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feedback: {}
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goal:
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gas: gas
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repeats: repeats
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vessel: vessel
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||||
goal_default:
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gas: ''
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repeats: 0
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vessel: ''
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handles:
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||||
input:
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||||
@@ -827,16 +825,11 @@ workstation:
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properties:
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gas:
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type: string
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||||
repeats:
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||||
maximum: 2147483647
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||||
minimum: -2147483648
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type: integer
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||||
vessel:
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type: string
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required:
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- vessel
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- gas
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- repeats
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title: EvacuateAndRefill_Goal
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type: object
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result:
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@@ -859,111 +852,66 @@ workstation:
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EvaporateProtocol:
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feedback: {}
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goal:
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vessel: vessel
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pressure: pressure
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stir_speed: stir_speed
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temp: temp
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time: time
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vessel: vessel
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stir_speed: stir_speed
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solvent: solvent
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goal_default:
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pressure: 0.0
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stir_speed: 0.0
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temp: 0.0
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time: 0.0
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vessel: ''
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pressure: 0.1
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temp: 60.0
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time: 1800.0
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stir_speed: 100.0
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solvent: ''
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handles:
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input:
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- data_key: vessel
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data_source: handle
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data_type: resource
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handler_key: Vessel
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label: Vessel
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handler_key: vessel
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label: Evaporation Vessel
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output:
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- data_key: vessel
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data_source: executor
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data_source: handle
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data_type: resource
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handler_key: VesselOut
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label: Vessel
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handler_key: vessel_out
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label: Evaporation Vessel
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result: {}
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schema:
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description: ROS Action Evaporate 的 JSON Schema
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properties:
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feedback:
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description: Action 反馈 - 执行过程中从服务器发送到客户端
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properties:
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current_device:
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type: string
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||||
status:
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||||
type: string
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||||
time_remaining:
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||||
properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Duration
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type: object
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time_spent:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Duration
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type: object
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required:
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- status
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- current_device
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- time_spent
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- time_remaining
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||||
title: Evaporate_Feedback
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type: object
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goal:
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||||
description: Action 目标 - 从客户端发送到服务器
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description: Action 目标
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||||
properties:
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pressure:
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type: number
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stir_speed:
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type: number
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temp:
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type: number
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time:
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type: number
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vessel:
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type: string
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description: 蒸发容器名称
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pressure:
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type: number
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default: 0.1
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description: 真空度 (bar)
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temp:
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type: number
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default: 60.0
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description: 加热温度 (°C)
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time:
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type: number
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default: 1800.0
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description: 蒸发时间 (秒)
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stir_speed:
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type: number
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default: 100.0
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description: 旋转速度 (RPM)
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solvent:
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type: string
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default: ''
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description: 溶剂名称
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||||
required:
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||||
- vessel
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- pressure
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- temp
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- time
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- stir_speed
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title: Evaporate_Goal
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||||
type: object
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result:
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description: Action 结果 - 完成后从服务器发送到客户端
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||||
properties:
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||||
return_info:
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type: string
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||||
success:
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type: boolean
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||||
required:
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||||
- return_info
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- success
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||||
title: Evaporate_Result
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||||
type: object
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required:
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- goal
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title: Evaporate
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@@ -972,20 +920,20 @@ workstation:
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FilterProtocol:
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feedback: {}
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goal:
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continue_heatchill: continue_heatchill
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vessel: vessel
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filtrate_vessel: filtrate_vessel
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stir: stir
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stir_speed: stir_speed
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temp: temp
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vessel: vessel
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continue_heatchill: continue_heatchill
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volume: volume
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goal_default:
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continue_heatchill: false
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vessel: ''
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filtrate_vessel: ''
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stir: false
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stir_speed: 0.0
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temp: 0.0
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vessel: ''
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temp: 25.0
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continue_heatchill: false
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volume: 0.0
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handles:
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input:
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@@ -994,7 +942,7 @@ workstation:
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data_type: resource
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handler_key: Vessel
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label: Vessel
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- data_key: vessel
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- data_key: filtrate_vessel
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data_source: handle
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data_type: resource
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handler_key: filtrate_vessel
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@@ -1005,7 +953,7 @@ workstation:
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data_type: resource
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handler_key: VesselOut
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label: Vessel
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- data_key: vessel
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- data_key: filtrate_vessel
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data_source: executor
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data_type: resource
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handler_key: filtrate_out
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@@ -1035,28 +983,35 @@ workstation:
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goal:
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description: Action 目标 - 从客户端发送到服务器
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properties:
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continue_heatchill:
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type: boolean
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filtrate_vessel:
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type: string
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stir:
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type: boolean
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stir_speed:
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||||
type: number
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temp:
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type: number
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vessel:
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type: string
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description: 过滤容器名称
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filtrate_vessel:
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type: string
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default: ''
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description: 滤液容器名称（可选）
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stir:
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type: boolean
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default: false
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description: 是否搅拌
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stir_speed:
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type: number
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default: 0.0
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description: 搅拌速度
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temp:
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type: number
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||||
default: 25.0
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description: 温度
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||||
continue_heatchill:
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||||
type: boolean
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||||
default: false
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||||
description: 是否继续加热冷却
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volume:
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type: number
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||||
default: 0.0
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description: 过滤体积
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required:
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- vessel
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- filtrate_vessel
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- stir
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- stir_speed
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- temp
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- continue_heatchill
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- volume
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title: Filter_Goal
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type: object
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result:
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@@ -1193,19 +1148,27 @@ workstation:
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HeatChillProtocol:
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feedback: {}
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goal:
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purpose: purpose
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stir: stir
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stir_speed: stir_speed
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vessel: vessel
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temp: temp
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time: time
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vessel: vessel
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temp_spec: temp_spec
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time_spec: time_spec
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pressure: pressure
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reflux_solvent: reflux_solvent
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stir: stir
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stir_speed: stir_speed
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purpose: purpose
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goal_default:
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purpose: ''
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||||
stir: false
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||||
stir_speed: 0.0
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temp: 0.0
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time: 0.0
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vessel: ''
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temp: 25.0
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time: 300.0
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temp_spec: ''
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time_spec: ''
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pressure: ''
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reflux_solvent: ''
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stir: false
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stir_speed: 300.0
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purpose: ''
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handles:
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||||
input:
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||||
- data_key: vessel
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||||
@@ -1224,7 +1187,7 @@ workstation:
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||||
description: ROS Action HeatChill 的 JSON Schema
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properties:
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||||
feedback:
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||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
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description: Action 反馈
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||||
properties:
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status:
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type: string
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@@ -1233,39 +1196,64 @@ workstation:
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title: HeatChill_Feedback
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type: object
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goal:
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description: Action 目标 - 从客户端发送到服务器
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description: Action 目标
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||||
properties:
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||||
purpose:
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type: string
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||||
stir:
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type: boolean
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||||
stir_speed:
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type: number
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||||
temp:
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||||
type: number
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||||
time:
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||||
type: number
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||||
vessel:
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||||
type: string
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||||
description: 加热容器名称
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||||
temp:
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type: number
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||||
default: 25.0
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||||
description: 目标温度
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time:
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type: number
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||||
default: 300.0
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description: 加热时间
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||||
temp_spec:
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type: string
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||||
default: ''
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||||
description: 温度规格
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time_spec:
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type: string
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||||
default: ''
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||||
description: 时间规格
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||||
pressure:
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type: string
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||||
default: ''
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||||
description: 压力规格
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||||
reflux_solvent:
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||||
type: string
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||||
default: ''
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||||
description: 回流溶剂名称
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||||
stir:
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||||
type: boolean
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||||
default: false
|
||||
description: 是否搅拌
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||||
stir_speed:
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||||
type: number
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||||
default: 300.0
|
||||
description: 搅拌速度
|
||||
purpose:
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type: string
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||||
default: ''
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||||
description: 操作目的
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required:
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||||
- vessel
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- temp
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- time
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- stir
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- stir_speed
|
||||
- purpose
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||||
title: HeatChill_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
description: Action 结果
|
||||
properties:
|
||||
message:
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||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
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||||
required:
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||||
- return_info
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||||
- success
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||||
- message
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||||
- return_info
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||||
title: HeatChill_Result
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||||
type: object
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||||
required:
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||||
@@ -1412,6 +1400,11 @@ workstation:
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to_vessel: to_vessel
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viscous: viscous
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volume: volume
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flowrate: flowrate
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||||
transfer_flowrate: transfer_flowrate
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rate_spec: rate_spec
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event: event
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through: through
|
||||
goal_default:
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||||
amount: ''
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||||
from_vessel: ''
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@@ -1423,6 +1416,11 @@ workstation:
|
||||
to_vessel: ''
|
||||
viscous: false
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||||
volume: 0.0
|
||||
flowrate: 0.0
|
||||
transfer_flowrate: 0.0
|
||||
rate_spec: ''
|
||||
event: ''
|
||||
through: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: vessel
|
||||
@@ -1453,7 +1451,7 @@ workstation:
|
||||
label: To Vessel
|
||||
result: {}
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||||
schema:
|
||||
description: ROS Action PumpTransfer 的 JSON Schema
|
||||
description: ROS Action PumpTransfer 的 JSON Schema（兼容增强版）
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
@@ -1463,34 +1461,8 @@ workstation:
|
||||
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
|
||||
@@ -1506,35 +1478,35 @@ workstation:
|
||||
type: string
|
||||
from_vessel:
|
||||
type: string
|
||||
rinsing_repeats:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
to_vessel:
|
||||
type: string
|
||||
volume:
|
||||
type: number
|
||||
time:
|
||||
type: number
|
||||
viscous:
|
||||
type: boolean
|
||||
rinsing_solvent:
|
||||
type: string
|
||||
rinsing_volume:
|
||||
type: number
|
||||
rinsing_repeats:
|
||||
type: integer
|
||||
solid:
|
||||
type: boolean
|
||||
time:
|
||||
flowrate:
|
||||
type: number
|
||||
to_vessel:
|
||||
transfer_flowrate:
|
||||
type: number
|
||||
rate_spec:
|
||||
type: string
|
||||
event:
|
||||
type: string
|
||||
through:
|
||||
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: PumpTransfer_Goal
|
||||
type: object
|
||||
result:
|
||||
@@ -1888,13 +1860,21 @@ workstation:
|
||||
StirProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
settling_time: settling_time
|
||||
stir_speed: stir_speed
|
||||
vessel: vessel
|
||||
time: time
|
||||
event: event
|
||||
time_spec: time_spec
|
||||
stir_time: stir_time
|
||||
stir_speed: stir_speed
|
||||
settling_time: settling_time
|
||||
goal_default:
|
||||
settling_time: 0.0
|
||||
stir_speed: 0.0
|
||||
stir_time: 0.0
|
||||
vessel: ''
|
||||
time: '5 min'
|
||||
event: ''
|
||||
time_spec: ''
|
||||
stir_time: 300.0
|
||||
stir_speed: 200.0
|
||||
settling_time: 60.0
|
||||
handles:
|
||||
input:
|
||||
- data_key: vessel
|
||||
@@ -1913,7 +1893,7 @@ workstation:
|
||||
description: ROS Action Stir 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
description: Action 反馈
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
@@ -1922,30 +1902,52 @@ workstation:
|
||||
title: Stir_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
description: Action 目标
|
||||
properties:
|
||||
settling_time:
|
||||
type: number
|
||||
stir_speed:
|
||||
type: number
|
||||
vessel:
|
||||
type: string
|
||||
description: 搅拌容器名称
|
||||
time:
|
||||
type: string
|
||||
default: '5 min'
|
||||
description: 搅拌时间
|
||||
event:
|
||||
type: string
|
||||
default: ''
|
||||
description: 事件标识
|
||||
time_spec:
|
||||
type: string
|
||||
default: ''
|
||||
description: 时间规格
|
||||
stir_time:
|
||||
type: number
|
||||
default: 300.0
|
||||
description: 搅拌时间（秒）
|
||||
stir_speed:
|
||||
type: number
|
||||
default: 200.0
|
||||
description: 搅拌速度
|
||||
settling_time:
|
||||
type: number
|
||||
default: 60.0
|
||||
description: 沉降时间
|
||||
required:
|
||||
- stir_time
|
||||
- stir_speed
|
||||
- settling_time
|
||||
- vessel
|
||||
title: Stir_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
description: Action 结果
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: Stir_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -2000,16 +2002,13 @@ workstation:
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
- success
|
||||
title: StopStir_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -2149,25 +2148,25 @@ workstation:
|
||||
WashSolidProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
filtrate_vessel: filtrate_vessel
|
||||
repeats: repeats
|
||||
vessel: vessel
|
||||
solvent: solvent
|
||||
volume: volume
|
||||
filtrate_vessel: filtrate_vessel
|
||||
temp: temp
|
||||
stir: stir
|
||||
stir_speed: stir_speed
|
||||
temp: temp
|
||||
time: time
|
||||
vessel: vessel
|
||||
volume: volume
|
||||
repeats: repeats
|
||||
goal_default:
|
||||
filtrate_vessel: ''
|
||||
repeats: 0
|
||||
vessel: ''
|
||||
solvent: ''
|
||||
volume: 0.0
|
||||
filtrate_vessel: ''
|
||||
temp: 25.0
|
||||
stir: false
|
||||
stir_speed: 0.0
|
||||
temp: 0.0
|
||||
time: 0.0
|
||||
vessel: ''
|
||||
volume: 0.0
|
||||
repeats: 1
|
||||
handles:
|
||||
input:
|
||||
- data_key: vessel
|
||||
@@ -2180,8 +2179,8 @@ workstation:
|
||||
data_type: resource
|
||||
handler_key: solvent
|
||||
label: Solvent
|
||||
- data_key: vessel
|
||||
data_source: executor
|
||||
- data_key: filtrate_vessel
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: filtrate_vessel
|
||||
label: Filtrate Vessel
|
||||
@@ -2191,7 +2190,7 @@ workstation:
|
||||
data_type: resource
|
||||
handler_key: VesselOut
|
||||
label: Vessel Out
|
||||
- data_key: vessel
|
||||
- data_key: filtrate_vessel
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: filtrate_vessel_out
|
||||
@@ -2215,36 +2214,45 @@ workstation:
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
filtrate_vessel:
|
||||
type: string
|
||||
repeats:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
solvent:
|
||||
type: string
|
||||
stir:
|
||||
type: boolean
|
||||
stir_speed:
|
||||
type: number
|
||||
temp:
|
||||
type: number
|
||||
time:
|
||||
type: number
|
||||
vessel:
|
||||
type: string
|
||||
description: 装有固体的容器名称
|
||||
solvent:
|
||||
type: string
|
||||
description: 清洗溶剂名称
|
||||
volume:
|
||||
type: number
|
||||
description: 清洗溶剂体积
|
||||
filtrate_vessel:
|
||||
type: string
|
||||
default: ''
|
||||
description: 滤液收集容器（可选）
|
||||
temp:
|
||||
type: number
|
||||
default: 25.0
|
||||
description: 清洗温度
|
||||
stir:
|
||||
type: boolean
|
||||
default: false
|
||||
description: 是否搅拌
|
||||
stir_speed:
|
||||
type: number
|
||||
default: 0.0
|
||||
description: 搅拌速度
|
||||
time:
|
||||
type: number
|
||||
default: 0.0
|
||||
description: 清洗时间
|
||||
repeats:
|
||||
type: integer
|
||||
default: 1
|
||||
minimum: 1
|
||||
maximum: 10
|
||||
description: 重复次数
|
||||
required:
|
||||
- vessel
|
||||
- solvent
|
||||
- volume
|
||||
- filtrate_vessel
|
||||
- temp
|
||||
- stir
|
||||
- stir_speed
|
||||
- time
|
||||
- repeats
|
||||
title: WashSolid_Goal
|
||||
type: object
|
||||
result:
|
||||
@@ -2645,7 +2653,7 @@ workstation:
|
||||
vessel: vessel
|
||||
volume: volume
|
||||
goal_default:
|
||||
ratio: ''
|
||||
ratio: 1.0
|
||||
solvent1: ''
|
||||
solvent2: ''
|
||||
vessel: ''
|
||||
@@ -2657,12 +2665,12 @@ workstation:
|
||||
data_type: resource
|
||||
handler_key: Vessel
|
||||
label: Vessel
|
||||
- data_key: solvent
|
||||
- data_key: solvent1
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: solvent1
|
||||
label: Solvent 1
|
||||
- data_key: solvent
|
||||
- data_key: solvent2
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: solvent2
|
||||
@@ -2680,10 +2688,10 @@ workstation:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
progress:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- progress
|
||||
@@ -2693,7 +2701,7 @@ workstation:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
ratio:
|
||||
type: string
|
||||
type: number
|
||||
solvent1:
|
||||
type: string
|
||||
solvent2:
|
||||
|
||||
Reference in New Issue
Block a user