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补充了四个action

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KCFeng425
2025-07-07 12:33:10 +08:00
parent 4c6e437eb1
commit 5767266563
4 changed files with 66 additions and 39 deletions
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45
unilabos_msgs/action/Separate.action
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@@ -1,22 +1,29 @@
# Organic
string purpose # 'wash' or 'extract'. 'wash' means that product phase will not be the added solvent phase, 'extract' means product phase will be the added solvent phase. If no solvent is added just use 'extract'.
string product_phase # 'top' or 'bottom'. Phase that product will be in.
string from_vessel #Contents of from_vessel are transferred to separation_vessel and separation is performed.
string separation_vessel # Vessel in which separation of phases will be carried out.
string to_vessel # Vessel to send product phase to.
string waste_phase_to_vessel # Optional. Vessel to send waste phase to.
string solvent # Optional. Solvent to add to separation vessel after contents of from_vessel has been transferred to create two phases.
float64 solvent_volume # Optional. Volume of solvent to add.
string through # Optional. Solid chemical to send product phase through on way to to_vessel, e.g. 'celite'.
int32 repeats # Optional. Number of separations to perform.
float64 stir_time # Optional. Time stir for after adding solvent, before separation of phases.
float64 stir_speed # Optional. Speed to stir at after adding solvent, before separation of phases.
float64 settling_time # Optional. Time
# Goal - 分离操作的目标参数
string purpose # 分离目的 ('wash', 'extract', 'separate'，必需)
string product_phase # 产物相 ('top', 'bottom'，必需)
string from_vessel # 源容器（可选）
string separation_vessel # 分离容器（可选）
string to_vessel # 目标容器（可选）
string waste_phase_to_vessel # 废相目标容器（可选）
string solvent # 溶剂名称（可选）
float64 solvent_volume # 溶剂体积（可选）
string through # 通过材料（如 'celite'，可选）
int32 repeats # 重复次数（可选）
float64 stir_time # 搅拌时间（可选）
float64 stir_speed # 搅拌速度（可选）
float64 settling_time # 沉降时间（可选）
string vessel # 分离容器名称（XDL参数，可选）
string volume # 体积规格（XDL参数，可选）
string product_vessel # 产物收集容器（XDL参数，可选）
string waste_vessel # 废液收集容器（XDL参数，可选）
---
# Result - 操作结果
bool success # 操作是否成功
string message # 结果消息
string return_info
bool success
---
string status
string current_device
builtin_interfaces/Duration time_spent
builtin_interfaces/Duration time_remaining
# Feedback - 实时反馈
string status # 当前状态描述
string current_device # 当前设备
builtin_interfaces/Duration time_spent # 已用时间
builtin_interfaces/Duration time_remaining # 剩余时间