From 5d214ebcd83a958b9126d88829479ff447d45c50 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 11 Jul 2025 18:20:50 +0800 Subject: [PATCH] update prcxi --- unilabos/registry/devices/liquid_handler.yaml | 807 +++++++++++++++++- 1 file changed, 791 insertions(+), 16 deletions(-) diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index 5ba410d..617723d 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -6067,6 +6067,202 @@ liquid_handler.biomek: liquid_handler.prcxi: class: action_value_mappings: + aspirate: + feedback: {} + goal: {} + goal_default: + blow_out_air_volume: + - 0.0 + flow_rates: + - 0.0 + liquid_height: + - 0.0 + offsets: + - x: 0.0 + y: 0.0 + z: 0.0 + resources: + - 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: '' + spread: '' + use_channels: + - 0 + vols: + - 0.0 + handles: [] + result: {} + schema: + description: ROS Action LiquidHandlerAspirate 的 JSON Schema + properties: + feedback: + description: Action 反馈 - 执行过程中从服务器发送到客户端 + properties: {} + required: [] + title: LiquidHandlerAspirate_Feedback + type: object + goal: + description: Action 目标 - 从客户端发送到服务器 + properties: + blow_out_air_volume: + items: + type: number + type: array + flow_rates: + items: + type: number + type: array + liquid_height: + items: + type: number + type: array + offsets: + items: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: Point + type: object + type: array + resources: + items: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: Quaternion + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: Point + type: object + required: + - position + - orientation + title: Pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: Resource + type: object + type: array + spread: + type: string + use_channels: + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array + vols: + items: + type: number + type: array + required: + - resources + - vols + - use_channels + - flow_rates + - offsets + - liquid_height + - blow_out_air_volume + - spread + title: LiquidHandlerAspirate_Goal + type: object + result: + description: Action 结果 - 完成后从服务器发送到客户端 + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: LiquidHandlerAspirate_Result + type: object + required: + - goal + title: LiquidHandlerAspirate + type: object + type: LiquidHandlerAspirate auto-add_liquid: feedback: {} goal: {} @@ -6197,12 +6393,12 @@ liquid_handler.prcxi: goal: {} goal_default: none_keys: [] - protocol_author: null - protocol_date: null - protocol_description: null - protocol_name: null - protocol_type: null - protocol_version: null + protocol_author: '' + protocol_date: '' + protocol_description: '' + protocol_name: '' + protocol_type: '' + protocol_version: '' handles: [] result: {} schema: @@ -6215,24 +6411,24 @@ liquid_handler.prcxi: default: [] type: array protocol_author: + default: '' type: string protocol_date: + default: '' type: string protocol_description: + default: '' type: string protocol_name: + default: '' type: string protocol_type: + default: '' type: string protocol_version: + default: '' type: string - required: - - protocol_name - - protocol_description - - protocol_version - - protocol_author - - protocol_date - - protocol_type + required: [] type: object result: {} required: @@ -6344,6 +6540,40 @@ liquid_handler.prcxi: title: dispense参数 type: object type: UniLabJsonCommandAsync + auto-drop_tips: + feedback: {} + goal: {} + goal_default: + allow_nonzero_volume: false + offsets: null + tip_spots: null + use_channels: null + handles: [] + result: {} + schema: + description: drop_tips的参数schema + properties: + feedback: {} + goal: + properties: + allow_nonzero_volume: + default: false + type: boolean + offsets: + type: string + tip_spots: + type: string + use_channels: + type: string + required: + - tip_spots + type: object + result: {} + required: + - goal + title: drop_tips参数 + type: object + type: UniLabJsonCommandAsync auto-iter_tips: feedback: {} goal: {} @@ -6698,6 +6928,547 @@ liquid_handler.prcxi: title: transfer_liquid参数 type: object type: UniLabJsonCommandAsync + dispense: + feedback: {} + goal: {} + goal_default: + blow_out_air_volume: + - 0 + flow_rates: + - 0.0 + offsets: + - x: 0.0 + y: 0.0 + z: 0.0 + resources: + - 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: '' + spread: '' + use_channels: + - 0 + vols: + - 0.0 + handles: [] + result: {} + schema: + description: ROS Action LiquidHandlerDispense 的 JSON Schema + properties: + feedback: + description: Action 反馈 - 执行过程中从服务器发送到客户端 + properties: {} + required: [] + title: LiquidHandlerDispense_Feedback + type: object + goal: + description: Action 目标 - 从客户端发送到服务器 + properties: + blow_out_air_volume: + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array + flow_rates: + items: + type: number + type: array + offsets: + items: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: Point + type: object + type: array + resources: + items: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: Quaternion + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: Point + type: object + required: + - position + - orientation + title: Pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: Resource + type: object + type: array + spread: + type: string + use_channels: + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array + vols: + items: + type: number + type: array + required: + - resources + - vols + - use_channels + - flow_rates + - offsets + - blow_out_air_volume + - spread + title: LiquidHandlerDispense_Goal + type: object + result: + description: Action 结果 - 完成后从服务器发送到客户端 + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: LiquidHandlerDispense_Result + type: object + required: + - goal + title: LiquidHandlerDispense + type: object + type: LiquidHandlerDispense + drop_tips: + feedback: {} + goal: {} + goal_default: + allow_nonzero_volume: false + offsets: + - x: 0.0 + y: 0.0 + z: 0.0 + tip_spots: + - 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: '' + use_channels: + - 0 + handles: [] + result: {} + schema: + description: ROS Action LiquidHandlerDropTips 的 JSON Schema + properties: + feedback: + description: Action 反馈 - 执行过程中从服务器发送到客户端 + properties: {} + required: [] + title: LiquidHandlerDropTips_Feedback + type: object + goal: + description: Action 目标 - 从客户端发送到服务器 + properties: + allow_nonzero_volume: + type: boolean + offsets: + items: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: Point + type: object + type: array + tip_spots: + items: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: Quaternion + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: Point + type: object + required: + - position + - orientation + title: Pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: Resource + type: object + type: array + use_channels: + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array + required: + - tip_spots + - use_channels + - offsets + - allow_nonzero_volume + title: LiquidHandlerDropTips_Goal + type: object + result: + description: Action 结果 - 完成后从服务器发送到客户端 + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: LiquidHandlerDropTips_Result + type: object + required: + - goal + title: LiquidHandlerDropTips + type: object + type: LiquidHandlerDropTips + mix: + feedback: {} + goal: {} + goal_default: + height_to_bottom: 0.0 + mix_rate: 0.0 + mix_time: 0 + mix_vol: 0 + none_keys: + - '' + offsets: + - x: 0.0 + y: 0.0 + z: 0.0 + targets: + - 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: {} + schema: + description: ROS Action LiquidHandlerMix 的 JSON Schema + properties: + feedback: + description: Action 反馈 - 执行过程中从服务器发送到客户端 + properties: {} + required: [] + title: LiquidHandlerMix_Feedback + type: object + goal: + description: Action 目标 - 从客户端发送到服务器 + properties: + height_to_bottom: + type: number + mix_rate: + type: number + mix_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + mix_vol: + maximum: 2147483647 + minimum: -2147483648 + type: integer + none_keys: + items: + type: string + type: array + offsets: + items: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: Point + type: object + type: array + targets: + items: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: Quaternion + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: Point + type: object + required: + - position + - orientation + title: Pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: Resource + type: object + type: array + required: + - targets + - mix_time + - mix_vol + - height_to_bottom + - offsets + - mix_rate + - none_keys + title: LiquidHandlerMix_Goal + type: object + result: + description: Action 结果 - 完成后从服务器发送到客户端 + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: LiquidHandlerMix_Result + type: object + required: + - goal + title: LiquidHandlerMix + type: object + type: LiquidHandlerMix pick_up_tips: feedback: {} goal: @@ -6866,7 +7637,8 @@ liquid_handler.prcxi: type: object type: LiquidHandlerPickUpTips module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler - status_types: {} + status_types: + reset_ok: bool type: python description: prcxi液体处理器设备，基于pylabrobot控制 handles: [] @@ -6892,8 +7664,11 @@ liquid_handler.prcxi: - timeout type: object data: - properties: {} - required: [] + properties: + reset_ok: + type: boolean + required: + - reset_ok type: object liquid_handler.revvity: class: