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修复了很多protocol，亲测能跑

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This commit is contained in:
KCFeng425
2025-06-19 20:25:07 +08:00
parent 622edbde1e
commit 771540b88c
30 changed files with 7477 additions and 1428 deletions
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121
unilabos/registry/devices/virtual_device.yaml
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@@ -133,6 +133,11 @@ virtual_stirrer:
type: python
status_types:
status: String
operation_mode: String # 操作模式
current_vessel: String # 当前容器
current_speed: Float64 # 当前搅拌速度
is_stirring: Bool # 是否搅拌
remaining_time: Float64 # 剩余时间
action_value_mappings:
stir:
type: Stir
@@ -162,28 +167,28 @@ virtual_stirrer:
status: status
result:
success: success
# 虚拟搅拌器节点配置 - 机械连接设备，单一双向连接点
# 虚拟搅拌器节点配置 - 机械连接设备，双向连接点用于搅拌容器
handles:
- handler_key: stirrer
label: stirrer
data_type: mechanical
side: NORTH
io_type: source
io_type: undirected
data_source: handle
data_key: vessel
description: "搅拌器的机械连接口，直接与反应容器连接提供搅拌功能"
description: "搅拌器的机械连接口，容器通过机械连接进行搅拌"
schema:
type: object
properties:
port:
type: string
default: "VIRTUAL"
max_temp:
type: number
default: 100.0
max_speed:
type: number
default: 1000.0
default: 1500.0
min_speed:
type: number
default: 50.0
additionalProperties: false
virtual_multiway_valve:
@@ -308,17 +313,24 @@ virtual_solenoid_valve:
valve_state: String # "open" or "closed"
is_open: Bool
action_value_mappings:
set_valve_position:
type: SendCmd
goal:
command: command # 确保参数名匹配
feedback: {}
result:
success: success
open:
type: SendCmd
goal:
command: "open"
command: "OPEN"
feedback: {}
result:
success: success
close:
type: SendCmd
goal:
command: "close"
command: "CLOSED"
feedback: {}
result:
success: success
@@ -331,22 +343,22 @@ virtual_solenoid_valve:
success: success
# 电磁阀门节点配置 - 双向流通的开关型阀门，流动方向由泵决定
handles:
- handler_key: in
label: in
- handler_key: inlet
label: inlet
data_type: fluid
side: NORTH
io_type: target
data_source: handle
data_key: fluid_port_in
description: "电磁阀的双向流体口，开启时允许流体双向通过，关闭时完全阻断"
- handler_key: out
label: out
description: "电磁阀的进液口"
- handler_key: outlet
label: outlet
data_type: fluid
side: SOUTH
io_type: source
data_source: handle
data_key: fluid_port_out
description: "电磁阀的双向流体口，开启时允许流体双向通过，关闭时完全阻断"
description: "电磁阀的出液口"
schema:
type: object
properties:
@@ -377,6 +389,8 @@ virtual_centrifuge:
min_temp: Float64
centrifuge_state: String
time_remaining: Float64
progress: Float64 # 添加这个状态
message: String # 添加这个状态
action_value_mappings:
centrifuge:
type: Centrifuge
@@ -422,23 +436,22 @@ virtual_centrifuge:
virtual_filter:
description: Virtual Filter for FilterProtocol Testing
icon: Filter.webp
#icon: Filter.webp暂时还没有
class:
module: unilabos.devices.virtual.virtual_filter:VirtualFilter
type: python
status_types:
status: String
filter_state: String
current_temp: Float64
target_temp: Float64
max_temp: Float64
stir_speed: Float64
max_stir_speed: Float64
filtered_volume: Float64
progress: Float64
current_temp: Float64
filtered_volume: Float64
current_status: String
message: String
max_temp: Float64
max_stir_speed: Float64
max_volume: Float64
action_value_mappings:
filter_sample:
filter:
type: Filter
goal:
vessel: vessel
@@ -452,36 +465,21 @@ virtual_filter:
progress: progress
current_temp: current_temp
filtered_volume: filtered_volume
current_status: status
current_status: current_status
result:
success: success
message: message
# 虚拟过滤器节点配置 - 分离设备，1个输入(原始样品)，2个输出(滤液和滤渣)
return_info: message
# 过滤器节点配置 - 固液分离设备
handles:
- handler_key: filterin
label: filterin
data_type: fluid
- handler_key: filter
label: filter
data_type: transport
side: NORTH
io_type: target
io_type: source
data_source: handle
data_key: vessel
description: "需要过滤的原始样品容器"
- handler_key: filtrate_out
label: filtrate_out
data_type: fluid
side: SOUTH
io_type: source
data_source: executor
data_key: filtrate_vessel
description: "过滤后的滤液容器"
- handler_key: filter-residue-out
label: Residue
data_type: resource
side: WEST
io_type: source
data_source: executor
data_key: residue_vessel
description: "过滤后的滤渣(固体残留物)"
description: "需要过滤的样品容器"
schema:
type: object
properties:
@@ -494,6 +492,9 @@ virtual_filter:
max_stir_speed:
type: number
default: 1000.0
max_volume:
type: number
default: 500.0
additionalProperties: false
virtual_heatchill:
@@ -504,6 +505,10 @@ virtual_heatchill:
type: python
status_types:
status: String
operation_mode: String # 保留：操作模式
is_stirring: Bool # 保留：是否搅拌
stir_speed: Float64 # 保留：搅拌速度
# remaining_time: Float64 # 保留：剩余时间
action_value_mappings:
heat_chill:
type: HeatChill
@@ -536,7 +541,7 @@ virtual_heatchill:
status: status
result:
success: success
# 虚拟加热/冷却器节点配置 - 温控设备，单一双向连接点用于放置容器
# 虚拟加热/冷却器节点配置
handles:
- handler_key: heatchill
label: heatchill
@@ -709,14 +714,14 @@ virtual_rotavap:
status: String
rotavap_state: String
current_temp: Float64
target_temp: Float64
max_temp: Float64
rotation_speed: Float64
max_rotation_speed: Float64
vacuum_pressure: Float64
evaporated_volume: Float64
progress: Float64
remaining_time: Float64
message: String
max_temp: Float64
max_rotation_speed: Float64
action_value_mappings:
evaporate:
type: Evaporate
@@ -730,11 +735,11 @@ virtual_rotavap:
progress: progress
current_temp: current_temp
evaporated_volume: evaporated_volume
current_status: status
status: status
result:
success: success
message: message
# 虚拟旋转蒸发仪节点配置 - 1个双向口(样品进出)，1个单向输出口(冷凝溶剂)
# 虚拟旋转蒸发仪节点配置 - 1个样品口
handles:
- handler_key: rotavap-sample
label: rotavap-sample
@@ -743,15 +748,7 @@ virtual_rotavap:
io_type: target
data_source: handle
data_key: vessel
description: "样品的双向连接口，可放入需要蒸发的样品，蒸发完成后取出浓缩物"
- handler_key: rotavap-distillate-outlet
label: Distillate Outlet
data_type: fluid
side: WEST
io_type: source
data_source: executor
data_key: distillate_vessel
description: "冷凝回收的溶剂单向输出口，连接收集瓶"
description: "样品连接口，放入需要蒸发的样品"
schema:
type: object
properties: