diff --git a/unilabos_msgs/CMakeLists.txt b/unilabos_msgs/CMakeLists.txt index 1c371397..beab817e 100644 --- a/unilabos_msgs/CMakeLists.txt +++ b/unilabos_msgs/CMakeLists.txt @@ -98,6 +98,19 @@ set(action_files "action/WorkStationRun.action" "action/AGVTransfer.action" + + "action/DispenStationSolnPrep.action" + "action/DispenStationVialFeed.action" + + "action/PostProcessGrab.action" + "action/PostProcessTriggerClean.action" + "action/PostProcessTriggerPostPro.action" + + "action/ReactionStationDripBack.action" + "action/ReactionStationLiquidFeed.action" + "action/ReactionStationProExecu.action" + "action/ReactionStationReaTackIn.action" + "action/ReactionStationSolidFeedVial.action" ) set(srv_files diff --git a/unilabos_msgs/action/DispenStationSolnPrep.action b/unilabos_msgs/action/DispenStationSolnPrep.action new file mode 100644 index 00000000..49afcac5 --- /dev/null +++ b/unilabos_msgs/action/DispenStationSolnPrep.action @@ -0,0 +1,15 @@ +# Goal - （二胺）溶液配置 +string order_name # 任务名称 +string material_name #固体物料名称 +string target_weigh #固体重量 +string volume #液体体积 +string liquid_material_name # 溶剂名称 +string speed #磁力转动速度 +string temperature #温度 +string delay_time #等待时间 +string hold_m_name #样品名称 +--- +# Result - 操作结果 +string return_info # 结果消息 +--- +# Feedback - 实时反馈 diff --git a/unilabos_msgs/action/DispenStationVialFeed.action b/unilabos_msgs/action/DispenStationVialFeed.action new file mode 100644 index 00000000..6b85058e --- /dev/null +++ b/unilabos_msgs/action/DispenStationVialFeed.action @@ -0,0 +1,29 @@ +# Goal - 小瓶投料 +string order_name # 任务名称 +string percent_90_1_assign_material_name +string percent_90_1_target_weigh +string percent_90_2_assign_material_name +string percent_90_2_target_weigh +string percent_90_3_assign_material_name +string percent_90_3_target_weigh +string percent_10_1_assign_material_name +string percent_10_1_target_weigh +string percent_10_1_volume +string percent_10_1_liquid_material_name +string percent_10_2_assign_material_name +string percent_10_2_target_weigh +string percent_10_2_volume +string percent_10_2_liquid_material_name +string percent_10_3_assign_material_name +string percent_10_3_target_weigh +string percent_10_3_volume +string percent_10_3_liquid_material_name +string speed +string temperature +string delay_time +string hold_m_name +--- +# Result - 操作结果 +string return_info # 结果消息 +--- +# Feedback - 实时反馈 diff --git a/unilabos_msgs/action/PostProcessGrab.action b/unilabos_msgs/action/PostProcessGrab.action new file mode 100644 index 00000000..88da7bae --- /dev/null +++ b/unilabos_msgs/action/PostProcessGrab.action @@ -0,0 +1,8 @@ +# Goal - 抓取参数 +int32 reaction_tank_number #反应罐号码 +int32 raw_tank_number #原料罐号码 +--- +# Result - 操作结果 +string return_info +--- +# Feedback - 实时反馈 diff --git a/unilabos_msgs/action/PostProcessTriggerClean.action b/unilabos_msgs/action/PostProcessTriggerClean.action new file mode 100644 index 00000000..7308aca7 --- /dev/null +++ b/unilabos_msgs/action/PostProcessTriggerClean.action @@ -0,0 +1,46 @@ +# Goal - 清洗参数 +float64 nmp_outer_wall_cleaning_injection +int32 nmp_outer_wall_cleaning_count +int32 nmp_outer_wall_cleaning_wait_time +int32 nmp_outer_wall_cleaning_waste_time +float64 nmp_inner_wall_cleaning_injection +int32 nmp_inner_wall_cleaning_count +int32 nmp_pump_cleaning_suction_count +int32 nmp_inner_wall_cleaning_waste_time +float64 nmp_stirrer_cleaning_injection +int32 nmp_stirrer_cleaning_count +int32 nmp_stirrer_cleaning_wait_time +int32 nmp_stirrer_cleaning_waste_time +float64 water_outer_wall_cleaning_injection +int32 water_outer_wall_cleaning_count +int32 water_outer_wall_cleaning_wait_time +int32 water_outer_wall_cleaning_waste_time +float64 water_inner_wall_cleaning_injection +int32 water_inner_wall_cleaning_count +int32 water_pump_cleaning_suction_count +int32 water_inner_wall_cleaning_waste_time +float64 water_stirrer_cleaning_injection +int32 water_stirrer_cleaning_count +int32 water_stirrer_cleaning_wait_time +int32 water_stirrer_cleaning_waste_time +float64 acetone_outer_wall_cleaning_injection +int32 acetone_outer_wall_cleaning_count +int32 acetone_outer_wall_cleaning_wait_time +int32 acetone_outer_wall_cleaning_waste_time +float64 acetone_inner_wall_cleaning_injection +int32 acetone_inner_wall_cleaning_count +int32 acetone_pump_cleaning_suction_count +int32 acetone_inner_wall_cleaning_waste_time +float64 acetone_stirrer_cleaning_injection +int32 acetone_stirrer_cleaning_count +int32 acetone_stirrer_cleaning_wait_time +int32 acetone_stirrer_cleaning_waste_time +int32 pipe_blowing_time +int32 injection_pump_forward_empty_suction_count +int32 injection_pump_reverse_empty_suction_count +int32 filtration_liquid_selection +--- +# Result - 操作结果 +string return_info # 操作是否成功 +--- +# Feedback - 实时反馈 diff --git a/unilabos_msgs/action/PostProcessTriggerPostPro.action b/unilabos_msgs/action/PostProcessTriggerPostPro.action new file mode 100644 index 00000000..a5fa0598 --- /dev/null +++ b/unilabos_msgs/action/PostProcessTriggerPostPro.action @@ -0,0 +1,20 @@ +# Goal - 后处理参数 +float64 atomization_fast_speed +float64 wash_slow_speed +int32 injection_pump_suction_speed +int32 injection_pump_push_speed +int32 raw_liquid_suction_count +float64 first_wash_water_amount +float64 second_wash_water_amount +int32 first_powder_mixing_tim +int32 second_powder_mixing_time +int32 first_powder_wash_count +int32 second_powder_wash_count +float64 initial_water_amount +int32 pre_filtration_mixing_time +int32 atomization_pressure_kpa +--- +# Result - 操作结果 +string return_info # 操作是否成功 +--- +# Feedback - 实时反馈 diff --git a/unilabos_msgs/action/ReactionStationDripBack.action b/unilabos_msgs/action/ReactionStationDripBack.action new file mode 100644 index 00000000..df690b3b --- /dev/null +++ b/unilabos_msgs/action/ReactionStationDripBack.action @@ -0,0 +1,11 @@ +# Goal - 滴回去 +string volume # 投料体积 +string assign_material_name # 溶剂名称 +string time # 观察时间（单位min） +string torque_variation #是否观察1否2是 +--- +# Result - 操作结果 +string return_info # 结果消息 + +--- +# Feedback - 实时反馈 diff --git a/unilabos_msgs/action/ReactionStationLiquidFeed.action b/unilabos_msgs/action/ReactionStationLiquidFeed.action new file mode 100644 index 00000000..8be9dbba --- /dev/null +++ b/unilabos_msgs/action/ReactionStationLiquidFeed.action @@ -0,0 +1,11 @@ +# Goal - 液体投料 +string titration_type # 滴定类型1否2是 +string volume # 投料体积 +string assign_material_name # 溶剂名称 +string time # 观察时间（单位min） +string torque_variation #是否观察1否2是 +--- +# Result - 操作结果 +string return_info # 结果消息 +--- +# Feedback - 实时反馈 diff --git a/unilabos_msgs/action/ReactionStationProExecu.action b/unilabos_msgs/action/ReactionStationProExecu.action new file mode 100644 index 00000000..0c4649a8 --- /dev/null +++ b/unilabos_msgs/action/ReactionStationProExecu.action @@ -0,0 +1,8 @@ +# Goal - 合并工作流+执行 +string workflow_name # 工作流名称 +string task_name # 任务名称 +--- +# Result - 操作结果 +string return_info # 结果消息 +--- +# Feedback - 实时反馈 diff --git a/unilabos_msgs/action/ReactionStationReaTackIn.action b/unilabos_msgs/action/ReactionStationReaTackIn.action new file mode 100644 index 00000000..78d873ac --- /dev/null +++ b/unilabos_msgs/action/ReactionStationReaTackIn.action @@ -0,0 +1,9 @@ +# Goal - 通量-配置 +string cutoff # 黏度_通量-配置 +string temperature # 温度_通量-配置 +string assign_material_name # 分液类型_通量-配置 +--- +# Result - 操作结果 +string return_info # 结果消息 +--- +# Feedback - 实时反馈 diff --git a/unilabos_msgs/action/ReactionStationSolidFeedVial.action b/unilabos_msgs/action/ReactionStationSolidFeedVial.action new file mode 100644 index 00000000..b51096d1 --- /dev/null +++ b/unilabos_msgs/action/ReactionStationSolidFeedVial.action @@ -0,0 +1,10 @@ +# Goal - 固体投料-小瓶 +string assign_material_name # 固体名称_粉末加样模块-投料 +string material_id # 固体投料类型_粉末加样模块-投料 +string time # 观察时间_反应模块-观察搅拌结果 +string torque_variation #是否观察1否2是_反应模块-观察搅拌结果 +--- +# Result - 操作结果 +string return_info # 结果消息 +--- +# Feedback - 实时反馈