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add virtual_separator virtual_rotavap

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fix transfer_pump
This commit is contained in:
Xuwznln
2025-06-16 12:15:54 +08:00
parent 57cb120c8c
commit 9f8f6e55c4
5 changed files with 692 additions and 168 deletions
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491
unilabos/registry/devices/virtual_device.yaml
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@@ -44,6 +44,17 @@
# 描述：分离纯化设备，用于样品纯化
# 连接特性：1个输入口 + 1个输出口
# 数据类型：resource（资源/样品连接）
# 9. virtual_rotavap - 虚拟旋转蒸发仪
# 描述：旋转蒸发仪用于溶剂蒸发和浓缩，具有加热、旋转和真空功能
# 连接特性：1个输入口（样品），1个输出口（浓缩物），1个冷凝器出口（回收溶剂）
# 数据类型：resource（资源/样品连接）
# 10. virtual_separator - 虚拟分液器
# 描述：分液器用于两相液体的分离，可进行萃取和洗涤操作
# 连接特性：1个输入口（混合液），2个输出口（上相和下相）
# 数据类型：fluid（流体连接）
virtual_pump:
description: Virtual Pump for PumpTransferProtocol Testing
class:
@@ -52,7 +63,7 @@ virtual_pump:
status_types:
status: String
position: Float64
valve_position: Int32 # 修复：使用 Int32 而不是 String
valve_position: Int32 # 修复：使用 Int32 而不是 String
max_volume: Float64
current_volume: Float64
action_value_mappings:
@@ -83,13 +94,13 @@ virtual_pump:
success: success
# 虚拟泵节点配置 - 具有多通道阀门特性，根据valve_position可连接多个容器
handles:
- handler_key: pump-inlet
label: Pump Inlet
data_type: fluid
io_type: target
data_source: handle
data_key: fluid_in
description: "泵的进液口，连接源容器"
- handler_key: pump-inlet
label: Pump Inlet
data_type: fluid
io_type: target
data_source: handle
data_key: fluid_in
description: "泵的进液口，连接源容器"
schema:
type: object
properties:
@@ -139,14 +150,14 @@ virtual_stirrer:
success: success
# 虚拟搅拌器节点配置 - 机械连接设备，单一双向连接点
handles:
- handler_key: stirrer-vessel
label: Vessel Connection
data_type: mechanical
side: SOUTH
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"
- handler_key: stirrer-vessel
label: Vessel Connection
data_type: mechanical
side: SOUTH
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"
schema:
type: object
properties:
@@ -182,77 +193,77 @@ virtual_multiway_valve:
success: success
# 八通阀门节点配置 - 1个输入口，8个输出口，可切换流向
handles:
- handler_key: multiway-valve-inlet
label: Valve Inlet
data_type: fluid
io_type: target
data_source: handle
data_key: fluid_in
description: "八通阀门进液口，接收来源流体"
- handler_key: multiway-valve-port-1
label: 1
data_type: fluid
side: NORTH
io_type: source
data_source: executor
data_key: fluid_port_1
description: "八通阀门端口1，position=1时流体从此口流出"
- handler_key: multiway-valve-port-2
label: 2
data_type: fluid
side: EAST
io_type: source
data_source: executor
data_key: fluid_port_2
description: "八通阀门端口2，position=2时流体从此口流出"
- handler_key: multiway-valve-port-3
label: 3
data_type: fluid
side: EAST
io_type: source
data_source: executor
data_key: fluid_port_3
description: "八通阀门端口3，position=3时流体从此口流出"
- handler_key: multiway-valve-port-4
label: 4
data_type: fluid
side: SOUTH
io_type: source
data_source: executor
data_key: fluid_port_4
description: "八通阀门端口4，position=4时流体从此口流出"
- handler_key: multiway-valve-port-5
label: 5
data_type: fluid
side: SOUTH
io_type: source
data_source: executor
data_key: fluid_port_5
description: "八通阀门端口5，position=5时流体从此口流出"
- handler_key: multiway-valve-port-7
label: 7
data_type: fluid
side: WEST
io_type: source
data_source: executor
data_key: fluid_port_7
description: "八通阀门端口7，position=7时流体从此口流出"
- handler_key: multiway-valve-port-6
label: 6
data_type: fluid
side: WEST
io_type: source
data_source: executor
data_key: fluid_port_6
description: "八通阀门端口6，position=6时流体从此口流出"
- handler_key: multiway-valve-port-8
label: 8
data_type: fluid
side: NORTH
io_type: source
data_source: executor
data_key: fluid_port_8
description: "八通阀门端口8，position=8时流体从此口流出"
- handler_key: multiway-valve-inlet
label: Valve Inlet
data_type: fluid
io_type: target
data_source: handle
data_key: fluid_in
description: "八通阀门进液口，接收来源流体"
- handler_key: multiway-valve-port-1
label: 1
data_type: fluid
side: NORTH
io_type: source
data_source: executor
data_key: fluid_port_1
description: "八通阀门端口1，position=1时流体从此口流出"
- handler_key: multiway-valve-port-2
label: 2
data_type: fluid
side: EAST
io_type: source
data_source: executor
data_key: fluid_port_2
description: "八通阀门端口2，position=2时流体从此口流出"
- handler_key: multiway-valve-port-3
label: 3
data_type: fluid
side: EAST
io_type: source
data_source: executor
data_key: fluid_port_3
description: "八通阀门端口3，position=3时流体从此口流出"
- handler_key: multiway-valve-port-4
label: 4
data_type: fluid
side: SOUTH
io_type: source
data_source: executor
data_key: fluid_port_4
description: "八通阀门端口4，position=4时流体从此口流出"
- handler_key: multiway-valve-port-5
label: 5
data_type: fluid
side: SOUTH
io_type: source
data_source: executor
data_key: fluid_port_5
description: "八通阀门端口5，position=5时流体从此口流出"
- handler_key: multiway-valve-port-7
label: 7
data_type: fluid
side: WEST
io_type: source
data_source: executor
data_key: fluid_port_7
description: "八通阀门端口7，position=7时流体从此口流出"
- handler_key: multiway-valve-port-6
label: 6
data_type: fluid
side: WEST
io_type: source
data_source: executor
data_key: fluid_port_6
description: "八通阀门端口6，position=6时流体从此口流出"
- handler_key: multiway-valve-port-8
label: 8
data_type: fluid
side: NORTH
io_type: source
data_source: executor
data_key: fluid_port_8
description: "八通阀门端口8，position=8时流体从此口流出"
schema:
type: object
properties:
@@ -270,19 +281,19 @@ virtual_solenoid_valve:
type: python
status_types:
status: String
valve_state: String # "open" or "closed"
valve_state: String # "open" or "closed"
is_open: Bool
action_value_mappings:
open:
type: SendCmd
goal:
goal:
command: "open"
feedback: {}
result:
success: success
close:
type: SendCmd
goal:
goal:
command: "close"
feedback: {}
result:
@@ -290,26 +301,26 @@ virtual_solenoid_valve:
set_state:
type: SendCmd
goal:
command: command
command: command
feedback: {}
result:
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: solenoid-valve-port-in
label: in
data_type: fluid
io_type: undirected
data_source: handle
data_key: fluid_port
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: solenoid-valve-port-out
label: out
data_type: fluid
io_type: undirected
data_source: handle
data_key: fluid_port
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: solenoid-valve-port-in
label: in
data_type: fluid
io_type: undirected
data_source: handle
data_key: fluid_port
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: solenoid-valve-port-out
label: out
data_type: fluid
io_type: undirected
data_source: handle
data_key: fluid_port
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"
schema:
type: object
properties:
@@ -357,13 +368,13 @@ virtual_centrifuge:
message: message
# 虚拟离心机节点配置 - 单个样品处理设备，输入输出都是同一个样品容器
handles:
- handler_key: centrifuge-sample
label: Sample Input/Output
data_type: transport
io_type: undirected
data_source: handle
data_key: vessel
description: "需要离心的样品容器"
- handler_key: centrifuge-sample
label: Sample Input/Output
data_type: transport
io_type: undirected
data_source: handle
data_key: vessel
description: "需要离心的样品容器"
schema:
type: object
properties:
@@ -418,30 +429,30 @@ virtual_filter:
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)
handles:
- handler_key: filter-in
label: Input
data_type: fluid
side: NORTH
io_type: target
data_source: handle
data_key: vessel
description: "需要过滤的原始样品容器"
- handler_key: filter-filtrate-out
label: Output
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)"
- handler_key: filter-in
label: Input
data_type: fluid
side: NORTH
io_type: target
data_source: handle
data_key: vessel
description: "需要过滤的原始样品容器"
- handler_key: filter-filtrate-out
label: Output
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)"
schema:
type: object
properties:
@@ -497,14 +508,14 @@ virtual_heatchill:
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
handles:
- handler_key: heatchill-vessel
label: Connection
data_type: mechanical
side: NORTH
io_type: undirected
data_source: handle
data_key: vessel
description: "加热/冷却器的物理连接口，容器直接放置在设备上进行温度控制"
- handler_key: heatchill-vessel
label: Connection
data_type: mechanical
side: NORTH
io_type: undirected
data_source: handle
data_key: vessel
description: "加热/冷却器的物理连接口，容器直接放置在设备上进行温度控制"
schema:
type: object
properties:
@@ -516,7 +527,7 @@ virtual_heatchill:
default: 200.0
min_temp:
type: number
default: -80.0
default: -80
max_stir_speed:
type: number
default: 1000.0
@@ -533,10 +544,6 @@ virtual_transfer_pump:
max_volume: Float64
transfer_rate: Float64
from_vessel: String
to_vessel: String
progress: Float64
transferred_volume: Float64
current_status: String
action_value_mappings:
transfer:
type: Transfer
@@ -612,22 +619,22 @@ virtual_column:
message: message
# 虚拟色谱柱节点配置 - 分离纯化设备，1个样品输入口，1个纯化产物输出口
handles:
- handler_key: column-sample-inlet
label: Sample Input
data_type: fluid
side: NORTH
io_type: target
data_source: handle
data_key: from_vessel
description: "需要纯化的样品输入口"
- handler_key: column-product-outlet
label: Purified Product
data_type: fluid
side: SOUTH
io_type: source
data_source: executor
data_key: to_vessel
description: "经过色谱柱纯化的产物输出口"
- handler_key: column-sample-inlet
label: Sample Input
data_type: fluid
side: NORTH
io_type: target
data_source: handle
data_key: from_vessel
description: "需要纯化的样品输入口"
- handler_key: column-product-outlet
label: Purified Product
data_type: fluid
side: SOUTH
io_type: source
data_source: executor
data_key: to_vessel
description: "经过色谱柱纯化的产物输出口"
schema:
type: object
properties:
@@ -643,4 +650,156 @@ virtual_column:
column_diameter:
type: number
default: 2.0
additionalProperties: false
additionalProperties: false
virtual_rotavap:
description: Virtual Rotary Evaporator for EvaporateProtocol Testing
class:
module: unilabos.devices.virtual.virtual_rotavap:VirtualRotavap
type: python
status_types:
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
message: String
action_value_mappings:
evaporate:
type: Evaporate
goal:
vessel: vessel
pressure: pressure
temp: temp
time: time
stir_speed: stir_speed
feedback:
progress: progress
current_temp: current_temp
evaporated_volume: evaporated_volume
current_status: status
result:
success: success
message: message
# 虚拟旋转蒸发仪节点配置 - 蒸发浓缩设备，1个输入口(样品)，2个输出口(浓缩物和冷凝液)
handles:
- handler_key: rotavap-sample-inlet
label: Sample Input
data_type: fluid
side: NORTH
io_type: target
data_source: handle
data_key: vessel
description: "需要蒸发的样品输入口"
- handler_key: rotavap-concentrate-outlet
label: Concentrate
data_type: fluid
side: SOUTH
io_type: source
data_source: executor
data_key: concentrate_vessel
description: "蒸发浓缩后的产物输出口"
- handler_key: rotavap-distillate-outlet
label: Distillate
data_type: fluid
side: WEST
io_type: source
data_source: executor
data_key: distillate_vessel
description: "冷凝回收的溶剂输出口"
schema:
type: object
properties:
port:
type: string
default: "VIRTUAL"
max_temp:
type: number
default: 180.0
max_rotation_speed:
type: number
default: 280.0
additionalProperties: false
virtual_separator:
description: Virtual Separator for SeparateProtocol Testing
class:
module: unilabos.devices.virtual.virtual_separator:VirtualSeparator
type: python
status_types:
status: String
separator_state: String
volume: Float64
has_phases: Bool
phase_separation: Bool
stir_speed: Float64
settling_time: Float64
progress: Float64
message: String
action_value_mappings:
separate:
type: Separate
goal:
purpose: purpose
product_phase: product_phase
from_vessel: from_vessel
separation_vessel: separation_vessel
to_vessel: to_vessel
waste_phase_to_vessel: waste_phase_to_vessel
solvent: solvent
solvent_volume: solvent_volume
through: through
repeats: repeats
stir_time: stir_time
stir_speed: stir_speed
settling_time: settling_time
feedback:
progress: progress
current_status: status
result:
success: success
message: message
# 虚拟分液器节点配置 - 分离设备，1个输入口(混合液)，2个输出口(上相和下相)
handles:
- handler_key: separator-inlet
label: Mixed Input
data_type: fluid
side: NORTH
io_type: target
data_source: handle
data_key: from_vessel
description: "需要分离的混合液体输入口"
- handler_key: separator-top-outlet
label: Top Phase
data_type: fluid
side: EAST
io_type: source
data_source: executor
data_key: top_outlet
description: "上相（轻相）液体输出口"
- handler_key: separator-bottom-outlet
label: Bottom Phase
data_type: fluid
side: SOUTH
io_type: source
data_source: executor
data_key: bottom_outlet
description: "下相（重相）液体输出口"
schema:
type: object
properties:
port:
type: string
default: "VIRTUAL"
volume:
type: number
default: 250.0
has_phases:
type: boolean
default: true
additionalProperties: false