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Ready for open source (#47)
* Create app/main API * create example device * create ROS backend and example device SDK Wrapper * Add ROS host and host starting from app.py * Add gripper device and mock implementation * add "status_types" & "action_types" to ROS device decorator * add ActionServer debug example * [bugfix] complete mock gripper example * ROS Backend Host for Device action calling and Resource management * add conda/mamba ENV file * add host_node communication with app/main.py * add action message value mappings and converters * Update ilabos.yaml * Update issue templates * example devices.json and resources.json * Fix Device wrapper to use async property and actions (#7) * Fix Device wrapper to use async property and actions * Resolve #1 : support async get methods and actions. Give new examples. * add both sync/async GRBL controller SDK * 2 call device actions from appmainpy api to ros hostpy (#8) * feature: add job * fix:node start * feature:add get job status * fix:get device * clean * Resolve #5 device connection diagram and workflow compilation support (#9) * add syringe pump device and its compilation using device connection diagram * add RunzeSyringePump real device with ROS2 example * Prototype machine with 1 pump and 1 CNC * add ROS2ProtocolNode and related functions * add ilabos_msgs (to use PumpTransfer action) * add example device connection graph * refactor protocol_node code into separate file * add ROS2SerialNode * add SerialCommand srv in ilabos_msgs * add pump_protocol example, and fix bugs * [fix] serial service: avoid async service deadlock by directly call serial `send_command` * use SendCmd instead of SingleJointPosition for valve control * initialize device connection graph when server starts * Fix #5: async workflow execution (#16) * add rclpyx and protocol example for async-native workflow * use async in ROS2ProtocolNode, and host initialization * add examples of "ros-async" protocol implementation, and `run_in_event_loop` for using native async functions * use "ros-async" in protocols and device nodes * fix pump_protocol: push to 0.0 μL * Envs, docs, and conda recipes (#19) * update ENV: use python 3.11 and deprecate ros-humble-gazebo-ros * add ilabos-msgs conda recipe * Update ilabos.yaml * fix recipe and env yaml * Add sphinx docs * add aichemeco * add bioyong * add bioyong * Support XDL devices & protocols (#20) * [Feature] support multiple protocols in a single ProtocolNode * add Junjie's code * Support "Clean" protocol * Update Grignard_flow_batchreact_single_pumpvalve.json * test_grignard_add * add stir device node and example * Update device_node.py add print_publish flag to control the node's log output * NH4Cl_add * add "HeaterStirrer" device and "HeatChill" action * add wait time after each pump action for equilibration * fix stir * add Separate protocol * Refactor Separator device and Stir action * add rotavap_node * fix stir * add chiller node * Move rinsings into PumpTransfer * Fix SeparateProtocol under refactored Separator device and Stir action * Supports automatically add new protocol action_types * fix PumpTransfer protocol because of rinsing * Add Rotavap and Chiller devices * fix SeparateProtocol * add EvaporateProtocol * add rotavap devices config * fix HeaterStirrer and SeparatorController IO * Fix automatically add new protocol action_types * Add HeaterStirrer and SeparatorController device config * fix pump protocols * Fix Evaporate action * Update evaporate_protocol.py * add temp_sensor node and add function remap * update docs --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: q434343 <554662886@qq.com> * fix aichemeco * [Bugfix] fix Windows conda packaging * add file upload api * update dependencies: force to use 3.11 and remove conflict in WIN64 and OSX64 * update dependencies: force to use 3.11 and remove conflict in WIN64 and OSX64 * Create aichemeco_simple.py * fix * update * add aichemeco file * MQTT [1/2]: action start (#25) * add mq * fix * clean * add class * fix excel * update bioyong * add api * fix --------- Co-authored-by: caok@dp.tech <xiaoyeqiannian@163.com> * motor & grasp * Add Grasp motor support and enhance EleGripper class - Introduced a new motor configuration for Grasp in sjtu.json. - Updated EleGripper class to inherit from UniversalDriver and added status property. - Implemented move_and_rotate method for coordinated movement. - Adjusted threading logic in EleGripper initialization. - Registered Grasp motor in ROS2 device node configuration. This commit enhances the motor control capabilities by integrating the Grasp motor and improving the existing EleGripper functionality. * fix read data lenth * Update Grasp.py * MQTT (2/2): publish Device Status, Action Feedback & Results (#27) * Add bridges in HostNode for device_status publishing * Add "bridges" selection (fastapi & mqtt) when app start * add MQ feedback & result publisher, and fix message converter * fix UUID converting between ROS and MQ * lint api model.py * Continuous controllers: PID, MPC, custom controllers etc. (#23) * add controller config & wrapper * add controller setup at app.main * control loop example * fix com port * add agv , ur_arm and raman * MQTT (3/4): Unified Resources and Sync when starting the server (#28) * update http upload api * generate uuid when init device * example resource json * fix * add new example full-content json (device, resource, graph) * fix full-content json and related reading code * fix * add json_schema when initialize resources * fix * update schema * refactor heaterstirrer.dalong * fix * fix refactor heaterstirrer.dalong * refactor syringepump.runze: use ml instead of μL * Update ilabos/ros/host.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * Distributed initialization with self-organizing network (#29) * add distributed launching option "--without_host" * fix --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> * Refactor Workstation: Add resource service and tracking (#30) * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * Create HT_hiwo.json * add children in resources * bugfixes * fix rpc * add Revvity winprep --------- Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com> Co-authored-by: 3218923350 <105201755+3218923350@users.noreply.github.com> * Distributed launch (2/2): distributed resource create (#32) * add resource_add request to host for slave mode * add AGV * fix protocol resources * optimize host callbacks * bugfixes * add revvity registry --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com> * Refactor Driver Files Structure (#33) * Integration with pywinauto & recorder Added execute run and initialize procdure * 酶标仪状态检测、使用示例，整体流程待测试 * nivo ready version * Add HPLC driver and example script - Introduced HPLCDriver class for managing HPLC device status and operations. - Implemented device status monitoring and command execution via ROS2 actions. - Added example script (hplc.py) demonstrating how to run commands on the HPLC device. - Created PlayerUtil and UniversalDriver classes for shared functionality across devices. - Refactored NivoDriver to utilize the new UniversalDriver structure. - Enhanced error handling and process management in the NivoDriver. * 修复start的错误定位 * hplc tested ok * relative path to build msgs * template_driver & jiageng devices * fetch correct status type and action type * fix mtype fetch * gpc bus integration * ilab build * remove chs * recipe rename * modbus update 1 * json available * hplc & modbus rewrite * Update AgilentHPLC.py hplc datafile reader * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * modbus分设备 * gpc * gpc 2 * fix address * default register node * fix MainScreenGPC * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update recipe.yaml * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * feat: add other jiageng PLC device code * ilabos compile * correct format * correct recipe format * correct setup.py format * remove unnecessary files * remove unnecessary files * Create HT_hiwo.json * add children in resources * hplc support sample_id * correct hplc sample_id * correct hplc sample_id * hplc upload * fix type hint * oss upload tested ver * recipe yaml fix for linux * update installation yaml * refactor: moved all driver files according to its feat * merge main to dev --------- Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> * add: NMR LH and RU device control (#34) * Add Registry for device drivers and Support GraphML (#35) * read chemputer graphml * read graphml in app/main * add devices in ros/devices * add schema for devices * read registry directory and initialize when entry from main * Delete devices.py * Update add_protocol.md * delete unecessary files * feat: 2278 devices registry yaml (#36) * read chemputer graphml * read graphml in app/main * add devices in ros/devices * add schema for devices * read registry directory and initialize when entry from main * Delete devices.py * add: NMR LH and RU device control * fix: modify jiageng devices registry --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * Device/Resource Registry and GraphML support (#37) * add resource type conversion to PLR * add resource registry and test * add docs * fix registry * add solenoid_valve_mock, its registry and test * fix registry for directly using examples * add EvacuateAndRefillProtocol and testcases * allow function sequence call in ACTION * add read & write & extra_info for hardware_interface * Update device_node.py * add solenoid valve * add doc developer guide yaml * fixes for starting IK station * add graphml grouping parser * fix graphml grouping parser * add communication edge parser * fix io solenoid valve * Update .gitignore * Update plates.yaml --------- Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> * Uni-Lab Doc v0.2 (#39) * add Uni-Lab docs * change doc name * Dev (#41) * Integration with pywinauto & recorder Added execute run and initialize procdure * 酶标仪状态检测、使用示例，整体流程待测试 * nivo ready version * Add HPLC driver and example script - Introduced HPLCDriver class for managing HPLC device status and operations. - Implemented device status monitoring and command execution via ROS2 actions. - Added example script (hplc.py) demonstrating how to run commands on the HPLC device. - Created PlayerUtil and UniversalDriver classes for shared functionality across devices. - Refactored NivoDriver to utilize the new UniversalDriver structure. - Enhanced error handling and process management in the NivoDriver. * 修复start的错误定位 * hplc tested ok * relative path to build msgs * template_driver & jiageng devices * fetch correct status type and action type * fix mtype fetch * gpc bus integration * ilab build * remove chs * recipe rename * modbus update 1 * json available * hplc & modbus rewrite * Update AgilentHPLC.py hplc datafile reader * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * modbus分设备 * gpc * gpc 2 * fix address * default register node * fix MainScreenGPC * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update recipe.yaml * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * feat: add other jiageng PLC device code * ilabos compile * correct format * correct recipe format * correct setup.py format * remove unnecessary files * remove unnecessary files * Create HT_hiwo.json * add children in resources * hplc support sample_id * correct hplc sample_id * correct hplc sample_id * hplc upload * fix type hint * oss upload tested ver * recipe yaml fix for linux * update installation yaml * refactor: moved all driver files according to its feat * merge main to dev * add HPLC registry and json * 升级 ros2-distro-mutex 依赖版本至 0.6 * 修改 ros2-distro-mutex 依赖版本为通配符匹配 * 更新 ros-humble-ilabos-msgs 依赖为 robostack-humble 命名空间 * add resource type conversion to PLR * add resource registry and test * feat: 更新oss上传 * fix device id * add docs * fix registry * add solenoid_valve_mock, its registry and test * fix registry for directly using examples * add EvacuateAndRefillProtocol and testcases * allow function sequence call in ACTION * add read & write & extra_info for hardware_interface * Update device_node.py * add solenoid valve * add doc developer guide yaml * use robostack-staging * rclpy version test * lower rclpy * ensure 0.6* env * fixes for starting IK station * add graphml grouping parser * fix graphml grouping parser * add communication edge parser * fix io solenoid valve * Update .gitignore * Update plates.yaml * Feature/device node later init (#40) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable --------- Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> * Dev (#45) * Integration with pywinauto & recorder Added execute run and initialize procdure * 酶标仪状态检测、使用示例，整体流程待测试 * nivo ready version * Add HPLC driver and example script - Introduced HPLCDriver class for managing HPLC device status and operations. - Implemented device status monitoring and command execution via ROS2 actions. - Added example script (hplc.py) demonstrating how to run commands on the HPLC device. - Created PlayerUtil and UniversalDriver classes for shared functionality across devices. - Refactored NivoDriver to utilize the new UniversalDriver structure. - Enhanced error handling and process management in the NivoDriver. * 修复start的错误定位 * hplc tested ok * relative path to build msgs * template_driver & jiageng devices * fetch correct status type and action type * fix mtype fetch * gpc bus integration * ilab build * remove chs * recipe rename * modbus update 1 * json available * hplc & modbus rewrite * Update AgilentHPLC.py hplc datafile reader * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * modbus分设备 * gpc * gpc 2 * fix address * default register node * fix MainScreenGPC * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update recipe.yaml * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * feat: add other jiageng PLC device code * ilabos compile * correct format * correct recipe format * correct setup.py format * remove unnecessary files * remove unnecessary files * Create HT_hiwo.json * add children in resources * hplc support sample_id * correct hplc sample_id * correct hplc sample_id * hplc upload * fix type hint * oss upload tested ver * recipe yaml fix for linux * update installation yaml * refactor: moved all driver files according to its feat * merge main to dev * add HPLC registry and json * 升级 ros2-distro-mutex 依赖版本至 0.6 * 修改 ros2-distro-mutex 依赖版本为通配符匹配 * 更新 ros-humble-ilabos-msgs 依赖为 robostack-humble 命名空间 * add resource type conversion to PLR * add resource registry and test * feat: 更新oss上传 * fix device id * add docs * fix registry * add solenoid_valve_mock, its registry and test * fix registry for directly using examples * add EvacuateAndRefillProtocol and testcases * allow function sequence call in ACTION * add read & write & extra_info for hardware_interface * Update device_node.py * add solenoid valve * add doc developer guide yaml * use robostack-staging * rclpy version test * lower rclpy * ensure 0.6* env * fixes for starting IK station * add graphml grouping parser * fix graphml grouping parser * add communication edge parser * fix io solenoid valve * Update .gitignore * Update plates.yaml * Feature/device node later init (#40) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * Feature/device node later init (#42) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * action * plr suc * plr suc!! * plr suc!! * plr suc!! * plr msgs * Feature/device node later init (#43) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * action * plr suc * plr suc!! * plr suc!! * plr suc!! * plr msgs * plr * action * plr reg fix * Feature/device node later init (#44) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * action * plr suc * plr suc!! * plr suc!! * plr suc!! * plr msgs * plr * fix convert error fix async logic error added async error print * new device test * test resource add * test resource add * test resource add * test resource add * local env setup * node type fix temp fix root_node error fix convert res from type error * resource tracker * fix bug from qhh * fix bug from qhh * fix bug from qhh * fix bug from qhh * refactor MQTT client logging and connection handling; update group ID in config * driver_params allow empty * allow other init param * fix driver param and enhance type hint * refactor MQConfig to use double quotes for string literals * fix wrong function calling * fix wrong function calling * fix log for mac * fix networkx compatibility * add mqtt loggers * add action to jsonschema converter * random client id * type converter & registry * correct conversion * fix action publish only from discovered devices * add "Bio" tag for action doc generation * 改进module提示 * Fix doc * mqtt不连接也可用 性价样例提示 * add docs * 更新plr test案例 * Update intro.md * 更新有机案例 * skip --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Junhan Chang <1700011741@pku.edu.cn> --------- Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Junhan Chang <1700011741@pku.edu.cn> * Canonicalize before Open Source (#46) * big big refactor try01 * refactor 02 --------- Co-authored-by: ck <xiaoyeqiannian@163.com> Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: q434343 <554662886@qq.com> Co-authored-by: Xuwznln <xuwznln@gmail.com> Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com> Co-authored-by: 3218923350 <105201755+3218923350@users.noreply.github.com> Co-authored-by: Xuwznln <1023025701@qq.com> Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> Co-authored-by: Jiawei <91898272+jiawei723@users.noreply.github.com> Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> Co-authored-by: Harvey Que <Q-Query@outlook.com>
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966
test/experiments/Grignard_flow_batchreact_single_pumpvalve.json
Normal file
966
test/experiments/Grignard_flow_batchreact_single_pumpvalve.json
Normal file
@@ -0,0 +1,966 @@
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"port_sensor": "COM40"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "column",
|
||||
"name": "column",
|
||||
"children": [],
|
||||
"parent": "YugongStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 909.722619047619,
|
||||
"y": 948,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 200.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_column",
|
||||
"name": "flask_column",
|
||||
"children": [],
|
||||
"parent": "YugongStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 867.972619047619,
|
||||
"y": 1152,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_air",
|
||||
"name": "flask_air",
|
||||
"children": [],
|
||||
"parent": "YugongStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 742.722619047619,
|
||||
"y": 948,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "dry_column",
|
||||
"name": "dry_column",
|
||||
"children": [],
|
||||
"parent": "YugongStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 1206.722619047619,
|
||||
"y": 948,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 200.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "flask_dry_column",
|
||||
"name": "flask_dry_column",
|
||||
"children": [],
|
||||
"parent": "YugongStation",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 1148.222619047619,
|
||||
"y": 1152,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "pump_ext",
|
||||
"name": "pump_ext",
|
||||
"children": [],
|
||||
"parent": "YugongStation",
|
||||
"type": "device",
|
||||
"class": "syringepump.runze",
|
||||
"position": {
|
||||
"x": 1469.7031746031746,
|
||||
"y": 968.5,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/devices/PumpBackbone/Serial/serialwrite",
|
||||
"address": "4",
|
||||
"max_volume": 25.0
|
||||
},
|
||||
"data": {
|
||||
"max_velocity": 1.0,
|
||||
"position": 0.0,
|
||||
"status": "Idle",
|
||||
"valve_position": "0"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "AGV",
|
||||
"name": "AGV",
|
||||
"children": ["zhixing_agv", "zhixing_ur_arm"],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["AGVTransferProtocol"]
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "zhixing_agv",
|
||||
"name": "zhixing_agv",
|
||||
"children": [],
|
||||
"parent": "AGV",
|
||||
"type": "device",
|
||||
"class": "zhixing_agv",
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"host": "192.168.1.42"
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "zhixing_ur_arm",
|
||||
"name": "zhixing_ur_arm",
|
||||
"children": [],
|
||||
"parent": "AGV",
|
||||
"type": "device",
|
||||
"class": "zhixing_ur_arm",
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 478,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"host": "192.168.1.178"
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
"target": "serial_pump",
|
||||
"type": "communication",
|
||||
"port": {
|
||||
"pump_reagents": "port",
|
||||
"serial_pump": "port"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "serial_pump",
|
||||
"type": "communication",
|
||||
"port": {
|
||||
"pump_reagents": "port",
|
||||
"serial_pump": "port"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "serial_pump",
|
||||
"type": "communication",
|
||||
"port": {
|
||||
"pump_reagents": "port",
|
||||
"serial_pump": "port"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_ext",
|
||||
"target": "serial_pump",
|
||||
"type": "communication",
|
||||
"port": {
|
||||
"pump_reagents": "port",
|
||||
"serial_pump": "port"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "reactor",
|
||||
"target": "pump_reagents",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"reactor": "top",
|
||||
"pump_reagents": "5"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "rotavap",
|
||||
"target": "flask_rv",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"rotavap": "bottom",
|
||||
"flask_rv": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "separator_controller",
|
||||
"target": "flask_separator",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"separator_controller": "bottom",
|
||||
"flask_separator": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "column",
|
||||
"target": "flask_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"column": "bottom",
|
||||
"flask_column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "dry_column",
|
||||
"target": "flask_dry_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"dry_column": "bottom",
|
||||
"flask_dry_column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_ext",
|
||||
"target": "pump_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_ext": "8",
|
||||
"pump_column": "1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_ext",
|
||||
"target": "waste_workup",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_ext": "2",
|
||||
"waste_workup": "-1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
"target": "flask_THF",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_reagents": "7",
|
||||
"flask_THF": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
"target": "flask_NH4Cl",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_reagents": "4",
|
||||
"flask_NH4Cl": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
"target": "flask_CH2Cl2",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_reagents": "2",
|
||||
"flask_CH2Cl2": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
"target": "flask_acetone",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_reagents": "3",
|
||||
"flask_acetone": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
"target": "pump_workup",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_reagents": "1",
|
||||
"pump_workup": "8"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
"target": "flask_grignard",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_reagents": "6",
|
||||
"flask_grignard": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
"target": "reactor",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_reagents": "5",
|
||||
"reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_reagents",
|
||||
"target": "flask_air",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_reagents": "8",
|
||||
"flask_air": "-1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "waste_workup",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "2",
|
||||
"waste_workup": "-1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "flask_H2O",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "7",
|
||||
"flask_H2O": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "flask_NaHCO3",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "6",
|
||||
"flask_NaHCO3": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "pump_reagents",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "8",
|
||||
"pump_reagents": "1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "flask_holding",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "5",
|
||||
"flask_holding": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "separator_controller",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "4",
|
||||
"separator_controller": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "flask_separator",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "3",
|
||||
"flask_separator": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_workup",
|
||||
"target": "pump_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_workup": "1",
|
||||
"pump_column": "8"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "4",
|
||||
"column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "flask_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "3",
|
||||
"flask_column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "rotavap",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "2",
|
||||
"rotavap": "-1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "pump_workup",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "8",
|
||||
"pump_workup": "1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "flask_air",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "5",
|
||||
"flask_air": "-1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "dry_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "7",
|
||||
"dry_column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "flask_dry_column",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "6",
|
||||
"flask_dry_column": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "pump_column",
|
||||
"target": "pump_ext",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"pump_column": "1",
|
||||
"pump_ext": "8"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
174
test/experiments/HPLC.json
Normal file
174
test/experiments/HPLC.json
Normal file
@@ -0,0 +1,174 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "HPLC",
|
||||
"name": "HPLC",
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "hplc",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [
|
||||
"BottlesRack3"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "BottlesRack3",
|
||||
"name": "Revvity上样盘3",
|
||||
"parent": "Revvity",
|
||||
"type": "plate",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [
|
||||
"Bottle3-1",
|
||||
"Bottle3-2",
|
||||
"Bottle3-3",
|
||||
"Bottle3-4",
|
||||
"Bottle3-5",
|
||||
"Bottle3-6",
|
||||
"Bottle3-7",
|
||||
"Bottle3-8"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Bottle3-1",
|
||||
"name": "Bottle3-1",
|
||||
"parent": "BottlesRack3",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Bottle3-2",
|
||||
"name": "Bottle3-2",
|
||||
"parent": "BottlesRack3",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Bottle3-3",
|
||||
"name": "Bottle3-3",
|
||||
"parent": "BottlesRack3",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Bottle3-4",
|
||||
"name": "Bottle3-4",
|
||||
"parent": "BottlesRack3",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Bottle3-5",
|
||||
"name": "Bottle3-5",
|
||||
"parent": "BottlesRack3",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Bottle3-6",
|
||||
"name": "Bottle3-6",
|
||||
"parent": "BottlesRack3",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Bottle3-7",
|
||||
"name": "Bottle3-7",
|
||||
"parent": "BottlesRack3",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Bottle3-8",
|
||||
"name": "Bottle3-8",
|
||||
"parent": "BottlesRack3",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [
|
||||
]
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
4806
test/experiments/HT_hiwo.json
Normal file
4806
test/experiments/HT_hiwo.json
Normal file
File diff suppressed because it is too large
Load Diff
21
test/experiments/deis_control_config.yaml
Normal file
21
test/experiments/deis_control_config.yaml
Normal file
@@ -0,0 +1,21 @@
|
||||
controller_manager:
|
||||
ros__parameters:
|
||||
update_rate: 1.0 # 更新频率，单位 Hz. 20s 更新一次
|
||||
|
||||
# 控制器列表
|
||||
controllers:
|
||||
deis_current_controller:
|
||||
type: EISModelBasedController # PID 控制器类型
|
||||
inputs:
|
||||
eis: # 环境输入（电化学阻抗谱）
|
||||
topic: /devices/BioLogic/EISdata # 输入话题
|
||||
type: list[float] # 输入数据类型
|
||||
outputs:
|
||||
current_control: # 控制输出（充电电流）
|
||||
topic: /devices/BioLogic/current_control # 输出话题
|
||||
type: float # 输出数据类型
|
||||
parameters:
|
||||
# set_point: 22.0 # 目标温度（可以动态更新）
|
||||
# kp: 1.0 # PID 参数
|
||||
# ki: 0.1
|
||||
# kd: 0.05
|
||||
54
test/experiments/devices.json
Normal file
54
test/experiments/devices.json
Normal file
@@ -0,0 +1,54 @@
|
||||
{
|
||||
"PumpBackbone": {
|
||||
"class": "protocol",
|
||||
"protocol_type": ["PumpTransferProtocol", "CleanProtocol", "SeparateProtocol", "EvaporateProtocol"],
|
||||
"children": {
|
||||
"Serial": {
|
||||
"class": "serial",
|
||||
"port": "COM7",
|
||||
"baudrate": 9600
|
||||
},
|
||||
"pump_reagents": {
|
||||
"class": "syringepump.runze",
|
||||
"port": "/devices/PumpBackbone/Serial/serialwrite",
|
||||
"address": "1"
|
||||
},
|
||||
"pump_workup": {
|
||||
"class": "syringepump.runze",
|
||||
"port": "/devices/PumpBackbone/Serial/serialwrite",
|
||||
"address": "2"
|
||||
},
|
||||
"pump_column": {
|
||||
"class": "syringepump.runze",
|
||||
"port": "/devices/PumpBackbone/Serial/serialwrite",
|
||||
"address": "3"
|
||||
},
|
||||
"pump_ext": {
|
||||
"class": "syringepump.runze",
|
||||
"port": "/devices/PumpBackbone/Serial/serialwrite",
|
||||
"address": "4"
|
||||
},
|
||||
"separator_controller": {
|
||||
"class": "separator_controller",
|
||||
"port_executor": "COM41",
|
||||
"port_sensor": "COM40"
|
||||
},
|
||||
"rotavap_chiller": {
|
||||
"class": "chiller",
|
||||
"port": "COM17"
|
||||
},
|
||||
"rotavap_controller": {
|
||||
"class": "rotavap",
|
||||
"port": "COM15"
|
||||
}
|
||||
|
||||
}
|
||||
},
|
||||
"AichemecoHiWo": {
|
||||
"class": "work_station.aichemeco_hiwo"
|
||||
},
|
||||
"Stirrer": {
|
||||
"class": "heaterstirrer.dalong",
|
||||
"port": "COM43"
|
||||
}
|
||||
}
|
||||
1
test/experiments/empty_devices.json
Normal file
1
test/experiments/empty_devices.json
Normal file
@@ -0,0 +1 @@
|
||||
{}
|
||||
1233
test/experiments/lidocaine-graph.json
Normal file
1233
test/experiments/lidocaine-graph.json
Normal file
File diff suppressed because it is too large
Load Diff
158
test/experiments/mock_reactor.json
Normal file
158
test/experiments/mock_reactor.json
Normal file
@@ -0,0 +1,158 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "ReactorX",
|
||||
"name": "模拟常量合成工作站",
|
||||
"children": [
|
||||
"reactor",
|
||||
"vacuum_valve",
|
||||
"gas_valve",
|
||||
"vacuum_pump",
|
||||
"gas_source"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": ["EvacuateAndRefillProtocol"]
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reactor",
|
||||
"name": "reactor",
|
||||
"children": [],
|
||||
"parent": "ReactorX",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {
|
||||
"x": 698.1111111111111,
|
||||
"y": 428,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 5000.0
|
||||
},
|
||||
"data": {
|
||||
"liquid": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "vacuum_valve",
|
||||
"name": "vacuum_valve",
|
||||
"children": [
|
||||
],
|
||||
"parent": "ReactorX",
|
||||
"type": "device",
|
||||
"class": "solenoid_valve.mock",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "gas_valve",
|
||||
"name": "gas_valve",
|
||||
"children": [
|
||||
],
|
||||
"parent": "ReactorX",
|
||||
"type": "device",
|
||||
"class": "solenoid_valve.mock",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "vacuum_pump",
|
||||
"name": "vacuum_pump",
|
||||
"children": [
|
||||
],
|
||||
"parent": "ReactorX",
|
||||
"type": "device",
|
||||
"class": "vacuum_pump.mock",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "gas_source",
|
||||
"name": "gas_source",
|
||||
"children": [
|
||||
],
|
||||
"parent": "ReactorX",
|
||||
"type": "device",
|
||||
"class": "gas_source.mock",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "reactor",
|
||||
"target": "vacuum_valve",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"reactor": "top",
|
||||
"vacuum_valve": "1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "reactor",
|
||||
"target": "gas_valve",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"reactor": "top",
|
||||
"gas_valve": "1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "vacuum_pump",
|
||||
"target": "vacuum_valve",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"vacuum_pump": "out",
|
||||
"vacuum_valve": "0"
|
||||
}
|
||||
},
|
||||
{
|
||||
"source": "gas_source",
|
||||
"target": "gas_valve",
|
||||
"type": "physical",
|
||||
"port": {
|
||||
"gas_source": "out",
|
||||
"gas_valve": "0"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
10553
test/experiments/plr_test.json
Normal file
10553
test/experiments/plr_test.json
Normal file
File diff suppressed because it is too large
Load Diff
43
test/experiments/test.json
Normal file
43
test/experiments/test.json
Normal file
@@ -0,0 +1,43 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "Gripper1",
|
||||
"name": "假夹爪",
|
||||
"children": [
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "gripper.mock",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "Plate1",
|
||||
"name": "Plate1",
|
||||
"children": [
|
||||
],
|
||||
"parent": null,
|
||||
"type": "plate",
|
||||
"class": "nest_96_wellplate_2ml_deep",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
|
||||
]
|
||||
}
|
||||
1
test/ros/msgs/__init__.py
Normal file
1
test/ros/msgs/__init__.py
Normal file
@@ -0,0 +1 @@
|
||||
# 消息转换器测试包
|
||||
71
test/ros/msgs/test_basic.py
Normal file
71
test/ros/msgs/test_basic.py
Normal file
@@ -0,0 +1,71 @@
|
||||
"""
|
||||
基本测试
|
||||
|
||||
测试消息转换器的基本功能，包括导入、类型映射等。
|
||||
"""
|
||||
|
||||
import unittest
|
||||
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
msg_converter_manager,
|
||||
get_msg_type,
|
||||
get_action_type,
|
||||
get_ros_type_by_msgname,
|
||||
Point3D,
|
||||
Point,
|
||||
Float64,
|
||||
String,
|
||||
Bool,
|
||||
Int32,
|
||||
)
|
||||
|
||||
|
||||
class TestBasicFunctionality(unittest.TestCase):
|
||||
"""测试消息转换器的基本功能"""
|
||||
|
||||
def test_manager_initialization(self):
|
||||
"""测试导入管理器初始化"""
|
||||
self.assertIsNotNone(msg_converter_manager)
|
||||
self.assertTrue(len(msg_converter_manager.list_modules()) > 0)
|
||||
self.assertTrue(len(msg_converter_manager.list_classes()) > 0)
|
||||
|
||||
def test_get_msg_type(self):
|
||||
"""测试获取消息类型"""
|
||||
self.assertEqual(get_msg_type(float), Float64)
|
||||
self.assertEqual(get_msg_type(str), String)
|
||||
self.assertEqual(get_msg_type(bool), Bool)
|
||||
self.assertEqual(get_msg_type(int), Int32)
|
||||
self.assertEqual(get_msg_type(Point3D), Point)
|
||||
|
||||
# 测试错误情况
|
||||
with self.assertRaises(ValueError):
|
||||
get_msg_type(set) # 不支持的类型
|
||||
|
||||
def test_get_action_type(self):
|
||||
"""测试获取动作类型"""
|
||||
float_action = get_action_type(float)
|
||||
self.assertIsNotNone(float_action)
|
||||
self.assertTrue("type" in float_action)
|
||||
self.assertTrue("goal" in float_action)
|
||||
self.assertTrue("feedback" in float_action)
|
||||
|
||||
# 测试错误情况
|
||||
with self.assertRaises(ValueError):
|
||||
get_action_type(set) # 不支持的类型
|
||||
|
||||
def test_get_ros_type_by_msgname(self):
|
||||
"""测试通过消息名称获取ROS类型"""
|
||||
# 测试有效的消息名称
|
||||
point_type = get_ros_type_by_msgname("geometry_msgs/msg/Point")
|
||||
self.assertEqual(point_type, Point)
|
||||
|
||||
# 测试无效的消息名称
|
||||
with self.assertRaises(ValueError):
|
||||
get_ros_type_by_msgname("invalid_format")
|
||||
|
||||
# 不存在的消息类型可能会引发ImportError，但这依赖于运行环境
|
||||
# 因此不进行显式测试
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
131
test/ros/msgs/test_conversion.py
Normal file
131
test/ros/msgs/test_conversion.py
Normal file
@@ -0,0 +1,131 @@
|
||||
"""
|
||||
转换测试
|
||||
|
||||
测试Python对象和ROS消息之间的转换功能。
|
||||
"""
|
||||
|
||||
import unittest
|
||||
from dataclasses import dataclass
|
||||
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
convert_to_ros_msg,
|
||||
convert_from_ros_msg,
|
||||
convert_to_ros_msg_with_mapping,
|
||||
convert_from_ros_msg_with_mapping,
|
||||
Point,
|
||||
Float64,
|
||||
String,
|
||||
Point3D,
|
||||
Resource,
|
||||
)
|
||||
|
||||
|
||||
# 定义一些测试数据类
|
||||
@dataclass
|
||||
class TestPoint:
|
||||
x: float = 0.0
|
||||
y: float = 0.0
|
||||
z: float = 0.0
|
||||
|
||||
|
||||
class TestBasicConversion(unittest.TestCase):
|
||||
"""测试基本类型转换"""
|
||||
|
||||
def test_primitive_conversion(self):
|
||||
"""测试原始类型转换"""
|
||||
# Float转换
|
||||
float_value = 3.14
|
||||
ros_float = convert_to_ros_msg(Float64, float_value)
|
||||
self.assertEqual(ros_float.data, float_value)
|
||||
|
||||
# 反向转换
|
||||
py_float = convert_from_ros_msg(ros_float)
|
||||
self.assertEqual(py_float, float_value)
|
||||
|
||||
# 字符串转换
|
||||
str_value = "hello"
|
||||
ros_str = convert_to_ros_msg(String, str_value)
|
||||
self.assertEqual(ros_str.data, str_value)
|
||||
|
||||
# 反向转换
|
||||
py_str = convert_from_ros_msg(ros_str)
|
||||
self.assertEqual(py_str, str_value)
|
||||
|
||||
def test_point_conversion(self):
|
||||
"""测试点类型转换"""
|
||||
# 创建Point3D对象
|
||||
py_point = Point3D(x=1.0, y=2.0, z=3.0)
|
||||
|
||||
# 转换为ROS Point
|
||||
ros_point = convert_to_ros_msg(Point, py_point)
|
||||
self.assertEqual(ros_point.x, py_point.x)
|
||||
self.assertEqual(ros_point.y, py_point.y)
|
||||
self.assertEqual(ros_point.z, py_point.z)
|
||||
|
||||
# 反向转换
|
||||
py_point_back = convert_from_ros_msg(ros_point)
|
||||
self.assertEqual(py_point_back.x, py_point.x)
|
||||
self.assertEqual(py_point_back.y, py_point.y)
|
||||
self.assertEqual(py_point_back.z, py_point.z)
|
||||
|
||||
def test_dataclass_conversion(self):
|
||||
"""测试dataclass转换"""
|
||||
# 创建dataclass
|
||||
test_point = TestPoint(x=1.0, y=2.0, z=3.0)
|
||||
|
||||
# 转换
|
||||
ros_point = convert_to_ros_msg(Point, test_point)
|
||||
self.assertEqual(ros_point.x, test_point.x)
|
||||
self.assertEqual(ros_point.y, test_point.y)
|
||||
self.assertEqual(ros_point.z, test_point.z)
|
||||
|
||||
|
||||
class TestMappingConversion(unittest.TestCase):
|
||||
"""测试映射转换功能"""
|
||||
|
||||
def test_mapping_conversion(self):
|
||||
"""测试带映射的转换"""
|
||||
# 创建测试数据
|
||||
test_data = {
|
||||
"position": {"x": 1.0, "y": 2.0, "z": 3.0},
|
||||
"name": "test_resource",
|
||||
"id": "123",
|
||||
"type": "test_type",
|
||||
}
|
||||
|
||||
# 定义映射
|
||||
mapping = {
|
||||
"id": "id",
|
||||
"name": "name",
|
||||
"type": "type",
|
||||
"pose.position": "position",
|
||||
}
|
||||
|
||||
# 转换为ROS资源
|
||||
ros_resource = convert_to_ros_msg_with_mapping(Resource, test_data, mapping)
|
||||
self.assertEqual(ros_resource.id, "123")
|
||||
self.assertEqual(ros_resource.name, "test_resource")
|
||||
self.assertEqual(ros_resource.type, "test_type")
|
||||
self.assertEqual(ros_resource.pose.position.x, 1.0)
|
||||
self.assertEqual(ros_resource.pose.position.y, 2.0)
|
||||
self.assertEqual(ros_resource.pose.position.z, 3.0)
|
||||
|
||||
# 反向转换
|
||||
reverse_mapping = {
|
||||
"id": "id",
|
||||
"name": "name",
|
||||
"type": "type",
|
||||
"pose.position": "position",
|
||||
}
|
||||
|
||||
py_data = convert_from_ros_msg_with_mapping(ros_resource, reverse_mapping)
|
||||
self.assertEqual(py_data["id"], "123")
|
||||
self.assertEqual(py_data["name"], "test_resource")
|
||||
self.assertEqual(py_data["type"], "test_type")
|
||||
self.assertEqual(py_data["position"].x, 1.0)
|
||||
self.assertEqual(py_data["position"].y, 2.0)
|
||||
self.assertEqual(py_data["position"].z, 3.0)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
120
test/ros/msgs/test_mapping.py
Normal file
120
test/ros/msgs/test_mapping.py
Normal file
@@ -0,0 +1,120 @@
|
||||
"""
|
||||
映射测试
|
||||
|
||||
测试消息类型映射和字段映射功能。
|
||||
"""
|
||||
|
||||
import unittest
|
||||
from dataclasses import dataclass
|
||||
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
_msg_mapping,
|
||||
_action_mapping,
|
||||
_msg_converter,
|
||||
_msg_converter_back,
|
||||
compare_model_fields,
|
||||
Point,
|
||||
Point3D,
|
||||
Float64,
|
||||
String,
|
||||
set_msg_data,
|
||||
)
|
||||
|
||||
|
||||
@dataclass
|
||||
class TestMappingModel:
|
||||
"""用于测试映射的数据类"""
|
||||
|
||||
id: str
|
||||
name: str
|
||||
value: float
|
||||
|
||||
|
||||
@dataclass
|
||||
class TestPointModel:
|
||||
"""用于测试字段比较的点模型"""
|
||||
|
||||
x: float
|
||||
y: float
|
||||
z: float
|
||||
|
||||
|
||||
class TestTypeMapping(unittest.TestCase):
|
||||
"""测试类型映射"""
|
||||
|
||||
def test_msg_mapping(self):
|
||||
"""测试消息类型映射"""
|
||||
self.assertIn(float, _msg_mapping)
|
||||
self.assertEqual(_msg_mapping[float], Float64)
|
||||
|
||||
self.assertIn(str, _msg_mapping)
|
||||
self.assertEqual(_msg_mapping[str], String)
|
||||
|
||||
self.assertIn(Point3D, _msg_mapping)
|
||||
self.assertEqual(_msg_mapping[Point3D], Point)
|
||||
|
||||
def test_action_mapping(self):
|
||||
"""测试动作类型映射"""
|
||||
self.assertIn(float, _action_mapping)
|
||||
self.assertIn("type", _action_mapping[float])
|
||||
self.assertIn("goal", _action_mapping[float])
|
||||
self.assertIn("feedback", _action_mapping[float])
|
||||
self.assertIn("result", _action_mapping[float])
|
||||
|
||||
def test_converter_mapping(self):
|
||||
"""测试转换器映射"""
|
||||
# 测试Python到ROS映射
|
||||
self.assertIn(float, _msg_converter)
|
||||
self.assertIn(Float64, _msg_converter)
|
||||
self.assertIn(String, _msg_converter)
|
||||
self.assertIn(Point, _msg_converter)
|
||||
|
||||
# 测试ROS到Python映射
|
||||
self.assertIn(float, _msg_converter_back)
|
||||
self.assertIn(Float64, _msg_converter_back)
|
||||
self.assertIn(String, _msg_converter_back)
|
||||
self.assertIn(Point, _msg_converter_back)
|
||||
|
||||
|
||||
class TestFieldMapping(unittest.TestCase):
|
||||
"""测试字段映射"""
|
||||
|
||||
def test_compare_model_fields(self):
|
||||
"""测试模型字段比较"""
|
||||
# Point3D和TestPointModel有相同的字段
|
||||
self.assertTrue(compare_model_fields(Point3D, TestPointModel))
|
||||
|
||||
# 与其他类型比较
|
||||
self.assertFalse(compare_model_fields(Point3D, TestMappingModel))
|
||||
self.assertFalse(compare_model_fields(Point3D, float))
|
||||
|
||||
# 类型对象和实例对象比较
|
||||
point = Point3D(x=1.0, y=2.0, z=3.0)
|
||||
self.assertTrue(compare_model_fields(Point3D, type(point)))
|
||||
|
||||
def test_set_msg_data(self):
|
||||
"""测试设置消息数据类型"""
|
||||
# 测试float转换
|
||||
float_value = "3.14"
|
||||
self.assertEqual(set_msg_data("float", float_value), 3.14)
|
||||
self.assertEqual(set_msg_data("double", float_value), 3.14)
|
||||
|
||||
# 测试int转换
|
||||
int_value = "42"
|
||||
self.assertEqual(set_msg_data("int", int_value), 42)
|
||||
|
||||
# 测试bool转换
|
||||
bool_value = "True"
|
||||
self.assertEqual(set_msg_data("bool", bool_value), True)
|
||||
|
||||
# 测试str转换
|
||||
str_value = "hello"
|
||||
self.assertEqual(set_msg_data("str", str_value), "hello")
|
||||
|
||||
# 测试默认转换
|
||||
default_value = 123
|
||||
self.assertEqual(set_msg_data("unknown_type", default_value), "123")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
47
test/ros/msgs/test_runner.py
Normal file
47
test/ros/msgs/test_runner.py
Normal file
@@ -0,0 +1,47 @@
|
||||
"""
|
||||
测试运行器
|
||||
|
||||
运行所有消息转换器的测试用例。
|
||||
"""
|
||||
|
||||
import unittest
|
||||
import sys
|
||||
import os
|
||||
|
||||
# 添加项目根目录到路径
|
||||
sys.path.append(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))))
|
||||
|
||||
# 导入测试模块
|
||||
from test.ros.msgs.test_basic import TestBasicFunctionality
|
||||
from test.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
|
||||
from test.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping
|
||||
|
||||
|
||||
def run_tests():
|
||||
"""运行所有测试"""
|
||||
# 创建测试加载器
|
||||
loader = unittest.TestLoader()
|
||||
|
||||
# 创建测试套件
|
||||
suite = unittest.TestSuite()
|
||||
|
||||
# 添加测试类
|
||||
suite.addTests(loader.loadTestsFromTestCase(TestBasicFunctionality))
|
||||
suite.addTests(loader.loadTestsFromTestCase(TestBasicConversion))
|
||||
suite.addTests(loader.loadTestsFromTestCase(TestMappingConversion))
|
||||
suite.addTests(loader.loadTestsFromTestCase(TestTypeMapping))
|
||||
suite.addTests(loader.loadTestsFromTestCase(TestFieldMapping))
|
||||
|
||||
# 创建测试运行器
|
||||
runner = unittest.TextTestRunner(verbosity=2)
|
||||
|
||||
# 运行测试
|
||||
result = runner.run(suite)
|
||||
|
||||
# 返回结果
|
||||
return result.wasSuccessful()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
success = run_tests()
|
||||
sys.exit(not success)
|
||||
Reference in New Issue
Block a user