diff --git a/test/experiments/mock_protocol/evaporateteststation.json b/test/experiments/mock_protocol/evaporateteststation.json new file mode 100644 index 0000000..e69de29 diff --git a/unilabos_msgs/action/ProtocolAdd.action b/unilabos_msgs/action/ProtocolAdd.action new file mode 100644 index 0000000..de06c6a --- /dev/null +++ b/unilabos_msgs/action/ProtocolAdd.action @@ -0,0 +1,20 @@ +# Goal - 添加试剂的目标参数 +string vessel # 目标容器 +string reagent # 试剂名称 +float64 volume # 体积 (可选) +float64 mass # 质量 (可选) +string amount # 数量描述 (可选) +float64 time # 添加时间 (可选) +bool stir # 是否搅拌 +float64 stir_speed # 搅拌速度 (可选) +bool viscous # 是否为粘性液体 +string purpose # 添加目的 (可选) +--- +# Result - 操作结果 +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +# Feedback - 实时反馈 +float64 progress # 进度百分比 (0-100) +string current_status # 当前状态描述 \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolCentrifuge.action b/unilabos_msgs/action/ProtocolCentrifuge.action new file mode 100644 index 0000000..356ccb9 --- /dev/null +++ b/unilabos_msgs/action/ProtocolCentrifuge.action @@ -0,0 +1,16 @@ +# Goal - 离心操作的目标参数 +string vessel # 离心容器 +float64 speed # 离心速度 (rpm) +float64 time # 离心时间 (秒) +float64 temp # 温度 (可选，摄氏度) +--- +# Result - 操作结果 +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +# Feedback - 实时反馈 +float64 progress # 进度百分比 (0-100) +float64 current_speed # 当前转速 +float64 current_temp # 当前温度 +string current_status # 当前状态描述 \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolCleanVessel.action b/unilabos_msgs/action/ProtocolCleanVessel.action new file mode 100644 index 0000000..cba232a --- /dev/null +++ b/unilabos_msgs/action/ProtocolCleanVessel.action @@ -0,0 +1,12 @@ +string vessel # 要清洗的容器名称 +string solvent # 用于清洗容器的溶剂名称 +float64 volume # 清洗溶剂的体积，可选参数 +float64 temp # 清洗时的温度，可选参数 +int32 repeats # 清洗操作的重复次数，默认为 1 +--- +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +string status # 当前状态描述 +float64 progress # 进度百分比 (0-100) \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolCrystallize.action b/unilabos_msgs/action/ProtocolCrystallize.action new file mode 100644 index 0000000..50d26cf --- /dev/null +++ b/unilabos_msgs/action/ProtocolCrystallize.action @@ -0,0 +1,14 @@ +# Goal - 结晶操作的目标参数 +string vessel # 结晶容器 +float64 ramp_time # 升温/降温时间 (可选，秒) +float64 ramp_temp # 目标温度 (可选，摄氏度) +--- +# Result - 操作结果 +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +# Feedback - 实时反馈 +float64 progress # 进度百分比 (0-100) +float64 current_temp # 当前温度 +string current_status # 当前状态描述 \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolDissolve.action b/unilabos_msgs/action/ProtocolDissolve.action new file mode 100644 index 0000000..6b860d0 --- /dev/null +++ b/unilabos_msgs/action/ProtocolDissolve.action @@ -0,0 +1,14 @@ +string vessel # 装有要溶解物质的容器名称 +string solvent # 用于溶解物质的溶剂名称 +float64 volume # 溶剂的体积，可选参数 +string amount # 要溶解物质的量，可选参数 +float64 temp # 溶解时的温度，可选参数 +float64 time # 溶解的时间，可选参数 +float64 stir_speed # 搅拌速度，可选参数 +--- +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +string status # 当前状态描述 +float64 progress # 进度百分比 (0-100) \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolDry.action b/unilabos_msgs/action/ProtocolDry.action new file mode 100644 index 0000000..5692ef2 --- /dev/null +++ b/unilabos_msgs/action/ProtocolDry.action @@ -0,0 +1,17 @@ +# Goal - 干燥操作的目标参数 +string vessel # 干燥容器 +float64 time # 干燥时间 (可选，秒) +float64 pressure # 压力 (可选，Pa) +float64 temp # 温度 (可选，摄氏度) +bool continue_heatchill # 是否继续加热冷却 +--- +# Result - 操作结果 +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +# Feedback - 实时反馈 +float64 progress # 进度百分比 (0-100) +float64 current_temp # 当前温度 +float64 current_pressure # 当前压力 +string current_status # 当前状态描述 \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolFilter.action b/unilabos_msgs/action/ProtocolFilter.action new file mode 100644 index 0000000..564df1a --- /dev/null +++ b/unilabos_msgs/action/ProtocolFilter.action @@ -0,0 +1,19 @@ +# Goal - 过滤操作的目标参数 +string vessel # 过滤容器 +string filtrate_vessel # 滤液容器 (可选) +bool stir # 是否搅拌 +float64 stir_speed # 搅拌速度 (可选) +float64 temp # 温度 (可选，摄氏度) +bool continue_heatchill # 是否继续加热冷却 +float64 volume # 过滤体积 (可选) +--- +# Result - 操作结果 +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +# Feedback - 实时反馈 +float64 progress # 进度百分比 (0-100) +float64 current_temp # 当前温度 +float64 filtered_volume # 已过滤体积 +string current_status # 当前状态描述 \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolFilterThrough.action b/unilabos_msgs/action/ProtocolFilterThrough.action new file mode 100644 index 0000000..dbabd12 --- /dev/null +++ b/unilabos_msgs/action/ProtocolFilterThrough.action @@ -0,0 +1,14 @@ +string from_vessel # 源容器的名称，即物质起始所在的容器 +string to_vessel # 目标容器的名称，物质过滤后要到达的容器 +string filter_through # 过滤时所通过的介质，如滤纸、柱子等 +string eluting_solvent # 洗脱溶剂的名称，可选参数 +float64 eluting_volume # 洗脱溶剂的体积，可选参数 +int32 eluting_repeats # 洗脱操作的重复次数，默认为 0 +float64 residence_time # 物质在过滤介质中的停留时间，可选参数 +--- +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +string status # 当前状态描述 +float64 progress # 进度百分比 (0-100) \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolPurge.action b/unilabos_msgs/action/ProtocolPurge.action new file mode 100644 index 0000000..00d76b3 --- /dev/null +++ b/unilabos_msgs/action/ProtocolPurge.action @@ -0,0 +1,17 @@ +# Goal - 清洗/吹扫操作的目标参数 +string vessel # 清洗容器 +string gas # 清洗气体 (可选) +float64 time # 清洗时间 (可选，秒) +float64 pressure # 压力 (可选，Pa) +float64 flow_rate # 流速 (可选，mL/min) +--- +# Result - 操作结果 +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +# Feedback - 实时反馈 +float64 progress # 进度百分比 (0-100) +float64 current_pressure # 当前压力 +float64 current_flow_rate # 当前流速 +string current_status # 当前状态描述 \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolRunColumn.action b/unilabos_msgs/action/ProtocolRunColumn.action new file mode 100644 index 0000000..3fba948 --- /dev/null +++ b/unilabos_msgs/action/ProtocolRunColumn.action @@ -0,0 +1,10 @@ +string from_vessel # 源容器的名称，即样品起始所在的容器 +string to_vessel # 目标容器的名称，分离后的样品要到达的容器 +string column # 所使用的柱子的名称 +--- +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +string status # 当前状态描述 +float64 progress # 进度百分比 (0-100) \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolStartPurge.action b/unilabos_msgs/action/ProtocolStartPurge.action new file mode 100644 index 0000000..f5500a6 --- /dev/null +++ b/unilabos_msgs/action/ProtocolStartPurge.action @@ -0,0 +1,16 @@ +# Goal - 启动清洗/吹扫操作的目标参数 +string vessel # 清洗容器 +string gas # 清洗气体 (可选) +float64 pressure # 压力 (可选，Pa) +float64 flow_rate # 流速 (可选，mL/min) +--- +# Result - 操作结果 +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +# Feedback - 实时反馈 +float64 progress # 进度百分比 (0-100) +float64 current_pressure # 当前压力 +float64 current_flow_rate # 当前流速 +string current_status # 当前状态描述 \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolStartStir.action b/unilabos_msgs/action/ProtocolStartStir.action new file mode 100644 index 0000000..534c9f3 --- /dev/null +++ b/unilabos_msgs/action/ProtocolStartStir.action @@ -0,0 +1,14 @@ +# Goal - 启动搅拌操作的目标参数 +string vessel # 搅拌容器 +float64 stir_speed # 搅拌速度 (可选，rpm) +string purpose # 搅拌目的 (可选) +--- +# Result - 操作结果 +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +# Feedback - 实时反馈 +float64 progress # 进度百分比 (0-100) +float64 current_speed # 当前搅拌速度 +string current_status # 当前状态描述 \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolStopPurge.action b/unilabos_msgs/action/ProtocolStopPurge.action new file mode 100644 index 0000000..b7db891 --- /dev/null +++ b/unilabos_msgs/action/ProtocolStopPurge.action @@ -0,0 +1,11 @@ +# Goal - 停止清洗/吹扫操作的目标参数 +string vessel # 清洗容器 +--- +# Result - 操作结果 +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +# Feedback - 实时反馈 +float64 progress # 进度百分比 (0-100) +string current_status # 当前状态描述 \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolStopStir.action b/unilabos_msgs/action/ProtocolStopStir.action new file mode 100644 index 0000000..a320598 --- /dev/null +++ b/unilabos_msgs/action/ProtocolStopStir.action @@ -0,0 +1,11 @@ +# Goal - 停止搅拌操作的目标参数 +string vessel # 搅拌容器 +--- +# Result - 操作结果 +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +# Feedback - 实时反馈 +float64 progress # 进度百分比 (0-100) +string current_status # 当前状态描述 \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolTransfer.action b/unilabos_msgs/action/ProtocolTransfer.action new file mode 100644 index 0000000..f31f9dd --- /dev/null +++ b/unilabos_msgs/action/ProtocolTransfer.action @@ -0,0 +1,20 @@ +string from_vessel # 源容器 +string to_vessel # 目标容器 +float64 volume # 转移体积 (可选) +string amount # 数量描述 (可选) +float64 time # 转移时间 (可选，秒) +bool viscous # 是否为粘性液体 +string rinsing_solvent # 冲洗溶剂 (可选) +float64 rinsing_volume # 冲洗体积 (可选) +int32 rinsing_repeats # 冲洗重复次数 +bool solid # 是否涉及固体 +--- +# Result - 操作结果 +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +# Feedback - 实时反馈 +float64 progress # 进度百分比 (0-100) +float64 transferred_volume # 已转移体积 +string current_status # 当前状态描述 \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolWait.action b/unilabos_msgs/action/ProtocolWait.action new file mode 100644 index 0000000..d4c4942 --- /dev/null +++ b/unilabos_msgs/action/ProtocolWait.action @@ -0,0 +1,9 @@ +int32 time # 等待时间（秒） +--- +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +string status # 当前状态描述 +float64 progress # 进度百分比 (0-100) +int32 remaining_time # 剩余等待时间（秒） \ No newline at end of file diff --git a/unilabos_msgs/action/ProtocolWashSolid.action b/unilabos_msgs/action/ProtocolWashSolid.action new file mode 100644 index 0000000..cb57e5c --- /dev/null +++ b/unilabos_msgs/action/ProtocolWashSolid.action @@ -0,0 +1,16 @@ +string vessel # 装有固体物质的容器名称 +string solvent # 用于清洗固体的溶剂名称 +float64 volume # 清洗溶剂的体积 +string filtrate_vessel # 滤液要收集到的容器名称，可选参数 +float64 temp # 清洗时的温度，可选参数 +bool stir # 是否在清洗过程中搅拌，默认为 False +float64 stir_speed # 搅拌速度，可选参数 +float64 time # 清洗的时间，可选参数 +int32 repeats # 清洗操作的重复次数，默认为 1 +--- +bool success # 操作是否成功 +string message # 结果消息 +string return_info +--- +string status # 当前状态描述 +float64 progress # 进度百分比 (0-100) \ No newline at end of file