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修复了部分的protocol因为XDL更新导致的问题 (#61)

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* 修复了部分的protocol因为XDL更新导致的问题

但是pumptransfer，add，dissolve，separate还没修，后续还需要写virtual固体加料器

* 补充了四个action

* 添加了固体加样器，丰富了json，修改了add protocol

* bump version to 0.9.9

* fix bugs from new actions

* protocol完整修复版本& bump version to 0.9.10

* 修补了一些单位处理，bump version to 0.9.11

* 优化了全protocol的运行时间，除了pumptransfer相关的还没

* 补充了剩下的几个protocol

---------

Co-authored-by: Junhan Chang <changjh@dp.tech>
Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
This commit is contained in:
Kongchang Feng
2025-07-16 11:12:02 +08:00
committed by GitHub
parent 540c5e94b7
commit acf7b6d3f7
55 changed files with 9928 additions and 3669 deletions
Download Patch File Download Diff File Expand all files Collapse all files

299
unilabos/registry/devices/virtual_device.yaml
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@@ -248,6 +248,12 @@ virtual_column:
goal_default:
column: ''
from_vessel: ''
pct1: ''
pct2: ''
ratio: ''
rf: ''
solvent1: ''
solvent2: ''
to_vessel: ''
handles: []
result:
@@ -274,12 +280,30 @@ virtual_column:
type: string
from_vessel:
type: string
pct1:
type: string
pct2:
type: string
ratio:
type: string
rf:
type: string
solvent1:
type: string
solvent2:
type: string
to_vessel:
type: string
required:
- from_vessel
- to_vessel
- column
- rf
- pct1
- pct2
- solvent1
- solvent2
- ratio
title: RunColumn_Goal
type: object
result:
@@ -861,11 +885,15 @@ virtual_heatchill:
time: time
vessel: vessel
goal_default:
pressure: ''
purpose: ''
reflux_solvent: ''
stir: false
stir_speed: 0.0
temp: 0.0
temp_spec: ''
time: 0.0
time_spec: ''
vessel: ''
handles: []
result:
@@ -883,22 +911,34 @@ virtual_heatchill:
type: object
goal:
properties:
pressure:
type: string
purpose:
type: string
reflux_solvent:
type: string
stir:
type: boolean
stir_speed:
type: number
temp:
type: number
temp_spec:
type: string
time:
type: number
time_spec:
type: string
vessel:
type: string
required:
- vessel
- temp
- time
- temp_spec
- time_spec
- pressure
- reflux_solvent
- stir
- stir_speed
- purpose
@@ -906,13 +946,16 @@ virtual_heatchill:
type: object
result:
properties:
message:
type: string
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
- message
- return_info
title: HeatChill_Result
type: object
required:
@@ -1630,13 +1673,18 @@ virtual_pump:
volume: volume
goal_default:
amount: ''
event: ''
flowrate: 0.0
from_vessel: ''
rate_spec: ''
rinsing_repeats: 0
rinsing_solvent: ''
rinsing_volume: 0.0
solid: false
through: ''
time: 0.0
to_vessel: ''
transfer_flowrate: 0.0
viscous: false
volume: 0.0
handles: []
@@ -1692,8 +1740,14 @@ virtual_pump:
properties:
amount:
type: string
event:
type: string
flowrate:
type: number
from_vessel:
type: string
rate_spec:
type: string
rinsing_repeats:
maximum: 2147483647
minimum: -2147483648
@@ -1704,10 +1758,14 @@ virtual_pump:
type: number
solid:
type: boolean
through:
type: string
time:
type: number
to_vessel:
type: string
transfer_flowrate:
type: number
viscous:
type: boolean
volume:
@@ -1723,6 +1781,11 @@ virtual_pump:
- rinsing_volume
- rinsing_repeats
- solid
- flowrate
- transfer_flowrate
- rate_spec
- event
- through
title: PumpTransfer_Goal
type: object
result:
@@ -1853,10 +1916,8 @@ virtual_rotavap:
type: UniLabJsonCommandAsync
evaporate:
feedback:
current_temp: current_temp
evaporated_volume: evaporated_volume
progress: progress
status: status
current_device: current_device
goal:
pressure: pressure
stir_speed: stir_speed
@@ -1865,6 +1926,7 @@ virtual_rotavap:
vessel: vessel
goal_default:
pressure: 0.0
solvent: ''
stir_speed: 0.0
temp: 0.0
time: 0.0
@@ -1923,6 +1985,8 @@ virtual_rotavap:
properties:
pressure:
type: number
solvent:
type: string
stir_speed:
type: number
temp:
@@ -1937,6 +2001,7 @@ virtual_rotavap:
- temp
- time
- stir_speed
- solvent
title: Evaporate_Goal
type: object
result:
@@ -2107,6 +2172,7 @@ virtual_separator:
goal_default:
from_vessel: ''
product_phase: ''
product_vessel: ''
purpose: ''
repeats: 0
separation_vessel: ''
@@ -2117,7 +2183,10 @@ virtual_separator:
stir_time: 0.0
through: ''
to_vessel: ''
vessel: ''
volume: ''
waste_phase_to_vessel: ''
waste_vessel: ''
handles: []
result:
message: message
@@ -2174,6 +2243,8 @@ virtual_separator:
type: string
product_phase:
type: string
product_vessel:
type: string
purpose:
type: string
repeats:
@@ -2196,8 +2267,14 @@ virtual_separator:
type: string
to_vessel:
type: string
vessel:
type: string
volume:
type: string
waste_phase_to_vessel:
type: string
waste_vessel:
type: string
required:
- purpose
- product_phase
@@ -2212,17 +2289,24 @@ virtual_separator:
- stir_time
- stir_speed
- settling_time
- vessel
- volume
- product_vessel
- waste_vessel
title: Separate_Goal
type: object
result:
properties:
message:
type: string
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
- message
- return_info
title: Separate_Result
type: object
required:
@@ -2381,6 +2465,26 @@ virtual_solenoid_valve:
title: is_closed参数
type: object
type: UniLabJsonCommand
auto-open:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: open的参数schema
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: open参数
type: object
type: UniLabJsonCommandAsync
auto-reset:
feedback: {}
goal: {}
@@ -2401,6 +2505,53 @@ virtual_solenoid_valve:
title: reset参数
type: object
type: UniLabJsonCommandAsync
auto-set_state:
feedback: {}
goal: {}
goal_default:
command: null
handles: []
result: {}
schema:
description: set_state的参数schema
properties:
feedback: {}
goal:
properties:
command:
type: string
required:
- command
type: object
result: {}
required:
- goal
title: set_state参数
type: object
type: UniLabJsonCommandAsync
auto-set_valve_position:
feedback: {}
goal: {}
goal_default:
command: null
handles: []
result: {}
schema:
description: set_valve_position的参数schema
properties:
feedback: {}
goal:
properties:
command:
type: string
required: []
type: object
result: {}
required:
- goal
title: set_valve_position参数
type: object
type: UniLabJsonCommandAsync
auto-toggle:
feedback: {}
goal: {}
@@ -2431,111 +2582,86 @@ virtual_solenoid_valve:
result:
success: success
schema:
description: ''
description: ROS Action SendCmd 的 JSON Schema
properties:
feedback:
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
properties: {}
required: []
title: EmptyIn_Feedback
type: object
goal:
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
properties: {}
required: []
title: EmptyIn_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
title: EmptyIn_Result
type: object
required:
- goal
title: SendCmd
title: EmptyIn
type: object
type: SendCmd
type: EmptyIn
open:
feedback: {}
goal:
command: OPEN
goal_default:
command: ''
goal: {}
goal_default: {}
handles: []
result:
success: success
result: {}
schema:
description: ''
description: ROS Action SendCmd 的 JSON Schema
properties:
feedback:
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
properties: {}
required: []
title: EmptyIn_Feedback
type: object
goal:
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
properties: {}
required: []
title: EmptyIn_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
title: EmptyIn_Result
type: object
required:
- goal
title: SendCmd
title: EmptyIn
type: object
type: SendCmd
set_state:
type: EmptyIn
set_status:
feedback: {}
goal:
command: command
string: string
goal_default:
command: ''
string: ''
handles: []
result:
success: success
result: {}
schema:
description: ''
description: ROS Action SendCmd 的 JSON Schema
properties:
feedback:
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
properties: {}
required: []
title: StrSingleInput_Feedback
type: object
goal:
properties:
command:
string:
type: string
required:
- command
title: SendCmd_Goal
- string
title: StrSingleInput_Goal
type: object
result:
properties:
@@ -2546,13 +2672,13 @@ virtual_solenoid_valve:
required:
- return_info
- success
title: SendCmd_Result
title: StrSingleInput_Result
type: object
required:
- goal
title: SendCmd
title: StrSingleInput
type: object
type: SendCmd
type: StrSingleInput
set_valve_position:
feedback: {}
goal:
@@ -2562,15 +2688,14 @@ virtual_solenoid_valve:
handles: []
result:
success: success
message: message
valve_position: valve_position
schema:
description: ''
properties:
feedback:
properties:
status:
type: string
required:
- status
properties: {}
required: []
title: SendCmd_Feedback
type: object
goal:
@@ -2583,13 +2708,15 @@ virtual_solenoid_valve:
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
message:
type: string
valve_position:
type: string
required:
- return_info
- success
- message
title: SendCmd_Result
type: object
required:
@@ -2652,7 +2779,6 @@ virtual_solenoid_valve:
- valve_position
- state
type: object
version: 0.0.1
virtual_stirrer:
class:
action_value_mappings:
@@ -2768,9 +2894,13 @@ virtual_stirrer:
stir_speed: stir_speed
stir_time: stir_time
goal_default:
event: ''
settling_time: 0.0
stir_speed: 0.0
stir_time: 0.0
time: ''
time_spec: ''
vessel: ''
handles: []
result:
success: success
@@ -2787,13 +2917,25 @@ virtual_stirrer:
type: object
goal:
properties:
event:
type: string
settling_time:
type: number
stir_speed:
type: number
stir_time:
type: number
time:
type: string
time_spec:
type: string
vessel:
type: string
required:
- vessel
- time
- event
- time_spec
- stir_time
- stir_speed
- settling_time
@@ -2801,13 +2943,16 @@ virtual_stirrer:
type: object
result:
properties:
message:
type: string
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
- message
- return_info
title: Stir_Result
type: object
required: