open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-04 13:25:13 +00:00
Code Issues Packages Projects Releases Wiki Activity

修复action移除时的报错，更新注册表

Browse Source
This commit is contained in:
Xuwznln
2025-07-16 11:16:26 +08:00
parent acf7b6d3f7
commit c5efa5aa26
7 changed files with 99 additions and 556 deletions
Download Patch File Download Diff File Expand all files Collapse all files

83
unilabos/registry/devices/mock_devices.yaml
View File

@@ -539,15 +539,11 @@ mock_heater:
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:
@@ -565,34 +561,22 @@ mock_heater:
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
@@ -600,16 +584,13 @@ mock_heater:
type: object
result:
properties:
message:
type: string
return_info:
type: string
success:
type: boolean
required:
- success
- message
- return_info
- success
title: HeatChill_Result
type: object
required:
@@ -855,18 +836,13 @@ mock_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: []
@@ -922,14 +898,8 @@ mock_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
@@ -940,14 +910,10 @@ mock_pump:
type: number
solid:
type: boolean
through:
type: string
time:
type: number
to_vessel:
type: string
transfer_flowrate:
type: number
viscous:
type: boolean
volume:
@@ -963,11 +929,6 @@ mock_pump:
- rinsing_volume
- rinsing_repeats
- solid
- flowrate
- transfer_flowrate
- rate_spec
- event
- through
title: PumpTransfer_Goal
type: object
result:
@@ -1558,7 +1519,6 @@ mock_separator:
goal_default:
from_vessel: ''
product_phase: ''
product_vessel: ''
purpose: ''
repeats: 0
separation_vessel: ''
@@ -1569,10 +1529,7 @@ mock_separator:
stir_time: 0.0
through: ''
to_vessel: ''
vessel: ''
volume: ''
waste_phase_to_vessel: ''
waste_vessel: ''
handles: []
result:
success: success
@@ -1628,8 +1585,6 @@ mock_separator:
type: string
product_phase:
type: string
product_vessel:
type: string
purpose:
type: string
repeats:
@@ -1652,14 +1607,8 @@ mock_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
@@ -1674,24 +1623,17 @@ mock_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:
- success
- message
- return_info
- success
title: Separate_Result
type: object
required:
@@ -2468,13 +2410,9 @@ mock_stirrer_new:
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
@@ -2491,25 +2429,13 @@ mock_stirrer_new:
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
@@ -2517,16 +2443,13 @@ mock_stirrer_new:
type: object
result:
properties:
message:
type: string
return_info:
type: string
success:
type: boolean
required:
- success
- message
- return_info
- success
title: Stir_Result
type: object
required:

21
unilabos/registry/devices/organic_miscellaneous.yaml
View File

@@ -242,13 +242,9 @@ separator.homemade:
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
@@ -265,25 +261,13 @@ separator.homemade:
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
@@ -291,16 +275,13 @@ separator.homemade:
type: object
result:
properties:
message:
type: string
return_info:
type: string
success:
type: boolean
required:
- success
- message
- return_info
- success
title: Stir_Result
type: object
required:

2
unilabos/registry/devices/pump_and_valve.yaml
View File

@@ -68,7 +68,7 @@ solenoid_valve:
handles: []
result: {}
schema:
description: open的参数schema
description: ''
properties:
feedback: {}
goal:

21
unilabos/registry/devices/temperature.yaml
View File

@@ -259,15 +259,11 @@ heaterstirrer.dalong:
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:
@@ -285,34 +281,22 @@ heaterstirrer.dalong:
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
@@ -320,16 +304,13 @@ heaterstirrer.dalong:
type: object
result:
properties:
message:
type: string
return_info:
type: string
success:
type: boolean
required:
- success
- message
- return_info
- success
title: HeatChill_Result
type: object
required:

245
unilabos/registry/devices/virtual_device.yaml
View File

@@ -248,12 +248,6 @@ virtual_column:
goal_default:
column: ''
from_vessel: ''
pct1: ''
pct2: ''
ratio: ''
rf: ''
solvent1: ''
solvent2: ''
to_vessel: ''
handles: []
result:
@@ -280,30 +274,12 @@ 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:
@@ -331,7 +307,9 @@ virtual_column:
column_length: float
column_state: str
current_flow_rate: float
current_phase: str
current_status: str
final_volume: float
max_flow_rate: float
processed_volume: float
progress: float
@@ -375,8 +353,12 @@ virtual_column:
type: string
current_flow_rate:
type: number
current_phase:
type: string
current_status:
type: string
final_volume:
type: number
max_flow_rate:
type: number
processed_volume:
@@ -395,6 +377,8 @@ virtual_column:
- processed_volume
- progress
- current_status
- current_phase
- final_volume
type: object
version: 0.0.1
virtual_filter:
@@ -885,15 +869,11 @@ 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:
@@ -911,34 +891,22 @@ 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
@@ -946,16 +914,13 @@ virtual_heatchill:
type: object
result:
properties:
message:
type: string
return_info:
type: string
success:
type: boolean
required:
- success
- message
- return_info
- success
title: HeatChill_Result
type: object
required:
@@ -1066,7 +1031,11 @@ virtual_heatchill:
module: unilabos.devices.virtual.virtual_heatchill:VirtualHeatChill
status_types:
is_stirring: bool
max_stir_speed: float
max_temp: float
min_temp: float
operation_mode: str
progress: float
remaining_time: float
status: str
stir_speed: float
@@ -1095,8 +1064,16 @@ virtual_heatchill:
properties:
is_stirring:
type: boolean
max_stir_speed:
type: number
max_temp:
type: number
min_temp:
type: number
operation_mode:
type: string
progress:
type: number
remaining_time:
type: number
status:
@@ -1109,6 +1086,10 @@ virtual_heatchill:
- is_stirring
- stir_speed
- remaining_time
- progress
- max_temp
- min_temp
- max_stir_speed
type: object
version: 0.0.1
virtual_multiway_valve:
@@ -1209,7 +1190,7 @@ virtual_multiway_valve:
handles: []
result: {}
schema:
description: open的参数schema
description: ''
properties:
feedback: {}
goal:
@@ -1673,18 +1654,13 @@ 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: []
@@ -1740,14 +1716,8 @@ 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
@@ -1758,14 +1728,10 @@ 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:
@@ -1781,11 +1747,6 @@ virtual_pump:
- rinsing_volume
- rinsing_repeats
- solid
- flowrate
- transfer_flowrate
- rate_spec
- event
- through
title: PumpTransfer_Goal
type: object
result:
@@ -1916,8 +1877,8 @@ virtual_rotavap:
type: UniLabJsonCommandAsync
evaporate:
feedback:
status: status
current_device: current_device
status: status
goal:
pressure: pressure
stir_speed: stir_speed
@@ -1926,7 +1887,6 @@ virtual_rotavap:
vessel: vessel
goal_default:
pressure: 0.0
solvent: ''
stir_speed: 0.0
temp: 0.0
time: 0.0
@@ -1985,8 +1945,6 @@ virtual_rotavap:
properties:
pressure:
type: number
solvent:
type: string
stir_speed:
type: number
temp:
@@ -2001,7 +1959,6 @@ virtual_rotavap:
- temp
- time
- stir_speed
- solvent
title: Evaporate_Goal
type: object
result:
@@ -2172,7 +2129,6 @@ virtual_separator:
goal_default:
from_vessel: ''
product_phase: ''
product_vessel: ''
purpose: ''
repeats: 0
separation_vessel: ''
@@ -2183,10 +2139,7 @@ virtual_separator:
stir_time: 0.0
through: ''
to_vessel: ''
vessel: ''
volume: ''
waste_phase_to_vessel: ''
waste_vessel: ''
handles: []
result:
message: message
@@ -2243,8 +2196,6 @@ virtual_separator:
type: string
product_phase:
type: string
product_vessel:
type: string
purpose:
type: string
repeats:
@@ -2267,14 +2218,8 @@ 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
@@ -2289,24 +2234,17 @@ 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:
- success
- message
- return_info
- success
title: Separate_Result
type: object
required:
@@ -2465,26 +2403,6 @@ 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: {}
@@ -2505,53 +2423,6 @@ 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: {}
@@ -2576,13 +2447,12 @@ virtual_solenoid_valve:
feedback: {}
goal:
command: CLOSED
goal_default:
command: ''
goal_default: {}
handles: []
result:
success: success
schema:
description: ROS Action SendCmd 的 JSON Schema
description: ''
properties:
feedback:
properties: {}
@@ -2614,7 +2484,7 @@ virtual_solenoid_valve:
handles: []
result: {}
schema:
description: ROS Action SendCmd 的 JSON Schema
description: ''
properties:
feedback:
properties: {}
@@ -2648,7 +2518,7 @@ virtual_solenoid_valve:
handles: []
result: {}
schema:
description: ROS Action SendCmd 的 JSON Schema
description: ''
properties:
feedback:
properties: {}
@@ -2687,15 +2557,18 @@ virtual_solenoid_valve:
command: ''
handles: []
result:
success: success
message: message
success: success
valve_position: valve_position
schema:
description: ''
properties:
feedback:
properties: {}
required: []
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
@@ -2708,15 +2581,13 @@ 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:
@@ -2779,6 +2650,7 @@ virtual_solenoid_valve:
- valve_position
- state
type: object
version: 0.0.1
virtual_stirrer:
class:
action_value_mappings:
@@ -2894,13 +2766,9 @@ 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
@@ -2917,25 +2785,13 @@ 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
@@ -2943,16 +2799,13 @@ virtual_stirrer:
type: object
result:
properties:
message:
type: string
return_info:
type: string
success:
type: boolean
required:
- success
- message
- return_info
- success
title: Stir_Result
type: object
required:
@@ -3015,7 +2868,10 @@ virtual_stirrer:
status_types:
current_speed: float
current_vessel: str
device_info: dict
is_stirring: bool
max_speed: float
min_speed: float
operation_mode: str
remaining_time: float
status: str
@@ -3046,8 +2902,14 @@ virtual_stirrer:
type: number
current_vessel:
type: string
device_info:
type: object
is_stirring:
type: boolean
max_speed:
type: number
min_speed:
type: number
operation_mode:
type: string
remaining_time:
@@ -3061,6 +2923,9 @@ virtual_stirrer:
- current_speed
- is_stirring
- remaining_time
- max_speed
- min_speed
- device_info
type: object
version: 0.0.1
virtual_transfer_pump:

280
unilabos/registry/devices/work_station.yaml
View File

@@ -54,10 +54,9 @@ workstation:
handles: []
result: {}
schema:
description: ROS Action AGVTransfer 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
status:
type: string
@@ -66,7 +65,6 @@ workstation:
title: AGVTransfer_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
from_repo:
properties:
@@ -226,7 +224,6 @@ workstation:
title: AGVTransfer_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -257,13 +254,8 @@ workstation:
volume: volume
goal_default:
amount: ''
equiv: ''
event: ''
mass: 0.0
mol: ''
purpose: ''
rate_spec: ''
ratio: ''
reagent: ''
stir: false
stir_speed: 0.0
@@ -291,10 +283,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action Add 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
current_status:
type: string
@@ -306,24 +297,13 @@ workstation:
title: Add_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
amount:
type: string
equiv:
type: string
event:
type: string
mass:
type: number
mol:
type: string
purpose:
type: string
rate_spec:
type: string
ratio:
type: string
reagent:
type: string
stir:
@@ -349,15 +329,9 @@ workstation:
- stir_speed
- viscous
- purpose
- event
- mol
- rate_spec
- equiv
- ratio
title: Add_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -406,10 +380,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action AdjustPH 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
progress:
type: number
@@ -421,7 +394,6 @@ workstation:
title: AdjustPH_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
ph_value:
type: number
@@ -436,7 +408,6 @@ workstation:
title: AdjustPH_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -482,10 +453,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action Centrifuge 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
current_speed:
type: number
@@ -503,7 +473,6 @@ workstation:
title: Centrifuge_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
speed:
type: number
@@ -521,7 +490,6 @@ workstation:
title: Centrifuge_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -574,10 +542,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action Clean 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
current_device:
type: string
@@ -621,7 +588,6 @@ workstation:
title: Clean_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
repeats:
maximum: 2147483647
@@ -644,7 +610,6 @@ workstation:
title: Clean_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -694,10 +659,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action CleanVessel 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
progress:
type: number
@@ -709,7 +673,6 @@ workstation:
title: CleanVessel_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
repeats:
maximum: 2147483647
@@ -732,7 +695,6 @@ workstation:
title: CleanVessel_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -763,9 +725,6 @@ workstation:
volume: volume
goal_default:
amount: ''
mass: ''
mol: ''
reagent: ''
solvent: ''
stir_speed: 0.0
temp: 0.0
@@ -792,10 +751,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action Dissolve 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
progress:
type: number
@@ -807,16 +765,9 @@ workstation:
title: Dissolve_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
amount:
type: string
mass:
type: string
mol:
type: string
reagent:
type: string
solvent:
type: string
stir_speed:
@@ -837,13 +788,9 @@ workstation:
- temp
- time
- stir_speed
- mass
- mol
- reagent
title: Dissolve_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -885,10 +832,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action Dry 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
progress:
type: number
@@ -900,7 +846,6 @@ workstation:
title: Dry_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
compound:
type: string
@@ -912,7 +857,6 @@ workstation:
title: Dry_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -938,6 +882,7 @@ workstation:
vessel: vessel
goal_default:
gas: ''
repeats: 0
vessel: ''
handles:
input:
@@ -954,10 +899,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action EvacuateAndRefill 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
current_device:
type: string
@@ -1001,19 +945,22 @@ workstation:
title: EvacuateAndRefill_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
gas:
type: string
repeats:
maximum: 2147483647
minimum: -2147483648
type: integer
vessel:
type: string
required:
- vessel
- gas
- repeats
title: EvacuateAndRefill_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -1040,7 +987,6 @@ workstation:
vessel: vessel
goal_default:
pressure: 0.0
solvent: ''
stir_speed: 0.0
temp: 0.0
time: 0.0
@@ -1060,10 +1006,9 @@ workstation:
label: Evaporation Vessel
result: {}
schema:
description: ROS Action Evaporate 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
current_device:
type: string
@@ -1107,12 +1052,9 @@ workstation:
title: Evaporate_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
pressure:
type: number
solvent:
type: string
stir_speed:
type: number
temp:
@@ -1127,11 +1069,9 @@ workstation:
- temp
- time
- stir_speed
- solvent
title: Evaporate_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -1190,10 +1130,9 @@ workstation:
label: Filtrate Vessel
result: {}
schema:
description: ROS Action Filter 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
current_status:
type: string
@@ -1211,7 +1150,6 @@ workstation:
title: Filter_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
continue_heatchill:
type: boolean
@@ -1238,7 +1176,6 @@ workstation:
title: Filter_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -1305,10 +1242,9 @@ workstation:
label: To Vessel
result: {}
schema:
description: ROS Action FilterThrough 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
progress:
type: number
@@ -1320,7 +1256,6 @@ workstation:
title: FilterThrough_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
eluting_repeats:
maximum: 2147483647
@@ -1349,7 +1284,6 @@ workstation:
title: FilterThrough_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -1382,15 +1316,11 @@ workstation:
time_spec: time_spec
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:
input:
@@ -1407,10 +1337,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action HeatChill 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
status:
type: string
@@ -1419,54 +1348,37 @@ workstation:
title: HeatChill_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
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
title: HeatChill_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
return_info:
type: string
success:
type: boolean
required:
- success
- message
- return_info
- success
title: HeatChill_Result
type: object
required:
@@ -1499,10 +1411,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action HeatChillStart 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
status:
type: string
@@ -1511,7 +1422,6 @@ workstation:
title: HeatChillStart_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
purpose:
type: string
@@ -1526,7 +1436,6 @@ workstation:
title: HeatChillStart_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -1563,10 +1472,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action HeatChillStop 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
status:
type: string
@@ -1575,7 +1483,6 @@ workstation:
title: HeatChillStop_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
vessel:
type: string
@@ -1584,7 +1491,6 @@ workstation:
title: HeatChillStop_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -1625,10 +1531,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action Hydrogenate 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
progress:
type: number
@@ -1640,7 +1545,6 @@ workstation:
title: Hydrogenate_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
temp:
type: string
@@ -1655,7 +1559,6 @@ workstation:
title: Hydrogenate_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -1694,18 +1597,13 @@ workstation:
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:
@@ -1738,10 +1636,9 @@ workstation:
label: To Vessel
result: {}
schema:
description: ROS Action PumpTransfer 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
current_device:
type: string
@@ -1785,18 +1682,11 @@ workstation:
title: PumpTransfer_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
amount:
type: string
event:
type: string
flowrate:
type: number
from_vessel:
type: string
rate_spec:
type: string
rinsing_repeats:
maximum: 2147483647
minimum: -2147483648
@@ -1807,14 +1697,10 @@ workstation:
type: number
solid:
type: boolean
through:
type: string
time:
type: number
to_vessel:
type: string
transfer_flowrate:
type: number
viscous:
type: boolean
volume:
@@ -1830,15 +1716,9 @@ workstation:
- rinsing_volume
- rinsing_repeats
- solid
- flowrate
- transfer_flowrate
- rate_spec
- event
- through
title: PumpTransfer_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -1893,10 +1773,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action Recrystallize 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
progress:
type: number
@@ -1908,7 +1787,6 @@ workstation:
title: Recrystallize_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
ratio:
type: string
@@ -1929,7 +1807,6 @@ workstation:
title: Recrystallize_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -1964,10 +1841,9 @@ workstation:
output: []
result: {}
schema:
description: ROS Action ResetHandling 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
progress:
type: number
@@ -1979,7 +1855,6 @@ workstation:
title: ResetHandling_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
solvent:
type: string
@@ -1988,7 +1863,6 @@ workstation:
title: ResetHandling_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -2016,12 +1890,6 @@ workstation:
goal_default:
column: ''
from_vessel: ''
pct1: ''
pct2: ''
ratio: ''
rf: ''
solvent1: ''
solvent2: ''
to_vessel: ''
handles:
input:
@@ -2048,10 +1916,9 @@ workstation:
label: To Vessel
result: {}
schema:
description: ROS Action RunColumn 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
progress:
type: number
@@ -2063,40 +1930,20 @@ workstation:
title: RunColumn_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
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:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -2134,7 +1981,6 @@ workstation:
goal_default:
from_vessel: ''
product_phase: ''
product_vessel: ''
purpose: ''
repeats: 0
separation_vessel: ''
@@ -2145,10 +1991,7 @@ workstation:
stir_time: 0.0
through: ''
to_vessel: ''
vessel: ''
volume: ''
waste_phase_to_vessel: ''
waste_vessel: ''
handles:
input:
- data_key: vessel
@@ -2179,10 +2022,9 @@ workstation:
label: To Vessel
result: {}
schema:
description: ROS Action Separate 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
current_device:
type: string
@@ -2226,14 +2068,11 @@ workstation:
title: Separate_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
from_vessel:
type: string
product_phase:
type: string
product_vessel:
type: string
purpose:
type: string
repeats:
@@ -2256,14 +2095,8 @@ workstation:
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
@@ -2278,25 +2111,17 @@ workstation:
- stir_time
- stir_speed
- settling_time
- vessel
- volume
- product_vessel
- waste_vessel
title: Separate_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
return_info:
type: string
success:
type: boolean
required:
- success
- message
- return_info
- success
title: Separate_Result
type: object
required:
@@ -2329,10 +2154,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action StartStir 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
current_speed:
type: number
@@ -2347,7 +2171,6 @@ workstation:
title: StartStir_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
purpose:
type: string
@@ -2362,7 +2185,6 @@ workstation:
title: StartStir_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -2392,13 +2214,9 @@ workstation:
time_spec: time_spec
vessel: vessel
goal_default:
event: ''
settling_time: 0.0
stir_speed: 0.0
stir_time: 0.0
time: ''
time_spec: ''
vessel: ''
handles:
input:
- data_key: vessel
@@ -2414,10 +2232,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action Stir 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
status:
type: string
@@ -2426,45 +2243,28 @@ workstation:
title: Stir_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
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
title: Stir_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
return_info:
type: string
success:
type: boolean
required:
- success
- message
- return_info
- success
title: Stir_Result
type: object
required:
@@ -2493,10 +2293,9 @@ workstation:
label: Vessel
result: {}
schema:
description: ROS Action StopStir 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
current_status:
type: string
@@ -2508,7 +2307,6 @@ workstation:
title: StopStir_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
vessel:
type: string
@@ -2517,7 +2315,6 @@ workstation:
title: StopStir_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -2590,10 +2387,9 @@ workstation:
label: To Vessel
result: {}
schema:
description: ROS Action Transfer 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
current_status:
type: string
@@ -2608,7 +2404,6 @@ workstation:
title: Transfer_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
amount:
type: string
@@ -2646,7 +2441,6 @@ workstation:
title: Transfer_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -2717,10 +2511,9 @@ workstation:
label: Filtrate Vessel
result: {}
schema:
description: ROS Action WashSolid 的 JSON Schema
description: ''
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
progress:
type: number
@@ -2732,7 +2525,6 @@ workstation:
title: WashSolid_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
filtrate_vessel:
type: string
@@ -2767,7 +2559,6 @@ workstation:
title: WashSolid_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
message:
type: string
@@ -2901,3 +2692,4 @@ workstation:
properties: {}
required: []
type: object
version: 0.0.1

3
unilabos/registry/registry.py
View File

@@ -438,7 +438,8 @@ class Registry:
# 恢复原有的description信息（auto开头的不修改）
for action_name, description in old_descriptions.items():
device_config["class"]["action_value_mappings"][action_name]["schema"]["description"] = description
if action_name in device_config["class"]["action_value_mappings"]: # 有一些会被删除
device_config["class"]["action_value_mappings"][action_name]["schema"]["description"] = description
device_config["init_param_schema"] = {}
device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
enhanced_info["init_params"], "__init__"