diff --git a/unilabos/registry/devices/mock_devices.yaml b/unilabos/registry/devices/mock_devices.yaml index 461fc73..5bfe5d7 100644 --- a/unilabos/registry/devices/mock_devices.yaml +++ b/unilabos/registry/devices/mock_devices.yaml @@ -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: diff --git a/unilabos/registry/devices/organic_miscellaneous.yaml b/unilabos/registry/devices/organic_miscellaneous.yaml index 3ac61fc..aca63df 100644 --- a/unilabos/registry/devices/organic_miscellaneous.yaml +++ b/unilabos/registry/devices/organic_miscellaneous.yaml @@ -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: diff --git a/unilabos/registry/devices/pump_and_valve.yaml b/unilabos/registry/devices/pump_and_valve.yaml index 18fbd14..8d13551 100644 --- a/unilabos/registry/devices/pump_and_valve.yaml +++ b/unilabos/registry/devices/pump_and_valve.yaml @@ -68,7 +68,7 @@ solenoid_valve: handles: [] result: {} schema: - description: open的参数schema + description: '' properties: feedback: {} goal: diff --git a/unilabos/registry/devices/temperature.yaml b/unilabos/registry/devices/temperature.yaml index fe4ad5b..2da45fd 100644 --- a/unilabos/registry/devices/temperature.yaml +++ b/unilabos/registry/devices/temperature.yaml @@ -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: diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml index 0a263b4..2ad2c5b 100644 --- a/unilabos/registry/devices/virtual_device.yaml +++ b/unilabos/registry/devices/virtual_device.yaml @@ -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: diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml index 91ea9bd..5e5279d 100644 --- a/unilabos/registry/devices/work_station.yaml +++ b/unilabos/registry/devices/work_station.yaml @@ -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 diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index f496e0f..a62351c 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -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__"