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修复action移除时的报错，更新注册表

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Xuwznln
2025-07-16 11:16:26 +08:00
parent acf7b6d3f7
commit c5efa5aa26
7 changed files with 99 additions and 556 deletions
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245
unilabos/registry/devices/virtual_device.yaml
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@@ -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: