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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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280
unilabos/registry/devices/work_station.yaml
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@@ -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