mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-18 05:21:19 +00:00
v0.9.7 (#50)
注册表单独上传、新增大量模拟节点与Protocol、新增container管理、修复pip install出现的文件缺失问题 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * 37-biomek-i5i7 (#40) * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * Refine biomek * Refine copy issue * Refine --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#39) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#41) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * fix move it * fix move it * create_resource * bump ver modify slot type * 增加modbus支持 调整protocol node以更好支持多种类型的read和write * 调整protocol node以更好支持多种类型的read和write * 补充日志 * Device visualization (#42) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43) * Add Device MockChiller Add device MockChiller * Add Device MockFilter * Add Device MockPump * Add Device MockRotavap * Add Device MockSeparator * Add Device MockStirrer * Add Device MockHeater * Add Device MockVacuum * Add Device MockSolenoidValve * Add Device Mock \_init_.py * 规范模拟设备代码与注册表信息 * 更改Mock大写文件夹名 * 删除大写目录 * Edited Mock device json * Match mock device with action * Edit mock device yaml * Add new action * Add Virtual Device, Action, YAML, Protocol for Organic Syn * 单独分类测试的protocol文件夹 * 更名Action --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * bump version & protocol fix * hotfix: Add macos_sdk_config (#46) Co-authored-by: quehh <scienceol@outlook.com> * include device_mesh when pip install * 测试自动构建 * try build fix * try build * test artifacts * hotfix: Add .certs in .gitignore * create container * container 添加和更新完成 * Device registry port (#49) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * unify liquid_handler definition * Update virtual_device.yaml * 更正了stir和heater的连接方式 * 区分了虚拟仪器中的八通阀和电磁阀，添加了两个阀门的驱动 * 修改了add protocol * 修复了阀门更新版的bug * 修复了添加protocol前缀导致的不能启动的bug * Fix handles * bump version to 0.9.6 * add resource edge upload * update container registry and handles * add virtual_separator virtual_rotavap fix transfer_pump * fix container value add parent_name to edge device id * 大图的问题都修复好了，添加了gassource和vacuum pump的驱动以及注册表 * default resource upload mode is false * 添加了icon的文件名在注册表里面 * 修改了json图中link的格式 * fix resource and edge upload * fix device ports * Fix edge id * 移除device的父节点关联 * separate registry sync and resource_add * 默认不进行注册表报送，通过命令unilabos-register或者增加启动参数 * 完善tip * protocol node不再嵌套显示 * bump version to 0.9.7 新增一个测试PumpTransferProtocol的teststation，亲测可以运行，将八通阀们和转移泵与pump_protocol适配 * protocol node 执行action不应携带自身device id * 添加了一套简易双八通阀工作站JSON，亲测能跑 * 修复了很多protocol，亲测能跑 * 添加了run column和filter through的protocol，亲测能跑 * fix mock_reactor * 修改了大图和小图的json，但是在前端上没看到改变 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Kongchang Feng <2100011801@stu.pku.edu.cn> Co-authored-by: hh. <103566763+Mile-Away@users.noreply.github.com> Co-authored-by: quehh <scienceol@outlook.com> Co-authored-by: Harvey Que <quehaohui@dp.tech>
This commit is contained in:
Xuwznln
GitHub
36
test/experiments/comprehensive_protocol/checklist.md
Normal file
36
test/experiments/comprehensive_protocol/checklist.md
Normal file
@@ -0,0 +1,36 @@
|
||||
1. 用到的仪器
|
||||
virtual_multiway_valve(√) 八通阀门
|
||||
virtual_transfer_pump(√) 转移泵
|
||||
virtual_centrifuge() 离心机
|
||||
virtual_rotavap() 旋蒸仪
|
||||
virtual_heatchill() 加热器
|
||||
virtual_stirrer() 搅拌器
|
||||
virtual_solenoid_valve() 电磁阀
|
||||
virtual_vacuum_pump(√) vacuum_pump.mock 真空泵
|
||||
virtual_gas_source(√) 气源
|
||||
virtual_filter() 过滤器
|
||||
virtual_column(√) 层析柱
|
||||
separator() homemade_grbl_conductivity 分液漏斗
|
||||
2. 用到的protocol
|
||||
PumpTransferProtocol: generate_pump_protocol_with_rinsing, (√)
|
||||
这个重复了，删掉CleanProtocol: generate_clean_protocol,
|
||||
SeparateProtocol: generate_separate_protocol, (×)
|
||||
EvaporateProtocol: generate_evaporate_protocol, (√)
|
||||
EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol, (√)
|
||||
CentrifugeProtocol: generate_centrifuge_protocol, (√)
|
||||
AddProtocol: generate_add_protocol, (√)
|
||||
FilterProtocol: generate_filter_protocol, (√)
|
||||
HeatChillProtocol: generate_heat_chill_protocol, (√)
|
||||
HeatChillStartProtocol: generate_heat_chill_start_protocol, (√)
|
||||
HeatChillStopProtocol: generate_heat_chill_stop_protocol, (√)
|
||||
StirProtocol: generate_stir_protocol, (√)
|
||||
StartStirProtocol: generate_start_stir_protocol, (√)
|
||||
StopStirProtocol: generate_stop_stir_protocol, (√)
|
||||
这个重复了，删掉TransferProtocol: generate_transfer_protocol,
|
||||
CleanVesselProtocol: generate_clean_vessel_protocol, (√)
|
||||
DissolveProtocol: generate_dissolve_protocol, (√)
|
||||
FilterThroughProtocol: generate_filter_through_protocol, (√)
|
||||
RunColumnProtocol: generate_run_column_protocol, (×)
|
||||
WashSolidProtocol: generate_wash_solid_protocol, (×)
|
||||
|
||||
上下文体积搜索
|
||||
@@ -0,0 +1,857 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "ComprehensiveProtocolStation",
|
||||
"name": "综合协议测试工作站",
|
||||
"children": [
|
||||
"multiway_valve_1",
|
||||
"multiway_valve_2",
|
||||
"transfer_pump_1",
|
||||
"transfer_pump_2",
|
||||
"reagent_bottle_1",
|
||||
"reagent_bottle_2",
|
||||
"reagent_bottle_3",
|
||||
"reagent_bottle_4",
|
||||
"reagent_bottle_5",
|
||||
"centrifuge_1",
|
||||
"rotavap_1",
|
||||
"main_reactor",
|
||||
"heater_1",
|
||||
"stirrer_1",
|
||||
"stirrer_2",
|
||||
"waste_bottle_1",
|
||||
"waste_bottle_2",
|
||||
"solenoid_valve_1",
|
||||
"solenoid_valve_2",
|
||||
"vacuum_pump_1",
|
||||
"gas_source_1",
|
||||
"filter_1",
|
||||
"column_1",
|
||||
"separator_1",
|
||||
"collection_bottle_1",
|
||||
"collection_bottle_2",
|
||||
"collection_bottle_3"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"position": {
|
||||
"x": 600,
|
||||
"y": 400,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"protocol_type": [
|
||||
"AddProtocol",
|
||||
"TransferProtocol",
|
||||
"StartStirProtocol",
|
||||
"StopStirProtocol",
|
||||
"StirProtocol",
|
||||
"RunColumnProtocol",
|
||||
"CentrifugeProtocol",
|
||||
"FilterProtocol",
|
||||
"CleanVesselProtocol",
|
||||
"DissolveProtocol",
|
||||
"FilterThroughProtocol",
|
||||
"WashSolidProtocol",
|
||||
"SeparateProtocol",
|
||||
"EvaporateProtocol",
|
||||
"HeatChillProtocol",
|
||||
"HeatChillStartProtocol",
|
||||
"HeatChillStopProtocol",
|
||||
"EvacuateAndRefillProtocol",
|
||||
"PumpTransferProtocol"
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "multiway_valve_1",
|
||||
"name": "八通阀门1",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_multiway_valve",
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"positions": 8
|
||||
},
|
||||
"data": {
|
||||
"valve_state": "Ready",
|
||||
"current_position": 1
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "multiway_valve_2",
|
||||
"name": "八通阀门2",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_multiway_valve",
|
||||
"position": {
|
||||
"x": 800,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"positions": 8
|
||||
},
|
||||
"data": {
|
||||
"valve_state": "Ready",
|
||||
"current_position": 1
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "transfer_pump_1",
|
||||
"name": "转移泵1",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_transfer_pump",
|
||||
"position": {
|
||||
"x": 350,
|
||||
"y": 250,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 25.0,
|
||||
"transfer_rate": 10.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_volume": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "transfer_pump_2",
|
||||
"name": "转移泵2",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_transfer_pump",
|
||||
"position": {
|
||||
"x": 850,
|
||||
"y": 250,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 25.0,
|
||||
"transfer_rate": 10.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_volume": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reagent_bottle_1",
|
||||
"name": "试剂瓶1-DMF",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 200,
|
||||
"y": 150,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "DMF"
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "DMF"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reagent_bottle_2",
|
||||
"name": "试剂瓶2-乙酸乙酯",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 250,
|
||||
"y": 150,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "ethyl_acetate"
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "ethyl_acetate"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reagent_bottle_3",
|
||||
"name": "试剂瓶3-己烷",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 300,
|
||||
"y": 150,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "hexane"
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "hexane"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reagent_bottle_4",
|
||||
"name": "试剂瓶4-甲醇",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 900,
|
||||
"y": 150,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "methanol"
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "methanol"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "reagent_bottle_5",
|
||||
"name": "试剂瓶5-水",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 950,
|
||||
"y": 150,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 1000.0,
|
||||
"reagent": "water"
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 1000.0,
|
||||
"reagent_name": "water"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "centrifuge_1",
|
||||
"name": "离心机",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_centrifuge",
|
||||
"position": {
|
||||
"x": 200,
|
||||
"y": 400,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_speed": 15000.0,
|
||||
"max_temp": 40.0,
|
||||
"min_temp": 4.0
|
||||
},
|
||||
"data": {
|
||||
"current_speed": 0.0,
|
||||
"status": "Idle"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "rotavap_1",
|
||||
"name": "旋转蒸发仪",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_rotavap",
|
||||
"position": {
|
||||
"x": 300,
|
||||
"y": 400,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_temp": 180.0,
|
||||
"max_rotation_speed": 280.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_temp": 25.0,
|
||||
"rotation_speed": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "main_reactor",
|
||||
"name": "主反应器",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 450,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 500.0,
|
||||
"max_temp": 200.0,
|
||||
"min_temp": -20.0,
|
||||
"has_stirrer": true,
|
||||
"has_heater": true
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0,
|
||||
"current_temp": 25.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "heater_1",
|
||||
"name": "加热器",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_heatchill",
|
||||
"position": {
|
||||
"x": 450,
|
||||
"y": 450,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_temp": 200.0,
|
||||
"min_temp": -20.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_temp": 25.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "stirrer_1",
|
||||
"name": "搅拌器1",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"position": {
|
||||
"x": 350,
|
||||
"y": 450,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_speed": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_speed": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "stirrer_2",
|
||||
"name": "搅拌器2",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"position": {
|
||||
"x": 351,
|
||||
"y": 451,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_speed": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle",
|
||||
"current_speed": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "waste_bottle_1",
|
||||
"name": "废液瓶1",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 500,
|
||||
"y": 400,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "waste_bottle_2",
|
||||
"name": "废液瓶2",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 1100,
|
||||
"y": 500,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "solenoid_valve_1",
|
||||
"name": "电磁阀1",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_solenoid_valve",
|
||||
"position": {
|
||||
"x": 700,
|
||||
"y": 200,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"voltage": 12.0,
|
||||
"response_time": 0.1
|
||||
},
|
||||
"data": {
|
||||
"valve_state": "Closed",
|
||||
"is_open": false
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "solenoid_valve_2",
|
||||
"name": "电磁阀2",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_solenoid_valve",
|
||||
"position": {
|
||||
"x": 700,
|
||||
"y": 150,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"voltage": 12.0,
|
||||
"response_time": 0.1
|
||||
},
|
||||
"data": {
|
||||
"valve_state": "Closed",
|
||||
"is_open": false
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "vacuum_pump_1",
|
||||
"name": "真空泵",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_vacuum_pump",
|
||||
"position": {
|
||||
"x": 650,
|
||||
"y": 200,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_vacuum": 0.1,
|
||||
"pump_rate": 50.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Off",
|
||||
"current_vacuum": 1.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "gas_source_1",
|
||||
"name": "气源",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_gas_source",
|
||||
"position": {
|
||||
"x": 650,
|
||||
"y": 150,
|
||||
"z": 0
|
||||
},
|
||||
"config": {},
|
||||
"data": {
|
||||
"gas_type": "nitrogen",
|
||||
"max_pressure": 5.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "filter_1",
|
||||
"name": "过滤器",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_filter",
|
||||
"position": {
|
||||
"x": 900,
|
||||
"y": 400,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"filter_type": "membrane",
|
||||
"max_pressure": 5.0
|
||||
},
|
||||
"data": {
|
||||
"status": "Ready",
|
||||
"pressure": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "column_1",
|
||||
"name": "洗脱柱",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_column",
|
||||
"position": {
|
||||
"x": 950,
|
||||
"y": 400,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"column_type": "silica_gel",
|
||||
"length": 30.0,
|
||||
"diameter": 2.5
|
||||
},
|
||||
"data": {
|
||||
"status": "Ready",
|
||||
"loaded": false
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "separator_1",
|
||||
"name": "分液器",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "device",
|
||||
"class": "virtual_separator",
|
||||
"position": {
|
||||
"x": 1000,
|
||||
"y": 450,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 250.0,
|
||||
"has_phases": true
|
||||
},
|
||||
"data": {
|
||||
"status": "Ready",
|
||||
"phase_separation": false
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "collection_bottle_1",
|
||||
"name": "接收瓶1",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 900,
|
||||
"y": 500,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 250.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "collection_bottle_2",
|
||||
"name": "接收瓶2",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 950,
|
||||
"y": 500,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 250.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "collection_bottle_3",
|
||||
"name": "接收瓶3",
|
||||
"children": [],
|
||||
"parent": "ComprehensiveProtocolStation",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 1050,
|
||||
"y": 500,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"volume": 250.0
|
||||
},
|
||||
"data": {
|
||||
"current_volume": 0.0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"id": "link_pump1_valve1",
|
||||
"source": "transfer_pump_1",
|
||||
"target": "multiway_valve_1",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"transfer_pump_1": "transferpump",
|
||||
"multiway_valve_1": "transferpump"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve1_reagent1",
|
||||
"source": "multiway_valve_1",
|
||||
"target": "reagent_bottle_1",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_1": "1",
|
||||
"reagent_bottle_1": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve1_reagent2",
|
||||
"source": "multiway_valve_1",
|
||||
"target": "reagent_bottle_2",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_1": "2",
|
||||
"reagent_bottle_2": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve1_reagent3",
|
||||
"source": "multiway_valve_1",
|
||||
"target": "reagent_bottle_3",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_1": "3",
|
||||
"reagent_bottle_3": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve1_centrifuge",
|
||||
"source": "multiway_valve_1",
|
||||
"target": "centrifuge_1",
|
||||
"type": "transport",
|
||||
"port": {
|
||||
"multiway_valve_1": "4",
|
||||
"centrifuge_1": "centrifuge"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve1_rotavap",
|
||||
"source": "multiway_valve_1",
|
||||
"target": "rotavap_1",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_1": "5",
|
||||
"rotavap_1": "sample_in"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve1_reactor",
|
||||
"source": "multiway_valve_1",
|
||||
"target": "main_reactor",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_1": "6",
|
||||
"main_reactor": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve1_waste1",
|
||||
"source": "multiway_valve_1",
|
||||
"target": "waste_bottle_1",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_1": "7",
|
||||
"waste_bottle_1": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve1_valve2",
|
||||
"source": "multiway_valve_1",
|
||||
"target": "multiway_valve_2",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_1": "8",
|
||||
"multiway_valve_2": "1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_pump2_valve2",
|
||||
"source": "transfer_pump_2",
|
||||
"target": "multiway_valve_2",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"transfer_pump_2": "transferpump",
|
||||
"multiway_valve_2": "transferpump"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve2_solenoid1",
|
||||
"source": "multiway_valve_2",
|
||||
"target": "solenoid_valve_1",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_2": "2",
|
||||
"solenoid_valve_1": "in"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_vacuum_solenoid1",
|
||||
"source": "vacuum_pump_1",
|
||||
"target": "solenoid_valve_1",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"vacuum_pump_1": "vacuumpump",
|
||||
"solenoid_valve_1": "out"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve2_solenoid2",
|
||||
"source": "multiway_valve_2",
|
||||
"target": "solenoid_valve_2",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_2": "3",
|
||||
"solenoid_valve_2": "in"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_gas_solenoid2",
|
||||
"source": "gas_source_1",
|
||||
"target": "solenoid_valve_2",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"gas_source_1": "gassource",
|
||||
"solenoid_valve_2": "out"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve2_filter",
|
||||
"source": "multiway_valve_2",
|
||||
"target": "filter_1",
|
||||
"type": "transport",
|
||||
"port": {
|
||||
"multiway_valve_2": "4",
|
||||
"filter_1": "filter_in"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve2_column",
|
||||
"source": "multiway_valve_2",
|
||||
"target": "column_1",
|
||||
"type": "transport",
|
||||
"port": {
|
||||
"multiway_valve_2": "5",
|
||||
"column_1": "columnin"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_column_collection2",
|
||||
"source": "column_1",
|
||||
"target": "collection_bottle_2",
|
||||
"type": "transport",
|
||||
"port": {
|
||||
"column_1": "columnout",
|
||||
"collection_bottle_2": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve2_separator",
|
||||
"source": "multiway_valve_2",
|
||||
"target": "separator_1",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_2": "6",
|
||||
"separator_1": "separator_in"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_separator_collection3",
|
||||
"source": "separator_1",
|
||||
"target": "collection_bottle_3",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"separator_1": "bottom_phase_out",
|
||||
"collection_bottle_3": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve2_reagent4",
|
||||
"source": "multiway_valve_2",
|
||||
"target": "reagent_bottle_4",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_2": "7",
|
||||
"reagent_bottle_4": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "link_valve2_reagent5",
|
||||
"source": "multiway_valve_2",
|
||||
"target": "reagent_bottle_5",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_2": "8",
|
||||
"reagent_bottle_5": "top"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "mech_stirrer_reactor",
|
||||
"source": "stirrer_1",
|
||||
"target": "main_reactor",
|
||||
"type": "mechanical",
|
||||
"port": {
|
||||
"stirrer_1": "stirrer",
|
||||
"main_reactor": "bind"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "thermal_heater_reactor",
|
||||
"source": "heater_1",
|
||||
"target": "main_reactor",
|
||||
"type": "mechanical",
|
||||
"port": {
|
||||
"heater_1": "heatchill",
|
||||
"main_reactor": "bind"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
Reference in New Issue
Block a user