virtual_centrifuge: class: action_value_mappings: auto-centrifuge: feedback: {} goal: {} goal_default: speed: null temp: 25.0 time: null vessel: null handles: [] result: {} schema: description: UniLabJsonCommand centrifuge 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand centrifuge 的参数schema properties: speed: description: '参数: speed' type: number temp: default: 25.0 description: '参数: temp' type: number time: description: '参数: time' type: number vessel: description: '参数: vessel' type: string required: - vessel - speed - time type: object result: {} required: - goal title: centrifuge 命令参数 type: object type: UniLabJsonCommandAsync auto-cleanup: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand cleanup 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal title: cleanup 命令参数 type: object type: UniLabJsonCommandAsync auto-initialize: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand initialize 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal title: initialize 命令参数 type: object type: UniLabJsonCommandAsync centrifuge: feedback: current_speed: current_speed current_status: status current_temp: current_temp progress: progress goal: speed: speed temp: temp time: time vessel: vessel goal_default: speed: 0.0 temp: 0.0 time: 0.0 vessel: '' handles: [] result: message: message success: success schema: description: ROS Action Centrifuge 的 JSON Schema 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 current_status: type: string current_temp: type: number progress: type: number required: - progress - current_speed - current_temp - current_status title: Centrifuge_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: speed: type: number temp: type: number time: type: number vessel: type: string required: - vessel - speed - time - temp 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 return_info: type: string success: type: boolean required: - success - message - return_info title: Centrifuge_Result type: object required: - goal title: Centrifuge type: object type: Centrifuge module: unilabos.devices.virtual.virtual_centrifuge:VirtualCentrifuge status_types: centrifuge_state: str current_speed: float current_temp: float max_speed: float max_temp: float message: str min_temp: float progress: float status: str target_speed: float target_temp: float time_remaining: float type: python description: Virtual Centrifuge for CentrifugeProtocol Testing handles: - data_key: vessel data_source: handle data_type: transport description: 需要离心的样品容器 handler_key: centrifuge io_type: target label: centrifuge side: NORTH icon: '' init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: config: description: '参数: config' type: string device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string required: - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object virtual_column: class: action_value_mappings: auto-cleanup: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand cleanup 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal title: cleanup 命令参数 type: object type: UniLabJsonCommandAsync auto-initialize: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand initialize 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal title: initialize 命令参数 type: object type: UniLabJsonCommandAsync auto-run_column: feedback: {} goal: {} goal_default: column: null from_vessel: null to_vessel: null handles: [] result: {} schema: description: UniLabJsonCommand run_column 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand run_column 的参数schema properties: column: description: '参数: column' type: string from_vessel: description: '参数: from_vessel' type: string to_vessel: description: '参数: to_vessel' type: string required: - from_vessel - to_vessel - column type: object result: {} required: - goal title: run_column 命令参数 type: object type: UniLabJsonCommandAsync run_column: feedback: current_status: current_status processed_volume: processed_volume progress: progress goal: column: column from_vessel: from_vessel to_vessel: to_vessel goal_default: column: '' from_vessel: '' to_vessel: '' handles: [] result: message: current_status return_info: current_status success: success schema: description: ROS Action RunColumn 的 JSON Schema 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 status: type: string required: - status - progress 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 to_vessel: type: string required: - from_vessel - to_vessel - column 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 return_info: type: string success: type: boolean required: - success - message - return_info title: RunColumn_Result type: object required: - goal title: RunColumn type: object type: RunColumn module: unilabos.devices.virtual.virtual_column:VirtualColumn status_types: column_diameter: float column_length: float column_state: str current_flow_rate: float current_status: str max_flow_rate: float processed_volume: float progress: float status: str type: python description: Virtual Column Chromatography Device for RunColumn Protocol Testing handles: - data_key: from_vessel data_source: handle data_type: transport description: 样品输入口 handler_key: columnin io_type: target label: columnin side: WEST - data_key: to_vessel data_source: handle data_type: transport description: 产物输出口 handler_key: columnout io_type: source label: columnout side: EAST icon: '' init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: config: description: '参数: config' type: object device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string required: - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object virtual_filter: class: action_value_mappings: auto-cleanup: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand cleanup 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal title: cleanup 命令参数 type: object type: UniLabJsonCommandAsync auto-filter: feedback: {} goal: {} goal_default: continue_heatchill: false filtrate_vessel: '' stir: false stir_speed: 300.0 temp: 25.0 vessel: null volume: 0.0 handles: [] result: {} schema: description: UniLabJsonCommand filter 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand filter 的参数schema properties: continue_heatchill: default: false description: '参数: continue_heatchill' type: boolean filtrate_vessel: default: '' description: '参数: filtrate_vessel' type: string stir: default: false description: '参数: stir' type: boolean stir_speed: default: 300.0 description: '参数: stir_speed' type: number temp: default: 25.0 description: '参数: temp' type: number vessel: description: '参数: vessel' type: string volume: default: 0.0 description: '参数: volume' type: number required: - vessel type: object result: {} required: - goal title: filter 命令参数 type: object type: UniLabJsonCommandAsync auto-initialize: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand initialize 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal title: initialize 命令参数 type: object type: UniLabJsonCommandAsync filter: feedback: current_status: current_status current_temp: current_temp filtered_volume: filtered_volume progress: progress goal: continue_heatchill: continue_heatchill filtrate_vessel: filtrate_vessel stir: stir stir_speed: stir_speed temp: temp vessel: vessel volume: volume goal_default: continue_heatchill: false filtrate_vessel: '' stir: false stir_speed: 0.0 temp: 0.0 vessel: '' volume: 0.0 handles: [] result: message: message return_info: message success: success schema: description: ROS Action Filter 的 JSON Schema 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 current_temp: type: number filtered_volume: type: number progress: type: number required: - progress - current_temp - filtered_volume - current_status 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 filtrate_vessel: type: string stir: type: boolean stir_speed: type: number temp: type: number vessel: type: string volume: type: number required: - vessel - filtrate_vessel - stir - stir_speed - temp - continue_heatchill - volume 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 return_info: type: string success: type: boolean required: - success - message - return_info title: Filter_Result type: object required: - goal title: Filter type: object type: Filter module: unilabos.devices.virtual.virtual_filter:VirtualFilter status_types: current_status: str current_temp: float filtered_volume: float max_stir_speed: float max_temp: float max_volume: float message: str progress: float status: str type: python description: Virtual Filter for FilterProtocol Testing handles: - data_key: vessel_in data_source: handle data_type: transport description: 需要过滤的样品容器 handler_key: filterin io_type: target label: filter_in side: NORTH - data_key: filtrate_out data_source: handle data_type: transport description: 滤液出口 handler_key: filtrateout io_type: source label: filtrate_out side: SOUTH - data_key: retentate_out data_source: handle data_type: transport description: 滤渣/固体出口 handler_key: retentateout io_type: source label: retentate_out side: EAST icon: '' init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: config: description: '参数: config' type: string device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string required: - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object virtual_gas_source: class: action_value_mappings: auto-cleanup: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand cleanup 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal title: cleanup 命令参数 type: object type: UniLabJsonCommandAsync auto-close: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand close 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand close 的参数schema properties: {} required: [] type: object result: {} required: - goal title: close 命令参数 type: object type: UniLabJsonCommand auto-initialize: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand initialize 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal title: initialize 命令参数 type: object type: UniLabJsonCommandAsync auto-is_closed: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand is_closed 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand is_closed 的参数schema properties: {} required: [] type: object result: {} required: - goal title: is_closed 命令参数 type: object type: UniLabJsonCommand auto-is_open: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand is_open 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand is_open 的参数schema properties: {} required: [] type: object result: {} required: - goal title: is_open 命令参数 type: object type: UniLabJsonCommand auto-open: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand open 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand open 的参数schema properties: {} required: [] type: object result: {} required: - goal title: open 命令参数 type: object type: UniLabJsonCommand auto-set_status: feedback: {} goal: {} goal_default: string: null handles: [] result: {} schema: description: UniLabJsonCommand set_status 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand set_status 的参数schema properties: string: description: '参数: string' type: string required: - string type: object result: {} required: - goal title: set_status 命令参数 type: object type: UniLabJsonCommand close: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: ROS Action EmptyIn 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: EmptyIn_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: {} required: [] title: EmptyIn_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 required: - return_info title: EmptyIn_Result type: object required: - goal title: EmptyIn type: object type: EmptyIn open: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: ROS Action EmptyIn 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: EmptyIn_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: {} required: [] title: EmptyIn_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 required: - return_info title: EmptyIn_Result type: object required: - goal title: EmptyIn type: object type: EmptyIn set_status: feedback: {} goal: string: string goal_default: string: '' handles: [] result: {} schema: description: ROS Action StrSingleInput 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: StrSingleInput_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: string: type: string required: - string title: StrSingleInput_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 success: type: boolean required: - return_info - success title: StrSingleInput_Result type: object required: - goal title: StrSingleInput type: object type: StrSingleInput module: unilabos.devices.virtual.virtual_gas_source:VirtualGasSource status_types: status: str type: python description: Virtual gas source handles: - data_key: fluid_out data_source: executor data_type: fluid description: 气源出气口 handler_key: gassource io_type: source label: gassource side: SOUTH icon: '' init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: config: description: '参数: config' type: string device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string required: - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object virtual_heatchill: class: action_value_mappings: auto-cleanup: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand cleanup 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal title: cleanup 命令参数 type: object type: UniLabJsonCommandAsync auto-heat_chill: feedback: {} goal: {} goal_default: purpose: null stir: null stir_speed: null temp: null time: null vessel: null handles: [] result: {} schema: description: UniLabJsonCommand heat_chill 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand heat_chill 的参数schema properties: purpose: description: '参数: purpose' type: string stir: description: '参数: stir' type: boolean stir_speed: description: '参数: stir_speed' type: number temp: description: '参数: temp' type: number time: description: '参数: time' type: number vessel: description: '参数: vessel' type: string required: - vessel - temp - time - stir - stir_speed - purpose type: object result: {} required: - goal title: heat_chill 命令参数 type: object type: UniLabJsonCommandAsync auto-heat_chill_start: feedback: {} goal: {} goal_default: purpose: null temp: null vessel: null handles: [] result: {} schema: description: UniLabJsonCommand heat_chill_start 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand heat_chill_start 的参数schema properties: purpose: description: '参数: purpose' type: string temp: description: '参数: temp' type: number vessel: description: '参数: vessel' type: string required: - vessel - temp - purpose type: object result: {} required: - goal title: heat_chill_start 命令参数 type: object type: UniLabJsonCommandAsync auto-heat_chill_stop: feedback: {} goal: {} goal_default: vessel: null handles: [] result: {} schema: description: UniLabJsonCommand heat_chill_stop 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand heat_chill_stop 的参数schema properties: vessel: description: '参数: vessel' type: string required: - vessel type: object result: {} required: - goal title: heat_chill_stop 命令参数 type: object type: UniLabJsonCommandAsync auto-initialize: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand initialize 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal title: initialize 命令参数 type: object type: UniLabJsonCommandAsync heat_chill: feedback: status: status goal: purpose: purpose stir: stir stir_speed: stir_speed temp: temp time: time vessel: vessel goal_default: purpose: '' stir: false stir_speed: 0.0 temp: 0.0 time: 0.0 vessel: '' handles: [] result: success: success schema: description: ROS Action HeatChill 的 JSON Schema 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 required: - status title: HeatChill_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: purpose: type: string stir: type: boolean stir_speed: type: number temp: type: number time: type: number vessel: type: string required: - vessel - temp - time - 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: return_info: type: string success: type: boolean required: - return_info - success title: HeatChill_Result type: object required: - goal title: HeatChill type: object type: HeatChill heat_chill_start: feedback: status: status goal: purpose: purpose temp: temp vessel: vessel goal_default: purpose: '' temp: 0.0 vessel: '' handles: [] result: success: success schema: description: ROS Action HeatChillStart 的 JSON Schema 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 required: - status title: HeatChillStart_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: purpose: type: string temp: type: number vessel: type: string required: - vessel - temp - purpose 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 success: type: boolean required: - return_info - success title: HeatChillStart_Result type: object required: - goal title: HeatChillStart type: object type: HeatChillStart heat_chill_stop: feedback: status: status goal: vessel: vessel goal_default: vessel: '' handles: [] result: success: success schema: description: ROS Action HeatChillStop 的 JSON Schema 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 required: - status title: HeatChillStop_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: vessel: type: string required: - vessel 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 success: type: boolean required: - return_info - success title: HeatChillStop_Result type: object required: - goal title: HeatChillStop type: object type: HeatChillStop module: unilabos.devices.virtual.virtual_heatchill:VirtualHeatChill status_types: is_stirring: bool operation_mode: str remaining_time: float status: str stir_speed: float type: python description: Virtual HeatChill for HeatChillProtocol Testing handles: - data_key: vessel data_source: handle data_type: mechanical description: 加热/冷却器的物理连接口 handler_key: heatchill io_type: source label: heatchill side: NORTH icon: Heater.webp init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: config: description: '参数: config' type: object device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string required: - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object virtual_multiway_valve: class: action_value_mappings: auto-close: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand close 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand close 的参数schema properties: {} required: [] type: object result: {} required: - goal title: close 命令参数 type: object type: UniLabJsonCommand auto-is_at_port: feedback: {} goal: {} goal_default: port_number: null handles: [] result: {} schema: description: UniLabJsonCommand is_at_port 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand is_at_port 的参数schema properties: port_number: description: '参数: port_number' type: integer required: - port_number type: object result: {} required: - goal title: is_at_port 命令参数 type: object type: UniLabJsonCommand auto-is_at_position: feedback: {} goal: {} goal_default: position: null handles: [] result: {} schema: description: UniLabJsonCommand is_at_position 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand is_at_position 的参数schema properties: position: description: '参数: position' type: integer required: - position type: object result: {} required: - goal title: is_at_position 命令参数 type: object type: UniLabJsonCommand auto-is_at_pump_position: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand is_at_pump_position 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand is_at_pump_position 的参数schema properties: {} required: [] type: object result: {} required: - goal title: is_at_pump_position 命令参数 type: object type: UniLabJsonCommand auto-open: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand open 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand open 的参数schema properties: {} required: [] type: object result: {} required: - goal title: open 命令参数 type: object type: UniLabJsonCommand auto-reset: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand reset 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand reset 的参数schema properties: {} required: [] type: object result: {} required: - goal title: reset 命令参数 type: object type: UniLabJsonCommand auto-set_position: feedback: {} goal: {} goal_default: command: null handles: [] result: {} schema: description: UniLabJsonCommand set_position 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand set_position 的参数schema properties: command: description: '参数: command' type: string required: - command type: object result: {} required: - goal title: set_position 命令参数 type: object type: UniLabJsonCommand auto-set_to_port: feedback: {} goal: {} goal_default: port_number: null handles: [] result: {} schema: description: UniLabJsonCommand set_to_port 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand set_to_port 的参数schema properties: port_number: description: '参数: port_number' type: integer required: - port_number type: object result: {} required: - goal title: set_to_port 命令参数 type: object type: UniLabJsonCommand auto-set_to_pump_position: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand set_to_pump_position 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand set_to_pump_position 的参数schema properties: {} required: [] type: object result: {} required: - goal title: set_to_pump_position 命令参数 type: object type: UniLabJsonCommand auto-set_valve_position: feedback: {} goal: {} goal_default: command: null handles: [] result: {} schema: description: UniLabJsonCommand set_valve_position 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand set_valve_position 的参数schema properties: command: description: '参数: command' type: string required: - command type: object result: {} required: - goal title: set_valve_position 命令参数 type: object type: UniLabJsonCommand auto-switch_between_pump_and_port: feedback: {} goal: {} goal_default: port_number: null handles: [] result: {} schema: description: UniLabJsonCommand switch_between_pump_and_port 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand switch_between_pump_and_port 的参数schema properties: port_number: description: '参数: port_number' type: integer required: - port_number type: object result: {} required: - goal title: switch_between_pump_and_port 命令参数 type: object type: UniLabJsonCommand set_position: feedback: {} goal: command: command goal_default: command: '' handles: [] result: success: success schema: description: ROS Action SendCmd 的 JSON Schema 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 required: - status title: SendCmd_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: command: type: string required: - command title: SendCmd_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 success: type: boolean required: - return_info - success title: SendCmd_Result type: object required: - goal title: SendCmd type: object type: SendCmd set_valve_position: feedback: {} goal: command: command goal_default: command: '' handles: [] result: success: success schema: description: ROS Action SendCmd 的 JSON Schema 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 required: - status title: SendCmd_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: command: type: string required: - command title: SendCmd_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 success: type: boolean required: - return_info - success title: SendCmd_Result type: object required: - goal title: SendCmd type: object type: SendCmd module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve status_types: available_ports: dict available_positions: list current_port: str current_position: int flow_path: str info: dict status: str target_position: int valve_position: int valve_state: str type: python description: Virtual 8-Way Valve for flow direction control handles: - data_key: fluid_in data_source: handle data_type: fluid description: 八通阀门进液口 handler_key: transferpump io_type: target label: transferpump side: NORTH - data_key: fluid_port_1 data_source: executor data_type: fluid description: 八通阀门端口1 handler_key: 1 io_type: source label: 1 side: NORTH - data_key: fluid_port_2 data_source: executor data_type: fluid description: 八通阀门端口2 handler_key: 2 io_type: source label: 2 side: EAST - data_key: fluid_port_3 data_source: executor data_type: fluid description: 八通阀门端口3 handler_key: 3 io_type: source label: 3 side: EAST - data_key: fluid_port_4 data_source: executor data_type: fluid description: 八通阀门端口4 handler_key: 4 io_type: source label: 4 side: SOUTH - data_key: fluid_port_5 data_source: executor data_type: fluid description: 八通阀门端口5 handler_key: 5 io_type: source label: 5 side: SOUTH - data_key: fluid_port_6 data_source: executor data_type: fluid description: 八通阀门端口6 handler_key: 6 io_type: source label: 6 side: WEST - data_key: fluid_port_7 data_source: executor data_type: fluid description: 八通阀门端口7 handler_key: 7 io_type: source label: 7 side: WEST - data_key: fluid_port_8 data_source: executor data_type: fluid description: 八通阀门端口8 handler_key: 8 io_type: source label: 8 side: NORTH icon: EightPipeline.webp init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: port: default: VIRTUAL description: '参数: port' type: string positions: default: 8 description: '参数: positions' type: integer required: [] type: object result: {} required: - goal title: __init__ 命令参数 type: object virtual_pump: class: action_value_mappings: auto-clean_vessel: feedback: {} goal: {} goal_default: repeats: 1 solvent: null temp: null vessel: null volume: null handles: [] result: {} schema: description: UniLabJsonCommand clean_vessel 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand clean_vessel 的参数schema properties: repeats: default: 1 description: '参数: repeats' type: integer solvent: description: '参数: solvent' type: string temp: description: '参数: temp' type: number vessel: description: '参数: vessel' type: string volume: description: '参数: volume' type: number required: - vessel - solvent - volume - temp type: object result: {} required: - goal title: clean_vessel 命令参数 type: object type: UniLabJsonCommandAsync auto-cleanup: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand cleanup 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal title: cleanup 命令参数 type: object type: UniLabJsonCommandAsync auto-initialize: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand initialize 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal title: initialize 命令参数 type: object type: UniLabJsonCommandAsync auto-transfer: feedback: {} goal: {} goal_default: amount: '' from_vessel: null rinsing_repeats: 0 rinsing_solvent: '' rinsing_volume: 0.0 solid: false time: 0.0 to_vessel: null viscous: false volume: null handles: [] result: {} schema: description: UniLabJsonCommand transfer 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand transfer 的参数schema properties: amount: default: '' description: '参数: amount' type: string from_vessel: description: '参数: from_vessel' type: string rinsing_repeats: default: 0 description: '参数: rinsing_repeats' type: integer rinsing_solvent: default: '' description: '参数: rinsing_solvent' type: string rinsing_volume: default: 0.0 description: '参数: rinsing_volume' type: number solid: default: false description: '参数: solid' type: boolean time: default: 0.0 description: '参数: time' type: number to_vessel: description: '参数: to_vessel' type: string viscous: default: false description: '参数: viscous' type: boolean volume: description: '参数: volume' type: number required: - from_vessel - to_vessel - volume type: object result: {} required: - goal title: transfer 命令参数 type: object type: UniLabJsonCommandAsync set_valve_position: feedback: status: status goal: float_in: valve_position goal_default: float_in: 0.0 handles: [] result: success: success schema: description: ROS Action FloatSingleInput 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: FloatSingleInput_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: float_in: type: number required: - float_in title: FloatSingleInput_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 success: type: boolean required: - return_info - success title: FloatSingleInput_Result type: object required: - goal title: FloatSingleInput type: object type: FloatSingleInput transfer: feedback: status: status goal: amount: amount from_vessel: from_vessel rinsing_repeats: rinsing_repeats rinsing_solvent: rinsing_solvent rinsing_volume: rinsing_volume solid: solid time: time to_vessel: to_vessel viscous: viscous volume: volume goal_default: amount: '' from_vessel: '' rinsing_repeats: 0 rinsing_solvent: '' rinsing_volume: 0.0 solid: false time: 0.0 to_vessel: '' viscous: false volume: 0.0 handles: [] result: success: success schema: description: ROS Action PumpTransfer 的 JSON Schema 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 status: type: string time_remaining: properties: nanosec: maximum: 4294967295 minimum: 0 type: integer sec: maximum: 2147483647 minimum: -2147483648 type: integer required: - sec - nanosec title: Duration type: object time_spent: properties: nanosec: maximum: 4294967295 minimum: 0 type: integer sec: maximum: 2147483647 minimum: -2147483648 type: integer required: - sec - nanosec title: Duration type: object required: - status - current_device - time_spent - time_remaining title: PumpTransfer_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: amount: type: string from_vessel: type: string rinsing_repeats: maximum: 2147483647 minimum: -2147483648 type: integer rinsing_solvent: type: string rinsing_volume: type: number solid: type: boolean time: type: number to_vessel: type: string viscous: type: boolean volume: type: number required: - from_vessel - to_vessel - volume - amount - time - viscous - rinsing_solvent - rinsing_volume - rinsing_repeats - solid 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 success: type: boolean required: - return_info - success title: PumpTransfer_Result type: object required: - goal title: PumpTransfer type: object type: PumpTransfer module: unilabos.devices.virtual.virtual_pump:VirtualPump status_types: current_status: str current_volume: float from_vessel: str max_volume: float progress: float status: str to_vessel: str transfer_rate: float transferred_volume: float valve_position: int type: python description: Virtual Pump for PumpTransferProtocol Testing handles: - data_key: fluid_in data_source: handle data_type: fluid description: 泵的输出口 handler_key: pumpio io_type: source label: pumpio icon: '' init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: config: description: '参数: config' type: object device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string required: - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object virtual_rotavap: class: action_value_mappings: auto-cleanup: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand cleanup 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal title: cleanup 命令参数 type: object type: UniLabJsonCommandAsync auto-evaporate: feedback: {} goal: {} goal_default: pressure: 0.1 stir_speed: 100.0 temp: 60.0 time: 1800.0 vessel: null handles: [] result: {} schema: description: UniLabJsonCommand evaporate 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand evaporate 的参数schema properties: pressure: default: 0.1 description: '参数: pressure' type: number stir_speed: default: 100.0 description: '参数: stir_speed' type: number temp: default: 60.0 description: '参数: temp' type: number time: default: 1800.0 description: '参数: time' type: number vessel: description: '参数: vessel' type: string required: - vessel type: object result: {} required: - goal title: evaporate 命令参数 type: object type: UniLabJsonCommandAsync auto-initialize: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand initialize 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal title: initialize 命令参数 type: object type: UniLabJsonCommandAsync evaporate: feedback: current_temp: current_temp evaporated_volume: evaporated_volume progress: progress status: status goal: pressure: pressure stir_speed: stir_speed temp: temp time: time vessel: vessel goal_default: pressure: 0.0 stir_speed: 0.0 temp: 0.0 time: 0.0 vessel: '' handles: [] result: message: message success: success schema: description: ROS Action Evaporate 的 JSON Schema 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 status: type: string time_remaining: properties: nanosec: maximum: 4294967295 minimum: 0 type: integer sec: maximum: 2147483647 minimum: -2147483648 type: integer required: - sec - nanosec title: Duration type: object time_spent: properties: nanosec: maximum: 4294967295 minimum: 0 type: integer sec: maximum: 2147483647 minimum: -2147483648 type: integer required: - sec - nanosec title: Duration type: object required: - status - current_device - time_spent - time_remaining title: Evaporate_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: pressure: type: number stir_speed: type: number temp: type: number time: type: number vessel: type: string required: - vessel - pressure - temp - time - stir_speed 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 success: type: boolean required: - return_info - success title: Evaporate_Result type: object required: - goal title: Evaporate type: object type: Evaporate module: unilabos.devices.virtual.virtual_rotavap:VirtualRotavap status_types: current_temp: float evaporated_volume: float max_rotation_speed: float max_temp: float message: str progress: float remaining_time: float rotation_speed: float rotavap_state: str status: str vacuum_pressure: float type: python description: Virtual Rotary Evaporator for EvaporateProtocol Testing handles: - data_key: vessel_in data_source: handle data_type: fluid description: 样品连接口 handler_key: samplein io_type: target label: sample_in side: NORTH - data_key: product_out data_source: handle data_type: fluid description: 浓缩产物出口 handler_key: productout io_type: source label: product_out side: SOUTH - data_key: solvent_out data_source: handle data_type: fluid description: 冷凝溶剂出口 handler_key: solventout io_type: source label: solvent_out side: EAST icon: Rotaryevaporator.webp init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: config: description: '参数: config' type: string device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string required: - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object virtual_separator: class: action_value_mappings: auto-cleanup: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand cleanup 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal title: cleanup 命令参数 type: object type: UniLabJsonCommandAsync auto-initialize: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand initialize 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal title: initialize 命令参数 type: object type: UniLabJsonCommandAsync auto-separate: feedback: {} goal: {} goal_default: from_vessel: null product_phase: null purpose: null repeats: 1 separation_vessel: null settling_time: 300.0 solvent: '' solvent_volume: 50.0 stir_speed: 300.0 stir_time: 30.0 through: '' to_vessel: null waste_phase_to_vessel: '' handles: [] result: {} schema: description: UniLabJsonCommand separate 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand separate 的参数schema properties: from_vessel: description: '参数: from_vessel' type: string product_phase: description: '参数: product_phase' type: string purpose: description: '参数: purpose' type: string repeats: default: 1 description: '参数: repeats' type: integer separation_vessel: description: '参数: separation_vessel' type: string settling_time: default: 300.0 description: '参数: settling_time' type: number solvent: default: '' description: '参数: solvent' type: string solvent_volume: default: 50.0 description: '参数: solvent_volume' type: number stir_speed: default: 300.0 description: '参数: stir_speed' type: number stir_time: default: 30.0 description: '参数: stir_time' type: number through: default: '' description: '参数: through' type: string to_vessel: description: '参数: to_vessel' type: string waste_phase_to_vessel: default: '' description: '参数: waste_phase_to_vessel' type: string required: - purpose - product_phase - from_vessel - separation_vessel - to_vessel type: object result: {} required: - goal title: separate 命令参数 type: object type: UniLabJsonCommandAsync separate: feedback: current_status: status progress: progress goal: from_vessel: from_vessel product_phase: product_phase purpose: purpose repeats: repeats separation_vessel: separation_vessel settling_time: settling_time solvent: solvent solvent_volume: solvent_volume stir_speed: stir_speed stir_time: stir_time through: through to_vessel: to_vessel waste_phase_to_vessel: waste_phase_to_vessel goal_default: from_vessel: '' product_phase: '' purpose: '' repeats: 0 separation_vessel: '' settling_time: 0.0 solvent: '' solvent_volume: 0.0 stir_speed: 0.0 stir_time: 0.0 through: '' to_vessel: '' waste_phase_to_vessel: '' handles: [] result: message: message success: success schema: description: ROS Action Separate 的 JSON Schema 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 status: type: string time_remaining: properties: nanosec: maximum: 4294967295 minimum: 0 type: integer sec: maximum: 2147483647 minimum: -2147483648 type: integer required: - sec - nanosec title: Duration type: object time_spent: properties: nanosec: maximum: 4294967295 minimum: 0 type: integer sec: maximum: 2147483647 minimum: -2147483648 type: integer required: - sec - nanosec title: Duration type: object required: - status - current_device - time_spent - time_remaining 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 purpose: type: string repeats: maximum: 2147483647 minimum: -2147483648 type: integer separation_vessel: type: string settling_time: type: number solvent: type: string solvent_volume: type: number stir_speed: type: number stir_time: type: number through: type: string to_vessel: type: string waste_phase_to_vessel: type: string required: - purpose - product_phase - from_vessel - separation_vessel - to_vessel - waste_phase_to_vessel - solvent - solvent_volume - through - repeats - stir_time - stir_speed - settling_time title: Separate_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 success: type: boolean required: - return_info - success title: Separate_Result type: object required: - goal title: Separate type: object type: Separate module: unilabos.devices.virtual.virtual_separator:VirtualSeparator status_types: has_phases: bool message: str phase_separation: bool progress: float separator_state: str settling_time: float status: str stir_speed: float volume: float type: python description: Virtual Separator for SeparateProtocol Testing handles: - data_key: from_vessel data_source: handle data_type: fluid description: 需要分离的混合液体输入口 handler_key: separatorin io_type: target label: separator_in side: NORTH - data_key: bottom_outlet data_source: executor data_type: fluid description: 下相（重相）液体输出口 handler_key: bottomphaseout io_type: source label: bottom_phase_out side: SOUTH - data_key: top_outlet data_source: executor data_type: fluid description: 上相（轻相）液体输出口 handler_key: topphaseout io_type: source label: top_phase_out side: EAST - data_key: mechanical_port data_source: handle data_type: mechanical description: 用于连接搅拌器等机械设备的接口 handler_key: bind io_type: target label: bind side: WEST icon: Separator.webp init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: config: description: '参数: config' type: string device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string required: - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object virtual_solenoid_valve: class: action_value_mappings: auto-cleanup: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand cleanup 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal title: cleanup 命令参数 type: object type: UniLabJsonCommandAsync auto-close: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand close 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand close 的参数schema properties: {} required: [] type: object result: {} required: - goal title: close 命令参数 type: object type: UniLabJsonCommandAsync auto-initialize: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand initialize 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal title: initialize 命令参数 type: object type: UniLabJsonCommandAsync auto-is_closed: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand is_closed 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand is_closed 的参数schema properties: {} required: [] type: object result: {} required: - goal title: is_closed 命令参数 type: object type: UniLabJsonCommand auto-open: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand open 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand open 的参数schema properties: {} required: [] type: object result: {} required: - goal title: open 命令参数 type: object type: UniLabJsonCommandAsync auto-reset: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand reset 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand reset 的参数schema properties: {} required: [] type: object result: {} required: - goal title: reset 命令参数 type: object type: UniLabJsonCommandAsync auto-set_state: feedback: {} goal: {} goal_default: command: null handles: [] result: {} schema: description: UniLabJsonCommand set_state 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand set_state 的参数schema properties: command: description: '参数: command' type: string required: - command type: object result: {} required: - goal title: set_state 命令参数 type: object type: UniLabJsonCommandAsync auto-set_valve_position: feedback: {} goal: {} goal_default: command: null handles: [] result: {} schema: description: UniLabJsonCommand set_valve_position 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand set_valve_position 的参数schema properties: command: description: '参数: command' type: string required: [] type: object result: {} required: - goal title: set_valve_position 命令参数 type: object type: UniLabJsonCommandAsync auto-toggle: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand toggle 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand toggle 的参数schema properties: {} required: [] type: object result: {} required: - goal title: toggle 命令参数 type: object type: UniLabJsonCommand close: feedback: {} goal: command: CLOSED goal_default: command: '' handles: [] result: success: success schema: description: ROS Action SendCmd 的 JSON Schema 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 required: - status title: SendCmd_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: command: type: string required: - command title: SendCmd_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 success: type: boolean required: - return_info - success title: SendCmd_Result type: object required: - goal title: SendCmd type: object type: SendCmd open: feedback: {} goal: command: OPEN goal_default: command: '' handles: [] result: success: success schema: description: ROS Action SendCmd 的 JSON Schema 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 required: - status title: SendCmd_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: command: type: string required: - command title: SendCmd_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 success: type: boolean required: - return_info - success title: SendCmd_Result type: object required: - goal title: SendCmd type: object type: SendCmd set_state: feedback: {} goal: command: command goal_default: command: '' handles: [] result: success: success schema: description: ROS Action SendCmd 的 JSON Schema 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 required: - status title: SendCmd_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: command: type: string required: - command title: SendCmd_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 success: type: boolean required: - return_info - success title: SendCmd_Result type: object required: - goal title: SendCmd type: object type: SendCmd set_valve_position: feedback: {} goal: command: command goal_default: command: '' handles: [] result: success: success schema: description: ROS Action SendCmd 的 JSON Schema 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 required: - status title: SendCmd_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: command: type: string required: - command title: SendCmd_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 success: type: boolean required: - return_info - success title: SendCmd_Result type: object required: - goal title: SendCmd type: object type: SendCmd module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve status_types: is_open: bool state: dict status: str valve_position: str valve_state: str type: python description: Virtual Solenoid Valve for simple on/off flow control handles: - data_key: fluid_port_in data_source: handle data_type: fluid description: 电磁阀的进液口 handler_key: in io_type: target label: in side: NORTH - data_key: fluid_port_out data_source: handle data_type: fluid description: 电磁阀的出液口 handler_key: out io_type: source label: out side: SOUTH icon: '' init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: config: description: '参数: config' type: object device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string required: - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object virtual_stirrer: class: action_value_mappings: auto-cleanup: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand cleanup 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal title: cleanup 命令参数 type: object type: UniLabJsonCommandAsync auto-initialize: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand initialize 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal title: initialize 命令参数 type: object type: UniLabJsonCommandAsync auto-start_stir: feedback: {} goal: {} goal_default: purpose: null stir_speed: null vessel: null handles: [] result: {} schema: description: UniLabJsonCommand start_stir 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand start_stir 的参数schema properties: purpose: description: '参数: purpose' type: string stir_speed: description: '参数: stir_speed' type: number vessel: description: '参数: vessel' type: string required: - vessel - stir_speed - purpose type: object result: {} required: - goal title: start_stir 命令参数 type: object type: UniLabJsonCommandAsync auto-stir: feedback: {} goal: {} goal_default: settling_time: null stir_speed: null stir_time: null handles: [] result: {} schema: description: UniLabJsonCommand stir 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand stir 的参数schema properties: settling_time: description: '参数: settling_time' type: number stir_speed: description: '参数: stir_speed' type: number stir_time: description: '参数: stir_time' type: number required: - stir_time - stir_speed - settling_time type: object result: {} required: - goal title: stir 命令参数 type: object type: UniLabJsonCommandAsync auto-stop_stir: feedback: {} goal: {} goal_default: vessel: null handles: [] result: {} schema: description: UniLabJsonCommand stop_stir 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand stop_stir 的参数schema properties: vessel: description: '参数: vessel' type: string required: - vessel type: object result: {} required: - goal title: stop_stir 命令参数 type: object type: UniLabJsonCommandAsync start_stir: feedback: status: status goal: purpose: purpose stir_speed: stir_speed vessel: vessel goal_default: purpose: '' stir_speed: 0.0 vessel: '' handles: [] result: success: success schema: description: ROS Action StartStir 的 JSON Schema 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 current_status: type: string progress: type: number required: - progress - current_speed - current_status title: StartStir_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: purpose: type: string stir_speed: type: number vessel: type: string required: - vessel - stir_speed - purpose 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 return_info: type: string success: type: boolean required: - success - message - return_info title: StartStir_Result type: object required: - goal title: StartStir type: object type: StartStir stir: feedback: status: status goal: settling_time: settling_time stir_speed: stir_speed stir_time: stir_time goal_default: settling_time: 0.0 stir_speed: 0.0 stir_time: 0.0 handles: [] result: success: success schema: description: ROS Action Stir 的 JSON Schema 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 required: - status title: Stir_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: settling_time: type: number stir_speed: type: number stir_time: type: number required: - 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: return_info: type: string success: type: boolean required: - return_info - success title: Stir_Result type: object required: - goal title: Stir type: object type: Stir stop_stir: feedback: status: status goal: vessel: vessel goal_default: vessel: '' handles: [] result: success: success schema: description: ROS Action StopStir 的 JSON Schema 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 progress: type: number required: - progress - current_status title: StopStir_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: vessel: type: string required: - vessel 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 return_info: type: string success: type: boolean required: - success - message - return_info title: StopStir_Result type: object required: - goal title: StopStir type: object type: StopStir module: unilabos.devices.virtual.virtual_stirrer:VirtualStirrer status_types: current_speed: float current_vessel: str is_stirring: bool operation_mode: str remaining_time: float status: str type: python description: Virtual Stirrer for StirProtocol Testing handles: - data_key: vessel data_source: handle data_type: mechanical description: 搅拌器的机械连接口 handler_key: stirrer io_type: source label: stirrer side: NORTH icon: Stirrer.webp init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: config: description: '参数: config' type: object device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string required: - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object virtual_transfer_pump: class: action_value_mappings: auto-aspirate: feedback: {} goal: {} goal_default: velocity: null volume: null handles: [] result: {} schema: description: UniLabJsonCommand aspirate 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand aspirate 的参数schema properties: velocity: description: '参数: velocity' type: number volume: description: '参数: volume' type: number required: - volume type: object result: {} required: - goal title: aspirate 命令参数 type: object type: UniLabJsonCommandAsync auto-cleanup: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand cleanup 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal title: cleanup 命令参数 type: object type: UniLabJsonCommandAsync auto-dispense: feedback: {} goal: {} goal_default: velocity: null volume: null handles: [] result: {} schema: description: UniLabJsonCommand dispense 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand dispense 的参数schema properties: velocity: description: '参数: velocity' type: number volume: description: '参数: volume' type: number required: - volume type: object result: {} required: - goal title: dispense 命令参数 type: object type: UniLabJsonCommandAsync auto-empty_syringe: feedback: {} goal: {} goal_default: velocity: null handles: [] result: {} schema: description: UniLabJsonCommand empty_syringe 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand empty_syringe 的参数schema properties: velocity: description: '参数: velocity' type: number required: [] type: object result: {} required: - goal title: empty_syringe 命令参数 type: object type: UniLabJsonCommandAsync auto-fill_syringe: feedback: {} goal: {} goal_default: velocity: null handles: [] result: {} schema: description: UniLabJsonCommand fill_syringe 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand fill_syringe 的参数schema properties: velocity: description: '参数: velocity' type: number required: [] type: object result: {} required: - goal title: fill_syringe 命令参数 type: object type: UniLabJsonCommandAsync auto-initialize: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand initialize 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal title: initialize 命令参数 type: object type: UniLabJsonCommandAsync auto-is_empty: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand is_empty 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand is_empty 的参数schema properties: {} required: [] type: object result: {} required: - goal title: is_empty 命令参数 type: object type: UniLabJsonCommand auto-is_full: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand is_full 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand is_full 的参数schema properties: {} required: [] type: object result: {} required: - goal title: is_full 命令参数 type: object type: UniLabJsonCommand auto-pull_plunger: feedback: {} goal: {} goal_default: velocity: null volume: null handles: [] result: {} schema: description: UniLabJsonCommand pull_plunger 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand pull_plunger 的参数schema properties: velocity: description: '参数: velocity' type: number volume: description: '参数: volume' type: number required: - volume type: object result: {} required: - goal title: pull_plunger 命令参数 type: object type: UniLabJsonCommandAsync auto-push_plunger: feedback: {} goal: {} goal_default: velocity: null volume: null handles: [] result: {} schema: description: UniLabJsonCommand push_plunger 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand push_plunger 的参数schema properties: velocity: description: '参数: velocity' type: number volume: description: '参数: volume' type: number required: - volume type: object result: {} required: - goal title: push_plunger 命令参数 type: object type: UniLabJsonCommandAsync auto-set_max_velocity: feedback: {} goal: {} goal_default: velocity: null handles: [] result: {} schema: description: UniLabJsonCommand set_max_velocity 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand set_max_velocity 的参数schema properties: velocity: description: '参数: velocity' type: number required: - velocity type: object result: {} required: - goal title: set_max_velocity 命令参数 type: object type: UniLabJsonCommand auto-set_position: feedback: {} goal: {} goal_default: max_velocity: null position: null handles: [] result: {} schema: description: UniLabJsonCommand set_position 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand set_position 的参数schema properties: max_velocity: description: '参数: max_velocity' type: number position: description: '参数: position' type: number required: - position type: object result: {} required: - goal title: set_position 命令参数 type: object type: UniLabJsonCommandAsync auto-stop_operation: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand stop_operation 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand stop_operation 的参数schema properties: {} required: [] type: object result: {} required: - goal title: stop_operation 命令参数 type: object type: UniLabJsonCommandAsync auto-transfer: feedback: {} goal: {} goal_default: aspirate_velocity: null dispense_velocity: null volume: null handles: [] result: {} schema: description: UniLabJsonCommand transfer 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand transfer 的参数schema properties: aspirate_velocity: description: '参数: aspirate_velocity' type: number dispense_velocity: description: '参数: dispense_velocity' type: number volume: description: '参数: volume' type: number required: - volume type: object result: {} required: - goal title: transfer 命令参数 type: object type: UniLabJsonCommandAsync set_position: feedback: current_position: current_position progress: progress status: status goal: max_velocity: max_velocity position: position goal_default: max_velocity: 0.0 position: 0.0 handles: [] result: message: message success: success schema: description: ROS Action SetPumpPosition 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: current_position: type: number progress: type: number status: type: string required: - status - current_position - progress title: SetPumpPosition_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: max_velocity: type: number position: type: number required: - position - max_velocity title: SetPumpPosition_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: - return_info - success - message title: SetPumpPosition_Result type: object required: - goal title: SetPumpPosition type: object type: SetPumpPosition transfer: feedback: current_status: current_status progress: progress transferred_volume: transferred_volume goal: amount: amount from_vessel: from_vessel rinsing_repeats: rinsing_repeats rinsing_solvent: rinsing_solvent rinsing_volume: rinsing_volume solid: solid time: time to_vessel: to_vessel viscous: viscous volume: volume goal_default: amount: '' from_vessel: '' rinsing_repeats: 0 rinsing_solvent: '' rinsing_volume: 0.0 solid: false time: 0.0 to_vessel: '' viscous: false volume: 0.0 handles: [] result: message: message success: success schema: description: ROS Action Transfer 的 JSON Schema 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 progress: type: number transferred_volume: type: number required: - progress - transferred_volume - current_status title: Transfer_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: amount: type: string from_vessel: type: string rinsing_repeats: maximum: 2147483647 minimum: -2147483648 type: integer rinsing_solvent: type: string rinsing_volume: type: number solid: type: boolean time: type: number to_vessel: type: string viscous: type: boolean volume: type: number required: - from_vessel - to_vessel - volume - amount - time - viscous - rinsing_solvent - rinsing_volume - rinsing_repeats - solid 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 return_info: type: string success: type: boolean required: - success - message - return_info title: Transfer_Result type: object required: - goal title: Transfer type: object type: Transfer module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump status_types: current_volume: float max_velocity: float position: float pump_info: dict remaining_capacity: float status: str transfer_rate: float type: python description: Virtual Transfer Pump for TransferProtocol Testing (Syringe-style) handles: - data_key: fluid_port data_source: handle data_type: fluid description: 注射器式转移泵的连接口 handler_key: transferpump io_type: source label: transferpump side: SOUTH icon: Pump.webp init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: config: description: '参数: config' type: object device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string required: - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object virtual_vacuum_pump: class: action_value_mappings: auto-cleanup: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand cleanup 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal title: cleanup 命令参数 type: object type: UniLabJsonCommandAsync auto-close: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand close 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand close 的参数schema properties: {} required: [] type: object result: {} required: - goal title: close 命令参数 type: object type: UniLabJsonCommand auto-initialize: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand initialize 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal title: initialize 命令参数 type: object type: UniLabJsonCommandAsync auto-is_closed: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand is_closed 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand is_closed 的参数schema properties: {} required: [] type: object result: {} required: - goal title: is_closed 命令参数 type: object type: UniLabJsonCommand auto-is_open: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand is_open 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand is_open 的参数schema properties: {} required: [] type: object result: {} required: - goal title: is_open 命令参数 type: object type: UniLabJsonCommand auto-open: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand open 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand open 的参数schema properties: {} required: [] type: object result: {} required: - goal title: open 命令参数 type: object type: UniLabJsonCommand auto-set_status: feedback: {} goal: {} goal_default: string: null handles: [] result: {} schema: description: UniLabJsonCommand set_status 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand set_status 的参数schema properties: string: description: '参数: string' type: string required: - string type: object result: {} required: - goal title: set_status 命令参数 type: object type: UniLabJsonCommand close: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: ROS Action EmptyIn 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: EmptyIn_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: {} required: [] title: EmptyIn_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 required: - return_info title: EmptyIn_Result type: object required: - goal title: EmptyIn type: object type: EmptyIn open: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: ROS Action EmptyIn 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: EmptyIn_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: {} required: [] title: EmptyIn_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 required: - return_info title: EmptyIn_Result type: object required: - goal title: EmptyIn type: object type: EmptyIn set_status: feedback: {} goal: string: string goal_default: string: '' handles: [] result: {} schema: description: ROS Action StrSingleInput 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: StrSingleInput_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: string: type: string required: - string title: StrSingleInput_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 success: type: boolean required: - return_info - success title: StrSingleInput_Result type: object required: - goal title: StrSingleInput type: object type: StrSingleInput module: unilabos.devices.virtual.virtual_vacuum_pump:VirtualVacuumPump status_types: status: str type: python description: Virtual vacuum pump handles: - data_key: fluid_in data_source: handle data_type: fluid description: 真空泵进气口 handler_key: vacuumpump io_type: source label: vacuumpump side: SOUTH icon: Vacuum.webp init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: config: description: '参数: config' type: string device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string required: - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object