workstation: class: action_value_mappings: AGVTransferProtocol: feedback: {} goal: from_repo: from_repo from_repo_position: from_repo_position to_repo: to_repo to_repo_position: to_repo_position goal_default: from_repo: category: '' children: [] config: '' data: '' id: '' name: '' parent: '' pose: orientation: w: 1.0 x: 0.0 y: 0.0 z: 0.0 position: x: 0.0 y: 0.0 z: 0.0 sample_id: '' type: '' from_repo_position: '' to_repo: category: '' children: [] config: '' data: '' id: '' name: '' parent: '' pose: orientation: w: 1.0 x: 0.0 y: 0.0 z: 0.0 position: x: 0.0 y: 0.0 z: 0.0 sample_id: '' type: '' to_repo_position: '' handles: [] result: {} schema: description: ROS Action AGVTransfer 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: AGVTransfer_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: from_repo: properties: category: type: string children: items: type: string type: array config: type: string data: type: string id: type: string name: type: string parent: type: string pose: properties: orientation: properties: w: type: number x: type: number y: type: number z: type: number required: - x - y - z - w title: Quaternion type: object position: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object required: - position - orientation title: Pose type: object sample_id: type: string type: type: string required: - id - name - sample_id - children - parent - type - category - pose - config - data title: Resource type: object from_repo_position: type: string to_repo: properties: category: type: string children: items: type: string type: array config: type: string data: type: string id: type: string name: type: string parent: type: string pose: properties: orientation: properties: w: type: number x: type: number y: type: number z: type: number required: - x - y - z - w title: Quaternion type: object position: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object required: - position - orientation title: Pose type: object sample_id: type: string type: type: string required: - id - name - sample_id - children - parent - type - category - pose - config - data title: Resource type: object to_repo_position: type: string required: - from_repo - from_repo_position - to_repo - to_repo_position title: AGVTransfer_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: AGVTransfer_Result type: object required: - goal title: AGVTransfer type: object type: AGVTransfer AddProtocol: feedback: {} goal: amount: amount mass: mass purpose: purpose reagent: reagent stir: stir stir_speed: stir_speed time: time vessel: vessel viscous: viscous volume: volume goal_default: amount: '' mass: 0.0 purpose: '' reagent: '' stir: false stir_speed: 0.0 time: 0.0 vessel: '' viscous: false volume: 0.0 handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel - data_key: reagent data_source: handle data_type: resource handler_key: reagent label: Reagent output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} schema: description: ROS Action Add 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: Add_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: amount: type: string mass: type: number purpose: type: string reagent: type: string stir: type: boolean stir_speed: type: number time: type: number vessel: type: string viscous: type: boolean volume: type: number required: - vessel - reagent - volume - mass - amount - time - stir - stir_speed - viscous - purpose title: Add_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: message: type: string return_info: type: string success: type: boolean required: - success - message - return_info title: Add_Result type: object required: - goal title: Add type: object type: Add CentrifugeProtocol: feedback: {} goal: speed: speed temp: temp time: time vessel: vessel goal_default: speed: 0.0 temp: 0.0 time: 0.0 vessel: '' handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} 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 CleanProtocol: feedback: {} goal: repeats: repeats solvent: solvent temp: temp vessel: vessel volume: volume goal_default: repeats: 0 solvent: '' temp: 0.0 vessel: '' volume: 0.0 handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel - data_key: solvent data_source: handle data_type: resource handler_key: solvent label: Solvent output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} schema: description: ROS Action Clean 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: Clean_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: repeats: maximum: 2147483647 minimum: -2147483648 type: integer solvent: type: string temp: type: number vessel: type: string volume: type: number required: - vessel - solvent - volume - temp - repeats title: Clean_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: Clean_Result type: object required: - goal title: Clean type: object type: Clean CleanVesselProtocol: feedback: {} goal: repeats: repeats solvent: solvent temp: temp vessel: vessel volume: volume goal_default: repeats: 0 solvent: '' temp: 0.0 vessel: '' volume: 0.0 handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel - data_key: solvent data_source: handle data_type: resource handler_key: solvent label: Solvent output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} schema: description: ROS Action CleanVessel 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: CleanVessel_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: repeats: maximum: 2147483647 minimum: -2147483648 type: integer solvent: type: string temp: type: number vessel: type: string volume: type: number required: - vessel - solvent - volume - temp - repeats title: CleanVessel_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: message: type: string return_info: type: string success: type: boolean required: - success - message - return_info title: CleanVessel_Result type: object required: - goal title: CleanVessel type: object type: CleanVessel DissolveProtocol: feedback: {} goal: amount: amount solvent: solvent stir_speed: stir_speed temp: temp time: time vessel: vessel volume: volume goal_default: amount: '' solvent: '' stir_speed: 0.0 temp: 0.0 time: 0.0 vessel: '' volume: 0.0 handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel - data_key: solvent data_source: handle data_type: resource handler_key: solvent label: Solvent output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} schema: description: ROS Action Dissolve 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: Dissolve_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: amount: type: string solvent: type: string stir_speed: type: number temp: type: number time: type: number vessel: type: string volume: type: number required: - vessel - solvent - volume - amount - temp - time - stir_speed title: Dissolve_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: message: type: string return_info: type: string success: type: boolean required: - success - message - return_info title: Dissolve_Result type: object required: - goal title: Dissolve type: object type: Dissolve EvacuateAndRefillProtocol: feedback: {} goal: gas: gas repeats: repeats vessel: vessel goal_default: gas: '' repeats: 0 vessel: '' handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} schema: description: ROS Action EvacuateAndRefill 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: EvacuateAndRefill_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: gas: type: string repeats: maximum: 2147483647 minimum: -2147483648 type: integer vessel: type: string required: - vessel - gas - repeats title: EvacuateAndRefill_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: EvacuateAndRefill_Result type: object required: - goal title: EvacuateAndRefill type: object type: EvacuateAndRefill EvaporateProtocol: feedback: {} 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: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} 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 FilterProtocol: feedback: {} 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: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel - data_key: vessel data_source: handle data_type: resource handler_key: filtrate_vessel label: Filtrate Vessel output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel - data_key: vessel data_source: executor data_type: resource handler_key: filtrate_out label: Filtrate Vessel result: {} 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 FilterThroughProtocol: feedback: {} goal: eluting_repeats: eluting_repeats eluting_solvent: eluting_solvent eluting_volume: eluting_volume filter_through: filter_through from_vessel: from_vessel residence_time: residence_time to_vessel: to_vessel goal_default: eluting_repeats: 0 eluting_solvent: '' eluting_volume: 0.0 filter_through: '' from_vessel: '' residence_time: 0.0 to_vessel: '' handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: FromVessel label: From Vessel - data_key: vessel data_source: executor data_type: resource handler_key: ToVessel label: To Vessel - data_key: solvent data_source: handle data_type: resource handler_key: solvent label: Eluting Solvent output: - data_key: vessel data_source: handle data_type: resource handler_key: FromVesselOut label: From Vessel - data_key: vessel data_source: executor data_type: resource handler_key: ToVesselOut label: To Vessel result: {} schema: description: ROS Action FilterThrough 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: FilterThrough_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: eluting_repeats: maximum: 2147483647 minimum: -2147483648 type: integer eluting_solvent: type: string eluting_volume: type: number filter_through: type: string from_vessel: type: string residence_time: type: number to_vessel: type: string required: - from_vessel - to_vessel - filter_through - eluting_solvent - eluting_volume - eluting_repeats - residence_time title: FilterThrough_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: message: type: string return_info: type: string success: type: boolean required: - success - message - return_info title: FilterThrough_Result type: object required: - goal title: FilterThrough type: object type: FilterThrough HeatChillProtocol: feedback: {} 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: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} 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 HeatChillStartProtocol: feedback: {} goal: purpose: purpose temp: temp vessel: vessel goal_default: purpose: '' temp: 0.0 vessel: '' handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} 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 HeatChillStopProtocol: feedback: {} goal: vessel: vessel goal_default: vessel: '' handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} 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 PumpTransferProtocol: feedback: {} 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: input: - data_key: vessel data_source: handle data_type: resource handler_key: FromVessel label: From Vessel - data_key: vessel data_source: executor data_type: resource handler_key: ToVessel label: To Vessel - data_key: solvent data_source: handle data_type: resource handler_key: solvent label: Rinsing Solvent output: - data_key: vessel data_source: handle data_type: resource handler_key: FromVesselOut label: From Vessel - data_key: vessel data_source: executor data_type: resource handler_key: ToVesselOut label: To Vessel result: {} 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 RunColumnProtocol: feedback: {} goal: column: column from_vessel: from_vessel to_vessel: to_vessel goal_default: column: '' from_vessel: '' to_vessel: '' handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: FromVessel label: From Vessel - data_key: vessel data_source: executor data_type: resource handler_key: ToVessel label: To Vessel output: - data_key: vessel data_source: handle data_type: resource handler_key: FromVesselOut label: From Vessel - data_key: vessel data_source: executor data_type: resource handler_key: ToVesselOut label: To Vessel result: {} 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 SeparateProtocol: feedback: {} 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: input: - data_key: vessel data_source: handle data_type: resource handler_key: FromVessel label: From Vessel - data_key: vessel data_source: executor data_type: resource handler_key: ToVessel label: To Vessel - data_key: solvent data_source: handle data_type: resource handler_key: solvent label: Solvent output: - data_key: vessel data_source: handle data_type: resource handler_key: FromVesselOut label: From Vessel - data_key: vessel data_source: executor data_type: resource handler_key: ToVesselOut label: To Vessel result: {} 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 StartStirProtocol: feedback: {} goal: purpose: purpose stir_speed: stir_speed vessel: vessel goal_default: purpose: '' stir_speed: 0.0 vessel: '' handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} 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 StirProtocol: feedback: {} 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: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} 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 StopStirProtocol: feedback: {} goal: vessel: vessel goal_default: vessel: '' handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel output: - data_key: vessel data_source: executor data_type: resource handler_key: VesselOut label: Vessel result: {} 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 TransferProtocol: feedback: {} 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: input: - data_key: vessel data_source: handle data_type: resource handler_key: FromVessel label: From Vessel - data_key: vessel data_source: executor data_type: resource handler_key: ToVessel label: To Vessel - data_key: solvent data_source: handle data_type: resource handler_key: solvent label: Rinsing Solvent output: - data_key: vessel data_source: handle data_type: resource handler_key: FromVesselOut label: From Vessel - data_key: vessel data_source: executor data_type: resource handler_key: ToVesselOut label: To Vessel result: {} 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 WashSolidProtocol: feedback: {} goal: filtrate_vessel: filtrate_vessel repeats: repeats solvent: solvent stir: stir stir_speed: stir_speed temp: temp time: time vessel: vessel volume: volume goal_default: filtrate_vessel: '' repeats: 0 solvent: '' stir: false stir_speed: 0.0 temp: 0.0 time: 0.0 vessel: '' volume: 0.0 handles: input: - data_key: vessel data_source: handle data_type: resource handler_key: Vessel label: Vessel - data_key: solvent data_source: handle data_type: resource handler_key: solvent label: Solvent - data_key: vessel data_source: executor data_type: resource handler_key: filtrate_vessel label: Filtrate Vessel output: - data_key: vessel data_source: handle data_type: resource handler_key: VesselOut label: Vessel Out - data_key: vessel data_source: executor data_type: resource handler_key: filtrate_vessel_out label: Filtrate Vessel result: {} schema: description: ROS Action WashSolid 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: WashSolid_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: filtrate_vessel: type: string repeats: maximum: 2147483647 minimum: -2147483648 type: integer solvent: type: string stir: type: boolean stir_speed: type: number temp: type: number time: type: number vessel: type: string volume: type: number required: - vessel - solvent - volume - filtrate_vessel - temp - stir - stir_speed - time - repeats title: WashSolid_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: message: type: string return_info: type: string success: type: boolean required: - success - message - return_info title: WashSolid_Result type: object required: - goal title: WashSolid type: object type: WashSolid auto-create_ros_action_server: feedback: {} goal: {} goal_default: action_name: null action_value_mapping: null handles: [] result: {} schema: description: UniLabJsonCommand create_ros_action_server 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand create_ros_action_server 的参数schema properties: action_name: description: '参数: action_name' type: string action_value_mapping: description: '参数: action_value_mapping' type: string required: - action_name - action_value_mapping type: object result: {} required: - goal title: create_ros_action_server 命令参数 type: object type: UniLabJsonCommand auto-execute_single_action: feedback: {} goal: {} goal_default: action_kwargs: null action_name: null device_id: null handles: [] result: {} schema: description: UniLabJsonCommand execute_single_action 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand execute_single_action 的参数schema properties: action_kwargs: description: '参数: action_kwargs' type: string action_name: description: '参数: action_name' type: string device_id: description: '参数: device_id' type: string required: - device_id - action_name - action_kwargs type: object result: {} required: - goal title: execute_single_action 命令参数 type: object type: UniLabJsonCommandAsync auto-initialize_device: feedback: {} goal: {} goal_default: device_config: null device_id: null handles: [] result: {} schema: description: UniLabJsonCommand initialize_device 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand initialize_device 的参数schema properties: device_config: description: '参数: device_config' type: string device_id: description: '参数: device_id' type: string required: - device_id - device_config type: object result: {} required: - goal title: initialize_device 命令参数 type: object type: UniLabJsonCommand module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode status_types: {} type: ros2 description: Workstation handles: [] icon: '' init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: args: description: '参数: args' type: string children: description: '参数: children' type: object device_id: description: '参数: device_id' type: string kwargs: description: '参数: kwargs' type: string protocol_type: description: '参数: protocol_type' type: string resource_tracker: description: '参数: resource_tracker' type: string required: - device_id - children - protocol_type - resource_tracker - args - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object