Uni-Lab-OS/unilabos/registry/devices/virtual_device.yaml

virtual_pump:
  description: Virtual Pump for PumpTransferProtocol Testing
  class:
    module: unilabos.devices.virtual.virtual_pump:VirtualPump
    type: python
    status_types:
      status: String
      position: Float64
      valve_position: Int32  # 修复：使用 Int32 而不是 String
      max_volume: Float64
      current_volume: Float64
    action_value_mappings:
      transfer:
        type: PumpTransfer
        goal:
          from_vessel: from_vessel
          to_vessel: to_vessel
          volume: volume
          amount: amount
          time: time
          viscous: viscous
          rinsing_solvent: rinsing_solvent
          rinsing_volume: rinsing_volume
          rinsing_repeats: rinsing_repeats
          solid: solid
        feedback:
          status: status
        result:
          success: success
      set_valve_position:
        type: FloatSingleInput
        goal:
          Int32: Int32  
        feedback:
          status: status
        result:
          success: success
  # 虚拟泵节点配置 - 具有多通道阀门特性，根据valve_position可连接多个容器
  handles:
    input:
    - handler_key: pump-inlet
      label: Pump Inlet
      data_type: fluid
      io_type: target
      data_source: handle
      data_key: fluid_in
      description: "泵的进液口，连接源容器"
    output:
    - handler_key: pump-outlet-1
      label: Outlet Port 1
      data_type: fluid
      io_type: source
      data_source: executor
      data_key: fluid_out_1
      description: "阀门位置1的出液口"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_volume:
        type: number
        default: 25.0
    additionalProperties: false

virtual_stirrer:
  description: Virtual Stirrer for StirProtocol Testing
  class:
    module: unilabos.devices.virtual.virtual_stirrer:VirtualStirrer
    type: python
    status_types:
      status: String
    action_value_mappings:
      stir:
        type: Stir
        goal:
          stir_time: stir_time
          stir_speed: stir_speed
          settling_time: settling_time
        feedback:
          status: status
        result:
          success: success
      start_stir:
        type: ProtocolStartStir
        goal:
          vessel: vessel
          stir_speed: stir_speed
          purpose: purpose
        feedback:
          status: status
        result:
          success: success
      stop_stir:
        type: ProtocolStopStir
        goal:
          vessel: vessel
        feedback:
          status: status
        result:
          success: success
  # 虚拟搅拌器节点配置 - 只有一个连接点，用于连接需要搅拌的容器
  handles:
    input:
    - handler_key: stirrer-vessel
      label: Vessel Connection
      data_type: resource
      io_type: target
      data_source: handle
      data_key: vessel
      description: "搅拌器连接的反应容器，提供机械搅拌功能"
    output:
    - handler_key: stirrer-vessel-out
      label: Stirred Vessel
      data_type: resource
      io_type: source
      data_source: executor
      data_key: vessel
      description: "经过搅拌处理的反应容器"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_temp:
        type: number
        default: 100.0
      max_speed:
        type: number
        default: 1000.0
    additionalProperties: false

virtual_valve:
  description: Virtual Valve for AddProtocol Testing
  class:
    module: unilabos.devices.virtual.virtual_valve:VirtualValve
    type: python
    status_types:
      status: String
      valve_state: String
      current_position: Int32
      target_position: Int32
      max_positions: Int32
    action_value_mappings:
      set_position:
        type: SendCmd
        goal:
          command: position
        feedback: {}
        result:
          success: success
      open:
        type: EmptyIn
        goal: {}
        feedback: {}
        result:
          success: success
      close:
        type: EmptyIn
        goal: {}
        feedback: {}
        result:
          success: success
  # 虚拟阀门节点配置 - 6通阀门，1个输入口，6个输出口，可切换流向
  handles:
    input:
    - handler_key: valve-inlet
      label: Valve Inlet
      data_type: fluid
      io_type: target
      data_source: handle
      data_key: fluid_in
      description: "阀门进液口，接收来源流体"
    output:
    - handler_key: valve-port-1
      label: Port 1
      data_type: fluid
      io_type: source
      data_source: executor
      data_key: fluid_port_1
      description: "阀门端口1，position=1时流体从此口流出"
    - handler_key: valve-port-2
      label: Port 2
      data_type: fluid
      io_type: source
      data_source: executor
      data_key: fluid_port_2
      description: "阀门端口2，position=2时流体从此口流出"
    - handler_key: valve-port-3
      label: Port 3
      data_type: fluid
      io_type: source
      data_source: executor
      data_key: fluid_port_3
      description: "阀门端口3，position=3时流体从此口流出"
    - handler_key: valve-port-4
      label: Port 4
      data_type: fluid
      io_type: source
      data_source: executor
      data_key: fluid_port_4
      description: "阀门端口4，position=4时流体从此口流出"
    - handler_key: valve-port-5
      label: Port 5
      data_type: fluid
      io_type: source
      data_source: executor
      data_key: fluid_port_5
      description: "阀门端口5，position=5时流体从此口流出"
    - handler_key: valve-port-6
      label: Port 6
      data_type: fluid
      io_type: source
      data_source: executor
      data_key: fluid_port_6
      description: "阀门端口6，position=6时流体从此口流出"
    - handler_key: valve-port-7
      label: Port 7
      data_type: fluid
      io_type: source
      data_source: executor
      data_key: fluid_port_6
      description: "阀门端口7，position=6时流体从此口流出"   
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      positions:
        type: integer
        default: 7
    additionalProperties: false

virtual_centrifuge:
  description: Virtual Centrifuge for CentrifugeProtocol Testing
  class:
    module: unilabos.devices.virtual.virtual_centrifuge:VirtualCentrifuge
    type: python
    status_types:
      status: String
      current_speed: Float64
      target_speed: Float64
      current_temp: Float64
      target_temp: Float64
      max_speed: Float64
      max_temp: Float64
      min_temp: Float64
      centrifuge_state: String
      time_remaining: Float64
    action_value_mappings:
      centrifuge:
        type: ProtocolCentrifuge
        goal:
          vessel: vessel
          speed: speed
          time: time
          temp: temp
        feedback:
          progress: progress
          current_speed: current_speed
          current_temp: current_temp
          current_status: status
        result:
          success: success
          message: message
  # 虚拟离心机节点配置 - 单个样品处理设备，输入输出都是同一个样品容器
  handles:
    input:
    - handler_key: centrifuge-sample
      label: Sample Input
      data_type: resource
      io_type: target
      data_source: handle
      data_key: vessel
      description: "需要离心的样品容器"
    output:
    - handler_key: centrifuge-sample-out
      label: Centrifuged Sample
      data_type: resource
      io_type: source
      data_source: executor
      data_key: vessel
      description: "经过离心处理的样品容器"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_speed:
        type: number
        default: 15000.0
      max_temp:
        type: number
        default: 40.0
      min_temp:
        type: number
        default: 4.0
    additionalProperties: false

virtual_filter:
  description: Virtual Filter for FilterProtocol Testing
  class:
    module: unilabos.devices.virtual.virtual_filter:VirtualFilter
    type: python
    status_types:
      status: String
      filter_state: String
      current_temp: Float64
      target_temp: Float64
      max_temp: Float64
      stir_speed: Float64
      max_stir_speed: Float64
      filtered_volume: Float64
      progress: Float64
      message: String
    action_value_mappings:
      filter_sample:
        type: ProtocolFilter
        goal:
          vessel: vessel
          filtrate_vessel: filtrate_vessel
          stir: stir
          stir_speed: stir_speed
          temp: temp
          continue_heatchill: continue_heatchill
          volume: volume
        feedback:
          progress: progress
          current_temp: current_temp
          filtered_volume: filtered_volume
          current_status: status
        result:
          success: success
          message: message
  # 虚拟过滤器节点配置 - 分离设备，1个输入(原始样品)，2个输出(滤液和滤渣)
  handles:
    input:
    - handler_key: filter-sample-in
      label: Sample Input
      data_type: resource
      io_type: target
      data_source: handle
      data_key: vessel
      description: "需要过滤的原始样品容器"
    output:
    - handler_key: filter-filtrate-out
      label: Filtrate Output
      data_type: resource
      io_type: source
      data_source: executor
      data_key: filtrate_vessel
      description: "过滤后的滤液容器"
    - handler_key: filter-residue-out
      label: Filter Residue
      data_type: resource
      io_type: source
      data_source: executor
      data_key: residue_vessel
      description: "过滤后的滤渣(固体残留物)"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_temp:
        type: number
        default: 100.0
      max_stir_speed:
        type: number
        default: 1000.0
    additionalProperties: false

virtual_heatchill:
  description: Virtual HeatChill for HeatChillProtocol Testing
  class:
    module: unilabos.devices.virtual.virtual_heatchill:VirtualHeatChill
    type: python
    status_types:
      status: String
    action_value_mappings:
      heat_chill:
        type: HeatChill
        goal:
          vessel: vessel
          temp: temp
          time: time
          stir: stir
          stir_speed: stir_speed
          purpose: purpose
        feedback:
          status: status
        result:
          success: success
      heat_chill_start:
        type: HeatChillStart
        goal:
          vessel: vessel
          temp: temp
          purpose: purpose
        feedback:
          status: status
        result:
          success: success
      heat_chill_stop:
        type: HeatChillStop
        goal:
          vessel: vessel
        feedback:
          status: status
        result:
          success: success
  # 虚拟加热/冷却器节点配置 - 温控设备，单一连接点用于放置容器
  handles:
    input:
    - handler_key: heatchill-vessel
      label: Vessel Connection
      data_type: resource
      io_type: target
      data_source: handle
      data_key: vessel
      description: "放置在加热/冷却台上的反应容器"
    output:
    - handler_key: heatchill-vessel-out
      label: Temperature Controlled Vessel
      data_type: resource
      io_type: source
      data_source: executor
      data_key: vessel
      description: "经过温度控制处理的反应容器"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_temp:
        type: number
        default: 200.0
      min_temp:
        type: number
        default: -80.0
      max_stir_speed:
        type: number
        default: 1000.0
    additionalProperties: false

virtual_transfer_pump:
  description: Virtual Transfer Pump for TransferProtocol Testing (Syringe-style)
  class:
    module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump
    type: python
    status_types:
      status: String
      current_volume: Float64
      max_volume: Float64
      transfer_rate: Float64
      from_vessel: String
      to_vessel: String
      progress: Float64
      transferred_volume: Float64
      current_status: String
    action_value_mappings:
      transfer:
        type: ProtocolTransfer
        goal:
          from_vessel: from_vessel
          to_vessel: to_vessel
          volume: volume
          amount: amount
          time: time
          viscous: viscous
          rinsing_solvent: rinsing_solvent
          rinsing_volume: rinsing_volume
          rinsing_repeats: rinsing_repeats
          solid: solid
        feedback:
          progress: progress
          transferred_volume: transferred_volume
          current_status: current_status
        result:
          success: success
          message: message
  # 注射器式转移泵节点配置 - 只有一个双向连接口，可吸入和排出液体
  handles:
    bidirectional:
    - handler_key: syringe-port
      label: Syringe Port
      data_type: fluid
      io_type: bidirectional
      data_source: handle
      data_key: fluid_port
      description: "注射器式转移泵的唯一连接口，通过阀门切换实现吸入和排出"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_volume:
        type: number
        default: 50.0
      transfer_rate:
        type: number
        default: 5.0
    additionalProperties: false

virtual_column:
  description: Virtual Column for RunColumn Protocol Testing
  class:
    module: unilabos.devices.virtual.virtual_column:VirtualColumn
    type: python
    status_types:
      status: String
      column_state: String
      current_flow_rate: Float64
      max_flow_rate: Float64
      column_length: Float64
      column_diameter: Float64
      processed_volume: Float64
      progress: Float64
      current_status: String
    action_value_mappings:
      run_column:
        type: ProtocolRunColumn
        goal:
          from_vessel: from_vessel
          to_vessel: to_vessel
          column: column
        feedback:
          status: current_status
          progress: progress
        result:
          success: success
          message: message
  # 虚拟色谱柱节点配置 - 分离纯化设备，1个样品输入口，1个纯化产物输出口
  handles:
    input:
    - handler_key: column-sample-inlet
      label: Sample Input
      data_type: resource
      io_type: target
      data_source: handle
      data_key: from_vessel
      description: "需要纯化的样品输入口"
    output:
    - handler_key: column-product-outlet
      label: Purified Product
      data_type: resource
      io_type: source
      data_source: executor
      data_key: to_vessel
      description: "经过色谱柱纯化的产物输出口"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_flow_rate:
        type: number
        default: 10.0
      column_length:
        type: number
        default: 25.0
      column_diameter:
        type: number
        default: 2.0
    additionalProperties: false