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

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