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

workstation:
  class:
    action_value_mappings:
      AGVTransferProtocol:
        feedback: {}
        goal:
          from_repo: from_repo
          from_repo_position: from_repo_position
          to_repo: to_repo
          to_repo_position: to_repo_position
        goal_default:
          from_repo:
            category: ''
            children: []
            config: ''
            data: ''
            id: ''
            name: ''
            parent: ''
            pose:
              orientation:
                w: 1.0
                x: 0.0
                y: 0.0
                z: 0.0
              position:
                x: 0.0
                y: 0.0
                z: 0.0
            sample_id: ''
            type: ''
          from_repo_position: ''
          to_repo:
            category: ''
            children: []
            config: ''
            data: ''
            id: ''
            name: ''
            parent: ''
            pose:
              orientation:
                w: 1.0
                x: 0.0
                y: 0.0
                z: 0.0
              position:
                x: 0.0
                y: 0.0
                z: 0.0
            sample_id: ''
            type: ''
          to_repo_position: ''
        handles: []
        result: {}
        schema:
          description: ROS Action AGVTransfer 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                status:
                  type: string
              required:
              - status
              title: AGVTransfer_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                from_repo:
                  properties:
                    category:
                      type: string
                    children:
                      items:
                        type: string
                      type: array
                    config:
                      type: string
                    data:
                      type: string
                    id:
                      type: string
                    name:
                      type: string
                    parent:
                      type: string
                    pose:
                      properties:
                        orientation:
                          properties:
                            w:
                              type: number
                            x:
                              type: number
                            y:
                              type: number
                            z:
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: Quaternion
                          type: object
                        position:
                          properties:
                            x:
                              type: number
                            y:
                              type: number
                            z:
                              type: number
                          required:
                          - x
                          - y
                          - z
                          title: Point
                          type: object
                      required:
                      - position
                      - orientation
                      title: Pose
                      type: object
                    sample_id:
                      type: string
                    type:
                      type: string
                  required:
                  - id
                  - name
                  - sample_id
                  - children
                  - parent
                  - type
                  - category
                  - pose
                  - config
                  - data
                  title: Resource
                  type: object
                from_repo_position:
                  type: string
                to_repo:
                  properties:
                    category:
                      type: string
                    children:
                      items:
                        type: string
                      type: array
                    config:
                      type: string
                    data:
                      type: string
                    id:
                      type: string
                    name:
                      type: string
                    parent:
                      type: string
                    pose:
                      properties:
                        orientation:
                          properties:
                            w:
                              type: number
                            x:
                              type: number
                            y:
                              type: number
                            z:
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: Quaternion
                          type: object
                        position:
                          properties:
                            x:
                              type: number
                            y:
                              type: number
                            z:
                              type: number
                          required:
                          - x
                          - y
                          - z
                          title: Point
                          type: object
                      required:
                      - position
                      - orientation
                      title: Pose
                      type: object
                    sample_id:
                      type: string
                    type:
                      type: string
                  required:
                  - id
                  - name
                  - sample_id
                  - children
                  - parent
                  - type
                  - category
                  - pose
                  - config
                  - data
                  title: Resource
                  type: object
                to_repo_position:
                  type: string
              required:
              - from_repo
              - from_repo_position
              - to_repo
              - to_repo_position
              title: AGVTransfer_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: AGVTransfer_Result
              type: object
          required:
          - goal
          title: AGVTransfer
          type: object
        type: AGVTransfer
      AddProtocol:
        feedback: {}
        goal:
          amount: amount
          mass: mass
          purpose: purpose
          reagent: reagent
          stir: stir
          stir_speed: stir_speed
          time: time
          vessel: vessel
          viscous: viscous
          volume: volume
        goal_default:
          amount: ''
          mass: 0.0
          purpose: ''
          reagent: ''
          stir: false
          stir_speed: 0.0
          time: 0.0
          vessel: ''
          viscous: false
          volume: 0.0
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          - data_key: reagent
            data_source: handle
            data_type: resource
            handler_key: reagent
            label: Reagent
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action Add 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                current_status:
                  type: string
                progress:
                  type: number
              required:
              - progress
              - current_status
              title: Add_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                amount:
                  type: string
                mass:
                  type: number
                purpose:
                  type: string
                reagent:
                  type: string
                stir:
                  type: boolean
                stir_speed:
                  type: number
                time:
                  type: number
                vessel:
                  type: string
                viscous:
                  type: boolean
                volume:
                  type: number
              required:
              - vessel
              - reagent
              - volume
              - mass
              - amount
              - time
              - stir
              - stir_speed
              - viscous
              - purpose
              title: Add_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: Add_Result
              type: object
          required:
          - goal
          title: Add
          type: object
        type: Add
      CentrifugeProtocol:
        feedback: {}
        goal:
          speed: speed
          temp: temp
          time: time
          vessel: vessel
        goal_default:
          speed: 0.0
          temp: 0.0
          time: 0.0
          vessel: ''
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action Centrifuge 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                current_speed:
                  type: number
                current_status:
                  type: string
                current_temp:
                  type: number
                progress:
                  type: number
              required:
              - progress
              - current_speed
              - current_temp
              - current_status
              title: Centrifuge_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                speed:
                  type: number
                temp:
                  type: number
                time:
                  type: number
                vessel:
                  type: string
              required:
              - vessel
              - speed
              - time
              - temp
              title: Centrifuge_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: Centrifuge_Result
              type: object
          required:
          - goal
          title: Centrifuge
          type: object
        type: Centrifuge
      CleanProtocol:
        feedback: {}
        goal:
          repeats: repeats
          solvent: solvent
          temp: temp
          vessel: vessel
          volume: volume
        goal_default:
          repeats: 0
          solvent: ''
          temp: 0.0
          vessel: ''
          volume: 0.0
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          - data_key: solvent
            data_source: handle
            data_type: resource
            handler_key: solvent
            label: Solvent
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action Clean 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                current_device:
                  type: string
                status:
                  type: string
                time_remaining:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
                time_spent:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
              required:
              - status
              - current_device
              - time_spent
              - time_remaining
              title: Clean_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                repeats:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                solvent:
                  type: string
                temp:
                  type: number
                vessel:
                  type: string
                volume:
                  type: number
              required:
              - vessel
              - solvent
              - volume
              - temp
              - repeats
              title: Clean_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: Clean_Result
              type: object
          required:
          - goal
          title: Clean
          type: object
        type: Clean
      CleanVesselProtocol:
        feedback: {}
        goal:
          repeats: repeats
          solvent: solvent
          temp: temp
          vessel: vessel
          volume: volume
        goal_default:
          repeats: 0
          solvent: ''
          temp: 0.0
          vessel: ''
          volume: 0.0
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          - data_key: solvent
            data_source: handle
            data_type: resource
            handler_key: solvent
            label: Solvent
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action CleanVessel 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                progress:
                  type: number
                status:
                  type: string
              required:
              - status
              - progress
              title: CleanVessel_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                repeats:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                solvent:
                  type: string
                temp:
                  type: number
                vessel:
                  type: string
                volume:
                  type: number
              required:
              - vessel
              - solvent
              - volume
              - temp
              - repeats
              title: CleanVessel_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: CleanVessel_Result
              type: object
          required:
          - goal
          title: CleanVessel
          type: object
        type: CleanVessel
      DissolveProtocol:
        feedback: {}
        goal:
          amount: amount
          solvent: solvent
          stir_speed: stir_speed
          temp: temp
          time: time
          vessel: vessel
          volume: volume
        goal_default:
          amount: ''
          solvent: ''
          stir_speed: 0.0
          temp: 0.0
          time: 0.0
          vessel: ''
          volume: 0.0
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          - data_key: solvent
            data_source: handle
            data_type: resource
            handler_key: solvent
            label: Solvent
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action Dissolve 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                progress:
                  type: number
                status:
                  type: string
              required:
              - status
              - progress
              title: Dissolve_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                amount:
                  type: string
                solvent:
                  type: string
                stir_speed:
                  type: number
                temp:
                  type: number
                time:
                  type: number
                vessel:
                  type: string
                volume:
                  type: number
              required:
              - vessel
              - solvent
              - volume
              - amount
              - temp
              - time
              - stir_speed
              title: Dissolve_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: Dissolve_Result
              type: object
          required:
          - goal
          title: Dissolve
          type: object
        type: Dissolve
      EvacuateAndRefillProtocol:
        feedback: {}
        goal:
          gas: gas
          repeats: repeats
          vessel: vessel
        goal_default:
          gas: ''
          repeats: 0
          vessel: ''
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action EvacuateAndRefill 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                current_device:
                  type: string
                status:
                  type: string
                time_remaining:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
                time_spent:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
              required:
              - status
              - current_device
              - time_spent
              - time_remaining
              title: EvacuateAndRefill_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                gas:
                  type: string
                repeats:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                vessel:
                  type: string
              required:
              - vessel
              - gas
              - repeats
              title: EvacuateAndRefill_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: EvacuateAndRefill_Result
              type: object
          required:
          - goal
          title: EvacuateAndRefill
          type: object
        type: EvacuateAndRefill
      EvaporateProtocol:
        feedback: {}
        goal:
          pressure: pressure
          stir_speed: stir_speed
          temp: temp
          time: time
          vessel: vessel
        goal_default:
          pressure: 0.0
          stir_speed: 0.0
          temp: 0.0
          time: 0.0
          vessel: ''
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action Evaporate 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                current_device:
                  type: string
                status:
                  type: string
                time_remaining:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
                time_spent:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
              required:
              - status
              - current_device
              - time_spent
              - time_remaining
              title: Evaporate_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                pressure:
                  type: number
                stir_speed:
                  type: number
                temp:
                  type: number
                time:
                  type: number
                vessel:
                  type: string
              required:
              - vessel
              - pressure
              - temp
              - time
              - stir_speed
              title: Evaporate_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: Evaporate_Result
              type: object
          required:
          - goal
          title: Evaporate
          type: object
        type: Evaporate
      FilterProtocol:
        feedback: {}
        goal:
          continue_heatchill: continue_heatchill
          filtrate_vessel: filtrate_vessel
          stir: stir
          stir_speed: stir_speed
          temp: temp
          vessel: vessel
          volume: volume
        goal_default:
          continue_heatchill: false
          filtrate_vessel: ''
          stir: false
          stir_speed: 0.0
          temp: 0.0
          vessel: ''
          volume: 0.0
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: filtrate_vessel
            label: Filtrate Vessel
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: filtrate_out
            label: Filtrate Vessel
        result: {}
        schema:
          description: ROS Action Filter 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                current_status:
                  type: string
                current_temp:
                  type: number
                filtered_volume:
                  type: number
                progress:
                  type: number
              required:
              - progress
              - current_temp
              - filtered_volume
              - current_status
              title: Filter_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                continue_heatchill:
                  type: boolean
                filtrate_vessel:
                  type: string
                stir:
                  type: boolean
                stir_speed:
                  type: number
                temp:
                  type: number
                vessel:
                  type: string
                volume:
                  type: number
              required:
              - vessel
              - filtrate_vessel
              - stir
              - stir_speed
              - temp
              - continue_heatchill
              - volume
              title: Filter_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: Filter_Result
              type: object
          required:
          - goal
          title: Filter
          type: object
        type: Filter
      FilterThroughProtocol:
        feedback: {}
        goal:
          eluting_repeats: eluting_repeats
          eluting_solvent: eluting_solvent
          eluting_volume: eluting_volume
          filter_through: filter_through
          from_vessel: from_vessel
          residence_time: residence_time
          to_vessel: to_vessel
        goal_default:
          eluting_repeats: 0
          eluting_solvent: ''
          eluting_volume: 0.0
          filter_through: ''
          from_vessel: ''
          residence_time: 0.0
          to_vessel: ''
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: FromVessel
            label: From Vessel
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: ToVessel
            label: To Vessel
          - data_key: solvent
            data_source: handle
            data_type: resource
            handler_key: solvent
            label: Eluting Solvent
          output:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: FromVesselOut
            label: From Vessel
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: ToVesselOut
            label: To Vessel
        result: {}
        schema:
          description: ROS Action FilterThrough 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                progress:
                  type: number
                status:
                  type: string
              required:
              - status
              - progress
              title: FilterThrough_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                eluting_repeats:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                eluting_solvent:
                  type: string
                eluting_volume:
                  type: number
                filter_through:
                  type: string
                from_vessel:
                  type: string
                residence_time:
                  type: number
                to_vessel:
                  type: string
              required:
              - from_vessel
              - to_vessel
              - filter_through
              - eluting_solvent
              - eluting_volume
              - eluting_repeats
              - residence_time
              title: FilterThrough_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: FilterThrough_Result
              type: object
          required:
          - goal
          title: FilterThrough
          type: object
        type: FilterThrough
      HeatChillProtocol:
        feedback: {}
        goal:
          purpose: purpose
          stir: stir
          stir_speed: stir_speed
          temp: temp
          time: time
          vessel: vessel
        goal_default:
          purpose: ''
          stir: false
          stir_speed: 0.0
          temp: 0.0
          time: 0.0
          vessel: ''
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action HeatChill 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                status:
                  type: string
              required:
              - status
              title: HeatChill_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                purpose:
                  type: string
                stir:
                  type: boolean
                stir_speed:
                  type: number
                temp:
                  type: number
                time:
                  type: number
                vessel:
                  type: string
              required:
              - vessel
              - temp
              - time
              - stir
              - stir_speed
              - purpose
              title: HeatChill_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: HeatChill_Result
              type: object
          required:
          - goal
          title: HeatChill
          type: object
        type: HeatChill
      HeatChillStartProtocol:
        feedback: {}
        goal:
          purpose: purpose
          temp: temp
          vessel: vessel
        goal_default:
          purpose: ''
          temp: 0.0
          vessel: ''
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action HeatChillStart 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                status:
                  type: string
              required:
              - status
              title: HeatChillStart_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                purpose:
                  type: string
                temp:
                  type: number
                vessel:
                  type: string
              required:
              - vessel
              - temp
              - purpose
              title: HeatChillStart_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: HeatChillStart_Result
              type: object
          required:
          - goal
          title: HeatChillStart
          type: object
        type: HeatChillStart
      HeatChillStopProtocol:
        feedback: {}
        goal:
          vessel: vessel
        goal_default:
          vessel: ''
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action HeatChillStop 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                status:
                  type: string
              required:
              - status
              title: HeatChillStop_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                vessel:
                  type: string
              required:
              - vessel
              title: HeatChillStop_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: HeatChillStop_Result
              type: object
          required:
          - goal
          title: HeatChillStop
          type: object
        type: HeatChillStop
      PumpTransferProtocol:
        feedback: {}
        goal:
          amount: amount
          from_vessel: from_vessel
          rinsing_repeats: rinsing_repeats
          rinsing_solvent: rinsing_solvent
          rinsing_volume: rinsing_volume
          solid: solid
          time: time
          to_vessel: to_vessel
          viscous: viscous
          volume: volume
        goal_default:
          amount: ''
          from_vessel: ''
          rinsing_repeats: 0
          rinsing_solvent: ''
          rinsing_volume: 0.0
          solid: false
          time: 0.0
          to_vessel: ''
          viscous: false
          volume: 0.0
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: FromVessel
            label: From Vessel
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: ToVessel
            label: To Vessel
          - data_key: solvent
            data_source: handle
            data_type: resource
            handler_key: solvent
            label: Rinsing Solvent
          output:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: FromVesselOut
            label: From Vessel
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: ToVesselOut
            label: To Vessel
        result: {}
        schema:
          description: ROS Action PumpTransfer 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                current_device:
                  type: string
                status:
                  type: string
                time_remaining:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
                time_spent:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
              required:
              - status
              - current_device
              - time_spent
              - time_remaining
              title: PumpTransfer_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                amount:
                  type: string
                from_vessel:
                  type: string
                rinsing_repeats:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                rinsing_solvent:
                  type: string
                rinsing_volume:
                  type: number
                solid:
                  type: boolean
                time:
                  type: number
                to_vessel:
                  type: string
                viscous:
                  type: boolean
                volume:
                  type: number
              required:
              - from_vessel
              - to_vessel
              - volume
              - amount
              - time
              - viscous
              - rinsing_solvent
              - rinsing_volume
              - rinsing_repeats
              - solid
              title: PumpTransfer_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: PumpTransfer_Result
              type: object
          required:
          - goal
          title: PumpTransfer
          type: object
        type: PumpTransfer
      RunColumnProtocol:
        feedback: {}
        goal:
          column: column
          from_vessel: from_vessel
          to_vessel: to_vessel
        goal_default:
          column: ''
          from_vessel: ''
          to_vessel: ''
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: FromVessel
            label: From Vessel
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: ToVessel
            label: To Vessel
          output:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: FromVesselOut
            label: From Vessel
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: ToVesselOut
            label: To Vessel
        result: {}
        schema:
          description: ROS Action RunColumn 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                progress:
                  type: number
                status:
                  type: string
              required:
              - status
              - progress
              title: RunColumn_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                column:
                  type: string
                from_vessel:
                  type: string
                to_vessel:
                  type: string
              required:
              - from_vessel
              - to_vessel
              - column
              title: RunColumn_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: RunColumn_Result
              type: object
          required:
          - goal
          title: RunColumn
          type: object
        type: RunColumn
      SeparateProtocol:
        feedback: {}
        goal:
          from_vessel: from_vessel
          product_phase: product_phase
          purpose: purpose
          repeats: repeats
          separation_vessel: separation_vessel
          settling_time: settling_time
          solvent: solvent
          solvent_volume: solvent_volume
          stir_speed: stir_speed
          stir_time: stir_time
          through: through
          to_vessel: to_vessel
          waste_phase_to_vessel: waste_phase_to_vessel
        goal_default:
          from_vessel: ''
          product_phase: ''
          purpose: ''
          repeats: 0
          separation_vessel: ''
          settling_time: 0.0
          solvent: ''
          solvent_volume: 0.0
          stir_speed: 0.0
          stir_time: 0.0
          through: ''
          to_vessel: ''
          waste_phase_to_vessel: ''
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: FromVessel
            label: From Vessel
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: ToVessel
            label: To Vessel
          - data_key: solvent
            data_source: handle
            data_type: resource
            handler_key: solvent
            label: Solvent
          output:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: FromVesselOut
            label: From Vessel
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: ToVesselOut
            label: To Vessel
        result: {}
        schema:
          description: ROS Action Separate 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                current_device:
                  type: string
                status:
                  type: string
                time_remaining:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
                time_spent:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
              required:
              - status
              - current_device
              - time_spent
              - time_remaining
              title: Separate_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                from_vessel:
                  type: string
                product_phase:
                  type: string
                purpose:
                  type: string
                repeats:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                separation_vessel:
                  type: string
                settling_time:
                  type: number
                solvent:
                  type: string
                solvent_volume:
                  type: number
                stir_speed:
                  type: number
                stir_time:
                  type: number
                through:
                  type: string
                to_vessel:
                  type: string
                waste_phase_to_vessel:
                  type: string
              required:
              - purpose
              - product_phase
              - from_vessel
              - separation_vessel
              - to_vessel
              - waste_phase_to_vessel
              - solvent
              - solvent_volume
              - through
              - repeats
              - stir_time
              - stir_speed
              - settling_time
              title: Separate_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: Separate_Result
              type: object
          required:
          - goal
          title: Separate
          type: object
        type: Separate
      StartStirProtocol:
        feedback: {}
        goal:
          purpose: purpose
          stir_speed: stir_speed
          vessel: vessel
        goal_default:
          purpose: ''
          stir_speed: 0.0
          vessel: ''
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action StartStir 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                current_speed:
                  type: number
                current_status:
                  type: string
                progress:
                  type: number
              required:
              - progress
              - current_speed
              - current_status
              title: StartStir_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                purpose:
                  type: string
                stir_speed:
                  type: number
                vessel:
                  type: string
              required:
              - vessel
              - stir_speed
              - purpose
              title: StartStir_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: StartStir_Result
              type: object
          required:
          - goal
          title: StartStir
          type: object
        type: StartStir
      StirProtocol:
        feedback: {}
        goal:
          settling_time: settling_time
          stir_speed: stir_speed
          stir_time: stir_time
        goal_default:
          settling_time: 0.0
          stir_speed: 0.0
          stir_time: 0.0
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action Stir 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                status:
                  type: string
              required:
              - status
              title: Stir_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                settling_time:
                  type: number
                stir_speed:
                  type: number
                stir_time:
                  type: number
              required:
              - stir_time
              - stir_speed
              - settling_time
              title: Stir_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: Stir_Result
              type: object
          required:
          - goal
          title: Stir
          type: object
        type: Stir
      StopStirProtocol:
        feedback: {}
        goal:
          vessel: vessel
        goal_default:
          vessel: ''
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          output:
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: VesselOut
            label: Vessel
        result: {}
        schema:
          description: ROS Action StopStir 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                current_status:
                  type: string
                progress:
                  type: number
              required:
              - progress
              - current_status
              title: StopStir_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                vessel:
                  type: string
              required:
              - vessel
              title: StopStir_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: StopStir_Result
              type: object
          required:
          - goal
          title: StopStir
          type: object
        type: StopStir
      TransferProtocol:
        feedback: {}
        goal:
          amount: amount
          from_vessel: from_vessel
          rinsing_repeats: rinsing_repeats
          rinsing_solvent: rinsing_solvent
          rinsing_volume: rinsing_volume
          solid: solid
          time: time
          to_vessel: to_vessel
          viscous: viscous
          volume: volume
        goal_default:
          amount: ''
          from_vessel: ''
          rinsing_repeats: 0
          rinsing_solvent: ''
          rinsing_volume: 0.0
          solid: false
          time: 0.0
          to_vessel: ''
          viscous: false
          volume: 0.0
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: FromVessel
            label: From Vessel
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: ToVessel
            label: To Vessel
          - data_key: solvent
            data_source: handle
            data_type: resource
            handler_key: solvent
            label: Rinsing Solvent
          output:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: FromVesselOut
            label: From Vessel
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: ToVesselOut
            label: To Vessel
        result: {}
        schema:
          description: ROS Action Transfer 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                current_status:
                  type: string
                progress:
                  type: number
                transferred_volume:
                  type: number
              required:
              - progress
              - transferred_volume
              - current_status
              title: Transfer_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                amount:
                  type: string
                from_vessel:
                  type: string
                rinsing_repeats:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                rinsing_solvent:
                  type: string
                rinsing_volume:
                  type: number
                solid:
                  type: boolean
                time:
                  type: number
                to_vessel:
                  type: string
                viscous:
                  type: boolean
                volume:
                  type: number
              required:
              - from_vessel
              - to_vessel
              - volume
              - amount
              - time
              - viscous
              - rinsing_solvent
              - rinsing_volume
              - rinsing_repeats
              - solid
              title: Transfer_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: Transfer_Result
              type: object
          required:
          - goal
          title: Transfer
          type: object
        type: Transfer
      WashSolidProtocol:
        feedback: {}
        goal:
          filtrate_vessel: filtrate_vessel
          repeats: repeats
          solvent: solvent
          stir: stir
          stir_speed: stir_speed
          temp: temp
          time: time
          vessel: vessel
          volume: volume
        goal_default:
          filtrate_vessel: ''
          repeats: 0
          solvent: ''
          stir: false
          stir_speed: 0.0
          temp: 0.0
          time: 0.0
          vessel: ''
          volume: 0.0
        handles:
          input:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: Vessel
            label: Vessel
          - data_key: solvent
            data_source: handle
            data_type: resource
            handler_key: solvent
            label: Solvent
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: filtrate_vessel
            label: Filtrate Vessel
          output:
          - data_key: vessel
            data_source: handle
            data_type: resource
            handler_key: VesselOut
            label: Vessel Out
          - data_key: vessel
            data_source: executor
            data_type: resource
            handler_key: filtrate_vessel_out
            label: Filtrate Vessel
        result: {}
        schema:
          description: ROS Action WashSolid 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties:
                progress:
                  type: number
                status:
                  type: string
              required:
              - status
              - progress
              title: WashSolid_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                filtrate_vessel:
                  type: string
                repeats:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                solvent:
                  type: string
                stir:
                  type: boolean
                stir_speed:
                  type: number
                temp:
                  type: number
                time:
                  type: number
                vessel:
                  type: string
                volume:
                  type: number
              required:
              - vessel
              - solvent
              - volume
              - filtrate_vessel
              - temp
              - stir
              - stir_speed
              - time
              - repeats
              title: WashSolid_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: WashSolid_Result
              type: object
          required:
          - goal
          title: WashSolid
          type: object
        type: WashSolid
      auto-create_ros_action_server:
        feedback: {}
        goal: {}
        goal_default:
          action_name: null
          action_value_mapping: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand create_ros_action_server 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand create_ros_action_server 的参数schema
              properties:
                action_name:
                  description: '参数: action_name'
                  type: string
                action_value_mapping:
                  description: '参数: action_value_mapping'
                  type: string
              required:
              - action_name
              - action_value_mapping
              type: object
            result: {}
          required:
          - goal
          title: create_ros_action_server 命令参数
          type: object
        type: UniLabJsonCommand
      auto-execute_single_action:
        feedback: {}
        goal: {}
        goal_default:
          action_kwargs: null
          action_name: null
          device_id: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand execute_single_action 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand execute_single_action 的参数schema
              properties:
                action_kwargs:
                  description: '参数: action_kwargs'
                  type: string
                action_name:
                  description: '参数: action_name'
                  type: string
                device_id:
                  description: '参数: device_id'
                  type: string
              required:
              - device_id
              - action_name
              - action_kwargs
              type: object
            result: {}
          required:
          - goal
          title: execute_single_action 命令参数
          type: object
        type: UniLabJsonCommandAsync
      auto-initialize_device:
        feedback: {}
        goal: {}
        goal_default:
          device_config: null
          device_id: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand initialize_device 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand initialize_device 的参数schema
              properties:
                device_config:
                  description: '参数: device_config'
                  type: string
                device_id:
                  description: '参数: device_id'
                  type: string
              required:
              - device_id
              - device_config
              type: object
            result: {}
          required:
          - goal
          title: initialize_device 命令参数
          type: object
        type: UniLabJsonCommand
    module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
    status_types: {}
    type: ros2
  description: Workstation
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          args:
            description: '参数: args'
            type: string
          children:
            description: '参数: children'
            type: object
          device_id:
            description: '参数: device_id'
            type: string
          kwargs:
            description: '参数: kwargs'
            type: string
          protocol_type:
            description: '参数: protocol_type'
            type: string
          resource_tracker:
            description: '参数: resource_tracker'
            type: string
        required:
        - device_id
        - children
        - protocol_type
        - resource_tracker
        - args
        - kwargs
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object