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46cec82a51
* Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * unify liquid_handler definition * Update virtual_device.yaml * 更正了stir和heater的连接方式 * 区分了虚拟仪器中的八通阀和电磁阀，添加了两个阀门的驱动 * 修改了add protocol * 修复了阀门更新版的bug * 修复了添加protocol前缀导致的不能启动的bug * Fix handles * bump version to 0.9.6 * add resource edge upload * update container registry and handles * add virtual_separator virtual_rotavap fix transfer_pump * fix container value add parent_name to edge device id * 大图的问题都修复好了，添加了gassource和vacuum pump的驱动以及注册表 * default resource upload mode is false * 添加了icon的文件名在注册表里面 * 修改了json图中link的格式 * fix resource and edge upload * fix device ports * Fix edge id * 移除device的父节点关联 * separate registry sync and resource_add * 默认不进行注册表报送，通过命令unilabos-register或者增加启动参数 * 完善tip * protocol node不再嵌套显示 * bump version to 0.9.7 新增一个测试PumpTransferProtocol的teststation，亲测可以运行，将八通阀们和转移泵与pump_protocol适配 * protocol node 执行action不应携带自身device id * 添加了一套简易双八通阀工作站JSON，亲测能跑 * 修复了很多protocol，亲测能跑 * 添加了run column和filter through的protocol，亲测能跑 * fix mock_reactor * 修改了大图和小图的json，但是在前端上没看到改变 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
376 lines
10 KiB
JSON
376 lines
10 KiB
JSON
{
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"nodes": [
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{
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"id": "AddTestStation",
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"name": "添加试剂测试工作站",
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"children": [
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"transfer_pump",
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"multiway_valve",
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"stirrer",
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"flask_reagent1",
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"flask_reagent2",
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"flask_reagent3",
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"flask_reagent4",
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"reactor",
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"flask_waste",
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"flask_rinsing",
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"flask_buffer"
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],
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"z": 0
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},
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"config": {
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"protocol_type": ["AddProtocol", "TransferProtocol", "StartStirProtocol", "StopStirProtocol"]
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},
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"data": {}
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},
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{
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"id": "transfer_pump",
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"name": "注射器泵",
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"children": [],
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"parent": "AddTestStation",
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"type": "device",
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"class": "virtual_transfer_pump",
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"y": 300,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL",
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"max_volume": 50.0,
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"transfer_rate": 5.0
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},
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"data": {
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"status": "Idle"
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}
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},
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{
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"id": "multiway_valve",
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"name": "八通阀门",
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"children": [],
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"parent": "AddTestStation",
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"type": "device",
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"class": "virtual_multiway_valve",
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"y": 300,
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"z": 0
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},
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"port": "VIRTUAL",
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"positions": 8
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"data": {
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"status": "Idle",
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"current_position": 1
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}
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},
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{
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"id": "stirrer",
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"name": "搅拌器",
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"children": [],
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"parent": "AddTestStation",
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"type": "device",
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"class": "virtual_stirrer",
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"position": {
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"x": 720,
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"y": 450,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL",
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"max_temp": 100.0,
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"max_speed": 1000.0
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},
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"data": {
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"status": "Idle"
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}
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},
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{
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"id": "flask_reagent1",
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"name": "试剂瓶1 (甲醇)",
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"children": [],
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"parent": "AddTestStation",
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"type": "container",
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"class": null,
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"config": {
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"max_volume": 1000.0
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"liquid": [
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{
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"concentration": "99.9%"
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}
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]
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}
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},
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{
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"id": "flask_reagent2",
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"name": "试剂瓶2 (乙醇)",
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"children": [],
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"parent": "AddTestStation",
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"type": "container",
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"class": null,
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"data": {
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"liquid": [
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{
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"name": "乙醇",
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}
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]
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}
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},
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{
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"id": "flask_reagent3",
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"name": "试剂瓶3 (丙酮)",
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"children": [],
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"parent": "AddTestStation",
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"type": "container",
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"class": null,
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"position": {
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"y": 400,
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"z": 0
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"config": {
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"max_volume": 1000.0
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},
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"data": {
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"liquid": [
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{
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"name": "丙酮",
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"volume": 900.0,
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"concentration": "99.5%"
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}
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]
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}
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},
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{
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"id": "flask_reagent4",
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"name": "试剂瓶4 (二氯甲烷)",
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"children": [],
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"parent": "AddTestStation",
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"type": "container",
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"class": null,
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"config": {
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"max_volume": 1000.0
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"data": {
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"liquid": [
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{
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"name": "二氯甲烷",
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}
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]
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}
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},
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{
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"id": "reactor",
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"name": "反应器",
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"children": [],
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"parent": "AddTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 720,
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"z": 0
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},
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"config": {
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"max_volume": 2000.0
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"data": {
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"liquid": []
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}
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},
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{
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"id": "flask_waste",
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"name": "废液瓶",
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"children": [],
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"parent": "AddTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 850,
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"z": 0
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},
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"config": {
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"max_volume": 3000.0
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},
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"data": {
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"liquid": []
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}
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},
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{
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"id": "flask_rinsing",
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"name": "冲洗液瓶",
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"children": [],
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"parent": "AddTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 950,
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"z": 0
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"config": {
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},
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"data": {
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"liquid": [
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{
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"name": "去离子水",
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"volume": 800.0,
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"concentration": "纯净"
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}
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]
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}
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},
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{
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"id": "flask_buffer",
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"name": "缓冲液瓶",
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"children": [],
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"parent": "AddTestStation",
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"type": "container",
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"class": null,
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},
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"config": {
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},
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"data": {
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"liquid": [
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{
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"name": "磷酸盐缓冲液",
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}
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]
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}
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}
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],
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"links": [
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{
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"source": "transfer_pump",
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"target": "multiway_valve",
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"type": "physical",
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"port": {
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"transfer_pump": "syringe-port",
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"multiway_valve": "multiway-valve-inlet"
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}
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},
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{
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"source": "multiway_valve",
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"target": "flask_reagent1",
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"type": "physical",
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"port": {
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"multiway_valve": "multiway-valve-port-1",
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"flask_reagent1": "top"
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}
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},
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{
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"source": "multiway_valve",
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"target": "flask_reagent2",
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"type": "physical",
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"port": {
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"multiway_valve": "multiway-valve-port-2",
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"flask_reagent2": "top"
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}
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},
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{
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"source": "multiway_valve",
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"target": "flask_reagent3",
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"type": "physical",
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"port": {
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"multiway_valve": "multiway-valve-port-3",
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"flask_reagent3": "top"
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}
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},
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{
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"source": "multiway_valve",
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"target": "flask_reagent4",
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"type": "physical",
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"port": {
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"multiway_valve": "multiway-valve-port-4",
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"flask_reagent4": "top"
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}
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},
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{
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"source": "multiway_valve",
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"target": "reactor",
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"type": "physical",
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"port": {
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"multiway_valve": "multiway-valve-port-5",
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"reactor": "top"
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}
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},
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{
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"source": "multiway_valve",
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"target": "flask_waste",
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"type": "physical",
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"port": {
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"multiway_valve": "multiway-valve-port-6",
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"flask_waste": "top"
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}
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},
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{
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"source": "multiway_valve",
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"target": "flask_rinsing",
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"type": "physical",
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"port": {
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"multiway_valve": "multiway-valve-port-7",
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"flask_rinsing": "top"
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}
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},
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{
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"source": "multiway_valve",
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"target": "flask_buffer",
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"type": "physical",
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"port": {
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"multiway_valve": "multiway-valve-port-8",
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"flask_buffer": "top"
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}
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},
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{
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"source": "stirrer",
|
|
"target": "reactor",
|
|
"type": "physical",
|
|
"port": {
|
|
"stirrer": "stirrer-vessel",
|
|
"reactor": "bottom"
|
|
}
|
|
}
|
|
]
|
|
} |