mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 22:15:04 +00:00
2768 lines
79 KiB
YAML
2768 lines
79 KiB
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
|
||
vessel: vessel
|
||
goal_default:
|
||
gas: ''
|
||
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
|
||
vessel:
|
||
type: string
|
||
required:
|
||
- vessel
|
||
- gas
|
||
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:
|
||
vessel: vessel
|
||
pressure: pressure
|
||
temp: temp
|
||
time: time
|
||
stir_speed: stir_speed
|
||
solvent: solvent
|
||
goal_default:
|
||
vessel: ''
|
||
pressure: 0.1
|
||
temp: 60.0
|
||
time: 1800.0
|
||
stir_speed: 100.0
|
||
solvent: ''
|
||
handles:
|
||
input:
|
||
- data_key: vessel
|
||
data_source: handle
|
||
data_type: resource
|
||
handler_key: vessel
|
||
label: Evaporation Vessel
|
||
output:
|
||
- data_key: vessel
|
||
data_source: handle
|
||
data_type: resource
|
||
handler_key: vessel_out
|
||
label: Evaporation Vessel
|
||
result: {}
|
||
schema:
|
||
description: ROS Action Evaporate 的 JSON Schema
|
||
properties:
|
||
goal:
|
||
description: Action 目标
|
||
properties:
|
||
vessel:
|
||
type: string
|
||
description: 蒸发容器名称
|
||
pressure:
|
||
type: number
|
||
default: 0.1
|
||
description: 真空度 (bar)
|
||
temp:
|
||
type: number
|
||
default: 60.0
|
||
description: 加热温度 (°C)
|
||
time:
|
||
type: number
|
||
default: 1800.0
|
||
description: 蒸发时间 (秒)
|
||
stir_speed:
|
||
type: number
|
||
default: 100.0
|
||
description: 旋转速度 (RPM)
|
||
solvent:
|
||
type: string
|
||
default: ''
|
||
description: 溶剂名称
|
||
required:
|
||
- vessel
|
||
title: Evaporate_Goal
|
||
type: object
|
||
required:
|
||
- goal
|
||
title: Evaporate
|
||
type: object
|
||
type: Evaporate
|
||
FilterProtocol:
|
||
feedback: {}
|
||
goal:
|
||
vessel: vessel
|
||
filtrate_vessel: filtrate_vessel
|
||
stir: stir
|
||
stir_speed: stir_speed
|
||
temp: temp
|
||
continue_heatchill: continue_heatchill
|
||
volume: volume
|
||
goal_default:
|
||
vessel: ''
|
||
filtrate_vessel: ''
|
||
stir: false
|
||
stir_speed: 0.0
|
||
temp: 25.0
|
||
continue_heatchill: false
|
||
volume: 0.0
|
||
handles:
|
||
input:
|
||
- data_key: vessel
|
||
data_source: handle
|
||
data_type: resource
|
||
handler_key: Vessel
|
||
label: Vessel
|
||
- data_key: filtrate_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: filtrate_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:
|
||
vessel:
|
||
type: string
|
||
description: 过滤容器名称
|
||
filtrate_vessel:
|
||
type: string
|
||
default: ''
|
||
description: 滤液容器名称（可选）
|
||
stir:
|
||
type: boolean
|
||
default: false
|
||
description: 是否搅拌
|
||
stir_speed:
|
||
type: number
|
||
default: 0.0
|
||
description: 搅拌速度
|
||
temp:
|
||
type: number
|
||
default: 25.0
|
||
description: 温度
|
||
continue_heatchill:
|
||
type: boolean
|
||
default: false
|
||
description: 是否继续加热冷却
|
||
volume:
|
||
type: number
|
||
default: 0.0
|
||
description: 过滤体积
|
||
required:
|
||
- vessel
|
||
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:
|
||
vessel: vessel
|
||
temp: temp
|
||
time: time
|
||
temp_spec: temp_spec
|
||
time_spec: time_spec
|
||
pressure: pressure
|
||
reflux_solvent: reflux_solvent
|
||
stir: stir
|
||
stir_speed: stir_speed
|
||
purpose: purpose
|
||
goal_default:
|
||
vessel: ''
|
||
temp: 25.0
|
||
time: 300.0
|
||
temp_spec: ''
|
||
time_spec: ''
|
||
pressure: ''
|
||
reflux_solvent: ''
|
||
stir: false
|
||
stir_speed: 300.0
|
||
purpose: ''
|
||
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
|
||
properties:
|
||
status:
|
||
type: string
|
||
required:
|
||
- status
|
||
title: HeatChill_Feedback
|
||
type: object
|
||
goal:
|
||
description: Action 目标
|
||
properties:
|
||
vessel:
|
||
type: string
|
||
description: 加热容器名称
|
||
temp:
|
||
type: number
|
||
default: 25.0
|
||
description: 目标温度
|
||
time:
|
||
type: number
|
||
default: 300.0
|
||
description: 加热时间
|
||
temp_spec:
|
||
type: string
|
||
default: ''
|
||
description: 温度规格
|
||
time_spec:
|
||
type: string
|
||
default: ''
|
||
description: 时间规格
|
||
pressure:
|
||
type: string
|
||
default: ''
|
||
description: 压力规格
|
||
reflux_solvent:
|
||
type: string
|
||
default: ''
|
||
description: 回流溶剂名称
|
||
stir:
|
||
type: boolean
|
||
default: false
|
||
description: 是否搅拌
|
||
stir_speed:
|
||
type: number
|
||
default: 300.0
|
||
description: 搅拌速度
|
||
purpose:
|
||
type: string
|
||
default: ''
|
||
description: 操作目的
|
||
required:
|
||
- vessel
|
||
title: HeatChill_Goal
|
||
type: object
|
||
result:
|
||
description: Action 结果
|
||
properties:
|
||
message:
|
||
type: string
|
||
return_info:
|
||
type: string
|
||
success:
|
||
type: boolean
|
||
required:
|
||
- success
|
||
- message
|
||
- return_info
|
||
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
|
||
flowrate: flowrate
|
||
transfer_flowrate: transfer_flowrate
|
||
rate_spec: rate_spec
|
||
event: event
|
||
through: through
|
||
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
|
||
flowrate: 0.0
|
||
transfer_flowrate: 0.0
|
||
rate_spec: ''
|
||
event: ''
|
||
through: ''
|
||
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（兼容增强版）
|
||
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:
|
||
type: object
|
||
time_spent:
|
||
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
|
||
to_vessel:
|
||
type: string
|
||
volume:
|
||
type: number
|
||
time:
|
||
type: number
|
||
viscous:
|
||
type: boolean
|
||
rinsing_solvent:
|
||
type: string
|
||
rinsing_volume:
|
||
type: number
|
||
rinsing_repeats:
|
||
type: integer
|
||
solid:
|
||
type: boolean
|
||
flowrate:
|
||
type: number
|
||
transfer_flowrate:
|
||
type: number
|
||
rate_spec:
|
||
type: string
|
||
event:
|
||
type: string
|
||
through:
|
||
type: string
|
||
required:
|
||
- from_vessel
|
||
- to_vessel
|
||
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:
|
||
vessel: vessel
|
||
time: time
|
||
event: event
|
||
time_spec: time_spec
|
||
stir_time: stir_time
|
||
stir_speed: stir_speed
|
||
settling_time: settling_time
|
||
goal_default:
|
||
vessel: ''
|
||
time: '5 min'
|
||
event: ''
|
||
time_spec: ''
|
||
stir_time: 300.0
|
||
stir_speed: 200.0
|
||
settling_time: 60.0
|
||
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
|
||
properties:
|
||
status:
|
||
type: string
|
||
required:
|
||
- status
|
||
title: Stir_Feedback
|
||
type: object
|
||
goal:
|
||
description: Action 目标
|
||
properties:
|
||
vessel:
|
||
type: string
|
||
description: 搅拌容器名称
|
||
time:
|
||
type: string
|
||
default: '5 min'
|
||
description: 搅拌时间
|
||
event:
|
||
type: string
|
||
default: ''
|
||
description: 事件标识
|
||
time_spec:
|
||
type: string
|
||
default: ''
|
||
description: 时间规格
|
||
stir_time:
|
||
type: number
|
||
default: 300.0
|
||
description: 搅拌时间（秒）
|
||
stir_speed:
|
||
type: number
|
||
default: 200.0
|
||
description: 搅拌速度
|
||
settling_time:
|
||
type: number
|
||
default: 60.0
|
||
description: 沉降时间
|
||
required:
|
||
- vessel
|
||
title: Stir_Goal
|
||
type: object
|
||
result:
|
||
description: Action 结果
|
||
properties:
|
||
message:
|
||
type: string
|
||
return_info:
|
||
type: string
|
||
success:
|
||
type: boolean
|
||
required:
|
||
- success
|
||
- message
|
||
- return_info
|
||
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:
|
||
return_info:
|
||
type: string
|
||
success:
|
||
type: boolean
|
||
required:
|
||
- return_info
|
||
- success
|
||
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:
|
||
vessel: vessel
|
||
solvent: solvent
|
||
volume: volume
|
||
filtrate_vessel: filtrate_vessel
|
||
temp: temp
|
||
stir: stir
|
||
stir_speed: stir_speed
|
||
time: time
|
||
repeats: repeats
|
||
goal_default:
|
||
vessel: ''
|
||
solvent: ''
|
||
volume: 0.0
|
||
filtrate_vessel: ''
|
||
temp: 25.0
|
||
stir: false
|
||
stir_speed: 0.0
|
||
time: 0.0
|
||
repeats: 1
|
||
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: filtrate_vessel
|
||
data_source: handle
|
||
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: filtrate_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:
|
||
vessel:
|
||
type: string
|
||
description: 装有固体的容器名称
|
||
solvent:
|
||
type: string
|
||
description: 清洗溶剂名称
|
||
volume:
|
||
type: number
|
||
description: 清洗溶剂体积
|
||
filtrate_vessel:
|
||
type: string
|
||
default: ''
|
||
description: 滤液收集容器（可选）
|
||
temp:
|
||
type: number
|
||
default: 25.0
|
||
description: 清洗温度
|
||
stir:
|
||
type: boolean
|
||
default: false
|
||
description: 是否搅拌
|
||
stir_speed:
|
||
type: number
|
||
default: 0.0
|
||
description: 搅拌速度
|
||
time:
|
||
type: number
|
||
default: 0.0
|
||
description: 清洗时间
|
||
repeats:
|
||
type: integer
|
||
default: 1
|
||
minimum: 1
|
||
maximum: 10
|
||
description: 重复次数
|
||
required:
|
||
- vessel
|
||
- solvent
|
||
- volume
|
||
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: create_ros_action_server的参数schema
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties:
|
||
action_name:
|
||
type: string
|
||
action_value_mapping:
|
||
type: string
|
||
required:
|
||
- action_name
|
||
- action_value_mapping
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: create_ros_action_server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: execute_single_action的参数schema
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties:
|
||
action_kwargs:
|
||
type: string
|
||
action_name:
|
||
type: string
|
||
device_id:
|
||
type: string
|
||
required:
|
||
- device_id
|
||
- action_name
|
||
- action_kwargs
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: execute_single_action参数
|
||
type: object
|
||
type: UniLabJsonCommandAsync
|
||
auto-initialize_device:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default:
|
||
device_config: null
|
||
device_id: null
|
||
handles: []
|
||
result: {}
|
||
schema:
|
||
description: initialize_device的参数schema
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties:
|
||
device_config:
|
||
type: string
|
||
device_id:
|
||
type: string
|
||
required:
|
||
- device_id
|
||
- device_config
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: initialize_device参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
AdjustPHProtocol:
|
||
feedback: {}
|
||
goal:
|
||
vessel: vessel
|
||
ph_value: ph_value
|
||
reagent: reagent
|
||
goal_default:
|
||
vessel: ''
|
||
ph_value: 7.0
|
||
reagent: ''
|
||
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 AdjustPH 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
|
||
progress:
|
||
type: number
|
||
required:
|
||
- status
|
||
- progress
|
||
title: AdjustPH_Feedback
|
||
type: object
|
||
goal:
|
||
description: Action 目标 - 从客户端发送到服务器
|
||
properties:
|
||
vessel:
|
||
type: string
|
||
ph_value:
|
||
type: number
|
||
reagent:
|
||
type: string
|
||
required:
|
||
- vessel
|
||
- ph_value
|
||
- reagent
|
||
title: AdjustPH_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: AdjustPH_Result
|
||
type: object
|
||
required:
|
||
- goal
|
||
title: AdjustPH
|
||
type: object
|
||
type: AdjustPH
|
||
ResetHandlingProtocol:
|
||
feedback: {}
|
||
goal:
|
||
solvent: solvent
|
||
goal_default:
|
||
solvent: ''
|
||
handles:
|
||
input:
|
||
- data_key: solvent
|
||
data_source: handle
|
||
data_type: resource
|
||
handler_key: solvent
|
||
label: Solvent
|
||
output: []
|
||
result: {}
|
||
schema:
|
||
description: ROS Action ResetHandling 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
|
||
progress:
|
||
type: number
|
||
required:
|
||
- status
|
||
- progress
|
||
title: ResetHandling_Feedback
|
||
type: object
|
||
goal:
|
||
description: Action 目标 - 从客户端发送到服务器
|
||
properties:
|
||
solvent:
|
||
type: string
|
||
required:
|
||
- solvent
|
||
title: ResetHandling_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: ResetHandling_Result
|
||
type: object
|
||
required:
|
||
- goal
|
||
title: ResetHandling
|
||
type: object
|
||
type: ResetHandling
|
||
DryProtocol:
|
||
feedback: {}
|
||
goal:
|
||
compound: compound
|
||
vessel: vessel
|
||
goal_default:
|
||
compound: ''
|
||
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 Dry 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
|
||
progress:
|
||
type: number
|
||
required:
|
||
- status
|
||
- progress
|
||
title: Dry_Feedback
|
||
type: object
|
||
goal:
|
||
description: Action 目标 - 从客户端发送到服务器
|
||
properties:
|
||
compound:
|
||
type: string
|
||
vessel:
|
||
type: string
|
||
required:
|
||
- compound
|
||
- vessel
|
||
title: Dry_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: Dry_Result
|
||
type: object
|
||
required:
|
||
- goal
|
||
title: Dry
|
||
type: object
|
||
type: Dry
|
||
HydrogenateProtocol:
|
||
feedback: {}
|
||
goal:
|
||
temp: temp
|
||
time: time
|
||
vessel: vessel
|
||
goal_default:
|
||
temp: ''
|
||
time: ''
|
||
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 Hydrogenate 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
|
||
progress:
|
||
type: number
|
||
required:
|
||
- status
|
||
- progress
|
||
title: Hydrogenate_Feedback
|
||
type: object
|
||
goal:
|
||
description: Action 目标 - 从客户端发送到服务器
|
||
properties:
|
||
temp:
|
||
type: string
|
||
time:
|
||
type: string
|
||
vessel:
|
||
type: string
|
||
required:
|
||
- temp
|
||
- time
|
||
- vessel
|
||
title: Hydrogenate_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: Hydrogenate_Result
|
||
type: object
|
||
required:
|
||
- goal
|
||
title: Hydrogenate
|
||
type: object
|
||
type: Hydrogenate
|
||
RecrystallizeProtocol:
|
||
feedback: {}
|
||
goal:
|
||
ratio: ratio
|
||
solvent1: solvent1
|
||
solvent2: solvent2
|
||
vessel: vessel
|
||
volume: volume
|
||
goal_default:
|
||
ratio: 1.0
|
||
solvent1: ''
|
||
solvent2: ''
|
||
vessel: ''
|
||
volume: 0.0
|
||
handles:
|
||
input:
|
||
- data_key: vessel
|
||
data_source: handle
|
||
data_type: resource
|
||
handler_key: Vessel
|
||
label: Vessel
|
||
- data_key: solvent1
|
||
data_source: handle
|
||
data_type: resource
|
||
handler_key: solvent1
|
||
label: Solvent 1
|
||
- data_key: solvent2
|
||
data_source: handle
|
||
data_type: resource
|
||
handler_key: solvent2
|
||
label: Solvent 2
|
||
output:
|
||
- data_key: vessel
|
||
data_source: executor
|
||
data_type: resource
|
||
handler_key: VesselOut
|
||
label: Vessel
|
||
result: {}
|
||
schema:
|
||
description: ROS Action Recrystallize 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: Recrystallize_Feedback
|
||
type: object
|
||
goal:
|
||
description: Action 目标 - 从客户端发送到服务器
|
||
properties:
|
||
ratio:
|
||
type: number
|
||
solvent1:
|
||
type: string
|
||
solvent2:
|
||
type: string
|
||
vessel:
|
||
type: string
|
||
volume:
|
||
type: number
|
||
required:
|
||
- ratio
|
||
- solvent1
|
||
- solvent2
|
||
- vessel
|
||
- volume
|
||
title: Recrystallize_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: Recrystallize_Result
|
||
type: object
|
||
required:
|
||
- goal
|
||
title: Recrystallize
|
||
type: object
|
||
type: Recrystallize
|
||
module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
|
||
status_types: {}
|
||
type: ros2
|
||
description: Workstation
|
||
handles: []
|
||
icon: ''
|
||
init_param_schema:
|
||
config:
|
||
properties:
|
||
children:
|
||
type: object
|
||
device_id:
|
||
type: string
|
||
protocol_type:
|
||
type: string
|
||
resource_tracker:
|
||
type: string
|
||
required:
|
||
- device_id
|
||
- children
|
||
- protocol_type
|
||
- resource_tracker
|
||
type: object
|
||
data:
|
||
properties: {}
|
||
required: []
|
||
type: object
|