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https://github.com/dptech-corp/Uni-Lab-OS.git
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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>
557 lines
15 KiB
JSON
557 lines
15 KiB
JSON
{
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"nodes": [
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{
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"id": "EvacuateRefillTestStation",
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"name": "抽真空充气测试站",
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"children": [
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"transfer_pump_1",
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"transfer_pump_2",
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"multiway_valve_1",
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"multiway_valve_2",
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"flask_DMF",
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"flask_ethyl_acetate",
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"flask_methanol",
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"flask_air",
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"vacuum_pump_1",
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"gas_source_nitrogen",
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"gas_source_air",
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"solenoid_valve_vacuum",
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"solenoid_valve_gas",
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"main_reactor",
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"stirrer_1",
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"waste_workup",
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"collection_bottle_1"
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],
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"parent": null,
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"type": "device",
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"class": "workstation",
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"position": {
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"x": 500,
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"y": 200,
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"z": 0
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},
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"config": {
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"protocol_type": ["PumpTransferProtocol", "EvacuateAndRefillProtocol"]
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},
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"data": {}
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},
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{
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"id": "transfer_pump_1",
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"name": "转移泵1",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_transfer_pump",
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"position": {
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"x": 300,
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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_PUMP1",
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"max_volume": 25.0,
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"transfer_rate": 5.0
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},
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"data": {
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"position": 0.0,
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"status": "Idle"
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}
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},
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{
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"id": "transfer_pump_2",
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"name": "转移泵2",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_transfer_pump",
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"position": {
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"x": 700,
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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_PUMP2",
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"max_volume": 25.0,
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"transfer_rate": 5.0
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},
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"data": {
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"position": 0.0,
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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_1",
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"name": "第一个八通阀",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_multiway_valve",
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"position": {
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"x": 300,
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"y": 400,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_VALVE1",
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"positions": 8
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},
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"data": {
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"current_position": 1
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}
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},
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{
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"id": "multiway_valve_2",
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"name": "第二个八通阀",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_multiway_valve",
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"position": {
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"x": 700,
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"y": 400,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_VALVE2",
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"positions": 8
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},
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"data": {
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"current_position": 1
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}
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},
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{
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"id": "vacuum_pump_1",
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"name": "真空泵1",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_vacuum_pump",
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"position": {
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"x": 150,
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"y": 200,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_VACUUM1",
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"max_pressure": -0.9
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},
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"data": {
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"status": "OFF",
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"pressure": 0.0
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}
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},
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{
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"id": "gas_source_nitrogen",
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"name": "氮气源",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_gas_source",
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"position": {
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"x": 850,
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"y": 200,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_GAS_N2",
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"gas_type": "nitrogen",
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"max_pressure": 5.0
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},
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"data": {
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"status": "OFF",
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"flow_rate": 0.0
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}
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},
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{
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"id": "gas_source_air",
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"name": "空气源",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_gas_source",
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"position": {
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"x": 950,
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"y": 200,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_GAS_AIR",
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"gas_type": "air",
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"max_pressure": 3.0
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},
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"data": {
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"status": "OFF",
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"flow_rate": 0.0
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}
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},
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{
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"id": "solenoid_valve_vacuum",
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"name": "真空电磁阀",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_solenoid_valve",
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"position": {
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"x": 225,
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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_SOLENOID_VACUUM"
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},
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"data": {
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"valve_position": "CLOSED"
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}
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},
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{
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"id": "solenoid_valve_gas",
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"name": "气源电磁阀",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_solenoid_valve",
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"position": {
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"x": 775,
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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_SOLENOID_GAS"
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},
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"data": {
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"valve_position": "CLOSED"
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}
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},
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{
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"id": "flask_DMF",
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"name": "DMF试剂瓶",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 100,
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"y": 500,
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"z": 0
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},
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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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"liquid_type": "DMF",
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"liquid_volume": 800.0
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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_ethyl_acetate",
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"name": "乙酸乙酯试剂瓶",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 200,
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"y": 500,
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"z": 0
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},
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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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"liquid_type": "ethyl_acetate",
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"liquid_volume": 800.0
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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_methanol",
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"name": "甲醇试剂瓶",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 300,
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"y": 500,
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"z": 0
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},
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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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"liquid_type": "methanol",
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"liquid_volume": 800.0
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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_air",
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"name": "空气瓶",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 400,
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"y": 500,
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"z": 0
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},
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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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},
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{
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"id": "main_reactor",
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"name": "主反应器",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 600,
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"y": 500,
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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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},
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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": "stirrer_1",
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"name": "搅拌器1",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_stirrer",
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"position": {
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"x": 600,
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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_STIRRER1",
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"max_speed": 1500.0
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},
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"data": {
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"speed": 0.0,
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"status": "OFF"
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}
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},
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{
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"id": "waste_workup",
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"name": "废液处理瓶",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
|
|
"class": null,
|
|
"position": {
|
|
"x": 700,
|
|
"y": 500,
|
|
"z": 0
|
|
},
|
|
"config": {
|
|
"max_volume": 2000.0
|
|
},
|
|
"data": {
|
|
"liquid": []
|
|
}
|
|
},
|
|
{
|
|
"id": "collection_bottle_1",
|
|
"name": "收集瓶1",
|
|
"children": [],
|
|
"parent": "EvacuateRefillTestStation",
|
|
"type": "container",
|
|
"class": null,
|
|
"position": {
|
|
"x": 800,
|
|
"y": 500,
|
|
"z": 0
|
|
},
|
|
"config": {
|
|
"max_volume": 1000.0
|
|
},
|
|
"data": {
|
|
"liquid": []
|
|
}
|
|
}
|
|
],
|
|
"links": [
|
|
{
|
|
"id": "link_pump1_valve1",
|
|
"source": "transfer_pump_1",
|
|
"target": "multiway_valve_1",
|
|
"type": "fluid",
|
|
"port": {
|
|
"transfer_pump_1": "transferpump",
|
|
"multiway_valve_1": "transferpump"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_pump2_valve2",
|
|
"source": "transfer_pump_2",
|
|
"target": "multiway_valve_2",
|
|
"type": "fluid",
|
|
"port": {
|
|
"transfer_pump_2": "transferpump",
|
|
"multiway_valve_2": "transferpump"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve1_valve2",
|
|
"source": "multiway_valve_1",
|
|
"target": "multiway_valve_2",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_1": "8",
|
|
"multiway_valve_2": "1"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_vacuum_solenoid",
|
|
"source": "vacuum_pump_1",
|
|
"target": "solenoid_valve_vacuum",
|
|
"type": "fluid",
|
|
"port": {
|
|
"vacuum_pump_1": "outlet",
|
|
"solenoid_valve_vacuum": "inlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_solenoid_vacuum_valve1",
|
|
"source": "solenoid_valve_vacuum",
|
|
"target": "multiway_valve_1",
|
|
"type": "fluid",
|
|
"port": {
|
|
"solenoid_valve_vacuum": "outlet",
|
|
"multiway_valve_1": "7"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_gas_solenoid",
|
|
"source": "gas_source_nitrogen",
|
|
"target": "solenoid_valve_gas",
|
|
"type": "fluid",
|
|
"port": {
|
|
"gas_source_nitrogen": "outlet",
|
|
"solenoid_valve_gas": "inlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_solenoid_gas_valve2",
|
|
"source": "solenoid_valve_gas",
|
|
"target": "multiway_valve_2",
|
|
"type": "fluid",
|
|
"port": {
|
|
"solenoid_valve_gas": "outlet",
|
|
"multiway_valve_2": "8"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_air_source_valve2",
|
|
"source": "gas_source_air",
|
|
"target": "multiway_valve_2",
|
|
"type": "fluid",
|
|
"port": {
|
|
"gas_source_air": "outlet",
|
|
"multiway_valve_2": "2"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve1_air",
|
|
"source": "multiway_valve_1",
|
|
"target": "flask_air",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_1": "1",
|
|
"flask_air": "top"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve1_DMF",
|
|
"source": "multiway_valve_1",
|
|
"target": "flask_DMF",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_1": "2",
|
|
"flask_DMF": "outlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve1_ethyl_acetate",
|
|
"source": "multiway_valve_1",
|
|
"target": "flask_ethyl_acetate",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_1": "3",
|
|
"flask_ethyl_acetate": "outlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve1_methanol",
|
|
"source": "multiway_valve_1",
|
|
"target": "flask_methanol",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_1": "4",
|
|
"flask_methanol": "outlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve2_reactor",
|
|
"source": "multiway_valve_2",
|
|
"target": "main_reactor",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_2": "5",
|
|
"main_reactor": "inlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve2_waste",
|
|
"source": "multiway_valve_2",
|
|
"target": "waste_workup",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_2": "6",
|
|
"waste_workup": "inlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve2_collection",
|
|
"source": "multiway_valve_2",
|
|
"target": "collection_bottle_1",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_2": "7",
|
|
"collection_bottle_1": "inlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_stirrer_reactor",
|
|
"source": "stirrer_1",
|
|
"target": "main_reactor",
|
|
"type": "mechanical",
|
|
"port": {
|
|
"stirrer_1": "stirrer",
|
|
"main_reactor": "stirrer"
|
|
}
|
|
}
|
|
]
|
|
} |