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

# 虚拟设备清单及连接特性

# 1. virtual_pump - 虚拟泵
# 描述：具有多通道阀门特性的泵，根据valve_position可连接多个容器
# 连接特性：1个输入口 + 1个输出口（当前配置，实际应该有多个输出口）
# 数据类型：fluid（流体连接）

# 2. virtual_stirrer - 虚拟搅拌器  
# 描述：机械连接设备，提供搅拌功能
# 连接特性：1个双向连接点（undirected）
# 数据类型：mechanical（机械连接）

# 3a. virtual_valve - 虚拟八通阀门
# 描述：8通阀门（实际配置为7通），可切换流向
# 连接特性：1个口连接注射泵 + 7个输出口
# 数据类型：fluid（流体连接）

# 3b. virtual_solenoid_valve (电磁阀门)
# 描述：简单的开关型电磁阀，只有开启和关闭两个状态
# 连接特性：1个输入口 + 1个输出口，控制通断
# 数据类型：fluid（流体连接）

# 4. virtual_centrifuge - 虚拟离心机
# 描述：单个样品处理设备，原地处理样品
# 连接特性：1个输入口 + 1个输出口
# 数据类型：resource（资源/样品连接）

# 5. virtual_filter - 虚拟过滤器
# 描述：分离设备，将样品分离为滤液和滤渣
# 连接特性：1个输入口 + 2个输出口（滤液和滤渣）
# 数据类型：resource（资源/样品连接）

# 6. virtual_heatchill - 虚拟加热/冷却器
# 描述：温控设备，容器直接放置在设备上进行温度控制
# 连接特性：1个双向连接点（undirected）
# 数据类型：mechanical（机械/物理接触连接）

# 7. virtual_transfer_pump - 虚拟转移泵（注射器式）
# 描述：注射器式转移泵，通过同一个口吸入和排出液体
# 连接特性：1个双向连接点（undirected）
# 数据类型：fluid（流体连接）

# 8. virtual_column - 虚拟色谱柱
# 描述：分离纯化设备，用于样品纯化
# 连接特性：1个输入口 + 1个输出口
# 数据类型：resource（资源/样品连接）

# 9. virtual_rotavap - 虚拟旋转蒸发仪
# 描述：旋转蒸发仪用于溶剂蒸发和浓缩，具有加热、旋转和真空功能
# 连接特性：1个输入口（样品），1个输出口（浓缩物），1个冷凝器出口（回收溶剂）
# 数据类型：resource（资源/样品连接）

# 10. virtual_separator - 虚拟分液器
# 描述：分液器用于两相液体的分离，可进行萃取和洗涤操作
# 连接特性：1个输入口（混合液），2个输出口（上相和下相）
# 数据类型：fluid（流体连接）

# 11. virtual_vacuum_pump - 虚拟真空泵
# 描述：真空泵设备，用于抽真空操作和真空/充气循环
# 连接特性：1个输入口（连接需要抽真空的系统）
# 数据类型：fluid（流体连接）
# 主要功能：开启/关闭、状态控制（ON/OFF）

# 12. virtual_gas_source - 虚拟气源
# 描述：气源设备，用于充气操作和真空/充气循环
# 连接特性：1个输出口（向系统提供加压气体）
# 数据类型：fluid（流体连接）
# 主要功能：开启/关闭、状态控制（ON/OFF）

virtual_pump:
  description: Virtual Pump for PumpTransferProtocol Testing
  #icon: 这个注册的设备应该是写错了，后续删掉
  class:
    module: unilabos.devices.virtual.virtual_pump:VirtualPump
    type: python
    status_types:
      status: String
      position: Float64
      valve_position: Int32 # 修复：使用 Int32 而不是 String
      max_volume: Float64
      current_volume: Float64
    action_value_mappings:
      transfer:
        type: PumpTransfer
        goal:
          from_vessel: from_vessel
          to_vessel: to_vessel
          volume: volume
          amount: amount
          time: time
          viscous: viscous
          rinsing_solvent: rinsing_solvent
          rinsing_volume: rinsing_volume
          rinsing_repeats: rinsing_repeats
          solid: solid
        feedback:
          status: status
        result:
          success: success
      set_valve_position:
        type: FloatSingleInput
        goal:
          float_in: valve_position
        feedback:
          status: status
        result:
          success: success
  # 虚拟泵节点配置 - 具有多通道阀门特性，根据valve_position可连接多个容器
  handles:
  - handler_key: pumpio
    label: pumpio
    data_type: fluid
    io_type: source
    data_source: handle
    data_key: fluid_in
    description: "泵的进液口，连接源容器"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_volume:
        type: number
        default: 25.0
    additionalProperties: false

virtual_stirrer:
  description: Virtual Stirrer for StirProtocol Testing
  icon: Stirrer.webp
  class:
    module: unilabos.devices.virtual.virtual_stirrer:VirtualStirrer
    type: python
    status_types:
      status: String
      operation_mode: String       # 操作模式
      current_vessel: String       # 当前容器  
      current_speed: Float64       # 当前搅拌速度
      is_stirring: Bool           # 是否搅拌
      remaining_time: Float64     # 剩余时间
    action_value_mappings:
      stir:
        type: Stir
        goal:
          stir_time: stir_time
          stir_speed: stir_speed
          settling_time: settling_time
        feedback:
          status: status
        result:
          success: success
      start_stir:
        type: StartStir
        goal:
          vessel: vessel
          stir_speed: stir_speed
          purpose: purpose
        feedback:
          status: status
        result:
          success: success
      stop_stir:
        type: StopStir
        goal:
          vessel: vessel
        feedback:
          status: status
        result:
          success: success
  # 虚拟搅拌器节点配置 - 机械连接设备，双向连接点用于搅拌容器
  handles:
  - handler_key: stirrer
    label: stirrer
    data_type: mechanical
    side: NORTH
    io_type: undirected
    data_source: handle
    data_key: vessel
    description: "搅拌器的机械连接口，容器通过机械连接进行搅拌"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_speed:
        type: number
        default: 1500.0
      min_speed:
        type: number
        default: 50.0
    additionalProperties: false

virtual_multiway_valve:
  description: Virtual 8-Way Valve for flow direction control
  icon: EightPipeline.webp
  class:
    module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve
    type: python
    status_types:
      status: String
      valve_state: String
      current_position: Int32
      target_position: Int32
      max_positions: Int32
    action_value_mappings:
      set_position:
        type: SendCmd
        goal:
          command: command
        feedback: {}
        result:
          success: success
      set_valve_position:
        type: SendCmd
        goal:
          command: command
        feedback: {}
        result:
          success: success
  # 八通阀门节点配置 - 1个输入口，8个输出口，可切换流向
  handles:
  - handler_key: transferpump
    label: transferpump
    data_type: fluid
    side: NORTH
    io_type: target
    data_source: handle
    data_key: fluid_in
    description: "八通阀门进液口，接收来源流体"
  - handler_key: 1
    label: 1
    data_type: fluid
    side: NORTH
    io_type: source
    data_source: executor
    data_key: fluid_port_1
    description: "八通阀门端口1，position=1时流体从此口流出"
  - handler_key: 2
    label: 2
    data_type: fluid
    side: EAST
    io_type: source
    data_source: executor
    data_key: fluid_port_2
    description: "八通阀门端口2，position=2时流体从此口流出"
  - handler_key: 3
    label: 3
    data_type: fluid
    side: EAST
    io_type: source
    data_source: executor
    data_key: fluid_port_3
    description: "八通阀门端口3，position=3时流体从此口流出"
  - handler_key: 4
    label: 4
    data_type: fluid
    side: SOUTH
    io_type: source
    data_source: executor
    data_key: fluid_port_4
    description: "八通阀门端口4，position=4时流体从此口流出"
  - handler_key: 5
    label: 5
    data_type: fluid
    side: SOUTH
    io_type: source
    data_source: executor
    data_key: fluid_port_5
    description: "八通阀门端口5，position=5时流体从此口流出"
  - handler_key: 7
    label: 7
    data_type: fluid
    side: WEST
    io_type: source
    data_source: executor
    data_key: fluid_port_7
    description: "八通阀门端口7，position=7时流体从此口流出"
  - handler_key: 6
    label: 6
    data_type: fluid
    side: WEST
    io_type: source
    data_source: executor
    data_key: fluid_port_6
    description: "八通阀门端口6，position=6时流体从此口流出"
  - handler_key: 8
    label: 8
    data_type: fluid
    side: NORTH
    io_type: source
    data_source: executor
    data_key: fluid_port_8
    description: "八通阀门端口8，position=8时流体从此口流出"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      positions:
        type: integer
        default: 8
    additionalProperties: false
virtual_solenoid_valve:
  description: Virtual Solenoid Valve for simple on/off flow control
  #icon: SolenoidValve.webp暂时还没有
  class:
    module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve
    type: python
    status_types:
      status: String
      valve_state: String # "open" or "closed"
      is_open: Bool
    action_value_mappings:
      set_valve_position:
        type: SendCmd
        goal:
          command: command  # 确保参数名匹配
        feedback: {}
        result:
          success: success
      open:
        type: SendCmd
        goal:
          command: "OPEN"
        feedback: {}
        result:
          success: success
      close:
        type: SendCmd
        goal:
          command: "CLOSED"
        feedback: {}
        result:
          success: success
      set_state:
        type: SendCmd
        goal:
          command: command
        feedback: {}
        result:
          success: success
  # 电磁阀门节点配置 - 双向流通的开关型阀门，流动方向由泵决定
  handles:
  - handler_key: inlet
    label: inlet
    data_type: fluid
    side: NORTH
    io_type: target
    data_source: handle
    data_key: fluid_port_in
    description: "电磁阀的进液口"
  - handler_key: outlet
    label: outlet
    data_type: fluid
    side: SOUTH
    io_type: source
    data_source: handle
    data_key: fluid_port_out
    description: "电磁阀的出液口"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      voltage:
        type: number
        default: 12.0
      response_time:
        type: number
        default: 0.1
    additionalProperties: false
virtual_centrifuge:
  description: Virtual Centrifuge for CentrifugeProtocol Testing
  #icon: Centrifuge.webp暂时还没有
  class:
    module: unilabos.devices.virtual.virtual_centrifuge:VirtualCentrifuge
    type: python
    status_types:
      status: String
      current_speed: Float64
      target_speed: Float64
      current_temp: Float64
      target_temp: Float64
      max_speed: Float64
      max_temp: Float64
      min_temp: Float64
      centrifuge_state: String
      time_remaining: Float64
      progress: Float64            # 添加这个状态
      message: String              # 添加这个状态
    action_value_mappings:
      centrifuge:
        type: Centrifuge
        goal:
          vessel: vessel
          speed: speed
          time: time
          temp: temp
        feedback:
          progress: progress
          current_speed: current_speed
          current_temp: current_temp
          current_status: status
        result:
          success: success
          message: message
  # 虚拟离心机节点配置 - 单个样品处理设备，输入输出都是同一个样品容器
  handles:
  - handler_key: centrifuge
    label: centrifuge
    data_type: transport
    side: NORTH
    io_type: target
    data_source: handle
    data_key: vessel
    description: "需要离心的样品容器"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_speed:
        type: number
        default: 15000.0
      max_temp:
        type: number
        default: 40.0
      min_temp:
        type: number
        default: 4.0
    additionalProperties: false

virtual_filter:
  description: Virtual Filter for FilterProtocol Testing
  #icon: Filter.webp暂时还没有
  class:
    module: unilabos.devices.virtual.virtual_filter:VirtualFilter
    type: python
    status_types:
      status: String
      progress: Float64
      current_temp: Float64
      filtered_volume: Float64
      current_status: String
      message: String
      max_temp: Float64
      max_stir_speed: Float64
      max_volume: Float64
    action_value_mappings:
      filter:
        type: Filter
        goal:
          vessel: vessel
          filtrate_vessel: filtrate_vessel
          stir: stir
          stir_speed: stir_speed
          temp: temp
          continue_heatchill: continue_heatchill
          volume: volume
        feedback:
          progress: progress
          current_temp: current_temp
          filtered_volume: filtered_volume
          current_status: current_status
        result:
          success: success
          message: message
          return_info: message
  # 过滤器节点配置 - 固液分离设备
  handles:
  - handler_key: filter
    label: filter
    data_type: transport
    side: NORTH
    io_type: source
    data_source: handle
    data_key: vessel
    description: "需要过滤的样品容器"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_temp:
        type: number
        default: 100.0
      max_stir_speed:
        type: number
        default: 1000.0
      max_volume:
        type: number
        default: 500.0
    additionalProperties: false

virtual_heatchill:
  description: Virtual HeatChill for HeatChillProtocol Testing
  icon: Heater.webp
  class:
    module: unilabos.devices.virtual.virtual_heatchill:VirtualHeatChill
    type: python
    status_types:
      status: String
      operation_mode: String         # 保留：操作模式
      is_stirring: Bool             # 保留：是否搅拌
      stir_speed: Float64           # 保留：搅拌速度
      # remaining_time: Float64       # 保留：剩余时间
    action_value_mappings:
      heat_chill:
        type: HeatChill
        goal:
          vessel: vessel
          temp: temp
          time: time
          stir: stir
          stir_speed: stir_speed
          purpose: purpose
        feedback:
          status: status
        result:
          success: success
      heat_chill_start:
        type: HeatChillStart
        goal:
          vessel: vessel
          temp: temp
          purpose: purpose
        feedback:
          status: status
        result:
          success: success
      heat_chill_stop:
        type: HeatChillStop
        goal:
          vessel: vessel
        feedback:
          status: status
        result:
          success: success
  # 虚拟加热/冷却器节点配置
  handles:
  - handler_key: heatchill
    label: heatchill
    data_type: mechanical
    side: NORTH
    io_type: source
    data_source: handle
    data_key: vessel
    description: "加热/冷却器的物理连接口，容器直接放置在设备上进行温度控制"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_temp:
        type: number
        default: 200.0
      min_temp:
        type: number
        default: -80
      max_stir_speed:
        type: number
        default: 1000.0
    additionalProperties: false

virtual_transfer_pump:
  description: Virtual Transfer Pump for TransferProtocol Testing (Syringe-style)
  icon: Pump.webp
  class:
    module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump
    type: python
    status_types:
      status: String
      current_volume: Float64
      max_volume: Float64
      transfer_rate: Float64
      position: Float64
    action_value_mappings:
      transfer:
        type: Transfer
        goal:
          from_vessel: from_vessel
          to_vessel: to_vessel
          volume: volume
          amount: amount
          time: time
          viscous: viscous
          rinsing_solvent: rinsing_solvent
          rinsing_volume: rinsing_volume
          rinsing_repeats: rinsing_repeats
          solid: solid
        feedback:
          progress: progress
          transferred_volume: transferred_volume
          current_status: current_status
        result:
          success: success
          message: message
      set_position:
        type: SetPumpPosition  # ← 使用新的动作类型
        goal:
          position: position        # ← 直接映射参数名
          max_velocity: max_velocity # ← 直接映射参数名
        feedback:
          status: status
          current_position: current_position
          progress: progress
        result:
          success: success
          message: message
  # 注射器式转移泵节点配置 - 只有一个双向连接口，可吸入和排出液体
  handles:
  - handler_key: transferpump
    label: transferpump
    data_type: fluid
    side: SOUTH
    io_type: source
    data_source: handle
    data_key: fluid_port
    description: "注射器式转移泵的唯一连接口，通过阀门切换实现吸入和排出"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
        description: "通信端口"
      max_volume:
        type: number
        default: 50.0
        description: "最大注射器容量 (mL)"
      transfer_rate:
        type: number
        default: 5.0
        description: "默认转移速率 (mL/s)"
    additionalProperties: false

virtual_column:
  description: Virtual Column Chromatography Device for RunColumn Protocol Testing
  #icon: Column.webp暂时还没有
  class:
    module: unilabos.devices.virtual.virtual_column:VirtualColumn
    type: python
    status_types:
      status: String
      column_state: String
      current_flow_rate: Float64
      max_flow_rate: Float64
      column_length: Float64
      column_diameter: Float64
      processed_volume: Float64
      progress: Float64
      current_status: String
    action_value_mappings:
      run_column:
        type: RunColumn
        goal:
          from_vessel: from_vessel
          to_vessel: to_vessel
          column: column
        feedback:
          progress: progress
          processed_volume: processed_volume
          current_status: current_status
        result:
          success: success
          message: current_status
          return_info: current_status
  # 柱层析设备节点配置 - 色谱分离设备
  handles:
  - handler_key: columnin
    label: columnin
    data_type: transport
    side: WEST
    io_type: sink
    data_source: handle
    data_key: from_vessel
    description: "样品输入口"
  - handler_key: columnout
    label: columnout
    data_type: transport
    side: EAST
    io_type: source
    data_source: handle
    data_key: to_vessel
    description: "产物输出口"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_flow_rate:
        type: number
        default: 10.0
      column_length:
        type: number
        default: 25.0
      column_diameter:
        type: number
        default: 2.0
    additionalProperties: false

virtual_rotavap:
  description: Virtual Rotary Evaporator for EvaporateProtocol Testing
  icon: Rotaryevaporator.webp
  class:
    module: unilabos.devices.virtual.virtual_rotavap:VirtualRotavap
    type: python
    status_types:
      status: String
      rotavap_state: String
      current_temp: Float64
      rotation_speed: Float64
      vacuum_pressure: Float64
      evaporated_volume: Float64
      progress: Float64
      remaining_time: Float64
      message: String
      max_temp: Float64
      max_rotation_speed: Float64
    action_value_mappings:
      evaporate:
        type: Evaporate
        goal:
          vessel: vessel
          pressure: pressure
          temp: temp
          time: time
          stir_speed: stir_speed
        feedback:
          progress: progress
          current_temp: current_temp
          evaporated_volume: evaporated_volume
          status: status
        result:
          success: success
          message: message
  # 虚拟旋转蒸发仪节点配置 - 1个样品口
  handles:
  - handler_key: rotavap-sample
    label: rotavap-sample
    data_type: fluid
    side: NORTH
    io_type: target
    data_source: handle
    data_key: vessel
    description: "样品连接口，放入需要蒸发的样品"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      max_temp:
        type: number
        default: 180.0
      max_rotation_speed:
        type: number
        default: 280.0
    additionalProperties: false

virtual_separator:
  description: Virtual Separator for SeparateProtocol Testing
  icon: Separator.webp
  class:
    module: unilabos.devices.virtual.virtual_separator:VirtualSeparator
    type: python
    status_types:
      status: String
      separator_state: String
      volume: Float64
      has_phases: Bool
      phase_separation: Bool
      stir_speed: Float64
      settling_time: Float64
      progress: Float64
      message: String
    action_value_mappings:
      separate:
        type: Separate
        goal:
          purpose: purpose
          product_phase: product_phase
          from_vessel: from_vessel
          separation_vessel: separation_vessel
          to_vessel: to_vessel
          waste_phase_to_vessel: waste_phase_to_vessel
          solvent: solvent
          solvent_volume: solvent_volume
          through: through
          repeats: repeats
          stir_time: stir_time
          stir_speed: stir_speed
          settling_time: settling_time
        feedback:
          progress: progress
          current_status: status
        result:
          success: success
          message: message
  # 虚拟分液器节点配置 - 分离设备，1个输入口(混合液)，2个输出口(上相和下相)
  handles:
  - handler_key: separatorin
    label: separatorin
    data_type: fluid
    side: NORTH
    io_type: target
    data_source: handle
    data_key: from_vessel
    description: "需要分离的混合液体输入口"
  - handler_key: separatorout
    label: separatorout
    data_type: fluid
    side: SOUTH
    io_type: source
    data_source: executor
    data_key: bottom_outlet
    description: "下相（重相）液体输出口"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
      volume:
        type: number
        default: 250.0
      has_phases:
        type: boolean
        default: true
    additionalProperties: false

virtual_vacuum_pump:
  description: Virtual vacuum pump
  icon: Vacuum.webp
  class:
    module: unilabos.devices.virtual.virtual_vacuum_pump:VirtualVacuumPump
    type: python
    status_types:
      status: String
    action_value_mappings:
      open:
        type: EmptyIn
        goal: {}
        feedback: {}
        result: {}
      close:
        type: EmptyIn
        goal: {}
        feedback: {}
        result: {}
      set_status:
        type: StrSingleInput
        goal:
          string: string
        feedback: {}
        result: {}
  # 虚拟真空泵节点配置 - 真空设备，1个输入口连接需要抽真空的系统
  handles:
  - handler_key: vacuumpump
    label: vacuumpump
    data_type: fluid
    side: SOUTH
    io_type: source
    data_source: handle
    data_key: fluid_in
    description: "真空泵进气口，连接需要抽真空的容器或管路"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
        description: "通信端口"
    additionalProperties: false

virtual_gas_source:
  description: Virtual gas source
  #icon: GasSource.webp暂时还没有
  class:
    module: unilabos.devices.virtual.virtual_gas_source:VirtualGasSource
    type: python
    status_types:
      status: String
    action_value_mappings:
      open:
        type: EmptyIn
        goal: {}
        feedback: {}
        result: {}
      close:
        type: EmptyIn
        goal: {}
        feedback: {}
        result: {}
      set_status:
        type: StrSingleInput
        goal:
          string: string
        feedback: {}
        result: {}
  # 虚拟气源节点配置 - 气体供应设备，1个输出口提供加压气体
  handles:
  - handler_key: gassource
    label: gassource
    data_type: fluid
    side: SOUTH
    io_type: source
    data_source: executor
    data_key: fluid_out
    description: "气源出气口，向容器或管路提供加压气体"
  schema:
    type: object
    properties:
      port:
        type: string
        default: "VIRTUAL"
        description: "通信端口"
      gas_type:
        type: string
        default: "nitrogen"
        description: "气体类型"
      max_pressure:
        type: number
        default: 5.0
        description: "最大输出压力 (bar)"
    additionalProperties: false