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修复了部分的protocol因为XDL更新导致的问题 (#61)

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* 修复了部分的protocol因为XDL更新导致的问题

但是pumptransfer，add，dissolve，separate还没修，后续还需要写virtual固体加料器

* 补充了四个action

* 添加了固体加样器，丰富了json，修改了add protocol

* bump version to 0.9.9

* fix bugs from new actions

* protocol完整修复版本& bump version to 0.9.10

* 修补了一些单位处理，bump version to 0.9.11

* 优化了全protocol的运行时间，除了pumptransfer相关的还没

* 补充了剩下的几个protocol

---------

Co-authored-by: Junhan Chang <changjh@dp.tech>
Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
This commit is contained in:
Kongchang Feng
2025-07-16 11:12:02 +08:00
committed by GitHub
parent 540c5e94b7
commit acf7b6d3f7
55 changed files with 9928 additions and 3669 deletions
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43
unilabos_msgs/action/Separate.action
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@@ -1,22 +1,27 @@
# Organic
string purpose # 'wash' or 'extract'. 'wash' means that product phase will not be the added solvent phase, 'extract' means product phase will be the added solvent phase. If no solvent is added just use 'extract'.
string product_phase # 'top' or 'bottom'. Phase that product will be in.
string from_vessel #Contents of from_vessel are transferred to separation_vessel and separation is performed.
string separation_vessel # Vessel in which separation of phases will be carried out.
string to_vessel # Vessel to send product phase to.
string waste_phase_to_vessel # Optional. Vessel to send waste phase to.
string solvent # Optional. Solvent to add to separation vessel after contents of from_vessel has been transferred to create two phases.
float64 solvent_volume # Optional. Volume of solvent to add.
string through # Optional. Solid chemical to send product phase through on way to to_vessel, e.g. 'celite'.
int32 repeats # Optional. Number of separations to perform.
float64 stir_time # Optional. Time stir for after adding solvent, before separation of phases.
float64 stir_speed # Optional. Speed to stir at after adding solvent, before separation of phases.
float64 settling_time # Optional. Time
# Goal - 分离操作的目标参数
string vessel # 分离容器名称（XDL参数，必需）
string purpose # 分离目的 ('wash', 'extract', 'separate'，可选）
string product_phase # 产物相 ('top', 'bottom'，可选）
string from_vessel # 源容器（可选）
string separation_vessel # 分离容器（与vessel同义，可选）
string to_vessel # 目标容器（可选）
string waste_phase_to_vessel # 废相目标容器（可选）
string product_vessel # 产物收集容器（XDL参数，可选）
string waste_vessel # 废液收集容器（XDL参数，可选）
string solvent # 溶剂名称（可选）
string solvent_volume # 溶剂体积（如 "200 mL"，可选）
string volume # 体积规格（XDL参数，如 "?"，可选）
string through # 通过材料（如 'celite'，可选）
int32 repeats # 重复次数（可选，默认1）
float64 stir_time # 搅拌时间（可选，默认30秒）
float64 stir_speed # 搅拌速度（可选，默认300 RPM）
float64 settling_time # 沉降时间（可选，默认300秒）
---
# Result - 操作结果
bool success # 操作是否成功
string message # 结果消息
string return_info
bool success
---
string status
string current_device
builtin_interfaces/Duration time_spent
builtin_interfaces/Duration time_remaining
# Feedback - 实时反馈
string status # 当前状态描述
float64 progress # 进度百分比 (0-100)