zhangjiming
5 months ago
10 changed files with 1699 additions and 433 deletions
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12public/index.html
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37public/main.js
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25src/index.ts
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60src/routes/auth.ts
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18src/routes/cmd.ts
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59src/routes/debug.ts
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142src/types/cmdTypes.ts
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275src/types/wsTypes.ts
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1503src/utils/measure.json
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1tsconfig.json
@ -0,0 +1,60 @@ |
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import express from "express"; |
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const router = express.Router(); |
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import { wsSend } from "../utils/wss"; |
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import { delay } from "../utils/helper"; |
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|
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router.post("/login", async (req, res) => { |
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console.log("/login:", req.body); |
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req.app.locals["context"] = { |
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loginFlag: true, |
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loginUser: { |
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id: 0, |
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account: "Demo", |
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nickname: "Demo", |
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password: "Demo", |
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userRole: "Admin", |
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isBuiltInUser: false, |
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}, |
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}; |
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|
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wsSend(req.app.locals["wss"], { |
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messageType: "DeviceContext", |
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data: req.app.locals["context"], |
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path: "/deviceContext", |
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}); |
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|
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await delay(200); |
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|
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res.json({ |
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status: 0, |
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data: { |
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id: 3, //数据主键id
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createTime: "2025-03-03 17:51:13", //数据创建时间
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updateTime: "2025-03-03 19:22:35", //数据更新时间
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account: "test001", //用户账户
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nickname: "测试账户001", //用户昵称
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password: null, |
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usrRole: "Admin", //用户角色，可用值:User,Admin,Dev
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isBuiltInUser: false, //是否内置用户(内置用户不可删除)
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}, |
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timestamp: 1741001321389, |
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}); |
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}); |
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|
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router.post("/logout", (req, res) => { |
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req.app.locals["context"] = { |
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loginFlag: false, |
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loginUser: {}, |
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}; |
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wsSend(req.app.locals["wss"], { |
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messageType: "DeviceContext", |
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data: req.app.locals["context"], |
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path: "/deviceContext", |
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}); |
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|
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res.json({ |
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status: 0, |
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timestamp: 1741005358167, |
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}); |
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}); |
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export default router; |
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@ -1,142 +0,0 @@ |
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|
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type UpTrayStepStruct = { |
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method: "upTray"; |
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// params: {
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// heaterId: number;
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// };
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}; |
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type DownTrayStepStruct = { |
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method: "downTray"; |
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// params: {
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// heaterId: number;
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// };
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}; |
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export type TubeSolStruct = { |
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tubeNum: number; |
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addLiquidList: Array<{ |
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solId: number; |
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volume: number; |
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}>; |
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}; |
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type AddLiquidStepStruct = { |
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method: "addLiquid"; |
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params: { |
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solId: number; |
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volume: number; |
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tubeSolList?: TubeSolStruct[]; |
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}; |
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}; |
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type MoveToSolStepStruct = { |
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method: "moveToSol"; |
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// params: {
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// heaterId: number;
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// };
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}; |
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type MoveToHeaterStepStruct = { |
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method: "moveToHeat"; |
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// params: {
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// heaterId: number;
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// };
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}; |
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type ShakingStepStruct = { |
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method: "shaking"; |
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params: { |
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second: number; |
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}; |
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}; |
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|
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type StartHeatingStepStruct = { |
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method: "startHeating"; |
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params: { |
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// heaterId: number;
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temperature: number; |
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}; |
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}; |
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type StopHeatingStepStruct = { |
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method: "stopHeating"; |
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// params: {
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// heaterId: number;
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// };
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}; |
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type TakePhotoStepStruct = { |
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method: "takePhoto"; |
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}; |
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type DelayStepStruct = { |
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method: "delay"; |
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params: { |
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second: number; |
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}; |
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}; |
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|
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export type StepStruct = |
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| UpTrayStepStruct |
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| DownTrayStepStruct |
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| AddLiquidStepStruct |
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| MoveToSolStepStruct |
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| MoveToHeaterStepStruct |
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| ShakingStepStruct |
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| StartHeatingStepStruct |
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| StopHeatingStepStruct |
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| TakePhotoStepStruct |
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| DelayStepStruct; |
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export type StepCmd = StepStruct["method"]; |
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export const StepCmdDescMap: { [k in StepCmd]: string } = { |
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upTray: "抬起托盘", |
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downTray: "降下托盘", |
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addLiquid: "添加溶液", |
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moveToSol: "移至加液", |
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moveToHeat: "移至加热", |
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shaking: "摇匀", |
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startHeating: "开始加热", |
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stopHeating: "停止加热", |
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takePhoto: "拍照", |
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delay: "等待", |
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}; |
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|
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export const CmdDescMap: { [k in OperationCmd]: string } = { |
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upTray: "抬起托盘", |
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downTray: "降下托盘", |
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injectFluid: "注入溶液", |
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moveToActionArea: "移至操作区", |
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startShakeUp: "开始摇匀", |
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stopShakeUp: "结束摇匀", |
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startHeat: "开始加热", |
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stopHeat: "停止加热", |
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// keepHeat: "恒温",
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takePhoto: "拍照", |
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// moveToUnusual: "移至异常区",
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moveToHeatArea: "移至加热区", |
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takeOffCap: "取下拍子", |
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putBackCap: "装回拍子", |
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openClaw: "张开夹爪", |
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closeClaw: "收合夹爪", |
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moveMachineArm: "移动机械臂", |
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moveTube: "移动试管", |
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openDoor: "开门", |
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closeDoor: "关门", |
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|
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}; |
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export type OperationCmd = |
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| "upTray" // 抬起托盘
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| "downTray" // 降下托盘
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| "injectFluid" // 注入溶液
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| "moveToActionArea" // 移至操作区
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| "startShakeUp" // 开始摇匀
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| "stopShakeUp" // 结束摇匀
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| "startHeat" // 开始加热
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| "stopHeat" // 停止加热
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// | "keepHeat" // 恒温
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| "takePhoto" // 拍照
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// | "moveToUnusual" // 移至异常区
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| "moveToHeatArea" // 移至加热区
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| "takeOffCap" // 取下拍子
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| "putBackCap" // 装回拍子
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| "openClaw" // 张开夹爪
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| "closeClaw" // 收合夹爪
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| "moveMachineArm" // 移动机械臂
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| "moveTube" // 移动试管
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| "openDoor" //开门
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| "closeDoor"; //关门
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@ -1,266 +1,41 @@ |
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import type { StepCmd } from "./cmdTypes"; |
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export type CmdDatagram = { |
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type: "cmd"; // 指令
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data: { |
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commandId: string; |
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// commandName: DebugCmd;
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status: "D0000" | "D1111"; |
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message?: string; |
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// success: boolean;
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}; |
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}; |
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export type CraftDatagram = { |
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type: "crafts"; |
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data: { |
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// 当前工艺执行状态，0 表示未执行，1 表示正在执行，2 表示暂停执行，3 表示停止执行 4:Error, 6: 完成。
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status: 0 | 1 | 2 | 3 | 4 | 6; |
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// 当前正在执行的具体工艺方法
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method: StepCmd; |
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// 当前正在执行的工艺步骤索引
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methodIndex: number; |
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// 加热区 ID
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heatId: number; |
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}; |
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}; |
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export type WarnDatagram = { |
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type: "warn"; // 报警
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// 开始、停止绘制
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export type TaskState = { |
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messageType: "EVENT"; |
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data: { |
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code: string; |
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msg: string; |
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module: string; |
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event: "START_RECORD_SIG" | "END_RECORD_SIG"; |
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}; |
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path: "/measurement-task/get-task-state"; |
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}; |
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export type StatusDatagram = { |
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type: "status"; // 状态
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// 连接上报坐标点
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export type TrackRecordSig = { |
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messageType: "EVENT"; |
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data: { |
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emergencyStop: boolean; // 硬件急停信号，true 为急停触发，false 为正常运行
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doorStatus: boolean; // 门的状态，false 表示关闭，true 表示开启
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railArm: { |
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x: number; |
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y: number; |
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z: number; |
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joint1: number; |
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joint2: number; |
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distance: number; // 当前机械臂（轴 3）上下移动的距离
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railDistance: number; |
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clawDistance: number; |
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clawStatus: boolean; // 夹爪状态，true 为张开,false 为闭合
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isZeroPos: boolean; // 导轨是否在原点
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isLimitPos: boolean; // 导轨是否在限位点
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}; |
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// 操作区（加液、摇匀、拍照）状态
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liquidArea: { |
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liquidArm: { |
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x: number; |
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y: number; |
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z: number; |
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joint1: number; |
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joint2: number; |
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pump: Array<{ |
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pumpId: number; |
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isPumping: boolean; // 是否正在加液，true正在加液
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}>; |
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}; |
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isShaking: boolean; // 是否正在摇匀
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liquidTray: boolean; // 是否存在托盘
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// 溶液容器状态
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solutionBucket: Array<{ |
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isEmpty: boolean; // 容器是否为空
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isFull: boolean; // 容器是否已满
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}>; |
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}; |
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|
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// 加热区列表
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heatArea: Array<{ |
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// heaterId: string;
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hardwareId: string; |
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trayStatus: 0 | 1 | 2; // 0为无托盘，1为有托盘，2为托盘抬起
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isHeating: boolean; // 是否正在加热
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capStatus: boolean; // 是否存在拍子
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isSealed: boolean; // 拍子密封状态，true为已密封，false为未密封
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temperature: number; // 当前温度
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}>; |
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// 碱容器状态(废液桶)
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alkaliBucket: { |
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isEmpty: boolean; // 容器是否为空
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isFull: boolean; // 容器是否已满
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}; |
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x: number; |
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y: number; |
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}; |
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path: "/measurement-task/profile-record-ctrl-sig"; |
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}; |
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export type CraftState = { |
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type: "crafts"; |
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data: { |
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heatId: string | number; |
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methodIndex: string | number; |
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status: string | number; |
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}; |
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export const defaultContext: ContextMessage["data"] = { |
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loginFlag: false, |
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loginUser: {}, |
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}; |
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export type ContainerDatagram = { |
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type: "container"; |
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export type ContextMessage = { |
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messageType: "DeviceContext"; |
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data: { |
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containerList: Array<{ |
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loginFlag: Boolean; |
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loginUser: Partial<{ |
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id: number; |
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type: 0 | 1; // 0:酸液 1:废液
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solutionId: number; |
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pumpId: number; |
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capacityTotal: number; |
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capacityUsed: number; |
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account: string; |
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nickname: string; |
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password: string; |
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userRole: "Admin" | "User" | "Dev"; |
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isBuiltInUser: boolean; |
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}>; |
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}; |
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path: "/deviceContext"; |
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}; |
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export type Datagram = CmdDatagram | WarnDatagram | StatusDatagram | CraftDatagram | ContainerDatagram; |
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export const defaultStatus: StatusDatagram["data"] = { |
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emergencyStop: false, // 硬件急停信号，true 为急停触发，false 为正常运行
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doorStatus: false, // 门的状态，false 表示关闭，true 表示开启
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railArm: { |
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x: 0, |
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y: 0, |
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z: 0, |
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joint1: 0, |
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joint2: 0, |
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distance: 0, // 当前机械臂（轴 3）上下移动的距离
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railDistance: 0, |
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clawDistance: 0, |
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clawStatus: false, // 夹爪状态，true 为张开,false 为闭合
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isZeroPos: true, // 导轨是否在原点
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isLimitPos: false, // 导轨是否在限位点
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}, |
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// 操作区（加液、摇匀、拍照）状态
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liquidArea: { |
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liquidArm: { |
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x: 0, |
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y: 0, |
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z: 0, |
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joint1: 0, |
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joint2: 0, |
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pump: [ |
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{ |
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pumpId: 1, |
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isPumping: false, // 是否正在加液，true正在加液
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}, |
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{ |
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pumpId: 2, |
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isPumping: false, // 是否正在加液，true正在加液
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}, |
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{ |
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pumpId: 3, |
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isPumping: false, // 是否正在加液，true正在加液
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}, |
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{ |
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pumpId: 4, |
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isPumping: false, // 是否正在加液，true正在加液
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}, |
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{ |
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pumpId: 5, |
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isPumping: false, // 是否正在加液，true正在加液
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}, |
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{ |
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pumpId: 6, |
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isPumping: false, // 是否正在加液，true正在加液
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}, |
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], |
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}, |
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isShaking: false, // 是否正在摇匀
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liquidTray: false, // 是否存在托盘
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// 溶液容器状态
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solutionBucket: [ |
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{ |
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isEmpty: false, // 容器是否为空
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isFull: false, // 容器是否已满
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}, |
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{ |
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isEmpty: false, // 容器是否为空
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isFull: false, // 容器是否已满
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}, |
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{ |
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isEmpty: false, // 容器是否为空
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isFull: false, // 容器是否已满
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}, |
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{ |
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isEmpty: false, // 容器是否为空
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isFull: false, // 容器是否已满
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}, |
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{ |
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isEmpty: false, // 容器是否为空
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isFull: false, // 容器是否已满
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}, |
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{ |
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isEmpty: false, // 容器是否为空
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isFull: false, // 容器是否已满
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}, |
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{ |
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isEmpty: false, // 容器是否为空
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isFull: false, // 容器是否已满
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}, |
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{ |
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isEmpty: false, // 容器是否为空
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isFull: false, // 容器是否已满
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}, |
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], |
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}, |
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// 加热区列表
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heatArea: [ |
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{ |
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hardwareId: "hardware_1", |
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trayStatus: 0, // 0为无托盘，1为有托盘，2为托盘抬起
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isHeating: false, // 是否正在加热
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capStatus: false, // 是否存在拍子
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isSealed: false, // 拍子密封状态，true为已密封，false为未密封
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temperature: 0, // 当前温度
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}, |
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{ |
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hardwareId: "hardware_2", |
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trayStatus: 0, // 0为无托盘，1为有托盘，2为托盘抬起
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isHeating: false, // 是否正在加热
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capStatus: false, // 是否存在拍子
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isSealed: false, // 拍子密封状态，true为已密封，false为未密封
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temperature: 0, // 当前温度
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}, |
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{ |
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hardwareId: "hardware_3", |
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trayStatus: 0, // 0为无托盘，1为有托盘，2为托盘抬起
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isHeating: false, // 是否正在加热
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capStatus: false, // 是否存在拍子
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isSealed: false, // 拍子密封状态，true为已密封，false为未密封
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temperature: 0, // 当前温度
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}, |
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{ |
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hardwareId: "hardware_4", |
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trayStatus: 0, // 0为无托盘，1为有托盘，2为托盘抬起
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isHeating: false, // 是否正在加热
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capStatus: false, // 是否存在拍子
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isSealed: false, // 拍子密封状态，true为已密封，false为未密封
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temperature: 0, // 当前温度
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}, |
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{ |
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hardwareId: "hardware_5", |
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trayStatus: 0, // 0为无托盘，1为有托盘，2为托盘抬起
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isHeating: false, // 是否正在加热
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capStatus: false, // 是否存在拍子
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isSealed: false, // 拍子密封状态，true为已密封，false为未密封
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temperature: 0, // 当前温度
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}, |
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{ |
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hardwareId: "hardware_6", |
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trayStatus: 0, // 0为无托盘，1为有托盘，2为托盘抬起
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isHeating: false, // 是否正在加热
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capStatus: false, // 是否存在拍子
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isSealed: false, // 拍子密封状态，true为已密封，false为未密封
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temperature: 0, // 当前温度
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}, |
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], |
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// 碱容器状态(废液桶)
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alkaliBucket: { |
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isEmpty: false, // 容器是否为空
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isFull: false, // 容器是否已满
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}, |
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}; |
|||
export type Datagram = TrackRecordSig | TaskState | ContextMessage; |
|||
1503
src/utils/measure.json
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