mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-04 13:25:13 +00:00
支持通过导入方式补全注册表，新增工作流unilabos_device_id字段
This commit is contained in:
Xuwznln
@@ -0,0 +1,505 @@
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hplc.agilent:
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class:
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action_value_mappings:
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||||
auto-check_status:
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||||
feedback: {}
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||||
goal: {}
|
||||
goal_default: {}
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||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand check_status 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand check_status 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
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||||
required:
|
||||
- goal
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||||
title: check_status 命令参数
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||||
type: object
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||||
type: UniLabJsonCommand
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||||
auto-execute_command_from_outer:
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||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
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||||
command: null
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||||
handles: []
|
||||
result: {}
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||||
schema:
|
||||
description: UniLabJsonCommand execute_command_from_outer 的参数schema
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||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand execute_command_from_outer 的参数schema
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||||
properties:
|
||||
command:
|
||||
description: '参数: command'
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||||
type: string
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||||
required:
|
||||
- command
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||||
type: object
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||||
result: {}
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||||
required:
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||||
- goal
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||||
title: execute_command_from_outer 命令参数
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||||
type: object
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||||
type: UniLabJsonCommand
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||||
auto-extract_data_from_txt:
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||||
feedback: {}
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||||
goal: {}
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||||
goal_default:
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||||
file_path: null
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||||
handles: []
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||||
result: {}
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||||
schema:
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||||
description: UniLabJsonCommand extract_data_from_txt 的参数schema
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||||
properties:
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||||
feedback: {}
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||||
goal:
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||||
description: UniLabJsonCommand extract_data_from_txt 的参数schema
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||||
properties:
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||||
file_path:
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||||
description: '参数: file_path'
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||||
type: string
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||||
required:
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||||
- file_path
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||||
type: object
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||||
result: {}
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||||
required:
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||||
- goal
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||||
title: extract_data_from_txt 命令参数
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||||
type: object
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||||
type: UniLabJsonCommand
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||||
auto-get_data_file:
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||||
feedback: {}
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||||
goal: {}
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||||
goal_default:
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||||
after_time: null
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||||
mat_index: null
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||||
handles: []
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||||
result: {}
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||||
schema:
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||||
description: UniLabJsonCommand get_data_file 的参数schema
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||||
properties:
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||||
feedback: {}
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||||
goal:
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||||
description: UniLabJsonCommand get_data_file 的参数schema
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||||
properties:
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||||
after_time:
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||||
description: '参数: after_time'
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||||
type: string
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||||
mat_index:
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||||
description: '参数: mat_index'
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||||
type: string
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||||
required: []
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||||
type: object
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||||
result: {}
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||||
required:
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||||
- goal
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||||
title: get_data_file 命令参数
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||||
type: object
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||||
type: UniLabJsonCommand
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||||
auto-start_sequence:
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||||
feedback: {}
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||||
goal: {}
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||||
goal_default:
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||||
params: null
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||||
resource: null
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||||
wf_name: null
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||||
handles: []
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||||
result: {}
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||||
schema:
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||||
description: UniLabJsonCommand start_sequence 的参数schema
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||||
properties:
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||||
feedback: {}
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||||
goal:
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||||
description: UniLabJsonCommand start_sequence 的参数schema
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||||
properties:
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||||
params:
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||||
description: '参数: params'
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||||
type: string
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||||
resource:
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||||
description: '参数: resource'
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||||
type: object
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||||
wf_name:
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||||
description: '参数: wf_name'
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type: string
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||||
required:
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||||
- wf_name
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||||
type: object
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||||
result: {}
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||||
required:
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||||
- goal
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||||
title: start_sequence 命令参数
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||||
type: object
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||||
type: UniLabJsonCommand
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||||
auto-try_close_sub_device:
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||||
feedback: {}
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||||
goal: {}
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||||
goal_default:
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||||
device_name: null
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||||
handles: []
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||||
result: {}
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||||
schema:
|
||||
description: UniLabJsonCommand try_close_sub_device 的参数schema
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||||
properties:
|
||||
feedback: {}
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||||
goal:
|
||||
description: UniLabJsonCommand try_close_sub_device 的参数schema
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||||
properties:
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||||
device_name:
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||||
description: '参数: device_name'
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||||
type: string
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||||
required: []
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||||
type: object
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||||
result: {}
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||||
required:
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||||
- goal
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||||
title: try_close_sub_device 命令参数
|
||||
type: object
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||||
type: UniLabJsonCommand
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||||
auto-try_open_sub_device:
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||||
feedback: {}
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||||
goal: {}
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||||
goal_default:
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||||
device_name: null
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||||
handles: []
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||||
result: {}
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||||
schema:
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||||
description: UniLabJsonCommand try_open_sub_device 的参数schema
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||||
properties:
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||||
feedback: {}
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||||
goal:
|
||||
description: UniLabJsonCommand try_open_sub_device 的参数schema
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||||
properties:
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||||
device_name:
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||||
description: '参数: device_name'
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||||
type: string
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||||
required: []
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||||
type: object
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||||
result: {}
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||||
required:
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||||
- goal
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||||
title: try_open_sub_device 命令参数
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||||
type: object
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||||
type: UniLabJsonCommand
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||||
execute_command_from_outer:
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||||
feedback: {}
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||||
goal:
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||||
command: command
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||||
goal_default:
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||||
command: ''
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||||
handles: []
|
||||
result:
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||||
success: success
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||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
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||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
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||||
properties:
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||||
status:
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||||
type: string
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||||
required:
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||||
- status
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||||
title: SendCmd_Feedback
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||||
type: object
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||||
goal:
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||||
description: Action 目标 - 从客户端发送到服务器
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||||
properties:
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||||
command:
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||||
type: string
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||||
required:
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||||
- command
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||||
title: SendCmd_Goal
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||||
type: object
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||||
result:
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||||
description: Action 结果 - 完成后从服务器发送到客户端
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||||
properties:
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||||
return_info:
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||||
type: string
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||||
success:
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||||
type: boolean
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||||
required:
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||||
- return_info
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||||
- success
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||||
title: SendCmd_Result
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||||
type: object
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||||
required:
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||||
- goal
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||||
title: SendCmd
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||||
type: object
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||||
type: SendCmd
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||||
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
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||||
status_types:
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||||
could_run: bool
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||||
device_status: str
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||||
driver_init_ok: bool
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||||
finish_status: str
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||||
get_data_file: tuple
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||||
is_running: bool
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||||
status_text: str
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||||
success: bool
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||||
type: python
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||||
description: HPLC device
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||||
handles: []
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||||
icon: ''
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||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
driver_debug:
|
||||
default: false
|
||||
description: '参数: driver_debug'
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||||
type: boolean
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||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
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||||
type: object
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||||
raman_home_made:
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||||
class:
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||||
action_value_mappings:
|
||||
auto-ccd_time:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
int_time: null
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||||
handles: []
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||||
result: {}
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||||
schema:
|
||||
description: UniLabJsonCommand ccd_time 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand ccd_time 的参数schema
|
||||
properties:
|
||||
int_time:
|
||||
description: '参数: int_time'
|
||||
type: string
|
||||
required:
|
||||
- int_time
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||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: ccd_time 命令参数
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||||
type: object
|
||||
type: UniLabJsonCommand
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||||
auto-laser_on_power:
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||||
feedback: {}
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||||
goal: {}
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||||
goal_default:
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||||
output_voltage_laser: null
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||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand laser_on_power 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand laser_on_power 的参数schema
|
||||
properties:
|
||||
output_voltage_laser:
|
||||
description: '参数: output_voltage_laser'
|
||||
type: string
|
||||
required:
|
||||
- output_voltage_laser
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||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: laser_on_power 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-raman_cmd:
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||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand raman_cmd 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand raman_cmd 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: raman_cmd 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-raman_without_background:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
int_time: null
|
||||
laser_power: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand raman_without_background 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand raman_without_background 的参数schema
|
||||
properties:
|
||||
int_time:
|
||||
description: '参数: int_time'
|
||||
type: string
|
||||
laser_power:
|
||||
description: '参数: laser_power'
|
||||
type: string
|
||||
required:
|
||||
- int_time
|
||||
- laser_power
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: raman_without_background 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-raman_without_background_average:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
average: null
|
||||
int_time: null
|
||||
laser_power: null
|
||||
sample_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand raman_without_background_average 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand raman_without_background_average 的参数schema
|
||||
properties:
|
||||
average:
|
||||
description: '参数: average'
|
||||
type: string
|
||||
int_time:
|
||||
description: '参数: int_time'
|
||||
type: string
|
||||
laser_power:
|
||||
description: '参数: laser_power'
|
||||
type: string
|
||||
sample_name:
|
||||
description: '参数: sample_name'
|
||||
type: string
|
||||
required:
|
||||
- sample_name
|
||||
- int_time
|
||||
- laser_power
|
||||
- average
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: raman_without_background_average 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
raman_cmd:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.raman_uv.home_made_raman:RamanObj
|
||||
status_types:
|
||||
status: String
|
||||
type: python
|
||||
description: Raman spectroscopy device
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
baudrate_ccd:
|
||||
default: 921600
|
||||
description: '参数: baudrate_ccd'
|
||||
type: integer
|
||||
baudrate_laser:
|
||||
default: 9600
|
||||
description: '参数: baudrate_laser'
|
||||
type: integer
|
||||
port_ccd:
|
||||
description: '参数: port_ccd'
|
||||
type: string
|
||||
port_laser:
|
||||
description: '参数: port_laser'
|
||||
type: string
|
||||
required:
|
||||
- port_laser
|
||||
- port_ccd
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -23,7 +23,8 @@ hotel.thermo_orbitor_rs2_hotel:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.resource_container.container:HotelContainer
|
||||
status_types: {}
|
||||
status_types:
|
||||
get_rotation: String
|
||||
type: python
|
||||
description: Thermo Orbitor RS2 Hotel
|
||||
handles: []
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -250,6 +250,7 @@ mock_chiller:
|
||||
module: unilabos.devices.mock.mock_chiller:MockChiller
|
||||
status_types:
|
||||
current_temperature: float
|
||||
get_status_info: dict
|
||||
is_cooling: bool
|
||||
is_heating: bool
|
||||
purpose: str
|
||||
@@ -594,6 +595,7 @@ mock_filter:
|
||||
filtered_volume: float
|
||||
filtrate_vessel: str
|
||||
flow_rate: float
|
||||
get_status_info: dict
|
||||
is_filtering: bool
|
||||
pressure_drop: float
|
||||
progress: float
|
||||
@@ -1053,6 +1055,7 @@ mock_heater:
|
||||
module: unilabos.devices.mock.mock_heater:MockHeater
|
||||
status_types:
|
||||
current_temperature: float
|
||||
get_status_info: dict
|
||||
heating_power: float
|
||||
is_heating: bool
|
||||
max_temperature: float
|
||||
@@ -1510,6 +1513,7 @@ mock_pump:
|
||||
current_device: str
|
||||
flow_rate: float
|
||||
from_vessel: str
|
||||
get_status_info: dict
|
||||
is_solid: bool
|
||||
is_viscous: bool
|
||||
max_flow_rate: float
|
||||
@@ -2081,6 +2085,7 @@ mock_rotavap:
|
||||
type: EmptyIn
|
||||
module: unilabos.devices.mock.mock_rotavap:MockRotavap
|
||||
status_types:
|
||||
get_status_info: dict
|
||||
pump_state: str
|
||||
pump_time: float
|
||||
rotate_speed: float
|
||||
@@ -2573,6 +2578,7 @@ mock_separator:
|
||||
status_types:
|
||||
current_device: str
|
||||
from_vessel: str
|
||||
get_status_info: dict
|
||||
product_phase: str
|
||||
purpose: str
|
||||
repeats: int
|
||||
@@ -2865,6 +2871,7 @@ mock_solenoid_valve:
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.mock.mock_solenoid_valve:MockSolenoidValve
|
||||
status_types:
|
||||
get_valve_status: str
|
||||
status: str
|
||||
valve_status: str
|
||||
type: python
|
||||
@@ -3281,6 +3288,7 @@ mock_stirrer:
|
||||
type: EmptyIn
|
||||
module: unilabos.devices.mock.mock_stirrer:MockStirrer
|
||||
status_types:
|
||||
get_status_info: dict
|
||||
heating_power: float
|
||||
heating_state: str
|
||||
max_stir_speed: float
|
||||
@@ -3621,6 +3629,7 @@ mock_stirrer_new:
|
||||
type: StopStir
|
||||
module: unilabos.devices.mock.mock_stirrer_new:MockStirrer_new
|
||||
status_types:
|
||||
get_status_info: dict
|
||||
max_stir_speed: float
|
||||
progress: float
|
||||
purpose: str
|
||||
@@ -4125,6 +4134,7 @@ mock_vacuum:
|
||||
type: EmptyIn
|
||||
module: unilabos.devices.mock.mock_vacuum:MockVacuum
|
||||
status_types:
|
||||
get_status_info: dict
|
||||
max_pump_speed: float
|
||||
power_state: str
|
||||
pump_efficiency: float
|
||||
|
||||
@@ -1,6 +1,294 @@
|
||||
moveit.arm_slider:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_tf_update_actions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand check_tf_update_actions 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand check_tf_update_actions 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_tf_update_actions 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_joint_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
joint_names: null
|
||||
joint_positions: null
|
||||
move_group: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand moveit_joint_task 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand moveit_joint_task 的参数schema
|
||||
properties:
|
||||
joint_names:
|
||||
description: '参数: joint_names'
|
||||
type: string
|
||||
joint_positions:
|
||||
description: '参数: joint_positions'
|
||||
type: string
|
||||
move_group:
|
||||
description: '参数: move_group'
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
description: '参数: retry'
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
description: '参数: speed'
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- joint_positions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_joint_task 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cartesian: false
|
||||
move_group: null
|
||||
offsets:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
position: null
|
||||
quaternion: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
target_link: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand moveit_task 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand moveit_task 的参数schema
|
||||
properties:
|
||||
cartesian:
|
||||
default: false
|
||||
description: '参数: cartesian'
|
||||
type: string
|
||||
move_group:
|
||||
description: '参数: move_group'
|
||||
type: string
|
||||
offsets:
|
||||
default:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
description: '参数: offsets'
|
||||
type: string
|
||||
position:
|
||||
description: '参数: position'
|
||||
type: string
|
||||
quaternion:
|
||||
description: '参数: quaternion'
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
description: '参数: retry'
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
description: '参数: speed'
|
||||
type: string
|
||||
target_link:
|
||||
description: '参数: target_link'
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- position
|
||||
- quaternion
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_task 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-pick_and_place:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand pick_and_place 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand pick_and_place 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pick_and_place 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand post_init 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand post_init 的参数schema
|
||||
properties:
|
||||
ros_node:
|
||||
description: '参数: ros_node'
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_manager:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
parent_link: null
|
||||
resource: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand resource_manager 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand resource_manager 的参数schema
|
||||
properties:
|
||||
parent_link:
|
||||
description: '参数: parent_link'
|
||||
type: string
|
||||
resource:
|
||||
description: '参数: resource'
|
||||
type: string
|
||||
required:
|
||||
- resource
|
||||
- parent_link
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_manager 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_position 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_position 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_position 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_status 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_status 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_status 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_resource_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand wait_for_resource_action 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand wait_for_resource_action 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_resource_action 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pick_and_place:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -151,8 +439,22 @@ moveit.arm_slider:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
properties:
|
||||
device_config:
|
||||
description: '参数: device_config'
|
||||
type: string
|
||||
joint_poses:
|
||||
description: '参数: joint_poses'
|
||||
type: string
|
||||
moveit_type:
|
||||
description: '参数: moveit_type'
|
||||
type: string
|
||||
rotation:
|
||||
description: '参数: rotation'
|
||||
type: string
|
||||
required:
|
||||
- moveit_type
|
||||
- joint_poses
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
@@ -165,6 +467,294 @@ moveit.arm_slider:
|
||||
moveit.toyo_xyz:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_tf_update_actions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand check_tf_update_actions 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand check_tf_update_actions 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_tf_update_actions 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_joint_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
joint_names: null
|
||||
joint_positions: null
|
||||
move_group: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand moveit_joint_task 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand moveit_joint_task 的参数schema
|
||||
properties:
|
||||
joint_names:
|
||||
description: '参数: joint_names'
|
||||
type: string
|
||||
joint_positions:
|
||||
description: '参数: joint_positions'
|
||||
type: string
|
||||
move_group:
|
||||
description: '参数: move_group'
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
description: '参数: retry'
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
description: '参数: speed'
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- joint_positions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_joint_task 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cartesian: false
|
||||
move_group: null
|
||||
offsets:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
position: null
|
||||
quaternion: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
target_link: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand moveit_task 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand moveit_task 的参数schema
|
||||
properties:
|
||||
cartesian:
|
||||
default: false
|
||||
description: '参数: cartesian'
|
||||
type: string
|
||||
move_group:
|
||||
description: '参数: move_group'
|
||||
type: string
|
||||
offsets:
|
||||
default:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
description: '参数: offsets'
|
||||
type: string
|
||||
position:
|
||||
description: '参数: position'
|
||||
type: string
|
||||
quaternion:
|
||||
description: '参数: quaternion'
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
description: '参数: retry'
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
description: '参数: speed'
|
||||
type: string
|
||||
target_link:
|
||||
description: '参数: target_link'
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- position
|
||||
- quaternion
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_task 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-pick_and_place:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand pick_and_place 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand pick_and_place 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pick_and_place 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand post_init 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand post_init 的参数schema
|
||||
properties:
|
||||
ros_node:
|
||||
description: '参数: ros_node'
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_manager:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
parent_link: null
|
||||
resource: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand resource_manager 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand resource_manager 的参数schema
|
||||
properties:
|
||||
parent_link:
|
||||
description: '参数: parent_link'
|
||||
type: string
|
||||
resource:
|
||||
description: '参数: resource'
|
||||
type: string
|
||||
required:
|
||||
- resource
|
||||
- parent_link
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_manager 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_position 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_position 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_position 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_status 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_status 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_status 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_resource_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand wait_for_resource_action 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand wait_for_resource_action 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_resource_action 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pick_and_place:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -315,8 +905,22 @@ moveit.toyo_xyz:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
properties:
|
||||
device_config:
|
||||
description: '参数: device_config'
|
||||
type: string
|
||||
joint_poses:
|
||||
description: '参数: joint_poses'
|
||||
type: string
|
||||
moveit_type:
|
||||
description: '参数: moveit_type'
|
||||
type: string
|
||||
rotation:
|
||||
description: '参数: rotation'
|
||||
type: string
|
||||
required:
|
||||
- moveit_type
|
||||
- joint_poses
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
|
||||
@@ -224,6 +224,7 @@ solenoid_valve:
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
|
||||
status_types:
|
||||
get_valve_position: str
|
||||
status: str
|
||||
valve_position: str
|
||||
type: python
|
||||
@@ -454,6 +455,7 @@ solenoid_valve.mock:
|
||||
type: EmptyIn
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
|
||||
status_types:
|
||||
get_valve_position: str
|
||||
status: str
|
||||
valve_position: str
|
||||
type: python
|
||||
@@ -1087,6 +1089,14 @@ syringe_pump_with_valve.runze:
|
||||
write: send_command
|
||||
module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
|
||||
status_types:
|
||||
get_max_velocity: String
|
||||
get_plunger_position: String
|
||||
get_position: String
|
||||
get_status: String
|
||||
get_valve_position: str
|
||||
get_velocity_end: String
|
||||
get_velocity_grade: String
|
||||
get_velocity_init: String
|
||||
max_velocity: float
|
||||
mode: int
|
||||
position: float
|
||||
|
||||
@@ -1,6 +1,410 @@
|
||||
gripper.misumi_rz:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-data_loop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand data_loop 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand data_loop 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: data_loop 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-data_reader:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand data_reader 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand data_reader 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: data_reader 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-gripper_move:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
force: null
|
||||
pos: null
|
||||
speed: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand gripper_move 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand gripper_move 的参数schema
|
||||
properties:
|
||||
force:
|
||||
description: '参数: force'
|
||||
type: string
|
||||
pos:
|
||||
description: '参数: pos'
|
||||
type: string
|
||||
speed:
|
||||
description: '参数: speed'
|
||||
type: string
|
||||
required:
|
||||
- pos
|
||||
- speed
|
||||
- force
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: gripper_move 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-init_gripper:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand init_gripper 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand init_gripper 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: init_gripper 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-modbus_crc:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand modbus_crc 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand modbus_crc 的参数schema
|
||||
properties:
|
||||
data:
|
||||
description: '参数: data'
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: modbus_crc 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_and_rotate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
grasp_F: null
|
||||
grasp_pos: null
|
||||
grasp_v: null
|
||||
spin_F: null
|
||||
spin_pos: null
|
||||
spin_v: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand move_and_rotate 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand move_and_rotate 的参数schema
|
||||
properties:
|
||||
grasp_F:
|
||||
description: '参数: grasp_F'
|
||||
type: string
|
||||
grasp_pos:
|
||||
description: '参数: grasp_pos'
|
||||
type: string
|
||||
grasp_v:
|
||||
description: '参数: grasp_v'
|
||||
type: string
|
||||
spin_F:
|
||||
description: '参数: spin_F'
|
||||
type: string
|
||||
spin_pos:
|
||||
description: '参数: spin_pos'
|
||||
type: string
|
||||
spin_v:
|
||||
description: '参数: spin_v'
|
||||
type: string
|
||||
required:
|
||||
- spin_pos
|
||||
- grasp_pos
|
||||
- spin_v
|
||||
- grasp_v
|
||||
- spin_F
|
||||
- grasp_F
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_and_rotate 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-node_gripper_move:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand node_gripper_move 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand node_gripper_move 的参数schema
|
||||
properties:
|
||||
cmd:
|
||||
description: '参数: cmd'
|
||||
type: string
|
||||
required:
|
||||
- cmd
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: node_gripper_move 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-node_rotate_move:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand node_rotate_move 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand node_rotate_move 的参数schema
|
||||
properties:
|
||||
cmd:
|
||||
description: '参数: cmd'
|
||||
type: string
|
||||
required:
|
||||
- cmd
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: node_rotate_move 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_address:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
address: null
|
||||
data_len: null
|
||||
id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand read_address 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand read_address 的参数schema
|
||||
properties:
|
||||
address:
|
||||
description: '参数: address'
|
||||
type: string
|
||||
data_len:
|
||||
description: '参数: data_len'
|
||||
type: string
|
||||
id:
|
||||
description: '参数: id'
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- address
|
||||
- data_len
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_address 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-rotate_move_abs:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
force: null
|
||||
pos: null
|
||||
speed: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand rotate_move_abs 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand rotate_move_abs 的参数schema
|
||||
properties:
|
||||
force:
|
||||
description: '参数: force'
|
||||
type: string
|
||||
pos:
|
||||
description: '参数: pos'
|
||||
type: string
|
||||
speed:
|
||||
description: '参数: speed'
|
||||
type: string
|
||||
required:
|
||||
- pos
|
||||
- speed
|
||||
- force
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: rotate_move_abs 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_cmd:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
address: null
|
||||
data: null
|
||||
fun: null
|
||||
id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send_cmd 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send_cmd 的参数schema
|
||||
properties:
|
||||
address:
|
||||
description: '参数: address'
|
||||
type: string
|
||||
data:
|
||||
description: '参数: data'
|
||||
type: string
|
||||
fun:
|
||||
description: '参数: fun'
|
||||
type: string
|
||||
id:
|
||||
description: '参数: id'
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- fun
|
||||
- address
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_cmd 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_gripper:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand wait_for_gripper 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand wait_for_gripper 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_gripper 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_gripper_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand wait_for_gripper_init 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand wait_for_gripper_init 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_gripper_init 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_rotate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand wait_for_rotate 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand wait_for_rotate 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_rotate 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
execute_command_from_outer:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -50,7 +454,7 @@ gripper.misumi_rz:
|
||||
type: SendCmd
|
||||
module: unilabos.devices.motor.Grasp:EleGripper
|
||||
status_types:
|
||||
status: String
|
||||
status: str
|
||||
type: python
|
||||
description: Misumi RZ gripper
|
||||
handles: []
|
||||
@@ -61,8 +465,24 @@ gripper.misumi_rz:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
description: '参数: baudrate'
|
||||
type: integer
|
||||
id:
|
||||
default: 9
|
||||
description: '参数: id'
|
||||
type: integer
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
pos_error:
|
||||
default: -11
|
||||
description: '参数: pos_error'
|
||||
type: integer
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
@@ -72,6 +492,80 @@ gripper.misumi_rz:
|
||||
gripper.mock:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-edit_id:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
params: '{}'
|
||||
resource:
|
||||
Gripper1: {}
|
||||
wf_name: gripper_run
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand edit_id 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand edit_id 的参数schema
|
||||
properties:
|
||||
params:
|
||||
default: '{}'
|
||||
description: '参数: params'
|
||||
type: string
|
||||
resource:
|
||||
default:
|
||||
Gripper1: {}
|
||||
description: '参数: resource'
|
||||
type: object
|
||||
wf_name:
|
||||
default: gripper_run
|
||||
description: '参数: wf_name'
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: edit_id 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-push_to:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
torque: null
|
||||
velocity: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand push_to 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand push_to 的参数schema
|
||||
properties:
|
||||
position:
|
||||
description: '参数: position'
|
||||
type: number
|
||||
torque:
|
||||
description: '参数: torque'
|
||||
type: number
|
||||
velocity:
|
||||
default: 0.0
|
||||
description: '参数: velocity'
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
- torque
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: push_to 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
push_to:
|
||||
feedback:
|
||||
effort: torque
|
||||
@@ -151,9 +645,10 @@ gripper.mock:
|
||||
type: GripperCommand
|
||||
module: unilabos.devices.gripper.mock:MockGripper
|
||||
status_types:
|
||||
position: Float64
|
||||
status: String
|
||||
torque: Float64
|
||||
position: float
|
||||
status: str
|
||||
torque: float
|
||||
velocity: float
|
||||
type: python
|
||||
description: Mock gripper
|
||||
handles: []
|
||||
|
||||
@@ -1,6 +1,152 @@
|
||||
linear_motion.grbl:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-initialize:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand initialize 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand initialize 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: initialize 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_through_points:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
positions: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand move_through_points 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand move_through_points 的参数schema
|
||||
properties:
|
||||
positions:
|
||||
description: '参数: positions'
|
||||
type: array
|
||||
required:
|
||||
- positions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_through_points 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_position 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_position 的参数schema
|
||||
properties:
|
||||
position:
|
||||
description: '参数: position'
|
||||
type: string
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_position 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_spindle_speed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
max_velocity: 500
|
||||
spindle_speed: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_spindle_speed 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_spindle_speed 的参数schema
|
||||
properties:
|
||||
max_velocity:
|
||||
default: 500
|
||||
description: '参数: max_velocity'
|
||||
type: number
|
||||
spindle_speed:
|
||||
description: '参数: spindle_speed'
|
||||
type: number
|
||||
required:
|
||||
- spindle_speed
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_spindle_speed 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop_operation:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand stop_operation 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand stop_operation 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop_operation 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_error:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand wait_error 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand wait_error 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_error 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
move_through_points:
|
||||
feedback:
|
||||
current_pose.pose.position: position
|
||||
@@ -347,7 +493,12 @@ linear_motion.grbl:
|
||||
type: object
|
||||
type: SingleJointPosition
|
||||
module: unilabos.devices.cnc.grbl_sync:GrblCNC
|
||||
status_types: {}
|
||||
status_types:
|
||||
get_position: String
|
||||
get_status: String
|
||||
position: unilabos.messages:Point3D
|
||||
spindle_speed: float
|
||||
status: str
|
||||
type: python
|
||||
description: Grbl CNC
|
||||
handles: []
|
||||
@@ -358,8 +509,26 @@ linear_motion.grbl:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
properties:
|
||||
address:
|
||||
default: '1'
|
||||
description: '参数: address'
|
||||
type: string
|
||||
limits:
|
||||
default:
|
||||
- -150
|
||||
- 150
|
||||
- -200
|
||||
- 0
|
||||
- -80
|
||||
- 0
|
||||
description: '参数: limits'
|
||||
type: string
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
|
||||
@@ -182,7 +182,7 @@ lh_joint_publisher:
|
||||
speed:
|
||||
default: 0.1
|
||||
description: '参数: speed'
|
||||
type: number
|
||||
type: string
|
||||
x:
|
||||
description: '参数: x'
|
||||
type: string
|
||||
@@ -268,7 +268,7 @@ lh_joint_publisher:
|
||||
properties:
|
||||
channels:
|
||||
description: '参数: channels'
|
||||
type: string
|
||||
type: array
|
||||
link_name:
|
||||
description: '参数: link_name'
|
||||
type: string
|
||||
@@ -306,7 +306,7 @@ lh_joint_publisher:
|
||||
type: string
|
||||
resource_id_list:
|
||||
description: '参数: resource_id_list'
|
||||
type: string
|
||||
type: array
|
||||
required:
|
||||
- resource_id_list
|
||||
- link_name
|
||||
|
||||
@@ -614,6 +614,8 @@ heaterstirrer.dalong:
|
||||
type: SendCmd
|
||||
module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
|
||||
status_types:
|
||||
get_status: str
|
||||
get_temp: String
|
||||
status: str
|
||||
stir_speed: float
|
||||
temp: float
|
||||
|
||||
@@ -247,6 +247,7 @@ gas_source.mock:
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
status_types:
|
||||
get_status: str
|
||||
status: str
|
||||
type: python
|
||||
description: Mock gas source
|
||||
@@ -525,6 +526,7 @@ vacuum_pump.mock:
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
status_types:
|
||||
get_status: str
|
||||
status: str
|
||||
type: python
|
||||
description: Mock vacuum pump
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -2298,6 +2298,42 @@ workstation:
|
||||
title: create_ros_action_server 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-execute_single_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
action_kwargs: null
|
||||
action_name: null
|
||||
device_id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand execute_single_action 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand execute_single_action 的参数schema
|
||||
properties:
|
||||
action_kwargs:
|
||||
description: '参数: action_kwargs'
|
||||
type: string
|
||||
action_name:
|
||||
description: '参数: action_name'
|
||||
type: string
|
||||
device_id:
|
||||
description: '参数: device_id'
|
||||
type: string
|
||||
required:
|
||||
- device_id
|
||||
- action_name
|
||||
- action_kwargs
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: execute_single_action 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-initialize_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -2342,12 +2378,18 @@ workstation:
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
args:
|
||||
description: '参数: args'
|
||||
type: string
|
||||
children:
|
||||
description: '参数: children'
|
||||
type: object
|
||||
device_id:
|
||||
description: '参数: device_id'
|
||||
type: string
|
||||
kwargs:
|
||||
description: '参数: kwargs'
|
||||
type: string
|
||||
protocol_type:
|
||||
description: '参数: protocol_type'
|
||||
type: string
|
||||
@@ -2359,6 +2401,8 @@ workstation:
|
||||
- children
|
||||
- protocol_type
|
||||
- resource_tracker
|
||||
- args
|
||||
- kwargs
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
|
||||
@@ -226,6 +226,7 @@ zhida_hplc:
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
|
||||
status_types:
|
||||
get_methods: dict
|
||||
status: dict
|
||||
type: python
|
||||
description: Zhida HPLC
|
||||
|
||||
@@ -190,7 +190,9 @@ class Registry:
|
||||
logger.error(f"[UniLab Registry] 无法找到类型 '{type_name}' 用于设备 {device_id} 的 {field_name}")
|
||||
sys.exit(1)
|
||||
|
||||
def _generate_unilab_json_command_schema(self, method_args: List[Dict[str, Any]], method_name: str) -> Dict[str, Any]:
|
||||
def _generate_unilab_json_command_schema(
|
||||
self, method_args: List[Dict[str, Any]], method_name: str
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
|
||||
|
||||
@@ -302,6 +304,7 @@ class Registry:
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
if status_type in ["Any", "None"]:
|
||||
status_type = "String" # 替换成ROS的String，便于显示
|
||||
device_config["class"]["status_types"][status_name] = status_type
|
||||
target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
|
||||
status_str_type_mapping[status_type] = target_type
|
||||
device_config["class"]["status_types"] = dict(
|
||||
@@ -322,7 +325,9 @@ class Registry:
|
||||
for k, v in enhanced_info["action_methods"].items()
|
||||
}
|
||||
)
|
||||
device_config["init_param_schema"] = self._generate_unilab_json_command_schema(enhanced_info["init_params"], "__init__")
|
||||
device_config["init_param_schema"] = self._generate_unilab_json_command_schema(
|
||||
enhanced_info["init_params"], "__init__"
|
||||
)
|
||||
device_config.pop("schema", None)
|
||||
device_config["class"]["action_value_mappings"] = dict(
|
||||
sorted(device_config["class"]["action_value_mappings"].items())
|
||||
@@ -398,7 +403,28 @@ class Registry:
|
||||
def obtain_registry_device_info(self):
|
||||
devices = []
|
||||
for device_id, device_info in self.device_type_registry.items():
|
||||
msg = {"id": device_id, **device_info}
|
||||
device_info_copy = copy.deepcopy(device_info)
|
||||
if "class" in device_info_copy and "action_value_mappings" in device_info_copy["class"]:
|
||||
action_mappings = device_info_copy["class"]["action_value_mappings"]
|
||||
for action_name, action_config in action_mappings.items():
|
||||
if "schema" in action_config and action_config["schema"]:
|
||||
schema = action_config["schema"]
|
||||
# 确保schema结构存在
|
||||
if (
|
||||
"properties" in schema
|
||||
and "goal" in schema["properties"]
|
||||
and "properties" in schema["properties"]["goal"]
|
||||
):
|
||||
schema["properties"]["goal"]["properties"] = {
|
||||
"unilabos_device_id": {
|
||||
"type": "string",
|
||||
"default": "",
|
||||
"description": "UniLabOS设备ID，用于指定执行动作的具体设备实例",
|
||||
},
|
||||
**schema["properties"]["goal"]["properties"],
|
||||
}
|
||||
|
||||
msg = {"id": device_id, **device_info_copy}
|
||||
devices.append(msg)
|
||||
return devices
|
||||
|
||||
|
||||
@@ -168,10 +168,9 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
execution_error = ""
|
||||
execution_success = False
|
||||
protocol_return_value = None
|
||||
|
||||
self.get_logger().info(f"Executing {protocol_name} action...")
|
||||
action_value_mapping = self._action_value_mappings[protocol_name]
|
||||
try:
|
||||
self.get_logger().info(f"Executing {protocol_name} action...")
|
||||
action_value_mapping = self._action_value_mappings[protocol_name]
|
||||
print("+" * 30)
|
||||
print(protocol_steps_generator)
|
||||
# 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
|
||||
|
||||
@@ -207,7 +207,6 @@ class ImportManager:
|
||||
dynamic_info = None
|
||||
if use_dynamic:
|
||||
try:
|
||||
raise ValueError("强制使用动态导入") # 强制使用动态导入以测试功能
|
||||
dynamic_info = self._get_dynamic_class_info(module_path)
|
||||
result["dynamic_import_success"] = True
|
||||
logger.debug(f"[ImportManager] 动态导入类 {module_path} 成功")
|
||||
@@ -242,7 +241,7 @@ class ImportManager:
|
||||
|
||||
result = {
|
||||
"class_name": class_name,
|
||||
"init_params": {},
|
||||
"init_params": [],
|
||||
"status_methods": {},
|
||||
"action_methods": {},
|
||||
}
|
||||
@@ -268,10 +267,10 @@ class ImportManager:
|
||||
"required": param.default == inspect.Parameter.empty,
|
||||
"default": param_default,
|
||||
}
|
||||
result["init_params"][param_name] = param_info
|
||||
result["init_params"].append(param_info)
|
||||
|
||||
# 分析类的所有成员
|
||||
for name, method in inspect.getmembers(cls):
|
||||
for name, method in cls.__dict__.items():
|
||||
if name.startswith("_"):
|
||||
continue
|
||||
|
||||
@@ -551,7 +550,7 @@ class ImportManager:
|
||||
if i >= num_required:
|
||||
default_index = i - num_required
|
||||
if default_index < len(defaults):
|
||||
default_value: Constant = defaults[default_index]
|
||||
default_value: Constant = defaults[default_index] # type: ignore
|
||||
assert isinstance(default_value, Constant), "暂不支持对非常量类型进行推断，可反馈开源仓库"
|
||||
arg_info["default"] = default_value.value
|
||||
# 如果没有类型注解，尝试从默认值推断类型
|
||||
@@ -565,7 +564,6 @@ class ImportManager:
|
||||
|
||||
return method_info
|
||||
|
||||
|
||||
def _infer_type_from_default(self, node: ast.AST) -> Optional[str]:
|
||||
"""从默认值推断参数类型"""
|
||||
if isinstance(node, ast.Constant):
|
||||
@@ -594,11 +592,6 @@ class ImportManager:
|
||||
return "Optional[Any]"
|
||||
elif node.id in ["True", "False"]:
|
||||
return "bool"
|
||||
elif isinstance(node, ast.Attribute):
|
||||
# 处理类似 os.path.join 的情况
|
||||
attr_str = self._extract_default_value(node)
|
||||
if "path" in attr_str.lower():
|
||||
return "str"
|
||||
|
||||
return None
|
||||
|
||||
|
||||
Reference in New Issue
Block a user