mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 04:51:10 +00:00
更新所有注册表
This commit is contained in:
Xuwznln
@@ -1,256 +1 @@
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balance.mettler_toledo_xpr:
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category:
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- balance
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||||
class:
|
||||
action_value_mappings:
|
||||
disconnect:
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||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result:
|
||||
success: success
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||||
schema:
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||||
description: Disconnect from balance
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||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
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||||
type: object
|
||||
result:
|
||||
properties:
|
||||
success:
|
||||
description: Whether disconnect was successful
|
||||
type: boolean
|
||||
required:
|
||||
- success
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||||
type: object
|
||||
required:
|
||||
- goal
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||||
type: object
|
||||
type: UniLabJsonCommand
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||||
get_weight:
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||||
feedback: {}
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||||
goal: {}
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||||
goal_default: {}
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||||
handles: {}
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||||
result:
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unit: unit
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weight: weight
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schema:
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description: Get current weight reading
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||||
properties:
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||||
feedback: {}
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||||
goal:
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||||
properties: {}
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||||
required: []
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||||
type: object
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||||
result:
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properties:
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unit:
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description: Weight unit (e.g., g, kg)
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type: string
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||||
weight:
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||||
description: Weight value
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||||
type: number
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||||
required:
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||||
- weight
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||||
- unit
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||||
type: object
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||||
required:
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||||
- goal
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||||
type: object
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||||
type: UniLabJsonCommand
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||||
read_with_tare:
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feedback: {}
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goal:
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immediate_tare: immediate_tare
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goal_default:
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immediate_tare: true
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handles: {}
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||||
result:
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unit: unit
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weight: weight
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schema:
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description: Perform tare then read weight (standard read operation)
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properties:
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feedback: {}
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||||
goal:
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properties:
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||||
immediate_tare:
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default: true
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||||
description: Whether to use immediate tare
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||||
type: boolean
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||||
required: []
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||||
type: object
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||||
result:
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||||
properties:
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||||
unit:
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||||
description: Weight unit (e.g., g, kg)
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||||
type: string
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weight:
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||||
description: Weight value after tare
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||||
type: number
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||||
required:
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||||
- weight
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||||
- unit
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||||
type: object
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||||
required:
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||||
- goal
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||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
send_cmd:
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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: {}
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||||
result:
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return_info: return_info
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success: success
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schema:
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description: ''
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||||
properties:
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feedback:
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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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||||
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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||||
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
|
||||
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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||||
tare:
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feedback: {}
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goal:
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immediate: immediate
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goal_default:
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immediate: false
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||||
handles: {}
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||||
result:
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success: success
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||||
schema:
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||||
description: Tare operation for balance
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||||
properties:
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||||
feedback: {}
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||||
goal:
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||||
properties:
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immediate:
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default: false
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||||
description: Whether to perform immediate tare
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type: boolean
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||||
required: []
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||||
type: object
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||||
result:
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||||
properties:
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||||
success:
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||||
description: Whether tare operation was successful
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type: boolean
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||||
required:
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||||
- success
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||||
type: object
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||||
required:
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||||
- goal
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||||
type: object
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||||
type: UniLabJsonCommand
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||||
zero:
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||||
feedback: {}
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||||
goal:
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||||
immediate: immediate
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goal_default:
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immediate: false
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||||
handles: {}
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||||
result:
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||||
success: success
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||||
schema:
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||||
description: Zero operation for balance
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properties:
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||||
feedback: {}
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||||
goal:
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||||
properties:
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||||
immediate:
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||||
default: false
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||||
description: Whether to perform immediate zero
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||||
type: boolean
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||||
required: []
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||||
type: object
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||||
result:
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||||
properties:
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||||
success:
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||||
description: Whether zero operation was successful
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||||
type: boolean
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||||
required:
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||||
- success
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||||
type: object
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||||
required:
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||||
- goal
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||||
type: object
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||||
type: UniLabJsonCommand
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||||
module: unilabos.devices.balance.mettler_toledo_xpr.mettler_toledo_xpr:MettlerToledoXPR
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status_types:
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error_message: str
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is_stable: bool
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status: str
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||||
unit: str
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weight: float
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type: python
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config_info: []
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description: Mettler Toledo XPR/XSR Balance Driver
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handles: []
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icon: ''
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init_param_schema:
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description: MettlerToledoXPR __init__ parameters
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properties:
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||||
feedback: {}
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||||
goal:
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||||
description: Initialization parameters for Mettler Toledo XPR balance
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properties:
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||||
ip:
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default: 192.168.1.10
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description: Balance IP address
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||||
type: string
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||||
password:
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||||
default: '123456'
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description: Balance password
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type: string
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||||
port:
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||||
default: 81
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description: Balance port number
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||||
type: integer
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||||
timeout:
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||||
default: 10
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description: Connection timeout in seconds
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type: integer
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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: __init__ command parameters
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||||
type: object
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||||
version: 1.0.0
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||||
{}
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||||
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@@ -8375,6 +8375,9 @@ liquid_handler.prcxi:
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type: object
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||||
host:
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type: string
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||||
is_9320:
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||||
default: false
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||||
type: string
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||||
matrix_id:
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||||
default: ''
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||||
type: string
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||||
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||||
@@ -6112,7 +6112,7 @@ workstation:
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title: initialize_device参数
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||||
type: object
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||||
type: UniLabJsonCommand
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||||
module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
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||||
module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode
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||||
status_types: {}
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||||
type: ros2
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||||
config_info: []
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||||
@@ -6122,19 +6122,35 @@ workstation:
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||||
init_param_schema:
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config:
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||||
properties:
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||||
action_value_mappings:
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||||
type: object
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||||
children:
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||||
type: object
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||||
device_id:
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type: string
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||||
protocol_type:
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||||
driver_instance:
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type: string
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||||
hardware_interface:
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||||
type: object
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||||
print_publish:
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||||
default: true
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||||
type: string
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||||
protocol_type:
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||||
items:
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||||
type: string
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||||
type: array
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||||
resource_tracker:
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||||
type: string
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||||
status_types:
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||||
type: object
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||||
required:
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- device_id
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- children
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- protocol_type
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||||
- resource_tracker
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||||
- children
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||||
- driver_instance
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||||
- device_id
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||||
- status_types
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||||
- action_value_mappings
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||||
- hardware_interface
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||||
type: object
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||||
data:
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||||
properties: {}
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||||
@@ -6145,146 +6161,21 @@ workstation.example:
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category:
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- work_station
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class:
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||||
action_value_mappings:
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||||
auto-create_resource:
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||||
feedback: {}
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||||
goal: {}
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||||
goal_default:
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||||
bind_location: null
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bind_parent_id: null
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liquid_input_slot: null
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||||
liquid_type: null
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||||
liquid_volume: null
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||||
resource_tracker: null
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||||
resources: null
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||||
slot_on_deck: null
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||||
handles: {}
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||||
result: {}
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||||
schema:
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||||
description: ''
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||||
properties:
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||||
feedback: {}
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||||
goal:
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||||
properties:
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||||
bind_location:
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||||
type: object
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||||
bind_parent_id:
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||||
type: string
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||||
liquid_input_slot:
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||||
items:
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||||
type: integer
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||||
type: array
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||||
liquid_type:
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||||
items:
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||||
type: string
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||||
type: array
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||||
liquid_volume:
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||||
items:
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||||
type: integer
|
||||
type: array
|
||||
resource_tracker:
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||||
type: object
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||||
resources:
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||||
items:
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||||
type: object
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||||
type: array
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||||
slot_on_deck:
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||||
type: integer
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||||
required:
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||||
- resource_tracker
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||||
- resources
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||||
- bind_parent_id
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||||
- bind_location
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||||
- liquid_input_slot
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||||
- liquid_type
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||||
- liquid_volume
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||||
- slot_on_deck
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||||
type: object
|
||||
result: {}
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||||
required:
|
||||
- goal
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||||
title: create_resource参数
|
||||
type: object
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||||
type: UniLabJsonCommand
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||||
auto-transfer_bottle:
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||||
feedback: {}
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||||
goal: {}
|
||||
goal_default:
|
||||
base_plate: null
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||||
tip_rack: null
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
base_plate:
|
||||
type: object
|
||||
tip_rack:
|
||||
type: object
|
||||
required:
|
||||
- tip_rack
|
||||
- base_plate
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_bottle参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-trigger_resource_update:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
from_plate: null
|
||||
to_base_plate: null
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
from_plate:
|
||||
type: object
|
||||
to_base_plate:
|
||||
type: object
|
||||
required:
|
||||
- from_plate
|
||||
- to_base_plate
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: trigger_resource_update参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.ros.nodes.presets.workstation:WorkStationExample
|
||||
action_value_mappings: {}
|
||||
module: unilabos.devices.workstation.workstation_base:WorkstationExample
|
||||
status_types: {}
|
||||
type: ros2
|
||||
config_info: []
|
||||
description: ''
|
||||
description: Example Workstation
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
children:
|
||||
type: object
|
||||
device_id:
|
||||
type: string
|
||||
protocol_type:
|
||||
type: string
|
||||
resource_tracker:
|
||||
station_resource:
|
||||
type: object
|
||||
required:
|
||||
- device_id
|
||||
- children
|
||||
- protocol_type
|
||||
- resource_tracker
|
||||
- station_resource
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
|
||||
@@ -52,7 +52,7 @@ zhida_gcms:
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close 参数
|
||||
title: close参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-connect:
|
||||
@@ -72,7 +72,31 @@ zhida_gcms:
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: connect 参数
|
||||
title: connect参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
get_methods:
|
||||
@@ -284,32 +308,40 @@ zhida_gcms:
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.zhida_gcms.zhida:ZhidaClient
|
||||
status_types: {}
|
||||
status_types:
|
||||
methods: dict
|
||||
status: str
|
||||
version: dict
|
||||
type: python
|
||||
config_info: []
|
||||
description: 智达气相色谱-质谱联用（GC-MS）分析设备，通过 TCP 通信实现远程控制与状态监控，支持方法管理与任务启动等功能。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
goal:
|
||||
config:
|
||||
properties:
|
||||
host:
|
||||
default: 192.168.3.184
|
||||
type: string
|
||||
port:
|
||||
default: 5792
|
||||
type: integer
|
||||
type: string
|
||||
timeout:
|
||||
default: 10.0
|
||||
type: number
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties: {}
|
||||
required: []
|
||||
data:
|
||||
properties:
|
||||
methods:
|
||||
type: object
|
||||
status:
|
||||
type: string
|
||||
version:
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
- methods
|
||||
- version
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -6,4 +6,4 @@ def register():
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.ros.nodes.presets.workstation import WorkStationContainer
|
||||
from unilabos.devices.workstation.workstation_base import WorkStationContainer
|
||||
|
||||
@@ -51,7 +51,7 @@ from unilabos_msgs.msg import Resource # type: ignore
|
||||
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.ros.x.rclpyx import get_event_loop
|
||||
from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
|
||||
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
|
||||
from unilabos.utils.async_util import run_async_func
|
||||
from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
|
||||
from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info, get_result_info_str
|
||||
|
||||
@@ -29,6 +29,8 @@ from unilabos.utils.type_check import serialize_result_info
|
||||
if TYPE_CHECKING:
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
|
||||
class ROS2WorkstationNodeTempError(Exception):
|
||||
pass
|
||||
|
||||
class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
@@ -259,11 +261,14 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
time.sleep(action["action_kwargs"]["time"])
|
||||
step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
|
||||
else:
|
||||
try:
|
||||
result = await self.execute_single_action(**action)
|
||||
step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
|
||||
ret_info = json.loads(getattr(result, "return_info", "{}"))
|
||||
if not ret_info.get("suc", False):
|
||||
raise RuntimeError(f"Step {i + 1} failed.")
|
||||
except ROS2WorkstationNodeTempError as ex:
|
||||
step_results.append({"step": i + 1, "action": action["action_name"], "result": ex.args[0]})
|
||||
elif isinstance(action, list):
|
||||
# 如果是并行动作，同时执行
|
||||
actions = action
|
||||
@@ -340,6 +345,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
async def execute_single_action(self, device_id, action_name, action_kwargs):
|
||||
"""执行单个动作"""
|
||||
# 构建动作ID
|
||||
if action_name == "log_message":
|
||||
self.lab_logger().info(f"[Protocol Log] {action_kwargs}")
|
||||
raise ROS2WorkstationNodeTempError(f"[Protocol Log] {action_kwargs}")
|
||||
if device_id in ["", None, "self"]:
|
||||
action_id = f"/devices/{self.device_id}/{action_name}"
|
||||
else:
|
||||
|
||||
Reference in New Issue
Block a user