mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-14 13:14:39 +00:00
add new laiyu liquid driver, yaml and json files (#164)
This commit is contained in:
xyc
Xuwznln
138
unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py
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138
unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py
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@@ -0,0 +1,138 @@
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import os
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import time
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import json
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import logging
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from xyz_stepper_driver import ModbusRTUTransport, ModbusClient, XYZStepperController, MotorStatus
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# ========== 日志配置 ==========
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logging.basicConfig(level=logging.INFO)
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logger = logging.getLogger("XYZ_Debug")
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def create_controller(port: str = "/dev/ttyUSB1", baudrate: int = 115200) -> XYZStepperController:
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"""
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初始化通信层与三轴控制器
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"""
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logger.info(f"🔧 初始化控制器: {port} @ {baudrate}bps")
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transport = ModbusRTUTransport(port=port, baudrate=baudrate)
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transport.open()
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client = ModbusClient(transport)
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return XYZStepperController(client=client, port=port, baudrate=baudrate)
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def load_existing_soft_zero(ctrl: XYZStepperController, path: str = "work_origin.json") -> bool:
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"""
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如果已存在软零点文件则加载，否则返回 False
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"""
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if not os.path.exists(path):
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logger.warning("⚠ 未找到已有软零点文件，将等待人工定义新零点。")
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return False
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try:
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with open(path, "r", encoding="utf-8") as f:
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data = json.load(f)
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origin = data.get("work_origin_steps", {})
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ctrl.work_origin_steps = origin
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ctrl.is_homed = True
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logger.info(f"✔ 已加载软零点文件：{path}")
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logger.info(f"当前软零点步数: {origin}")
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return True
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except Exception as e:
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logger.error(f"读取软零点文件失败: {e}")
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return False
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def test_enable_axis(ctrl: XYZStepperController):
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"""
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依次使能 X / Y / Z 三轴
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"""
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logger.info("=== 测试各轴使能 ===")
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for axis in ["X", "Y", "Z"]:
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try:
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result = ctrl.enable(axis, True)
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if result:
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vals = ctrl.get_status(axis)
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st = MotorStatus(vals[3])
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logger.info(f"{axis} 轴使能成功，当前状态: {st.name}")
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else:
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logger.error(f"{axis} 轴使能失败")
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except Exception as e:
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logger.error(f"{axis} 轴使能异常: {e}")
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time.sleep(0.5)
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def test_status_read(ctrl: XYZStepperController):
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"""
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读取各轴当前状态（调试）
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"""
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logger.info("=== 当前各轴状态 ===")
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for axis in ["X", "Y", "Z"]:
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try:
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vals = ctrl.get_status(axis)
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st = MotorStatus(vals[3])
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logger.info(
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f"{axis}: steps={vals[0]}, speed={vals[1]}, "
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f"current={vals[2]}, status={st.name}"
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)
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except Exception as e:
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logger.error(f"获取 {axis} 状态失败: {e}")
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time.sleep(0.2)
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def redefine_soft_zero(ctrl: XYZStepperController):
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"""
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手动重新定义软零点
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"""
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logger.info("=== ⚙️ 重新定义软零点 ===")
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ctrl.define_current_as_zero("work_origin.json")
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logger.info("✅ 新软零点已写入 work_origin.json")
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def test_soft_zero_move(ctrl: XYZStepperController):
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"""
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以软零点为基准执行三轴运动测试
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"""
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logger.info("=== 测试软零点相对运动 ===")
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ctrl.move_xyz_work(x=100.0, y=100.0, z=40.0, speed=100, acc=800)
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for axis in ["X", "Y", "Z"]:
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ctrl.wait_complete(axis)
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test_status_read(ctrl)
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logger.info("✅ 软零点运动测试完成")
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def main():
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ctrl = create_controller(port="/dev/ttyUSB1", baudrate=115200)
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try:
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test_enable_axis(ctrl)
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test_status_read(ctrl)
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# === 初始化或加载软零点 ===
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loaded = load_existing_soft_zero(ctrl)
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if not loaded:
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logger.info("👣 首次运行，定义软零点并保存。")
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ctrl.define_current_as_zero("work_origin.json")
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# === 软零点回归动作 ===
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ctrl.return_to_work_origin()
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# === 可选软零点运动测试 ===
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# test_soft_zero_move(ctrl)
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except KeyboardInterrupt:
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logger.info("🛑 手动中断退出")
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except Exception as e:
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logger.exception(f"❌ 调试出错: {e}")
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finally:
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if hasattr(ctrl.client, "transport"):
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ctrl.client.transport.close()
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logger.info("串口已安全关闭 ✅")
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if __name__ == "__main__":
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main()
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58
unilabos/devices/laiyu_liquid_test/driver_status_test.py
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58
unilabos/devices/laiyu_liquid_test/driver_status_test.py
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@@ -0,0 +1,58 @@
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import logging
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from xyz_stepper_driver import (
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ModbusRTUTransport,
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ModbusClient,
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XYZStepperController,
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MotorAxis,
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)
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logger = logging.getLogger("XYZStepperCommTest")
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logging.basicConfig(level=logging.INFO, format="%(asctime)s [%(levelname)s] %(message)s")
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def test_xyz_stepper_comm():
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"""仅测试 Modbus 通信是否正常（并输出寄存器数据，不做电机运动）"""
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port = "/dev/ttyUSB1"
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baudrate = 115200
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timeout = 1.2 # 略长避免响应被截断
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logger.info(f"尝试连接 Modbus 设备 {port} ...")
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transport = ModbusRTUTransport(port, baudrate=baudrate, timeout=timeout)
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transport.open()
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client = ModbusClient(transport)
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ctrl = XYZStepperController(client)
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try:
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logger.info("✅ 串口已打开，开始读取三个轴状态（打印寄存器内容） ...")
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for axis in [MotorAxis.X, MotorAxis.Y, MotorAxis.Z]:
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addr = ctrl.axis_addr[axis]
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try:
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# # 在 get_status 前打印原始寄存器内容
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# regs = client.read_registers(addr, ctrl.REG_STATUS, 6)
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# hex_regs = [f"0x{val:04X}" for val in regs]
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# logger.info(f"[{axis.name}] 原始寄存器 ({len(regs)} 个): {regs} -> {hex_regs}")
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# 调用 get_status() 正常解析
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status = ctrl.get_status(axis)
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logger.info(
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f"[{axis.name}] ✅ 通信正常: steps={status.steps}, speed={status.speed}, "
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f"current={status.current}, status={status.status.name}"
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)
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except Exception as e_axis:
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logger.error(f"[{axis.name}] ❌ 通信失败: {e_axis}")
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except Exception as e:
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logger.error(f"❌ 通讯测试失败: {e}")
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finally:
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transport.close()
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logger.info("🔌 串口已关闭")
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if __name__ == "__main__":
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test_xyz_stepper_comm()
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8
unilabos/devices/laiyu_liquid_test/work_origin.json
Normal file
8
unilabos/devices/laiyu_liquid_test/work_origin.json
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@@ -0,0 +1,8 @@
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{
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"work_origin_steps": {
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"x": 11799,
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"y": 11476,
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"z": 3312
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},
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"timestamp": "2025-11-04T15:31:09.802155"
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}
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336
unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py
Normal file
336
unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py
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@@ -0,0 +1,336 @@
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"""
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XYZ 三轴步进电机驱动（统一字符串参数版）
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基于 Modbus RTU 协议
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Author: Xiuyu Chen (Modified by Assistant)
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"""
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import serial # type: ignore
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import struct
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import time
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import logging
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from enum import Enum
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from dataclasses import dataclass
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from typing import Optional, List, Dict
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# ========== 日志配置 ==========
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logging.basicConfig(level=logging.INFO)
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logger = logging.getLogger("XYZStepper")
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# ========== 层 1：Modbus RTU ==========
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class ModbusException(Exception):
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pass
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class ModbusRTUTransport:
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"""底层串口通信层"""
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def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.2):
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self.port = port
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self.baudrate = baudrate
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self.timeout = timeout
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self.ser: Optional[serial.Serial] = None
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def open(self):
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try:
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self.ser = serial.Serial(
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port=self.port,
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baudrate=self.baudrate,
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bytesize=serial.EIGHTBITS,
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parity=serial.PARITY_NONE,
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stopbits=serial.STOPBITS_ONE,
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timeout=0.02,
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write_timeout=0.5,
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)
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logger.info(f"[RTU] 串口连接成功: {self.port}")
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except Exception as e:
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raise ModbusException(f"无法打开串口 {self.port}: {e}")
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def close(self):
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if self.ser and self.ser.is_open:
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self.ser.close()
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logger.info("[RTU] 串口已关闭")
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def send(self, frame: bytes):
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if not self.ser or not self.ser.is_open:
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raise ModbusException("串口未连接")
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self.ser.reset_input_buffer()
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self.ser.write(frame)
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self.ser.flush()
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logger.debug(f"[TX] {frame.hex(' ').upper()}")
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def receive(self, expected_len: int) -> bytes:
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if not self.ser or not self.ser.is_open:
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raise ModbusException("串口未连接")
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start = time.time()
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buf = bytearray()
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while len(buf) < expected_len and (time.time() - start) < self.timeout:
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chunk = self.ser.read(expected_len - len(buf))
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if chunk:
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buf.extend(chunk)
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else:
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time.sleep(0.01)
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return bytes(buf)
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# ========== 层 2：Modbus 协议 ==========
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class ModbusFunction(Enum):
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READ_HOLDING_REGISTERS = 0x03
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WRITE_SINGLE_REGISTER = 0x06
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WRITE_MULTIPLE_REGISTERS = 0x10
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class ModbusClient:
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"""Modbus RTU 客户端"""
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def __init__(self, transport: ModbusRTUTransport):
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self.transport = transport
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@staticmethod
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def calc_crc(data: bytes) -> bytes:
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crc = 0xFFFF
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for b in data:
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crc ^= b
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for _ in range(8):
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crc = (crc >> 1) ^ 0xA001 if crc & 1 else crc >> 1
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return struct.pack("<H", crc)
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def send_request(self, addr: int, func: int, payload: bytes) -> bytes:
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frame = bytes([addr, func]) + payload
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full = frame + self.calc_crc(frame)
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self.transport.send(full)
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time.sleep(0.01)
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resp = self.transport.ser.read(256)
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if not resp:
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raise ModbusException("未收到响应")
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start = resp.find(bytes([addr, func]))
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if start > 0:
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resp = resp[start:]
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if len(resp) < 5:
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raise ModbusException(f"响应长度不足: {resp.hex(' ').upper()}")
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if self.calc_crc(resp[:-2]) != resp[-2:]:
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raise ModbusException("CRC 校验失败")
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return resp
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def read_registers(self, addr: int, start: int, count: int) -> List[int]:
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payload = struct.pack(">HH", start, count)
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resp = self.send_request(addr, ModbusFunction.READ_HOLDING_REGISTERS.value, payload)
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byte_count = resp[2]
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regs = [struct.unpack(">H", resp[3 + i:5 + i])[0] for i in range(0, byte_count, 2)]
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return regs
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def write_single_register(self, addr: int, reg: int, val: int) -> bool:
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payload = struct.pack(">HH", reg, val)
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resp = self.send_request(addr, ModbusFunction.WRITE_SINGLE_REGISTER.value, payload)
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return resp[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value
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def write_multiple_registers(self, addr: int, start: int, values: List[int]) -> bool:
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byte_count = len(values) * 2
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payload = struct.pack(">HHB", start, len(values), byte_count)
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payload += b"".join(struct.pack(">H", v & 0xFFFF) for v in values)
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resp = self.send_request(addr, ModbusFunction.WRITE_MULTIPLE_REGISTERS.value, payload)
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return resp[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value
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# ========== 层 3：业务逻辑 ==========
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class MotorAxis(Enum):
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X = 1
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Y = 2
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Z = 3
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class MotorStatus(Enum):
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STANDBY = 0
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RUNNING = 1
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COLLISION_STOP = 2
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FORWARD_LIMIT_STOP = 3
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REVERSE_LIMIT_STOP = 4
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@dataclass
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class MotorPosition:
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steps: int
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speed: int
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current: int
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status: MotorStatus
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class XYZStepperController:
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"""XYZ 三轴步进控制器（字符串接口版）"""
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STEPS_PER_REV = 16384
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LEAD_MM_X, LEAD_MM_Y, LEAD_MM_Z = 80.0, 80.0, 5.0
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STEPS_PER_MM_X = STEPS_PER_REV / LEAD_MM_X
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STEPS_PER_MM_Y = STEPS_PER_REV / LEAD_MM_Y
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STEPS_PER_MM_Z = STEPS_PER_REV / LEAD_MM_Z
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REG_STATUS, REG_POS_HIGH, REG_POS_LOW = 0x00, 0x01, 0x02
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REG_ACTUAL_SPEED, REG_CURRENT, REG_ENABLE = 0x03, 0x05, 0x06
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REG_ZERO_CMD, REG_TARGET_HIGH, REG_TARGET_LOW = 0x0F, 0x10, 0x11
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REG_SPEED, REG_ACCEL, REG_PRECISION, REG_START = 0x13, 0x14, 0x15, 0x16
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REG_COMMAND = 0x60
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def __init__(self, client: Optional[ModbusClient] = None,
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port="/dev/ttyUSB0", baudrate=115200,
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origin_path="unilabos/devices/laiyu_liquid_test/work_origin.json"):
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if client is None:
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transport = ModbusRTUTransport(port, baudrate)
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transport.open()
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self.client = ModbusClient(transport)
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else:
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self.client = client
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self.axis_addr = {MotorAxis.X: 1, MotorAxis.Y: 2, MotorAxis.Z: 3}
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self.work_origin_steps = {"x": 0, "y": 0, "z": 0}
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self.is_homed = False
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self._load_work_origin(origin_path)
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# ========== 基础工具 ==========
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@staticmethod
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def s16(v: int) -> int:
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return v - 0x10000 if v & 0x8000 else v
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@staticmethod
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def s32(h: int, l: int) -> int:
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v = (h << 16) | l
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return v - 0x100000000 if v & 0x80000000 else v
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@classmethod
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def mm_to_steps(cls, axis: str, mm: float = 0.0) -> int:
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axis = axis.upper()
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if axis == "X":
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return int(mm * cls.STEPS_PER_MM_X)
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elif axis == "Y":
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return int(mm * cls.STEPS_PER_MM_Y)
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||||
elif axis == "Z":
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return int(mm * cls.STEPS_PER_MM_Z)
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||||
raise ValueError(f"未知轴: {axis}")
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||||
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@classmethod
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def steps_to_mm(cls, axis: str, steps: int) -> float:
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axis = axis.upper()
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||||
if axis == "X":
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||||
return steps / cls.STEPS_PER_MM_X
|
||||
elif axis == "Y":
|
||||
return steps / cls.STEPS_PER_MM_Y
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||||
elif axis == "Z":
|
||||
return steps / cls.STEPS_PER_MM_Z
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||||
raise ValueError(f"未知轴: {axis}")
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||||
# ========== 状态与控制 ==========
|
||||
def get_status(self, axis: str = "Z") -> list:
|
||||
"""返回简化数组格式: [steps, speed, current, status_value]"""
|
||||
if isinstance(axis, MotorAxis):
|
||||
axis_enum = axis
|
||||
elif isinstance(axis, str):
|
||||
axis_enum = MotorAxis[axis.upper()]
|
||||
else:
|
||||
raise TypeError("axis 参数必须为 str 或 MotorAxis")
|
||||
|
||||
vals = self.client.read_registers(self.axis_addr[axis_enum], self.REG_STATUS, 6)
|
||||
return [
|
||||
self.s32(vals[1], vals[2]),
|
||||
self.s16(vals[3]),
|
||||
vals[4],
|
||||
int(MotorStatus(vals[0]).value)
|
||||
]
|
||||
|
||||
def enable(self, axis: str, state: bool) -> bool:
|
||||
a = MotorAxis[axis.upper()]
|
||||
return self.client.write_single_register(self.axis_addr[a], self.REG_ENABLE, 1 if state else 0)
|
||||
|
||||
def wait_complete(self, axis: str, timeout=30.0) -> bool:
|
||||
a = axis.upper()
|
||||
start = time.time()
|
||||
while time.time() - start < timeout:
|
||||
vals = self.get_status(a)
|
||||
st = MotorStatus(vals[3]) # 第4个元素是状态值
|
||||
if st == MotorStatus.STANDBY:
|
||||
return True
|
||||
if st in (MotorStatus.COLLISION_STOP, MotorStatus.FORWARD_LIMIT_STOP, MotorStatus.REVERSE_LIMIT_STOP):
|
||||
logger.warning(f"{a} 轴异常停止: {st.name}")
|
||||
return False
|
||||
time.sleep(0.1)
|
||||
logger.warning(f"{a} 轴运动超时")
|
||||
return False
|
||||
|
||||
# ========== 控制命令 ==========
|
||||
def move_to(self, axis: str, steps: int, speed: int = 2000, acc: int = 500, precision: int = 50) -> bool:
|
||||
a = MotorAxis[axis.upper()]
|
||||
addr = self.axis_addr[a]
|
||||
hi, lo = (steps >> 16) & 0xFFFF, steps & 0xFFFF
|
||||
values = [hi, lo, speed, acc, precision]
|
||||
ok = self.client.write_multiple_registers(addr, self.REG_TARGET_HIGH, values)
|
||||
if ok:
|
||||
self.client.write_single_register(addr, self.REG_START, 1)
|
||||
return ok
|
||||
|
||||
def move_xyz_work(self, x: float = 0.0, y: float = 0.0, z: float = 0.0, speed: int = 100, acc: int = 1500):
|
||||
logger.info("🧭 执行安全多轴运动：Z→XY→Z")
|
||||
if z is not None:
|
||||
safe_z = self._to_machine_steps("Z", 0.0)
|
||||
self.move_to("Z", safe_z, speed, acc)
|
||||
self.wait_complete("Z")
|
||||
|
||||
if x is not None or y is not None:
|
||||
if x is not None:
|
||||
self.move_to("X", self._to_machine_steps("X", x), speed, acc)
|
||||
if y is not None:
|
||||
self.move_to("Y", self._to_machine_steps("Y", y), speed, acc)
|
||||
if x is not None:
|
||||
self.wait_complete("X")
|
||||
if y is not None:
|
||||
self.wait_complete("Y")
|
||||
|
||||
if z is not None:
|
||||
self.move_to("Z", self._to_machine_steps("Z", z), speed, acc)
|
||||
self.wait_complete("Z")
|
||||
logger.info("✅ 多轴顺序运动完成")
|
||||
|
||||
# ========== 坐标与零点 ==========
|
||||
def _to_machine_steps(self, axis: str, mm: float) -> int:
|
||||
base = self.work_origin_steps.get(axis.lower(), 0)
|
||||
return base + self.mm_to_steps(axis, mm)
|
||||
|
||||
def define_current_as_zero(self, save_path="work_origin.json"):
|
||||
import json
|
||||
from datetime import datetime
|
||||
|
||||
origin = {}
|
||||
for axis in ["X", "Y", "Z"]:
|
||||
vals = self.get_status(axis)
|
||||
origin[axis.lower()] = int(vals[0]) # 第1个是步数
|
||||
with open(save_path, "w", encoding="utf-8") as f:
|
||||
json.dump({"work_origin_steps": origin, "timestamp": datetime.now().isoformat()}, f, indent=2)
|
||||
self.work_origin_steps = origin
|
||||
self.is_homed = True
|
||||
logger.info(f"✅ 零点已定义并保存至 {save_path}")
|
||||
|
||||
def _load_work_origin(self, path: str) -> bool:
|
||||
import json, os
|
||||
|
||||
if not os.path.exists(path):
|
||||
logger.warning("⚠️ 未找到软零点文件")
|
||||
return False
|
||||
with open(path, "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
self.work_origin_steps = data.get("work_origin_steps", {"x": 0, "y": 0, "z": 0})
|
||||
self.is_homed = True
|
||||
logger.info(f"📂 软零点已加载: {self.work_origin_steps}")
|
||||
return True
|
||||
|
||||
def return_to_work_origin(self, speed: int = 200, acc: int = 800):
|
||||
logger.info("🏁 回工件软零点")
|
||||
self.move_to("Z", self._to_machine_steps("Z", 0.0), speed, acc)
|
||||
self.wait_complete("Z")
|
||||
self.move_to("X", self.work_origin_steps.get("x", 0), speed, acc)
|
||||
self.move_to("Y", self.work_origin_steps.get("y", 0), speed, acc)
|
||||
self.wait_complete("X")
|
||||
self.wait_complete("Y")
|
||||
self.move_to("Z", self.work_origin_steps.get("z", 0), speed, acc)
|
||||
self.wait_complete("Z")
|
||||
logger.info("🎯 回软零点完成 ✅")
|
||||
226
unilabos/registry/devices/laiyu_liquid_test.yaml
Normal file
226
unilabos/registry/devices/laiyu_liquid_test.yaml
Normal file
@@ -0,0 +1,226 @@
|
||||
xyz_stepper_controller:
|
||||
category:
|
||||
- laiyu_liquid_test
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-define_current_as_zero:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
save_path: work_origin.json
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
save_path:
|
||||
default: work_origin.json
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: define_current_as_zero参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-enable:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
axis: null
|
||||
state: null
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
type: string
|
||||
state:
|
||||
type: boolean
|
||||
required:
|
||||
- axis
|
||||
- state
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: enable参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acc: 500
|
||||
axis: null
|
||||
precision: 50
|
||||
speed: 2000
|
||||
steps: null
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acc:
|
||||
default: 500
|
||||
type: integer
|
||||
axis:
|
||||
type: string
|
||||
precision:
|
||||
default: 50
|
||||
type: integer
|
||||
speed:
|
||||
default: 2000
|
||||
type: integer
|
||||
steps:
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
- steps
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_xyz_work:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acc: 1500
|
||||
speed: 100
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acc:
|
||||
default: 1500
|
||||
type: integer
|
||||
speed:
|
||||
default: 100
|
||||
type: integer
|
||||
x:
|
||||
default: 0.0
|
||||
type: number
|
||||
y:
|
||||
default: 0.0
|
||||
type: number
|
||||
z:
|
||||
default: 0.0
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_xyz_work参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-return_to_work_origin:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acc: 800
|
||||
speed: 200
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acc:
|
||||
default: 800
|
||||
type: integer
|
||||
speed:
|
||||
default: 200
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: return_to_work_origin参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_complete:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
axis: null
|
||||
timeout: 30.0
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
type: string
|
||||
timeout:
|
||||
default: 30.0
|
||||
type: string
|
||||
required:
|
||||
- axis
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_complete参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.laiyu_liquid_test.xyz_stepper_driver:XYZStepperController
|
||||
status_types:
|
||||
status: list
|
||||
type: python
|
||||
config_info: []
|
||||
description: 新XYZ控制器
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
type: string
|
||||
client:
|
||||
type: string
|
||||
origin_path:
|
||||
default: unilabos/devices/laiyu_liquid_test/work_origin.json
|
||||
type: string
|
||||
port:
|
||||
default: /dev/ttyUSB1
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
status:
|
||||
type: array
|
||||
required:
|
||||
- status
|
||||
type: object
|
||||
registry_type: device
|
||||
version: 1.0.0
|
||||
Reference in New Issue
Block a user