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注册表自动补全 & Action自动注册 (#57)
* add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * 37-biomek-i5i7 (#40) * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * Refine biomek * Refine copy issue * Refine --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#39) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#41) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * fix move it * fix move it * create_resource * bump ver modify slot type * 增加modbus支持 调整protocol node以更好支持多种类型的read和write * 调整protocol node以更好支持多种类型的read和write * 补充日志 * Device visualization (#42) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43) * Add Device MockChiller Add device MockChiller * Add Device MockFilter * Add Device MockPump * Add Device MockRotavap * Add Device MockSeparator * Add Device MockStirrer * Add Device MockHeater * Add Device MockVacuum * Add Device MockSolenoidValve * Add Device Mock \_init_.py * 规范模拟设备代码与注册表信息 * 更改Mock大写文件夹名 * 删除大写目录 * Edited Mock device json * Match mock device with action * Edit mock device yaml * Add new action * Add Virtual Device, Action, YAML, Protocol for Organic Syn * 单独分类测试的protocol文件夹 * 更名Action --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * bump version & protocol fix * hotfix: Add macos_sdk_config (#46) Co-authored-by: quehh <scienceol@outlook.com> * include device_mesh when pip install * 测试自动构建 * try build fix * try build * test artifacts * hotfix: Add .certs in .gitignore * create container * container 添加和更新完成 * Device registry port (#49) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * unify liquid_handler definition * Update virtual_device.yaml * 更正了stir和heater的连接方式 * 区分了虚拟仪器中的八通阀和电磁阀，添加了两个阀门的驱动 * 修改了add protocol * 修复了阀门更新版的bug * 修复了添加protocol前缀导致的不能启动的bug * Fix handles * bump version to 0.9.6 * add resource edge upload * update container registry and handles * add virtual_separator virtual_rotavap fix transfer_pump * fix container value add parent_name to edge device id * 大图的问题都修复好了，添加了gassource和vacuum pump的驱动以及注册表 * default resource upload mode is false * 添加了icon的文件名在注册表里面 * 修改了json图中link的格式 * fix resource and edge upload * fix device ports * Fix edge id * 移除device的父节点关联 * separate registry sync and resource_add * 默认不进行注册表报送，通过命令unilabos-register或者增加启动参数 * 完善tip * protocol node不再嵌套显示 * bump version to 0.9.7 新增一个测试PumpTransferProtocol的teststation，亲测可以运行，将八通阀们和转移泵与pump_protocol适配 * protocol node 执行action不应携带自身device id * 添加了一套简易双八通阀工作站JSON，亲测能跑 * 修复了很多protocol，亲测能跑 * 添加了run column和filter through的protocol，亲测能跑 * fix mock_reactor * 修改了大图和小图的json，但是在前端上没看到改变 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * 更新workstation注册表 * 添加了两个protocol的检索功能 (#51) * 添加了两个protocol的检索liquid type功能 * fix workstation registry * 修复了没连接的几个仪器的link，添加了container的icon * 修改了json和注册表，现在大图全部的device都链接上了 * 修复了小图的json图，线全部连上了 * add work_station protocol handles (ports) * fix workstation action handle --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@dp.tech> * 新增注册表补全功能，修复Protocol执行失败 * 支持通过导入方式补全注册表，新增工作流unilabos_device_id字段 * 修复不启用注册表补充就无法启动的bug * 修复部分识别error * 修复静态方法识别get status，注册表支持python类型 * status types对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换 * 支持通过list[int]，list[float]进行Int64MultiArray，Float64MultiArray的替换 * 成功动态导入的不再需要使用静态导入 * Fix handle names (#55) * fix handle names * improve evacuateAndRefill gas source finding * add camera and dependency (#56) * 修复auto-的Action在protocol node下错误注册 --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Kongchang Feng <2100011801@stu.pku.edu.cn> Co-authored-by: hh. <103566763+Mile-Away@users.noreply.github.com> Co-authored-by: quehh <scienceol@outlook.com> Co-authored-by: Harvey Que <quehaohui@dp.tech> Co-authored-by: Junhan Chang <changjh@dp.tech>
This commit is contained in:
Xuwznln
GitHub
10
unilabos/registry/devices/camera.yaml
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10
unilabos/registry/devices/camera.yaml
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@@ -0,0 +1,10 @@
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camera:
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class:
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action_value_mappings: {}
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module: unilabos.ros.nodes.presets.camera:VideoPublisher
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status_types: {}
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type: ros2
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description: ''
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handles: []
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icon: ''
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init_param_schema: {}
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@@ -1,67 +1,449 @@
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# 光学表征设备：红外、紫外可见、拉曼等
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raman_home_made:
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description: Raman spectroscopy device
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class:
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module: unilabos.devices.raman_uv.home_made_raman:RamanObj
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type: python
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status_types:
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status: String
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||||
action_value_mappings:
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raman_cmd:
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type: SendCmd
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goal:
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command: command
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feedback: {}
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||||
result:
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success: success
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||||
schema:
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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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additionalProperties: false
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type: object
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hplc.agilent:
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description: HPLC device
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class:
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module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
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type: python
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status_types:
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device_status: String
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could_run: Bool
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driver_init_ok: Bool
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is_running: Bool
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||||
finish_status: String
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||||
status_text: String
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||||
action_value_mappings:
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||||
auto-check_status:
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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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||||
schema:
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||||
description: UniLabJsonCommand check_status 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 check_status 的参数schema
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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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||||
required:
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- 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-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-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:
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||||
description: UniLabJsonCommand try_close_sub_device 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 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
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||||
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:
|
||||
description: UniLabJsonCommand try_open_sub_device 的参数schema
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||||
properties:
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||||
feedback: {}
|
||||
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:
|
||||
- goal
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||||
title: try_open_sub_device 命令参数
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||||
type: object
|
||||
type: UniLabJsonCommand
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||||
execute_command_from_outer:
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type: SendCmd
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feedback: {}
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||||
goal:
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command: command
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feedback: {}
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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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||||
success: success
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||||
schema:
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||||
schema:
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||||
description: ROS Action SendCmd 的 JSON Schema
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||||
properties:
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||||
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:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
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||||
title: SendCmd_Feedback
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||||
type: object
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||||
goal:
|
||||
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
|
||||
result:
|
||||
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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data_file: list
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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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is_running: bool
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status_text: str
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||||
success: bool
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type: python
|
||||
description: HPLC device
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||||
handles: []
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||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
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||||
properties:
|
||||
device_status:
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||||
type: string
|
||||
could_run:
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||||
type: boolean
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||||
driver_init_ok:
|
||||
type: boolean
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||||
is_running:
|
||||
type: boolean
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||||
finish_status:
|
||||
type: string
|
||||
status_text:
|
||||
type: string
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
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||||
driver_debug:
|
||||
default: false
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||||
description: '参数: driver_debug'
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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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||||
required:
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||||
- device_status
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||||
- could_run
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||||
- driver_init_ok
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||||
- is_running
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||||
- finish_status
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||||
- status_text
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||||
additionalProperties: false
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||||
- goal
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||||
title: __init__ 命令参数
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||||
type: object
|
||||
raman_home_made:
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class:
|
||||
action_value_mappings:
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||||
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
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||||
properties:
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||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand ccd_time 的参数schema
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||||
properties:
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||||
int_time:
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||||
description: '参数: int_time'
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||||
type: string
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||||
required:
|
||||
- int_time
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||||
type: object
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||||
result: {}
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||||
required:
|
||||
- goal
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||||
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: {}
|
||||
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:
|
||||
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: {}
|
||||
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
|
||||
|
||||
@@ -1,9 +1,35 @@
|
||||
hotel.thermo_orbitor_rs2_hotel:
|
||||
description: Thermo Orbitor RS2 Hotel
|
||||
class:
|
||||
class:
|
||||
action_value_mappings: {}
|
||||
module: unilabos.devices.resource_container.container:HotelContainer
|
||||
status_types:
|
||||
rotation: String
|
||||
type: python
|
||||
description: Thermo Orbitor RS2 Hotel
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
device_config:
|
||||
description: '参数: device_config'
|
||||
type: object
|
||||
rotation:
|
||||
description: '参数: rotation'
|
||||
type: object
|
||||
required:
|
||||
- rotation
|
||||
- device_config
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
model:
|
||||
type: device
|
||||
mesh: thermo_orbitor_rs2_hotel
|
||||
|
||||
type: device
|
||||
|
||||
@@ -1,56 +1,608 @@
|
||||
laiyu_add_solid:
|
||||
description: Laiyu Add Solid
|
||||
class:
|
||||
module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
|
||||
type: python
|
||||
status_types: {}
|
||||
action_value_mappings:
|
||||
add_powder_tube:
|
||||
feedback: {}
|
||||
goal:
|
||||
compound_mass: compound_mass
|
||||
powder_tube_number: powder_tube_number
|
||||
target_tube_position: target_tube_position
|
||||
goal_default:
|
||||
compound_mass: 0.0
|
||||
powder_tube_number: 0
|
||||
target_tube_position: ''
|
||||
handles: []
|
||||
result:
|
||||
actual_mass_mg: actual_mass_mg
|
||||
schema:
|
||||
description: ROS Action SolidDispenseAddPowderTube 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: {}
|
||||
required: []
|
||||
title: SolidDispenseAddPowderTube_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
compound_mass:
|
||||
type: number
|
||||
powder_tube_number:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
target_tube_position:
|
||||
type: string
|
||||
required:
|
||||
- powder_tube_number
|
||||
- target_tube_position
|
||||
- compound_mass
|
||||
title: SolidDispenseAddPowderTube_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
actual_mass_mg:
|
||||
type: number
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- actual_mass_mg
|
||||
- success
|
||||
title: SolidDispenseAddPowderTube_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SolidDispenseAddPowderTube
|
||||
type: object
|
||||
type: SolidDispenseAddPowderTube
|
||||
auto-add_powder_tube:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
compound_mass: null
|
||||
powder_tube_number: null
|
||||
target_tube_position: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand add_powder_tube 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand add_powder_tube 的参数schema
|
||||
properties:
|
||||
compound_mass:
|
||||
description: '参数: compound_mass'
|
||||
type: string
|
||||
powder_tube_number:
|
||||
description: '参数: powder_tube_number'
|
||||
type: string
|
||||
target_tube_position:
|
||||
description: '参数: target_tube_position'
|
||||
type: string
|
||||
required:
|
||||
- powder_tube_number
|
||||
- target_tube_position
|
||||
- compound_mass
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: add_powder_tube 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-calculate_crc:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand calculate_crc 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand calculate_crc 的参数schema
|
||||
properties:
|
||||
data:
|
||||
description: '参数: data'
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: calculate_crc 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-discharge:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
float_in: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand discharge 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand discharge 的参数schema
|
||||
properties:
|
||||
float_in:
|
||||
description: '参数: float_in'
|
||||
type: number
|
||||
required:
|
||||
- float_in
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: discharge 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to_plate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
string: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand move_to_plate 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand move_to_plate 的参数schema
|
||||
properties:
|
||||
string:
|
||||
description: '参数: string'
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to_plate 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to_xyz:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
x: null
|
||||
y: null
|
||||
z: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand move_to_xyz 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand move_to_xyz 的参数schema
|
||||
properties:
|
||||
x:
|
||||
description: '参数: x'
|
||||
type: number
|
||||
y:
|
||||
description: '参数: y'
|
||||
type: number
|
||||
z:
|
||||
description: '参数: z'
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to_xyz 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-pick_powder_tube:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
int_input: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand pick_powder_tube 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand pick_powder_tube 的参数schema
|
||||
properties:
|
||||
int_input:
|
||||
description: '参数: int_input'
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pick_powder_tube 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-put_powder_tube:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
int_input: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand put_powder_tube 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand put_powder_tube 的参数schema
|
||||
properties:
|
||||
int_input:
|
||||
description: '参数: int_input'
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: put_powder_tube 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-reset:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand reset 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand reset 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: reset 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_command:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send_command 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send_command 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_command 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
discharge:
|
||||
feedback: {}
|
||||
goal:
|
||||
float_input: float_input
|
||||
goal_default:
|
||||
float_in: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action FloatSingleInput 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: {}
|
||||
required: []
|
||||
title: FloatSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
float_in:
|
||||
type: number
|
||||
required:
|
||||
- float_in
|
||||
title: FloatSingleInput_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: FloatSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: FloatSingleInput
|
||||
type: object
|
||||
type: FloatSingleInput
|
||||
move_to_plate:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action StrSingleInput 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: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_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: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
move_to_xyz:
|
||||
type: Point3DSeparateInput
|
||||
feedback: {}
|
||||
goal:
|
||||
x: x
|
||||
y: y
|
||||
z: z
|
||||
feedback: {}
|
||||
goal_default:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action Point3DSeparateInput 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: {}
|
||||
required: []
|
||||
title: Point3DSeparateInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point3DSeparateInput_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: Point3DSeparateInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Point3DSeparateInput
|
||||
type: object
|
||||
type: Point3DSeparateInput
|
||||
pick_powder_tube:
|
||||
type: IntSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
int_input: int_input
|
||||
feedback: {}
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action IntSingleInput 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: {}
|
||||
required: []
|
||||
title: IntSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
int_input:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
title: IntSingleInput_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: IntSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: IntSingleInput
|
||||
type: object
|
||||
type: IntSingleInput
|
||||
put_powder_tube:
|
||||
type: IntSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
int_input: int_input
|
||||
feedback: {}
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action IntSingleInput 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: {}
|
||||
required: []
|
||||
title: IntSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
int_input:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
title: IntSingleInput_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: IntSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: IntSingleInput
|
||||
type: object
|
||||
type: IntSingleInput
|
||||
reset:
|
||||
type: EmptyIn
|
||||
feedback: {}
|
||||
goal: {}
|
||||
feedback: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
add_powder_tube:
|
||||
type: SolidDispenseAddPowderTube
|
||||
goal:
|
||||
powder_tube_number: powder_tube_number
|
||||
target_tube_position: target_tube_position
|
||||
compound_mass: compound_mass
|
||||
feedback: {}
|
||||
result:
|
||||
actual_mass_mg: actual_mass_mg
|
||||
move_to_plate:
|
||||
type: StrSingleInput
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
result: {}
|
||||
discharge:
|
||||
type: FloatSingleInput
|
||||
goal:
|
||||
float_input: float_input
|
||||
feedback: {}
|
||||
result: {}
|
||||
|
||||
schema:
|
||||
properties: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 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: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_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
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
description: Laiyu Add Solid
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
description: '参数: baudrate'
|
||||
type: integer
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
timeout:
|
||||
default: 0.5
|
||||
description: '参数: timeout'
|
||||
type: number
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,56 +1,932 @@
|
||||
moveit.toyo_xyz:
|
||||
description: Toyo XYZ
|
||||
class:
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
type: python
|
||||
action_value_mappings:
|
||||
set_position:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: { }
|
||||
result: { }
|
||||
pick_and_place:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: { }
|
||||
result: { }
|
||||
set_status:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: { }
|
||||
result: { }
|
||||
|
||||
model:
|
||||
type: device
|
||||
mesh: toyo_xyz
|
||||
|
||||
moveit.arm_slider:
|
||||
description: Arm with Slider
|
||||
model:
|
||||
type: device
|
||||
mesh: arm_slider
|
||||
class:
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
type: python
|
||||
action_value_mappings:
|
||||
set_position:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
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:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
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
|
||||
set_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
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
|
||||
set_status:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
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.ros_dev.moveit_interface:MoveitInterface
|
||||
status_types: {}
|
||||
type: python
|
||||
description: Arm with Slider
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
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:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
model:
|
||||
mesh: arm_slider
|
||||
type: device
|
||||
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:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
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
|
||||
set_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
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
|
||||
set_status:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
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.ros_dev.moveit_interface:MoveitInterface
|
||||
status_types: {}
|
||||
type: python
|
||||
description: Toyo XYZ
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
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:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
model:
|
||||
mesh: toyo_xyz
|
||||
type: device
|
||||
|
||||
@@ -1,73 +1,488 @@
|
||||
separator.homemade:
|
||||
description: Separator device with homemade grbl controller
|
||||
class:
|
||||
module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
|
||||
type: python
|
||||
status_types:
|
||||
sensordata: Float64
|
||||
status: String
|
||||
action_value_mappings:
|
||||
stir:
|
||||
type: Stir
|
||||
goal:
|
||||
stir_time: stir_time,
|
||||
stir_speed: stir_speed
|
||||
settling_time: settling_time
|
||||
feedback:
|
||||
status: status
|
||||
result:
|
||||
success: success
|
||||
valve_open_cmd:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback:
|
||||
status: status
|
||||
result":
|
||||
success: success
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
description: The status of the device
|
||||
sensordata:
|
||||
type: number
|
||||
description: 电导传感器数据
|
||||
required:
|
||||
- status
|
||||
- sensordata
|
||||
additionalProperties: false
|
||||
|
||||
rotavap.one:
|
||||
description: Rotavap device
|
||||
class:
|
||||
module: unilabos.devices.rotavap.rotavap_one:RotavapOne
|
||||
type: python
|
||||
status_types:
|
||||
pump_time: Float64
|
||||
rotate_time: Float64
|
||||
action_value_mappings:
|
||||
auto-cmd_write:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand cmd_write 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand cmd_write 的参数schema
|
||||
properties:
|
||||
cmd:
|
||||
description: '参数: cmd'
|
||||
type: string
|
||||
required:
|
||||
- cmd
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: cmd_write 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-main_loop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand main_loop 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand main_loop 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: main_loop 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_pump_time:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
time: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_pump_time 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_pump_time 的参数schema
|
||||
properties:
|
||||
time:
|
||||
description: '参数: time'
|
||||
type: string
|
||||
required:
|
||||
- time
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_pump_time 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_rotate_time:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
time: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_rotate_time 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_rotate_time 的参数schema
|
||||
properties:
|
||||
time:
|
||||
description: '参数: time'
|
||||
type: string
|
||||
required:
|
||||
- time
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_rotate_time 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_timer:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_timer 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_timer 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_timer 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_timer:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
type: object
|
||||
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.rotavap.rotavap_one:RotavapOne
|
||||
status_types: {}
|
||||
type: python
|
||||
description: Rotavap device
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
temperature:
|
||||
type: number
|
||||
description: 旋蒸水浴温度
|
||||
pump_time:
|
||||
type: number
|
||||
description: The pump time of the device
|
||||
rotate_time:
|
||||
type: number
|
||||
description: The rotate time of the device
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
rate:
|
||||
default: 9600
|
||||
description: '参数: rate'
|
||||
type: integer
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- pump_time
|
||||
- rotate_time
|
||||
additionalProperties: false
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
separator.homemade:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-read_sensor_loop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand read_sensor_loop 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand read_sensor_loop 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_sensor_loop 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stir:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
settling_time: 10
|
||||
stir_speed: 300
|
||||
stir_time: 10
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand stir 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand stir 的参数schema
|
||||
properties:
|
||||
settling_time:
|
||||
default: 10
|
||||
description: '参数: settling_time'
|
||||
type: number
|
||||
stir_speed:
|
||||
default: 300
|
||||
description: '参数: stir_speed'
|
||||
type: number
|
||||
stir_time:
|
||||
default: 10
|
||||
description: '参数: stir_time'
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stir 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-valve_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
condition: null
|
||||
value: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand valve_open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand valve_open 的参数schema
|
||||
properties:
|
||||
condition:
|
||||
description: '参数: condition'
|
||||
type: string
|
||||
value:
|
||||
description: '参数: value'
|
||||
type: string
|
||||
required:
|
||||
- condition
|
||||
- value
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: valve_open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-valve_open_cmd:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand valve_open_cmd 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand valve_open_cmd 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: valve_open_cmd 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-write:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand write 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand write 的参数schema
|
||||
properties:
|
||||
data:
|
||||
description: '参数: data'
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: write 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
stir:
|
||||
feedback:
|
||||
status: status
|
||||
goal:
|
||||
settling_time: settling_time
|
||||
stir_speed: stir_speed
|
||||
stir_time: stir_time,
|
||||
goal_default:
|
||||
settling_time: 0.0
|
||||
stir_speed: 0.0
|
||||
stir_time: 0.0
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ROS Action Stir 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: Stir_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
settling_time:
|
||||
type: number
|
||||
stir_speed:
|
||||
type: number
|
||||
stir_time:
|
||||
type: number
|
||||
required:
|
||||
- stir_time
|
||||
- stir_speed
|
||||
- settling_time
|
||||
title: Stir_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: Stir_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Stir
|
||||
type: object
|
||||
type: Stir
|
||||
valve_open_cmd:
|
||||
feedback:
|
||||
status: status
|
||||
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.separator.homemade_grbl_conductivity:SeparatorController
|
||||
status_types: {}
|
||||
type: python
|
||||
description: Separator device with homemade grbl controller
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
baudrate_executor:
|
||||
default: 115200
|
||||
description: '参数: baudrate_executor'
|
||||
type: integer
|
||||
baudrate_sensor:
|
||||
default: 115200
|
||||
description: '参数: baudrate_sensor'
|
||||
type: integer
|
||||
port_executor:
|
||||
description: '参数: port_executor'
|
||||
type: string
|
||||
port_sensor:
|
||||
description: '参数: port_sensor'
|
||||
type: string
|
||||
required:
|
||||
- port_executor
|
||||
- port_sensor
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,85 +1,900 @@
|
||||
syringe_pump_with_valve.runze:
|
||||
description: Runze Syringe pump with valve
|
||||
solenoid_valve:
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
|
||||
action_value_mappings:
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_closed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand is_closed 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand is_closed 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_closed 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand is_open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand is_open 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand open 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_data:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand read_data 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand read_data 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_data 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_command:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send_command 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send_command 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_command 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_valve_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_valve_position 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_valve_position 的参数schema
|
||||
properties:
|
||||
position:
|
||||
description: '参数: position'
|
||||
type: string
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_valve_position 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_valve_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: position
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action StrSingleInput 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: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_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: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
|
||||
status_types:
|
||||
status: str
|
||||
valve_position: str
|
||||
type: python
|
||||
description: Solenoid valve
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
io_device_port:
|
||||
description: '参数: io_device_port'
|
||||
type: string
|
||||
required:
|
||||
- io_device_port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
solenoid_valve.mock:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_closed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand is_closed 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand is_closed 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_closed 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand is_open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand is_open 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand open 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_valve_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_valve_position 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_valve_position 的参数schema
|
||||
properties:
|
||||
position:
|
||||
description: '参数: position'
|
||||
type: string
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_valve_position 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 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: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_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
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 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: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_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
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
|
||||
status_types:
|
||||
status: str
|
||||
valve_position: str
|
||||
type: python
|
||||
description: Mock solenoid valve
|
||||
handles:
|
||||
- data_type: fluid
|
||||
handler_key: in
|
||||
io_type: target
|
||||
label: in
|
||||
side: NORTH
|
||||
- data_type: fluid
|
||||
handler_key: out
|
||||
io_type: source
|
||||
label: out
|
||||
side: SOUTH
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
port:
|
||||
default: COM6
|
||||
description: '参数: port'
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
syringe_pump_with_valve.runze:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
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-pull_plunger:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
volume: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand pull_plunger 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand pull_plunger 的参数schema
|
||||
properties:
|
||||
volume:
|
||||
description: '参数: volume'
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pull_plunger 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-push_plunger:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
volume: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand push_plunger 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand push_plunger 的参数schema
|
||||
properties:
|
||||
volume:
|
||||
description: '参数: volume'
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: push_plunger 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_aux_input_status_1:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand query_aux_input_status_1 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand query_aux_input_status_1 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_aux_input_status_1 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_aux_input_status_2:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand query_aux_input_status_2 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand query_aux_input_status_2 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_aux_input_status_2 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_backlash_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand query_backlash_position 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand query_backlash_position 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_backlash_position 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_command_buffer_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand query_command_buffer_status 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand query_command_buffer_status 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_command_buffer_status 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_software_version:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand query_software_version 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand query_software_version 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_software_version 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_command:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
full_command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send_command 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send_command 的参数schema
|
||||
properties:
|
||||
full_command:
|
||||
description: '参数: full_command'
|
||||
type: string
|
||||
required:
|
||||
- full_command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_command 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_baudrate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
baudrate: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_baudrate 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_baudrate 的参数schema
|
||||
properties:
|
||||
baudrate:
|
||||
description: '参数: baudrate'
|
||||
type: string
|
||||
required:
|
||||
- baudrate
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_baudrate 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_max_velocity:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_max_velocity 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_max_velocity 的参数schema
|
||||
properties:
|
||||
velocity:
|
||||
description: '参数: velocity'
|
||||
type: number
|
||||
required:
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_max_velocity 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
max_velocity: null
|
||||
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:
|
||||
max_velocity:
|
||||
description: '参数: max_velocity'
|
||||
type: number
|
||||
position:
|
||||
description: '参数: position'
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_position 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_valve_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_valve_position 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_valve_position 的参数schema
|
||||
properties:
|
||||
position:
|
||||
description: '参数: position'
|
||||
type: string
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_valve_position 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_velocity_grade:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_velocity_grade 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_velocity_grade 的参数schema
|
||||
properties:
|
||||
velocity:
|
||||
description: '参数: velocity'
|
||||
type: string
|
||||
required:
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_velocity_grade 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: UniLabJsonCommand
|
||||
hardware_interface:
|
||||
name: hardware_interface
|
||||
read: send_command
|
||||
write: send_command
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
description: The status of the device
|
||||
position:
|
||||
type: number
|
||||
description: The volume of the syringe
|
||||
speed_max:
|
||||
type: number
|
||||
description: The speed of the syringe
|
||||
valve_position:
|
||||
type: string
|
||||
description: The position of the valve
|
||||
required:
|
||||
- status
|
||||
- position
|
||||
- valve_position
|
||||
additionalProperties: false
|
||||
|
||||
solenoid_valve.mock:
|
||||
description: Mock solenoid valve
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
|
||||
type: python
|
||||
module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
|
||||
status_types:
|
||||
status: String
|
||||
valve_position: String
|
||||
action_value_mappings:
|
||||
open:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
close:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
handles:
|
||||
- handler_key: in
|
||||
label: in
|
||||
io_type: target
|
||||
data_type: fluid
|
||||
side: NORTH
|
||||
- handler_key: out
|
||||
label: out
|
||||
io_type: source
|
||||
data_type: fluid
|
||||
side: SOUTH
|
||||
max_velocity: float
|
||||
mode: int
|
||||
plunger_position: String
|
||||
position: float
|
||||
status: str
|
||||
valve_position: str
|
||||
velocity_end: String
|
||||
velocity_grade: String
|
||||
velocity_init: String
|
||||
type: python
|
||||
description: Runze Syringe pump with valve
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
type: object
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
description: "通信端口"
|
||||
default: "COM6"
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
address:
|
||||
default: '1'
|
||||
description: '参数: address'
|
||||
type: string
|
||||
max_volume:
|
||||
default: 25.0
|
||||
description: '参数: max_volume'
|
||||
type: number
|
||||
mode:
|
||||
description: '参数: mode'
|
||||
type: string
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- port
|
||||
|
||||
solenoid_valve:
|
||||
description: Solenoid valve
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
valve_position: String
|
||||
action_value_mappings:
|
||||
set_valve_position:
|
||||
type: StrSingleInput
|
||||
goal:
|
||||
string: position
|
||||
feedback: {}
|
||||
result: {}
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,29 +1,138 @@
|
||||
# 仙工智能底盘（知行使用）
|
||||
agv.SEER:
|
||||
description: SEER AGV
|
||||
class:
|
||||
module: unilabos.devices.agv.agv_navigator:AgvNavigator
|
||||
type: python
|
||||
status_types:
|
||||
pose: Float64MultiArray
|
||||
status: String
|
||||
action_value_mappings:
|
||||
auto-send:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
ex_data: ''
|
||||
obj: receive_socket
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send 的参数schema
|
||||
properties:
|
||||
cmd:
|
||||
description: '参数: cmd'
|
||||
type: string
|
||||
ex_data:
|
||||
default: ''
|
||||
description: '参数: ex_data'
|
||||
type: string
|
||||
obj:
|
||||
default: receive_socket
|
||||
description: '参数: obj'
|
||||
type: string
|
||||
required:
|
||||
- cmd
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_nav_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send_nav_task 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send_nav_task 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_nav_task 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
send_nav_task:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
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.agv.agv_navigator:AgvNavigator
|
||||
status_types:
|
||||
pose: list
|
||||
status: str
|
||||
type: python
|
||||
description: SEER AGV
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
pose:
|
||||
type: array
|
||||
items:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
host:
|
||||
description: '参数: host'
|
||||
type: string
|
||||
required:
|
||||
- host
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- status
|
||||
additionalProperties: false
|
||||
type: object
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,37 +1,202 @@
|
||||
robotic_arm.UR:
|
||||
description: UR robotic arm
|
||||
class:
|
||||
module: unilabos.devices.agv.ur_arm_task:UrArmTask
|
||||
type: python
|
||||
status_types:
|
||||
arm_pose: Float64MultiArray
|
||||
gripper_pose: Float64
|
||||
arm_status: String
|
||||
gripper_status: String
|
||||
action_value_mappings:
|
||||
auto-arm_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand arm_init 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand arm_init 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: arm_init 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-load_pose_data:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand load_pose_data 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand load_pose_data 的参数schema
|
||||
properties:
|
||||
data:
|
||||
description: '参数: data'
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: load_pose_data 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-load_pose_file:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand load_pose_file 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand load_pose_file 的参数schema
|
||||
properties:
|
||||
file:
|
||||
description: '参数: file'
|
||||
type: string
|
||||
required:
|
||||
- file
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: load_pose_file 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_pos_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand move_pos_task 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand move_pos_task 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_pos_task 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-reload_pose:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand reload_pose 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand reload_pose 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: reload_pose 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
move_pos_task:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
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.agv.ur_arm_task:UrArmTask
|
||||
status_types:
|
||||
arm_pose: list
|
||||
arm_status: str
|
||||
gripper_pose: float
|
||||
gripper_status: str
|
||||
type: python
|
||||
description: UR robotic arm
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
arm_pose:
|
||||
type: array
|
||||
items:
|
||||
type: number
|
||||
gripper_pose:
|
||||
type: number
|
||||
arm_status:
|
||||
type: string
|
||||
description: 机械臂设备状态
|
||||
gripper_status:
|
||||
type: string
|
||||
description: 机械爪设备状态
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
host:
|
||||
description: '参数: host'
|
||||
type: string
|
||||
retry:
|
||||
default: 30
|
||||
description: '参数: retry'
|
||||
type: integer
|
||||
required:
|
||||
- host
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- arm_status
|
||||
- gripper_status
|
||||
additionalProperties: false
|
||||
type: object
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,37 +1,669 @@
|
||||
gripper.mock:
|
||||
description: Mock gripper
|
||||
class:
|
||||
module: unilabos.devices.gripper.mock:MockGripper
|
||||
type: python
|
||||
status_types:
|
||||
position: Float64
|
||||
torque: Float64
|
||||
status: String
|
||||
action_value_mappings:
|
||||
push_to:
|
||||
type: GripperCommand
|
||||
goal:
|
||||
command.position: position
|
||||
command.max_effort: torque
|
||||
feedback:
|
||||
position: position
|
||||
effort: torque
|
||||
result:
|
||||
position: position
|
||||
effort: torque
|
||||
|
||||
gripper.misumi_rz:
|
||||
description: Misumi RZ gripper
|
||||
class:
|
||||
module: unilabos.devices.motor:Grasp.EleGripper
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
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:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
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.motor.Grasp:EleGripper
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
description: Misumi RZ gripper
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
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:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
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
|
||||
position: position
|
||||
goal:
|
||||
command.max_effort: torque
|
||||
command.position: position
|
||||
goal_default:
|
||||
command:
|
||||
max_effort: 0.0
|
||||
position: 0.0
|
||||
handles: []
|
||||
result:
|
||||
effort: torque
|
||||
position: position
|
||||
schema:
|
||||
description: ROS Action GripperCommand 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:
|
||||
effort:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
reached_goal:
|
||||
type: boolean
|
||||
stalled:
|
||||
type: boolean
|
||||
required:
|
||||
- position
|
||||
- effort
|
||||
- stalled
|
||||
- reached_goal
|
||||
title: GripperCommand_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
properties:
|
||||
max_effort:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
- max_effort
|
||||
title: GripperCommand
|
||||
type: object
|
||||
required:
|
||||
- command
|
||||
title: GripperCommand_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
effort:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
reached_goal:
|
||||
type: boolean
|
||||
stalled:
|
||||
type: boolean
|
||||
required:
|
||||
- position
|
||||
- effort
|
||||
- stalled
|
||||
- reached_goal
|
||||
title: GripperCommand_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: GripperCommand
|
||||
type: object
|
||||
type: GripperCommand
|
||||
module: unilabos.devices.gripper.mock:MockGripper
|
||||
status_types:
|
||||
position: float
|
||||
status: str
|
||||
torque: float
|
||||
velocity: float
|
||||
type: python
|
||||
description: Mock gripper
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,57 +1,709 @@
|
||||
linear_motion.grbl:
|
||||
description: Grbl CNC
|
||||
class:
|
||||
module: unilabos.devices.cnc.grbl_sync:GrblCNC
|
||||
type: python
|
||||
action_value_mappings:
|
||||
move_through_points: &move_through_points
|
||||
type: NavigateThroughPoses
|
||||
goal:
|
||||
poses[].pose.position: positions[]
|
||||
feedback:
|
||||
current_pose.pose.position: position
|
||||
navigation_time.sec: time_spent
|
||||
estimated_time_remaining.sec: time_remaining
|
||||
number_of_poses_remaining: pose_number_remaining
|
||||
auto-initialize:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
set_spindle_speed:
|
||||
type: SingleJointPosition
|
||||
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
|
||||
estimated_time_remaining.sec: time_remaining
|
||||
navigation_time.sec: time_spent
|
||||
number_of_poses_remaining: pose_number_remaining
|
||||
goal:
|
||||
position: spindle_speed
|
||||
poses[].pose.position: positions[]
|
||||
goal_default:
|
||||
behavior_tree: ''
|
||||
poses:
|
||||
- header:
|
||||
frame_id: ''
|
||||
stamp:
|
||||
nanosec: 0
|
||||
sec: 0
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action NavigateThroughPoses 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:
|
||||
current_pose:
|
||||
properties:
|
||||
header:
|
||||
properties:
|
||||
frame_id:
|
||||
type: string
|
||||
stamp:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
type: object
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
required:
|
||||
- header
|
||||
- pose
|
||||
title: PoseStamped
|
||||
type: object
|
||||
distance_remaining:
|
||||
type: number
|
||||
estimated_time_remaining:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
navigation_time:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
number_of_poses_remaining:
|
||||
maximum: 32767
|
||||
minimum: -32768
|
||||
type: integer
|
||||
number_of_recoveries:
|
||||
maximum: 32767
|
||||
minimum: -32768
|
||||
type: integer
|
||||
required:
|
||||
- current_pose
|
||||
- navigation_time
|
||||
- estimated_time_remaining
|
||||
- number_of_recoveries
|
||||
- distance_remaining
|
||||
- number_of_poses_remaining
|
||||
title: NavigateThroughPoses_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
behavior_tree:
|
||||
type: string
|
||||
poses:
|
||||
items:
|
||||
properties:
|
||||
header:
|
||||
properties:
|
||||
frame_id:
|
||||
type: string
|
||||
stamp:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
type: object
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
required:
|
||||
- header
|
||||
- pose
|
||||
title: PoseStamped
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- poses
|
||||
- behavior_tree
|
||||
title: NavigateThroughPoses_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
result:
|
||||
properties: {}
|
||||
required: []
|
||||
title: Empty
|
||||
type: object
|
||||
required:
|
||||
- result
|
||||
title: NavigateThroughPoses_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: NavigateThroughPoses
|
||||
type: object
|
||||
type: NavigateThroughPoses
|
||||
set_spindle_speed:
|
||||
feedback:
|
||||
position: spindle_speed
|
||||
goal:
|
||||
position: spindle_speed
|
||||
goal_default:
|
||||
max_velocity: 0.0
|
||||
min_duration:
|
||||
nanosec: 0
|
||||
sec: 0
|
||||
position: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
position:
|
||||
type: array
|
||||
items:
|
||||
type: number
|
||||
description: The position of the device
|
||||
spindle_speed:
|
||||
type: number
|
||||
description: The spindle speed of the device
|
||||
required:
|
||||
- position
|
||||
- spindle_speed
|
||||
additionalProperties: false
|
||||
|
||||
|
||||
motor.iCL42:
|
||||
description: iCL42 motor
|
||||
class:
|
||||
module: unilabos.devices.motor.iCL42:iCL42Driver
|
||||
type: python
|
||||
schema:
|
||||
description: ROS Action SingleJointPosition 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:
|
||||
error:
|
||||
type: number
|
||||
header:
|
||||
properties:
|
||||
frame_id:
|
||||
type: string
|
||||
stamp:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
type: object
|
||||
position:
|
||||
type: number
|
||||
velocity:
|
||||
type: number
|
||||
required:
|
||||
- header
|
||||
- position
|
||||
- velocity
|
||||
- error
|
||||
title: SingleJointPosition_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
max_velocity:
|
||||
type: number
|
||||
min_duration:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
position:
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
- min_duration
|
||||
- max_velocity
|
||||
title: SingleJointPosition_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: SingleJointPosition_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SingleJointPosition
|
||||
type: object
|
||||
type: SingleJointPosition
|
||||
module: unilabos.devices.cnc.grbl_sync:GrblCNC
|
||||
status_types:
|
||||
motor_position: Int64
|
||||
is_executing_run: Bool
|
||||
success: Bool
|
||||
position: unilabos.messages:Point3D
|
||||
spindle_speed: float
|
||||
status: str
|
||||
type: python
|
||||
description: Grbl CNC
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
address:
|
||||
default: '1'
|
||||
description: '参数: address'
|
||||
type: string
|
||||
limits:
|
||||
default:
|
||||
- -150
|
||||
- 150
|
||||
- -200
|
||||
- 0
|
||||
- -80
|
||||
- 0
|
||||
description: '参数: limits'
|
||||
type: array
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
motor.iCL42:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-execute_run_motor:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
mode: null
|
||||
position: null
|
||||
velocity: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand execute_run_motor 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand execute_run_motor 的参数schema
|
||||
properties:
|
||||
mode:
|
||||
description: '参数: mode'
|
||||
type: string
|
||||
position:
|
||||
description: '参数: position'
|
||||
type: number
|
||||
velocity:
|
||||
description: '参数: velocity'
|
||||
type: integer
|
||||
required:
|
||||
- mode
|
||||
- position
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: execute_run_motor 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-init_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand init_device 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand init_device 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: init_device 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-run_motor:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
mode: null
|
||||
position: null
|
||||
velocity: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand run_motor 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand run_motor 的参数schema
|
||||
properties:
|
||||
mode:
|
||||
description: '参数: mode'
|
||||
type: string
|
||||
position:
|
||||
description: '参数: position'
|
||||
type: number
|
||||
velocity:
|
||||
description: '参数: velocity'
|
||||
type: integer
|
||||
required:
|
||||
- mode
|
||||
- position
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: run_motor 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
execute_command_from_outer:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
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.motor.iCL42:iCL42Driver
|
||||
status_types:
|
||||
is_executing_run: bool
|
||||
motor_position: int
|
||||
success: bool
|
||||
type: python
|
||||
description: iCL42 motor
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
device_address:
|
||||
default: 1
|
||||
description: '参数: device_address'
|
||||
type: integer
|
||||
device_com:
|
||||
default: COM9
|
||||
description: '参数: device_com'
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,5 +1,355 @@
|
||||
lh_joint_publisher:
|
||||
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-find_resource_parent:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
resource_id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand find_resource_parent 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand find_resource_parent 的参数schema
|
||||
properties:
|
||||
resource_id:
|
||||
description: '参数: resource_id'
|
||||
type: string
|
||||
required:
|
||||
- resource_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: find_resource_parent 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-inverse_kinematics:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
parent_id: null
|
||||
x: null
|
||||
x_joint: null
|
||||
y: null
|
||||
y_joint: null
|
||||
z: null
|
||||
z_joint: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand inverse_kinematics 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand inverse_kinematics 的参数schema
|
||||
properties:
|
||||
parent_id:
|
||||
description: '参数: parent_id'
|
||||
type: string
|
||||
x:
|
||||
description: '参数: x'
|
||||
type: string
|
||||
x_joint:
|
||||
description: '参数: x_joint'
|
||||
type: object
|
||||
y:
|
||||
description: '参数: y'
|
||||
type: string
|
||||
y_joint:
|
||||
description: '参数: y_joint'
|
||||
type: object
|
||||
z:
|
||||
description: '参数: z'
|
||||
type: string
|
||||
z_joint:
|
||||
description: '参数: z_joint'
|
||||
type: object
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- parent_id
|
||||
- x_joint
|
||||
- y_joint
|
||||
- z_joint
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: inverse_kinematics 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-lh_joint_action_callback:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
goal_handle: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand lh_joint_action_callback 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand lh_joint_action_callback 的参数schema
|
||||
properties:
|
||||
goal_handle:
|
||||
description: '参数: goal_handle'
|
||||
type: string
|
||||
required:
|
||||
- goal_handle
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: lh_joint_action_callback 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-lh_joint_pub_callback:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: lh_joint_pub_callback 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_joints:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
option: null
|
||||
resource_names: null
|
||||
speed: 0.1
|
||||
x: null
|
||||
x_joint: null
|
||||
y: null
|
||||
y_joint: null
|
||||
z: null
|
||||
z_joint: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand move_joints 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand move_joints 的参数schema
|
||||
properties:
|
||||
option:
|
||||
description: '参数: option'
|
||||
type: string
|
||||
resource_names:
|
||||
description: '参数: resource_names'
|
||||
type: string
|
||||
speed:
|
||||
default: 0.1
|
||||
description: '参数: speed'
|
||||
type: string
|
||||
x:
|
||||
description: '参数: x'
|
||||
type: string
|
||||
x_joint:
|
||||
description: '参数: x_joint'
|
||||
type: string
|
||||
y:
|
||||
description: '参数: y'
|
||||
type: string
|
||||
y_joint:
|
||||
description: '参数: y_joint'
|
||||
type: string
|
||||
z:
|
||||
description: '参数: z'
|
||||
type: string
|
||||
z_joint:
|
||||
description: '参数: z_joint'
|
||||
type: string
|
||||
required:
|
||||
- resource_names
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- option
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_joints 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
joint_positions: null
|
||||
parent_id: null
|
||||
speed: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand move_to 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand move_to 的参数schema
|
||||
properties:
|
||||
joint_positions:
|
||||
description: '参数: joint_positions'
|
||||
type: string
|
||||
parent_id:
|
||||
description: '参数: parent_id'
|
||||
type: string
|
||||
speed:
|
||||
description: '参数: speed'
|
||||
type: string
|
||||
required:
|
||||
- joint_positions
|
||||
- speed
|
||||
- parent_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_move:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
channels: null
|
||||
link_name: null
|
||||
resource_id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand resource_move 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand resource_move 的参数schema
|
||||
properties:
|
||||
channels:
|
||||
description: '参数: channels'
|
||||
type: array
|
||||
link_name:
|
||||
description: '参数: link_name'
|
||||
type: string
|
||||
resource_id:
|
||||
description: '参数: resource_id'
|
||||
type: string
|
||||
required:
|
||||
- resource_id
|
||||
- link_name
|
||||
- channels
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_move 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_resource_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
link_name: null
|
||||
resource_id_list: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send_resource_action 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send_resource_action 的参数schema
|
||||
properties:
|
||||
link_name:
|
||||
description: '参数: link_name'
|
||||
type: string
|
||||
resource_id_list:
|
||||
description: '参数: resource_id_list'
|
||||
type: array
|
||||
required:
|
||||
- resource_id_list
|
||||
- link_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_resource_action 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
|
||||
status_types: {}
|
||||
type: ros2
|
||||
|
||||
description: ''
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
device_id:
|
||||
default: lh_joint_publisher
|
||||
description: '参数: device_id'
|
||||
type: string
|
||||
rate:
|
||||
default: 50
|
||||
description: '参数: rate'
|
||||
type: integer
|
||||
resource_tracker:
|
||||
description: '参数: resource_tracker'
|
||||
type: string
|
||||
resources_config:
|
||||
description: '参数: resources_config'
|
||||
type: array
|
||||
required:
|
||||
- resources_config
|
||||
- resource_tracker
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,65 +1,841 @@
|
||||
heaterstirrer.dalong:
|
||||
description: DaLong heater stirrer
|
||||
chiller:
|
||||
class:
|
||||
module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
|
||||
type: python
|
||||
status_types:
|
||||
temp: Float64
|
||||
temp_warning: Float64
|
||||
stir_speed: Float64
|
||||
action_value_mappings:
|
||||
set_temp_warning:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: temp
|
||||
auto-build_modbus_frame:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_address: null
|
||||
function_code: null
|
||||
register_address: null
|
||||
value: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand build_modbus_frame 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand build_modbus_frame 的参数schema
|
||||
properties:
|
||||
device_address:
|
||||
description: '参数: device_address'
|
||||
type: integer
|
||||
function_code:
|
||||
description: '参数: function_code'
|
||||
type: integer
|
||||
register_address:
|
||||
description: '参数: register_address'
|
||||
type: integer
|
||||
value:
|
||||
description: '参数: value'
|
||||
type: integer
|
||||
required:
|
||||
- device_address
|
||||
- function_code
|
||||
- register_address
|
||||
- value
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: build_modbus_frame 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-convert_temperature_to_modbus_value:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
decimal_points: 1
|
||||
temperature: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand convert_temperature_to_modbus_value 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand convert_temperature_to_modbus_value 的参数schema
|
||||
properties:
|
||||
decimal_points:
|
||||
default: 1
|
||||
description: '参数: decimal_points'
|
||||
type: integer
|
||||
temperature:
|
||||
description: '参数: temperature'
|
||||
type: number
|
||||
required:
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: convert_temperature_to_modbus_value 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-set_temperature:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_temperature 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_temperature 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_temperature 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand stop 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand stop 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_temperature:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
set_temp_target:
|
||||
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
|
||||
goal:
|
||||
command: temp
|
||||
module: unilabos.devices.temperature.chiller:Chiller
|
||||
status_types: {}
|
||||
type: python
|
||||
description: Chiller
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
rate:
|
||||
default: 9600
|
||||
description: '参数: rate'
|
||||
type: integer
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
heaterstirrer.dalong:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-close:
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-heatchill:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
purpose: reaction
|
||||
stir: true
|
||||
stir_speed: 300
|
||||
temp: null
|
||||
time: 3600
|
||||
vessel: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand heatchill 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand heatchill 的参数schema
|
||||
properties:
|
||||
purpose:
|
||||
default: reaction
|
||||
description: '参数: purpose'
|
||||
type: string
|
||||
stir:
|
||||
default: true
|
||||
description: '参数: stir'
|
||||
type: boolean
|
||||
stir_speed:
|
||||
default: 300
|
||||
description: '参数: stir_speed'
|
||||
type: number
|
||||
temp:
|
||||
description: '参数: temp'
|
||||
type: number
|
||||
time:
|
||||
default: 3600
|
||||
description: '参数: time'
|
||||
type: number
|
||||
vessel:
|
||||
description: '参数: vessel'
|
||||
type: string
|
||||
required:
|
||||
- vessel
|
||||
- temp
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: heatchill 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_stir_speed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
speed: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_stir_speed 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_stir_speed 的参数schema
|
||||
properties:
|
||||
speed:
|
||||
description: '参数: speed'
|
||||
type: number
|
||||
required:
|
||||
- speed
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_stir_speed 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_temp_inner:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
temp: null
|
||||
type: warning
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_temp_inner 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_temp_inner 的参数schema
|
||||
properties:
|
||||
temp:
|
||||
description: '参数: temp'
|
||||
type: number
|
||||
type:
|
||||
default: warning
|
||||
description: '参数: type'
|
||||
type: string
|
||||
required:
|
||||
- temp
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_temp_inner 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_temp_target:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
temp: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_temp_target 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_temp_target 的参数schema
|
||||
properties:
|
||||
temp:
|
||||
description: '参数: temp'
|
||||
type: string
|
||||
required:
|
||||
- temp
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_temp_target 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_temp_warning:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
temp: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_temp_warning 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_temp_warning 的参数schema
|
||||
properties:
|
||||
temp:
|
||||
description: '参数: temp'
|
||||
type: string
|
||||
required:
|
||||
- temp
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_temp_warning 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
heatchill:
|
||||
type: HeatChill
|
||||
goal:
|
||||
vessel: vessel
|
||||
temp: temp
|
||||
time: time
|
||||
purpose: purpose
|
||||
feedback:
|
||||
status: status
|
||||
result:
|
||||
success: success
|
||||
|
||||
chiller:
|
||||
description: Chiller
|
||||
class:
|
||||
module: unilabos.devices.temperature.chiller:Chiller
|
||||
type: python
|
||||
action_value_mappings:
|
||||
set_temperature:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
purpose: purpose
|
||||
temp: temp
|
||||
time: time
|
||||
vessel: vessel
|
||||
goal_default:
|
||||
purpose: ''
|
||||
stir: false
|
||||
stir_speed: 0.0
|
||||
temp: 0.0
|
||||
time: 0.0
|
||||
vessel: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
tempsensor:
|
||||
description: Temperature sensor
|
||||
class:
|
||||
module: unilabos.devices.temperature.sensor_node:TempSensorNode
|
||||
type: python
|
||||
schema:
|
||||
description: ROS Action HeatChill 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: HeatChill_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
purpose:
|
||||
type: string
|
||||
stir:
|
||||
type: boolean
|
||||
stir_speed:
|
||||
type: number
|
||||
temp:
|
||||
type: number
|
||||
time:
|
||||
type: number
|
||||
vessel:
|
||||
type: string
|
||||
required:
|
||||
- vessel
|
||||
- temp
|
||||
- time
|
||||
- stir
|
||||
- stir_speed
|
||||
- purpose
|
||||
title: HeatChill_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: HeatChill_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: HeatChill
|
||||
type: object
|
||||
type: HeatChill
|
||||
set_temp_target:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: temp
|
||||
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
|
||||
set_temp_warning:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: temp
|
||||
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.heaterstirrer.dalong:HeaterStirrer_DaLong
|
||||
status_types:
|
||||
value: Float64
|
||||
warning: Float64
|
||||
status: str
|
||||
stir_speed: float
|
||||
temp: float
|
||||
temp_target: float
|
||||
temp_warning: float
|
||||
type: python
|
||||
description: DaLong heater stirrer
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
baudrate:
|
||||
default: 9600
|
||||
description: '参数: baudrate'
|
||||
type: integer
|
||||
port:
|
||||
default: COM6
|
||||
description: '参数: port'
|
||||
type: string
|
||||
temp_warning:
|
||||
default: 50.0
|
||||
description: '参数: temp_warning'
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
tempsensor:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-build_modbus_request:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_id: null
|
||||
function_code: null
|
||||
register_address: null
|
||||
register_count: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand build_modbus_request 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand build_modbus_request 的参数schema
|
||||
properties:
|
||||
device_id:
|
||||
description: '参数: device_id'
|
||||
type: string
|
||||
function_code:
|
||||
description: '参数: function_code'
|
||||
type: string
|
||||
register_address:
|
||||
description: '参数: register_address'
|
||||
type: string
|
||||
register_count:
|
||||
description: '参数: register_count'
|
||||
type: string
|
||||
required:
|
||||
- device_id
|
||||
- function_code
|
||||
- register_address
|
||||
- register_count
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: build_modbus_request 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-calculate_crc:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand calculate_crc 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand calculate_crc 的参数schema
|
||||
properties:
|
||||
data:
|
||||
description: '参数: data'
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: calculate_crc 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_modbus_response:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
response: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand read_modbus_response 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand read_modbus_response 的参数schema
|
||||
properties:
|
||||
response:
|
||||
description: '参数: response'
|
||||
type: string
|
||||
required:
|
||||
- response
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_modbus_response 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_prototype_command:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send_prototype_command 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send_prototype_command 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_prototype_command 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_warning:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_warning 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_warning 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_warning 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_warning:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
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.temperature.sensor_node:TempSensorNode
|
||||
status_types:
|
||||
value: float
|
||||
type: python
|
||||
description: Temperature sensor
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
address:
|
||||
description: '参数: address'
|
||||
type: string
|
||||
baudrate:
|
||||
default: 9600
|
||||
description: '参数: baudrate'
|
||||
type: integer
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
warning:
|
||||
description: '参数: warning'
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
- warning
|
||||
- address
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,81 +1,514 @@
|
||||
vacuum_pump.mock:
|
||||
description: Mock vacuum pump
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
open:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
close:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
set_status:
|
||||
type: StrSingleInput
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
result: {}
|
||||
handles:
|
||||
- handler_key: out
|
||||
label: out
|
||||
data_type: fluid
|
||||
io_type: source
|
||||
data_source: handle
|
||||
data_key: fluid_in
|
||||
init_param_schema:
|
||||
type: object
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
description: "通信端口"
|
||||
default: "COM6"
|
||||
required:
|
||||
- port
|
||||
|
||||
gas_source.mock:
|
||||
description: Mock gas source
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
open:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_closed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand is_closed 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand is_closed 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_closed 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand is_open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand is_open 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand open 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
string: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_status 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_status 的参数schema
|
||||
properties:
|
||||
string:
|
||||
description: '参数: string'
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_status 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
close:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 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: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_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
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 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: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_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
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
set_status:
|
||||
type: StrSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action StrSingleInput 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: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_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: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
description: Mock gas source
|
||||
handles:
|
||||
- handler_key: out
|
||||
label: out
|
||||
data_type: fluid
|
||||
io_type: source
|
||||
data_source: executor
|
||||
data_key: fluid_out
|
||||
- data_key: fluid_out
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
handler_key: out
|
||||
io_type: source
|
||||
label: out
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
type: object
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
description: "通信端口"
|
||||
default: "COM6"
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
port:
|
||||
default: COM6
|
||||
description: '参数: port'
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- port
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
vacuum_pump.mock:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_closed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand is_closed 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand is_closed 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_closed 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand is_open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand is_open 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand open 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
string: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_status 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_status 的参数schema
|
||||
properties:
|
||||
string:
|
||||
description: '参数: string'
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_status 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 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: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_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
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 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: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_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
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
set_status:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action StrSingleInput 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: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_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: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
description: Mock vacuum pump
|
||||
handles:
|
||||
- data_key: fluid_in
|
||||
data_source: handle
|
||||
data_type: fluid
|
||||
handler_key: out
|
||||
io_type: source
|
||||
label: out
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
port:
|
||||
default: COM6
|
||||
description: '参数: port'
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,27 +1,239 @@
|
||||
zhida_hplc:
|
||||
description: Zhida HPLC
|
||||
class:
|
||||
module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
abort:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 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: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_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
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
auto-abort:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand abort 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand abort 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: abort 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-connect:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand connect 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand connect 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: connect 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
text: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand start 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand start 的参数schema
|
||||
properties:
|
||||
text:
|
||||
description: '参数: text'
|
||||
type: string
|
||||
required:
|
||||
- text
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: start 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
get_methods:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 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: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_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
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
start:
|
||||
type: StrSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
abort:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
get_methods:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
|
||||
schema:
|
||||
properties: {}
|
||||
schema:
|
||||
description: ROS Action StrSingleInput 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: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_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: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
|
||||
status_types:
|
||||
methods: dict
|
||||
status: dict
|
||||
type: python
|
||||
description: Zhida HPLC
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
host:
|
||||
default: 192.168.1.47
|
||||
description: '参数: host'
|
||||
type: string
|
||||
port:
|
||||
default: 5792
|
||||
description: '参数: port'
|
||||
type: integer
|
||||
timeout:
|
||||
default: 10.0
|
||||
description: '参数: timeout'
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
Reference in New Issue
Block a user