mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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0.10.7 Update (#101)
* Cleanup registry to be easy-understanding (#76) * delete deprecated mock devices * rename categories * combine chromatographic devices * rename rviz simulation nodes * organic virtual devices * parse vessel_id * run registry completion before merge --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * fix: workstation handlers and vessel_id parsing * fix: working dir error when input config path feat: report publish topic when error * modify default discovery_interval to 15s * feat: add trace log level * feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79) * fix: drop_tips not using auto resource select * fix: discard_tips error * fix: discard_tips * fix: prcxi_res * add: prcxi res fix: startup slow * feat: workstation example * fix pumps and liquid_handler handle * feat: 优化protocol node节点运行日志 * fix all protocol_compilers and remove deprecated devices * feat: 新增use_remote_resource参数 * fix and remove redundant info * bugfixes on organic protocols * fix filter protocol * fix protocol node * 临时兼容错误的driver写法 * fix: prcxi import error * use call_async in all service to avoid deadlock * fix: figure_resource * Update recipe.yaml * add workstation template and battery example * feat: add sk & ak * update workstation base * Create workstation_architecture.md * refactor: workstation_base 重构为仅含业务逻辑，通信和子设备管理交给 ProtocolNode * refactor: ProtocolNode→WorkstationNode * Add:msgs.action (#83) * update: Workstation dev 将版本号从 0.10.3 更新为 0.10.4 (#84) * Add:msgs.action * update: 将版本号从 0.10.3 更新为 0.10.4 * simplify resource system * uncompleted refactor * example for use WorkstationBase * feat: websocket * feat: websocket test * feat: workstation example * feat: action status * fix: station自己的方法注册错误 * fix: 还原protocol node处理方法 * fix: build * fix: missing job_id key * ws test version 1 * ws test version 2 * ws protocol * 增加物料关系上传日志 * 增加物料关系上传日志 * 修正物料关系上传 * 修复工站的tracker实例追踪失效问题 * 增加handle检测，增加material edge关系上传 * 修复event loop错误 * 修复edge上报错误 * 修复async错误 * 更新schema的title字段 * 主机节点信息等支持自动刷新 * 注册表编辑器 * 修复status密集发送时，消息出错 * 增加addr参数 * fix: addr param * fix: addr param * 取消labid 和 强制config输入 * Add action definitions for LiquidHandlerSetGroup and LiquidHandlerTransferGroup - Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes. - Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume. - Both actions include response fields for return information and success status. * Add LiquidHandlerSetGroup and LiquidHandlerTransferGroup actions to CMakeLists * Add set_group and transfer_group methods to PRCXI9300Handler and update liquid_handler.yaml * result_info改为字典类型 * 新增uat的地址替换 * runze multiple pump support (cherry picked from commit49354fcf39) * remove runze multiple software obtainer (cherry picked from commit8bcc92a394) * support multiple backbone (cherry picked from commit4771ff2347) * Update runze pump format * Correct runze multiple backbone * Update runze_multiple_backbone * Correct runze pump multiple receive method. * Correct runze pump multiple receive method. * 对于PRCXI9320的transfer_group，一对多和多对多 * 移除MQTT，更新launch文档，提供注册表示例文件，更新到0.10.5 * fix import error * fix dupe upload registry * refactor ws client * add server timeout * Fix: run-column with correct vessel id (#86) * fix run_column * Update run_column_protocol.py (cherry picked from commite5aa4d940a) * resource_update use resource_add * 新增版位推荐功能 * 重新规定了版位推荐的入参 * update registry with nested obj * fix protocol node log_message, added create_resource return value * fix protocol node log_message, added create_resource return value * try fix add protocol * fix resource_add * 修复移液站错误的aspirate注册表 * Feature/xprbalance-zhida (#80) * feat(devices): add Zhida GC/MS pretreatment automation workstation * feat(devices): add mettler_toledo xpr balance * balance * 重新补全zhida注册表 * PRCXI9320 json * PRCXI9320 json * PRCXI9320 json * fix resource download * remove class for resource * bump version to 0.10.6 * 更新所有注册表 * 修复protocolnode的兼容性 * 修复protocolnode的兼容性 * Update install md * Add Defaultlayout * 更新物料接口 * fix dict to tree/nested-dict converter * coin_cell_station draft * refactor: rename "station_resource" to "deck" * add standardized BIOYOND resources: bottle_carrier, bottle * refactor and add BIOYOND resources tests * add BIOYOND deck assignment and pass all tests * fix: update resource with correct structure; remove deprecated liquid_handler set_group action * feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92) * feat: 新威电池测试系统驱动与注册文件 * feat: bring neware driver & battery.json into workstation_dev_YB2 * add bioyond studio draft * bioyond station with communication init and resource sync * fix bioyond station and registry * fix: update resource with correct structure; remove deprecated liquid_handler set_group action * frontend_docs * create/update resources with POST/PUT for big amount/ small amount data * create/update resources with POST/PUT for big amount/ small amount data * refactor: add itemized_carrier instead of carrier consists of ResourceHolder * create warehouse by factory func * update bioyond launch json * add child_size for itemized_carrier * fix bioyond resource io * Workstation templates: Resources and its CRUD, and workstation tasks (#95) * coin_cell_station draft * refactor: rename "station_resource" to "deck" * add standardized BIOYOND resources: bottle_carrier, bottle * refactor and add BIOYOND resources tests * add BIOYOND deck assignment and pass all tests * fix: update resource with correct structure; remove deprecated liquid_handler set_group action * feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92) * feat: 新威电池测试系统驱动与注册文件 * feat: bring neware driver & battery.json into workstation_dev_YB2 * add bioyond studio draft * bioyond station with communication init and resource sync * fix bioyond station and registry * create/update resources with POST/PUT for big amount/ small amount data * refactor: add itemized_carrier instead of carrier consists of ResourceHolder * create warehouse by factory func * update bioyond launch json * add child_size for itemized_carrier * fix bioyond resource io --------- Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com> Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com> * 更新物料接口 * Workstation dev yb2 (#100) * Refactor and extend reaction station action messages * Refactor dispensing station tasks to enhance parameter clarity and add batch processing capabilities - Updated `create_90_10_vial_feeding_task` to include detailed parameters for 90%/10% vial feeding, improving clarity and usability. - Introduced `create_batch_90_10_vial_feeding_task` for batch processing of 90%/10% vial feeding tasks with JSON formatted input. - Added `create_batch_diamine_solution_task` for batch preparation of diamine solution, also utilizing JSON formatted input. - Refined `create_diamine_solution_task` to include additional parameters for better task configuration. - Enhanced schema descriptions and default values for improved user guidance. * 修复to_plr_resources * add update remove * 支持选择器注册表自动生成 支持转运物料 * 修复资源添加 * 修复transfer_resource_to_another生成 * 更新transfer_resource_to_another参数，支持spot入参 * 新增test_resource动作 * fix host_node error * fix host_node test_resource error * fix host_node test_resource error * 过滤本地动作 * 移动内部action以兼容host node * 修复同步任务报错不显示的bug * feat: 允许返回非本节点物料，后面可以通过decoration进行区分，就不进行warning了 * update todo * modify bioyond/plr converter, bioyond resource registry, and tests * pass the tests * update todo * add conda-pack-build.yml * add auto install script for conda-pack-build.yml (cherry picked from commit172599adcf) * update conda-pack-build.yml * update conda-pack-build.yml * update conda-pack-build.yml * update conda-pack-build.yml * update conda-pack-build.yml * Add version in __init__.py Update conda-pack-build.yml Add create_zip_archive.py * Update conda-pack-build.yml * Update conda-pack-build.yml (with mamba) * Update conda-pack-build.yml * Fix FileNotFoundError * Try fix 'charmap' codec can't encode characters in position 16-23: character maps to <undefined> * Fix unilabos msgs search error * Fix environment_check.py * Update recipe.yaml * Update registry. Update uuid loop figure method. Update install docs. * Fix nested conda pack * Fix one-key installation path error * Bump version to 0.10.7 * Workshop bj (#99) * Add LaiYu Liquid device integration and tests Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included. * feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档 refactor: 重新组织LaiYu_Liquid模块目录结构 docs: 添加SOPA移液器和步进电机控制指令文档 fix: 修正设备配置中的最大体积默认值 test: 新增工作台配置测试用例 chore: 删除过时的测试脚本和配置文件 * add * 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用 - 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py - 更新所有相关文件中的导入引用 - 保持代码功能不变，仅改善命名一致性 - 测试确认所有导入正常工作 * 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出 - 添加 LaiYuLiquidBackend 到导入列表 - 添加 LaiYuLiquidBackend 到 __all__ 导出列表 - 确保所有主要类都可以正确导入 * 修复大小写文件夹名字 * 电池装配工站二次开发教程（带目录）上传至dev (#94) * 电池装配工站二次开发教程 * Update intro.md * 物料教程 * 更新物料教程，json格式注释 * Update prcxi driver & fix transfer_liquid mix_times (#90) * Update prcxi driver & fix transfer_liquid mix_times * fix: correct mix_times type * Update liquid_handler registry * test: prcxi.py * Update registry from pr * fix ony-key script not exist * clean files --------- Co-authored-by: Junhan Chang <changjh@dp.tech> Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com> Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com> Co-authored-by: LccLink <1951855008@qq.com> Co-authored-by: lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com> Co-authored-by: shiyubo0410 <shiyubo@dp.tech>
This commit is contained in:
Xuwznln
GitHub
1
unilabos/registry/devices/balance.yaml
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unilabos/registry/devices/balance.yaml
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@@ -0,0 +1 @@
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{}
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@@ -7,7 +7,8 @@ camera.USB:
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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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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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||||
description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
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@@ -27,7 +28,8 @@ camera.USB:
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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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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
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@@ -63,7 +65,7 @@ camera.USB:
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default: 0.1
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type: number
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resource_tracker:
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type: string
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type: object
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required: []
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type: object
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data:
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@@ -7,7 +7,8 @@ hplc.agilent:
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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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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
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@@ -28,7 +29,8 @@ hplc.agilent:
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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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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
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@@ -54,7 +56,8 @@ hplc.agilent:
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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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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
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@@ -82,7 +85,8 @@ hplc.agilent:
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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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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
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@@ -105,7 +109,8 @@ hplc.agilent:
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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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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
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@@ -129,7 +134,7 @@ hplc.agilent:
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command: command
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goal_default:
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command: ''
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handles: []
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handles: {}
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result:
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success: success
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schema:
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@@ -170,7 +175,7 @@ hplc.agilent:
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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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data_file: String
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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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@@ -195,6 +200,8 @@ hplc.agilent:
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could_run:
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type: boolean
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data_file:
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items:
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type: string
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type: array
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device_status:
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type: string
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@@ -228,7 +235,7 @@ hplc.agilent-zhida:
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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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handles: {}
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result: {}
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schema:
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description: ''
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@@ -260,7 +267,8 @@ hplc.agilent-zhida:
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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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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: HPLC设备连接关闭函数。安全地断开与智达HPLC设备的TCP socket连接，释放网络资源。该函数确保连接的正确关闭，避免网络资源泄露。通常在设备使用完毕或系统关闭时调用。
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@@ -280,7 +288,8 @@ hplc.agilent-zhida:
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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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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: HPLC设备连接建立函数。与智达HPLC设备建立TCP socket通信连接，配置通信超时参数。该函数是设备使用前的必要步骤，建立成功后可进行状态查询、方法获取、任务启动等操作。连接失败时会抛出异常。
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@@ -300,7 +309,7 @@ hplc.agilent-zhida:
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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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handles: {}
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result: {}
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schema:
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description: ''
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@@ -334,7 +343,7 @@ hplc.agilent-zhida:
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string: string
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goal_default:
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string: ''
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handles: []
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handles: {}
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result: {}
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schema:
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description: ''
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@@ -8,7 +8,8 @@ raman.home_made:
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goal: {}
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goal_default:
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int_time: null
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handles: []
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 设置CCD检测器积分时间的函数。用于配置拉曼光谱仪的信号采集时间，控制光谱数据的质量和信噪比。较长的积分时间可获得更高的信号强度和更好的光谱质量，但会增加测量时间。该函数允许根据样品特性和测量要求动态调整检测参数，优化测量效果。
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@@ -32,7 +33,8 @@ raman.home_made:
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goal: {}
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goal_default:
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output_voltage_laser: null
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handles: []
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 设置激光器输出功率的函数。用于控制拉曼光谱仪激光器的功率输出，调节激光强度以适应不同样品的测量需求。适当的激光功率能够获得良好的拉曼信号同时避免样品损伤。该函数支持精确的功率控制，确保测量结果的稳定性和重现性。
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@@ -57,7 +59,8 @@ raman.home_made:
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goal_default:
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int_time: null
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laser_power: null
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handles: []
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 执行无背景扣除的拉曼光谱测量函数。用于直接采集样品的拉曼光谱信号，不进行背景校正处理。该函数配置积分时间和激光功率参数，获取原始光谱数据用于后续的数据处理分析。适用于对光谱数据质量要求较高或需要自定义背景处理流程的测量场景。
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@@ -87,7 +90,8 @@ raman.home_made:
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int_time: null
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laser_power: null
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sample_name: null
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handles: []
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
|
||||
description: 执行多次平均的无背景拉曼光谱测量函数。通过多次测量取平均值来提高光谱数据的信噪比和测量精度，减少随机噪声影响。该函数支持自定义平均次数、积分时间、激光功率等参数，并可为样品指定名称便于数据管理。适用于对测量精度要求较高的定量分析和研究应用。
|
||||
@@ -121,7 +125,7 @@ raman.home_made:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
|
||||
1582
unilabos/registry/devices/dispensing_station_bioyond.yaml
Normal file
1582
unilabos/registry/devices/dispensing_station_bioyond.yaml
Normal file
File diff suppressed because it is too large
Load Diff
@@ -7,7 +7,8 @@ gas_source.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
@@ -27,7 +28,8 @@ gas_source.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
@@ -47,7 +49,7 @@ gas_source.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -79,7 +81,7 @@ gas_source.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -113,7 +115,7 @@ gas_source.mock:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -187,7 +189,8 @@ vacuum_pump.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
@@ -207,7 +210,8 @@ vacuum_pump.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
@@ -227,7 +231,7 @@ vacuum_pump.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -259,7 +263,7 @@ vacuum_pump.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -293,7 +297,7 @@ vacuum_pump.mock:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
|
||||
1922
unilabos/registry/devices/laiyu_liquid.yaml
Normal file
1922
unilabos/registry/devices/laiyu_liquid.yaml
Normal file
File diff suppressed because it is too large
Load Diff
@@ -87,7 +87,7 @@ liquid_handler:
|
||||
type: ''
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
reagent_sources: unilabos_resources
|
||||
targets: unilabos_resources
|
||||
@@ -355,7 +355,6 @@ liquid_handler:
|
||||
feedback: {}
|
||||
goal:
|
||||
blow_out_air_volume: blow_out_air_volume
|
||||
end_delay: end_delay
|
||||
flow_rates: flow_rates
|
||||
liquid_height: liquid_height
|
||||
offsets: offsets
|
||||
@@ -398,7 +397,7 @@ liquid_handler:
|
||||
- 0
|
||||
vols:
|
||||
- 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -564,7 +563,8 @@ liquid_handler:
|
||||
protocol_name: null
|
||||
protocol_type: null
|
||||
protocol_version: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 创建实验协议函数。用于建立新的液体处理实验协议，定义协议名称、描述、版本、作者、日期等基本信息。该函数支持协议模板化管理，便于实验流程的标准化和重复性。适用于实验设计、方法开发、标准操作程序建立等需要协议管理的应用场景。
|
||||
@@ -607,7 +607,8 @@ liquid_handler:
|
||||
goal_default:
|
||||
msg: null
|
||||
seconds: 0
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 自定义延时函数。在实验流程中插入可配置的等待时间，用于满足特定的反应时间、孵育时间或设备稳定时间要求。支持自定义延时消息和秒数设置，提供流程控制和时间管理功能。适用于酶反应等待、温度平衡、样品孵育等需要时间控制的实验步骤。
|
||||
@@ -633,7 +634,8 @@ liquid_handler:
|
||||
goal: {}
|
||||
goal_default:
|
||||
tip_racks: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 吸头迭代函数。用于自动管理和切换吸头架中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
|
||||
@@ -652,12 +654,46 @@ liquid_handler:
|
||||
title: iter_tips参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_group:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
group_name: null
|
||||
volumes: null
|
||||
wells: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
group_name:
|
||||
type: string
|
||||
volumes:
|
||||
type: string
|
||||
wells:
|
||||
type: string
|
||||
required:
|
||||
- group_name
|
||||
- wells
|
||||
- volumes
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_group参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_tiprack:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
tip_racks: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 吸头架设置函数。用于配置和初始化液体处理系统的吸头架信息，包括吸头架位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、吸头架更换、实验配置等需要吸头资源管理的操作场景。
|
||||
@@ -681,7 +717,8 @@ liquid_handler:
|
||||
goal: {}
|
||||
goal_default:
|
||||
targets: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 吸头碰触函数。控制移液器吸头轻触容器边缘或底部，用于去除吸头外壁附着的液滴，提高移液精度和减少污染。该函数支持多目标位置操作，可配置碰触参数和位置偏移。适用于精密移液、减少液体残留、防止交叉污染等需要提高移液质量的实验操作。
|
||||
@@ -700,6 +737,39 @@ liquid_handler:
|
||||
title: touch_tip参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-transfer_group:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
source_group_name: null
|
||||
target_group_name: null
|
||||
unit_volume: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
source_group_name:
|
||||
type: string
|
||||
target_group_name:
|
||||
type: string
|
||||
unit_volume:
|
||||
type: number
|
||||
required:
|
||||
- source_group_name
|
||||
- target_group_name
|
||||
- unit_volume
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_group参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
discard_tips:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -707,7 +777,7 @@ liquid_handler:
|
||||
goal_default:
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -790,7 +860,7 @@ liquid_handler:
|
||||
- 0
|
||||
vols:
|
||||
- 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -977,7 +1047,7 @@ liquid_handler:
|
||||
type: ''
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
tip_spots: unilabos_resources
|
||||
result:
|
||||
@@ -1146,7 +1216,7 @@ liquid_handler:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -1311,7 +1381,7 @@ liquid_handler:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -1527,7 +1597,7 @@ liquid_handler:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -1844,7 +1914,7 @@ liquid_handler:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -2156,7 +2226,7 @@ liquid_handler:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -2368,7 +2438,7 @@ liquid_handler:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -2514,7 +2584,7 @@ liquid_handler:
|
||||
type: ''
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -2676,7 +2746,7 @@ liquid_handler:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -2876,7 +2946,7 @@ liquid_handler:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -3203,7 +3273,7 @@ liquid_handler:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
sources: unilabos_resources
|
||||
waste_liquid: unilabos_resources
|
||||
@@ -3463,7 +3533,7 @@ liquid_handler:
|
||||
allow_nonzero_volume: false
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -3511,7 +3581,7 @@ liquid_handler:
|
||||
allow_nonzero_volume: allow_nonzero_volume
|
||||
goal_default:
|
||||
allow_nonzero_volume: false
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -3598,7 +3668,7 @@ liquid_handler:
|
||||
sample_id: ''
|
||||
type: ''
|
||||
volume: 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
@@ -3807,7 +3877,7 @@ liquid_handler:
|
||||
to_vessel: ''
|
||||
viscous: false
|
||||
volume: 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
@@ -4431,7 +4501,8 @@ liquid_handler.biomek:
|
||||
resource_tracker: null
|
||||
resources: null
|
||||
slot_on_deck: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: create_resource的参数schema
|
||||
@@ -4444,14 +4515,22 @@ liquid_handler.biomek:
|
||||
bind_parent_id:
|
||||
type: string
|
||||
liquid_input_slot:
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
liquid_type:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
liquid_volume:
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
resource_tracker:
|
||||
type: string
|
||||
type: object
|
||||
resources:
|
||||
items:
|
||||
type: object
|
||||
type: array
|
||||
slot_on_deck:
|
||||
type: integer
|
||||
@@ -4482,7 +4561,8 @@ liquid_handler.biomek:
|
||||
liquid_volume: null
|
||||
parent: null
|
||||
slot_on_deck: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: instrument_setup_biomek的参数schema
|
||||
@@ -4495,10 +4575,16 @@ liquid_handler.biomek:
|
||||
id:
|
||||
type: string
|
||||
liquid_input_wells:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
liquid_type:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
liquid_volume:
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
parent:
|
||||
type: string
|
||||
@@ -4538,7 +4624,7 @@ liquid_handler.biomek:
|
||||
protocol_name: ''
|
||||
protocol_type: ''
|
||||
protocol_version: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -4766,7 +4852,7 @@ liquid_handler.biomek:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -5487,7 +5573,7 @@ liquid_handler.prcxi:
|
||||
type: ''
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
reagent_sources: unilabos_resources
|
||||
targets: unilabos_resources
|
||||
@@ -5755,7 +5841,6 @@ liquid_handler.prcxi:
|
||||
feedback: {}
|
||||
goal:
|
||||
blow_out_air_volume: blow_out_air_volume
|
||||
end_delay: end_delay
|
||||
flow_rates: flow_rates
|
||||
liquid_height: liquid_height
|
||||
offsets: offsets
|
||||
@@ -5798,7 +5883,7 @@ liquid_handler.prcxi:
|
||||
- 0
|
||||
vols:
|
||||
- 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
resources: unilabos_resources
|
||||
result: {}
|
||||
@@ -5965,7 +6050,8 @@ liquid_handler.prcxi:
|
||||
protocol_name: ''
|
||||
protocol_type: ''
|
||||
protocol_version: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: create_protocol的参数schema
|
||||
@@ -5975,6 +6061,8 @@ liquid_handler.prcxi:
|
||||
properties:
|
||||
none_keys:
|
||||
default: []
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
protocol_author:
|
||||
default: ''
|
||||
@@ -6008,7 +6096,8 @@ liquid_handler.prcxi:
|
||||
goal_default:
|
||||
msg: null
|
||||
seconds: 0
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: custom_delay的参数schema
|
||||
@@ -6034,7 +6123,8 @@ liquid_handler.prcxi:
|
||||
goal: {}
|
||||
goal_default:
|
||||
tip_racks: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: iter_tips的参数schema
|
||||
@@ -6060,7 +6150,8 @@ liquid_handler.prcxi:
|
||||
channel: 0
|
||||
dis_to_top: 0
|
||||
well: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: move_to的参数schema
|
||||
@@ -6075,7 +6166,7 @@ liquid_handler.prcxi:
|
||||
default: 0
|
||||
type: number
|
||||
well:
|
||||
type: string
|
||||
type: object
|
||||
required:
|
||||
- well
|
||||
type: object
|
||||
@@ -6089,7 +6180,8 @@ liquid_handler.prcxi:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: run_protocol的参数schema
|
||||
@@ -6105,12 +6197,50 @@ liquid_handler.prcxi:
|
||||
title: run_protocol参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-set_group:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
group_name: null
|
||||
volumes: null
|
||||
wells: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
group_name:
|
||||
type: string
|
||||
volumes:
|
||||
items:
|
||||
type: number
|
||||
type: array
|
||||
wells:
|
||||
items:
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- group_name
|
||||
- wells
|
||||
- volumes
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_group参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-touch_tip:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
targets: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: touch_tip的参数schema
|
||||
@@ -6129,6 +6259,39 @@ liquid_handler.prcxi:
|
||||
title: touch_tip参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-transfer_group:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
source_group_name: null
|
||||
target_group_name: null
|
||||
unit_volume: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
source_group_name:
|
||||
type: string
|
||||
target_group_name:
|
||||
type: string
|
||||
unit_volume:
|
||||
type: number
|
||||
required:
|
||||
- source_group_name
|
||||
- target_group_name
|
||||
- unit_volume
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_group参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
discard_tips:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -6136,7 +6299,7 @@ liquid_handler.prcxi:
|
||||
goal_default:
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -6218,7 +6381,7 @@ liquid_handler.prcxi:
|
||||
- 0
|
||||
vols:
|
||||
- 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
resources: unilabos_resources
|
||||
result: {}
|
||||
@@ -6406,7 +6569,7 @@ liquid_handler.prcxi:
|
||||
type: ''
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
tip_spots: unilabos_resources
|
||||
result: {}
|
||||
@@ -6583,7 +6746,7 @@ liquid_handler.prcxi:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
targets: unilabos_resources
|
||||
result: {}
|
||||
@@ -6763,7 +6926,7 @@ liquid_handler.prcxi:
|
||||
type: ''
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
tip_spots: unilabos_resources
|
||||
result: {}
|
||||
@@ -6975,7 +7138,7 @@ liquid_handler.prcxi:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
sources: unilabos_resources
|
||||
waste_liquid: unilabos_resources
|
||||
@@ -7257,7 +7420,7 @@ liquid_handler.prcxi:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
wells: unilabos_resources
|
||||
result: {}
|
||||
@@ -7398,7 +7561,7 @@ liquid_handler.prcxi:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
tip_racks: unilabos_resources
|
||||
result: {}
|
||||
@@ -7527,7 +7690,7 @@ liquid_handler.prcxi:
|
||||
to_vessel: ''
|
||||
viscous: false
|
||||
volume: 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
@@ -7717,7 +7880,7 @@ liquid_handler.prcxi:
|
||||
touch_tip: false
|
||||
use_channels:
|
||||
- 0
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
sources: unilabos_resources
|
||||
targets: unilabos_resources
|
||||
@@ -8099,9 +8262,12 @@ liquid_handler.prcxi:
|
||||
default: false
|
||||
type: string
|
||||
deck:
|
||||
type: string
|
||||
type: object
|
||||
host:
|
||||
type: string
|
||||
is_9320:
|
||||
default: false
|
||||
type: string
|
||||
matrix_id:
|
||||
default: ''
|
||||
type: string
|
||||
@@ -8164,7 +8330,7 @@ liquid_handler.revvity:
|
||||
sample_id: ''
|
||||
type: ''
|
||||
wf_name: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
|
||||
347
unilabos/registry/devices/neware_battery_test_system.yaml
Normal file
347
unilabos/registry/devices/neware_battery_test_system.yaml
Normal file
@@ -0,0 +1,347 @@
|
||||
neware_battery_test_system:
|
||||
category:
|
||||
- neware_battery_test_system
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-print_status_summary:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: print_status_summary参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-test_connection:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: test_connection参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
export_status_json:
|
||||
feedback: {}
|
||||
goal:
|
||||
filepath: filepath
|
||||
goal_default:
|
||||
filepath: bts_status.json
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: 导出当前状态数据到JSON文件
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
filepath:
|
||||
default: bts_status.json
|
||||
description: 输出JSON文件路径
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 导出操作结果信息
|
||||
type: string
|
||||
success:
|
||||
description: 导出是否成功
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
get_device_summary:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: 获取设备级别的摘要统计信息
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 设备摘要信息JSON格式
|
||||
type: string
|
||||
success:
|
||||
description: 查询是否成功
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
get_plate_status:
|
||||
feedback: {}
|
||||
goal:
|
||||
plate_num: plate_num
|
||||
goal_default:
|
||||
plate_num: 1
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: 获取指定盘(1或2)的电池状态信息
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
plate_num:
|
||||
description: 盘号 (1 或 2)
|
||||
maximum: 2
|
||||
minimum: 1
|
||||
type: integer
|
||||
required:
|
||||
- plate_num
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 盘状态信息JSON格式
|
||||
type: string
|
||||
success:
|
||||
description: 查询是否成功
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
print_status_summary_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: 打印通道状态摘要信息到控制台
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 打印操作结果信息
|
||||
type: string
|
||||
success:
|
||||
description: 打印是否成功
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
query_plate_action:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: plate_id
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
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
|
||||
test_connection_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: 测试与电池测试系统的TCP连接
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 连接测试结果信息
|
||||
type: string
|
||||
success:
|
||||
description: 连接测试是否成功
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.battery.neware_battery_test_system:NewareBatteryTestSystem
|
||||
status_types:
|
||||
channel_status: dict
|
||||
connection_info: dict
|
||||
device_summary: dict
|
||||
plate_status: dict
|
||||
status: str
|
||||
total_channels: int
|
||||
type: python
|
||||
config_info: []
|
||||
description: 新威电池测试系统驱动，支持720个通道的电池测试状态监控和数据导出。通过TCP通信实现远程控制，包含完整的物料管理系统，支持2盘电池的状态映射和监控。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
devtype:
|
||||
type: string
|
||||
ip:
|
||||
type: string
|
||||
machine_id:
|
||||
default: 1
|
||||
type: integer
|
||||
port:
|
||||
type: integer
|
||||
size_x:
|
||||
default: 500.0
|
||||
type: number
|
||||
size_y:
|
||||
default: 500.0
|
||||
type: number
|
||||
size_z:
|
||||
default: 2000.0
|
||||
type: number
|
||||
timeout:
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
channel_status:
|
||||
type: object
|
||||
connection_info:
|
||||
type: object
|
||||
device_summary:
|
||||
type: object
|
||||
plate_status:
|
||||
type: object
|
||||
status:
|
||||
type: string
|
||||
total_channels:
|
||||
type: integer
|
||||
required:
|
||||
- status
|
||||
- channel_status
|
||||
- connection_info
|
||||
- total_channels
|
||||
- plate_status
|
||||
- device_summary
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -8,7 +8,8 @@ rotavap.one:
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cmd_write的参数schema
|
||||
@@ -31,7 +32,8 @@ rotavap.one:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: main_loop的参数schema
|
||||
@@ -52,7 +54,8 @@ rotavap.one:
|
||||
goal: {}
|
||||
goal_default:
|
||||
time: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_pump_time的参数schema
|
||||
@@ -76,7 +79,8 @@ rotavap.one:
|
||||
goal: {}
|
||||
goal_default:
|
||||
time: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_rotate_time的参数schema
|
||||
@@ -101,7 +105,7 @@ rotavap.one:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -171,7 +175,8 @@ separator.homemade:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: read_sensor_loop的参数schema
|
||||
@@ -193,7 +198,8 @@ separator.homemade:
|
||||
goal_default:
|
||||
condition: null
|
||||
value: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: valve_open的参数schema
|
||||
@@ -220,7 +226,8 @@ separator.homemade:
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: write的参数schema
|
||||
@@ -273,7 +280,7 @@ separator.homemade:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -410,7 +417,7 @@ separator.homemade:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
|
||||
@@ -7,7 +7,8 @@ solenoid_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: close的参数schema
|
||||
@@ -27,7 +28,8 @@ solenoid_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
@@ -47,7 +49,8 @@ solenoid_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
@@ -67,7 +70,8 @@ solenoid_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -87,7 +91,8 @@ solenoid_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: read_data的参数schema
|
||||
@@ -108,7 +113,8 @@ solenoid_valve:
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: send_command的参数schema
|
||||
@@ -133,7 +139,7 @@ solenoid_valve:
|
||||
string: position
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -204,7 +210,8 @@ solenoid_valve.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
@@ -224,7 +231,8 @@ solenoid_valve.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
@@ -245,7 +253,8 @@ solenoid_valve.mock:
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_valve_position的参数schema
|
||||
@@ -268,7 +277,7 @@ solenoid_valve.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -300,7 +309,7 @@ solenoid_valve.mock:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -375,7 +384,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: close的参数schema
|
||||
@@ -395,7 +405,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -416,7 +427,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal: {}
|
||||
goal_default:
|
||||
volume: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: pull_plunger的参数schema
|
||||
@@ -440,7 +452,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal: {}
|
||||
goal_default:
|
||||
volume: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: push_plunger的参数schema
|
||||
@@ -463,7 +476,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: query_aux_input_status_1的参数schema
|
||||
@@ -483,7 +497,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: query_aux_input_status_2的参数schema
|
||||
@@ -503,7 +518,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: query_backlash_position的参数schema
|
||||
@@ -523,7 +539,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: query_command_buffer_status的参数schema
|
||||
@@ -543,7 +560,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: query_software_version的参数schema
|
||||
@@ -564,7 +582,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal: {}
|
||||
goal_default:
|
||||
full_command: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: send_command的参数schema
|
||||
@@ -588,7 +607,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal: {}
|
||||
goal_default:
|
||||
baudrate: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_baudrate的参数schema
|
||||
@@ -612,7 +632,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_max_velocity的参数schema
|
||||
@@ -637,7 +658,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal_default:
|
||||
max_velocity: null
|
||||
position: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_position的参数schema
|
||||
@@ -663,7 +685,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_valve_position的参数schema
|
||||
@@ -687,7 +710,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_velocity_grade的参数schema
|
||||
@@ -710,7 +734,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: stop_operation的参数schema
|
||||
@@ -730,7 +755,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_error的参数schema
|
||||
@@ -832,7 +858,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
default: 25.0
|
||||
type: number
|
||||
mode:
|
||||
type: string
|
||||
type: object
|
||||
port:
|
||||
type: string
|
||||
required:
|
||||
@@ -879,7 +905,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: close的参数schema
|
||||
@@ -899,7 +926,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -920,7 +948,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal: {}
|
||||
goal_default:
|
||||
volume: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: pull_plunger的参数schema
|
||||
@@ -944,7 +973,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal: {}
|
||||
goal_default:
|
||||
volume: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: push_plunger的参数schema
|
||||
@@ -967,7 +997,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: query_aux_input_status_1的参数schema
|
||||
@@ -987,7 +1018,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: query_aux_input_status_2的参数schema
|
||||
@@ -1007,7 +1039,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: query_backlash_position的参数schema
|
||||
@@ -1027,7 +1060,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: query_command_buffer_status的参数schema
|
||||
@@ -1047,7 +1081,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: query_software_version的参数schema
|
||||
@@ -1068,7 +1103,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal: {}
|
||||
goal_default:
|
||||
full_command: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: send_command的参数schema
|
||||
@@ -1092,7 +1128,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal: {}
|
||||
goal_default:
|
||||
baudrate: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_baudrate的参数schema
|
||||
@@ -1116,7 +1153,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_max_velocity的参数schema
|
||||
@@ -1141,7 +1179,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal_default:
|
||||
max_velocity: null
|
||||
position: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_position的参数schema
|
||||
@@ -1167,7 +1206,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_valve_position的参数schema
|
||||
@@ -1191,7 +1231,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_velocity_grade的参数schema
|
||||
@@ -1214,7 +1255,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: stop_operation的参数schema
|
||||
@@ -1234,7 +1276,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_error的参数schema
|
||||
@@ -1352,7 +1395,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
default: 25.0
|
||||
type: number
|
||||
mode:
|
||||
type: string
|
||||
type: object
|
||||
port:
|
||||
type: string
|
||||
required:
|
||||
|
||||
1454
unilabos/registry/devices/reaction_station_bioyond.yaml
Normal file
1454
unilabos/registry/devices/reaction_station_bioyond.yaml
Normal file
File diff suppressed because it is too large
Load Diff
@@ -10,7 +10,8 @@ agv.SEER:
|
||||
cmd: null
|
||||
ex_data: ''
|
||||
obj: receive_socket
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: AGV底层通信命令发送函数。通过TCP socket连接向AGV发送底层控制命令，支持pose（位置）、status（状态）、nav（导航）等命令类型。用于获取AGV当前位置坐标、运行状态或发送导航指令。该函数封装了AGV的通信协议，将命令转换为十六进制数据包并处理响应解析。
|
||||
@@ -41,7 +42,7 @@ agv.SEER:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
|
||||
@@ -7,7 +7,8 @@ robotic_arm.SCARA_with_slider.virtual:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: check_tf_update_actions的参数schema
|
||||
@@ -32,7 +33,8 @@ robotic_arm.SCARA_with_slider.virtual:
|
||||
move_group: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_joint_task的参数schema
|
||||
@@ -77,7 +79,8 @@ robotic_arm.SCARA_with_slider.virtual:
|
||||
retry: 10
|
||||
speed: 1
|
||||
target_link: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_task的参数schema
|
||||
@@ -124,7 +127,8 @@ robotic_arm.SCARA_with_slider.virtual:
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: post_init的参数schema
|
||||
@@ -133,7 +137,7 @@ robotic_arm.SCARA_with_slider.virtual:
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
@@ -149,7 +153,8 @@ robotic_arm.SCARA_with_slider.virtual:
|
||||
goal_default:
|
||||
parent_link: null
|
||||
resource: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: resource_manager的参数schema
|
||||
@@ -175,7 +180,8 @@ robotic_arm.SCARA_with_slider.virtual:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_resource_action的参数schema
|
||||
@@ -197,7 +203,7 @@ robotic_arm.SCARA_with_slider.virtual:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -240,7 +246,7 @@ robotic_arm.SCARA_with_slider.virtual:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -283,7 +289,7 @@ robotic_arm.SCARA_with_slider.virtual:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -359,7 +365,8 @@ robotic_arm.UR:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 机械臂初始化函数。执行UR机械臂的完整初始化流程，包括上电、释放制动器、解除保护停止状态等。该函数确保机械臂从安全停止状态恢复到可操作状态，是机械臂使用前的必要步骤。初始化完成后机械臂将处于就绪状态，可以接收后续的运动指令。
|
||||
@@ -380,7 +387,8 @@ robotic_arm.UR:
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 从JSON字符串加载位置数据函数。接收包含机械臂位置信息的JSON格式字符串，解析并存储位置数据供后续运动任务使用。位置数据通常包含多个预定义的工作位置坐标，用于实现精确的多点运动控制。适用于动态配置机械臂工作位置的场景。
|
||||
@@ -404,7 +412,8 @@ robotic_arm.UR:
|
||||
goal: {}
|
||||
goal_default:
|
||||
file: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 从文件加载位置数据函数。读取指定的JSON文件并加载其中的机械臂位置信息。该函数支持从外部配置文件中获取预设的工作位置，便于位置数据的管理和重用。适用于需要从固定配置文件中读取复杂位置序列的应用场景。
|
||||
@@ -427,7 +436,8 @@ robotic_arm.UR:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 重新加载位置数据函数。重新读取并解析之前设置的位置文件，更新内存中的位置数据。该函数用于在位置文件被修改后刷新机械臂的位置配置，无需重新初始化整个系统。适用于动态更新机械臂工作位置的场景。
|
||||
@@ -449,7 +459,7 @@ robotic_arm.UR:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -535,7 +545,8 @@ robotic_arm.elite:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -555,7 +566,8 @@ robotic_arm.elite:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -578,7 +590,8 @@ robotic_arm.elite:
|
||||
quantity: null
|
||||
start_addr: null
|
||||
unit_id: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -608,7 +621,8 @@ robotic_arm.elite:
|
||||
goal: {}
|
||||
goal_default:
|
||||
job_id: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -634,7 +648,8 @@ robotic_arm.elite:
|
||||
register_addr: null
|
||||
unit_id: null
|
||||
value: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -664,7 +679,8 @@ robotic_arm.elite:
|
||||
goal: {}
|
||||
goal_default:
|
||||
response: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -688,7 +704,8 @@ robotic_arm.elite:
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -713,7 +730,7 @@ robotic_arm.elite:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -753,7 +770,7 @@ robotic_arm.elite:
|
||||
module: unilabos.devices.arm.elite_robot:EliteRobot
|
||||
status_types:
|
||||
actual_joint_positions: String
|
||||
arm_pose: list
|
||||
arm_pose: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: Elite robot arm
|
||||
@@ -775,6 +792,8 @@ robotic_arm.elite:
|
||||
actual_joint_positions:
|
||||
type: string
|
||||
arm_pose:
|
||||
items:
|
||||
type: number
|
||||
type: array
|
||||
required:
|
||||
- arm_pose
|
||||
|
||||
@@ -7,7 +7,8 @@ gripper.misumi_rz:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: data_loop的参数schema
|
||||
@@ -27,7 +28,8 @@ gripper.misumi_rz:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: data_reader的参数schema
|
||||
@@ -50,7 +52,8 @@ gripper.misumi_rz:
|
||||
force: null
|
||||
pos: null
|
||||
speed: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 夹爪抓取运动控制函数。控制夹爪的开合运动，支持位置、速度、力矩的精确设定。位置参数控制夹爪开合程度，速度参数控制运动快慢，力矩参数控制夹持强度。该函数提供安全的力控制，避免损坏被抓取物体，适用于各种形状和材质的物品抓取。
|
||||
@@ -79,7 +82,8 @@ gripper.misumi_rz:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 夹爪初始化函数。执行Misumi RZ夹爪的完整初始化流程，包括Modbus通信建立、电机参数配置、传感器校准等。该函数确保夹爪系统从安全状态恢复到可操作状态，是夹爪使用前的必要步骤。初始化完成后夹爪将处于就绪状态，可接收抓取和旋转指令。
|
||||
@@ -100,7 +104,8 @@ gripper.misumi_rz:
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: modbus_crc的参数schema
|
||||
@@ -129,7 +134,8 @@ gripper.misumi_rz:
|
||||
spin_F: null
|
||||
spin_pos: null
|
||||
spin_v: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: move_and_rotate的参数schema
|
||||
@@ -168,7 +174,8 @@ gripper.misumi_rz:
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 节点夹爪移动任务函数。接收逗号分隔的命令字符串，解析位置、速度、力矩参数并执行夹爪抓取动作。该函数等待运动完成并返回执行结果，提供同步的运动控制接口。适用于需要可靠完成确认的精密抓取操作。
|
||||
@@ -192,7 +199,8 @@ gripper.misumi_rz:
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 节点旋转移动任务函数。接收逗号分隔的命令字符串，解析角度、速度、力矩参数并执行夹爪旋转动作。该函数等待旋转完成并返回执行结果，提供同步的旋转控制接口。适用于需要精确角度定位和完成确认的旋转操作。
|
||||
@@ -218,7 +226,8 @@ gripper.misumi_rz:
|
||||
address: null
|
||||
data_len: null
|
||||
id: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: read_address的参数schema
|
||||
@@ -250,7 +259,8 @@ gripper.misumi_rz:
|
||||
force: null
|
||||
pos: null
|
||||
speed: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 夹爪绝对位置旋转控制函数。控制夹爪主轴旋转到指定的绝对角度位置，支持360度连续旋转。位置参数指定目标角度，速度参数控制旋转速率，力矩参数设定旋转阻力限制。该函数提供高精度的角度定位，适用于需要精确方向控制的操作场景。
|
||||
@@ -283,7 +293,8 @@ gripper.misumi_rz:
|
||||
data: null
|
||||
fun: null
|
||||
id: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: send_cmd的参数schema
|
||||
@@ -315,7 +326,8 @@ gripper.misumi_rz:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_gripper的参数schema
|
||||
@@ -335,7 +347,8 @@ gripper.misumi_rz:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_gripper_init的参数schema
|
||||
@@ -355,7 +368,8 @@ gripper.misumi_rz:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_rotate的参数schema
|
||||
@@ -377,7 +391,7 @@ gripper.misumi_rz:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -461,7 +475,8 @@ gripper.mock:
|
||||
resource:
|
||||
Gripper1: {}
|
||||
wf_name: gripper_run
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 模拟夹爪资源ID编辑函数。用于测试和演示资源管理功能，模拟修改夹爪资源的标识信息。该函数接收工作流名称、参数和资源对象，模拟真实的资源更新过程并返回修改后的资源信息。适用于系统测试和开发调试场景。
|
||||
@@ -498,7 +513,7 @@ gripper.mock:
|
||||
command:
|
||||
max_effort: 0.0
|
||||
position: 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
effort: torque
|
||||
position: position
|
||||
|
||||
@@ -7,7 +7,8 @@ linear_motion.grbl:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: CNC设备初始化函数。执行Grbl CNC的完整初始化流程，包括归零操作、轴校准和状态复位。该函数将所有轴移动到原点位置(0,0,0)，确保设备处于已知的参考状态。初始化完成后设备进入空闲状态，可接收后续的运动指令。
|
||||
@@ -28,7 +29,8 @@ linear_motion.grbl:
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: CNC绝对位置设定函数。控制CNC设备移动到指定的三维坐标位置(x,y,z)。该函数支持安全限位检查，防止超出设备工作范围。移动过程中会监控设备状态，确保安全到达目标位置。适用于精确定位和轨迹控制操作。
|
||||
@@ -37,7 +39,7 @@ linear_motion.grbl:
|
||||
goal:
|
||||
properties:
|
||||
position:
|
||||
type: string
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
@@ -51,7 +53,8 @@ linear_motion.grbl:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: CNC操作停止函数。立即停止当前正在执行的所有CNC运动，包括轴移动和主轴旋转。该函数用于紧急停止或任务中断，确保设备和工件的安全。停止后设备将保持当前位置，等待新的指令。
|
||||
@@ -71,7 +74,8 @@ linear_motion.grbl:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_error的参数schema
|
||||
@@ -113,7 +117,7 @@ linear_motion.grbl:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -345,7 +349,7 @@ linear_motion.grbl:
|
||||
nanosec: 0
|
||||
sec: 0
|
||||
position: 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -450,6 +454,8 @@ linear_motion.grbl:
|
||||
- 0
|
||||
- -80
|
||||
- 0
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
port:
|
||||
type: string
|
||||
@@ -459,7 +465,7 @@ linear_motion.grbl:
|
||||
data:
|
||||
properties:
|
||||
position:
|
||||
type: string
|
||||
type: object
|
||||
spindle_speed:
|
||||
type: number
|
||||
status:
|
||||
@@ -479,7 +485,8 @@ linear_motion.toyo_xyz.sim:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: check_tf_update_actions的参数schema
|
||||
@@ -504,7 +511,8 @@ linear_motion.toyo_xyz.sim:
|
||||
move_group: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_joint_task的参数schema
|
||||
@@ -549,7 +557,8 @@ linear_motion.toyo_xyz.sim:
|
||||
retry: 10
|
||||
speed: 1
|
||||
target_link: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_task的参数schema
|
||||
@@ -596,7 +605,8 @@ linear_motion.toyo_xyz.sim:
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: post_init的参数schema
|
||||
@@ -605,7 +615,7 @@ linear_motion.toyo_xyz.sim:
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
@@ -621,7 +631,8 @@ linear_motion.toyo_xyz.sim:
|
||||
goal_default:
|
||||
parent_link: null
|
||||
resource: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: resource_manager的参数schema
|
||||
@@ -647,7 +658,8 @@ linear_motion.toyo_xyz.sim:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_resource_action的参数schema
|
||||
@@ -669,7 +681,7 @@ linear_motion.toyo_xyz.sim:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -712,7 +724,7 @@ linear_motion.toyo_xyz.sim:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -755,7 +767,7 @@ linear_motion.toyo_xyz.sim:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -834,7 +846,8 @@ motor.iCL42:
|
||||
mode: null
|
||||
position: null
|
||||
velocity: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 步进电机执行运动函数。直接执行电机运动命令，包括位置设定、速度控制和路径规划。该函数处理底层的电机控制协议，消除警告信息，设置运动参数并启动电机运行。适用于需要直接控制电机运动的应用场景。
|
||||
@@ -863,7 +876,8 @@ motor.iCL42:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: iCL42电机设备初始化函数。建立与iCL42步进电机驱动器的串口通信连接，配置通信参数包括波特率、数据位、校验位等。该函数是电机使用前的必要步骤，确保驱动器处于可控状态并准备接收运动指令。
|
||||
@@ -886,7 +900,8 @@ motor.iCL42:
|
||||
mode: null
|
||||
position: null
|
||||
velocity: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 步进电机运动控制函数。根据指定的运动模式、目标位置和速度参数控制电机运动。支持多种运动模式和精确的位置控制，自动处理运动轨迹规划和执行。该函数提供异步执行和状态反馈，确保运动的准确性和可靠性。
|
||||
@@ -917,7 +932,7 @@ motor.iCL42:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
|
||||
@@ -13,7 +13,7 @@ solid_dispenser.laiyu:
|
||||
compound_mass: 0.0
|
||||
powder_tube_number: 0
|
||||
target_tube_position: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
actual_mass_mg: actual_mass_mg
|
||||
schema:
|
||||
@@ -64,7 +64,8 @@ solid_dispenser.laiyu:
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: Modbus CRC-16校验码计算函数。计算Modbus RTU通信协议所需的CRC-16校验码，确保数据传输的完整性和可靠性。该函数实现标准的CRC-16算法，用于构造完整的Modbus指令帧。
|
||||
@@ -88,7 +89,8 @@ solid_dispenser.laiyu:
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: Modbus指令发送函数。构造完整的Modbus RTU指令帧（包含CRC校验），发送给分装设备并等待响应。该函数处理底层通信协议，确保指令的正确传输和响应接收，支持最长3分钟的响应等待时间。
|
||||
@@ -113,7 +115,7 @@ solid_dispenser.laiyu:
|
||||
float_input: float_input
|
||||
goal_default:
|
||||
float_in: 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -153,7 +155,7 @@ solid_dispenser.laiyu:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -197,7 +199,7 @@ solid_dispenser.laiyu:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -243,7 +245,7 @@ solid_dispenser.laiyu:
|
||||
int_input: int_input
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -285,7 +287,7 @@ solid_dispenser.laiyu:
|
||||
int_input: int_input
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -325,7 +327,7 @@ solid_dispenser.laiyu:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
|
||||
@@ -11,7 +11,8 @@ chiller:
|
||||
function_code: null
|
||||
register_address: null
|
||||
value: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: build_modbus_frame的参数schema
|
||||
@@ -45,7 +46,8 @@ chiller:
|
||||
goal_default:
|
||||
decimal_points: 1
|
||||
temperature: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: convert_temperature_to_modbus_value的参数schema
|
||||
@@ -72,7 +74,8 @@ chiller:
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: modbus_crc的参数schema
|
||||
@@ -95,7 +98,8 @@ chiller:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: stop的参数schema
|
||||
@@ -117,7 +121,7 @@ chiller:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -187,7 +191,8 @@ heaterstirrer.dalong:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: close的参数schema
|
||||
@@ -208,7 +213,8 @@ heaterstirrer.dalong:
|
||||
goal: {}
|
||||
goal_default:
|
||||
speed: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_stir_speed的参数schema
|
||||
@@ -233,7 +239,8 @@ heaterstirrer.dalong:
|
||||
goal_default:
|
||||
temp: null
|
||||
type: warning
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_temp_inner的参数schema
|
||||
@@ -293,7 +300,7 @@ heaterstirrer.dalong:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -438,7 +445,7 @@ heaterstirrer.dalong:
|
||||
command: temp
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -482,7 +489,7 @@ heaterstirrer.dalong:
|
||||
command: temp
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -579,7 +586,8 @@ tempsensor:
|
||||
function_code: null
|
||||
register_address: null
|
||||
register_count: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: build_modbus_request的参数schema
|
||||
@@ -612,7 +620,8 @@ tempsensor:
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: calculate_crc的参数schema
|
||||
@@ -636,7 +645,8 @@ tempsensor:
|
||||
goal: {}
|
||||
goal_default:
|
||||
response: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: read_modbus_response的参数schema
|
||||
@@ -660,7 +670,8 @@ tempsensor:
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: send_prototype_command的参数schema
|
||||
@@ -685,7 +696,7 @@ tempsensor:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
|
||||
@@ -7,7 +7,8 @@ virtual_centrifuge:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
@@ -27,7 +28,8 @@ virtual_centrifuge:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -78,7 +80,7 @@ virtual_centrifuge:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
message: message
|
||||
success: success
|
||||
@@ -295,7 +297,8 @@ virtual_column:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
@@ -315,7 +318,8 @@ virtual_column:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -388,7 +392,7 @@ virtual_column:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
message: current_status
|
||||
return_info: current_status
|
||||
@@ -690,7 +694,8 @@ virtual_filter:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
@@ -710,7 +715,8 @@ virtual_filter:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -786,7 +792,7 @@ virtual_filter:
|
||||
sample_id: ''
|
||||
type: ''
|
||||
volume: 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
message: message
|
||||
return_info: message
|
||||
@@ -1088,7 +1094,8 @@ virtual_gas_source:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
@@ -1108,7 +1115,8 @@ virtual_gas_source:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -1128,7 +1136,8 @@ virtual_gas_source:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
@@ -1148,7 +1157,8 @@ virtual_gas_source:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
@@ -1168,7 +1178,7 @@ virtual_gas_source:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -1200,7 +1210,7 @@ virtual_gas_source:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -1234,7 +1244,7 @@ virtual_gas_source:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -1310,7 +1320,8 @@ virtual_heatchill:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
@@ -1330,7 +1341,8 @@ virtual_heatchill:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -1386,7 +1398,7 @@ virtual_heatchill:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -1555,7 +1567,7 @@ virtual_heatchill:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -1696,7 +1708,7 @@ virtual_heatchill:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -1879,7 +1891,8 @@ virtual_multiway_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: close的参数schema
|
||||
@@ -1900,7 +1913,8 @@ virtual_multiway_valve:
|
||||
goal: {}
|
||||
goal_default:
|
||||
port_number: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_at_port的参数schema
|
||||
@@ -1924,7 +1938,8 @@ virtual_multiway_valve:
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_at_position的参数schema
|
||||
@@ -1947,7 +1962,8 @@ virtual_multiway_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_at_pump_position的参数schema
|
||||
@@ -1967,7 +1983,8 @@ virtual_multiway_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -1987,7 +2004,8 @@ virtual_multiway_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: reset的参数schema
|
||||
@@ -2008,7 +2026,8 @@ virtual_multiway_valve:
|
||||
goal: {}
|
||||
goal_default:
|
||||
port_number: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_to_port的参数schema
|
||||
@@ -2031,7 +2050,8 @@ virtual_multiway_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_to_pump_position的参数schema
|
||||
@@ -2052,7 +2072,8 @@ virtual_multiway_valve:
|
||||
goal: {}
|
||||
goal_default:
|
||||
port_number: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: switch_between_pump_and_port的参数schema
|
||||
@@ -2077,7 +2098,7 @@ virtual_multiway_valve:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -2121,7 +2142,7 @@ virtual_multiway_valve:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -2299,7 +2320,8 @@ virtual_rotavap:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
@@ -2319,7 +2341,8 @@ virtual_rotavap:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -2371,7 +2394,7 @@ virtual_rotavap:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
message: message
|
||||
success: success
|
||||
@@ -2629,7 +2652,8 @@ virtual_separator:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
@@ -2649,7 +2673,8 @@ virtual_separator:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -2834,7 +2859,7 @@ virtual_separator:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
message: message
|
||||
success: success
|
||||
@@ -3516,7 +3541,8 @@ virtual_solenoid_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
@@ -3536,7 +3562,8 @@ virtual_solenoid_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -3556,7 +3583,8 @@ virtual_solenoid_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
@@ -3576,7 +3604,8 @@ virtual_solenoid_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: reset的参数schema
|
||||
@@ -3596,7 +3625,8 @@ virtual_solenoid_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: toggle的参数schema
|
||||
@@ -3617,7 +3647,7 @@ virtual_solenoid_valve:
|
||||
goal:
|
||||
command: CLOSED
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -3650,7 +3680,7 @@ virtual_solenoid_valve:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -3684,7 +3714,7 @@ virtual_solenoid_valve:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -3724,7 +3754,7 @@ virtual_solenoid_valve:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
message: message
|
||||
success: success
|
||||
@@ -3871,7 +3901,7 @@ virtual_solid_dispenser:
|
||||
type: ''
|
||||
viscous: false
|
||||
volume: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
message: message
|
||||
return_info: return_info
|
||||
@@ -4034,7 +4064,8 @@ virtual_solid_dispenser:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
@@ -4055,7 +4086,8 @@ virtual_solid_dispenser:
|
||||
goal: {}
|
||||
goal_default:
|
||||
reagent_name: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -4078,7 +4110,8 @@ virtual_solid_dispenser:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -4099,7 +4132,8 @@ virtual_solid_dispenser:
|
||||
goal: {}
|
||||
goal_default:
|
||||
mass_str: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -4123,7 +4157,8 @@ virtual_solid_dispenser:
|
||||
goal: {}
|
||||
goal_default:
|
||||
mol_str: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -4205,7 +4240,8 @@ virtual_stirrer:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
@@ -4225,7 +4261,8 @@ virtual_stirrer:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -4271,7 +4308,7 @@ virtual_stirrer:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -4429,7 +4466,7 @@ virtual_stirrer:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -4585,7 +4622,7 @@ virtual_stirrer:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
@@ -4704,6 +4741,7 @@ virtual_stirrer:
|
||||
status_types:
|
||||
current_speed: float
|
||||
current_vessel: str
|
||||
device_info: dict
|
||||
is_stirring: bool
|
||||
max_speed: float
|
||||
min_speed: float
|
||||
@@ -4738,6 +4776,8 @@ virtual_stirrer:
|
||||
type: number
|
||||
current_vessel:
|
||||
type: string
|
||||
device_info:
|
||||
type: object
|
||||
is_stirring:
|
||||
type: boolean
|
||||
max_speed:
|
||||
@@ -4759,6 +4799,7 @@ virtual_stirrer:
|
||||
- remaining_time
|
||||
- max_speed
|
||||
- min_speed
|
||||
- device_info
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_transfer_pump:
|
||||
@@ -4772,7 +4813,8 @@ virtual_transfer_pump:
|
||||
goal_default:
|
||||
velocity: null
|
||||
volume: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: aspirate的参数schema
|
||||
@@ -4797,7 +4839,8 @@ virtual_transfer_pump:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
@@ -4819,7 +4862,8 @@ virtual_transfer_pump:
|
||||
goal_default:
|
||||
velocity: null
|
||||
volume: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: dispense的参数schema
|
||||
@@ -4845,7 +4889,8 @@ virtual_transfer_pump:
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: empty_syringe的参数schema
|
||||
@@ -4868,7 +4913,8 @@ virtual_transfer_pump:
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: fill_syringe的参数schema
|
||||
@@ -4890,7 +4936,8 @@ virtual_transfer_pump:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -4910,7 +4957,8 @@ virtual_transfer_pump:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_empty的参数schema
|
||||
@@ -4930,7 +4978,8 @@ virtual_transfer_pump:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_full的参数schema
|
||||
@@ -4952,7 +5001,8 @@ virtual_transfer_pump:
|
||||
goal_default:
|
||||
velocity: null
|
||||
volume: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: pull_plunger的参数schema
|
||||
@@ -4979,7 +5029,8 @@ virtual_transfer_pump:
|
||||
goal_default:
|
||||
velocity: null
|
||||
volume: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: push_plunger的参数schema
|
||||
@@ -5005,7 +5056,8 @@ virtual_transfer_pump:
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: set_max_velocity的参数schema
|
||||
@@ -5028,7 +5080,8 @@ virtual_transfer_pump:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: stop_operation的参数schema
|
||||
@@ -5055,7 +5108,7 @@ virtual_transfer_pump:
|
||||
goal_default:
|
||||
max_velocity: 0.0
|
||||
position: 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
message: message
|
||||
success: success
|
||||
@@ -5133,7 +5186,7 @@ virtual_transfer_pump:
|
||||
to_vessel: ''
|
||||
viscous: false
|
||||
volume: 0.0
|
||||
handles: []
|
||||
handles: {}
|
||||
result:
|
||||
message: message
|
||||
success: success
|
||||
@@ -5272,7 +5325,8 @@ virtual_vacuum_pump:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: cleanup的参数schema
|
||||
@@ -5292,7 +5346,8 @@ virtual_vacuum_pump:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
@@ -5312,7 +5367,8 @@ virtual_vacuum_pump:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
@@ -5332,7 +5388,8 @@ virtual_vacuum_pump:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
@@ -5352,7 +5409,7 @@ virtual_vacuum_pump:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -5384,7 +5441,7 @@ virtual_vacuum_pump:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -5418,7 +5475,7 @@ virtual_vacuum_pump:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
350
unilabos/registry/devices/zhida_gcms.yaml
Normal file
350
unilabos/registry/devices/zhida_gcms.yaml
Normal file
@@ -0,0 +1,350 @@
|
||||
zhida_gcms:
|
||||
category:
|
||||
- zhida_gcms
|
||||
class:
|
||||
action_value_mappings:
|
||||
abort:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 安全关闭与智达 GCMS 设备的 TCP 连接，释放网络资源。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-connect:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 与智达 GCMS 设备建立 TCP 连接，配置超时参数。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: connect参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
get_methods:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
get_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
get_version:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
put_tray:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
start:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
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
|
||||
start_with_csv_file:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
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_gcms.zhida:ZhidaClient
|
||||
status_types:
|
||||
methods: dict
|
||||
status: str
|
||||
version: dict
|
||||
type: python
|
||||
config_info: []
|
||||
description: 智达气相色谱-质谱联用（GC-MS）分析设备，通过 TCP 通信实现远程控制与状态监控，支持方法管理与任务启动等功能。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
host:
|
||||
default: 192.168.3.184
|
||||
type: string
|
||||
port:
|
||||
default: 5792
|
||||
type: string
|
||||
timeout:
|
||||
default: 10.0
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
methods:
|
||||
type: object
|
||||
status:
|
||||
type: string
|
||||
version:
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
- methods
|
||||
- version
|
||||
type: object
|
||||
version: 1.0.0
|
||||
Reference in New Issue
Block a user