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https://github.com/dptech-corp/Uni-Lab-OS.git
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更新schema的title字段
This commit is contained in:
Xuwznln
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@@ -336,7 +336,7 @@ separator.homemade:
|
||||
- y
|
||||
- z
|
||||
- w
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||||
title: Quaternion
|
||||
title: orientation
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||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -350,12 +350,12 @@ separator.homemade:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
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||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
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||||
title: pose
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||||
type: object
|
||||
sample_id:
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||||
type: string
|
||||
@@ -372,7 +372,7 @@ separator.homemade:
|
||||
- pose
|
||||
- config
|
||||
- data
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||||
title: Resource
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||||
title: vessel
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||||
type: object
|
||||
required:
|
||||
- vessel
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||||
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||||
@@ -533,7 +533,7 @@ gripper.mock:
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||||
required:
|
||||
- position
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||||
- max_effort
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||||
title: GripperCommand
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||||
title: command
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||||
type: object
|
||||
required:
|
||||
- command
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||||
|
||||
@@ -139,12 +139,12 @@ linear_motion.grbl:
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||||
required:
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||||
- sec
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||||
- nanosec
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||||
title: Time
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||||
title: stamp
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||||
type: object
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||||
required:
|
||||
- stamp
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||||
- frame_id
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||||
title: Header
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||||
title: header
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||||
type: object
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||||
pose:
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||||
properties:
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||||
@@ -163,7 +163,7 @@ linear_motion.grbl:
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||||
- y
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||||
- z
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||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -177,17 +177,17 @@ linear_motion.grbl:
|
||||
- x
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||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
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||||
type: object
|
||||
required:
|
||||
- header
|
||||
- pose
|
||||
title: PoseStamped
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||||
title: current_pose
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||||
type: object
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||||
distance_remaining:
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||||
type: number
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||||
@@ -204,7 +204,7 @@ linear_motion.grbl:
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||||
required:
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||||
- sec
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||||
- nanosec
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||||
title: Duration
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||||
title: estimated_time_remaining
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||||
type: object
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||||
navigation_time:
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||||
properties:
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||||
@@ -219,7 +219,7 @@ linear_motion.grbl:
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||||
required:
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||||
- sec
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||||
- nanosec
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||||
title: Duration
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||||
title: navigation_time
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||||
type: object
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||||
number_of_poses_remaining:
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||||
maximum: 32767
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||||
@@ -262,12 +262,12 @@ linear_motion.grbl:
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||||
required:
|
||||
- sec
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||||
- nanosec
|
||||
title: Time
|
||||
title: stamp
|
||||
type: object
|
||||
required:
|
||||
- stamp
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||||
- frame_id
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||||
title: Header
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||||
title: header
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||||
type: object
|
||||
pose:
|
||||
properties:
|
||||
@@ -286,7 +286,7 @@ linear_motion.grbl:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -300,17 +300,17 @@ linear_motion.grbl:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
required:
|
||||
- header
|
||||
- pose
|
||||
title: PoseStamped
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||||
title: poses
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
@@ -323,7 +323,7 @@ linear_motion.grbl:
|
||||
result:
|
||||
properties: {}
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||||
required: []
|
||||
title: Empty
|
||||
title: result
|
||||
type: object
|
||||
required:
|
||||
- result
|
||||
@@ -371,12 +371,12 @@ linear_motion.grbl:
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
title: stamp
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
title: header
|
||||
type: object
|
||||
position:
|
||||
type: number
|
||||
@@ -406,7 +406,7 @@ linear_motion.grbl:
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||||
required:
|
||||
- sec
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||||
- nanosec
|
||||
title: Duration
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||||
title: min_duration
|
||||
type: object
|
||||
position:
|
||||
type: number
|
||||
|
||||
@@ -362,7 +362,7 @@ heaterstirrer.dalong:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -376,12 +376,12 @@ heaterstirrer.dalong:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -398,7 +398,7 @@ heaterstirrer.dalong:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
|
||||
@@ -145,7 +145,7 @@ virtual_centrifuge:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -159,12 +159,12 @@ virtual_centrifuge:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -181,7 +181,7 @@ virtual_centrifuge:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -446,7 +446,7 @@ virtual_column:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -460,12 +460,12 @@ virtual_column:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -482,7 +482,7 @@ virtual_column:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: from_vessel
|
||||
type: object
|
||||
pct1:
|
||||
type: string
|
||||
@@ -531,7 +531,7 @@ virtual_column:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -545,12 +545,12 @@ virtual_column:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -567,7 +567,7 @@ virtual_column:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: to_vessel
|
||||
type: object
|
||||
required:
|
||||
- from_vessel
|
||||
@@ -850,7 +850,7 @@ virtual_filter:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -864,12 +864,12 @@ virtual_filter:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -886,7 +886,7 @@ virtual_filter:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: filtrate_vessel
|
||||
type: object
|
||||
stir:
|
||||
type: boolean
|
||||
@@ -929,7 +929,7 @@ virtual_filter:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -943,12 +943,12 @@ virtual_filter:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -965,7 +965,7 @@ virtual_filter:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
volume:
|
||||
type: number
|
||||
@@ -1071,8 +1071,8 @@ virtual_filter:
|
||||
- status
|
||||
- progress
|
||||
- current_temp
|
||||
- filtered_volume
|
||||
- current_status
|
||||
- filtered_volume
|
||||
- message
|
||||
- max_temp
|
||||
- max_stir_speed
|
||||
@@ -1455,7 +1455,7 @@ virtual_heatchill:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -1469,12 +1469,12 @@ virtual_heatchill:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -1491,7 +1491,7 @@ virtual_heatchill:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -1610,7 +1610,7 @@ virtual_heatchill:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -1624,12 +1624,12 @@ virtual_heatchill:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -1646,7 +1646,7 @@ virtual_heatchill:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -1747,7 +1747,7 @@ virtual_heatchill:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -1761,12 +1761,12 @@ virtual_heatchill:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -1783,7 +1783,7 @@ virtual_heatchill:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -2923,7 +2923,7 @@ virtual_rotavap:
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
title: time_remaining
|
||||
type: object
|
||||
time_spent:
|
||||
properties:
|
||||
@@ -2938,7 +2938,7 @@ virtual_rotavap:
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
title: time_spent
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
@@ -2994,7 +2994,7 @@ virtual_rotavap:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3008,12 +3008,12 @@ virtual_rotavap:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3030,7 +3030,7 @@ virtual_rotavap:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -3415,7 +3415,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3429,12 +3429,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3451,7 +3451,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: from_vessel
|
||||
type: object
|
||||
product_phase:
|
||||
type: string
|
||||
@@ -3490,7 +3490,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3504,12 +3504,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3526,7 +3526,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: product_vessel
|
||||
type: object
|
||||
purpose:
|
||||
type: string
|
||||
@@ -3569,7 +3569,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3583,12 +3583,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3605,7 +3605,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: separation_vessel
|
||||
type: object
|
||||
settling_time:
|
||||
type: number
|
||||
@@ -3654,7 +3654,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3668,12 +3668,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3690,7 +3690,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: to_vessel
|
||||
type: object
|
||||
vessel:
|
||||
properties:
|
||||
@@ -3727,7 +3727,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3741,12 +3741,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3763,7 +3763,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
volume:
|
||||
type: string
|
||||
@@ -3802,7 +3802,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3816,12 +3816,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3838,7 +3838,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: waste_phase_to_vessel
|
||||
type: object
|
||||
waste_vessel:
|
||||
properties:
|
||||
@@ -3875,7 +3875,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3889,12 +3889,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3911,7 +3911,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: waste_vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -4489,7 +4489,7 @@ virtual_solid_dispenser:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -4503,12 +4503,12 @@ virtual_solid_dispenser:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -4525,7 +4525,7 @@ virtual_solid_dispenser:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
viscous:
|
||||
type: boolean
|
||||
@@ -4874,7 +4874,7 @@ virtual_stirrer:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -4888,12 +4888,12 @@ virtual_stirrer:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -4910,7 +4910,7 @@ virtual_stirrer:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -5034,7 +5034,7 @@ virtual_stirrer:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -5048,12 +5048,12 @@ virtual_stirrer:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -5070,7 +5070,7 @@ virtual_stirrer:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -5181,7 +5181,7 @@ virtual_stirrer:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -5195,12 +5195,12 @@ virtual_stirrer:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -5217,7 +5217,7 @@ virtual_stirrer:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -24,12 +24,11 @@ DEFAULT_PATHS = [Path(__file__).absolute().parent]
|
||||
class Registry:
|
||||
def __init__(self, registry_paths=None):
|
||||
import ctypes
|
||||
|
||||
try:
|
||||
import unilabos_msgs
|
||||
except ImportError:
|
||||
logger.error(
|
||||
"[UniLab Registry] unilabos_msgs模块未找到，请确保已根据官方文档安装unilabos_msgs包。"
|
||||
)
|
||||
logger.error("[UniLab Registry] unilabos_msgs模块未找到，请确保已根据官方文档安装unilabos_msgs包。")
|
||||
sys.exit(1)
|
||||
try:
|
||||
ctypes.CDLL(str(Path(unilabos_msgs.__file__).parent / "unilabos_msgs_s__rosidl_typesupport_c.pyd"))
|
||||
@@ -53,7 +52,7 @@ class Registry:
|
||||
# 其他状态变量
|
||||
# self.is_host_mode = False # 移至BasicConfig中
|
||||
|
||||
def setup(self, complete_registry=False):
|
||||
def setup(self, complete_registry=False, upload_registry=False):
|
||||
# 检查是否已调用过setup
|
||||
if self._setup_called:
|
||||
logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
|
||||
@@ -152,22 +151,22 @@ class Registry:
|
||||
}
|
||||
}
|
||||
)
|
||||
logger.debug(f"[UniLab Registry] ----------Setup----------")
|
||||
logger.trace(f"[UniLab Registry] ----------Setup----------")
|
||||
self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
|
||||
for i, path in enumerate(self.registry_paths):
|
||||
sys_path = path.parent
|
||||
logger.debug(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
|
||||
logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
|
||||
sys.path.append(str(sys_path))
|
||||
self.load_device_types(path, complete_registry)
|
||||
if BasicConfig.enable_resource_load:
|
||||
self.load_resource_types(path, complete_registry)
|
||||
self.load_resource_types(path, complete_registry, upload_registry)
|
||||
else:
|
||||
logger.warning("跳过了资源注册表加载！")
|
||||
logger.info("[UniLab Registry] 注册表设置完成")
|
||||
# 标记setup已被调用
|
||||
self._setup_called = True
|
||||
|
||||
def load_resource_types(self, path: os.PathLike, complete_registry: bool):
|
||||
def load_resource_types(self, path: os.PathLike, complete_registry: bool, upload_registry: bool):
|
||||
abs_path = Path(path).absolute()
|
||||
resource_path = abs_path / "resources"
|
||||
files = list(resource_path.glob("*/*.yaml"))
|
||||
@@ -194,7 +193,12 @@ class Registry:
|
||||
resource_info["handles"] = []
|
||||
if "init_param_schema" not in resource_info:
|
||||
resource_info["init_param_schema"] = {}
|
||||
if complete_registry:
|
||||
if "config_info" in resource_info:
|
||||
del resource_info["config_info"]
|
||||
if "file_path" in resource_info:
|
||||
del resource_info["file_path"]
|
||||
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
|
||||
if upload_registry:
|
||||
class_info = resource_info.get("class", {})
|
||||
if len(class_info) and "module" in class_info:
|
||||
if class_info.get("type") == "pylabrobot":
|
||||
@@ -205,7 +209,6 @@ class Registry:
|
||||
res_instance = res_class(res_class.__name__)
|
||||
res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
|
||||
resource_info["config_info"] = res_ulr
|
||||
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items()))) # 稍后dump到文件
|
||||
resource_info["registry_type"] = "resource"
|
||||
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
complete_data = dict(sorted(complete_data.items()))
|
||||
@@ -215,7 +218,7 @@ class Registry:
|
||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||
|
||||
self.resource_type_registry.update(data)
|
||||
logger.debug(
|
||||
logger.trace( # type: ignore
|
||||
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
|
||||
+ f"Add {list(data.keys())}"
|
||||
)
|
||||
@@ -402,7 +405,7 @@ class Registry:
|
||||
devices_path = abs_path / "devices"
|
||||
device_comms_path = abs_path / "device_comms"
|
||||
files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
|
||||
logger.debug(
|
||||
logger.trace( # type: ignore
|
||||
f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
|
||||
+ f"total: {len(files)}"
|
||||
)
|
||||
@@ -447,6 +450,8 @@ class Registry:
|
||||
if complete_registry:
|
||||
device_config["class"]["status_types"].clear()
|
||||
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
|
||||
if not enhanced_info.get("dynamic_import_success", False):
|
||||
continue
|
||||
device_config["class"]["status_types"].update(
|
||||
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
|
||||
)
|
||||
@@ -517,6 +522,12 @@ class Registry:
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if "handles" not in action_config:
|
||||
action_config["handles"] = {}
|
||||
elif isinstance(action_config["handles"], list):
|
||||
if len(action_config["handles"]):
|
||||
logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
|
||||
continue
|
||||
else:
|
||||
action_config["handles"] = {}
|
||||
if "type" in action_config:
|
||||
action_type_str: str = action_config["type"]
|
||||
# 通过Json发放指令，而不是通过特殊的ros action进行处理
|
||||
@@ -565,7 +576,7 @@ class Registry:
|
||||
}
|
||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
device_config["registry_type"] = "device"
|
||||
logger.debug(
|
||||
logger.trace(
|
||||
f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
|
||||
+ f"[{data[device_id].get('name', '未命名设备')}]"
|
||||
)
|
||||
@@ -627,7 +638,7 @@ class Registry:
|
||||
lab_registry = Registry()
|
||||
|
||||
|
||||
def build_registry(registry_paths=None, complete_registry=False):
|
||||
def build_registry(registry_paths=None, complete_registry=False, upload_registry=False):
|
||||
"""
|
||||
构建或获取Registry单例实例
|
||||
|
||||
@@ -651,6 +662,6 @@ def build_registry(registry_paths=None, complete_registry=False):
|
||||
lab_registry.registry_paths.append(path)
|
||||
|
||||
# 初始化注册表
|
||||
lab_registry.setup(complete_registry)
|
||||
lab_registry.setup(complete_registry, upload_registry)
|
||||
|
||||
return lab_registry
|
||||
|
||||
12
unilabos/registry/resources/organic/workstation.yaml
Normal file
12
unilabos/registry/resources/organic/workstation.yaml
Normal file
@@ -0,0 +1,12 @@
|
||||
#get_workstation_plate_resource:
|
||||
# category:
|
||||
# - workstation
|
||||
# class:
|
||||
# module: unilabos.devices.workstation.workstation_base:get_workstation_plate_resource
|
||||
# type: pylabrobot
|
||||
# description: workstation example resource
|
||||
# handles: []
|
||||
# icon: ''
|
||||
# init_param_schema: {}
|
||||
# registry_type: resource
|
||||
# version: 1.0.0
|
||||
@@ -508,7 +508,7 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
|
||||
Python字典
|
||||
"""
|
||||
data: Dict[str, Any] = {}
|
||||
|
||||
|
||||
# # 🔧 添加调试信息
|
||||
# print(f"🔍 convert_from_ros_msg_with_mapping 开始")
|
||||
# print(f"🔍 ros_msg 类型: {type(ros_msg)}")
|
||||
@@ -517,14 +517,14 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
|
||||
# print("-" * 60)
|
||||
|
||||
for msg_name, attr_name in value_mapping.items():
|
||||
# print(f"🔍 处理映射: {msg_name} -> {attr_name}")
|
||||
|
||||
# print(f"🔍 处理映射: {msg_name} -> {attr_name}")
|
||||
|
||||
msg_path = msg_name.split(".")
|
||||
current = ros_msg
|
||||
|
||||
|
||||
# print(f"🔍 msg_path: {msg_path}")
|
||||
# print(f"🔍 current 初始值: {current} (类型: {type(current)})")
|
||||
|
||||
|
||||
try:
|
||||
if not attr_name.endswith("[]"):
|
||||
# 处理单值映射
|
||||
@@ -537,7 +537,7 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
|
||||
else:
|
||||
# print(f"❌ 属性 '{name}' 不存在于 {type(current)}")
|
||||
break
|
||||
|
||||
|
||||
converted_value = convert_from_ros_msg(current)
|
||||
# print(f"🔍 转换后的值: {converted_value} (类型: {type(converted_value)})")
|
||||
data[attr_name] = converted_value
|
||||
@@ -585,13 +585,13 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
|
||||
# print(f"❌ 映射转换错误 {msg_name} -> {attr_name}: {e}")
|
||||
logger.debug(f"Mapping conversion error for {msg_name} -> {attr_name}")
|
||||
continue
|
||||
|
||||
|
||||
# print(f"🔍 当前 data 状态: {data}")
|
||||
# print("-" * 40)
|
||||
|
||||
#print(f"🔍 convert_from_ros_msg_with_mapping 结束")
|
||||
#print(f"🔍 最终 data: {data}")
|
||||
#print("=" * 60)
|
||||
# print(f"🔍 convert_from_ros_msg_with_mapping 结束")
|
||||
# print(f"🔍 最终 data: {data}")
|
||||
# print("=" * 60)
|
||||
return data
|
||||
|
||||
|
||||
@@ -646,25 +646,28 @@ basic_type_map = {
|
||||
}
|
||||
|
||||
|
||||
def ros_field_type_to_json_schema(type_info: Type | str, slot_type: str = None) -> Dict[str, Any]:
|
||||
def ros_field_type_to_json_schema(
|
||||
type_info: Type | str, field_name: str
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
将 ROS 字段类型转换为 JSON Schema 类型定义
|
||||
|
||||
Args:
|
||||
type_info: ROS 类型
|
||||
slot_type: ROS 类型
|
||||
field_name: 字段名，用于设置复杂类型的title
|
||||
|
||||
Returns:
|
||||
对应的 JSON Schema 类型定义
|
||||
"""
|
||||
if isinstance(type_info, UnboundedSequence):
|
||||
return {"type": "array", "items": ros_field_type_to_json_schema(type_info.value_type)}
|
||||
return {"type": "array", "items": ros_field_type_to_json_schema(type_info.value_type, field_name)} # type: ignore
|
||||
if isinstance(type_info, NamespacedType):
|
||||
cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
|
||||
type_class = msg_converter_manager.get_class(cls_name)
|
||||
return ros_field_type_to_json_schema(type_class)
|
||||
return ros_field_type_to_json_schema(type_class, field_name)
|
||||
elif isinstance(type_info, BasicType):
|
||||
return ros_field_type_to_json_schema(type_info.typename)
|
||||
return ros_field_type_to_json_schema(type_info.typename, field_name)
|
||||
elif isinstance(type_info, UnboundedString):
|
||||
return basic_type_map["string"]
|
||||
elif isinstance(type_info, str):
|
||||
@@ -681,8 +684,9 @@ def ros_field_type_to_json_schema(type_info: Type | str, slot_type: str = None)
|
||||
},
|
||||
"required": ["sec", "nanosec"],
|
||||
}
|
||||
return {}
|
||||
else:
|
||||
return ros_message_to_json_schema(type_info)
|
||||
return ros_message_to_json_schema(type_info, field_name)
|
||||
# # 处理数组类型
|
||||
# if field_type.endswith('[]'):
|
||||
# item_type = field_type[:-2]
|
||||
@@ -706,28 +710,28 @@ def ros_field_type_to_json_schema(type_info: Type | str, slot_type: str = None)
|
||||
# return {'type': 'object', 'description': f'未知类型: {field_type}'}
|
||||
|
||||
|
||||
def ros_message_to_json_schema(msg_class: Any) -> Dict[str, Any]:
|
||||
def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any]:
|
||||
"""
|
||||
将 ROS 消息类转换为 JSON Schema
|
||||
|
||||
Args:
|
||||
msg_class: ROS 消息类
|
||||
field_name: 字段名，用于设置schema的title，如果为None则使用类名
|
||||
|
||||
Returns:
|
||||
对应的 JSON Schema 定义
|
||||
"""
|
||||
schema = {"type": "object", "properties": {}, "required": []}
|
||||
|
||||
# 获取类名作为标题
|
||||
if hasattr(msg_class, "__name__"):
|
||||
schema["title"] = msg_class.__name__
|
||||
# 优先使用字段名作为标题，否则使用类名
|
||||
schema["title"] = field_name
|
||||
|
||||
# 获取消息的字段和字段类型
|
||||
try:
|
||||
for ind, slot_info in enumerate(msg_class._fields_and_field_types.items()):
|
||||
slot_name, slot_type = slot_info
|
||||
type_info = msg_class.SLOT_TYPES[ind]
|
||||
field_schema = ros_field_type_to_json_schema(type_info, slot_type)
|
||||
field_schema = ros_field_type_to_json_schema(type_info, slot_name)
|
||||
schema["properties"][slot_name] = field_schema
|
||||
schema["required"].append(slot_name)
|
||||
# if hasattr(msg_class, 'get_fields_and_field_types'):
|
||||
@@ -786,15 +790,15 @@ def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, An
|
||||
"properties": {
|
||||
"goal": {
|
||||
# 'description': 'Action 目标 - 从客户端发送到服务器',
|
||||
**ros_message_to_json_schema(action_class.Goal)
|
||||
**ros_message_to_json_schema(action_class.Goal, action_class.Goal.__name__)
|
||||
},
|
||||
"feedback": {
|
||||
# 'description': 'Action 反馈 - 执行过程中从服务器发送到客户端',
|
||||
**ros_message_to_json_schema(action_class.Feedback)
|
||||
**ros_message_to_json_schema(action_class.Feedback, action_class.Feedback.__name__)
|
||||
},
|
||||
"result": {
|
||||
# 'description': 'Action 结果 - 完成后从服务器发送到客户端',
|
||||
**ros_message_to_json_schema(action_class.Result)
|
||||
**ros_message_to_json_schema(action_class.Result, action_class.Result.__name__)
|
||||
},
|
||||
},
|
||||
"required": ["goal"],
|
||||
|
||||
Reference in New Issue
Block a user