mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-07 23:45:10 +00:00
新增注册表补全功能，修复Protocol执行失败
This commit is contained in:
Xuwznln
@@ -1,10 +1,10 @@
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io_snrd:
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description: IO Board with 16 IOs
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class:
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module: ilabos.device_comms.SRND_16_IO:SRND_16_IO
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type: python
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hardware_interface:
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name: modbus_client
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extra_info: []
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read: read_io_coil
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write: write_io_coil
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#io_snrd:
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# description: IO Board with 16 IOs
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# class:
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# module: unilabos.device_comms.SRND_16_IO:SRND_16_IO
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# type: python
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# hardware_interface:
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# name: modbus_client
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# extra_info: []
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# read: read_io_coil
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# write: write_io_coil
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@@ -1,7 +1,117 @@
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serial:
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description: Serial communication interface, used when sharing same serial port for multiple devices
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class:
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action_value_mappings:
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auto-handle_serial_request:
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feedback: {}
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||||
goal: {}
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||||
goal_default:
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||||
request: null
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||||
response: null
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handles: []
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||||
result: {}
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schema:
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description: UniLabJsonCommand handle_serial_request 的参数schema
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properties:
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feedback: {}
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||||
goal:
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||||
description: UniLabJsonCommand handle_serial_request 的参数schema
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properties:
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request:
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description: '参数: request'
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type: string
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response:
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||||
description: '参数: response'
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||||
type: string
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||||
required:
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||||
- request
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- response
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||||
type: object
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||||
result: {}
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||||
required:
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- goal
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title: handle_serial_request 命令参数
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type: object
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type: UniLabJsonCommand
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auto-read_data:
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||||
feedback: {}
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||||
goal: {}
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||||
goal_default: {}
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||||
handles: []
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result: {}
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||||
schema:
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||||
description: UniLabJsonCommand read_data 的参数schema
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||||
properties:
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feedback: {}
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||||
goal:
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||||
description: UniLabJsonCommand read_data 的参数schema
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||||
properties: {}
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||||
required: []
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type: object
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||||
result: {}
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||||
required:
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- goal
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title: read_data 命令参数
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type: object
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||||
type: UniLabJsonCommand
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||||
auto-send_command:
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feedback: {}
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||||
goal: {}
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||||
goal_default:
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command: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand send_command 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand send_command 的参数schema
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properties:
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command:
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description: '参数: command'
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type: string
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required:
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- command
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type: object
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||||
result: {}
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||||
required:
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- goal
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title: send_command 命令参数
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type: object
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type: UniLabJsonCommand
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module: unilabos.ros.nodes.presets.serial_node:ROS2SerialNode
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status_types: {}
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type: ros2
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schema:
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properties: {}
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description: Serial communication interface, used when sharing same serial port
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for multiple devices
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handles: []
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icon: ''
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init_param_schema:
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description: UniLabJsonCommand __init__ 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand __init__ 的参数schema
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properties:
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baudrate:
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default: 9600
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description: '参数: baudrate'
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type: integer
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device_id:
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description: '参数: device_id'
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type: string
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port:
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description: '参数: port'
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type: string
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resource_tracker:
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description: '参数: resource_tracker'
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type: string
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required:
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- device_id
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- port
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type: object
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||||
result: {}
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||||
required:
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||||
- goal
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||||
title: __init__ 命令参数
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||||
type: object
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||||
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@@ -1,67 +0,0 @@
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# 光学表征设备：红外、紫外可见、拉曼等
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raman_home_made:
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description: Raman spectroscopy device
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class:
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module: unilabos.devices.raman_uv.home_made_raman:RamanObj
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type: python
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status_types:
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status: String
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action_value_mappings:
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raman_cmd:
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type: SendCmd
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goal:
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command: command
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feedback: {}
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||||
result:
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||||
success: success
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||||
schema:
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||||
properties:
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||||
status:
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type: string
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||||
required:
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- status
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additionalProperties: false
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type: object
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||||
hplc.agilent:
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description: HPLC device
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class:
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module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
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type: python
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status_types:
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device_status: String
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could_run: Bool
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driver_init_ok: Bool
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is_running: Bool
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finish_status: String
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status_text: String
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action_value_mappings:
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execute_command_from_outer:
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type: SendCmd
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goal:
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||||
command: command
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feedback: {}
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||||
result:
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||||
success: success
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||||
schema:
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||||
properties:
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||||
device_status:
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||||
type: string
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||||
could_run:
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||||
type: boolean
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||||
driver_init_ok:
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||||
type: boolean
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||||
is_running:
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||||
type: boolean
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||||
finish_status:
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||||
type: string
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||||
status_text:
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||||
type: string
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||||
required:
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- device_status
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- could_run
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||||
- driver_init_ok
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||||
- is_running
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- finish_status
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||||
- status_text
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||||
additionalProperties: false
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||||
type: object
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||||
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||||
@@ -1,9 +1,55 @@
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hotel.thermo_orbitor_rs2_hotel:
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description: Thermo Orbitor RS2 Hotel
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class:
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class:
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||||
action_value_mappings:
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||||
auto-get_rotation:
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feedback: {}
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||||
goal: {}
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||||
goal_default: {}
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||||
handles: []
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||||
result: {}
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||||
schema:
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||||
description: UniLabJsonCommand get_rotation 的参数schema
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||||
properties:
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||||
feedback: {}
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||||
goal:
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||||
description: UniLabJsonCommand get_rotation 的参数schema
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||||
properties: {}
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||||
required: []
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||||
type: object
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||||
result: {}
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||||
required:
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||||
- goal
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||||
title: get_rotation 命令参数
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||||
type: object
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||||
type: UniLabJsonCommand
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||||
module: unilabos.devices.resource_container.container:HotelContainer
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||||
status_types: {}
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||||
type: python
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||||
description: Thermo Orbitor RS2 Hotel
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||||
handles: []
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||||
icon: ''
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||||
init_param_schema:
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||||
description: UniLabJsonCommand __init__ 的参数schema
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||||
properties:
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||||
feedback: {}
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||||
goal:
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||||
description: UniLabJsonCommand __init__ 的参数schema
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||||
properties:
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||||
device_config:
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||||
description: '参数: device_config'
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||||
type: object
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||||
rotation:
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||||
description: '参数: rotation'
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||||
type: object
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||||
required:
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||||
- rotation
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||||
- device_config
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||||
type: object
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||||
result: {}
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||||
required:
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||||
- goal
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||||
title: __init__ 命令参数
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||||
type: object
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||||
model:
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||||
type: device
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||||
mesh: thermo_orbitor_rs2_hotel
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||||
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||||
type: device
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||||
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||||
@@ -1,56 +1,608 @@
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laiyu_add_solid:
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description: Laiyu Add Solid
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||||
class:
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||||
module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
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||||
type: python
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||||
status_types: {}
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||||
action_value_mappings:
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||||
add_powder_tube:
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||||
feedback: {}
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||||
goal:
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||||
compound_mass: compound_mass
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||||
powder_tube_number: powder_tube_number
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||||
target_tube_position: target_tube_position
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||||
goal_default:
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||||
compound_mass: 0.0
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||||
powder_tube_number: 0
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||||
target_tube_position: ''
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||||
handles: []
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||||
result:
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||||
actual_mass_mg: actual_mass_mg
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||||
schema:
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||||
description: ROS Action SolidDispenseAddPowderTube 的 JSON Schema
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||||
properties:
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||||
feedback:
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||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
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||||
properties: {}
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||||
required: []
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||||
title: SolidDispenseAddPowderTube_Feedback
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||||
type: object
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||||
goal:
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||||
description: Action 目标 - 从客户端发送到服务器
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||||
properties:
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||||
compound_mass:
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||||
type: number
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||||
powder_tube_number:
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||||
maximum: 2147483647
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||||
minimum: -2147483648
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||||
type: integer
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||||
target_tube_position:
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||||
type: string
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||||
required:
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||||
- powder_tube_number
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||||
- target_tube_position
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||||
- compound_mass
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||||
title: SolidDispenseAddPowderTube_Goal
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||||
type: object
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||||
result:
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||||
description: Action 结果 - 完成后从服务器发送到客户端
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||||
properties:
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||||
actual_mass_mg:
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||||
type: number
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||||
return_info:
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||||
type: string
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||||
success:
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||||
type: boolean
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||||
required:
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||||
- return_info
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||||
- actual_mass_mg
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||||
- success
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||||
title: SolidDispenseAddPowderTube_Result
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||||
type: object
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||||
required:
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||||
- goal
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||||
title: SolidDispenseAddPowderTube
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||||
type: object
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||||
type: SolidDispenseAddPowderTube
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||||
auto-add_powder_tube:
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||||
feedback: {}
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||||
goal: {}
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||||
goal_default:
|
||||
compound_mass: null
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||||
powder_tube_number: null
|
||||
target_tube_position: null
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||||
handles: []
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||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand add_powder_tube 的参数schema
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||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand add_powder_tube 的参数schema
|
||||
properties:
|
||||
compound_mass:
|
||||
description: '参数: compound_mass'
|
||||
type: string
|
||||
powder_tube_number:
|
||||
description: '参数: powder_tube_number'
|
||||
type: string
|
||||
target_tube_position:
|
||||
description: '参数: target_tube_position'
|
||||
type: string
|
||||
required:
|
||||
- powder_tube_number
|
||||
- target_tube_position
|
||||
- compound_mass
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: add_powder_tube 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-calculate_crc:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand calculate_crc 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand calculate_crc 的参数schema
|
||||
properties:
|
||||
data:
|
||||
description: '参数: data'
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: calculate_crc 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-discharge:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
float_in: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand discharge 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand discharge 的参数schema
|
||||
properties:
|
||||
float_in:
|
||||
description: '参数: float_in'
|
||||
type: number
|
||||
required:
|
||||
- float_in
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: discharge 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to_plate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
string: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand move_to_plate 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand move_to_plate 的参数schema
|
||||
properties:
|
||||
string:
|
||||
description: '参数: string'
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to_plate 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to_xyz:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
x: null
|
||||
y: null
|
||||
z: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand move_to_xyz 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand move_to_xyz 的参数schema
|
||||
properties:
|
||||
x:
|
||||
description: '参数: x'
|
||||
type: number
|
||||
y:
|
||||
description: '参数: y'
|
||||
type: number
|
||||
z:
|
||||
description: '参数: z'
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to_xyz 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-pick_powder_tube:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
int_input: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand pick_powder_tube 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand pick_powder_tube 的参数schema
|
||||
properties:
|
||||
int_input:
|
||||
description: '参数: int_input'
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pick_powder_tube 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-put_powder_tube:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
int_input: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand put_powder_tube 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand put_powder_tube 的参数schema
|
||||
properties:
|
||||
int_input:
|
||||
description: '参数: int_input'
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: put_powder_tube 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-reset:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand reset 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand reset 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: reset 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_command:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send_command 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send_command 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_command 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
discharge:
|
||||
feedback: {}
|
||||
goal:
|
||||
float_input: float_input
|
||||
goal_default:
|
||||
float_in: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action FloatSingleInput 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: FloatSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
float_in:
|
||||
type: number
|
||||
required:
|
||||
- float_in
|
||||
title: FloatSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: FloatSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: FloatSingleInput
|
||||
type: object
|
||||
type: FloatSingleInput
|
||||
move_to_plate:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action StrSingleInput 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
move_to_xyz:
|
||||
type: Point3DSeparateInput
|
||||
feedback: {}
|
||||
goal:
|
||||
x: x
|
||||
y: y
|
||||
z: z
|
||||
feedback: {}
|
||||
goal_default:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action Point3DSeparateInput 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: Point3DSeparateInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point3DSeparateInput_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: Point3DSeparateInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Point3DSeparateInput
|
||||
type: object
|
||||
type: Point3DSeparateInput
|
||||
pick_powder_tube:
|
||||
type: IntSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
int_input: int_input
|
||||
feedback: {}
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action IntSingleInput 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: IntSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
int_input:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
title: IntSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: IntSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: IntSingleInput
|
||||
type: object
|
||||
type: IntSingleInput
|
||||
put_powder_tube:
|
||||
type: IntSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
int_input: int_input
|
||||
feedback: {}
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action IntSingleInput 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: IntSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
int_input:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
title: IntSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: IntSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: IntSingleInput
|
||||
type: object
|
||||
type: IntSingleInput
|
||||
reset:
|
||||
type: EmptyIn
|
||||
feedback: {}
|
||||
goal: {}
|
||||
feedback: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
add_powder_tube:
|
||||
type: SolidDispenseAddPowderTube
|
||||
goal:
|
||||
powder_tube_number: powder_tube_number
|
||||
target_tube_position: target_tube_position
|
||||
compound_mass: compound_mass
|
||||
feedback: {}
|
||||
result:
|
||||
actual_mass_mg: actual_mass_mg
|
||||
move_to_plate:
|
||||
type: StrSingleInput
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
result: {}
|
||||
discharge:
|
||||
type: FloatSingleInput
|
||||
goal:
|
||||
float_input: float_input
|
||||
feedback: {}
|
||||
result: {}
|
||||
|
||||
schema:
|
||||
properties: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
description: Laiyu Add Solid
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
description: '参数: baudrate'
|
||||
type: integer
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
timeout:
|
||||
default: 0.5
|
||||
description: '参数: timeout'
|
||||
type: number
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,56 +1,328 @@
|
||||
moveit.toyo_xyz:
|
||||
description: Toyo XYZ
|
||||
class:
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
type: python
|
||||
action_value_mappings:
|
||||
set_position:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: { }
|
||||
result: { }
|
||||
pick_and_place:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: { }
|
||||
result: { }
|
||||
set_status:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: { }
|
||||
result: { }
|
||||
|
||||
model:
|
||||
type: device
|
||||
mesh: toyo_xyz
|
||||
|
||||
moveit.arm_slider:
|
||||
description: Arm with Slider
|
||||
model:
|
||||
type: device
|
||||
mesh: arm_slider
|
||||
class:
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
type: python
|
||||
action_value_mappings:
|
||||
set_position:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
result: {}
|
||||
pick_and_place:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_status:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
status_types: {}
|
||||
type: python
|
||||
description: Arm with Slider
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
model:
|
||||
mesh: arm_slider
|
||||
type: device
|
||||
moveit.toyo_xyz:
|
||||
class:
|
||||
action_value_mappings:
|
||||
pick_and_place:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_status:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
status_types: {}
|
||||
type: python
|
||||
description: Toyo XYZ
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
model:
|
||||
mesh: toyo_xyz
|
||||
type: device
|
||||
|
||||
@@ -1,73 +1,492 @@
|
||||
separator.homemade:
|
||||
description: Separator device with homemade grbl controller
|
||||
class:
|
||||
module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
|
||||
type: python
|
||||
status_types:
|
||||
sensordata: Float64
|
||||
status: String
|
||||
action_value_mappings:
|
||||
stir:
|
||||
type: Stir
|
||||
goal:
|
||||
stir_time: stir_time,
|
||||
stir_speed: stir_speed
|
||||
settling_time: settling_time
|
||||
feedback:
|
||||
status: status
|
||||
result:
|
||||
success: success
|
||||
valve_open_cmd:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback:
|
||||
status: status
|
||||
result":
|
||||
success: success
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
description: The status of the device
|
||||
sensordata:
|
||||
type: number
|
||||
description: 电导传感器数据
|
||||
required:
|
||||
- status
|
||||
- sensordata
|
||||
additionalProperties: false
|
||||
|
||||
rotavap.one:
|
||||
description: Rotavap device
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-cmd_write:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand cmd_write 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand cmd_write 的参数schema
|
||||
properties:
|
||||
cmd:
|
||||
description: '参数: cmd'
|
||||
type: string
|
||||
required:
|
||||
- cmd
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: cmd_write 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-main_loop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand main_loop 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand main_loop 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: main_loop 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_pump_time:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
time: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_pump_time 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_pump_time 的参数schema
|
||||
properties:
|
||||
time:
|
||||
description: '参数: time'
|
||||
type: string
|
||||
required:
|
||||
- time
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_pump_time 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_rotate_time:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
time: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_rotate_time 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_rotate_time 的参数schema
|
||||
properties:
|
||||
time:
|
||||
description: '参数: time'
|
||||
type: string
|
||||
required:
|
||||
- time
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_rotate_time 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_timer:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_timer 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_timer 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_timer 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_timer:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.rotavap.rotavap_one:RotavapOne
|
||||
type: python
|
||||
status_types:
|
||||
pump_time: Float64
|
||||
rotate_time: Float64
|
||||
type: python
|
||||
description: Rotavap device
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
rate:
|
||||
default: 9600
|
||||
description: '参数: rate'
|
||||
type: integer
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
separator.homemade:
|
||||
class:
|
||||
action_value_mappings:
|
||||
set_timer:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
auto-read_sensor_loop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand read_sensor_loop 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand read_sensor_loop 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_sensor_loop 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stir:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
settling_time: 10
|
||||
stir_speed: 300
|
||||
stir_time: 10
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand stir 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand stir 的参数schema
|
||||
properties:
|
||||
settling_time:
|
||||
default: 10
|
||||
description: '参数: settling_time'
|
||||
type: number
|
||||
stir_speed:
|
||||
default: 300
|
||||
description: '参数: stir_speed'
|
||||
type: number
|
||||
stir_time:
|
||||
default: 10
|
||||
description: '参数: stir_time'
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stir 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-valve_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
condition: null
|
||||
value: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand valve_open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand valve_open 的参数schema
|
||||
properties:
|
||||
condition:
|
||||
description: '参数: condition'
|
||||
type: string
|
||||
value:
|
||||
description: '参数: value'
|
||||
type: string
|
||||
required:
|
||||
- condition
|
||||
- value
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: valve_open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-valve_open_cmd:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand valve_open_cmd 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand valve_open_cmd 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: valve_open_cmd 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-write:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand write 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand write 的参数schema
|
||||
properties:
|
||||
data:
|
||||
description: '参数: data'
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: write 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
stir:
|
||||
feedback:
|
||||
status: status
|
||||
goal:
|
||||
settling_time: settling_time
|
||||
stir_speed: stir_speed
|
||||
stir_time: stir_time,
|
||||
goal_default:
|
||||
settling_time: 0.0
|
||||
stir_speed: 0.0
|
||||
stir_time: 0.0
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
type: object
|
||||
schema:
|
||||
description: ROS Action Stir 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: Stir_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
settling_time:
|
||||
type: number
|
||||
stir_speed:
|
||||
type: number
|
||||
stir_time:
|
||||
type: number
|
||||
required:
|
||||
- stir_time
|
||||
- stir_speed
|
||||
- settling_time
|
||||
title: Stir_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: Stir_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Stir
|
||||
type: object
|
||||
type: Stir
|
||||
valve_open_cmd:
|
||||
feedback:
|
||||
status: status
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result":
|
||||
success: success
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
|
||||
status_types:
|
||||
sensordata: Float64
|
||||
status: String
|
||||
type: python
|
||||
description: Separator device with homemade grbl controller
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
temperature:
|
||||
type: number
|
||||
description: 旋蒸水浴温度
|
||||
pump_time:
|
||||
type: number
|
||||
description: The pump time of the device
|
||||
rotate_time:
|
||||
type: number
|
||||
description: The rotate time of the device
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
baudrate_executor:
|
||||
default: 115200
|
||||
description: '参数: baudrate_executor'
|
||||
type: integer
|
||||
baudrate_sensor:
|
||||
default: 115200
|
||||
description: '参数: baudrate_sensor'
|
||||
type: integer
|
||||
port_executor:
|
||||
description: '参数: port_executor'
|
||||
type: string
|
||||
port_sensor:
|
||||
description: '参数: port_sensor'
|
||||
type: string
|
||||
required:
|
||||
- port_executor
|
||||
- port_sensor
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- pump_time
|
||||
- rotate_time
|
||||
additionalProperties: false
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,29 +1,138 @@
|
||||
# 仙工智能底盘（知行使用）
|
||||
agv.SEER:
|
||||
description: SEER AGV
|
||||
class:
|
||||
module: unilabos.devices.agv.agv_navigator:AgvNavigator
|
||||
type: python
|
||||
status_types:
|
||||
pose: Float64MultiArray
|
||||
status: String
|
||||
action_value_mappings:
|
||||
auto-send:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
ex_data: ''
|
||||
obj: receive_socket
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send 的参数schema
|
||||
properties:
|
||||
cmd:
|
||||
description: '参数: cmd'
|
||||
type: string
|
||||
ex_data:
|
||||
default: ''
|
||||
description: '参数: ex_data'
|
||||
type: string
|
||||
obj:
|
||||
default: receive_socket
|
||||
description: '参数: obj'
|
||||
type: string
|
||||
required:
|
||||
- cmd
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_nav_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send_nav_task 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send_nav_task 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_nav_task 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
send_nav_task:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.agv.agv_navigator:AgvNavigator
|
||||
status_types:
|
||||
pose: list
|
||||
status: str
|
||||
type: python
|
||||
description: SEER AGV
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
pose:
|
||||
type: array
|
||||
items:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
host:
|
||||
description: '参数: host'
|
||||
type: string
|
||||
required:
|
||||
- host
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- status
|
||||
additionalProperties: false
|
||||
type: object
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,37 +1,202 @@
|
||||
robotic_arm.UR:
|
||||
description: UR robotic arm
|
||||
class:
|
||||
module: unilabos.devices.agv.ur_arm_task:UrArmTask
|
||||
type: python
|
||||
status_types:
|
||||
arm_pose: Float64MultiArray
|
||||
gripper_pose: Float64
|
||||
arm_status: String
|
||||
gripper_status: String
|
||||
action_value_mappings:
|
||||
auto-arm_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand arm_init 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand arm_init 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: arm_init 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-load_pose_data:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand load_pose_data 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand load_pose_data 的参数schema
|
||||
properties:
|
||||
data:
|
||||
description: '参数: data'
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: load_pose_data 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-load_pose_file:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand load_pose_file 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand load_pose_file 的参数schema
|
||||
properties:
|
||||
file:
|
||||
description: '参数: file'
|
||||
type: string
|
||||
required:
|
||||
- file
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: load_pose_file 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_pos_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand move_pos_task 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand move_pos_task 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_pos_task 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-reload_pose:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand reload_pose 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand reload_pose 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: reload_pose 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
move_pos_task:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.agv.ur_arm_task:UrArmTask
|
||||
status_types:
|
||||
arm_pose: list
|
||||
arm_status: str
|
||||
gripper_pose: float
|
||||
gripper_status: str
|
||||
type: python
|
||||
description: UR robotic arm
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
arm_pose:
|
||||
type: array
|
||||
items:
|
||||
type: number
|
||||
gripper_pose:
|
||||
type: number
|
||||
arm_status:
|
||||
type: string
|
||||
description: 机械臂设备状态
|
||||
gripper_status:
|
||||
type: string
|
||||
description: 机械爪设备状态
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
host:
|
||||
description: '参数: host'
|
||||
type: string
|
||||
retry:
|
||||
default: 30
|
||||
description: '参数: retry'
|
||||
type: integer
|
||||
required:
|
||||
- host
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- arm_status
|
||||
- gripper_status
|
||||
additionalProperties: false
|
||||
type: object
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,37 +1,174 @@
|
||||
gripper.mock:
|
||||
description: Mock gripper
|
||||
class:
|
||||
module: unilabos.devices.gripper.mock:MockGripper
|
||||
type: python
|
||||
status_types:
|
||||
position: Float64
|
||||
torque: Float64
|
||||
status: String
|
||||
action_value_mappings:
|
||||
push_to:
|
||||
type: GripperCommand
|
||||
goal:
|
||||
command.position: position
|
||||
command.max_effort: torque
|
||||
feedback:
|
||||
position: position
|
||||
effort: torque
|
||||
result:
|
||||
position: position
|
||||
effort: torque
|
||||
|
||||
gripper.misumi_rz:
|
||||
description: Misumi RZ gripper
|
||||
class:
|
||||
module: unilabos.devices.motor:Grasp.EleGripper
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
execute_command_from_outer:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.motor.Grasp:EleGripper
|
||||
status_types:
|
||||
status: String
|
||||
type: python
|
||||
description: Misumi RZ gripper
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
gripper.mock:
|
||||
class:
|
||||
action_value_mappings:
|
||||
push_to:
|
||||
feedback:
|
||||
effort: torque
|
||||
position: position
|
||||
goal:
|
||||
command.max_effort: torque
|
||||
command.position: position
|
||||
goal_default:
|
||||
command:
|
||||
max_effort: 0.0
|
||||
position: 0.0
|
||||
handles: []
|
||||
result:
|
||||
effort: torque
|
||||
position: position
|
||||
schema:
|
||||
description: ROS Action GripperCommand 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
effort:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
reached_goal:
|
||||
type: boolean
|
||||
stalled:
|
||||
type: boolean
|
||||
required:
|
||||
- position
|
||||
- effort
|
||||
- stalled
|
||||
- reached_goal
|
||||
title: GripperCommand_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
properties:
|
||||
max_effort:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
- max_effort
|
||||
title: GripperCommand
|
||||
type: object
|
||||
required:
|
||||
- command
|
||||
title: GripperCommand_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
effort:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
reached_goal:
|
||||
type: boolean
|
||||
stalled:
|
||||
type: boolean
|
||||
required:
|
||||
- position
|
||||
- effort
|
||||
- stalled
|
||||
- reached_goal
|
||||
title: GripperCommand_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: GripperCommand
|
||||
type: object
|
||||
type: GripperCommand
|
||||
module: unilabos.devices.gripper.mock:MockGripper
|
||||
status_types:
|
||||
position: Float64
|
||||
status: String
|
||||
torque: Float64
|
||||
type: python
|
||||
description: Mock gripper
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,57 +1,542 @@
|
||||
linear_motion.grbl:
|
||||
description: Grbl CNC
|
||||
class:
|
||||
module: unilabos.devices.cnc.grbl_sync:GrblCNC
|
||||
type: python
|
||||
action_value_mappings:
|
||||
move_through_points: &move_through_points
|
||||
type: NavigateThroughPoses
|
||||
goal:
|
||||
poses[].pose.position: positions[]
|
||||
feedback:
|
||||
move_through_points:
|
||||
feedback:
|
||||
current_pose.pose.position: position
|
||||
navigation_time.sec: time_spent
|
||||
estimated_time_remaining.sec: time_remaining
|
||||
navigation_time.sec: time_spent
|
||||
number_of_poses_remaining: pose_number_remaining
|
||||
result: {}
|
||||
set_spindle_speed:
|
||||
type: SingleJointPosition
|
||||
goal:
|
||||
position: spindle_speed
|
||||
poses[].pose.position: positions[]
|
||||
goal_default:
|
||||
behavior_tree: ''
|
||||
poses:
|
||||
- header:
|
||||
frame_id: ''
|
||||
stamp:
|
||||
nanosec: 0
|
||||
sec: 0
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action NavigateThroughPoses 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
current_pose:
|
||||
properties:
|
||||
header:
|
||||
properties:
|
||||
frame_id:
|
||||
type: string
|
||||
stamp:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
type: object
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
required:
|
||||
- header
|
||||
- pose
|
||||
title: PoseStamped
|
||||
type: object
|
||||
distance_remaining:
|
||||
type: number
|
||||
estimated_time_remaining:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
navigation_time:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
number_of_poses_remaining:
|
||||
maximum: 32767
|
||||
minimum: -32768
|
||||
type: integer
|
||||
number_of_recoveries:
|
||||
maximum: 32767
|
||||
minimum: -32768
|
||||
type: integer
|
||||
required:
|
||||
- current_pose
|
||||
- navigation_time
|
||||
- estimated_time_remaining
|
||||
- number_of_recoveries
|
||||
- distance_remaining
|
||||
- number_of_poses_remaining
|
||||
title: NavigateThroughPoses_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
behavior_tree:
|
||||
type: string
|
||||
poses:
|
||||
items:
|
||||
properties:
|
||||
header:
|
||||
properties:
|
||||
frame_id:
|
||||
type: string
|
||||
stamp:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
type: object
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
required:
|
||||
- header
|
||||
- pose
|
||||
title: PoseStamped
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- poses
|
||||
- behavior_tree
|
||||
title: NavigateThroughPoses_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
result:
|
||||
properties: {}
|
||||
required: []
|
||||
title: Empty
|
||||
type: object
|
||||
required:
|
||||
- result
|
||||
title: NavigateThroughPoses_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: NavigateThroughPoses
|
||||
type: object
|
||||
type: NavigateThroughPoses
|
||||
set_spindle_speed:
|
||||
feedback:
|
||||
position: spindle_speed
|
||||
goal:
|
||||
position: spindle_speed
|
||||
goal_default:
|
||||
max_velocity: 0.0
|
||||
min_duration:
|
||||
nanosec: 0
|
||||
sec: 0
|
||||
position: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
position:
|
||||
type: array
|
||||
items:
|
||||
type: number
|
||||
description: The position of the device
|
||||
spindle_speed:
|
||||
type: number
|
||||
description: The spindle speed of the device
|
||||
required:
|
||||
- position
|
||||
- spindle_speed
|
||||
additionalProperties: false
|
||||
|
||||
|
||||
motor.iCL42:
|
||||
description: iCL42 motor
|
||||
class:
|
||||
module: unilabos.devices.motor.iCL42:iCL42Driver
|
||||
schema:
|
||||
description: ROS Action SingleJointPosition 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
error:
|
||||
type: number
|
||||
header:
|
||||
properties:
|
||||
frame_id:
|
||||
type: string
|
||||
stamp:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
type: object
|
||||
position:
|
||||
type: number
|
||||
velocity:
|
||||
type: number
|
||||
required:
|
||||
- header
|
||||
- position
|
||||
- velocity
|
||||
- error
|
||||
title: SingleJointPosition_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
max_velocity:
|
||||
type: number
|
||||
min_duration:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
position:
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
- min_duration
|
||||
- max_velocity
|
||||
title: SingleJointPosition_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: SingleJointPosition_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SingleJointPosition
|
||||
type: object
|
||||
type: SingleJointPosition
|
||||
module: unilabos.devices.cnc.grbl_sync:GrblCNC
|
||||
status_types: {}
|
||||
type: python
|
||||
status_types:
|
||||
motor_position: Int64
|
||||
is_executing_run: Bool
|
||||
success: Bool
|
||||
description: Grbl CNC
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
motor.iCL42:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-execute_run_motor:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
mode: null
|
||||
position: null
|
||||
velocity: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand execute_run_motor 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand execute_run_motor 的参数schema
|
||||
properties:
|
||||
mode:
|
||||
description: '参数: mode'
|
||||
type: string
|
||||
position:
|
||||
description: '参数: position'
|
||||
type: number
|
||||
velocity:
|
||||
description: '参数: velocity'
|
||||
type: integer
|
||||
required:
|
||||
- mode
|
||||
- position
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: execute_run_motor 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-init_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand init_device 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand init_device 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: init_device 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-run_motor:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
mode: null
|
||||
position: null
|
||||
velocity: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand run_motor 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand run_motor 的参数schema
|
||||
properties:
|
||||
mode:
|
||||
description: '参数: mode'
|
||||
type: string
|
||||
position:
|
||||
description: '参数: position'
|
||||
type: number
|
||||
velocity:
|
||||
description: '参数: velocity'
|
||||
type: integer
|
||||
required:
|
||||
- mode
|
||||
- position
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: run_motor 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
execute_command_from_outer:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
success: success
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.motor.iCL42:iCL42Driver
|
||||
status_types:
|
||||
is_executing_run: bool
|
||||
motor_position: int
|
||||
success: bool
|
||||
type: python
|
||||
description: iCL42 motor
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
device_address:
|
||||
default: 1
|
||||
description: '参数: device_address'
|
||||
type: integer
|
||||
device_com:
|
||||
default: COM9
|
||||
description: '参数: device_com'
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,5 +1,355 @@
|
||||
lh_joint_publisher:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_tf_update_actions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand check_tf_update_actions 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand check_tf_update_actions 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_tf_update_actions 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-find_resource_parent:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
resource_id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand find_resource_parent 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand find_resource_parent 的参数schema
|
||||
properties:
|
||||
resource_id:
|
||||
description: '参数: resource_id'
|
||||
type: string
|
||||
required:
|
||||
- resource_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: find_resource_parent 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-inverse_kinematics:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
parent_id: null
|
||||
x: null
|
||||
x_joint: null
|
||||
y: null
|
||||
y_joint: null
|
||||
z: null
|
||||
z_joint: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand inverse_kinematics 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand inverse_kinematics 的参数schema
|
||||
properties:
|
||||
parent_id:
|
||||
description: '参数: parent_id'
|
||||
type: string
|
||||
x:
|
||||
description: '参数: x'
|
||||
type: string
|
||||
x_joint:
|
||||
description: '参数: x_joint'
|
||||
type: object
|
||||
y:
|
||||
description: '参数: y'
|
||||
type: string
|
||||
y_joint:
|
||||
description: '参数: y_joint'
|
||||
type: object
|
||||
z:
|
||||
description: '参数: z'
|
||||
type: string
|
||||
z_joint:
|
||||
description: '参数: z_joint'
|
||||
type: object
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- parent_id
|
||||
- x_joint
|
||||
- y_joint
|
||||
- z_joint
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: inverse_kinematics 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-lh_joint_action_callback:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
goal_handle: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand lh_joint_action_callback 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand lh_joint_action_callback 的参数schema
|
||||
properties:
|
||||
goal_handle:
|
||||
description: '参数: goal_handle'
|
||||
type: string
|
||||
required:
|
||||
- goal_handle
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: lh_joint_action_callback 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-lh_joint_pub_callback:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: lh_joint_pub_callback 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_joints:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
option: null
|
||||
resource_names: null
|
||||
speed: 0.1
|
||||
x: null
|
||||
x_joint: null
|
||||
y: null
|
||||
y_joint: null
|
||||
z: null
|
||||
z_joint: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand move_joints 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand move_joints 的参数schema
|
||||
properties:
|
||||
option:
|
||||
description: '参数: option'
|
||||
type: string
|
||||
resource_names:
|
||||
description: '参数: resource_names'
|
||||
type: string
|
||||
speed:
|
||||
default: 0.1
|
||||
description: '参数: speed'
|
||||
type: number
|
||||
x:
|
||||
description: '参数: x'
|
||||
type: string
|
||||
x_joint:
|
||||
description: '参数: x_joint'
|
||||
type: string
|
||||
y:
|
||||
description: '参数: y'
|
||||
type: string
|
||||
y_joint:
|
||||
description: '参数: y_joint'
|
||||
type: string
|
||||
z:
|
||||
description: '参数: z'
|
||||
type: string
|
||||
z_joint:
|
||||
description: '参数: z_joint'
|
||||
type: string
|
||||
required:
|
||||
- resource_names
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- option
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_joints 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
joint_positions: null
|
||||
parent_id: null
|
||||
speed: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand move_to 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand move_to 的参数schema
|
||||
properties:
|
||||
joint_positions:
|
||||
description: '参数: joint_positions'
|
||||
type: string
|
||||
parent_id:
|
||||
description: '参数: parent_id'
|
||||
type: string
|
||||
speed:
|
||||
description: '参数: speed'
|
||||
type: string
|
||||
required:
|
||||
- joint_positions
|
||||
- speed
|
||||
- parent_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_move:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
channels: null
|
||||
link_name: null
|
||||
resource_id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand resource_move 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand resource_move 的参数schema
|
||||
properties:
|
||||
channels:
|
||||
description: '参数: channels'
|
||||
type: string
|
||||
link_name:
|
||||
description: '参数: link_name'
|
||||
type: string
|
||||
resource_id:
|
||||
description: '参数: resource_id'
|
||||
type: string
|
||||
required:
|
||||
- resource_id
|
||||
- link_name
|
||||
- channels
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_move 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_resource_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
link_name: null
|
||||
resource_id_list: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send_resource_action 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send_resource_action 的参数schema
|
||||
properties:
|
||||
link_name:
|
||||
description: '参数: link_name'
|
||||
type: string
|
||||
resource_id_list:
|
||||
description: '参数: resource_id_list'
|
||||
type: string
|
||||
required:
|
||||
- resource_id_list
|
||||
- link_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_resource_action 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
|
||||
status_types: {}
|
||||
type: ros2
|
||||
|
||||
description: ''
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
device_id:
|
||||
default: lh_joint_publisher
|
||||
description: '参数: device_id'
|
||||
type: string
|
||||
rate:
|
||||
default: 50
|
||||
description: '参数: rate'
|
||||
type: integer
|
||||
resource_tracker:
|
||||
description: '参数: resource_tracker'
|
||||
type: string
|
||||
resources_config:
|
||||
description: '参数: resources_config'
|
||||
type: array
|
||||
required:
|
||||
- resources_config
|
||||
- resource_tracker
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,65 +1,884 @@
|
||||
heaterstirrer.dalong:
|
||||
description: DaLong heater stirrer
|
||||
chiller:
|
||||
class:
|
||||
module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
|
||||
type: python
|
||||
status_types:
|
||||
temp: Float64
|
||||
temp_warning: Float64
|
||||
stir_speed: Float64
|
||||
action_value_mappings:
|
||||
set_temp_warning:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: temp
|
||||
auto-build_modbus_frame:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_address: null
|
||||
function_code: null
|
||||
register_address: null
|
||||
value: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand build_modbus_frame 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand build_modbus_frame 的参数schema
|
||||
properties:
|
||||
device_address:
|
||||
description: '参数: device_address'
|
||||
type: integer
|
||||
function_code:
|
||||
description: '参数: function_code'
|
||||
type: integer
|
||||
register_address:
|
||||
description: '参数: register_address'
|
||||
type: integer
|
||||
value:
|
||||
description: '参数: value'
|
||||
type: integer
|
||||
required:
|
||||
- device_address
|
||||
- function_code
|
||||
- register_address
|
||||
- value
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: build_modbus_frame 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-convert_temperature_to_modbus_value:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
decimal_points: 1
|
||||
temperature: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand convert_temperature_to_modbus_value 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand convert_temperature_to_modbus_value 的参数schema
|
||||
properties:
|
||||
decimal_points:
|
||||
default: 1
|
||||
description: '参数: decimal_points'
|
||||
type: integer
|
||||
temperature:
|
||||
description: '参数: temperature'
|
||||
type: number
|
||||
required:
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: convert_temperature_to_modbus_value 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-modbus_crc:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand modbus_crc 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand modbus_crc 的参数schema
|
||||
properties:
|
||||
data:
|
||||
description: '参数: data'
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: modbus_crc 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_temperature:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_temperature 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_temperature 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_temperature 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand stop 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand stop 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_temperature:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
set_temp_target:
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: temp
|
||||
module: unilabos.devices.temperature.chiller:Chiller
|
||||
status_types: {}
|
||||
type: python
|
||||
description: Chiller
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
rate:
|
||||
default: 9600
|
||||
description: '参数: rate'
|
||||
type: integer
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
heaterstirrer.dalong:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-close:
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-get_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand get_status 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand get_status 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: get_status 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-get_temp:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand get_temp 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand get_temp 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: get_temp 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-heatchill:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
purpose: reaction
|
||||
stir: true
|
||||
stir_speed: 300
|
||||
temp: null
|
||||
time: 3600
|
||||
vessel: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand heatchill 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand heatchill 的参数schema
|
||||
properties:
|
||||
purpose:
|
||||
default: reaction
|
||||
description: '参数: purpose'
|
||||
type: string
|
||||
stir:
|
||||
default: true
|
||||
description: '参数: stir'
|
||||
type: boolean
|
||||
stir_speed:
|
||||
default: 300
|
||||
description: '参数: stir_speed'
|
||||
type: number
|
||||
temp:
|
||||
description: '参数: temp'
|
||||
type: number
|
||||
time:
|
||||
default: 3600
|
||||
description: '参数: time'
|
||||
type: number
|
||||
vessel:
|
||||
description: '参数: vessel'
|
||||
type: string
|
||||
required:
|
||||
- vessel
|
||||
- temp
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: heatchill 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_stir_speed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
speed: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_stir_speed 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_stir_speed 的参数schema
|
||||
properties:
|
||||
speed:
|
||||
description: '参数: speed'
|
||||
type: number
|
||||
required:
|
||||
- speed
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_stir_speed 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_temp_inner:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
temp: null
|
||||
type: warning
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_temp_inner 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_temp_inner 的参数schema
|
||||
properties:
|
||||
temp:
|
||||
description: '参数: temp'
|
||||
type: number
|
||||
type:
|
||||
default: warning
|
||||
description: '参数: type'
|
||||
type: string
|
||||
required:
|
||||
- temp
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_temp_inner 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_temp_target:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
temp: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_temp_target 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_temp_target 的参数schema
|
||||
properties:
|
||||
temp:
|
||||
description: '参数: temp'
|
||||
type: string
|
||||
required:
|
||||
- temp
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_temp_target 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_temp_warning:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
temp: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_temp_warning 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_temp_warning 的参数schema
|
||||
properties:
|
||||
temp:
|
||||
description: '参数: temp'
|
||||
type: string
|
||||
required:
|
||||
- temp
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_temp_warning 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
heatchill:
|
||||
type: HeatChill
|
||||
goal:
|
||||
vessel: vessel
|
||||
temp: temp
|
||||
time: time
|
||||
purpose: purpose
|
||||
feedback:
|
||||
status: status
|
||||
result:
|
||||
success: success
|
||||
|
||||
chiller:
|
||||
description: Chiller
|
||||
class:
|
||||
module: unilabos.devices.temperature.chiller:Chiller
|
||||
type: python
|
||||
action_value_mappings:
|
||||
set_temperature:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
purpose: purpose
|
||||
temp: temp
|
||||
time: time
|
||||
vessel: vessel
|
||||
goal_default:
|
||||
purpose: ''
|
||||
stir: false
|
||||
stir_speed: 0.0
|
||||
temp: 0.0
|
||||
time: 0.0
|
||||
vessel: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
tempsensor:
|
||||
description: Temperature sensor
|
||||
class:
|
||||
module: unilabos.devices.temperature.sensor_node:TempSensorNode
|
||||
type: python
|
||||
schema:
|
||||
description: ROS Action HeatChill 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: HeatChill_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
purpose:
|
||||
type: string
|
||||
stir:
|
||||
type: boolean
|
||||
stir_speed:
|
||||
type: number
|
||||
temp:
|
||||
type: number
|
||||
time:
|
||||
type: number
|
||||
vessel:
|
||||
type: string
|
||||
required:
|
||||
- vessel
|
||||
- temp
|
||||
- time
|
||||
- stir
|
||||
- stir_speed
|
||||
- purpose
|
||||
title: HeatChill_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: HeatChill_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: HeatChill
|
||||
type: object
|
||||
type: HeatChill
|
||||
set_temp_target:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: temp
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_temp_warning:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: temp
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
|
||||
status_types:
|
||||
value: Float64
|
||||
warning: Float64
|
||||
status: str
|
||||
stir_speed: float
|
||||
temp: float
|
||||
temp_target: float
|
||||
temp_warning: float
|
||||
type: python
|
||||
description: DaLong heater stirrer
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
baudrate:
|
||||
default: 9600
|
||||
description: '参数: baudrate'
|
||||
type: integer
|
||||
port:
|
||||
default: COM6
|
||||
description: '参数: port'
|
||||
type: string
|
||||
temp_warning:
|
||||
default: 50.0
|
||||
description: '参数: temp_warning'
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
tempsensor:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-build_modbus_request:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_id: null
|
||||
function_code: null
|
||||
register_address: null
|
||||
register_count: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand build_modbus_request 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand build_modbus_request 的参数schema
|
||||
properties:
|
||||
device_id:
|
||||
description: '参数: device_id'
|
||||
type: string
|
||||
function_code:
|
||||
description: '参数: function_code'
|
||||
type: string
|
||||
register_address:
|
||||
description: '参数: register_address'
|
||||
type: string
|
||||
register_count:
|
||||
description: '参数: register_count'
|
||||
type: string
|
||||
required:
|
||||
- device_id
|
||||
- function_code
|
||||
- register_address
|
||||
- register_count
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: build_modbus_request 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-calculate_crc:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand calculate_crc 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand calculate_crc 的参数schema
|
||||
properties:
|
||||
data:
|
||||
description: '参数: data'
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: calculate_crc 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_modbus_response:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
response: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand read_modbus_response 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand read_modbus_response 的参数schema
|
||||
properties:
|
||||
response:
|
||||
description: '参数: response'
|
||||
type: string
|
||||
required:
|
||||
- response
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_modbus_response 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_prototype_command:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand send_prototype_command 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand send_prototype_command 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_prototype_command 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_warning:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_warning 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_warning 的参数schema
|
||||
properties:
|
||||
command:
|
||||
description: '参数: command'
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_warning 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_warning:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ROS Action SendCmd 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.temperature.sensor_node:TempSensorNode
|
||||
status_types:
|
||||
value: float
|
||||
warning: Float64
|
||||
type: python
|
||||
description: Temperature sensor
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
address:
|
||||
description: '参数: address'
|
||||
type: string
|
||||
baudrate:
|
||||
default: 9600
|
||||
description: '参数: baudrate'
|
||||
type: integer
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
warning:
|
||||
description: '参数: warning'
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
- warning
|
||||
- address
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,81 +1,556 @@
|
||||
vacuum_pump.mock:
|
||||
description: Mock vacuum pump
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
open:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
close:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
set_status:
|
||||
type: StrSingleInput
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
result: {}
|
||||
handles:
|
||||
- handler_key: out
|
||||
label: out
|
||||
data_type: fluid
|
||||
io_type: source
|
||||
data_source: handle
|
||||
data_key: fluid_in
|
||||
init_param_schema:
|
||||
type: object
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
description: "通信端口"
|
||||
default: "COM6"
|
||||
required:
|
||||
- port
|
||||
|
||||
gas_source.mock:
|
||||
description: Mock gas source
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
open:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-get_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand get_status 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand get_status 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: get_status 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_closed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand is_closed 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand is_closed 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_closed 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand is_open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand is_open 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand open 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
string: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_status 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_status 的参数schema
|
||||
properties:
|
||||
string:
|
||||
description: '参数: string'
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_status 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
close:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
set_status:
|
||||
type: StrSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action StrSingleInput 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
description: Mock gas source
|
||||
handles:
|
||||
- handler_key: out
|
||||
label: out
|
||||
data_type: fluid
|
||||
io_type: source
|
||||
data_source: executor
|
||||
data_key: fluid_out
|
||||
- data_key: fluid_out
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
handler_key: out
|
||||
io_type: source
|
||||
label: out
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
type: object
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
description: "通信端口"
|
||||
default: "COM6"
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
port:
|
||||
default: COM6
|
||||
description: '参数: port'
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- port
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
vacuum_pump.mock:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-get_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand get_status 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand get_status 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: get_status 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_closed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand is_closed 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand is_closed 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_closed 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand is_open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand is_open 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand open 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand open 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: open 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
string: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand set_status 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand set_status 的参数schema
|
||||
properties:
|
||||
string:
|
||||
description: '参数: string'
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_status 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
set_status:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action StrSingleInput 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
description: Mock vacuum pump
|
||||
handles:
|
||||
- data_key: fluid_in
|
||||
data_source: handle
|
||||
data_type: fluid
|
||||
handler_key: out
|
||||
io_type: source
|
||||
label: out
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
port:
|
||||
default: COM6
|
||||
description: '参数: port'
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,27 +1,259 @@
|
||||
zhida_hplc:
|
||||
description: Zhida HPLC
|
||||
class:
|
||||
module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
abort:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
auto-abort:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand abort 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand abort 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: abort 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand close 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-connect:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand connect 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand connect 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: connect 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-get_methods:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand get_methods 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand get_methods 的参数schema
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: get_methods 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
text: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: UniLabJsonCommand start 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand start 的参数schema
|
||||
properties:
|
||||
text:
|
||||
description: '参数: text'
|
||||
type: string
|
||||
required:
|
||||
- text
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: start 命令参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
get_methods:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
start:
|
||||
type: StrSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
abort:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
get_methods:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
|
||||
schema:
|
||||
properties: {}
|
||||
schema:
|
||||
description: ROS Action StrSingleInput 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
|
||||
status_types:
|
||||
status: dict
|
||||
type: python
|
||||
description: Zhida HPLC
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
host:
|
||||
default: 192.168.1.47
|
||||
description: '参数: host'
|
||||
type: string
|
||||
port:
|
||||
default: 5792
|
||||
description: '参数: port'
|
||||
type: integer
|
||||
timeout:
|
||||
default: 10.0
|
||||
description: '参数: timeout'
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
@@ -1,14 +1,17 @@
|
||||
import copy
|
||||
import io
|
||||
import os
|
||||
import sys
|
||||
from pathlib import Path
|
||||
from typing import Any
|
||||
from typing import Any, Dict, List
|
||||
|
||||
import yaml
|
||||
|
||||
from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.decorator import singleton
|
||||
from unilabos.utils.import_manager import get_enhanced_class_info
|
||||
from unilabos.utils.type_check import NoAliasDumper
|
||||
|
||||
DEFAULT_PATHS = [Path(__file__).absolute().parent]
|
||||
|
||||
@@ -32,7 +35,7 @@ class Registry:
|
||||
# 其他状态变量
|
||||
# self.is_host_mode = False # 移至BasicConfig中
|
||||
|
||||
def setup(self):
|
||||
def setup(self, complete_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")
|
||||
@@ -86,13 +89,15 @@ class Registry:
|
||||
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
|
||||
),
|
||||
"handles": {
|
||||
"output": [{
|
||||
"handler_key": "labware",
|
||||
"label": "Labware",
|
||||
"data_type": "resource",
|
||||
"data_source": "handle",
|
||||
"data_key": "liquid"
|
||||
}]
|
||||
"output": [
|
||||
{
|
||||
"handler_key": "labware",
|
||||
"label": "Labware",
|
||||
"data_type": "resource",
|
||||
"data_source": "handle",
|
||||
"data_key": "liquid",
|
||||
}
|
||||
]
|
||||
},
|
||||
},
|
||||
"test_latency": {
|
||||
@@ -110,7 +115,6 @@ class Registry:
|
||||
"registry_type": "device",
|
||||
"handles": [],
|
||||
"init_param_schema": {},
|
||||
"schema": {"properties": {}, "additionalProperties": False, "type": "object"},
|
||||
"file_path": "/",
|
||||
}
|
||||
}
|
||||
@@ -121,13 +125,13 @@ class Registry:
|
||||
sys_path = path.parent
|
||||
logger.debug(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
|
||||
sys.path.append(str(sys_path))
|
||||
self.load_device_types(path)
|
||||
self.load_resource_types(path)
|
||||
self.load_device_types(path, complete_registry)
|
||||
self.load_resource_types(path, complete_registry)
|
||||
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):
|
||||
def load_resource_types(self, path: os.PathLike, complete_registry: bool):
|
||||
abs_path = Path(path).absolute()
|
||||
resource_path = abs_path / "resources"
|
||||
files = list(resource_path.glob("*/*.yaml"))
|
||||
@@ -176,7 +180,7 @@ class Registry:
|
||||
if not type_name or type_name == "":
|
||||
logger.warning(f"[UniLab Registry] 设备 {device_id} 的 {field_name} 类型为空，跳过替换")
|
||||
return type_name
|
||||
if "." in type_name:
|
||||
if ":" in type_name:
|
||||
type_class = msg_converter_manager.get_class(type_name)
|
||||
else:
|
||||
type_class = msg_converter_manager.search_class(type_name)
|
||||
@@ -186,7 +190,72 @@ class Registry:
|
||||
logger.error(f"[UniLab Registry] 无法找到类型 '{type_name}' 用于设备 {device_id} 的 {field_name}")
|
||||
sys.exit(1)
|
||||
|
||||
def load_device_types(self, path: os.PathLike):
|
||||
def _generate_unilab_json_command_schema(self, method_args: List[Dict[str, Any]], method_name: str) -> Dict[str, Any]:
|
||||
"""
|
||||
根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
|
||||
|
||||
Args:
|
||||
method_args: 方法信息字典，包含args等
|
||||
method_name: 方法名称
|
||||
|
||||
Returns:
|
||||
JSON Schema格式的参数schema
|
||||
"""
|
||||
schema = {
|
||||
"description": f"UniLabJsonCommand {method_name} 的参数schema",
|
||||
"type": "object",
|
||||
"properties": {},
|
||||
"required": [],
|
||||
}
|
||||
|
||||
for arg_info in method_args:
|
||||
param_name = arg_info.get("name", "")
|
||||
param_type = arg_info.get("type")
|
||||
param_default = arg_info.get("default")
|
||||
param_required = arg_info.get("required", True)
|
||||
|
||||
prop_schema = {"description": f"参数: {param_name}"}
|
||||
|
||||
# 根据类型设置schema FIXME 不完整
|
||||
if param_type:
|
||||
param_type_lower = param_type.lower()
|
||||
if param_type_lower in ["str", "string"]:
|
||||
prop_schema["type"] = "string"
|
||||
elif param_type_lower in ["int", "integer"]:
|
||||
prop_schema["type"] = "integer"
|
||||
elif param_type_lower in ["float", "number"]:
|
||||
prop_schema["type"] = "number"
|
||||
elif param_type_lower in ["bool", "boolean"]:
|
||||
prop_schema["type"] = "boolean"
|
||||
elif param_type_lower in ["list", "array"]:
|
||||
prop_schema["type"] = "array"
|
||||
elif param_type_lower in ["dict", "object"]:
|
||||
prop_schema["type"] = "object"
|
||||
else:
|
||||
# 默认为字符串类型
|
||||
prop_schema["type"] = "string"
|
||||
else:
|
||||
# 如果没有类型信息，默认为字符串
|
||||
prop_schema["type"] = "string"
|
||||
|
||||
# 设置默认值
|
||||
if param_default is not None:
|
||||
prop_schema["default"] = param_default
|
||||
|
||||
schema["properties"][param_name] = prop_schema
|
||||
|
||||
# 如果是必需参数，添加到required列表
|
||||
if param_required:
|
||||
schema["required"].append(param_name)
|
||||
return {
|
||||
"title": f"{method_name} 命令参数",
|
||||
"description": f"UniLabJsonCommand {method_name} 的参数schema",
|
||||
"type": "object",
|
||||
"properties": {"goal": schema, "feedback": {}, "result": {}},
|
||||
"required": ["goal"],
|
||||
}
|
||||
|
||||
def load_device_types(self, path: os.PathLike, complete_registry: bool):
|
||||
abs_path = Path(path).absolute()
|
||||
devices_path = abs_path / "devices"
|
||||
device_comms_path = abs_path / "device_comms"
|
||||
@@ -199,12 +268,18 @@ class Registry:
|
||||
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
||||
|
||||
for i, file in enumerate(files):
|
||||
data = yaml.safe_load(open(file, encoding="utf-8"))
|
||||
with open(file, encoding="utf-8", mode="r") as f:
|
||||
data = yaml.safe_load(io.StringIO(f.read()))
|
||||
complete_data = {}
|
||||
action_str_type_mapping = {
|
||||
"UniLabJsonCommand": "UniLabJsonCommand",
|
||||
"UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
|
||||
}
|
||||
status_str_type_mapping = {}
|
||||
if data:
|
||||
# 在添加到注册表前处理类型替换
|
||||
for device_id, device_config in data.items():
|
||||
# 添加文件路径信息 - 使用规范化的完整文件路径
|
||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
if "description" not in device_config:
|
||||
device_config["description"] = ""
|
||||
if "icon" not in device_config:
|
||||
@@ -213,42 +288,108 @@ class Registry:
|
||||
device_config["handles"] = []
|
||||
if "init_param_schema" not in device_config:
|
||||
device_config["init_param_schema"] = {}
|
||||
device_config["registry_type"] = "device"
|
||||
if "class" in device_config:
|
||||
# 处理状态类型
|
||||
if "status_types" in device_config["class"]:
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
device_config["class"]["status_types"][status_name] = self._replace_type_with_class(
|
||||
status_type, device_id, f"状态 {status_name}"
|
||||
)
|
||||
|
||||
if "status_types" not in device_config["class"]:
|
||||
device_config["class"]["status_types"] = {}
|
||||
if "action_value_mappings" not in device_config["class"]:
|
||||
device_config["class"]["action_value_mappings"] = {}
|
||||
enhanced_info = {}
|
||||
if complete_registry:
|
||||
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
|
||||
device_config["class"]["status_types"].update(
|
||||
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
|
||||
)
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
if status_type in ["Any", "None"]:
|
||||
status_type = "String" # 替换成ROS的String，便于显示
|
||||
target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
|
||||
status_str_type_mapping[status_type] = target_type
|
||||
device_config["class"]["status_types"] = dict(
|
||||
sorted(device_config["class"]["status_types"].items())
|
||||
)
|
||||
# 处理动作值映射
|
||||
if "action_value_mappings" in device_config["class"]:
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if "handles" not in action_config:
|
||||
action_config["handles"] = []
|
||||
if "type" in action_config:
|
||||
action_config["type"] = self._replace_type_with_class(
|
||||
action_config["type"], device_id, f"动作 {action_name}"
|
||||
device_config["class"]["action_value_mappings"].update(
|
||||
{
|
||||
f"auto-{k}": {
|
||||
"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
|
||||
"goal": {},
|
||||
"feedback": {},
|
||||
"result": {},
|
||||
"schema": self._generate_unilab_json_command_schema(v["args"], k),
|
||||
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
||||
"handles": [],
|
||||
}
|
||||
for k, v in enhanced_info["action_methods"].items()
|
||||
}
|
||||
)
|
||||
device_config["init_param_schema"] = self._generate_unilab_json_command_schema(enhanced_info["init_params"], "__init__")
|
||||
device_config.pop("schema", None)
|
||||
device_config["class"]["action_value_mappings"] = dict(
|
||||
sorted(device_config["class"]["action_value_mappings"].items())
|
||||
)
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if "handles" not in action_config:
|
||||
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
|
||||
if not action_type_str.startswith("UniLabJsonCommand"):
|
||||
target_type = self._replace_type_with_class(
|
||||
action_type_str, device_id, f"动作 {action_name}"
|
||||
)
|
||||
if action_config["type"] is not None:
|
||||
action_str_type_mapping[action_type_str] = target_type
|
||||
if target_type is not None:
|
||||
action_config["goal_default"] = yaml.safe_load(
|
||||
io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal))
|
||||
io.StringIO(get_yaml_from_goal_type(target_type.Goal))
|
||||
)
|
||||
action_config["schema"] = ros_action_to_json_schema(action_config["type"])
|
||||
action_config["schema"] = ros_action_to_json_schema(target_type)
|
||||
else:
|
||||
logger.warning(
|
||||
f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
|
||||
)
|
||||
|
||||
self.device_type_registry.update(data)
|
||||
|
||||
for device_id in data.keys():
|
||||
complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items()))) # 稍后dump到文件
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
action_config["type"] = action_str_type_mapping[action_config["type"]]
|
||||
for additional_action in ["_execute_driver_command", "_execute_driver_command_async"]:
|
||||
device_config["class"]["action_value_mappings"][additional_action] = {
|
||||
"type": self._replace_type_with_class(
|
||||
"StrSingleInput", device_id, f"动作 {additional_action}"
|
||||
),
|
||||
"goal": {"string": "string"},
|
||||
"feedback": {},
|
||||
"result": {},
|
||||
"schema": ros_action_to_json_schema(
|
||||
self._replace_type_with_class(
|
||||
"StrSingleInput", device_id, f"动作 {additional_action}"
|
||||
)
|
||||
),
|
||||
"goal_default": yaml.safe_load(
|
||||
io.StringIO(
|
||||
get_yaml_from_goal_type(
|
||||
self._replace_type_with_class(
|
||||
"StrSingleInput", device_id, f"动作 {additional_action}"
|
||||
).Goal
|
||||
)
|
||||
)
|
||||
),
|
||||
"handles": [],
|
||||
}
|
||||
if "registry_type" not in device_config:
|
||||
device_config["registry_type"] = "device"
|
||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
device_config["registry_type"] = "device"
|
||||
logger.debug(
|
||||
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')}]"
|
||||
)
|
||||
current_device_number += 1
|
||||
complete_data = dict(sorted(complete_data.items()))
|
||||
complete_data = copy.deepcopy(complete_data)
|
||||
with open(file, "w", encoding="utf-8") as f:
|
||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||
self.device_type_registry.update(data)
|
||||
else:
|
||||
logger.debug(
|
||||
f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
|
||||
@@ -273,7 +414,7 @@ class Registry:
|
||||
lab_registry = Registry()
|
||||
|
||||
|
||||
def build_registry(registry_paths=None):
|
||||
def build_registry(registry_paths=None, complete_registry=False):
|
||||
"""
|
||||
构建或获取Registry单例实例
|
||||
|
||||
@@ -297,6 +438,6 @@ def build_registry(registry_paths=None):
|
||||
lab_registry.registry_paths.append(path)
|
||||
|
||||
# 初始化注册表
|
||||
lab_registry.setup()
|
||||
lab_registry.setup(complete_registry)
|
||||
|
||||
return lab_registry
|
||||
|
||||
Reference in New Issue
Block a user