mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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新增注册表补全功能，修复Protocol执行失败
This commit is contained in:
Xuwznln
@@ -1,57 +1,542 @@
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linear_motion.grbl:
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description: Grbl CNC
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class:
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module: unilabos.devices.cnc.grbl_sync:GrblCNC
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type: python
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action_value_mappings:
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move_through_points: &move_through_points
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type: NavigateThroughPoses
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goal:
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poses[].pose.position: positions[]
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feedback:
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move_through_points:
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feedback:
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current_pose.pose.position: position
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navigation_time.sec: time_spent
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estimated_time_remaining.sec: time_remaining
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navigation_time.sec: time_spent
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number_of_poses_remaining: pose_number_remaining
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result: {}
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set_spindle_speed:
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type: SingleJointPosition
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goal:
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position: spindle_speed
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poses[].pose.position: positions[]
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goal_default:
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behavior_tree: ''
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poses:
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- header:
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frame_id: ''
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stamp:
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nanosec: 0
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sec: 0
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pose:
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orientation:
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w: 1.0
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x: 0.0
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y: 0.0
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z: 0.0
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position:
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x: 0.0
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y: 0.0
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z: 0.0
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handles: []
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result: {}
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schema:
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description: ROS Action NavigateThroughPoses 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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current_pose:
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properties:
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header:
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properties:
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frame_id:
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type: string
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stamp:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Time
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type: object
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required:
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- stamp
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- frame_id
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title: Header
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type: object
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pose:
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properties:
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orientation:
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properties:
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w:
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type: number
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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- w
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title: Quaternion
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type: object
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position:
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properties:
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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title: Point
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type: object
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required:
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- position
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- orientation
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title: Pose
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type: object
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required:
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- header
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- pose
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title: PoseStamped
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type: object
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distance_remaining:
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type: number
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estimated_time_remaining:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Duration
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type: object
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navigation_time:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Duration
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type: object
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number_of_poses_remaining:
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maximum: 32767
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minimum: -32768
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type: integer
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number_of_recoveries:
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maximum: 32767
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minimum: -32768
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type: integer
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required:
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- current_pose
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- navigation_time
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- estimated_time_remaining
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- number_of_recoveries
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- distance_remaining
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- number_of_poses_remaining
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title: NavigateThroughPoses_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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behavior_tree:
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type: string
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poses:
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items:
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properties:
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header:
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properties:
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frame_id:
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type: string
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stamp:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Time
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type: object
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required:
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- stamp
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- frame_id
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title: Header
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type: object
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pose:
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properties:
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orientation:
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properties:
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w:
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type: number
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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- w
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title: Quaternion
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type: object
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position:
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properties:
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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title: Point
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type: object
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required:
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- position
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- orientation
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title: Pose
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type: object
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required:
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- header
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- pose
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title: PoseStamped
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type: object
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type: array
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required:
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- poses
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- behavior_tree
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title: NavigateThroughPoses_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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result:
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properties: {}
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required: []
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title: Empty
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type: object
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required:
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- result
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title: NavigateThroughPoses_Result
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type: object
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required:
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- goal
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title: NavigateThroughPoses
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type: object
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type: NavigateThroughPoses
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set_spindle_speed:
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feedback:
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position: spindle_speed
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goal:
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position: spindle_speed
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goal_default:
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max_velocity: 0.0
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min_duration:
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nanosec: 0
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sec: 0
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position: 0.0
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handles: []
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result: {}
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schema:
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type: object
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properties:
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position:
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type: array
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items:
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type: number
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description: The position of the device
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spindle_speed:
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type: number
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description: The spindle speed of the device
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required:
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- position
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- spindle_speed
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additionalProperties: false
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motor.iCL42:
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description: iCL42 motor
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class:
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module: unilabos.devices.motor.iCL42:iCL42Driver
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schema:
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description: ROS Action SingleJointPosition 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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error:
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type: number
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header:
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properties:
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frame_id:
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type: string
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stamp:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Time
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type: object
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required:
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- stamp
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- frame_id
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title: Header
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type: object
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position:
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type: number
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velocity:
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type: number
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required:
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- header
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- position
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- velocity
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- error
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title: SingleJointPosition_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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max_velocity:
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type: number
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min_duration:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Duration
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type: object
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position:
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type: number
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required:
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- position
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- min_duration
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- max_velocity
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title: SingleJointPosition_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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required: []
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title: SingleJointPosition_Result
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type: object
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required:
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- goal
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title: SingleJointPosition
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type: object
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type: SingleJointPosition
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module: unilabos.devices.cnc.grbl_sync:GrblCNC
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status_types: {}
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type: python
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status_types:
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motor_position: Int64
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is_executing_run: Bool
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success: Bool
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description: Grbl CNC
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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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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: __init__ 命令参数
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type: object
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motor.iCL42:
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class:
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action_value_mappings:
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auto-execute_run_motor:
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feedback: {}
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goal: {}
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goal_default:
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mode: null
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position: null
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velocity: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand execute_run_motor 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 execute_run_motor 的参数schema
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properties:
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mode:
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description: '参数: mode'
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type: string
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position:
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description: '参数: position'
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type: number
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velocity:
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description: '参数: velocity'
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type: integer
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required:
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- mode
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- position
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- velocity
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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: execute_run_motor 命令参数
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type: object
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type: UniLabJsonCommand
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auto-init_device:
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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 init_device 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand init_device 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: init_device 命令参数
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type: object
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type: UniLabJsonCommand
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auto-run_motor:
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feedback: {}
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goal: {}
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goal_default:
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mode: null
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position: null
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velocity: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand run_motor 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 run_motor 的参数schema
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properties:
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mode:
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description: '参数: mode'
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type: string
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position:
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description: '参数: position'
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type: number
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velocity:
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description: '参数: velocity'
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type: integer
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required:
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- mode
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- position
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- velocity
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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: run_motor 命令参数
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type: object
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type: UniLabJsonCommand
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execute_command_from_outer:
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type: SendCmd
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feedback: {}
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goal:
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command: command
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feedback: {}
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goal_default:
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command: ''
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handles: []
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result:
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success: success
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success: success
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schema:
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description: ROS Action SendCmd 的 JSON Schema
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properties:
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feedback:
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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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status:
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type: string
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required:
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- status
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title: SendCmd_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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command:
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type: string
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required:
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- command
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title: SendCmd_Goal
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type: object
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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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return_info:
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type: string
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success:
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type: boolean
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required:
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- return_info
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- success
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title: SendCmd_Result
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type: object
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required:
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- goal
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title: SendCmd
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type: object
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type: SendCmd
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module: unilabos.devices.motor.iCL42:iCL42Driver
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status_types:
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is_executing_run: bool
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motor_position: int
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success: bool
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type: python
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description: iCL42 motor
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handles: []
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||||
icon: ''
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init_param_schema:
|
||||
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_address:
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default: 1
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description: '参数: device_address'
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type: integer
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||||
device_com:
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default: COM9
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description: '参数: device_com'
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type: string
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||||
required: []
|
||||
type: object
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||||
result: {}
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||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
Reference in New Issue
Block a user