From e6d8d41183b18ae4d1187c8c5831e9025136e837 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 26 Dec 2025 03:26:06 +0800 Subject: [PATCH] bump version to 0.10.3 --- .conda/recipe.yaml | 2 +- recipes/msgs/recipe.yaml | 2 +- recipes/unilabos/recipe.yaml | 2 +- setup.py | 2 +- unilabos/__init__.py | 2 +- .../registry/devices/laiyu_liquid_test.yaml | 515 +++++++++++++++--- unilabos_msgs/package.xml | 2 +- 7 files changed, 440 insertions(+), 87 deletions(-) diff --git a/.conda/recipe.yaml b/.conda/recipe.yaml index 62b0633..f7dca72 100644 --- a/.conda/recipe.yaml +++ b/.conda/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: 0.10.12 + version: 0.10.13 source: path: ../unilabos diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml index 86150f0..399be6c 100644 --- a/recipes/msgs/recipe.yaml +++ b/recipes/msgs/recipe.yaml @@ -1,6 +1,6 @@ package: name: ros-humble-unilabos-msgs - version: 0.10.12 + version: 0.10.13 source: path: ../../unilabos_msgs target_directory: src diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml index 0f79b26..34bd39c 100644 --- a/recipes/unilabos/recipe.yaml +++ b/recipes/unilabos/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: "0.10.12" + version: "0.10.13" source: path: ../.. diff --git a/setup.py b/setup.py index 4f733d0..cb687c2 100644 --- a/setup.py +++ b/setup.py @@ -4,7 +4,7 @@ package_name = 'unilabos' setup( name=package_name, - version='0.10.12', + version='0.10.13', packages=find_packages(), include_package_data=True, install_requires=['setuptools'], diff --git a/unilabos/__init__.py b/unilabos/__init__.py index a37fec7..f63b48a 100644 --- a/unilabos/__init__.py +++ b/unilabos/__init__.py @@ -1 +1 @@ -__version__ = "0.10.12" +__version__ = "0.10.13" diff --git a/unilabos/registry/devices/laiyu_liquid_test.yaml b/unilabos/registry/devices/laiyu_liquid_test.yaml index 282242d..dcaa981 100644 --- a/unilabos/registry/devices/laiyu_liquid_test.yaml +++ b/unilabos/registry/devices/laiyu_liquid_test.yaml @@ -3,11 +3,11 @@ xyz_stepper_controller: - laiyu_liquid_test class: action_value_mappings: - auto-define_current_as_zero: + auto-degrees_to_steps: feedback: {} goal: {} goal_default: - save_path: work_origin.json + degrees: null handles: {} placeholder_keys: {} result: {} @@ -17,23 +17,22 @@ xyz_stepper_controller: feedback: {} goal: properties: - save_path: - default: work_origin.json - type: string - required: [] + degrees: + type: number + required: + - degrees type: object result: {} required: - goal - title: define_current_as_zero参数 + title: degrees_to_steps参数 type: object type: UniLabJsonCommand - auto-enable: + auto-emergency_stop: feedback: {} goal: {} goal_default: axis: null - state: null handles: {} placeholder_keys: {} result: {} @@ -44,27 +43,415 @@ xyz_stepper_controller: goal: properties: axis: - type: string - state: - type: boolean + type: object required: - axis - - state type: object result: {} required: - goal - title: enable参数 + title: emergency_stop参数 type: object type: UniLabJsonCommand - auto-move_to: + auto-enable_all_axes: + feedback: {} + goal: {} + goal_default: + enable: true + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + enable: + default: true + type: boolean + required: [] + type: object + result: {} + required: + - goal + title: enable_all_axes参数 + type: object + type: UniLabJsonCommand + auto-enable_motor: feedback: {} goal: {} goal_default: - acc: 500 axis: null - precision: 50 - speed: 2000 + enable: true + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + axis: + type: object + enable: + default: true + type: boolean + required: + - axis + type: object + result: {} + required: + - goal + title: enable_motor参数 + type: object + type: UniLabJsonCommand + auto-home_all_axes: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: home_all_axes参数 + type: object + type: UniLabJsonCommand + auto-home_axis: + feedback: {} + goal: {} + goal_default: + axis: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + axis: + type: object + required: + - axis + type: object + result: {} + required: + - goal + title: home_axis参数 + type: object + type: UniLabJsonCommand + auto-move_to_position: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + axis: null + position: null + precision: 100 + speed: 5000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + axis: + type: object + position: + type: integer + precision: + default: 100 + type: integer + speed: + default: 5000 + type: integer + required: + - axis + - position + type: object + result: {} + required: + - goal + title: move_to_position参数 + type: object + type: UniLabJsonCommand + auto-move_to_position_degrees: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + axis: null + degrees: null + precision: 100 + speed: 5000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + axis: + type: object + degrees: + type: number + precision: + default: 100 + type: integer + speed: + default: 5000 + type: integer + required: + - axis + - degrees + type: object + result: {} + required: + - goal + title: move_to_position_degrees参数 + type: object + type: UniLabJsonCommand + auto-move_to_position_revolutions: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + axis: null + precision: 100 + revolutions: null + speed: 5000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + axis: + type: object + precision: + default: 100 + type: integer + revolutions: + type: number + speed: + default: 5000 + type: integer + required: + - axis + - revolutions + type: object + result: {} + required: + - goal + title: move_to_position_revolutions参数 + type: object + type: UniLabJsonCommand + auto-move_xyz: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + speed: 5000 + x: null + y: null + z: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + speed: + default: 5000 + type: integer + x: + type: string + y: + type: string + z: + type: string + required: [] + type: object + result: {} + required: + - goal + title: move_xyz参数 + type: object + type: UniLabJsonCommand + auto-move_xyz_degrees: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + speed: 5000 + x_deg: null + y_deg: null + z_deg: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + speed: + default: 5000 + type: integer + x_deg: + type: string + y_deg: + type: string + z_deg: + type: string + required: [] + type: object + result: {} + required: + - goal + title: move_xyz_degrees参数 + type: object + type: UniLabJsonCommand + auto-move_xyz_revolutions: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + speed: 5000 + x_rev: null + y_rev: null + z_rev: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + speed: + default: 5000 + type: integer + x_rev: + type: string + y_rev: + type: string + z_rev: + type: string + required: [] + type: object + result: {} + required: + - goal + title: move_xyz_revolutions参数 + type: object + type: UniLabJsonCommand + auto-revolutions_to_steps: + feedback: {} + goal: {} + goal_default: + revolutions: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + revolutions: + type: number + required: + - revolutions + type: object + result: {} + required: + - goal + title: revolutions_to_steps参数 + type: object + type: UniLabJsonCommand + auto-set_speed_mode: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + axis: null + speed: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + axis: + type: object + speed: + type: integer + required: + - axis + - speed + type: object + result: {} + required: + - goal + title: set_speed_mode参数 + type: object + type: UniLabJsonCommand + auto-steps_to_degrees: + feedback: {} + goal: {} + goal_default: steps: null handles: {} placeholder_keys: {} @@ -75,38 +462,22 @@ xyz_stepper_controller: feedback: {} goal: properties: - acc: - default: 500 - type: integer - axis: - type: string - precision: - default: 50 - type: integer - speed: - default: 2000 - type: integer steps: type: integer required: - - axis - steps type: object result: {} required: - goal - title: move_to参数 + title: steps_to_degrees参数 type: object type: UniLabJsonCommand - auto-move_xyz_work: + auto-steps_to_revolutions: feedback: {} goal: {} goal_default: - acc: 1500 - speed: 100 - x: 0.0 - y: 0.0 - z: 0.0 + steps: null handles: {} placeholder_keys: {} result: {} @@ -116,35 +487,21 @@ xyz_stepper_controller: feedback: {} goal: properties: - acc: - default: 1500 + steps: type: integer - speed: - default: 100 - type: integer - x: - default: 0.0 - type: number - y: - default: 0.0 - type: number - z: - default: 0.0 - type: number - required: [] + required: + - steps type: object result: {} required: - goal - title: move_xyz_work参数 + title: steps_to_revolutions参数 type: object type: UniLabJsonCommand - auto-return_to_work_origin: + auto-stop_all_axes: feedback: {} goal: {} - goal_default: - acc: 800 - speed: 200 + goal_default: {} handles: {} placeholder_keys: {} result: {} @@ -153,22 +510,16 @@ xyz_stepper_controller: properties: feedback: {} goal: - properties: - acc: - default: 800 - type: integer - speed: - default: 200 - type: integer + properties: {} required: [] type: object result: {} required: - goal - title: return_to_work_origin参数 + title: stop_all_axes参数 type: object type: UniLabJsonCommand - auto-wait_complete: + auto-wait_for_completion: feedback: {} goal: {} goal_default: @@ -184,22 +535,23 @@ xyz_stepper_controller: goal: properties: axis: - type: string + type: object timeout: default: 30.0 - type: string + type: number required: - axis type: object result: {} required: - goal - title: wait_complete参数 + title: wait_for_completion参数 type: object type: UniLabJsonCommand module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController status_types: - status: list + all_positions: dict + motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition type: python config_info: [] description: 新XYZ控制器 @@ -210,23 +562,24 @@ xyz_stepper_controller: properties: baudrate: default: 115200 - type: string - client: - type: string - origin_path: - default: unilabos/devices/laiyu_liquid_test/work_origin.json - type: string + type: integer port: - default: /dev/ttyUSB0 type: string - required: [] + timeout: + default: 1.0 + type: number + required: + - port type: object data: properties: - status: - type: array + all_positions: + type: object + motor_status: + type: object required: - - status + - motor_status + - all_positions type: object registry_type: device version: 1.0.0 diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml index dbb2038..325fc13 100644 --- a/unilabos_msgs/package.xml +++ b/unilabos_msgs/package.xml @@ -2,7 +2,7 @@ unilabos_msgs - 0.10.12 + 0.10.13 ROS2 Messages package for unilabos devices Junhan Chang Xuwznln