diff --git a/unilabos/registry/device_comms/serial.yaml b/unilabos/registry/device_comms/serial.yaml index 3ed9b6b..97e6051 100644 --- a/unilabos/registry/device_comms/serial.yaml +++ b/unilabos/registry/device_comms/serial.yaml @@ -10,17 +10,14 @@ serial: handles: [] result: {} schema: - description: UniLabJsonCommand handle_serial_request 的参数schema + description: handle_serial_request的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand handle_serial_request 的参数schema properties: request: - description: '参数: request' type: string response: - description: '参数: response' type: string required: - request @@ -29,7 +26,7 @@ serial: result: {} required: - goal - title: handle_serial_request 命令参数 + title: handle_serial_request参数 type: object type: UniLabJsonCommand auto-read_data: @@ -39,18 +36,17 @@ serial: handles: [] result: {} schema: - description: UniLabJsonCommand read_data 的参数schema + description: read_data的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand read_data 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: read_data 命令参数 + title: read_data参数 type: object type: UniLabJsonCommand auto-send_command: @@ -61,14 +57,12 @@ serial: handles: [] result: {} schema: - description: UniLabJsonCommand send_command 的参数schema + description: 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 @@ -76,7 +70,7 @@ serial: result: {} required: - goal - title: send_command 命令参数 + title: send_command参数 type: object type: UniLabJsonCommand module: unilabos.ros.nodes.presets.serial_node:ROS2SerialNode @@ -87,31 +81,22 @@ serial: 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 - device_id: - description: '参数: device_id' - type: string - port: - description: '参数: port' - type: string - resource_tracker: - description: '参数: resource_tracker' - type: string - required: - - device_id - - port - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + baudrate: + default: 9600 + type: integer + device_id: + type: string + port: + type: string + resource_tracker: + type: string + required: + - device_id + - port + type: object + data: + properties: {} + required: [] + type: object diff --git a/unilabos/registry/devices/camera.yaml b/unilabos/registry/devices/camera.yaml index 241576e..55f5246 100644 --- a/unilabos/registry/devices/camera.yaml +++ b/unilabos/registry/devices/camera.yaml @@ -1,10 +1,69 @@ camera: class: - action_value_mappings: {} + action_value_mappings: + auto-destroy_node: + feedback: {} + goal: {} + goal_default: {} + handles: [] + result: {} + schema: + description: destroy_node的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: destroy_node参数 + type: object + type: UniLabJsonCommand + auto-timer_callback: + feedback: {} + goal: {} + goal_default: {} + handles: [] + result: {} + schema: + description: timer_callback的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: timer_callback参数 + type: object + type: UniLabJsonCommand module: unilabos.ros.nodes.presets.camera:VideoPublisher status_types: {} type: ros2 description: '' handles: [] icon: '' - init_param_schema: {} + init_param_schema: + config: + properties: + camera_index: + default: 0 + type: string + device_id: + default: video_publisher + type: string + period: + default: 0.1 + type: number + resource_tracker: + type: string + required: [] + type: object + data: + properties: {} + required: [] + type: object diff --git a/unilabos/registry/devices/characterization_optic.yaml b/unilabos/registry/devices/characterization_optic.yaml index 06f9bfa..a7fd543 100644 --- a/unilabos/registry/devices/characterization_optic.yaml +++ b/unilabos/registry/devices/characterization_optic.yaml @@ -8,18 +8,17 @@ hplc.agilent: handles: [] result: {} schema: - description: UniLabJsonCommand check_status 的参数schema + description: check_status的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand check_status 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: check_status 命令参数 + title: check_status参数 type: object type: UniLabJsonCommand auto-extract_data_from_txt: @@ -30,14 +29,12 @@ hplc.agilent: handles: [] result: {} schema: - description: UniLabJsonCommand extract_data_from_txt 的参数schema + description: extract_data_from_txt的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand extract_data_from_txt 的参数schema properties: file_path: - description: '参数: file_path' type: string required: - file_path @@ -45,7 +42,7 @@ hplc.agilent: result: {} required: - goal - title: extract_data_from_txt 命令参数 + title: extract_data_from_txt参数 type: object type: UniLabJsonCommand auto-start_sequence: @@ -58,20 +55,16 @@ hplc.agilent: handles: [] result: {} schema: - description: UniLabJsonCommand start_sequence 的参数schema + description: start_sequence的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand start_sequence 的参数schema properties: params: - description: '参数: params' type: string resource: - description: '参数: resource' type: object wf_name: - description: '参数: wf_name' type: string required: - wf_name @@ -79,7 +72,7 @@ hplc.agilent: result: {} required: - goal - title: start_sequence 命令参数 + title: start_sequence参数 type: object type: UniLabJsonCommand auto-try_close_sub_device: @@ -90,21 +83,19 @@ hplc.agilent: handles: [] result: {} schema: - description: UniLabJsonCommand try_close_sub_device 的参数schema + description: try_close_sub_device的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand try_close_sub_device 的参数schema properties: device_name: - description: '参数: device_name' type: string required: [] type: object result: {} required: - goal - title: try_close_sub_device 命令参数 + title: try_close_sub_device参数 type: object type: UniLabJsonCommand auto-try_open_sub_device: @@ -115,21 +106,19 @@ hplc.agilent: handles: [] result: {} schema: - description: UniLabJsonCommand try_open_sub_device 的参数schema + description: try_open_sub_device的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand try_open_sub_device 的参数schema properties: device_name: - description: '参数: device_name' type: string required: [] type: object result: {} required: - goal - title: try_open_sub_device 命令参数 + title: try_open_sub_device参数 type: object type: UniLabJsonCommand execute_command_from_outer: @@ -194,23 +183,41 @@ hplc.agilent: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - driver_debug: - default: false - description: '参数: driver_debug' - type: boolean - required: [] - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + driver_debug: + default: false + type: string + required: [] + type: object + data: + properties: + could_run: + type: boolean + data_file: + type: array + device_status: + type: string + driver_init_ok: + type: boolean + finish_status: + type: string + is_running: + type: boolean + status_text: + type: string + success: + type: boolean + required: + - status_text + - device_status + - could_run + - driver_init_ok + - is_running + - success + - finish_status + - data_file + type: object raman_home_made: class: action_value_mappings: @@ -222,14 +229,12 @@ raman_home_made: handles: [] result: {} schema: - description: UniLabJsonCommand ccd_time 的参数schema + description: ccd_time的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand ccd_time 的参数schema properties: int_time: - description: '参数: int_time' type: string required: - int_time @@ -237,7 +242,7 @@ raman_home_made: result: {} required: - goal - title: ccd_time 命令参数 + title: ccd_time参数 type: object type: UniLabJsonCommand auto-laser_on_power: @@ -248,14 +253,12 @@ raman_home_made: handles: [] result: {} schema: - description: UniLabJsonCommand laser_on_power 的参数schema + description: laser_on_power的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand laser_on_power 的参数schema properties: output_voltage_laser: - description: '参数: output_voltage_laser' type: string required: - output_voltage_laser @@ -263,7 +266,7 @@ raman_home_made: result: {} required: - goal - title: laser_on_power 命令参数 + title: laser_on_power参数 type: object type: UniLabJsonCommand auto-raman_cmd: @@ -274,14 +277,12 @@ raman_home_made: handles: [] result: {} schema: - description: UniLabJsonCommand raman_cmd 的参数schema + description: raman_cmd的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand raman_cmd 的参数schema properties: command: - description: '参数: command' type: string required: - command @@ -289,7 +290,7 @@ raman_home_made: result: {} required: - goal - title: raman_cmd 命令参数 + title: raman_cmd参数 type: object type: UniLabJsonCommand auto-raman_without_background: @@ -301,17 +302,14 @@ raman_home_made: handles: [] result: {} schema: - description: UniLabJsonCommand raman_without_background 的参数schema + description: raman_without_background的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand raman_without_background 的参数schema properties: int_time: - description: '参数: int_time' type: string laser_power: - description: '参数: laser_power' type: string required: - int_time @@ -320,7 +318,7 @@ raman_home_made: result: {} required: - goal - title: raman_without_background 命令参数 + title: raman_without_background参数 type: object type: UniLabJsonCommand auto-raman_without_background_average: @@ -334,23 +332,18 @@ raman_home_made: handles: [] result: {} schema: - description: UniLabJsonCommand raman_without_background_average 的参数schema + description: raman_without_background_average的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand raman_without_background_average 的参数schema properties: average: - description: '参数: average' type: string int_time: - description: '参数: int_time' type: string laser_power: - description: '参数: laser_power' type: string sample_name: - description: '参数: sample_name' type: string required: - sample_name @@ -361,7 +354,7 @@ raman_home_made: result: {} required: - goal - title: raman_without_background_average 命令参数 + title: raman_without_background_average参数 type: object type: UniLabJsonCommand raman_cmd: @@ -418,32 +411,23 @@ raman_home_made: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - baudrate_ccd: - default: 921600 - description: '参数: baudrate_ccd' - type: integer - baudrate_laser: - default: 9600 - description: '参数: baudrate_laser' - type: integer - port_ccd: - description: '参数: port_ccd' - type: string - port_laser: - description: '参数: port_laser' - type: string - required: - - port_laser - - port_ccd - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + baudrate_ccd: + default: 921600 + type: string + baudrate_laser: + default: 9600 + type: string + port_ccd: + type: string + port_laser: + type: string + required: + - port_laser + - port_ccd + type: object + data: + properties: {} + required: [] + type: object diff --git a/unilabos/registry/devices/hotel.yaml b/unilabos/registry/devices/hotel.yaml index bfd0090..e5cfc06 100644 --- a/unilabos/registry/devices/hotel.yaml +++ b/unilabos/registry/devices/hotel.yaml @@ -9,27 +9,23 @@ hotel.thermo_orbitor_rs2_hotel: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - device_config: - description: '参数: device_config' - type: object - rotation: - description: '参数: rotation' - type: object - required: - - rotation - - device_config - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + device_config: + type: object + rotation: + type: object + required: + - rotation + - device_config + type: object + data: + properties: + rotation: + type: string + required: + - rotation + type: object model: mesh: thermo_orbitor_rs2_hotel type: device diff --git a/unilabos/registry/devices/laiyu_add_solid.yaml b/unilabos/registry/devices/laiyu_add_solid.yaml index 8e1e7be..02b8014 100644 --- a/unilabos/registry/devices/laiyu_add_solid.yaml +++ b/unilabos/registry/devices/laiyu_add_solid.yaml @@ -70,20 +70,16 @@ laiyu_add_solid: handles: [] result: {} schema: - description: UniLabJsonCommand add_powder_tube 的参数schema + description: add_powder_tube的参数schema 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 @@ -93,7 +89,7 @@ laiyu_add_solid: result: {} required: - goal - title: add_powder_tube 命令参数 + title: add_powder_tube参数 type: object type: UniLabJsonCommand auto-calculate_crc: @@ -104,14 +100,12 @@ laiyu_add_solid: handles: [] result: {} schema: - description: UniLabJsonCommand calculate_crc 的参数schema + description: 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 @@ -119,7 +113,7 @@ laiyu_add_solid: result: {} required: - goal - title: calculate_crc 命令参数 + title: calculate_crc参数 type: object type: UniLabJsonCommand auto-discharge: @@ -130,14 +124,12 @@ laiyu_add_solid: handles: [] result: {} schema: - description: UniLabJsonCommand discharge 的参数schema + description: 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 @@ -145,7 +137,7 @@ laiyu_add_solid: result: {} required: - goal - title: discharge 命令参数 + title: discharge参数 type: object type: UniLabJsonCommand auto-move_to_plate: @@ -156,14 +148,12 @@ laiyu_add_solid: handles: [] result: {} schema: - description: UniLabJsonCommand move_to_plate 的参数schema + description: 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 @@ -171,7 +161,7 @@ laiyu_add_solid: result: {} required: - goal - title: move_to_plate 命令参数 + title: move_to_plate参数 type: object type: UniLabJsonCommand auto-move_to_xyz: @@ -184,20 +174,16 @@ laiyu_add_solid: handles: [] result: {} schema: - description: UniLabJsonCommand move_to_xyz 的参数schema + description: 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 @@ -207,7 +193,7 @@ laiyu_add_solid: result: {} required: - goal - title: move_to_xyz 命令参数 + title: move_to_xyz参数 type: object type: UniLabJsonCommand auto-pick_powder_tube: @@ -218,14 +204,12 @@ laiyu_add_solid: handles: [] result: {} schema: - description: UniLabJsonCommand pick_powder_tube 的参数schema + description: 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 @@ -233,7 +217,7 @@ laiyu_add_solid: result: {} required: - goal - title: pick_powder_tube 命令参数 + title: pick_powder_tube参数 type: object type: UniLabJsonCommand auto-put_powder_tube: @@ -244,14 +228,12 @@ laiyu_add_solid: handles: [] result: {} schema: - description: UniLabJsonCommand put_powder_tube 的参数schema + description: 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 @@ -259,7 +241,7 @@ laiyu_add_solid: result: {} required: - goal - title: put_powder_tube 命令参数 + title: put_powder_tube参数 type: object type: UniLabJsonCommand auto-reset: @@ -269,18 +251,17 @@ laiyu_add_solid: handles: [] result: {} schema: - description: UniLabJsonCommand reset 的参数schema + description: 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 + title: reset参数 type: object type: UniLabJsonCommand auto-send_command: @@ -291,14 +272,12 @@ laiyu_add_solid: handles: [] result: {} schema: - description: UniLabJsonCommand send_command 的参数schema + description: 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 @@ -306,7 +285,7 @@ laiyu_add_solid: result: {} required: - goal - title: send_command 命令参数 + title: send_command参数 type: object type: UniLabJsonCommand discharge: @@ -581,28 +560,23 @@ 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 + config: + properties: + baudrate: + default: 115200 + type: string + port: + type: string + timeout: + default: 0.5 + type: string + required: + - port + type: object + data: + properties: + status: + type: string + required: + - status + type: object diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index f431b49..ea14223 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -578,65 +578,47 @@ liquid_handler: handles: [] result: {} schema: - description: UniLabJsonCommand add_liquid 的参数schema + description: add_liquid的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand add_liquid 的参数schema properties: asp_vols: - description: '参数: asp_vols' type: string blow_out_air_volume: - description: '参数: blow_out_air_volume' type: string delays: - description: '参数: delays' type: string dis_vols: - description: '参数: dis_vols' type: string flow_rates: - description: '参数: flow_rates' type: string is_96_well: default: false - description: '参数: is_96_well' type: boolean liquid_height: - description: '参数: liquid_height' type: string mix_liquid_height: - description: '参数: mix_liquid_height' type: string mix_rate: - description: '参数: mix_rate' type: string mix_time: - description: '参数: mix_time' type: string mix_vol: - description: '参数: mix_vol' type: string none_keys: default: [] - description: '参数: none_keys' type: string offsets: - description: '参数: offsets' type: string reagent_sources: - description: '参数: reagent_sources' type: string spread: default: wide - description: '参数: spread' type: string targets: - description: '参数: targets' type: string use_channels: - description: '参数: use_channels' type: string required: - asp_vols @@ -647,7 +629,7 @@ liquid_handler: result: {} required: - goal - title: add_liquid 命令参数 + title: add_liquid参数 type: object type: UniLabJsonCommandAsync auto-create_protocol: @@ -664,33 +646,25 @@ liquid_handler: handles: [] result: {} schema: - description: UniLabJsonCommand create_protocol 的参数schema + description: create_protocol的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand create_protocol 的参数schema properties: none_keys: default: [] - description: '参数: none_keys' type: string protocol_author: - description: '参数: protocol_author' type: string protocol_date: - description: '参数: protocol_date' type: string protocol_description: - description: '参数: protocol_description' type: string protocol_name: - description: '参数: protocol_name' type: string protocol_type: - description: '参数: protocol_type' type: string protocol_version: - description: '参数: protocol_version' type: string required: - protocol_name @@ -703,7 +677,7 @@ liquid_handler: result: {} required: - goal - title: create_protocol 命令参数 + title: create_protocol参数 type: object type: UniLabJsonCommandAsync auto-custom_delay: @@ -715,25 +689,22 @@ liquid_handler: handles: [] result: {} schema: - description: UniLabJsonCommand custom_delay 的参数schema + description: custom_delay的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand custom_delay 的参数schema properties: msg: - description: '参数: msg' type: string seconds: default: 0 - description: '参数: seconds' type: string required: [] type: object result: {} required: - goal - title: custom_delay 命令参数 + title: custom_delay参数 type: object type: UniLabJsonCommandAsync auto-iter_tips: @@ -744,14 +715,12 @@ liquid_handler: handles: [] result: {} schema: - description: UniLabJsonCommand iter_tips 的参数schema + description: iter_tips的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand iter_tips 的参数schema properties: tip_racks: - description: '参数: tip_racks' type: string required: - tip_racks @@ -759,7 +728,7 @@ liquid_handler: result: {} required: - goal - title: iter_tips 命令参数 + title: iter_tips参数 type: object type: UniLabJsonCommand auto-mix: @@ -776,33 +745,25 @@ liquid_handler: handles: [] result: {} schema: - description: UniLabJsonCommand mix 的参数schema + description: mix的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand mix 的参数schema properties: height_to_bottom: - description: '参数: height_to_bottom' type: string mix_rate: - description: '参数: mix_rate' type: string mix_time: - description: '参数: mix_time' type: integer mix_vol: - description: '参数: mix_vol' type: string none_keys: default: [] - description: '参数: none_keys' type: string offsets: - description: '参数: offsets' type: string targets: - description: '参数: targets' type: string required: - targets @@ -810,7 +771,7 @@ liquid_handler: result: {} required: - goal - title: mix 命令参数 + title: mix参数 type: object type: UniLabJsonCommandAsync auto-move_to: @@ -823,22 +784,18 @@ liquid_handler: handles: [] result: {} schema: - description: UniLabJsonCommand move_to 的参数schema + description: move_to的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand move_to 的参数schema properties: channel: default: 0 - description: '参数: channel' type: integer dis_to_top: default: 0 - description: '参数: dis_to_top' type: number well: - description: '参数: well' type: string required: - well @@ -846,7 +803,7 @@ liquid_handler: result: {} required: - goal - title: move_to 命令参数 + title: move_to参数 type: object type: UniLabJsonCommandAsync auto-remove_liquid: @@ -869,53 +826,39 @@ liquid_handler: handles: [] result: {} schema: - description: UniLabJsonCommand remove_liquid 的参数schema + description: remove_liquid的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand remove_liquid 的参数schema properties: blow_out_air_volume: - description: '参数: blow_out_air_volume' type: string delays: - description: '参数: delays' type: string flow_rates: - description: '参数: flow_rates' type: string is_96_well: default: false - description: '参数: is_96_well' type: string liquid_height: - description: '参数: liquid_height' type: string none_keys: default: [] - description: '参数: none_keys' type: string offsets: - description: '参数: offsets' type: string sources: - description: '参数: sources' type: string spread: default: wide - description: '参数: spread' type: string top: - description: '参数: top' type: string use_channels: - description: '参数: use_channels' type: string vols: - description: '参数: vols' type: string waste_liquid: - description: '参数: waste_liquid' type: string required: - vols @@ -924,7 +867,7 @@ liquid_handler: result: {} required: - goal - title: remove_liquid 命令参数 + title: remove_liquid参数 type: object type: UniLabJsonCommandAsync auto-set_tiprack: @@ -935,14 +878,12 @@ liquid_handler: handles: [] result: {} schema: - description: UniLabJsonCommand set_tiprack 的参数schema + description: set_tiprack的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_tiprack 的参数schema properties: tip_racks: - description: '参数: tip_racks' type: string required: - tip_racks @@ -950,7 +891,7 @@ liquid_handler: result: {} required: - goal - title: set_tiprack 命令参数 + title: set_tiprack参数 type: object type: UniLabJsonCommand auto-touch_tip: @@ -961,14 +902,12 @@ liquid_handler: handles: [] result: {} schema: - description: UniLabJsonCommand touch_tip 的参数schema + description: touch_tip的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand touch_tip 的参数schema properties: targets: - description: '参数: targets' type: string required: - targets @@ -976,7 +915,7 @@ liquid_handler: result: {} required: - goal - title: touch_tip 命令参数 + title: touch_tip参数 type: object type: UniLabJsonCommandAsync auto-transfer_liquid: @@ -1007,79 +946,57 @@ liquid_handler: handles: [] result: {} schema: - description: UniLabJsonCommand transfer_liquid 的参数schema + description: transfer_liquid的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand transfer_liquid 的参数schema properties: asp_flow_rates: - description: '参数: asp_flow_rates' type: string asp_vols: - description: '参数: asp_vols' type: string blow_out_air_volume: - description: '参数: blow_out_air_volume' type: string delays: - description: '参数: delays' type: string dis_flow_rates: - description: '参数: dis_flow_rates' type: string dis_vols: - description: '参数: dis_vols' type: string is_96_well: default: false - description: '参数: is_96_well' type: boolean liquid_height: - description: '参数: liquid_height' type: string mix_liquid_height: - description: '参数: mix_liquid_height' type: string mix_rate: - description: '参数: mix_rate' type: string mix_stage: default: none - description: '参数: mix_stage' type: string mix_times: - description: '参数: mix_times' type: string mix_vol: - description: '参数: mix_vol' type: string none_keys: default: [] - description: '参数: none_keys' type: string offsets: - description: '参数: offsets' type: string sources: - description: '参数: sources' type: string spread: default: wide - description: '参数: spread' type: string targets: - description: '参数: targets' type: string tip_racks: - description: '参数: tip_racks' type: string touch_tip: default: false - description: '参数: touch_tip' type: boolean use_channels: - description: '参数: use_channels' type: string required: - sources @@ -1091,7 +1008,7 @@ liquid_handler: result: {} required: - goal - title: transfer_liquid 命令参数 + title: transfer_liquid参数 type: object type: UniLabJsonCommandAsync discard_tips: @@ -4851,27 +4768,20 @@ liquid_handler: label: Liquid Output icon: icon_yiyezhan.webp init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - backend: - description: '参数: backend' - type: string - deck: - description: '参数: deck' - type: string - required: - - backend - - deck - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + backend: + type: string + deck: + type: string + required: + - backend + - deck + type: object + data: + properties: {} + required: [] + type: object liquid_handler.biomek: class: action_value_mappings: @@ -4889,33 +4799,25 @@ liquid_handler.biomek: handles: [] result: {} schema: - description: UniLabJsonCommand create_protocol 的参数schema + description: create_protocol的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand create_protocol 的参数schema properties: none_keys: default: [] - description: '参数: none_keys' type: array protocol_author: - description: '参数: protocol_author' type: string protocol_date: - description: '参数: protocol_date' type: string protocol_description: - description: '参数: protocol_description' type: string protocol_name: - description: '参数: protocol_name' type: string protocol_type: - description: '参数: protocol_type' type: string protocol_version: - description: '参数: protocol_version' type: string required: - protocol_name @@ -4928,7 +4830,7 @@ liquid_handler.biomek: result: {} required: - goal - title: create_protocol 命令参数 + title: create_protocol参数 type: object type: UniLabJsonCommand auto-create_resource: @@ -4946,35 +4848,26 @@ liquid_handler.biomek: handles: [] result: {} schema: - description: UniLabJsonCommand create_resource 的参数schema + description: create_resource的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand create_resource 的参数schema properties: bind_location: - description: '参数: bind_location' type: object bind_parent_id: - description: '参数: bind_parent_id' type: string liquid_input_slot: - description: '参数: liquid_input_slot' type: array liquid_type: - description: '参数: liquid_type' type: array liquid_volume: - description: '参数: liquid_volume' type: array resource_tracker: - description: '参数: resource_tracker' type: string resources: - description: '参数: resources' type: array slot_on_deck: - description: '参数: slot_on_deck' type: integer required: - resource_tracker @@ -4989,7 +4882,7 @@ liquid_handler.biomek: result: {} required: - goal - title: create_resource 命令参数 + title: create_resource参数 type: object type: UniLabJsonCommand auto-incubation_biomek: @@ -5000,14 +4893,12 @@ liquid_handler.biomek: handles: [] result: {} schema: - description: UniLabJsonCommand incubation_biomek 的参数schema + description: incubation_biomek的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand incubation_biomek 的参数schema properties: time: - description: '参数: time' type: integer required: - time @@ -5015,7 +4906,7 @@ liquid_handler.biomek: result: {} required: - goal - title: incubation_biomek 命令参数 + title: incubation_biomek参数 type: object type: UniLabJsonCommand auto-instrument_setup_biomek: @@ -5032,32 +4923,24 @@ liquid_handler.biomek: handles: [] result: {} schema: - description: UniLabJsonCommand instrument_setup_biomek 的参数schema + description: instrument_setup_biomek的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand instrument_setup_biomek 的参数schema properties: class_name: - description: '参数: class_name' type: string id: - description: '参数: id' type: string liquid_input_wells: - description: '参数: liquid_input_wells' type: array liquid_type: - description: '参数: liquid_type' type: array liquid_volume: - description: '参数: liquid_volume' type: array parent: - description: '参数: parent' type: string slot_on_deck: - description: '参数: slot_on_deck' type: string required: - id @@ -5071,7 +4954,7 @@ liquid_handler.biomek: result: {} required: - goal - title: instrument_setup_biomek 命令参数 + title: instrument_setup_biomek参数 type: object type: UniLabJsonCommand auto-move_biomek: @@ -5083,17 +4966,14 @@ liquid_handler.biomek: handles: [] result: {} schema: - description: UniLabJsonCommand move_biomek 的参数schema + description: move_biomek的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand move_biomek 的参数schema properties: source: - description: '参数: source' type: string target: - description: '参数: target' type: string required: - source @@ -5102,7 +4982,7 @@ liquid_handler.biomek: result: {} required: - goal - title: move_biomek 命令参数 + title: move_biomek参数 type: object type: UniLabJsonCommand auto-oscillation_biomek: @@ -5114,17 +4994,14 @@ liquid_handler.biomek: handles: [] result: {} schema: - description: UniLabJsonCommand oscillation_biomek 的参数schema + description: oscillation_biomek的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand oscillation_biomek 的参数schema properties: rpm: - description: '参数: rpm' type: integer time: - description: '参数: time' type: integer required: - rpm @@ -5133,7 +5010,7 @@ liquid_handler.biomek: result: {} required: - goal - title: oscillation_biomek 命令参数 + title: oscillation_biomek参数 type: object type: UniLabJsonCommand auto-run_protocol: @@ -5143,18 +5020,17 @@ liquid_handler.biomek: handles: [] result: {} schema: - description: UniLabJsonCommand run_protocol 的参数schema + description: run_protocol的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand run_protocol 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: run_protocol 命令参数 + title: run_protocol参数 type: object type: UniLabJsonCommand auto-transfer_biomek: @@ -5170,29 +5046,22 @@ liquid_handler.biomek: handles: [] result: {} schema: - description: UniLabJsonCommand transfer_biomek 的参数schema + description: transfer_biomek的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand transfer_biomek 的参数schema properties: aspirate_techniques: - description: '参数: aspirate_techniques' type: string dispense_techniques: - description: '参数: dispense_techniques' type: string source: - description: '参数: source' type: string target: - description: '参数: target' type: string tip_rack: - description: '参数: tip_rack' type: string volume: - description: '参数: volume' type: number required: - source @@ -5205,7 +5074,7 @@ liquid_handler.biomek: result: {} required: - goal - title: transfer_biomek 命令参数 + title: transfer_biomek参数 type: object type: UniLabJsonCommand auto-transfer_liquid: @@ -5236,79 +5105,57 @@ liquid_handler.biomek: handles: [] result: {} schema: - description: UniLabJsonCommand transfer_liquid 的参数schema + description: transfer_liquid的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand transfer_liquid 的参数schema properties: asp_flow_rates: - description: '参数: asp_flow_rates' type: string asp_vols: - description: '参数: asp_vols' type: string blow_out_air_volume: - description: '参数: blow_out_air_volume' type: string delays: - description: '参数: delays' type: string dis_flow_rates: - description: '参数: dis_flow_rates' type: string dis_vols: - description: '参数: dis_vols' type: string is_96_well: default: false - description: '参数: is_96_well' type: boolean liquid_height: - description: '参数: liquid_height' type: string mix_liquid_height: - description: '参数: mix_liquid_height' type: string mix_rate: - description: '参数: mix_rate' type: string mix_stage: default: none - description: '参数: mix_stage' type: string mix_times: - description: '参数: mix_times' type: string mix_vol: - description: '参数: mix_vol' type: string none_keys: default: [] - description: '参数: none_keys' type: array offsets: - description: '参数: offsets' type: string sources: - description: '参数: sources' type: string spread: default: wide - description: '参数: spread' type: string targets: - description: '参数: targets' type: string tip_racks: - description: '参数: tip_racks' type: string touch_tip: default: false - description: '参数: touch_tip' type: boolean use_channels: - description: '参数: use_channels' type: string required: - sources @@ -5320,7 +5167,7 @@ liquid_handler.biomek: result: {} required: - goal - title: transfer_liquid 命令参数 + title: transfer_liquid参数 type: object type: UniLabJsonCommand create_protocol: @@ -6206,27 +6053,17 @@ liquid_handler.biomek: handles: [] icon: icon_yiyezhan.webp init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - args: - description: '参数: args' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - args - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: {} + required: [] + type: object + data: + properties: + success: + type: string + required: + - success + type: object liquid_handler.revvity: class: action_value_mappings: @@ -6242,23 +6079,19 @@ liquid_handler.revvity: handles: [] result: {} schema: - description: UniLabJsonCommand run 的参数schema + description: run的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand run 的参数schema properties: file_path: - description: '参数: file_path' type: string params: - description: '参数: params' type: string resource: default: AichemecoHiwo: id: AichemecoHiwo - description: '参数: resource' type: object required: - file_path @@ -6267,7 +6100,7 @@ liquid_handler.revvity: result: {} required: - goal - title: run 命令参数 + title: run参数 type: object type: UniLabJsonCommand run: @@ -6430,16 +6263,17 @@ liquid_handler.revvity: 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 + config: + properties: {} + required: [] + type: object + data: + properties: + status: + type: string + success: + type: boolean + required: + - success + - status + type: object diff --git a/unilabos/registry/devices/mock_devices.yaml b/unilabos/registry/devices/mock_devices.yaml index cc4db28..4341434 100644 --- a/unilabos/registry/devices/mock_devices.yaml +++ b/unilabos/registry/devices/mock_devices.yaml @@ -8,18 +8,17 @@ mock_chiller: handles: [] result: {} schema: - description: UniLabJsonCommand emergency_stop 的参数schema + description: emergency_stop的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand emergency_stop 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: emergency_stop 命令参数 + title: emergency_stop参数 type: object type: UniLabJsonCommand auto-heat_chill_start: @@ -32,20 +31,16 @@ mock_chiller: handles: [] result: {} schema: - description: UniLabJsonCommand heat_chill_start 的参数schema + description: heat_chill_start的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand heat_chill_start 的参数schema properties: purpose: - description: '参数: purpose' type: string temp: - description: '参数: temp' type: number vessel: - description: '参数: vessel' type: string required: - vessel @@ -55,7 +50,7 @@ mock_chiller: result: {} required: - goal - title: heat_chill_start 命令参数 + title: heat_chill_start参数 type: object type: UniLabJsonCommand auto-heat_chill_stop: @@ -66,14 +61,12 @@ mock_chiller: handles: [] result: {} schema: - description: UniLabJsonCommand heat_chill_stop 的参数schema + description: heat_chill_stop的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand heat_chill_stop 的参数schema properties: vessel: - description: '参数: vessel' type: string required: - vessel @@ -81,7 +74,7 @@ mock_chiller: result: {} required: - goal - title: heat_chill_stop 命令参数 + title: heat_chill_stop参数 type: object type: UniLabJsonCommand emergency_stop: @@ -241,23 +234,41 @@ mock_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: - default: MOCK - description: '参数: port' - type: string - required: [] - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + port: + default: MOCK + type: string + required: [] + type: object + data: + properties: + current_temperature: + type: number + is_cooling: + type: boolean + is_heating: + type: boolean + purpose: + type: string + status: + type: string + status_info: + type: object + target_temperature: + type: number + vessel: + type: string + required: + - current_temperature + - target_temperature + - status + - is_cooling + - is_heating + - vessel + - purpose + - status_info + type: object mock_filter: class: action_value_mappings: @@ -268,18 +279,17 @@ mock_filter: handles: [] result: {} schema: - description: UniLabJsonCommand emergency_stop 的参数schema + description: emergency_stop的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand emergency_stop 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: emergency_stop 命令参数 + title: emergency_stop参数 type: object type: UniLabJsonCommand auto-filter: @@ -296,37 +306,29 @@ mock_filter: handles: [] result: {} schema: - description: UniLabJsonCommand filter 的参数schema + description: filter的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand filter 的参数schema properties: continue_heatchill: default: false - description: '参数: continue_heatchill' type: boolean filtrate_vessel: - description: '参数: filtrate_vessel' type: string stir: default: false - description: '参数: stir' type: boolean stir_speed: default: 0.0 - description: '参数: stir_speed' type: number temp: default: 25.0 - description: '参数: temp' type: number vessel: - description: '参数: vessel' type: string volume: default: 0.0 - description: '参数: volume' type: number required: - vessel @@ -335,7 +337,7 @@ mock_filter: result: {} required: - goal - title: filter 命令参数 + title: filter参数 type: object type: UniLabJsonCommand auto-replace_filter: @@ -345,18 +347,17 @@ mock_filter: handles: [] result: {} schema: - description: UniLabJsonCommand replace_filter 的参数schema + description: replace_filter的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand replace_filter 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: replace_filter 命令参数 + title: replace_filter参数 type: object type: UniLabJsonCommand auto-stop_filtering: @@ -366,18 +367,17 @@ mock_filter: handles: [] result: {} schema: - description: UniLabJsonCommand stop_filtering 的参数schema + description: stop_filtering的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stop_filtering 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: stop_filtering 命令参数 + title: stop_filtering参数 type: object type: UniLabJsonCommand filter: @@ -568,23 +568,62 @@ mock_filter: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - port: - default: MOCK - description: '参数: port' - type: string - required: [] - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + port: + default: MOCK + type: string + required: [] + type: object + data: + properties: + continue_heatchill: + type: boolean + filter_life: + type: number + filtered_volume: + type: number + filtrate_vessel: + type: string + flow_rate: + type: number + is_filtering: + type: boolean + pressure_drop: + type: number + progress: + type: number + status: + type: string + status_info: + type: object + stir: + type: boolean + stir_speed: + type: number + target_volume: + type: number + temperature: + type: number + vessel: + type: string + required: + - status + - is_filtering + - flow_rate + - pressure_drop + - filter_life + - vessel + - filtrate_vessel + - filtered_volume + - progress + - stir + - stir_speed + - temperature + - continue_heatchill + - target_volume + - status_info + type: object mock_heater: class: action_value_mappings: @@ -595,18 +634,17 @@ mock_heater: handles: [] result: {} schema: - description: UniLabJsonCommand emergency_stop 的参数schema + description: emergency_stop的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand emergency_stop 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: emergency_stop 命令参数 + title: emergency_stop参数 type: object type: UniLabJsonCommand auto-heat_chill: @@ -622,32 +660,25 @@ mock_heater: handles: [] result: {} schema: - description: UniLabJsonCommand heat_chill 的参数schema + description: heat_chill的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand heat_chill 的参数schema properties: purpose: default: Unknown - description: '参数: purpose' type: string stir: default: false - description: '参数: stir' type: boolean stir_speed: default: 0.0 - description: '参数: stir_speed' type: number temp: - description: '参数: temp' type: number time: - description: '参数: time' type: number vessel: - description: '参数: vessel' type: string required: - vessel @@ -657,7 +688,7 @@ mock_heater: result: {} required: - goal - title: heat_chill 命令参数 + title: heat_chill参数 type: object type: UniLabJsonCommand auto-heat_chill_start: @@ -670,20 +701,16 @@ mock_heater: handles: [] result: {} schema: - description: UniLabJsonCommand heat_chill_start 的参数schema + description: heat_chill_start的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand heat_chill_start 的参数schema properties: purpose: - description: '参数: purpose' type: string temp: - description: '参数: temp' type: number vessel: - description: '参数: vessel' type: string required: - vessel @@ -693,7 +720,7 @@ mock_heater: result: {} required: - goal - title: heat_chill_start 命令参数 + title: heat_chill_start参数 type: object type: UniLabJsonCommand auto-heat_chill_stop: @@ -704,14 +731,12 @@ mock_heater: handles: [] result: {} schema: - description: UniLabJsonCommand heat_chill_stop 的参数schema + description: heat_chill_stop的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand heat_chill_stop 的参数schema properties: vessel: - description: '参数: vessel' type: string required: - vessel @@ -719,7 +744,7 @@ mock_heater: result: {} required: - goal - title: heat_chill_stop 命令参数 + title: heat_chill_stop参数 type: object type: UniLabJsonCommand auto-set_heating_power: @@ -730,14 +755,12 @@ mock_heater: handles: [] result: {} schema: - description: UniLabJsonCommand set_heating_power 的参数schema + description: set_heating_power的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_heating_power 的参数schema properties: power: - description: '参数: power' type: number required: - power @@ -745,7 +768,7 @@ mock_heater: result: {} required: - goal - title: set_heating_power 命令参数 + title: set_heating_power参数 type: object type: UniLabJsonCommand auto-set_temperature: @@ -756,14 +779,12 @@ mock_heater: handles: [] result: {} schema: - description: UniLabJsonCommand set_temperature 的参数schema + description: set_temperature的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_temperature 的参数schema properties: temperature: - description: '参数: temperature' type: number required: - temperature @@ -771,7 +792,7 @@ mock_heater: result: {} required: - goal - title: set_temperature 命令参数 + title: set_temperature参数 type: object type: UniLabJsonCommand emergency_stop: @@ -1007,23 +1028,50 @@ mock_heater: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - port: - default: MOCK - description: '参数: port' - type: string - required: [] - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + port: + default: MOCK + type: string + required: [] + type: object + data: + properties: + current_temperature: + type: number + heating_power: + type: number + is_heating: + type: boolean + max_temperature: + type: number + purpose: + type: string + status: + type: string + status_info: + type: object + stir: + type: boolean + stir_speed: + type: number + target_temperature: + type: number + vessel: + type: string + required: + - current_temperature + - target_temperature + - status + - is_heating + - heating_power + - max_temperature + - vessel + - purpose + - stir + - stir_speed + - status_info + type: object mock_pump: class: action_value_mappings: @@ -1034,18 +1082,17 @@ mock_pump: handles: [] result: {} schema: - description: UniLabJsonCommand emergency_stop 的参数schema + description: emergency_stop的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand emergency_stop 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: emergency_stop 命令参数 + title: emergency_stop参数 type: object type: UniLabJsonCommand auto-pause_pump: @@ -1055,18 +1102,17 @@ mock_pump: handles: [] result: {} schema: - description: UniLabJsonCommand pause_pump 的参数schema + description: pause_pump的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand pause_pump 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: pause_pump 命令参数 + title: pause_pump参数 type: object type: UniLabJsonCommand auto-pump_transfer: @@ -1086,48 +1132,37 @@ mock_pump: handles: [] result: {} schema: - description: UniLabJsonCommand pump_transfer 的参数schema + description: pump_transfer的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand pump_transfer 的参数schema properties: amount: default: '' - description: '参数: amount' type: string from_vessel: - description: '参数: from_vessel' type: string rinsing_repeats: default: 0 - description: '参数: rinsing_repeats' type: integer rinsing_solvent: default: '' - description: '参数: rinsing_solvent' type: string rinsing_volume: default: 0.0 - description: '参数: rinsing_volume' type: number solid: default: false - description: '参数: solid' type: boolean time: default: 0.0 - description: '参数: time' type: number to_vessel: - description: '参数: to_vessel' type: string viscous: default: false - description: '参数: viscous' type: boolean volume: - description: '参数: volume' type: number required: - from_vessel @@ -1137,7 +1172,7 @@ mock_pump: result: {} required: - goal - title: pump_transfer 命令参数 + title: pump_transfer参数 type: object type: UniLabJsonCommand auto-reset_volume_counter: @@ -1147,18 +1182,17 @@ mock_pump: handles: [] result: {} schema: - description: UniLabJsonCommand reset_volume_counter 的参数schema + description: reset_volume_counter的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand reset_volume_counter 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: reset_volume_counter 命令参数 + title: reset_volume_counter参数 type: object type: UniLabJsonCommand auto-resume_pump: @@ -1168,18 +1202,17 @@ mock_pump: handles: [] result: {} schema: - description: UniLabJsonCommand resume_pump 的参数schema + description: resume_pump的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand resume_pump 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: resume_pump 命令参数 + title: resume_pump参数 type: object type: UniLabJsonCommand pause_pump: @@ -1452,23 +1485,83 @@ mock_pump: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - port: - default: MOCK - description: '参数: port' - type: string - required: [] - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + port: + default: MOCK + type: string + required: [] + type: object + data: + properties: + amount: + type: string + current_device: + type: string + flow_rate: + type: number + from_vessel: + type: string + is_solid: + type: boolean + is_viscous: + type: boolean + max_flow_rate: + type: number + max_pressure: + type: number + pressure: + type: number + pump_state: + type: string + rinsing_repeats: + type: integer + rinsing_solvent: + type: string + rinsing_volume: + type: number + status: + type: string + status_info: + type: object + target_flow_rate: + type: number + time_remaining: + type: number + time_spent: + type: number + to_vessel: + type: string + total_volume: + type: number + transfer_time: + type: number + transfer_volume: + type: number + required: + - status + - current_device + - pump_state + - flow_rate + - target_flow_rate + - pressure + - total_volume + - max_flow_rate + - max_pressure + - from_vessel + - to_vessel + - transfer_volume + - amount + - transfer_time + - is_viscous + - rinsing_solvent + - rinsing_volume + - rinsing_repeats + - is_solid + - time_spent + - time_remaining + - status_info + type: object mock_rotavap: class: action_value_mappings: @@ -1479,18 +1572,17 @@ mock_rotavap: handles: [] result: {} schema: - description: UniLabJsonCommand emergency_stop 的参数schema + description: emergency_stop的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand emergency_stop 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: emergency_stop 命令参数 + title: emergency_stop参数 type: object type: UniLabJsonCommand auto-set_pump_time: @@ -1501,14 +1593,12 @@ mock_rotavap: handles: [] result: {} schema: - description: UniLabJsonCommand set_pump_time 的参数schema + description: set_pump_time的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_pump_time 的参数schema properties: time_seconds: - description: '参数: time_seconds' type: number required: - time_seconds @@ -1516,7 +1606,7 @@ mock_rotavap: result: {} required: - goal - title: set_pump_time 命令参数 + title: set_pump_time参数 type: object type: UniLabJsonCommand auto-set_rotate_speed: @@ -1527,14 +1617,12 @@ mock_rotavap: handles: [] result: {} schema: - description: UniLabJsonCommand set_rotate_speed 的参数schema + description: set_rotate_speed的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_rotate_speed 的参数schema properties: speed: - description: '参数: speed' type: number required: - speed @@ -1542,7 +1630,7 @@ mock_rotavap: result: {} required: - goal - title: set_rotate_speed 命令参数 + title: set_rotate_speed参数 type: object type: UniLabJsonCommand auto-set_rotate_time: @@ -1553,14 +1641,12 @@ mock_rotavap: handles: [] result: {} schema: - description: UniLabJsonCommand set_rotate_time 的参数schema + description: set_rotate_time的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_rotate_time 的参数schema properties: time_seconds: - description: '参数: time_seconds' type: number required: - time_seconds @@ -1568,7 +1654,7 @@ mock_rotavap: result: {} required: - goal - title: set_rotate_time 命令参数 + title: set_rotate_time参数 type: object type: UniLabJsonCommand auto-set_temperature: @@ -1579,14 +1665,12 @@ mock_rotavap: handles: [] result: {} schema: - description: UniLabJsonCommand set_temperature 的参数schema + description: set_temperature的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_temperature 的参数schema properties: temperature: - description: '参数: temperature' type: number required: - temperature @@ -1594,7 +1678,7 @@ mock_rotavap: result: {} required: - goal - title: set_temperature 命令参数 + title: set_temperature参数 type: object type: UniLabJsonCommand auto-set_timer: @@ -1605,14 +1689,12 @@ mock_rotavap: handles: [] result: {} schema: - description: UniLabJsonCommand set_timer 的参数schema + description: 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 @@ -1620,7 +1702,7 @@ mock_rotavap: result: {} required: - goal - title: set_timer 命令参数 + title: set_timer参数 type: object type: UniLabJsonCommand auto-start_pump: @@ -1630,18 +1712,17 @@ mock_rotavap: handles: [] result: {} schema: - description: UniLabJsonCommand start_pump 的参数schema + description: start_pump的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand start_pump 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: start_pump 命令参数 + title: start_pump参数 type: object type: UniLabJsonCommand auto-start_rotation: @@ -1651,18 +1732,17 @@ mock_rotavap: handles: [] result: {} schema: - description: UniLabJsonCommand start_rotation 的参数schema + description: start_rotation的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand start_rotation 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: start_rotation 命令参数 + title: start_rotation参数 type: object type: UniLabJsonCommand auto-stop_all_operations: @@ -1672,18 +1752,17 @@ mock_rotavap: handles: [] result: {} schema: - description: UniLabJsonCommand stop_all_operations 的参数schema + description: stop_all_operations的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stop_all_operations 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: stop_all_operations 命令参数 + title: stop_all_operations参数 type: object type: UniLabJsonCommand set_pump_time: @@ -1995,23 +2074,47 @@ mock_rotavap: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - port: - default: MOCK - description: '参数: port' - type: string - required: [] - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + port: + default: MOCK + type: string + required: [] + type: object + data: + properties: + pump_state: + type: string + pump_time: + type: number + rotate_speed: + type: number + rotate_state: + type: string + rotate_time: + type: number + status: + type: string + status_info: + type: object + target_temperature: + type: number + temperature: + type: number + vacuum_level: + type: number + required: + - status + - rotate_state + - rotate_time + - rotate_speed + - pump_state + - pump_time + - vacuum_level + - temperature + - target_temperature + - status_info + type: object mock_separator: class: action_value_mappings: @@ -2035,58 +2138,44 @@ mock_separator: handles: [] result: {} schema: - description: UniLabJsonCommand separate 的参数schema + description: separate的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand separate 的参数schema properties: from_vessel: - description: '参数: from_vessel' type: string product_phase: - description: '参数: product_phase' type: string purpose: - description: '参数: purpose' type: string repeats: default: 1 - description: '参数: repeats' type: integer separation_vessel: - description: '参数: separation_vessel' type: string settling_time: default: 60.0 - description: '参数: settling_time' type: number solvent: default: '' - description: '参数: solvent' type: string solvent_volume: default: 0.0 - description: '参数: solvent_volume' type: number stir_speed: default: 0.0 - description: '参数: stir_speed' type: number stir_time: default: 0.0 - description: '参数: stir_time' type: number through: default: '' - description: '参数: through' type: string to_vessel: - description: '参数: to_vessel' type: string waste_phase_to_vessel: default: '' - description: '参数: waste_phase_to_vessel' type: string required: - purpose @@ -2098,7 +2187,7 @@ mock_separator: result: {} required: - goal - title: separate 命令参数 + title: separate参数 type: object type: UniLabJsonCommand auto-set_valve: @@ -2109,14 +2198,12 @@ mock_separator: handles: [] result: {} schema: - description: UniLabJsonCommand set_valve 的参数schema + description: set_valve的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_valve 的参数schema properties: command: - description: '参数: command' type: string required: - command @@ -2124,7 +2211,7 @@ mock_separator: result: {} required: - goal - title: set_valve 命令参数 + title: set_valve参数 type: object type: UniLabJsonCommand auto-shake: @@ -2135,14 +2222,12 @@ mock_separator: handles: [] result: {} schema: - description: UniLabJsonCommand shake 的参数schema + description: shake的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand shake 的参数schema properties: shake_time: - description: '参数: shake_time' type: number required: - shake_time @@ -2150,7 +2235,7 @@ mock_separator: result: {} required: - goal - title: shake 命令参数 + title: shake参数 type: object type: UniLabJsonCommand auto-stop_operations: @@ -2160,18 +2245,17 @@ mock_separator: handles: [] result: {} schema: - description: UniLabJsonCommand stop_operations 的参数schema + description: stop_operations的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stop_operations 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: stop_operations 命令参数 + title: stop_operations参数 type: object type: UniLabJsonCommand separate: @@ -2475,23 +2559,80 @@ mock_separator: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - port: - default: MOCK - description: '参数: port' - type: string - required: [] - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + port: + default: MOCK + type: string + required: [] + type: object + data: + properties: + current_device: + type: string + from_vessel: + type: string + product_phase: + type: string + purpose: + type: string + repeats: + type: integer + separation_vessel: + type: string + settling_time: + type: number + shake_status: + type: string + shake_time: + type: number + solvent: + type: string + solvent_volume: + type: number + status: + type: string + status_info: + type: object + stir_speed: + type: number + stir_time: + type: number + through: + type: string + time_remaining: + type: number + time_spent: + type: number + to_vessel: + type: string + valve_state: + type: string + waste_phase_to_vessel: + type: string + required: + - current_device + - purpose + - valve_state + - settling_time + - status + - shake_time + - shake_status + - product_phase + - from_vessel + - separation_vessel + - to_vessel + - waste_phase_to_vessel + - solvent + - solvent_volume + - through + - repeats + - stir_time + - stir_speed + - time_spent + - time_remaining + - status_info + type: object mock_solenoid_valve: class: action_value_mappings: @@ -2502,18 +2643,17 @@ mock_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand close_valve 的参数schema + description: close_valve的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand close_valve 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: close_valve 命令参数 + title: close_valve参数 type: object type: UniLabJsonCommand auto-is_closed: @@ -2523,18 +2663,17 @@ mock_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand is_closed 的参数schema + description: 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 + title: is_closed参数 type: object type: UniLabJsonCommand auto-is_open: @@ -2544,18 +2683,17 @@ mock_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand is_open 的参数schema + description: 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 + title: is_open参数 type: object type: UniLabJsonCommand auto-open_valve: @@ -2565,18 +2703,17 @@ mock_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand open_valve 的参数schema + description: open_valve的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand open_valve 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: open_valve 命令参数 + title: open_valve参数 type: object type: UniLabJsonCommand auto-set_valve_status: @@ -2587,14 +2724,12 @@ mock_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand set_valve_status 的参数schema + description: set_valve_status的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_valve_status 的参数schema properties: status: - description: '参数: status' type: string required: - status @@ -2602,7 +2737,7 @@ mock_solenoid_valve: result: {} required: - goal - title: set_valve_status 命令参数 + title: set_valve_status参数 type: object type: UniLabJsonCommand close_valve: @@ -2730,23 +2865,23 @@ mock_solenoid_valve: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - port: - default: MOCK - description: '参数: port' - type: string - required: [] - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + port: + default: MOCK + type: string + required: [] + type: object + data: + properties: + status: + type: string + valve_status: + type: string + required: + - status + - valve_status + type: object mock_stirrer: class: action_value_mappings: @@ -2757,18 +2892,17 @@ mock_stirrer: handles: [] result: {} schema: - description: UniLabJsonCommand emergency_stop 的参数schema + description: emergency_stop的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand emergency_stop 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: emergency_stop 命令参数 + title: emergency_stop参数 type: object type: UniLabJsonCommand auto-heating_control: @@ -2779,22 +2913,20 @@ mock_stirrer: handles: [] result: {} schema: - description: UniLabJsonCommand heating_control 的参数schema + description: heating_control的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand heating_control 的参数schema properties: heating_state: default: 'On' - description: '参数: heating_state' type: string required: [] type: object result: {} required: - goal - title: heating_control 命令参数 + title: heating_control参数 type: object type: UniLabJsonCommand auto-set_stir_speed: @@ -2805,14 +2937,12 @@ mock_stirrer: handles: [] result: {} schema: - description: UniLabJsonCommand set_stir_speed 的参数schema + description: 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 @@ -2820,7 +2950,7 @@ mock_stirrer: result: {} required: - goal - title: set_stir_speed 命令参数 + title: set_stir_speed参数 type: object type: UniLabJsonCommand auto-set_temperature: @@ -2831,14 +2961,12 @@ mock_stirrer: handles: [] result: {} schema: - description: UniLabJsonCommand set_temperature 的参数schema + description: set_temperature的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_temperature 的参数schema properties: temperature: - description: '参数: temperature' type: number required: - temperature @@ -2846,7 +2974,7 @@ mock_stirrer: result: {} required: - goal - title: set_temperature 命令参数 + title: set_temperature参数 type: object type: UniLabJsonCommand auto-start_stirring: @@ -2856,18 +2984,17 @@ mock_stirrer: handles: [] result: {} schema: - description: UniLabJsonCommand start_stirring 的参数schema + description: start_stirring的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand start_stirring 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: start_stirring 命令参数 + title: start_stirring参数 type: object type: UniLabJsonCommand auto-stop_all_operations: @@ -2877,18 +3004,17 @@ mock_stirrer: handles: [] result: {} schema: - description: UniLabJsonCommand stop_all_operations 的参数schema + description: stop_all_operations的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stop_all_operations 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: stop_all_operations 命令参数 + title: stop_all_operations参数 type: object type: UniLabJsonCommand auto-stop_stirring: @@ -2898,18 +3024,17 @@ mock_stirrer: handles: [] result: {} schema: - description: UniLabJsonCommand stop_stirring 的参数schema + description: stop_stirring的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stop_stirring 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: stop_stirring 命令参数 + title: stop_stirring参数 type: object type: UniLabJsonCommand heating_control: @@ -3134,23 +3259,50 @@ mock_stirrer: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - port: - default: MOCK - description: '参数: port' - type: string - required: [] - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + port: + default: MOCK + type: string + required: [] + type: object + data: + properties: + heating_power: + type: number + heating_state: + type: string + max_stir_speed: + type: number + max_temperature: + type: number + status: + type: string + status_info: + type: object + stir_speed: + type: number + stir_state: + type: string + target_stir_speed: + type: number + target_temperature: + type: number + temperature: + type: number + required: + - status + - stir_speed + - target_stir_speed + - stir_state + - temperature + - target_temperature + - heating_state + - heating_power + - max_stir_speed + - max_temperature + - status_info + type: object mock_stirrer_new: class: action_value_mappings: @@ -3164,22 +3316,18 @@ mock_stirrer_new: handles: [] result: {} schema: - description: UniLabJsonCommand start_stir 的参数schema + description: start_stir的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand start_stir 的参数schema properties: purpose: default: '' - description: '参数: purpose' type: string stir_speed: default: 0.0 - description: '参数: stir_speed' type: number vessel: - description: '参数: vessel' type: string required: - vessel @@ -3187,7 +3335,7 @@ mock_stirrer_new: result: {} required: - goal - title: start_stir 命令参数 + title: start_stir参数 type: object type: UniLabJsonCommand auto-stir: @@ -3200,20 +3348,16 @@ mock_stirrer_new: handles: [] result: {} schema: - description: UniLabJsonCommand stir 的参数schema + description: stir的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stir 的参数schema properties: settling_time: - description: '参数: settling_time' type: number stir_speed: - description: '参数: stir_speed' type: number stir_time: - description: '参数: stir_time' type: number required: - stir_time @@ -3223,7 +3367,7 @@ mock_stirrer_new: result: {} required: - goal - title: stir 命令参数 + title: stir参数 type: object type: UniLabJsonCommand auto-stop_stir: @@ -3234,14 +3378,12 @@ mock_stirrer_new: handles: [] result: {} schema: - description: UniLabJsonCommand stop_stir 的参数schema + description: stop_stir的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stop_stir 的参数schema properties: vessel: - description: '参数: vessel' type: string required: - vessel @@ -3249,7 +3391,7 @@ mock_stirrer_new: result: {} required: - goal - title: stop_stir 命令参数 + title: stop_stir参数 type: object type: UniLabJsonCommand start_stir: @@ -3454,23 +3596,50 @@ mock_stirrer_new: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - port: - default: MOCK - description: '参数: port' - type: string - required: [] - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + port: + default: MOCK + type: string + required: [] + type: object + data: + properties: + max_stir_speed: + type: number + progress: + type: number + purpose: + type: string + settling_time: + type: number + status: + type: string + status_info: + type: object + stir_speed: + type: number + stir_state: + type: string + stir_time: + type: number + target_stir_speed: + type: number + vessel: + type: string + required: + - status + - stir_speed + - target_stir_speed + - stir_state + - vessel + - purpose + - stir_time + - settling_time + - max_stir_speed + - progress + - status_info + type: object mock_vacuum: class: action_value_mappings: @@ -3481,18 +3650,17 @@ mock_vacuum: handles: [] result: {} schema: - description: UniLabJsonCommand emergency_stop 的参数schema + description: emergency_stop的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand emergency_stop 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: emergency_stop 命令参数 + title: emergency_stop参数 type: object type: UniLabJsonCommand auto-pause_vacuum: @@ -3502,18 +3670,17 @@ mock_vacuum: handles: [] result: {} schema: - description: UniLabJsonCommand pause_vacuum 的参数schema + description: pause_vacuum的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand pause_vacuum 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: pause_vacuum 命令参数 + title: pause_vacuum参数 type: object type: UniLabJsonCommand auto-power_control: @@ -3524,22 +3691,20 @@ mock_vacuum: handles: [] result: {} schema: - description: UniLabJsonCommand power_control 的参数schema + description: power_control的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand power_control 的参数schema properties: power_state: default: 'On' - description: '参数: power_state' type: string required: [] type: object result: {} required: - goal - title: power_control 命令参数 + title: power_control参数 type: object type: UniLabJsonCommand auto-resume_vacuum: @@ -3549,18 +3714,17 @@ mock_vacuum: handles: [] result: {} schema: - description: UniLabJsonCommand resume_vacuum 的参数schema + description: resume_vacuum的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand resume_vacuum 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: resume_vacuum 命令参数 + title: resume_vacuum参数 type: object type: UniLabJsonCommand auto-set_vacuum_level: @@ -3571,14 +3735,12 @@ mock_vacuum: handles: [] result: {} schema: - description: UniLabJsonCommand set_vacuum_level 的参数schema + description: set_vacuum_level的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_vacuum_level 的参数schema properties: vacuum_level: - description: '参数: vacuum_level' type: number required: - vacuum_level @@ -3586,7 +3748,7 @@ mock_vacuum: result: {} required: - goal - title: set_vacuum_level 命令参数 + title: set_vacuum_level参数 type: object type: UniLabJsonCommand auto-start_vacuum: @@ -3596,18 +3758,17 @@ mock_vacuum: handles: [] result: {} schema: - description: UniLabJsonCommand start_vacuum 的参数schema + description: start_vacuum的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand start_vacuum 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: start_vacuum 命令参数 + title: start_vacuum参数 type: object type: UniLabJsonCommand auto-stop_vacuum: @@ -3617,18 +3778,17 @@ mock_vacuum: handles: [] result: {} schema: - description: UniLabJsonCommand stop_vacuum 的参数schema + description: stop_vacuum的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stop_vacuum 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: stop_vacuum 命令参数 + title: stop_vacuum参数 type: object type: UniLabJsonCommand auto-vent_to_atmosphere: @@ -3638,18 +3798,17 @@ mock_vacuum: handles: [] result: {} schema: - description: UniLabJsonCommand vent_to_atmosphere 的参数schema + description: vent_to_atmosphere的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand vent_to_atmosphere 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: vent_to_atmosphere 命令参数 + title: vent_to_atmosphere参数 type: object type: UniLabJsonCommand pause_vacuum: @@ -3936,20 +4095,41 @@ mock_vacuum: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - port: - default: MOCK - description: '参数: port' - type: string - required: [] - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + port: + default: MOCK + type: string + required: [] + type: object + data: + properties: + max_pump_speed: + type: number + power_state: + type: string + pump_efficiency: + type: number + pump_speed: + type: number + pump_state: + type: string + status: + type: string + status_info: + type: object + target_vacuum: + type: number + vacuum_level: + type: number + required: + - status + - power_state + - pump_state + - vacuum_level + - target_vacuum + - pump_speed + - pump_efficiency + - max_pump_speed + - status_info + type: object diff --git a/unilabos/registry/devices/moveit_config.yaml b/unilabos/registry/devices/moveit_config.yaml index 8865d50..e556bc8 100644 --- a/unilabos/registry/devices/moveit_config.yaml +++ b/unilabos/registry/devices/moveit_config.yaml @@ -8,18 +8,17 @@ moveit.arm_slider: handles: [] result: {} schema: - description: UniLabJsonCommand check_tf_update_actions 的参数schema + description: 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 + title: check_tf_update_actions参数 type: object type: UniLabJsonCommand auto-moveit_joint_task: @@ -34,28 +33,22 @@ moveit.arm_slider: handles: [] result: {} schema: - description: UniLabJsonCommand moveit_joint_task 的参数schema + description: moveit_joint_task的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand moveit_joint_task 的参数schema properties: joint_names: - description: '参数: joint_names' type: string joint_positions: - description: '参数: joint_positions' type: string move_group: - description: '参数: move_group' type: string retry: default: 10 - description: '参数: retry' type: string speed: default: 1 - description: '参数: speed' type: string required: - move_group @@ -64,7 +57,7 @@ moveit.arm_slider: result: {} required: - goal - title: moveit_joint_task 命令参数 + title: moveit_joint_task参数 type: object type: UniLabJsonCommand auto-moveit_task: @@ -85,42 +78,33 @@ moveit.arm_slider: handles: [] result: {} schema: - description: UniLabJsonCommand moveit_task 的参数schema + description: moveit_task的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand moveit_task 的参数schema properties: cartesian: default: false - description: '参数: cartesian' type: string move_group: - description: '参数: move_group' type: string offsets: default: - 0 - 0 - 0 - description: '参数: offsets' type: string position: - description: '参数: position' type: string quaternion: - description: '参数: quaternion' type: string retry: default: 10 - description: '参数: retry' type: string speed: default: 1 - description: '参数: speed' type: string target_link: - description: '参数: target_link' type: string required: - move_group @@ -130,7 +114,7 @@ moveit.arm_slider: result: {} required: - goal - title: moveit_task 命令参数 + title: moveit_task参数 type: object type: UniLabJsonCommand auto-pick_and_place: @@ -141,14 +125,12 @@ moveit.arm_slider: handles: [] result: {} schema: - description: UniLabJsonCommand pick_and_place 的参数schema + description: pick_and_place的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand pick_and_place 的参数schema properties: command: - description: '参数: command' type: string required: - command @@ -156,7 +138,7 @@ moveit.arm_slider: result: {} required: - goal - title: pick_and_place 命令参数 + title: pick_and_place参数 type: object type: UniLabJsonCommand auto-post_init: @@ -167,14 +149,12 @@ moveit.arm_slider: handles: [] result: {} schema: - description: UniLabJsonCommand post_init 的参数schema + description: post_init的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand post_init 的参数schema properties: ros_node: - description: '参数: ros_node' type: string required: - ros_node @@ -182,7 +162,7 @@ moveit.arm_slider: result: {} required: - goal - title: post_init 命令参数 + title: post_init参数 type: object type: UniLabJsonCommand auto-resource_manager: @@ -194,17 +174,14 @@ moveit.arm_slider: handles: [] result: {} schema: - description: UniLabJsonCommand resource_manager 的参数schema + description: resource_manager的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand resource_manager 的参数schema properties: parent_link: - description: '参数: parent_link' type: string resource: - description: '参数: resource' type: string required: - resource @@ -213,7 +190,7 @@ moveit.arm_slider: result: {} required: - goal - title: resource_manager 命令参数 + title: resource_manager参数 type: object type: UniLabJsonCommand auto-set_position: @@ -224,14 +201,12 @@ moveit.arm_slider: handles: [] result: {} schema: - description: UniLabJsonCommand set_position 的参数schema + description: set_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_position 的参数schema properties: command: - description: '参数: command' type: string required: - command @@ -239,7 +214,7 @@ moveit.arm_slider: result: {} required: - goal - title: set_position 命令参数 + title: set_position参数 type: object type: UniLabJsonCommand auto-set_status: @@ -250,14 +225,12 @@ moveit.arm_slider: handles: [] result: {} schema: - description: UniLabJsonCommand set_status 的参数schema + description: set_status的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_status 的参数schema properties: command: - description: '参数: command' type: string required: - command @@ -265,7 +238,7 @@ moveit.arm_slider: result: {} required: - goal - title: set_status 命令参数 + title: set_status参数 type: object type: UniLabJsonCommand auto-wait_for_resource_action: @@ -275,18 +248,17 @@ moveit.arm_slider: handles: [] result: {} schema: - description: UniLabJsonCommand wait_for_resource_action 的参数schema + description: wait_for_resource_action的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand wait_for_resource_action 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: wait_for_resource_action 命令参数 + title: wait_for_resource_action参数 type: object type: UniLabJsonCommand pick_and_place: @@ -434,33 +406,24 @@ moveit.arm_slider: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - device_config: - description: '参数: device_config' - type: string - joint_poses: - description: '参数: joint_poses' - type: string - moveit_type: - description: '参数: moveit_type' - type: string - rotation: - description: '参数: rotation' - type: string - required: - - moveit_type - - joint_poses - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + device_config: + type: string + joint_poses: + type: string + moveit_type: + type: string + rotation: + type: string + required: + - moveit_type + - joint_poses + type: object + data: + properties: {} + required: [] + type: object model: mesh: arm_slider type: device @@ -474,18 +437,17 @@ moveit.toyo_xyz: handles: [] result: {} schema: - description: UniLabJsonCommand check_tf_update_actions 的参数schema + description: 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 + title: check_tf_update_actions参数 type: object type: UniLabJsonCommand auto-moveit_joint_task: @@ -500,28 +462,22 @@ moveit.toyo_xyz: handles: [] result: {} schema: - description: UniLabJsonCommand moveit_joint_task 的参数schema + description: moveit_joint_task的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand moveit_joint_task 的参数schema properties: joint_names: - description: '参数: joint_names' type: string joint_positions: - description: '参数: joint_positions' type: string move_group: - description: '参数: move_group' type: string retry: default: 10 - description: '参数: retry' type: string speed: default: 1 - description: '参数: speed' type: string required: - move_group @@ -530,7 +486,7 @@ moveit.toyo_xyz: result: {} required: - goal - title: moveit_joint_task 命令参数 + title: moveit_joint_task参数 type: object type: UniLabJsonCommand auto-moveit_task: @@ -551,42 +507,33 @@ moveit.toyo_xyz: handles: [] result: {} schema: - description: UniLabJsonCommand moveit_task 的参数schema + description: moveit_task的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand moveit_task 的参数schema properties: cartesian: default: false - description: '参数: cartesian' type: string move_group: - description: '参数: move_group' type: string offsets: default: - 0 - 0 - 0 - description: '参数: offsets' type: string position: - description: '参数: position' type: string quaternion: - description: '参数: quaternion' type: string retry: default: 10 - description: '参数: retry' type: string speed: default: 1 - description: '参数: speed' type: string target_link: - description: '参数: target_link' type: string required: - move_group @@ -596,7 +543,7 @@ moveit.toyo_xyz: result: {} required: - goal - title: moveit_task 命令参数 + title: moveit_task参数 type: object type: UniLabJsonCommand auto-pick_and_place: @@ -607,14 +554,12 @@ moveit.toyo_xyz: handles: [] result: {} schema: - description: UniLabJsonCommand pick_and_place 的参数schema + description: pick_and_place的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand pick_and_place 的参数schema properties: command: - description: '参数: command' type: string required: - command @@ -622,7 +567,7 @@ moveit.toyo_xyz: result: {} required: - goal - title: pick_and_place 命令参数 + title: pick_and_place参数 type: object type: UniLabJsonCommand auto-post_init: @@ -633,14 +578,12 @@ moveit.toyo_xyz: handles: [] result: {} schema: - description: UniLabJsonCommand post_init 的参数schema + description: post_init的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand post_init 的参数schema properties: ros_node: - description: '参数: ros_node' type: string required: - ros_node @@ -648,7 +591,7 @@ moveit.toyo_xyz: result: {} required: - goal - title: post_init 命令参数 + title: post_init参数 type: object type: UniLabJsonCommand auto-resource_manager: @@ -660,17 +603,14 @@ moveit.toyo_xyz: handles: [] result: {} schema: - description: UniLabJsonCommand resource_manager 的参数schema + description: resource_manager的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand resource_manager 的参数schema properties: parent_link: - description: '参数: parent_link' type: string resource: - description: '参数: resource' type: string required: - resource @@ -679,7 +619,7 @@ moveit.toyo_xyz: result: {} required: - goal - title: resource_manager 命令参数 + title: resource_manager参数 type: object type: UniLabJsonCommand auto-set_position: @@ -690,14 +630,12 @@ moveit.toyo_xyz: handles: [] result: {} schema: - description: UniLabJsonCommand set_position 的参数schema + description: set_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_position 的参数schema properties: command: - description: '参数: command' type: string required: - command @@ -705,7 +643,7 @@ moveit.toyo_xyz: result: {} required: - goal - title: set_position 命令参数 + title: set_position参数 type: object type: UniLabJsonCommand auto-set_status: @@ -716,14 +654,12 @@ moveit.toyo_xyz: handles: [] result: {} schema: - description: UniLabJsonCommand set_status 的参数schema + description: set_status的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_status 的参数schema properties: command: - description: '参数: command' type: string required: - command @@ -731,7 +667,7 @@ moveit.toyo_xyz: result: {} required: - goal - title: set_status 命令参数 + title: set_status参数 type: object type: UniLabJsonCommand auto-wait_for_resource_action: @@ -741,18 +677,17 @@ moveit.toyo_xyz: handles: [] result: {} schema: - description: UniLabJsonCommand wait_for_resource_action 的参数schema + description: wait_for_resource_action的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand wait_for_resource_action 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: wait_for_resource_action 命令参数 + title: wait_for_resource_action参数 type: object type: UniLabJsonCommand pick_and_place: @@ -900,33 +835,24 @@ moveit.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: - device_config: - description: '参数: device_config' - type: string - joint_poses: - description: '参数: joint_poses' - type: string - moveit_type: - description: '参数: moveit_type' - type: string - rotation: - description: '参数: rotation' - type: string - required: - - moveit_type - - joint_poses - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + device_config: + type: string + joint_poses: + type: string + moveit_type: + type: string + rotation: + type: string + required: + - moveit_type + - joint_poses + type: object + data: + properties: {} + required: [] + type: object model: mesh: toyo_xyz type: device diff --git a/unilabos/registry/devices/organic_miscellaneous.yaml b/unilabos/registry/devices/organic_miscellaneous.yaml index 7dcf87b..00e7550 100644 --- a/unilabos/registry/devices/organic_miscellaneous.yaml +++ b/unilabos/registry/devices/organic_miscellaneous.yaml @@ -9,14 +9,12 @@ rotavap.one: handles: [] result: {} schema: - description: UniLabJsonCommand cmd_write 的参数schema + description: 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 @@ -24,7 +22,7 @@ rotavap.one: result: {} required: - goal - title: cmd_write 命令参数 + title: cmd_write参数 type: object type: UniLabJsonCommand auto-main_loop: @@ -34,18 +32,17 @@ rotavap.one: handles: [] result: {} schema: - description: UniLabJsonCommand main_loop 的参数schema + description: 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 + title: main_loop参数 type: object type: UniLabJsonCommand auto-set_pump_time: @@ -56,14 +53,12 @@ rotavap.one: handles: [] result: {} schema: - description: UniLabJsonCommand set_pump_time 的参数schema + description: 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 @@ -71,7 +66,7 @@ rotavap.one: result: {} required: - goal - title: set_pump_time 命令参数 + title: set_pump_time参数 type: object type: UniLabJsonCommand auto-set_rotate_time: @@ -82,14 +77,12 @@ rotavap.one: handles: [] result: {} schema: - description: UniLabJsonCommand set_rotate_time 的参数schema + description: 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 @@ -97,7 +90,7 @@ rotavap.one: result: {} required: - goal - title: set_rotate_time 命令参数 + title: set_rotate_time参数 type: object type: UniLabJsonCommand auto-set_timer: @@ -108,14 +101,12 @@ rotavap.one: handles: [] result: {} schema: - description: UniLabJsonCommand set_timer 的参数schema + description: 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 @@ -123,7 +114,7 @@ rotavap.one: result: {} required: - goal - title: set_timer 命令参数 + title: set_timer参数 type: object type: UniLabJsonCommand set_timer: @@ -180,27 +171,20 @@ rotavap.one: 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 + config: + properties: + port: + type: string + rate: + default: 9600 + type: string + required: + - port + type: object + data: + properties: {} + required: [] + type: object separator.homemade: class: action_value_mappings: @@ -211,18 +195,17 @@ separator.homemade: handles: [] result: {} schema: - description: UniLabJsonCommand read_sensor_loop 的参数schema + description: 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 + title: read_sensor_loop参数 type: object type: UniLabJsonCommand auto-stir: @@ -235,30 +218,26 @@ separator.homemade: handles: [] result: {} schema: - description: UniLabJsonCommand stir 的参数schema + description: 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 + title: stir参数 type: object type: UniLabJsonCommand auto-valve_open: @@ -270,17 +249,14 @@ separator.homemade: handles: [] result: {} schema: - description: UniLabJsonCommand valve_open 的参数schema + description: 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 @@ -289,7 +265,7 @@ separator.homemade: result: {} required: - goal - title: valve_open 命令参数 + title: valve_open参数 type: object type: UniLabJsonCommand auto-valve_open_cmd: @@ -300,14 +276,12 @@ separator.homemade: handles: [] result: {} schema: - description: UniLabJsonCommand valve_open_cmd 的参数schema + description: 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 @@ -315,7 +289,7 @@ separator.homemade: result: {} required: - goal - title: valve_open_cmd 命令参数 + title: valve_open_cmd参数 type: object type: UniLabJsonCommand auto-write: @@ -326,14 +300,12 @@ separator.homemade: handles: [] result: {} schema: - description: UniLabJsonCommand write 的参数schema + description: 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 @@ -341,7 +313,7 @@ separator.homemade: result: {} required: - goal - title: write 命令参数 + title: write参数 type: object type: UniLabJsonCommand stir: @@ -457,32 +429,23 @@ separator.homemade: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - 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: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + baudrate_executor: + default: 115200 + type: integer + baudrate_sensor: + default: 115200 + type: integer + port_executor: + type: string + port_sensor: + type: string + required: + - port_executor + - port_sensor + type: object + data: + properties: {} + required: [] + type: object diff --git a/unilabos/registry/devices/pump_and_valve.yaml b/unilabos/registry/devices/pump_and_valve.yaml index 3abe9e2..dc50dde 100644 --- a/unilabos/registry/devices/pump_and_valve.yaml +++ b/unilabos/registry/devices/pump_and_valve.yaml @@ -8,18 +8,17 @@ solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand close 的参数schema + description: 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 + title: close参数 type: object type: UniLabJsonCommand auto-is_closed: @@ -29,18 +28,17 @@ solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand is_closed 的参数schema + description: 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 + title: is_closed参数 type: object type: UniLabJsonCommand auto-is_open: @@ -50,18 +48,17 @@ solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand is_open 的参数schema + description: 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 + title: is_open参数 type: object type: UniLabJsonCommand auto-open: @@ -71,18 +68,17 @@ solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand open 的参数schema + description: 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 + title: open参数 type: object type: UniLabJsonCommand auto-read_data: @@ -92,18 +88,17 @@ solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand read_data 的参数schema + description: read_data的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand read_data 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: read_data 命令参数 + title: read_data参数 type: object type: UniLabJsonCommand auto-send_command: @@ -114,14 +109,12 @@ solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand send_command 的参数schema + description: 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 @@ -129,7 +122,7 @@ solenoid_valve: result: {} required: - goal - title: send_command 命令参数 + title: send_command参数 type: object type: UniLabJsonCommand auto-set_valve_position: @@ -140,14 +133,12 @@ solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand set_valve_position 的参数schema + description: set_valve_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_valve_position 的参数schema properties: position: - description: '参数: position' type: string required: - position @@ -155,7 +146,7 @@ solenoid_valve: result: {} required: - goal - title: set_valve_position 命令参数 + title: set_valve_position参数 type: object type: UniLabJsonCommand set_valve_position: @@ -210,23 +201,23 @@ solenoid_valve: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - io_device_port: - description: '参数: io_device_port' - type: string - required: - - io_device_port - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + io_device_port: + type: string + required: + - io_device_port + type: object + data: + properties: + status: + type: string + valve_position: + type: string + required: + - status + - valve_position + type: object solenoid_valve.mock: class: action_value_mappings: @@ -237,18 +228,17 @@ solenoid_valve.mock: handles: [] result: {} schema: - description: UniLabJsonCommand close 的参数schema + description: 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 + title: close参数 type: object type: UniLabJsonCommand auto-is_closed: @@ -258,18 +248,17 @@ solenoid_valve.mock: handles: [] result: {} schema: - description: UniLabJsonCommand is_closed 的参数schema + description: 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 + title: is_closed参数 type: object type: UniLabJsonCommand auto-is_open: @@ -279,18 +268,17 @@ solenoid_valve.mock: handles: [] result: {} schema: - description: UniLabJsonCommand is_open 的参数schema + description: 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 + title: is_open参数 type: object type: UniLabJsonCommand auto-open: @@ -300,18 +288,17 @@ solenoid_valve.mock: handles: [] result: {} schema: - description: UniLabJsonCommand open 的参数schema + description: 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 + title: open参数 type: object type: UniLabJsonCommand auto-set_valve_position: @@ -322,14 +309,12 @@ solenoid_valve.mock: handles: [] result: {} schema: - description: UniLabJsonCommand set_valve_position 的参数schema + description: set_valve_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_valve_position 的参数schema properties: position: - description: '参数: position' type: string required: - position @@ -337,7 +322,7 @@ solenoid_valve.mock: result: {} required: - goal - title: set_valve_position 命令参数 + title: set_valve_position参数 type: object type: UniLabJsonCommand close: @@ -429,23 +414,23 @@ solenoid_valve.mock: side: SOUTH 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 + config: + properties: + port: + default: COM6 + type: string + required: [] + type: object + data: + properties: + status: + type: string + valve_position: + type: string + required: + - status + - valve_position + type: object syringe_pump_with_valve.runze: class: action_value_mappings: @@ -456,18 +441,17 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand close 的参数schema + description: 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 + title: close参数 type: object type: UniLabJsonCommand auto-initialize: @@ -477,18 +461,17 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommand auto-pull_plunger: @@ -499,14 +482,12 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand pull_plunger 的参数schema + description: pull_plunger的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand pull_plunger 的参数schema properties: volume: - description: '参数: volume' type: number required: - volume @@ -514,7 +495,7 @@ syringe_pump_with_valve.runze: result: {} required: - goal - title: pull_plunger 命令参数 + title: pull_plunger参数 type: object type: UniLabJsonCommand auto-push_plunger: @@ -525,14 +506,12 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand push_plunger 的参数schema + description: push_plunger的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand push_plunger 的参数schema properties: volume: - description: '参数: volume' type: number required: - volume @@ -540,7 +519,7 @@ syringe_pump_with_valve.runze: result: {} required: - goal - title: push_plunger 命令参数 + title: push_plunger参数 type: object type: UniLabJsonCommand auto-query_aux_input_status_1: @@ -550,18 +529,17 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand query_aux_input_status_1 的参数schema + description: query_aux_input_status_1的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand query_aux_input_status_1 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: query_aux_input_status_1 命令参数 + title: query_aux_input_status_1参数 type: object type: UniLabJsonCommand auto-query_aux_input_status_2: @@ -571,18 +549,17 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand query_aux_input_status_2 的参数schema + description: query_aux_input_status_2的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand query_aux_input_status_2 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: query_aux_input_status_2 命令参数 + title: query_aux_input_status_2参数 type: object type: UniLabJsonCommand auto-query_backlash_position: @@ -592,18 +569,17 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand query_backlash_position 的参数schema + description: query_backlash_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand query_backlash_position 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: query_backlash_position 命令参数 + title: query_backlash_position参数 type: object type: UniLabJsonCommand auto-query_command_buffer_status: @@ -613,18 +589,17 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand query_command_buffer_status 的参数schema + description: query_command_buffer_status的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand query_command_buffer_status 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: query_command_buffer_status 命令参数 + title: query_command_buffer_status参数 type: object type: UniLabJsonCommand auto-query_software_version: @@ -634,18 +609,17 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand query_software_version 的参数schema + description: query_software_version的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand query_software_version 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: query_software_version 命令参数 + title: query_software_version参数 type: object type: UniLabJsonCommand auto-send_command: @@ -656,14 +630,12 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand send_command 的参数schema + description: send_command的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand send_command 的参数schema properties: full_command: - description: '参数: full_command' type: string required: - full_command @@ -671,7 +643,7 @@ syringe_pump_with_valve.runze: result: {} required: - goal - title: send_command 命令参数 + title: send_command参数 type: object type: UniLabJsonCommand auto-set_baudrate: @@ -682,14 +654,12 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand set_baudrate 的参数schema + description: set_baudrate的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_baudrate 的参数schema properties: baudrate: - description: '参数: baudrate' type: string required: - baudrate @@ -697,7 +667,7 @@ syringe_pump_with_valve.runze: result: {} required: - goal - title: set_baudrate 命令参数 + title: set_baudrate参数 type: object type: UniLabJsonCommand auto-set_max_velocity: @@ -708,14 +678,12 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand set_max_velocity 的参数schema + description: set_max_velocity的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_max_velocity 的参数schema properties: velocity: - description: '参数: velocity' type: number required: - velocity @@ -723,7 +691,7 @@ syringe_pump_with_valve.runze: result: {} required: - goal - title: set_max_velocity 命令参数 + title: set_max_velocity参数 type: object type: UniLabJsonCommand auto-set_position: @@ -735,17 +703,14 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand set_position 的参数schema + description: set_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_position 的参数schema properties: max_velocity: - description: '参数: max_velocity' type: number position: - description: '参数: position' type: number required: - position @@ -753,7 +718,7 @@ syringe_pump_with_valve.runze: result: {} required: - goal - title: set_position 命令参数 + title: set_position参数 type: object type: UniLabJsonCommand auto-set_valve_position: @@ -764,14 +729,12 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand set_valve_position 的参数schema + description: set_valve_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_valve_position 的参数schema properties: position: - description: '参数: position' type: string required: - position @@ -779,7 +742,7 @@ syringe_pump_with_valve.runze: result: {} required: - goal - title: set_valve_position 命令参数 + title: set_valve_position参数 type: object type: UniLabJsonCommand auto-set_velocity_grade: @@ -790,14 +753,12 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand set_velocity_grade 的参数schema + description: set_velocity_grade的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_velocity_grade 的参数schema properties: velocity: - description: '参数: velocity' type: string required: - velocity @@ -805,7 +766,7 @@ syringe_pump_with_valve.runze: result: {} required: - goal - title: set_velocity_grade 命令参数 + title: set_velocity_grade参数 type: object type: UniLabJsonCommand auto-stop_operation: @@ -815,18 +776,17 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand stop_operation 的参数schema + description: stop_operation的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stop_operation 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: stop_operation 命令参数 + title: stop_operation参数 type: object type: UniLabJsonCommand auto-wait_error: @@ -836,18 +796,17 @@ syringe_pump_with_valve.runze: handles: [] result: {} schema: - description: UniLabJsonCommand wait_error 的参数schema + description: wait_error的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand wait_error 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: wait_error 命令参数 + title: wait_error参数 type: object type: UniLabJsonCommand hardware_interface: @@ -870,31 +829,49 @@ syringe_pump_with_valve.runze: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - address: - default: '1' - description: '参数: address' - type: string - max_volume: - default: 25.0 - description: '参数: max_volume' - type: number - mode: - description: '参数: mode' - type: string - port: - description: '参数: port' - type: string - required: - - port - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + address: + default: '1' + type: string + max_volume: + default: 25.0 + type: number + mode: + type: string + port: + type: string + required: + - port + type: object + data: + properties: + max_velocity: + type: number + mode: + type: integer + plunger_position: + type: string + position: + type: number + status: + type: string + valve_position: + type: string + velocity_end: + type: string + velocity_grade: + type: string + velocity_init: + type: string + required: + - status + - mode + - max_velocity + - velocity_grade + - velocity_init + - velocity_end + - valve_position + - position + - plunger_position + type: object diff --git a/unilabos/registry/devices/robot_agv.yaml b/unilabos/registry/devices/robot_agv.yaml index 30639a0..51b59c2 100644 --- a/unilabos/registry/devices/robot_agv.yaml +++ b/unilabos/registry/devices/robot_agv.yaml @@ -11,22 +11,18 @@ agv.SEER: handles: [] result: {} schema: - description: UniLabJsonCommand send 的参数schema + description: 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 @@ -34,7 +30,7 @@ agv.SEER: result: {} required: - goal - title: send 命令参数 + title: send参数 type: object type: UniLabJsonCommand auto-send_nav_task: @@ -45,14 +41,12 @@ agv.SEER: handles: [] result: {} schema: - description: UniLabJsonCommand send_nav_task 的参数schema + description: 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 @@ -60,7 +54,7 @@ agv.SEER: result: {} required: - goal - title: send_nav_task 命令参数 + title: send_nav_task参数 type: object type: UniLabJsonCommand send_nav_task: @@ -119,20 +113,20 @@ agv.SEER: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - host: - description: '参数: host' - type: string - required: - - host - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + host: + type: string + required: + - host + type: object + data: + properties: + pose: + type: array + status: + type: string + required: + - pose + - status + type: object diff --git a/unilabos/registry/devices/robot_arm.yaml b/unilabos/registry/devices/robot_arm.yaml index 0e32da1..72f0155 100644 --- a/unilabos/registry/devices/robot_arm.yaml +++ b/unilabos/registry/devices/robot_arm.yaml @@ -8,18 +8,17 @@ robotic_arm.UR: handles: [] result: {} schema: - description: UniLabJsonCommand arm_init 的参数schema + description: 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 + title: arm_init参数 type: object type: UniLabJsonCommand auto-load_pose_data: @@ -30,14 +29,12 @@ robotic_arm.UR: handles: [] result: {} schema: - description: UniLabJsonCommand load_pose_data 的参数schema + description: 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 @@ -45,7 +42,7 @@ robotic_arm.UR: result: {} required: - goal - title: load_pose_data 命令参数 + title: load_pose_data参数 type: object type: UniLabJsonCommand auto-load_pose_file: @@ -56,14 +53,12 @@ robotic_arm.UR: handles: [] result: {} schema: - description: UniLabJsonCommand load_pose_file 的参数schema + description: 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 @@ -71,7 +66,7 @@ robotic_arm.UR: result: {} required: - goal - title: load_pose_file 命令参数 + title: load_pose_file参数 type: object type: UniLabJsonCommand auto-move_pos_task: @@ -82,14 +77,12 @@ robotic_arm.UR: handles: [] result: {} schema: - description: UniLabJsonCommand move_pos_task 的参数schema + description: 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 @@ -97,7 +90,7 @@ robotic_arm.UR: result: {} required: - goal - title: move_pos_task 命令参数 + title: move_pos_task参数 type: object type: UniLabJsonCommand auto-reload_pose: @@ -107,18 +100,17 @@ robotic_arm.UR: handles: [] result: {} schema: - description: UniLabJsonCommand reload_pose 的参数schema + description: 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 + title: reload_pose参数 type: object type: UniLabJsonCommand move_pos_task: @@ -179,24 +171,29 @@ robotic_arm.UR: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - 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: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + host: + type: string + retry: + default: 30 + type: string + required: + - host + type: object + data: + properties: + arm_pose: + type: array + arm_status: + type: string + gripper_pose: + type: number + gripper_status: + type: string + required: + - arm_pose + - gripper_pose + - arm_status + - gripper_status + type: object diff --git a/unilabos/registry/devices/robot_gripper.yaml b/unilabos/registry/devices/robot_gripper.yaml index aa1795a..8a3be30 100644 --- a/unilabos/registry/devices/robot_gripper.yaml +++ b/unilabos/registry/devices/robot_gripper.yaml @@ -8,18 +8,17 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand data_loop 的参数schema + description: data_loop的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand data_loop 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: data_loop 命令参数 + title: data_loop参数 type: object type: UniLabJsonCommand auto-data_reader: @@ -29,18 +28,17 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand data_reader 的参数schema + description: data_reader的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand data_reader 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: data_reader 命令参数 + title: data_reader参数 type: object type: UniLabJsonCommand auto-gripper_move: @@ -53,20 +51,16 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand gripper_move 的参数schema + description: gripper_move的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand gripper_move 的参数schema properties: force: - description: '参数: force' type: string pos: - description: '参数: pos' type: string speed: - description: '参数: speed' type: string required: - pos @@ -76,7 +70,7 @@ gripper.misumi_rz: result: {} required: - goal - title: gripper_move 命令参数 + title: gripper_move参数 type: object type: UniLabJsonCommand auto-init_gripper: @@ -86,18 +80,17 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand init_gripper 的参数schema + description: init_gripper的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand init_gripper 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: init_gripper 命令参数 + title: init_gripper参数 type: object type: UniLabJsonCommand auto-modbus_crc: @@ -108,14 +101,12 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand modbus_crc 的参数schema + description: 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 @@ -123,7 +114,7 @@ gripper.misumi_rz: result: {} required: - goal - title: modbus_crc 命令参数 + title: modbus_crc参数 type: object type: UniLabJsonCommand auto-move_and_rotate: @@ -139,29 +130,22 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand move_and_rotate 的参数schema + description: move_and_rotate的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand move_and_rotate 的参数schema properties: grasp_F: - description: '参数: grasp_F' type: string grasp_pos: - description: '参数: grasp_pos' type: string grasp_v: - description: '参数: grasp_v' type: string spin_F: - description: '参数: spin_F' type: string spin_pos: - description: '参数: spin_pos' type: string spin_v: - description: '参数: spin_v' type: string required: - spin_pos @@ -174,7 +158,7 @@ gripper.misumi_rz: result: {} required: - goal - title: move_and_rotate 命令参数 + title: move_and_rotate参数 type: object type: UniLabJsonCommand auto-node_gripper_move: @@ -185,14 +169,12 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand node_gripper_move 的参数schema + description: node_gripper_move的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand node_gripper_move 的参数schema properties: cmd: - description: '参数: cmd' type: string required: - cmd @@ -200,7 +182,7 @@ gripper.misumi_rz: result: {} required: - goal - title: node_gripper_move 命令参数 + title: node_gripper_move参数 type: object type: UniLabJsonCommand auto-node_rotate_move: @@ -211,14 +193,12 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand node_rotate_move 的参数schema + description: node_rotate_move的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand node_rotate_move 的参数schema properties: cmd: - description: '参数: cmd' type: string required: - cmd @@ -226,7 +206,7 @@ gripper.misumi_rz: result: {} required: - goal - title: node_rotate_move 命令参数 + title: node_rotate_move参数 type: object type: UniLabJsonCommand auto-read_address: @@ -239,20 +219,16 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand read_address 的参数schema + description: read_address的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand read_address 的参数schema properties: address: - description: '参数: address' type: string data_len: - description: '参数: data_len' type: string id: - description: '参数: id' type: string required: - id @@ -262,7 +238,7 @@ gripper.misumi_rz: result: {} required: - goal - title: read_address 命令参数 + title: read_address参数 type: object type: UniLabJsonCommand auto-rotate_move_abs: @@ -275,20 +251,16 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand rotate_move_abs 的参数schema + description: rotate_move_abs的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand rotate_move_abs 的参数schema properties: force: - description: '参数: force' type: string pos: - description: '参数: pos' type: string speed: - description: '参数: speed' type: string required: - pos @@ -298,7 +270,7 @@ gripper.misumi_rz: result: {} required: - goal - title: rotate_move_abs 命令参数 + title: rotate_move_abs参数 type: object type: UniLabJsonCommand auto-send_cmd: @@ -312,23 +284,18 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand send_cmd 的参数schema + description: send_cmd的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand send_cmd 的参数schema properties: address: - description: '参数: address' type: string data: - description: '参数: data' type: string fun: - description: '参数: fun' type: string id: - description: '参数: id' type: string required: - id @@ -339,7 +306,7 @@ gripper.misumi_rz: result: {} required: - goal - title: send_cmd 命令参数 + title: send_cmd参数 type: object type: UniLabJsonCommand auto-wait_for_gripper: @@ -349,18 +316,17 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand wait_for_gripper 的参数schema + description: wait_for_gripper的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand wait_for_gripper 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: wait_for_gripper 命令参数 + title: wait_for_gripper参数 type: object type: UniLabJsonCommand auto-wait_for_gripper_init: @@ -370,18 +336,17 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand wait_for_gripper_init 的参数schema + description: wait_for_gripper_init的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand wait_for_gripper_init 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: wait_for_gripper_init 命令参数 + title: wait_for_gripper_init参数 type: object type: UniLabJsonCommand auto-wait_for_rotate: @@ -391,18 +356,17 @@ gripper.misumi_rz: handles: [] result: {} schema: - description: UniLabJsonCommand wait_for_rotate 的参数schema + description: wait_for_rotate的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand wait_for_rotate 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: wait_for_rotate 命令参数 + title: wait_for_rotate参数 type: object type: UniLabJsonCommand execute_command_from_outer: @@ -460,35 +424,29 @@ gripper.misumi_rz: 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 - id: - default: 9 - description: '参数: id' - type: integer - port: - description: '参数: port' - type: string - pos_error: - default: -11 - description: '参数: pos_error' - type: integer - required: - - port - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + baudrate: + default: 115200 + type: string + id: + default: 9 + type: string + port: + type: string + pos_error: + default: -11 + type: string + required: + - port + type: object + data: + properties: + status: + type: string + required: + - status + type: object gripper.mock: class: action_value_mappings: @@ -503,31 +461,27 @@ gripper.mock: handles: [] result: {} schema: - description: UniLabJsonCommand edit_id 的参数schema + description: edit_id的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand edit_id 的参数schema properties: params: default: '{}' - description: '参数: params' type: string resource: default: Gripper1: {} - description: '参数: resource' type: object wf_name: default: gripper_run - description: '参数: wf_name' type: string required: [] type: object result: {} required: - goal - title: edit_id 命令参数 + title: edit_id参数 type: object type: UniLabJsonCommand auto-push_to: @@ -540,21 +494,17 @@ gripper.mock: handles: [] result: {} schema: - description: UniLabJsonCommand push_to 的参数schema + description: push_to的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand push_to 的参数schema properties: position: - description: '参数: position' type: number torque: - description: '参数: torque' type: number velocity: default: 0.0 - description: '参数: velocity' type: number required: - position @@ -563,7 +513,7 @@ gripper.mock: result: {} required: - goal - title: push_to 命令参数 + title: push_to参数 type: object type: UniLabJsonCommand push_to: @@ -654,16 +604,23 @@ gripper.mock: 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 + config: + properties: {} + required: [] + type: object + data: + properties: + position: + type: number + status: + type: string + torque: + type: number + velocity: + type: number + required: + - position + - velocity + - torque + - status + type: object diff --git a/unilabos/registry/devices/robot_linear_motion.yaml b/unilabos/registry/devices/robot_linear_motion.yaml index 9a99a61..fa98ca9 100644 --- a/unilabos/registry/devices/robot_linear_motion.yaml +++ b/unilabos/registry/devices/robot_linear_motion.yaml @@ -8,18 +8,17 @@ linear_motion.grbl: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommand auto-move_through_points: @@ -30,14 +29,12 @@ linear_motion.grbl: handles: [] result: {} schema: - description: UniLabJsonCommand move_through_points 的参数schema + description: move_through_points的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand move_through_points 的参数schema properties: positions: - description: '参数: positions' type: array required: - positions @@ -45,7 +42,7 @@ linear_motion.grbl: result: {} required: - goal - title: move_through_points 命令参数 + title: move_through_points参数 type: object type: UniLabJsonCommand auto-set_position: @@ -56,14 +53,12 @@ linear_motion.grbl: handles: [] result: {} schema: - description: UniLabJsonCommand set_position 的参数schema + description: set_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_position 的参数schema properties: position: - description: '参数: position' type: string required: - position @@ -71,7 +66,7 @@ linear_motion.grbl: result: {} required: - goal - title: set_position 命令参数 + title: set_position参数 type: object type: UniLabJsonCommand auto-set_spindle_speed: @@ -83,18 +78,15 @@ linear_motion.grbl: handles: [] result: {} schema: - description: UniLabJsonCommand set_spindle_speed 的参数schema + description: set_spindle_speed的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_spindle_speed 的参数schema properties: max_velocity: default: 500 - description: '参数: max_velocity' type: number spindle_speed: - description: '参数: spindle_speed' type: number required: - spindle_speed @@ -102,7 +94,7 @@ linear_motion.grbl: result: {} required: - goal - title: set_spindle_speed 命令参数 + title: set_spindle_speed参数 type: object type: UniLabJsonCommand auto-stop_operation: @@ -112,18 +104,17 @@ linear_motion.grbl: handles: [] result: {} schema: - description: UniLabJsonCommand stop_operation 的参数schema + description: stop_operation的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stop_operation 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: stop_operation 命令参数 + title: stop_operation参数 type: object type: UniLabJsonCommand auto-wait_error: @@ -133,18 +124,17 @@ linear_motion.grbl: handles: [] result: {} schema: - description: UniLabJsonCommand wait_error 的参数schema + description: wait_error的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand wait_error 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: wait_error 命令参数 + title: wait_error参数 type: object type: UniLabJsonCommandAsync move_through_points: @@ -502,37 +492,38 @@ linear_motion.grbl: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - address: - default: '1' - description: '参数: address' - type: string - limits: - default: - - -150 - - 150 - - -200 - - 0 - - -80 - - 0 - description: '参数: limits' - type: array - port: - description: '参数: port' - type: string - required: - - port - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + address: + default: '1' + type: string + limits: + default: + - -150 + - 150 + - -200 + - 0 + - -80 + - 0 + type: array + port: + type: string + required: + - port + type: object + data: + properties: + position: + type: string + spindle_speed: + type: number + status: + type: string + required: + - status + - position + - spindle_speed + type: object motor.iCL42: class: action_value_mappings: @@ -546,20 +537,16 @@ motor.iCL42: handles: [] result: {} schema: - description: UniLabJsonCommand execute_run_motor 的参数schema + description: 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 @@ -569,7 +556,7 @@ motor.iCL42: result: {} required: - goal - title: execute_run_motor 命令参数 + title: execute_run_motor参数 type: object type: UniLabJsonCommand auto-init_device: @@ -579,18 +566,17 @@ motor.iCL42: handles: [] result: {} schema: - description: UniLabJsonCommand init_device 的参数schema + description: 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 + title: init_device参数 type: object type: UniLabJsonCommand auto-run_motor: @@ -603,20 +589,16 @@ motor.iCL42: handles: [] result: {} schema: - description: UniLabJsonCommand run_motor 的参数schema + description: 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 @@ -626,7 +608,7 @@ motor.iCL42: result: {} required: - goal - title: run_motor 命令参数 + title: run_motor参数 type: object type: UniLabJsonCommand execute_command_from_outer: @@ -686,24 +668,26 @@ motor.iCL42: 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 + config: + properties: + device_address: + default: 1 + type: integer + device_com: + default: COM9 + type: string + required: [] + type: object + data: + properties: + is_executing_run: + type: boolean + motor_position: + type: integer + success: + type: boolean + required: + - motor_position + - is_executing_run + - success + type: object diff --git a/unilabos/registry/devices/sim_nodes.yaml b/unilabos/registry/devices/sim_nodes.yaml index bf33b8e..07d1d1d 100644 --- a/unilabos/registry/devices/sim_nodes.yaml +++ b/unilabos/registry/devices/sim_nodes.yaml @@ -8,18 +8,17 @@ lh_joint_publisher: handles: [] result: {} schema: - description: UniLabJsonCommand check_tf_update_actions 的参数schema + description: 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 + title: check_tf_update_actions参数 type: object type: UniLabJsonCommand auto-find_resource_parent: @@ -30,14 +29,12 @@ lh_joint_publisher: handles: [] result: {} schema: - description: UniLabJsonCommand find_resource_parent 的参数schema + description: 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 @@ -45,7 +42,7 @@ lh_joint_publisher: result: {} required: - goal - title: find_resource_parent 命令参数 + title: find_resource_parent参数 type: object type: UniLabJsonCommand auto-inverse_kinematics: @@ -62,32 +59,24 @@ lh_joint_publisher: handles: [] result: {} schema: - description: UniLabJsonCommand inverse_kinematics 的参数schema + description: 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 @@ -101,7 +90,7 @@ lh_joint_publisher: result: {} required: - goal - title: inverse_kinematics 命令参数 + title: inverse_kinematics参数 type: object type: UniLabJsonCommand auto-lh_joint_action_callback: @@ -112,14 +101,12 @@ lh_joint_publisher: handles: [] result: {} schema: - description: UniLabJsonCommand lh_joint_action_callback 的参数schema + description: 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 @@ -127,7 +114,7 @@ lh_joint_publisher: result: {} required: - goal - title: lh_joint_action_callback 命令参数 + title: lh_joint_action_callback参数 type: object type: UniLabJsonCommand auto-lh_joint_pub_callback: @@ -137,18 +124,17 @@ lh_joint_publisher: handles: [] result: {} schema: - description: UniLabJsonCommand lh_joint_pub_callback 的参数schema + description: 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 + title: lh_joint_pub_callback参数 type: object type: UniLabJsonCommand auto-move_joints: @@ -167,39 +153,29 @@ lh_joint_publisher: handles: [] result: {} schema: - description: UniLabJsonCommand move_joints 的参数schema + description: 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: string 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 @@ -211,7 +187,7 @@ lh_joint_publisher: result: {} required: - goal - title: move_joints 命令参数 + title: move_joints参数 type: object type: UniLabJsonCommand auto-move_to: @@ -224,20 +200,16 @@ lh_joint_publisher: handles: [] result: {} schema: - description: UniLabJsonCommand move_to 的参数schema + description: 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 @@ -247,7 +219,7 @@ lh_joint_publisher: result: {} required: - goal - title: move_to 命令参数 + title: move_to参数 type: object type: UniLabJsonCommand auto-resource_move: @@ -260,20 +232,16 @@ lh_joint_publisher: handles: [] result: {} schema: - description: UniLabJsonCommand resource_move 的参数schema + description: resource_move的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand resource_move 的参数schema properties: channels: - description: '参数: channels' type: array link_name: - description: '参数: link_name' type: string resource_id: - description: '参数: resource_id' type: string required: - resource_id @@ -283,7 +251,7 @@ lh_joint_publisher: result: {} required: - goal - title: resource_move 命令参数 + title: resource_move参数 type: object type: UniLabJsonCommand auto-send_resource_action: @@ -295,17 +263,14 @@ lh_joint_publisher: handles: [] result: {} schema: - description: UniLabJsonCommand send_resource_action 的参数schema + description: 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: array required: - resource_id_list @@ -314,7 +279,7 @@ lh_joint_publisher: result: {} required: - goal - title: send_resource_action 命令参数 + title: send_resource_action参数 type: object type: UniLabJsonCommand module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher @@ -324,32 +289,23 @@ lh_joint_publisher: 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 + config: + properties: + device_id: + default: lh_joint_publisher + type: string + rate: + default: 50 + type: string + resource_tracker: + type: string + resources_config: + type: array + required: + - resources_config + - resource_tracker + type: object + data: + properties: {} + required: [] + type: object diff --git a/unilabos/registry/devices/temperature.yaml b/unilabos/registry/devices/temperature.yaml index b94f939..68a4f5e 100644 --- a/unilabos/registry/devices/temperature.yaml +++ b/unilabos/registry/devices/temperature.yaml @@ -12,23 +12,18 @@ chiller: handles: [] result: {} schema: - description: UniLabJsonCommand build_modbus_frame 的参数schema + description: 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 @@ -39,7 +34,7 @@ chiller: result: {} required: - goal - title: build_modbus_frame 命令参数 + title: build_modbus_frame参数 type: object type: UniLabJsonCommand auto-convert_temperature_to_modbus_value: @@ -51,18 +46,15 @@ chiller: handles: [] result: {} schema: - description: UniLabJsonCommand convert_temperature_to_modbus_value 的参数schema + description: 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 @@ -70,7 +62,7 @@ chiller: result: {} required: - goal - title: convert_temperature_to_modbus_value 命令参数 + title: convert_temperature_to_modbus_value参数 type: object type: UniLabJsonCommand auto-modbus_crc: @@ -81,14 +73,12 @@ chiller: handles: [] result: {} schema: - description: UniLabJsonCommand modbus_crc 的参数schema + description: 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 @@ -96,7 +86,7 @@ chiller: result: {} required: - goal - title: modbus_crc 命令参数 + title: modbus_crc参数 type: object type: UniLabJsonCommand auto-set_temperature: @@ -107,14 +97,12 @@ chiller: handles: [] result: {} schema: - description: UniLabJsonCommand set_temperature 的参数schema + description: 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 @@ -122,7 +110,7 @@ chiller: result: {} required: - goal - title: set_temperature 命令参数 + title: set_temperature参数 type: object type: UniLabJsonCommand auto-stop: @@ -132,18 +120,17 @@ chiller: handles: [] result: {} schema: - description: UniLabJsonCommand stop 的参数schema + description: 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 + title: stop参数 type: object type: UniLabJsonCommand set_temperature: @@ -200,27 +187,20 @@ 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 + config: + properties: + port: + type: string + rate: + default: 9600 + type: string + required: + - port + type: object + data: + properties: {} + required: [] + type: object heaterstirrer.dalong: class: action_value_mappings: @@ -231,18 +211,17 @@ heaterstirrer.dalong: handles: [] result: {} schema: - description: UniLabJsonCommand close 的参数schema + description: 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 + title: close参数 type: object type: UniLabJsonCommand auto-heatchill: @@ -258,33 +237,26 @@ heaterstirrer.dalong: handles: [] result: {} schema: - description: UniLabJsonCommand heatchill 的参数schema + description: 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 @@ -293,7 +265,7 @@ heaterstirrer.dalong: result: {} required: - goal - title: heatchill 命令参数 + title: heatchill参数 type: object type: UniLabJsonCommand auto-set_stir_speed: @@ -304,14 +276,12 @@ heaterstirrer.dalong: handles: [] result: {} schema: - description: UniLabJsonCommand set_stir_speed 的参数schema + description: 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 @@ -319,7 +289,7 @@ heaterstirrer.dalong: result: {} required: - goal - title: set_stir_speed 命令参数 + title: set_stir_speed参数 type: object type: UniLabJsonCommand auto-set_temp_inner: @@ -331,18 +301,15 @@ heaterstirrer.dalong: handles: [] result: {} schema: - description: UniLabJsonCommand set_temp_inner 的参数schema + description: 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 @@ -350,7 +317,7 @@ heaterstirrer.dalong: result: {} required: - goal - title: set_temp_inner 命令参数 + title: set_temp_inner参数 type: object type: UniLabJsonCommand auto-set_temp_target: @@ -361,14 +328,12 @@ heaterstirrer.dalong: handles: [] result: {} schema: - description: UniLabJsonCommand set_temp_target 的参数schema + description: 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 @@ -376,7 +341,7 @@ heaterstirrer.dalong: result: {} required: - goal - title: set_temp_target 命令参数 + title: set_temp_target参数 type: object type: UniLabJsonCommand auto-set_temp_warning: @@ -387,14 +352,12 @@ heaterstirrer.dalong: handles: [] result: {} schema: - description: UniLabJsonCommand set_temp_warning 的参数schema + description: 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 @@ -402,7 +365,7 @@ heaterstirrer.dalong: result: {} required: - goal - title: set_temp_warning 命令参数 + title: set_temp_warning参数 type: object type: UniLabJsonCommand heatchill: @@ -582,31 +545,38 @@ heaterstirrer.dalong: 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 + config: + properties: + baudrate: + default: 9600 + type: integer + port: + default: COM6 + type: string + temp_warning: + default: 50.0 + type: string + required: [] + type: object + data: + properties: + status: + type: string + stir_speed: + type: number + temp: + type: number + temp_target: + type: number + temp_warning: + type: number + required: + - status + - stir_speed + - temp + - temp_warning + - temp_target + type: object tempsensor: class: action_value_mappings: @@ -621,23 +591,18 @@ tempsensor: handles: [] result: {} schema: - description: UniLabJsonCommand build_modbus_request 的参数schema + description: 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 @@ -648,7 +613,7 @@ tempsensor: result: {} required: - goal - title: build_modbus_request 命令参数 + title: build_modbus_request参数 type: object type: UniLabJsonCommand auto-calculate_crc: @@ -659,14 +624,12 @@ tempsensor: handles: [] result: {} schema: - description: UniLabJsonCommand calculate_crc 的参数schema + description: 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 @@ -674,7 +637,7 @@ tempsensor: result: {} required: - goal - title: calculate_crc 命令参数 + title: calculate_crc参数 type: object type: UniLabJsonCommand auto-read_modbus_response: @@ -685,14 +648,12 @@ tempsensor: handles: [] result: {} schema: - description: UniLabJsonCommand read_modbus_response 的参数schema + description: 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 @@ -700,7 +661,7 @@ tempsensor: result: {} required: - goal - title: read_modbus_response 命令参数 + title: read_modbus_response参数 type: object type: UniLabJsonCommand auto-send_prototype_command: @@ -711,14 +672,12 @@ tempsensor: handles: [] result: {} schema: - description: UniLabJsonCommand send_prototype_command 的参数schema + description: 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 @@ -726,7 +685,7 @@ tempsensor: result: {} required: - goal - title: send_prototype_command 命令参数 + title: send_prototype_command参数 type: object type: UniLabJsonCommand auto-set_warning: @@ -737,14 +696,12 @@ tempsensor: handles: [] result: {} schema: - description: UniLabJsonCommand set_warning 的参数schema + description: 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 @@ -752,7 +709,7 @@ tempsensor: result: {} required: - goal - title: set_warning 命令参数 + title: set_warning参数 type: object type: UniLabJsonCommand set_warning: @@ -810,32 +767,26 @@ tempsensor: 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 + config: + properties: + address: + type: string + baudrate: + default: 9600 + type: string + port: + type: string + warning: + type: string + required: + - port + - warning + - address + type: object + data: + properties: + value: + type: number + required: + - value + type: object diff --git a/unilabos/registry/devices/vacuum_and_purge.yaml b/unilabos/registry/devices/vacuum_and_purge.yaml index 0497ee7..7239432 100644 --- a/unilabos/registry/devices/vacuum_and_purge.yaml +++ b/unilabos/registry/devices/vacuum_and_purge.yaml @@ -8,18 +8,17 @@ gas_source.mock: handles: [] result: {} schema: - description: UniLabJsonCommand close 的参数schema + description: 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 + title: close参数 type: object type: UniLabJsonCommand auto-is_closed: @@ -29,18 +28,17 @@ gas_source.mock: handles: [] result: {} schema: - description: UniLabJsonCommand is_closed 的参数schema + description: 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 + title: is_closed参数 type: object type: UniLabJsonCommand auto-is_open: @@ -50,18 +48,17 @@ gas_source.mock: handles: [] result: {} schema: - description: UniLabJsonCommand is_open 的参数schema + description: 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 + title: is_open参数 type: object type: UniLabJsonCommand auto-open: @@ -71,18 +68,17 @@ gas_source.mock: handles: [] result: {} schema: - description: UniLabJsonCommand open 的参数schema + description: 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 + title: open参数 type: object type: UniLabJsonCommand auto-set_status: @@ -93,14 +89,12 @@ gas_source.mock: handles: [] result: {} schema: - description: UniLabJsonCommand set_status 的参数schema + description: 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 @@ -108,7 +102,7 @@ gas_source.mock: result: {} required: - goal - title: set_status 命令参数 + title: set_status参数 type: object type: UniLabJsonCommand close: @@ -238,23 +232,20 @@ gas_source.mock: 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 + config: + properties: + port: + default: COM6 + type: string + required: [] + type: object + data: + properties: + status: + type: string + required: + - status + type: object vacuum_pump.mock: class: action_value_mappings: @@ -265,18 +256,17 @@ vacuum_pump.mock: handles: [] result: {} schema: - description: UniLabJsonCommand close 的参数schema + description: 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 + title: close参数 type: object type: UniLabJsonCommand auto-is_closed: @@ -286,18 +276,17 @@ vacuum_pump.mock: handles: [] result: {} schema: - description: UniLabJsonCommand is_closed 的参数schema + description: 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 + title: is_closed参数 type: object type: UniLabJsonCommand auto-is_open: @@ -307,18 +296,17 @@ vacuum_pump.mock: handles: [] result: {} schema: - description: UniLabJsonCommand is_open 的参数schema + description: 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 + title: is_open参数 type: object type: UniLabJsonCommand auto-open: @@ -328,18 +316,17 @@ vacuum_pump.mock: handles: [] result: {} schema: - description: UniLabJsonCommand open 的参数schema + description: 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 + title: open参数 type: object type: UniLabJsonCommand auto-set_status: @@ -350,14 +337,12 @@ vacuum_pump.mock: handles: [] result: {} schema: - description: UniLabJsonCommand set_status 的参数schema + description: 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 @@ -365,7 +350,7 @@ vacuum_pump.mock: result: {} required: - goal - title: set_status 命令参数 + title: set_status参数 type: object type: UniLabJsonCommand close: @@ -495,20 +480,17 @@ vacuum_pump.mock: 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 + config: + properties: + port: + default: COM6 + type: string + required: [] + type: object + data: + properties: + status: + type: string + required: + - status + type: object diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml index 953be1a..8894314 100644 --- a/unilabos/registry/devices/virtual_device.yaml +++ b/unilabos/registry/devices/virtual_device.yaml @@ -12,24 +12,19 @@ virtual_centrifuge: handles: [] result: {} schema: - description: UniLabJsonCommand centrifuge 的参数schema + description: centrifuge的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand centrifuge 的参数schema properties: speed: - description: '参数: speed' type: number temp: default: 25.0 - description: '参数: temp' type: number time: - description: '参数: time' type: number vessel: - description: '参数: vessel' type: string required: - vessel @@ -39,7 +34,7 @@ virtual_centrifuge: result: {} required: - goal - title: centrifuge 命令参数 + title: centrifuge参数 type: object type: UniLabJsonCommandAsync auto-cleanup: @@ -49,18 +44,17 @@ virtual_centrifuge: handles: [] result: {} schema: - description: UniLabJsonCommand cleanup 的参数schema + description: cleanup的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: cleanup 命令参数 + title: cleanup参数 type: object type: UniLabJsonCommandAsync auto-initialize: @@ -70,18 +64,17 @@ virtual_centrifuge: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommandAsync centrifuge: @@ -190,29 +183,54 @@ virtual_centrifuge: side: NORTH icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - config: - description: '参数: config' - type: string - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + config: + type: string + device_id: + type: string + required: [] + type: object + data: + properties: + centrifuge_state: + type: string + current_speed: + type: number + current_temp: + type: number + max_speed: + type: number + max_temp: + type: number + message: + type: string + min_temp: + type: number + progress: + type: number + status: + type: string + target_speed: + type: number + target_temp: + type: number + time_remaining: + type: number + required: + - status + - centrifuge_state + - current_speed + - target_speed + - current_temp + - target_temp + - max_speed + - max_temp + - min_temp + - time_remaining + - progress + - message + type: object virtual_column: class: action_value_mappings: @@ -223,18 +241,17 @@ virtual_column: handles: [] result: {} schema: - description: UniLabJsonCommand cleanup 的参数schema + description: cleanup的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: cleanup 命令参数 + title: cleanup参数 type: object type: UniLabJsonCommandAsync auto-initialize: @@ -244,18 +261,17 @@ virtual_column: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommandAsync auto-run_column: @@ -268,20 +284,16 @@ virtual_column: handles: [] result: {} schema: - description: UniLabJsonCommand run_column 的参数schema + description: run_column的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand run_column 的参数schema properties: column: - description: '参数: column' type: string from_vessel: - description: '参数: from_vessel' type: string to_vessel: - description: '参数: to_vessel' type: string required: - from_vessel @@ -291,7 +303,7 @@ virtual_column: result: {} required: - goal - title: run_column 命令参数 + title: run_column参数 type: object type: UniLabJsonCommandAsync run_column: @@ -394,29 +406,45 @@ virtual_column: side: EAST icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - config: - description: '参数: config' - type: object - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + column_diameter: + type: number + column_length: + type: number + column_state: + type: string + current_flow_rate: + type: number + current_status: + type: string + max_flow_rate: + type: number + processed_volume: + type: number + progress: + type: number + status: + type: string + required: + - status + - column_state + - current_flow_rate + - max_flow_rate + - column_length + - column_diameter + - processed_volume + - progress + - current_status + type: object virtual_filter: class: action_value_mappings: @@ -427,18 +455,17 @@ virtual_filter: handles: [] result: {} schema: - description: UniLabJsonCommand cleanup 的参数schema + description: cleanup的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: cleanup 命令参数 + title: cleanup参数 type: object type: UniLabJsonCommandAsync auto-filter: @@ -455,38 +482,30 @@ virtual_filter: handles: [] result: {} schema: - description: UniLabJsonCommand filter 的参数schema + description: filter的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand filter 的参数schema properties: continue_heatchill: default: false - description: '参数: continue_heatchill' type: boolean filtrate_vessel: default: '' - description: '参数: filtrate_vessel' type: string stir: default: false - description: '参数: stir' type: boolean stir_speed: default: 300.0 - description: '参数: stir_speed' type: number temp: default: 25.0 - description: '参数: temp' type: number vessel: - description: '参数: vessel' type: string volume: default: 0.0 - description: '参数: volume' type: number required: - vessel @@ -494,7 +513,7 @@ virtual_filter: result: {} required: - goal - title: filter 命令参数 + title: filter参数 type: object type: UniLabJsonCommandAsync auto-initialize: @@ -504,18 +523,17 @@ virtual_filter: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommandAsync filter: @@ -653,29 +671,45 @@ virtual_filter: side: EAST icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - config: - description: '参数: config' - type: string - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + config: + type: string + device_id: + type: string + required: [] + type: object + data: + properties: + current_status: + type: string + current_temp: + type: number + filtered_volume: + type: number + max_stir_speed: + type: number + max_temp: + type: number + max_volume: + type: number + message: + type: string + progress: + type: number + status: + type: string + required: + - status + - progress + - current_temp + - filtered_volume + - current_status + - message + - max_temp + - max_stir_speed + - max_volume + type: object virtual_gas_source: class: action_value_mappings: @@ -686,18 +720,17 @@ virtual_gas_source: handles: [] result: {} schema: - description: UniLabJsonCommand cleanup 的参数schema + description: cleanup的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: cleanup 命令参数 + title: cleanup参数 type: object type: UniLabJsonCommandAsync auto-close: @@ -707,18 +740,17 @@ virtual_gas_source: handles: [] result: {} schema: - description: UniLabJsonCommand close 的参数schema + description: 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 + title: close参数 type: object type: UniLabJsonCommand auto-initialize: @@ -728,18 +760,17 @@ virtual_gas_source: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommandAsync auto-is_closed: @@ -749,18 +780,17 @@ virtual_gas_source: handles: [] result: {} schema: - description: UniLabJsonCommand is_closed 的参数schema + description: 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 + title: is_closed参数 type: object type: UniLabJsonCommand auto-is_open: @@ -770,18 +800,17 @@ virtual_gas_source: handles: [] result: {} schema: - description: UniLabJsonCommand is_open 的参数schema + description: 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 + title: is_open参数 type: object type: UniLabJsonCommand auto-open: @@ -791,18 +820,17 @@ virtual_gas_source: handles: [] result: {} schema: - description: UniLabJsonCommand open 的参数schema + description: 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 + title: open参数 type: object type: UniLabJsonCommand auto-set_status: @@ -813,14 +841,12 @@ virtual_gas_source: handles: [] result: {} schema: - description: UniLabJsonCommand set_status 的参数schema + description: 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 @@ -828,7 +854,7 @@ virtual_gas_source: result: {} required: - goal - title: set_status 命令参数 + title: set_status参数 type: object type: UniLabJsonCommand close: @@ -960,29 +986,21 @@ virtual_gas_source: side: SOUTH icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - config: - description: '参数: config' - type: string - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + config: + type: string + device_id: + type: string + required: [] + type: object + data: + properties: + status: + type: string + required: + - status + type: object virtual_heatchill: class: action_value_mappings: @@ -993,18 +1011,17 @@ virtual_heatchill: handles: [] result: {} schema: - description: UniLabJsonCommand cleanup 的参数schema + description: cleanup的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: cleanup 命令参数 + title: cleanup参数 type: object type: UniLabJsonCommandAsync auto-heat_chill: @@ -1020,29 +1037,22 @@ virtual_heatchill: handles: [] result: {} schema: - description: UniLabJsonCommand heat_chill 的参数schema + description: heat_chill的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand heat_chill 的参数schema properties: purpose: - description: '参数: purpose' type: string stir: - description: '参数: stir' type: boolean stir_speed: - description: '参数: stir_speed' type: number temp: - description: '参数: temp' type: number time: - description: '参数: time' type: number vessel: - description: '参数: vessel' type: string required: - vessel @@ -1055,7 +1065,7 @@ virtual_heatchill: result: {} required: - goal - title: heat_chill 命令参数 + title: heat_chill参数 type: object type: UniLabJsonCommandAsync auto-heat_chill_start: @@ -1068,20 +1078,16 @@ virtual_heatchill: handles: [] result: {} schema: - description: UniLabJsonCommand heat_chill_start 的参数schema + description: heat_chill_start的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand heat_chill_start 的参数schema properties: purpose: - description: '参数: purpose' type: string temp: - description: '参数: temp' type: number vessel: - description: '参数: vessel' type: string required: - vessel @@ -1091,7 +1097,7 @@ virtual_heatchill: result: {} required: - goal - title: heat_chill_start 命令参数 + title: heat_chill_start参数 type: object type: UniLabJsonCommandAsync auto-heat_chill_stop: @@ -1102,14 +1108,12 @@ virtual_heatchill: handles: [] result: {} schema: - description: UniLabJsonCommand heat_chill_stop 的参数schema + description: heat_chill_stop的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand heat_chill_stop 的参数schema properties: vessel: - description: '参数: vessel' type: string required: - vessel @@ -1117,7 +1121,7 @@ virtual_heatchill: result: {} required: - goal - title: heat_chill_stop 命令参数 + title: heat_chill_stop参数 type: object type: UniLabJsonCommandAsync auto-initialize: @@ -1127,18 +1131,17 @@ virtual_heatchill: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommandAsync heat_chill: @@ -1340,29 +1343,33 @@ virtual_heatchill: side: NORTH icon: Heater.webp init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - config: - description: '参数: config' - type: object - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + is_stirring: + type: boolean + operation_mode: + type: string + remaining_time: + type: number + status: + type: string + stir_speed: + type: number + required: + - status + - operation_mode + - is_stirring + - stir_speed + - remaining_time + type: object virtual_multiway_valve: class: action_value_mappings: @@ -1373,18 +1380,17 @@ virtual_multiway_valve: handles: [] result: {} schema: - description: UniLabJsonCommand close 的参数schema + description: 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 + title: close参数 type: object type: UniLabJsonCommand auto-is_at_port: @@ -1395,14 +1401,12 @@ virtual_multiway_valve: handles: [] result: {} schema: - description: UniLabJsonCommand is_at_port 的参数schema + description: is_at_port的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand is_at_port 的参数schema properties: port_number: - description: '参数: port_number' type: integer required: - port_number @@ -1410,7 +1414,7 @@ virtual_multiway_valve: result: {} required: - goal - title: is_at_port 命令参数 + title: is_at_port参数 type: object type: UniLabJsonCommand auto-is_at_position: @@ -1421,14 +1425,12 @@ virtual_multiway_valve: handles: [] result: {} schema: - description: UniLabJsonCommand is_at_position 的参数schema + description: is_at_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand is_at_position 的参数schema properties: position: - description: '参数: position' type: integer required: - position @@ -1436,7 +1438,7 @@ virtual_multiway_valve: result: {} required: - goal - title: is_at_position 命令参数 + title: is_at_position参数 type: object type: UniLabJsonCommand auto-is_at_pump_position: @@ -1446,18 +1448,17 @@ virtual_multiway_valve: handles: [] result: {} schema: - description: UniLabJsonCommand is_at_pump_position 的参数schema + description: is_at_pump_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand is_at_pump_position 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: is_at_pump_position 命令参数 + title: is_at_pump_position参数 type: object type: UniLabJsonCommand auto-open: @@ -1467,18 +1468,17 @@ virtual_multiway_valve: handles: [] result: {} schema: - description: UniLabJsonCommand open 的参数schema + description: 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 + title: open参数 type: object type: UniLabJsonCommand auto-reset: @@ -1488,18 +1488,17 @@ virtual_multiway_valve: handles: [] result: {} schema: - description: UniLabJsonCommand reset 的参数schema + description: 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 + title: reset参数 type: object type: UniLabJsonCommand auto-set_position: @@ -1510,14 +1509,12 @@ virtual_multiway_valve: handles: [] result: {} schema: - description: UniLabJsonCommand set_position 的参数schema + description: set_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_position 的参数schema properties: command: - description: '参数: command' type: string required: - command @@ -1525,7 +1522,7 @@ virtual_multiway_valve: result: {} required: - goal - title: set_position 命令参数 + title: set_position参数 type: object type: UniLabJsonCommand auto-set_to_port: @@ -1536,14 +1533,12 @@ virtual_multiway_valve: handles: [] result: {} schema: - description: UniLabJsonCommand set_to_port 的参数schema + description: set_to_port的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_to_port 的参数schema properties: port_number: - description: '参数: port_number' type: integer required: - port_number @@ -1551,7 +1546,7 @@ virtual_multiway_valve: result: {} required: - goal - title: set_to_port 命令参数 + title: set_to_port参数 type: object type: UniLabJsonCommand auto-set_to_pump_position: @@ -1561,18 +1556,17 @@ virtual_multiway_valve: handles: [] result: {} schema: - description: UniLabJsonCommand set_to_pump_position 的参数schema + description: set_to_pump_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_to_pump_position 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: set_to_pump_position 命令参数 + title: set_to_pump_position参数 type: object type: UniLabJsonCommand auto-set_valve_position: @@ -1583,14 +1577,12 @@ virtual_multiway_valve: handles: [] result: {} schema: - description: UniLabJsonCommand set_valve_position 的参数schema + description: set_valve_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_valve_position 的参数schema properties: command: - description: '参数: command' type: string required: - command @@ -1598,7 +1590,7 @@ virtual_multiway_valve: result: {} required: - goal - title: set_valve_position 命令参数 + title: set_valve_position参数 type: object type: UniLabJsonCommand auto-switch_between_pump_and_port: @@ -1609,14 +1601,12 @@ virtual_multiway_valve: handles: [] result: {} schema: - description: UniLabJsonCommand switch_between_pump_and_port 的参数schema + description: switch_between_pump_and_port的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand switch_between_pump_and_port 的参数schema properties: port_number: - description: '参数: port_number' type: integer required: - port_number @@ -1624,7 +1614,7 @@ virtual_multiway_valve: result: {} required: - goal - title: switch_between_pump_and_port 命令参数 + title: switch_between_pump_and_port参数 type: object type: UniLabJsonCommand set_position: @@ -1810,27 +1800,50 @@ virtual_multiway_valve: side: NORTH icon: EightPipeline.webp init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - port: - default: VIRTUAL - description: '参数: port' - type: string - positions: - default: 8 - description: '参数: positions' - type: integer - required: [] - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + port: + default: VIRTUAL + type: string + positions: + default: 8 + type: integer + required: [] + type: object + data: + properties: + available_ports: + type: object + available_positions: + type: array + current_port: + type: string + current_position: + type: integer + flow_path: + type: string + info: + type: object + status: + type: string + target_position: + type: integer + valve_position: + type: integer + valve_state: + type: string + required: + - status + - valve_state + - current_position + - target_position + - current_port + - valve_position + - available_positions + - available_ports + - flow_path + - info + type: object virtual_pump: class: action_value_mappings: @@ -1846,27 +1859,21 @@ virtual_pump: handles: [] result: {} schema: - description: UniLabJsonCommand clean_vessel 的参数schema + description: clean_vessel的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand clean_vessel 的参数schema properties: repeats: default: 1 - description: '参数: repeats' type: integer solvent: - description: '参数: solvent' type: string temp: - description: '参数: temp' type: number vessel: - description: '参数: vessel' type: string volume: - description: '参数: volume' type: number required: - vessel @@ -1877,7 +1884,7 @@ virtual_pump: result: {} required: - goal - title: clean_vessel 命令参数 + title: clean_vessel参数 type: object type: UniLabJsonCommandAsync auto-cleanup: @@ -1887,18 +1894,17 @@ virtual_pump: handles: [] result: {} schema: - description: UniLabJsonCommand cleanup 的参数schema + description: cleanup的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: cleanup 命令参数 + title: cleanup参数 type: object type: UniLabJsonCommandAsync auto-initialize: @@ -1908,18 +1914,17 @@ virtual_pump: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommandAsync auto-transfer: @@ -1939,48 +1944,37 @@ virtual_pump: handles: [] result: {} schema: - description: UniLabJsonCommand transfer 的参数schema + description: transfer的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand transfer 的参数schema properties: amount: default: '' - description: '参数: amount' type: string from_vessel: - description: '参数: from_vessel' type: string rinsing_repeats: default: 0 - description: '参数: rinsing_repeats' type: integer rinsing_solvent: default: '' - description: '参数: rinsing_solvent' type: string rinsing_volume: default: 0.0 - description: '参数: rinsing_volume' type: number solid: default: false - description: '参数: solid' type: boolean time: default: 0.0 - description: '参数: time' type: number to_vessel: - description: '参数: to_vessel' type: string viscous: default: false - description: '参数: viscous' type: boolean volume: - description: '参数: volume' type: number required: - from_vessel @@ -1990,7 +1984,7 @@ virtual_pump: result: {} required: - goal - title: transfer 命令参数 + title: transfer参数 type: object type: UniLabJsonCommandAsync set_valve_position: @@ -2192,29 +2186,48 @@ virtual_pump: label: pumpio icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - config: - description: '参数: config' - type: object - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + current_status: + type: string + current_volume: + type: number + from_vessel: + type: string + max_volume: + type: number + progress: + type: number + status: + type: string + to_vessel: + type: string + transfer_rate: + type: number + transferred_volume: + type: number + valve_position: + type: integer + required: + - status + - valve_position + - current_volume + - max_volume + - transfer_rate + - from_vessel + - to_vessel + - progress + - transferred_volume + - current_status + type: object virtual_rotavap: class: action_value_mappings: @@ -2225,18 +2238,17 @@ virtual_rotavap: handles: [] result: {} schema: - description: UniLabJsonCommand cleanup 的参数schema + description: cleanup的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: cleanup 命令参数 + title: cleanup参数 type: object type: UniLabJsonCommandAsync auto-evaporate: @@ -2251,30 +2263,24 @@ virtual_rotavap: handles: [] result: {} schema: - description: UniLabJsonCommand evaporate 的参数schema + description: evaporate的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand evaporate 的参数schema properties: pressure: default: 0.1 - description: '参数: pressure' type: number stir_speed: default: 100.0 - description: '参数: stir_speed' type: number temp: default: 60.0 - description: '参数: temp' type: number time: default: 1800.0 - description: '参数: time' type: number vessel: - description: '参数: vessel' type: string required: - vessel @@ -2282,7 +2288,7 @@ virtual_rotavap: result: {} required: - goal - title: evaporate 命令参数 + title: evaporate参数 type: object type: UniLabJsonCommandAsync auto-initialize: @@ -2292,18 +2298,17 @@ virtual_rotavap: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommandAsync evaporate: @@ -2455,29 +2460,51 @@ virtual_rotavap: side: EAST icon: Rotaryevaporator.webp init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - config: - description: '参数: config' - type: string - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + config: + type: string + device_id: + type: string + required: [] + type: object + data: + properties: + current_temp: + type: number + evaporated_volume: + type: number + max_rotation_speed: + type: number + max_temp: + type: number + message: + type: string + progress: + type: number + remaining_time: + type: number + rotation_speed: + type: number + rotavap_state: + type: string + status: + type: string + vacuum_pressure: + type: number + required: + - status + - rotavap_state + - current_temp + - rotation_speed + - vacuum_pressure + - evaporated_volume + - progress + - message + - max_temp + - max_rotation_speed + - remaining_time + type: object virtual_separator: class: action_value_mappings: @@ -2488,18 +2515,17 @@ virtual_separator: handles: [] result: {} schema: - description: UniLabJsonCommand cleanup 的参数schema + description: cleanup的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: cleanup 命令参数 + title: cleanup参数 type: object type: UniLabJsonCommandAsync auto-initialize: @@ -2509,18 +2535,17 @@ virtual_separator: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommandAsync auto-separate: @@ -2543,58 +2568,44 @@ virtual_separator: handles: [] result: {} schema: - description: UniLabJsonCommand separate 的参数schema + description: separate的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand separate 的参数schema properties: from_vessel: - description: '参数: from_vessel' type: string product_phase: - description: '参数: product_phase' type: string purpose: - description: '参数: purpose' type: string repeats: default: 1 - description: '参数: repeats' type: integer separation_vessel: - description: '参数: separation_vessel' type: string settling_time: default: 300.0 - description: '参数: settling_time' type: number solvent: default: '' - description: '参数: solvent' type: string solvent_volume: default: 50.0 - description: '参数: solvent_volume' type: number stir_speed: default: 300.0 - description: '参数: stir_speed' type: number stir_time: default: 30.0 - description: '参数: stir_time' type: number through: default: '' - description: '参数: through' type: string to_vessel: - description: '参数: to_vessel' type: string waste_phase_to_vessel: default: '' - description: '参数: waste_phase_to_vessel' type: string required: - purpose @@ -2606,7 +2617,7 @@ virtual_separator: result: {} required: - goal - title: separate 命令参数 + title: separate参数 type: object type: UniLabJsonCommandAsync separate: @@ -2804,29 +2815,45 @@ virtual_separator: side: WEST icon: Separator.webp init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - config: - description: '参数: config' - type: string - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + config: + type: string + device_id: + type: string + required: [] + type: object + data: + properties: + has_phases: + type: boolean + message: + type: string + phase_separation: + type: boolean + progress: + type: number + separator_state: + type: string + settling_time: + type: number + status: + type: string + stir_speed: + type: number + volume: + type: number + required: + - status + - separator_state + - volume + - has_phases + - phase_separation + - stir_speed + - settling_time + - progress + - message + type: object virtual_solenoid_valve: class: action_value_mappings: @@ -2837,18 +2864,17 @@ virtual_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand cleanup 的参数schema + description: cleanup的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: cleanup 命令参数 + title: cleanup参数 type: object type: UniLabJsonCommandAsync auto-close: @@ -2858,18 +2884,17 @@ virtual_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand close 的参数schema + description: 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 + title: close参数 type: object type: UniLabJsonCommandAsync auto-initialize: @@ -2879,18 +2904,17 @@ virtual_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommandAsync auto-is_closed: @@ -2900,18 +2924,17 @@ virtual_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand is_closed 的参数schema + description: 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 + title: is_closed参数 type: object type: UniLabJsonCommand auto-open: @@ -2921,18 +2944,17 @@ virtual_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand open 的参数schema + description: 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 + title: open参数 type: object type: UniLabJsonCommandAsync auto-reset: @@ -2942,18 +2964,17 @@ virtual_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand reset 的参数schema + description: 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 + title: reset参数 type: object type: UniLabJsonCommandAsync auto-set_state: @@ -2964,14 +2985,12 @@ virtual_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand set_state 的参数schema + description: set_state的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_state 的参数schema properties: command: - description: '参数: command' type: string required: - command @@ -2979,7 +2998,7 @@ virtual_solenoid_valve: result: {} required: - goal - title: set_state 命令参数 + title: set_state参数 type: object type: UniLabJsonCommandAsync auto-set_valve_position: @@ -2990,21 +3009,19 @@ virtual_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand set_valve_position 的参数schema + description: set_valve_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_valve_position 的参数schema properties: command: - description: '参数: command' type: string required: [] type: object result: {} required: - goal - title: set_valve_position 命令参数 + title: set_valve_position参数 type: object type: UniLabJsonCommandAsync auto-toggle: @@ -3014,18 +3031,17 @@ virtual_solenoid_valve: handles: [] result: {} schema: - description: UniLabJsonCommand toggle 的参数schema + description: toggle的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand toggle 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: toggle 命令参数 + title: toggle参数 type: object type: UniLabJsonCommand close: @@ -3244,29 +3260,33 @@ virtual_solenoid_valve: side: SOUTH icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - config: - description: '参数: config' - type: object - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + is_open: + type: boolean + state: + type: object + status: + type: string + valve_position: + type: string + valve_state: + type: string + required: + - status + - valve_state + - is_open + - valve_position + - state + type: object virtual_stirrer: class: action_value_mappings: @@ -3277,18 +3297,17 @@ virtual_stirrer: handles: [] result: {} schema: - description: UniLabJsonCommand cleanup 的参数schema + description: cleanup的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: cleanup 命令参数 + title: cleanup参数 type: object type: UniLabJsonCommandAsync auto-initialize: @@ -3298,18 +3317,17 @@ virtual_stirrer: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommandAsync auto-start_stir: @@ -3322,20 +3340,16 @@ virtual_stirrer: handles: [] result: {} schema: - description: UniLabJsonCommand start_stir 的参数schema + description: start_stir的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand start_stir 的参数schema properties: purpose: - description: '参数: purpose' type: string stir_speed: - description: '参数: stir_speed' type: number vessel: - description: '参数: vessel' type: string required: - vessel @@ -3345,7 +3359,7 @@ virtual_stirrer: result: {} required: - goal - title: start_stir 命令参数 + title: start_stir参数 type: object type: UniLabJsonCommandAsync auto-stir: @@ -3358,20 +3372,16 @@ virtual_stirrer: handles: [] result: {} schema: - description: UniLabJsonCommand stir 的参数schema + description: stir的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stir 的参数schema properties: settling_time: - description: '参数: settling_time' type: number stir_speed: - description: '参数: stir_speed' type: number stir_time: - description: '参数: stir_time' type: number required: - stir_time @@ -3381,7 +3391,7 @@ virtual_stirrer: result: {} required: - goal - title: stir 命令参数 + title: stir参数 type: object type: UniLabJsonCommandAsync auto-stop_stir: @@ -3392,14 +3402,12 @@ virtual_stirrer: handles: [] result: {} schema: - description: UniLabJsonCommand stop_stir 的参数schema + description: stop_stir的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stop_stir 的参数schema properties: vessel: - description: '参数: vessel' type: string required: - vessel @@ -3407,7 +3415,7 @@ virtual_stirrer: result: {} required: - goal - title: stop_stir 命令参数 + title: stop_stir参数 type: object type: UniLabJsonCommandAsync start_stir: @@ -3610,29 +3618,36 @@ virtual_stirrer: side: NORTH icon: Stirrer.webp init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - config: - description: '参数: config' - type: object - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + current_speed: + type: number + current_vessel: + type: string + is_stirring: + type: boolean + operation_mode: + type: string + remaining_time: + type: number + status: + type: string + required: + - status + - operation_mode + - current_vessel + - current_speed + - is_stirring + - remaining_time + type: object virtual_transfer_pump: class: action_value_mappings: @@ -3645,17 +3660,14 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand aspirate 的参数schema + description: aspirate的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand aspirate 的参数schema properties: velocity: - description: '参数: velocity' type: number volume: - description: '参数: volume' type: number required: - volume @@ -3663,7 +3675,7 @@ virtual_transfer_pump: result: {} required: - goal - title: aspirate 命令参数 + title: aspirate参数 type: object type: UniLabJsonCommandAsync auto-cleanup: @@ -3673,18 +3685,17 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand cleanup 的参数schema + description: cleanup的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: cleanup 命令参数 + title: cleanup参数 type: object type: UniLabJsonCommandAsync auto-dispense: @@ -3696,17 +3707,14 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand dispense 的参数schema + description: dispense的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand dispense 的参数schema properties: velocity: - description: '参数: velocity' type: number volume: - description: '参数: volume' type: number required: - volume @@ -3714,7 +3722,7 @@ virtual_transfer_pump: result: {} required: - goal - title: dispense 命令参数 + title: dispense参数 type: object type: UniLabJsonCommandAsync auto-empty_syringe: @@ -3725,21 +3733,19 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand empty_syringe 的参数schema + description: empty_syringe的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand empty_syringe 的参数schema properties: velocity: - description: '参数: velocity' type: number required: [] type: object result: {} required: - goal - title: empty_syringe 命令参数 + title: empty_syringe参数 type: object type: UniLabJsonCommandAsync auto-fill_syringe: @@ -3750,21 +3756,19 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand fill_syringe 的参数schema + description: fill_syringe的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand fill_syringe 的参数schema properties: velocity: - description: '参数: velocity' type: number required: [] type: object result: {} required: - goal - title: fill_syringe 命令参数 + title: fill_syringe参数 type: object type: UniLabJsonCommandAsync auto-initialize: @@ -3774,18 +3778,17 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommandAsync auto-is_empty: @@ -3795,18 +3798,17 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand is_empty 的参数schema + description: is_empty的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand is_empty 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: is_empty 命令参数 + title: is_empty参数 type: object type: UniLabJsonCommand auto-is_full: @@ -3816,18 +3818,17 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand is_full 的参数schema + description: is_full的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand is_full 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: is_full 命令参数 + title: is_full参数 type: object type: UniLabJsonCommand auto-pull_plunger: @@ -3839,17 +3840,14 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand pull_plunger 的参数schema + description: pull_plunger的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand pull_plunger 的参数schema properties: velocity: - description: '参数: velocity' type: number volume: - description: '参数: volume' type: number required: - volume @@ -3857,7 +3855,7 @@ virtual_transfer_pump: result: {} required: - goal - title: pull_plunger 命令参数 + title: pull_plunger参数 type: object type: UniLabJsonCommandAsync auto-push_plunger: @@ -3869,17 +3867,14 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand push_plunger 的参数schema + description: push_plunger的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand push_plunger 的参数schema properties: velocity: - description: '参数: velocity' type: number volume: - description: '参数: volume' type: number required: - volume @@ -3887,7 +3882,7 @@ virtual_transfer_pump: result: {} required: - goal - title: push_plunger 命令参数 + title: push_plunger参数 type: object type: UniLabJsonCommandAsync auto-set_max_velocity: @@ -3898,14 +3893,12 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand set_max_velocity 的参数schema + description: set_max_velocity的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_max_velocity 的参数schema properties: velocity: - description: '参数: velocity' type: number required: - velocity @@ -3913,7 +3906,7 @@ virtual_transfer_pump: result: {} required: - goal - title: set_max_velocity 命令参数 + title: set_max_velocity参数 type: object type: UniLabJsonCommand auto-set_position: @@ -3925,17 +3918,14 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand set_position 的参数schema + description: set_position的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand set_position 的参数schema properties: max_velocity: - description: '参数: max_velocity' type: number position: - description: '参数: position' type: number required: - position @@ -3943,7 +3933,7 @@ virtual_transfer_pump: result: {} required: - goal - title: set_position 命令参数 + title: set_position参数 type: object type: UniLabJsonCommandAsync auto-stop_operation: @@ -3953,18 +3943,17 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand stop_operation 的参数schema + description: stop_operation的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand stop_operation 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: stop_operation 命令参数 + title: stop_operation参数 type: object type: UniLabJsonCommandAsync auto-transfer: @@ -3977,20 +3966,16 @@ virtual_transfer_pump: handles: [] result: {} schema: - description: UniLabJsonCommand transfer 的参数schema + description: transfer的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand transfer 的参数schema properties: aspirate_velocity: - description: '参数: aspirate_velocity' type: number dispense_velocity: - description: '参数: dispense_velocity' type: number volume: - description: '参数: volume' type: number required: - volume @@ -3998,7 +3983,7 @@ virtual_transfer_pump: result: {} required: - goal - title: transfer 命令参数 + title: transfer参数 type: object type: UniLabJsonCommandAsync set_position: @@ -4195,29 +4180,39 @@ virtual_transfer_pump: side: SOUTH icon: Pump.webp init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - config: - description: '参数: config' - type: object - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + current_volume: + type: number + max_velocity: + type: number + position: + type: number + pump_info: + type: object + remaining_capacity: + type: number + status: + type: string + transfer_rate: + type: number + required: + - status + - position + - current_volume + - max_velocity + - transfer_rate + - remaining_capacity + - pump_info + type: object virtual_vacuum_pump: class: action_value_mappings: @@ -4228,18 +4223,17 @@ virtual_vacuum_pump: handles: [] result: {} schema: - description: UniLabJsonCommand cleanup 的参数schema + description: cleanup的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand cleanup 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: cleanup 命令参数 + title: cleanup参数 type: object type: UniLabJsonCommandAsync auto-close: @@ -4249,18 +4243,17 @@ virtual_vacuum_pump: handles: [] result: {} schema: - description: UniLabJsonCommand close 的参数schema + description: 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 + title: close参数 type: object type: UniLabJsonCommand auto-initialize: @@ -4270,18 +4263,17 @@ virtual_vacuum_pump: handles: [] result: {} schema: - description: UniLabJsonCommand initialize 的参数schema + description: initialize的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize 的参数schema properties: {} required: [] type: object result: {} required: - goal - title: initialize 命令参数 + title: initialize参数 type: object type: UniLabJsonCommandAsync auto-is_closed: @@ -4291,18 +4283,17 @@ virtual_vacuum_pump: handles: [] result: {} schema: - description: UniLabJsonCommand is_closed 的参数schema + description: 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 + title: is_closed参数 type: object type: UniLabJsonCommand auto-is_open: @@ -4312,18 +4303,17 @@ virtual_vacuum_pump: handles: [] result: {} schema: - description: UniLabJsonCommand is_open 的参数schema + description: 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 + title: is_open参数 type: object type: UniLabJsonCommand auto-open: @@ -4333,18 +4323,17 @@ virtual_vacuum_pump: handles: [] result: {} schema: - description: UniLabJsonCommand open 的参数schema + description: 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 + title: open参数 type: object type: UniLabJsonCommand auto-set_status: @@ -4355,14 +4344,12 @@ virtual_vacuum_pump: handles: [] result: {} schema: - description: UniLabJsonCommand set_status 的参数schema + description: 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 @@ -4370,7 +4357,7 @@ virtual_vacuum_pump: result: {} required: - goal - title: set_status 命令参数 + title: set_status参数 type: object type: UniLabJsonCommand close: @@ -4502,26 +4489,18 @@ virtual_vacuum_pump: side: SOUTH icon: Vacuum.webp init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - config: - description: '参数: config' - type: string - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - required: - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + config: + type: string + device_id: + type: string + required: [] + type: object + data: + properties: + status: + type: string + required: + - status + type: object diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml index 2866160..1df4382 100644 --- a/unilabos/registry/devices/work_station.yaml +++ b/unilabos/registry/devices/work_station.yaml @@ -2276,17 +2276,14 @@ workstation: handles: [] result: {} schema: - description: UniLabJsonCommand create_ros_action_server 的参数schema + description: create_ros_action_server的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand create_ros_action_server 的参数schema properties: action_name: - description: '参数: action_name' type: string action_value_mapping: - description: '参数: action_value_mapping' type: string required: - action_name @@ -2295,7 +2292,7 @@ workstation: result: {} required: - goal - title: create_ros_action_server 命令参数 + title: create_ros_action_server参数 type: object type: UniLabJsonCommand auto-execute_single_action: @@ -2308,20 +2305,16 @@ workstation: handles: [] result: {} schema: - description: UniLabJsonCommand execute_single_action 的参数schema + description: execute_single_action的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand execute_single_action 的参数schema properties: action_kwargs: - description: '参数: action_kwargs' type: string action_name: - description: '参数: action_name' type: string device_id: - description: '参数: device_id' type: string required: - device_id @@ -2331,7 +2324,7 @@ workstation: result: {} required: - goal - title: execute_single_action 命令参数 + title: execute_single_action参数 type: object type: UniLabJsonCommandAsync auto-initialize_device: @@ -2343,17 +2336,14 @@ workstation: handles: [] result: {} schema: - description: UniLabJsonCommand initialize_device 的参数schema + description: initialize_device的参数schema properties: feedback: {} goal: - description: UniLabJsonCommand initialize_device 的参数schema properties: device_config: - description: '参数: device_config' type: string device_id: - description: '参数: device_id' type: string required: - device_id @@ -2362,7 +2352,7 @@ workstation: result: {} required: - goal - title: initialize_device 命令参数 + title: initialize_device参数 type: object type: UniLabJsonCommand module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode @@ -2372,40 +2362,23 @@ workstation: handles: [] icon: '' init_param_schema: - description: UniLabJsonCommand __init__ 的参数schema - properties: - feedback: {} - goal: - description: UniLabJsonCommand __init__ 的参数schema - properties: - args: - description: '参数: args' - type: string - children: - description: '参数: children' - type: object - device_id: - description: '参数: device_id' - type: string - kwargs: - description: '参数: kwargs' - type: string - protocol_type: - description: '参数: protocol_type' - type: string - resource_tracker: - description: '参数: resource_tracker' - type: string - required: - - device_id - - children - - protocol_type - - resource_tracker - - args - - kwargs - type: object - result: {} - required: - - goal - title: __init__ 命令参数 - type: object + config: + properties: + children: + type: object + device_id: + type: string + protocol_type: + type: string + resource_tracker: + type: string + required: + - device_id + - children + - protocol_type + - resource_tracker + type: object + data: + properties: {} + required: [] + type: object diff --git a/unilabos/registry/devices/zhida_hplc.yaml b/unilabos/registry/devices/zhida_hplc.yaml index 7918386..644ab7f 100644 --- a/unilabos/registry/devices/zhida_hplc.yaml +++ b/unilabos/registry/devices/zhida_hplc.yaml @@ -43,18 +43,17 @@ zhida_hplc: handles: [] result: {} schema: - description: UniLabJsonCommand abort 的参数schema + description: 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 + title: abort参数 type: object type: UniLabJsonCommand auto-close: @@ -64,18 +63,17 @@ zhida_hplc: handles: [] result: {} schema: - description: UniLabJsonCommand close 的参数schema + description: 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 + title: close参数 type: object type: UniLabJsonCommand auto-connect: @@ -85,18 +83,17 @@ zhida_hplc: handles: [] result: {} schema: - description: UniLabJsonCommand connect 的参数schema + description: 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 + title: connect参数 type: object type: UniLabJsonCommand auto-start: @@ -107,14 +104,12 @@ zhida_hplc: handles: [] result: {} schema: - description: UniLabJsonCommand start 的参数schema + description: 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 @@ -122,7 +117,7 @@ zhida_hplc: result: {} required: - goal - title: start 命令参数 + title: start参数 type: object type: UniLabJsonCommand get_methods: @@ -212,28 +207,26 @@ 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 + config: + properties: + host: + default: 192.168.1.47 + type: string + port: + default: 5792 + type: string + timeout: + default: 10.0 + type: string + required: [] + type: object + data: + properties: + methods: + type: object + status: + type: object + required: + - status + - methods + type: object diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index d47663e..c5a6981 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -197,6 +197,60 @@ 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 _generate_schema_from_info( + self, + param_name: str, + param_type: str, + param_default: Any, + ) -> Dict[str, Any]: + """ + 根据参数信息生成JSON Schema + """ + prop_schema = {} + # 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 + + return prop_schema + + def _generate_status_types_schema(self, status_types: Dict[str, Any]) -> Dict[str, Any]: + """ + 根据状态类型生成JSON Schema + """ + status_schema = { + "type": "object", + "properties": {}, + "required": [], + } + for status_name, status_type in status_types.items(): + status_schema["properties"][status_name] = self._generate_schema_from_info( + status_name, status_type["return_type"], None + ) + status_schema["required"].append(status_name) + return status_schema + def _generate_unilab_json_command_schema( self, method_args: List[Dict[str, Any]], method_name: str ) -> Dict[str, Any]: @@ -211,54 +265,24 @@ class Registry: 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_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 + schema["properties"][param_name] = self._generate_schema_from_info( + param_name, param_type, param_default + ) 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", + "title": f"{method_name}参数", + "description": f"{method_name}的参数schema", "type": "object", "properties": {"goal": schema, "feedback": {}, "result": {}}, "required": ["goal"], @@ -314,14 +338,21 @@ class Registry: status_type = "String" # 替换成ROS的String，便于显示 device_config["class"]["status_types"][status_name] = status_type target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}") - if target_type in [dict, list]: # 对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换 + if target_type in [ + dict, + list, + ]: # 对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换 target_type = String status_str_type_mapping[status_type] = target_type device_config["class"]["status_types"] = dict( sorted(device_config["class"]["status_types"].items()) ) if complete_registry: - device_config["class"]["action_value_mappings"] = {k:v for k, v in device_config["class"]["action_value_mappings"].items() if not k.startswith("auto-")} + device_config["class"]["action_value_mappings"] = { + k: v + for k, v in device_config["class"]["action_value_mappings"].items() + if not k.startswith("auto-") + } # 处理动作值映射 device_config["class"]["action_value_mappings"].update( { @@ -337,9 +368,14 @@ class Registry: for k, v in enhanced_info["action_methods"].items() } ) - device_config["init_param_schema"] = self._generate_unilab_json_command_schema( + device_config["init_param_schema"] = {} + device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema( enhanced_info["init_params"], "__init__" + )["properties"]["goal"] + device_config["init_param_schema"]["data"] = self._generate_status_types_schema( + enhanced_info["status_methods"] ) + device_config.pop("schema", None) device_config["class"]["action_value_mappings"] = dict( sorted(device_config["class"]["action_value_mappings"].items()) diff --git a/unilabos/utils/import_manager.py b/unilabos/utils/import_manager.py index d04aca6..7a3066f 100644 --- a/unilabos/utils/import_manager.py +++ b/unilabos/utils/import_manager.py @@ -240,36 +240,8 @@ class ImportManager: cls = get_class(class_path) class_name = cls.__name__ - result = { - "class_name": class_name, - "init_params": [], - "status_methods": {}, - "action_methods": {}, - } - - init_signature = inspect.signature(cls.__init__) - for param_name, param in init_signature.parameters.items(): - if param_name == "self": - continue - - # 先获取注解类型 - param_type = self._get_type_string(param.annotation) - param_default = None if param.default == inspect.Parameter.empty else param.default - - # 如果type为Any或None，尝试用default的类型推断 - if param_type in ["Any", "None"]: - if param.default != inspect.Parameter.empty and param.default is not None: - default_type = type(param.default) - param_type = self._get_type_string(default_type) - - param_info = { - "name": param_name, - "type": param_type, - "required": param.default == inspect.Parameter.empty, - "default": param_default, - } - result["init_params"].append(param_info) - + result = {"class_name": class_name, "init_params": self._analyze_method_signature(cls.__init__)["args"], + "status_methods": {}, "action_methods": {}} # 分析类的所有成员 for name, method in cls.__dict__.items(): if name.startswith("_"):