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匹配init param schema格式

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Xuwznln
2025-06-30 12:29:30 +08:00
parent f2753fc69a
commit e7521972e4
22 changed files with 2261 additions and 2609 deletions
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65
unilabos/registry/device_comms/serial.yaml
View File

@@ -10,17 +10,14 @@ serial:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand handle_serial_request 的参数schema description: handle_serial_request的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand handle_serial_request 的参数schema
properties: properties:
request: request:
description: '参数: request'
type: string type: string
response: response:
description: '参数: response'
type: string type: string
required: required:
- request - request
@@ -29,7 +26,7 @@ serial:
result: {} result: {}
required: required:
- goal - goal
title: handle_serial_request 命令参数 title: handle_serial_request参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-read_data: auto-read_data:
@@ -39,18 +36,17 @@ serial:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand read_data 的参数schema description: read_data的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand read_data 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: read_data 命令参数 title: read_data参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-send_command: auto-send_command:
@@ -61,14 +57,12 @@ serial:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand send_command 的参数schema description: send_command的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand send_command 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -76,7 +70,7 @@ serial:
result: {} result: {}
required: required:
- goal - goal
title: send_command 命令参数 title: send_command参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
module: unilabos.ros.nodes.presets.serial_node:ROS2SerialNode module: unilabos.ros.nodes.presets.serial_node:ROS2SerialNode
@@ -87,31 +81,22 @@ serial:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} baudrate:
goal: default: 9600
description: UniLabJsonCommand __init__ 的参数schema type: integer
properties: device_id:
baudrate: type: string
default: 9600 port:
description: '参数: baudrate' type: string
type: integer resource_tracker:
device_id: type: string
description: '参数: device_id' required:
type: string - device_id
port: - port
description: '参数: port' type: object
type: string data:
resource_tracker: properties: {}
description: '参数: resource_tracker' required: []
type: string type: object
required:
- device_id
- port
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object

63
unilabos/registry/devices/camera.yaml
View File

@@ -1,10 +1,69 @@
camera: camera:
class: 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 module: unilabos.ros.nodes.presets.camera:VideoPublisher
status_types: {} status_types: {}
type: ros2 type: ros2
description: '' description: ''
handles: [] handles: []
icon: '' 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

166
unilabos/registry/devices/characterization_optic.yaml
View File

@@ -8,18 +8,17 @@ hplc.agilent:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand check_status 的参数schema description: check_status的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand check_status 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: check_status 命令参数 title: check_status参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-extract_data_from_txt: auto-extract_data_from_txt:
@@ -30,14 +29,12 @@ hplc.agilent:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand extract_data_from_txt 的参数schema description: extract_data_from_txt的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand extract_data_from_txt 的参数schema
properties: properties:
file_path: file_path:
description: '参数: file_path'
type: string type: string
required: required:
- file_path - file_path
@@ -45,7 +42,7 @@ hplc.agilent:
result: {} result: {}
required: required:
- goal - goal
title: extract_data_from_txt 命令参数 title: extract_data_from_txt参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-start_sequence: auto-start_sequence:
@@ -58,20 +55,16 @@ hplc.agilent:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand start_sequence 的参数schema description: start_sequence的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand start_sequence 的参数schema
properties: properties:
params: params:
description: '参数: params'
type: string type: string
resource: resource:
description: '参数: resource'
type: object type: object
wf_name: wf_name:
description: '参数: wf_name'
type: string type: string
required: required:
- wf_name - wf_name
@@ -79,7 +72,7 @@ hplc.agilent:
result: {} result: {}
required: required:
- goal - goal
title: start_sequence 命令参数 title: start_sequence参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-try_close_sub_device: auto-try_close_sub_device:
@@ -90,21 +83,19 @@ hplc.agilent:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand try_close_sub_device 的参数schema description: try_close_sub_device的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand try_close_sub_device 的参数schema
properties: properties:
device_name: device_name:
description: '参数: device_name'
type: string type: string
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: try_close_sub_device 命令参数 title: try_close_sub_device参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-try_open_sub_device: auto-try_open_sub_device:
@@ -115,21 +106,19 @@ hplc.agilent:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand try_open_sub_device 的参数schema description: try_open_sub_device的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand try_open_sub_device 的参数schema
properties: properties:
device_name: device_name:
description: '参数: device_name'
type: string type: string
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: try_open_sub_device 命令参数 title: try_open_sub_device参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
execute_command_from_outer: execute_command_from_outer:
@@ -194,23 +183,41 @@ hplc.agilent:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} driver_debug:
goal: default: false
description: UniLabJsonCommand __init__ 的参数schema type: string
properties: required: []
driver_debug: type: object
default: false data:
description: '参数: driver_debug' properties:
type: boolean could_run:
required: [] type: boolean
type: object data_file:
result: {} type: array
required: device_status:
- goal type: string
title: __init__ 命令参数 driver_init_ok:
type: object 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: raman_home_made:
class: class:
action_value_mappings: action_value_mappings:
@@ -222,14 +229,12 @@ raman_home_made:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand ccd_time 的参数schema description: ccd_time的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand ccd_time 的参数schema
properties: properties:
int_time: int_time:
description: '参数: int_time'
type: string type: string
required: required:
- int_time - int_time
@@ -237,7 +242,7 @@ raman_home_made:
result: {} result: {}
required: required:
- goal - goal
title: ccd_time 命令参数 title: ccd_time参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-laser_on_power: auto-laser_on_power:
@@ -248,14 +253,12 @@ raman_home_made:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand laser_on_power 的参数schema description: laser_on_power的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand laser_on_power 的参数schema
properties: properties:
output_voltage_laser: output_voltage_laser:
description: '参数: output_voltage_laser'
type: string type: string
required: required:
- output_voltage_laser - output_voltage_laser
@@ -263,7 +266,7 @@ raman_home_made:
result: {} result: {}
required: required:
- goal - goal
title: laser_on_power 命令参数 title: laser_on_power参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-raman_cmd: auto-raman_cmd:
@@ -274,14 +277,12 @@ raman_home_made:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand raman_cmd 的参数schema description: raman_cmd的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand raman_cmd 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -289,7 +290,7 @@ raman_home_made:
result: {} result: {}
required: required:
- goal - goal
title: raman_cmd 命令参数 title: raman_cmd参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-raman_without_background: auto-raman_without_background:
@@ -301,17 +302,14 @@ raman_home_made:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand raman_without_background 的参数schema description: raman_without_background的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand raman_without_background 的参数schema
properties: properties:
int_time: int_time:
description: '参数: int_time'
type: string type: string
laser_power: laser_power:
description: '参数: laser_power'
type: string type: string
required: required:
- int_time - int_time
@@ -320,7 +318,7 @@ raman_home_made:
result: {} result: {}
required: required:
- goal - goal
title: raman_without_background 命令参数 title: raman_without_background参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-raman_without_background_average: auto-raman_without_background_average:
@@ -334,23 +332,18 @@ raman_home_made:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand raman_without_background_average 的参数schema description: raman_without_background_average的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand raman_without_background_average 的参数schema
properties: properties:
average: average:
description: '参数: average'
type: string type: string
int_time: int_time:
description: '参数: int_time'
type: string type: string
laser_power: laser_power:
description: '参数: laser_power'
type: string type: string
sample_name: sample_name:
description: '参数: sample_name'
type: string type: string
required: required:
- sample_name - sample_name
@@ -361,7 +354,7 @@ raman_home_made:
result: {} result: {}
required: required:
- goal - goal
title: raman_without_background_average 命令参数 title: raman_without_background_average参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
raman_cmd: raman_cmd:
@@ -418,32 +411,23 @@ raman_home_made:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} baudrate_ccd:
goal: default: 921600
description: UniLabJsonCommand __init__ 的参数schema type: string
properties: baudrate_laser:
baudrate_ccd: default: 9600
default: 921600 type: string
description: '参数: baudrate_ccd' port_ccd:
type: integer type: string
baudrate_laser: port_laser:
default: 9600 type: string
description: '参数: baudrate_laser' required:
type: integer - port_laser
port_ccd: - port_ccd
description: '参数: port_ccd' type: object
type: string data:
port_laser: properties: {}
description: '参数: port_laser' required: []
type: string type: object
required:
- port_laser
- port_ccd
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object

38
unilabos/registry/devices/hotel.yaml
View File

@@ -9,27 +9,23 @@ hotel.thermo_orbitor_rs2_hotel:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} device_config:
goal: type: object
description: UniLabJsonCommand __init__ 的参数schema rotation:
properties: type: object
device_config: required:
description: '参数: device_config' - rotation
type: object - device_config
rotation: type: object
description: '参数: rotation' data:
type: object properties:
required: rotation:
- rotation type: string
- device_config required:
type: object - rotation
result: {} type: object
required:
- goal
title: __init__ 命令参数
type: object
model: model:
mesh: thermo_orbitor_rs2_hotel mesh: thermo_orbitor_rs2_hotel
type: device type: device

102
unilabos/registry/devices/laiyu_add_solid.yaml
View File

@@ -70,20 +70,16 @@ laiyu_add_solid:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand add_powder_tube 的参数schema description: add_powder_tube的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand add_powder_tube 的参数schema
properties: properties:
compound_mass: compound_mass:
description: '参数: compound_mass'
type: string type: string
powder_tube_number: powder_tube_number:
description: '参数: powder_tube_number'
type: string type: string
target_tube_position: target_tube_position:
description: '参数: target_tube_position'
type: string type: string
required: required:
- powder_tube_number - powder_tube_number
@@ -93,7 +89,7 @@ laiyu_add_solid:
result: {} result: {}
required: required:
- goal - goal
title: add_powder_tube 命令参数 title: add_powder_tube参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-calculate_crc: auto-calculate_crc:
@@ -104,14 +100,12 @@ laiyu_add_solid:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand calculate_crc 的参数schema description: calculate_crc的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand calculate_crc 的参数schema
properties: properties:
data: data:
description: '参数: data'
type: string type: string
required: required:
- data - data
@@ -119,7 +113,7 @@ laiyu_add_solid:
result: {} result: {}
required: required:
- goal - goal
title: calculate_crc 命令参数 title: calculate_crc参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-discharge: auto-discharge:
@@ -130,14 +124,12 @@ laiyu_add_solid:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand discharge 的参数schema description: discharge的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand discharge 的参数schema
properties: properties:
float_in: float_in:
description: '参数: float_in'
type: number type: number
required: required:
- float_in - float_in
@@ -145,7 +137,7 @@ laiyu_add_solid:
result: {} result: {}
required: required:
- goal - goal
title: discharge 命令参数 title: discharge参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-move_to_plate: auto-move_to_plate:
@@ -156,14 +148,12 @@ laiyu_add_solid:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand move_to_plate 的参数schema description: move_to_plate的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand move_to_plate 的参数schema
properties: properties:
string: string:
description: '参数: string'
type: string type: string
required: required:
- string - string
@@ -171,7 +161,7 @@ laiyu_add_solid:
result: {} result: {}
required: required:
- goal - goal
title: move_to_plate 命令参数 title: move_to_plate参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-move_to_xyz: auto-move_to_xyz:
@@ -184,20 +174,16 @@ laiyu_add_solid:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand move_to_xyz 的参数schema description: move_to_xyz的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand move_to_xyz 的参数schema
properties: properties:
x: x:
description: '参数: x'
type: number type: number
y: y:
description: '参数: y'
type: number type: number
z: z:
description: '参数: z'
type: number type: number
required: required:
- x - x
@@ -207,7 +193,7 @@ laiyu_add_solid:
result: {} result: {}
required: required:
- goal - goal
title: move_to_xyz 命令参数 title: move_to_xyz参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-pick_powder_tube: auto-pick_powder_tube:
@@ -218,14 +204,12 @@ laiyu_add_solid:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand pick_powder_tube 的参数schema description: pick_powder_tube的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand pick_powder_tube 的参数schema
properties: properties:
int_input: int_input:
description: '参数: int_input'
type: integer type: integer
required: required:
- int_input - int_input
@@ -233,7 +217,7 @@ laiyu_add_solid:
result: {} result: {}
required: required:
- goal - goal
title: pick_powder_tube 命令参数 title: pick_powder_tube参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-put_powder_tube: auto-put_powder_tube:
@@ -244,14 +228,12 @@ laiyu_add_solid:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand put_powder_tube 的参数schema description: put_powder_tube的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand put_powder_tube 的参数schema
properties: properties:
int_input: int_input:
description: '参数: int_input'
type: integer type: integer
required: required:
- int_input - int_input
@@ -259,7 +241,7 @@ laiyu_add_solid:
result: {} result: {}
required: required:
- goal - goal
title: put_powder_tube 命令参数 title: put_powder_tube参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-reset: auto-reset:
@@ -269,18 +251,17 @@ laiyu_add_solid:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand reset 的参数schema description: reset的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand reset 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: reset 命令参数 title: reset参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-send_command: auto-send_command:
@@ -291,14 +272,12 @@ laiyu_add_solid:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand send_command 的参数schema description: send_command的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand send_command 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -306,7 +285,7 @@ laiyu_add_solid:
result: {} result: {}
required: required:
- goal - goal
title: send_command 命令参数 title: send_command参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
discharge: discharge:
@@ -581,28 +560,23 @@ laiyu_add_solid:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} baudrate:
goal: default: 115200
description: UniLabJsonCommand __init__ 的参数schema type: string
properties: port:
baudrate: type: string
default: 115200 timeout:
description: '参数: baudrate' default: 0.5
type: integer type: string
port: required:
description: '参数: port' - port
type: string type: object
timeout: data:
default: 0.5 properties:
description: '参数: timeout' status:
type: number type: string
required: required:
- port - status
type: object type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object

324
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -578,65 +578,47 @@ liquid_handler:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand add_liquid 的参数schema description: add_liquid的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand add_liquid 的参数schema
properties: properties:
asp_vols: asp_vols:
description: '参数: asp_vols'
type: string type: string
blow_out_air_volume: blow_out_air_volume:
description: '参数: blow_out_air_volume'
type: string type: string
delays: delays:
description: '参数: delays'
type: string type: string
dis_vols: dis_vols:
description: '参数: dis_vols'
type: string type: string
flow_rates: flow_rates:
description: '参数: flow_rates'
type: string type: string
is_96_well: is_96_well:
default: false default: false
description: '参数: is_96_well'
type: boolean type: boolean
liquid_height: liquid_height:
description: '参数: liquid_height'
type: string type: string
mix_liquid_height: mix_liquid_height:
description: '参数: mix_liquid_height'
type: string type: string
mix_rate: mix_rate:
description: '参数: mix_rate'
type: string type: string
mix_time: mix_time:
description: '参数: mix_time'
type: string type: string
mix_vol: mix_vol:
description: '参数: mix_vol'
type: string type: string
none_keys: none_keys:
default: [] default: []
description: '参数: none_keys'
type: string type: string
offsets: offsets:
description: '参数: offsets'
type: string type: string
reagent_sources: reagent_sources:
description: '参数: reagent_sources'
type: string type: string
spread: spread:
default: wide default: wide
description: '参数: spread'
type: string type: string
targets: targets:
description: '参数: targets'
type: string type: string
use_channels: use_channels:
description: '参数: use_channels'
type: string type: string
required: required:
- asp_vols - asp_vols
@@ -647,7 +629,7 @@ liquid_handler:
result: {} result: {}
required: required:
- goal - goal
title: add_liquid 命令参数 title: add_liquid参数
type: object type: object
type: UniLabJsonCommandAsync type: UniLabJsonCommandAsync
auto-create_protocol: auto-create_protocol:
@@ -664,33 +646,25 @@ liquid_handler:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand create_protocol 的参数schema description: create_protocol的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand create_protocol 的参数schema
properties: properties:
none_keys: none_keys:
default: [] default: []
description: '参数: none_keys'
type: string type: string
protocol_author: protocol_author:
description: '参数: protocol_author'
type: string type: string
protocol_date: protocol_date:
description: '参数: protocol_date'
type: string type: string
protocol_description: protocol_description:
description: '参数: protocol_description'
type: string type: string
protocol_name: protocol_name:
description: '参数: protocol_name'
type: string type: string
protocol_type: protocol_type:
description: '参数: protocol_type'
type: string type: string
protocol_version: protocol_version:
description: '参数: protocol_version'
type: string type: string
required: required:
- protocol_name - protocol_name
@@ -703,7 +677,7 @@ liquid_handler:
result: {} result: {}
required: required:
- goal - goal
title: create_protocol 命令参数 title: create_protocol参数
type: object type: object
type: UniLabJsonCommandAsync type: UniLabJsonCommandAsync
auto-custom_delay: auto-custom_delay:
@@ -715,25 +689,22 @@ liquid_handler:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand custom_delay 的参数schema description: custom_delay的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand custom_delay 的参数schema
properties: properties:
msg: msg:
description: '参数: msg'
type: string type: string
seconds: seconds:
default: 0 default: 0
description: '参数: seconds'
type: string type: string
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: custom_delay 命令参数 title: custom_delay参数
type: object type: object
type: UniLabJsonCommandAsync type: UniLabJsonCommandAsync
auto-iter_tips: auto-iter_tips:
@@ -744,14 +715,12 @@ liquid_handler:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand iter_tips 的参数schema description: iter_tips的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand iter_tips 的参数schema
properties: properties:
tip_racks: tip_racks:
description: '参数: tip_racks'
type: string type: string
required: required:
- tip_racks - tip_racks
@@ -759,7 +728,7 @@ liquid_handler:
result: {} result: {}
required: required:
- goal - goal
title: iter_tips 命令参数 title: iter_tips参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-mix: auto-mix:
@@ -776,33 +745,25 @@ liquid_handler:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand mix 的参数schema description: mix的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand mix 的参数schema
properties: properties:
height_to_bottom: height_to_bottom:
description: '参数: height_to_bottom'
type: string type: string
mix_rate: mix_rate:
description: '参数: mix_rate'
type: string type: string
mix_time: mix_time:
description: '参数: mix_time'
type: integer type: integer
mix_vol: mix_vol:
description: '参数: mix_vol'
type: string type: string
none_keys: none_keys:
default: [] default: []
description: '参数: none_keys'
type: string type: string
offsets: offsets:
description: '参数: offsets'
type: string type: string
targets: targets:
description: '参数: targets'
type: string type: string
required: required:
- targets - targets
@@ -810,7 +771,7 @@ liquid_handler:
result: {} result: {}
required: required:
- goal - goal
title: mix 命令参数 title: mix参数
type: object type: object
type: UniLabJsonCommandAsync type: UniLabJsonCommandAsync
auto-move_to: auto-move_to:
@@ -823,22 +784,18 @@ liquid_handler:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand move_to 的参数schema description: move_to的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand move_to 的参数schema
properties: properties:
channel: channel:
default: 0 default: 0
description: '参数: channel'
type: integer type: integer
dis_to_top: dis_to_top:
default: 0 default: 0
description: '参数: dis_to_top'
type: number type: number
well: well:
description: '参数: well'
type: string type: string
required: required:
- well - well
@@ -846,7 +803,7 @@ liquid_handler:
result: {} result: {}
required: required:
- goal - goal
title: move_to 命令参数 title: move_to参数
type: object type: object
type: UniLabJsonCommandAsync type: UniLabJsonCommandAsync
auto-remove_liquid: auto-remove_liquid:
@@ -869,53 +826,39 @@ liquid_handler:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand remove_liquid 的参数schema description: remove_liquid的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand remove_liquid 的参数schema
properties: properties:
blow_out_air_volume: blow_out_air_volume:
description: '参数: blow_out_air_volume'
type: string type: string
delays: delays:
description: '参数: delays'
type: string type: string
flow_rates: flow_rates:
description: '参数: flow_rates'
type: string type: string
is_96_well: is_96_well:
default: false default: false
description: '参数: is_96_well'
type: string type: string
liquid_height: liquid_height:
description: '参数: liquid_height'
type: string type: string
none_keys: none_keys:
default: [] default: []
description: '参数: none_keys'
type: string type: string
offsets: offsets:
description: '参数: offsets'
type: string type: string
sources: sources:
description: '参数: sources'
type: string type: string
spread: spread:
default: wide default: wide
description: '参数: spread'
type: string type: string
top: top:
description: '参数: top'
type: string type: string
use_channels: use_channels:
description: '参数: use_channels'
type: string type: string
vols: vols:
description: '参数: vols'
type: string type: string
waste_liquid: waste_liquid:
description: '参数: waste_liquid'
type: string type: string
required: required:
- vols - vols
@@ -924,7 +867,7 @@ liquid_handler:
result: {} result: {}
required: required:
- goal - goal
title: remove_liquid 命令参数 title: remove_liquid参数
type: object type: object
type: UniLabJsonCommandAsync type: UniLabJsonCommandAsync
auto-set_tiprack: auto-set_tiprack:
@@ -935,14 +878,12 @@ liquid_handler:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_tiprack 的参数schema description: set_tiprack的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_tiprack 的参数schema
properties: properties:
tip_racks: tip_racks:
description: '参数: tip_racks'
type: string type: string
required: required:
- tip_racks - tip_racks
@@ -950,7 +891,7 @@ liquid_handler:
result: {} result: {}
required: required:
- goal - goal
title: set_tiprack 命令参数 title: set_tiprack参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-touch_tip: auto-touch_tip:
@@ -961,14 +902,12 @@ liquid_handler:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand touch_tip 的参数schema description: touch_tip的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand touch_tip 的参数schema
properties: properties:
targets: targets:
description: '参数: targets'
type: string type: string
required: required:
- targets - targets
@@ -976,7 +915,7 @@ liquid_handler:
result: {} result: {}
required: required:
- goal - goal
title: touch_tip 命令参数 title: touch_tip参数
type: object type: object
type: UniLabJsonCommandAsync type: UniLabJsonCommandAsync
auto-transfer_liquid: auto-transfer_liquid:
@@ -1007,79 +946,57 @@ liquid_handler:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand transfer_liquid 的参数schema description: transfer_liquid的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand transfer_liquid 的参数schema
properties: properties:
asp_flow_rates: asp_flow_rates:
description: '参数: asp_flow_rates'
type: string type: string
asp_vols: asp_vols:
description: '参数: asp_vols'
type: string type: string
blow_out_air_volume: blow_out_air_volume:
description: '参数: blow_out_air_volume'
type: string type: string
delays: delays:
description: '参数: delays'
type: string type: string
dis_flow_rates: dis_flow_rates:
description: '参数: dis_flow_rates'
type: string type: string
dis_vols: dis_vols:
description: '参数: dis_vols'
type: string type: string
is_96_well: is_96_well:
default: false default: false
description: '参数: is_96_well'
type: boolean type: boolean
liquid_height: liquid_height:
description: '参数: liquid_height'
type: string type: string
mix_liquid_height: mix_liquid_height:
description: '参数: mix_liquid_height'
type: string type: string
mix_rate: mix_rate:
description: '参数: mix_rate'
type: string type: string
mix_stage: mix_stage:
default: none default: none
description: '参数: mix_stage'
type: string type: string
mix_times: mix_times:
description: '参数: mix_times'
type: string type: string
mix_vol: mix_vol:
description: '参数: mix_vol'
type: string type: string
none_keys: none_keys:
default: [] default: []
description: '参数: none_keys'
type: string type: string
offsets: offsets:
description: '参数: offsets'
type: string type: string
sources: sources:
description: '参数: sources'
type: string type: string
spread: spread:
default: wide default: wide
description: '参数: spread'
type: string type: string
targets: targets:
description: '参数: targets'
type: string type: string
tip_racks: tip_racks:
description: '参数: tip_racks'
type: string type: string
touch_tip: touch_tip:
default: false default: false
description: '参数: touch_tip'
type: boolean type: boolean
use_channels: use_channels:
description: '参数: use_channels'
type: string type: string
required: required:
- sources - sources
@@ -1091,7 +1008,7 @@ liquid_handler:
result: {} result: {}
required: required:
- goal - goal
title: transfer_liquid 命令参数 title: transfer_liquid参数
type: object type: object
type: UniLabJsonCommandAsync type: UniLabJsonCommandAsync
discard_tips: discard_tips:
@@ -4851,27 +4768,20 @@ liquid_handler:
label: Liquid Output label: Liquid Output
icon: icon_yiyezhan.webp icon: icon_yiyezhan.webp
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} backend:
goal: type: string
description: UniLabJsonCommand __init__ 的参数schema deck:
properties: type: string
backend: required:
description: '参数: backend' - backend
type: string - deck
deck: type: object
description: '参数: deck' data:
type: string properties: {}
required: required: []
- backend type: object
- deck
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
liquid_handler.biomek: liquid_handler.biomek:
class: class:
action_value_mappings: action_value_mappings:
@@ -4889,33 +4799,25 @@ liquid_handler.biomek:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand create_protocol 的参数schema description: create_protocol的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand create_protocol 的参数schema
properties: properties:
none_keys: none_keys:
default: [] default: []
description: '参数: none_keys'
type: array type: array
protocol_author: protocol_author:
description: '参数: protocol_author'
type: string type: string
protocol_date: protocol_date:
description: '参数: protocol_date'
type: string type: string
protocol_description: protocol_description:
description: '参数: protocol_description'
type: string type: string
protocol_name: protocol_name:
description: '参数: protocol_name'
type: string type: string
protocol_type: protocol_type:
description: '参数: protocol_type'
type: string type: string
protocol_version: protocol_version:
description: '参数: protocol_version'
type: string type: string
required: required:
- protocol_name - protocol_name
@@ -4928,7 +4830,7 @@ liquid_handler.biomek:
result: {} result: {}
required: required:
- goal - goal
title: create_protocol 命令参数 title: create_protocol参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-create_resource: auto-create_resource:
@@ -4946,35 +4848,26 @@ liquid_handler.biomek:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand create_resource 的参数schema description: create_resource的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand create_resource 的参数schema
properties: properties:
bind_location: bind_location:
description: '参数: bind_location'
type: object type: object
bind_parent_id: bind_parent_id:
description: '参数: bind_parent_id'
type: string type: string
liquid_input_slot: liquid_input_slot:
description: '参数: liquid_input_slot'
type: array type: array
liquid_type: liquid_type:
description: '参数: liquid_type'
type: array type: array
liquid_volume: liquid_volume:
description: '参数: liquid_volume'
type: array type: array
resource_tracker: resource_tracker:
description: '参数: resource_tracker'
type: string type: string
resources: resources:
description: '参数: resources'
type: array type: array
slot_on_deck: slot_on_deck:
description: '参数: slot_on_deck'
type: integer type: integer
required: required:
- resource_tracker - resource_tracker
@@ -4989,7 +4882,7 @@ liquid_handler.biomek:
result: {} result: {}
required: required:
- goal - goal
title: create_resource 命令参数 title: create_resource参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-incubation_biomek: auto-incubation_biomek:
@@ -5000,14 +4893,12 @@ liquid_handler.biomek:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand incubation_biomek 的参数schema description: incubation_biomek的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand incubation_biomek 的参数schema
properties: properties:
time: time:
description: '参数: time'
type: integer type: integer
required: required:
- time - time
@@ -5015,7 +4906,7 @@ liquid_handler.biomek:
result: {} result: {}
required: required:
- goal - goal
title: incubation_biomek 命令参数 title: incubation_biomek参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-instrument_setup_biomek: auto-instrument_setup_biomek:
@@ -5032,32 +4923,24 @@ liquid_handler.biomek:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand instrument_setup_biomek 的参数schema description: instrument_setup_biomek的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand instrument_setup_biomek 的参数schema
properties: properties:
class_name: class_name:
description: '参数: class_name'
type: string type: string
id: id:
description: '参数: id'
type: string type: string
liquid_input_wells: liquid_input_wells:
description: '参数: liquid_input_wells'
type: array type: array
liquid_type: liquid_type:
description: '参数: liquid_type'
type: array type: array
liquid_volume: liquid_volume:
description: '参数: liquid_volume'
type: array type: array
parent: parent:
description: '参数: parent'
type: string type: string
slot_on_deck: slot_on_deck:
description: '参数: slot_on_deck'
type: string type: string
required: required:
- id - id
@@ -5071,7 +4954,7 @@ liquid_handler.biomek:
result: {} result: {}
required: required:
- goal - goal
title: instrument_setup_biomek 命令参数 title: instrument_setup_biomek参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-move_biomek: auto-move_biomek:
@@ -5083,17 +4966,14 @@ liquid_handler.biomek:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand move_biomek 的参数schema description: move_biomek的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand move_biomek 的参数schema
properties: properties:
source: source:
description: '参数: source'
type: string type: string
target: target:
description: '参数: target'
type: string type: string
required: required:
- source - source
@@ -5102,7 +4982,7 @@ liquid_handler.biomek:
result: {} result: {}
required: required:
- goal - goal
title: move_biomek 命令参数 title: move_biomek参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-oscillation_biomek: auto-oscillation_biomek:
@@ -5114,17 +4994,14 @@ liquid_handler.biomek:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand oscillation_biomek 的参数schema description: oscillation_biomek的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand oscillation_biomek 的参数schema
properties: properties:
rpm: rpm:
description: '参数: rpm'
type: integer type: integer
time: time:
description: '参数: time'
type: integer type: integer
required: required:
- rpm - rpm
@@ -5133,7 +5010,7 @@ liquid_handler.biomek:
result: {} result: {}
required: required:
- goal - goal
title: oscillation_biomek 命令参数 title: oscillation_biomek参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-run_protocol: auto-run_protocol:
@@ -5143,18 +5020,17 @@ liquid_handler.biomek:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand run_protocol 的参数schema description: run_protocol的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand run_protocol 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: run_protocol 命令参数 title: run_protocol参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-transfer_biomek: auto-transfer_biomek:
@@ -5170,29 +5046,22 @@ liquid_handler.biomek:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand transfer_biomek 的参数schema description: transfer_biomek的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand transfer_biomek 的参数schema
properties: properties:
aspirate_techniques: aspirate_techniques:
description: '参数: aspirate_techniques'
type: string type: string
dispense_techniques: dispense_techniques:
description: '参数: dispense_techniques'
type: string type: string
source: source:
description: '参数: source'
type: string type: string
target: target:
description: '参数: target'
type: string type: string
tip_rack: tip_rack:
description: '参数: tip_rack'
type: string type: string
volume: volume:
description: '参数: volume'
type: number type: number
required: required:
- source - source
@@ -5205,7 +5074,7 @@ liquid_handler.biomek:
result: {} result: {}
required: required:
- goal - goal
title: transfer_biomek 命令参数 title: transfer_biomek参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-transfer_liquid: auto-transfer_liquid:
@@ -5236,79 +5105,57 @@ liquid_handler.biomek:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand transfer_liquid 的参数schema description: transfer_liquid的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand transfer_liquid 的参数schema
properties: properties:
asp_flow_rates: asp_flow_rates:
description: '参数: asp_flow_rates'
type: string type: string
asp_vols: asp_vols:
description: '参数: asp_vols'
type: string type: string
blow_out_air_volume: blow_out_air_volume:
description: '参数: blow_out_air_volume'
type: string type: string
delays: delays:
description: '参数: delays'
type: string type: string
dis_flow_rates: dis_flow_rates:
description: '参数: dis_flow_rates'
type: string type: string
dis_vols: dis_vols:
description: '参数: dis_vols'
type: string type: string
is_96_well: is_96_well:
default: false default: false
description: '参数: is_96_well'
type: boolean type: boolean
liquid_height: liquid_height:
description: '参数: liquid_height'
type: string type: string
mix_liquid_height: mix_liquid_height:
description: '参数: mix_liquid_height'
type: string type: string
mix_rate: mix_rate:
description: '参数: mix_rate'
type: string type: string
mix_stage: mix_stage:
default: none default: none
description: '参数: mix_stage'
type: string type: string
mix_times: mix_times:
description: '参数: mix_times'
type: string type: string
mix_vol: mix_vol:
description: '参数: mix_vol'
type: string type: string
none_keys: none_keys:
default: [] default: []
description: '参数: none_keys'
type: array type: array
offsets: offsets:
description: '参数: offsets'
type: string type: string
sources: sources:
description: '参数: sources'
type: string type: string
spread: spread:
default: wide default: wide
description: '参数: spread'
type: string type: string
targets: targets:
description: '参数: targets'
type: string type: string
tip_racks: tip_racks:
description: '参数: tip_racks'
type: string type: string
touch_tip: touch_tip:
default: false default: false
description: '参数: touch_tip'
type: boolean type: boolean
use_channels: use_channels:
description: '参数: use_channels'
type: string type: string
required: required:
- sources - sources
@@ -5320,7 +5167,7 @@ liquid_handler.biomek:
result: {} result: {}
required: required:
- goal - goal
title: transfer_liquid 命令参数 title: transfer_liquid参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
create_protocol: create_protocol:
@@ -6206,27 +6053,17 @@ liquid_handler.biomek:
handles: [] handles: []
icon: icon_yiyezhan.webp icon: icon_yiyezhan.webp
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties: {}
feedback: {} required: []
goal: type: object
description: UniLabJsonCommand __init__ 的参数schema data:
properties: properties:
args: success:
description: '参数: args' type: string
type: string required:
kwargs: - success
description: '参数: kwargs' type: object
type: string
required:
- args
- kwargs
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
liquid_handler.revvity: liquid_handler.revvity:
class: class:
action_value_mappings: action_value_mappings:
@@ -6242,23 +6079,19 @@ liquid_handler.revvity:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand run 的参数schema description: run的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand run 的参数schema
properties: properties:
file_path: file_path:
description: '参数: file_path'
type: string type: string
params: params:
description: '参数: params'
type: string type: string
resource: resource:
default: default:
AichemecoHiwo: AichemecoHiwo:
id: AichemecoHiwo id: AichemecoHiwo
description: '参数: resource'
type: object type: object
required: required:
- file_path - file_path
@@ -6267,7 +6100,7 @@ liquid_handler.revvity:
result: {} result: {}
required: required:
- goal - goal
title: run 命令参数 title: run参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
run: run:
@@ -6430,16 +6263,17 @@ liquid_handler.revvity:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties: {}
feedback: {} required: []
goal: type: object
description: UniLabJsonCommand __init__ 的参数schema data:
properties: {} properties:
required: [] status:
type: object type: string
result: {} success:
required: type: boolean
- goal required:
title: __init__ 命令参数 - success
type: object - status
type: object

976
unilabos/registry/devices/mock_devices.yaml
View File

File diff suppressed because it is too large Load Diff

218
unilabos/registry/devices/moveit_config.yaml
View File

@@ -8,18 +8,17 @@ moveit.arm_slider:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand check_tf_update_actions 的参数schema description: check_tf_update_actions的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand check_tf_update_actions 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: check_tf_update_actions 命令参数 title: check_tf_update_actions参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-moveit_joint_task: auto-moveit_joint_task:
@@ -34,28 +33,22 @@ moveit.arm_slider:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand moveit_joint_task 的参数schema description: moveit_joint_task的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand moveit_joint_task 的参数schema
properties: properties:
joint_names: joint_names:
description: '参数: joint_names'
type: string type: string
joint_positions: joint_positions:
description: '参数: joint_positions'
type: string type: string
move_group: move_group:
description: '参数: move_group'
type: string type: string
retry: retry:
default: 10 default: 10
description: '参数: retry'
type: string type: string
speed: speed:
default: 1 default: 1
description: '参数: speed'
type: string type: string
required: required:
- move_group - move_group
@@ -64,7 +57,7 @@ moveit.arm_slider:
result: {} result: {}
required: required:
- goal - goal
title: moveit_joint_task 命令参数 title: moveit_joint_task参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-moveit_task: auto-moveit_task:
@@ -85,42 +78,33 @@ moveit.arm_slider:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand moveit_task 的参数schema description: moveit_task的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand moveit_task 的参数schema
properties: properties:
cartesian: cartesian:
default: false default: false
description: '参数: cartesian'
type: string type: string
move_group: move_group:
description: '参数: move_group'
type: string type: string
offsets: offsets:
default: default:
- 0 - 0
- 0 - 0
- 0 - 0
description: '参数: offsets'
type: string type: string
position: position:
description: '参数: position'
type: string type: string
quaternion: quaternion:
description: '参数: quaternion'
type: string type: string
retry: retry:
default: 10 default: 10
description: '参数: retry'
type: string type: string
speed: speed:
default: 1 default: 1
description: '参数: speed'
type: string type: string
target_link: target_link:
description: '参数: target_link'
type: string type: string
required: required:
- move_group - move_group
@@ -130,7 +114,7 @@ moveit.arm_slider:
result: {} result: {}
required: required:
- goal - goal
title: moveit_task 命令参数 title: moveit_task参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-pick_and_place: auto-pick_and_place:
@@ -141,14 +125,12 @@ moveit.arm_slider:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand pick_and_place 的参数schema description: pick_and_place的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand pick_and_place 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -156,7 +138,7 @@ moveit.arm_slider:
result: {} result: {}
required: required:
- goal - goal
title: pick_and_place 命令参数 title: pick_and_place参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-post_init: auto-post_init:
@@ -167,14 +149,12 @@ moveit.arm_slider:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand post_init 的参数schema description: post_init的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand post_init 的参数schema
properties: properties:
ros_node: ros_node:
description: '参数: ros_node'
type: string type: string
required: required:
- ros_node - ros_node
@@ -182,7 +162,7 @@ moveit.arm_slider:
result: {} result: {}
required: required:
- goal - goal
title: post_init 命令参数 title: post_init参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-resource_manager: auto-resource_manager:
@@ -194,17 +174,14 @@ moveit.arm_slider:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand resource_manager 的参数schema description: resource_manager的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand resource_manager 的参数schema
properties: properties:
parent_link: parent_link:
description: '参数: parent_link'
type: string type: string
resource: resource:
description: '参数: resource'
type: string type: string
required: required:
- resource - resource
@@ -213,7 +190,7 @@ moveit.arm_slider:
result: {} result: {}
required: required:
- goal - goal
title: resource_manager 命令参数 title: resource_manager参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_position: auto-set_position:
@@ -224,14 +201,12 @@ moveit.arm_slider:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_position 的参数schema description: set_position的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_position 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -239,7 +214,7 @@ moveit.arm_slider:
result: {} result: {}
required: required:
- goal - goal
title: set_position 命令参数 title: set_position参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_status: auto-set_status:
@@ -250,14 +225,12 @@ moveit.arm_slider:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_status 的参数schema description: set_status的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_status 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -265,7 +238,7 @@ moveit.arm_slider:
result: {} result: {}
required: required:
- goal - goal
title: set_status 命令参数 title: set_status参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-wait_for_resource_action: auto-wait_for_resource_action:
@@ -275,18 +248,17 @@ moveit.arm_slider:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand wait_for_resource_action 的参数schema description: wait_for_resource_action的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand wait_for_resource_action 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: wait_for_resource_action 命令参数 title: wait_for_resource_action参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
pick_and_place: pick_and_place:
@@ -434,33 +406,24 @@ moveit.arm_slider:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} device_config:
goal: type: string
description: UniLabJsonCommand __init__ 的参数schema joint_poses:
properties: type: string
device_config: moveit_type:
description: '参数: device_config' type: string
type: string rotation:
joint_poses: type: string
description: '参数: joint_poses' required:
type: string - moveit_type
moveit_type: - joint_poses
description: '参数: moveit_type' type: object
type: string data:
rotation: properties: {}
description: '参数: rotation' required: []
type: string type: object
required:
- moveit_type
- joint_poses
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
model: model:
mesh: arm_slider mesh: arm_slider
type: device type: device
@@ -474,18 +437,17 @@ moveit.toyo_xyz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand check_tf_update_actions 的参数schema description: check_tf_update_actions的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand check_tf_update_actions 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: check_tf_update_actions 命令参数 title: check_tf_update_actions参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-moveit_joint_task: auto-moveit_joint_task:
@@ -500,28 +462,22 @@ moveit.toyo_xyz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand moveit_joint_task 的参数schema description: moveit_joint_task的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand moveit_joint_task 的参数schema
properties: properties:
joint_names: joint_names:
description: '参数: joint_names'
type: string type: string
joint_positions: joint_positions:
description: '参数: joint_positions'
type: string type: string
move_group: move_group:
description: '参数: move_group'
type: string type: string
retry: retry:
default: 10 default: 10
description: '参数: retry'
type: string type: string
speed: speed:
default: 1 default: 1
description: '参数: speed'
type: string type: string
required: required:
- move_group - move_group
@@ -530,7 +486,7 @@ moveit.toyo_xyz:
result: {} result: {}
required: required:
- goal - goal
title: moveit_joint_task 命令参数 title: moveit_joint_task参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-moveit_task: auto-moveit_task:
@@ -551,42 +507,33 @@ moveit.toyo_xyz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand moveit_task 的参数schema description: moveit_task的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand moveit_task 的参数schema
properties: properties:
cartesian: cartesian:
default: false default: false
description: '参数: cartesian'
type: string type: string
move_group: move_group:
description: '参数: move_group'
type: string type: string
offsets: offsets:
default: default:
- 0 - 0
- 0 - 0
- 0 - 0
description: '参数: offsets'
type: string type: string
position: position:
description: '参数: position'
type: string type: string
quaternion: quaternion:
description: '参数: quaternion'
type: string type: string
retry: retry:
default: 10 default: 10
description: '参数: retry'
type: string type: string
speed: speed:
default: 1 default: 1
description: '参数: speed'
type: string type: string
target_link: target_link:
description: '参数: target_link'
type: string type: string
required: required:
- move_group - move_group
@@ -596,7 +543,7 @@ moveit.toyo_xyz:
result: {} result: {}
required: required:
- goal - goal
title: moveit_task 命令参数 title: moveit_task参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-pick_and_place: auto-pick_and_place:
@@ -607,14 +554,12 @@ moveit.toyo_xyz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand pick_and_place 的参数schema description: pick_and_place的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand pick_and_place 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -622,7 +567,7 @@ moveit.toyo_xyz:
result: {} result: {}
required: required:
- goal - goal
title: pick_and_place 命令参数 title: pick_and_place参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-post_init: auto-post_init:
@@ -633,14 +578,12 @@ moveit.toyo_xyz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand post_init 的参数schema description: post_init的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand post_init 的参数schema
properties: properties:
ros_node: ros_node:
description: '参数: ros_node'
type: string type: string
required: required:
- ros_node - ros_node
@@ -648,7 +591,7 @@ moveit.toyo_xyz:
result: {} result: {}
required: required:
- goal - goal
title: post_init 命令参数 title: post_init参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-resource_manager: auto-resource_manager:
@@ -660,17 +603,14 @@ moveit.toyo_xyz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand resource_manager 的参数schema description: resource_manager的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand resource_manager 的参数schema
properties: properties:
parent_link: parent_link:
description: '参数: parent_link'
type: string type: string
resource: resource:
description: '参数: resource'
type: string type: string
required: required:
- resource - resource
@@ -679,7 +619,7 @@ moveit.toyo_xyz:
result: {} result: {}
required: required:
- goal - goal
title: resource_manager 命令参数 title: resource_manager参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_position: auto-set_position:
@@ -690,14 +630,12 @@ moveit.toyo_xyz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_position 的参数schema description: set_position的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_position 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -705,7 +643,7 @@ moveit.toyo_xyz:
result: {} result: {}
required: required:
- goal - goal
title: set_position 命令参数 title: set_position参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_status: auto-set_status:
@@ -716,14 +654,12 @@ moveit.toyo_xyz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_status 的参数schema description: set_status的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_status 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -731,7 +667,7 @@ moveit.toyo_xyz:
result: {} result: {}
required: required:
- goal - goal
title: set_status 命令参数 title: set_status参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-wait_for_resource_action: auto-wait_for_resource_action:
@@ -741,18 +677,17 @@ moveit.toyo_xyz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand wait_for_resource_action 的参数schema description: wait_for_resource_action的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand wait_for_resource_action 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: wait_for_resource_action 命令参数 title: wait_for_resource_action参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
pick_and_place: pick_and_place:
@@ -900,33 +835,24 @@ moveit.toyo_xyz:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} device_config:
goal: type: string
description: UniLabJsonCommand __init__ 的参数schema joint_poses:
properties: type: string
device_config: moveit_type:
description: '参数: device_config' type: string
type: string rotation:
joint_poses: type: string
description: '参数: joint_poses' required:
type: string - moveit_type
moveit_type: - joint_poses
description: '参数: moveit_type' type: object
type: string data:
rotation: properties: {}
description: '参数: rotation' required: []
type: string type: object
required:
- moveit_type
- joint_poses
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
model: model:
mesh: toyo_xyz mesh: toyo_xyz
type: device type: device

145
unilabos/registry/devices/organic_miscellaneous.yaml
View File

@@ -9,14 +9,12 @@ rotavap.one:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand cmd_write 的参数schema description: cmd_write的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand cmd_write 的参数schema
properties: properties:
cmd: cmd:
description: '参数: cmd'
type: string type: string
required: required:
- cmd - cmd
@@ -24,7 +22,7 @@ rotavap.one:
result: {} result: {}
required: required:
- goal - goal
title: cmd_write 命令参数 title: cmd_write参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-main_loop: auto-main_loop:
@@ -34,18 +32,17 @@ rotavap.one:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand main_loop 的参数schema description: main_loop的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand main_loop 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: main_loop 命令参数 title: main_loop参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_pump_time: auto-set_pump_time:
@@ -56,14 +53,12 @@ rotavap.one:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_pump_time 的参数schema description: set_pump_time的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_pump_time 的参数schema
properties: properties:
time: time:
description: '参数: time'
type: string type: string
required: required:
- time - time
@@ -71,7 +66,7 @@ rotavap.one:
result: {} result: {}
required: required:
- goal - goal
title: set_pump_time 命令参数 title: set_pump_time参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_rotate_time: auto-set_rotate_time:
@@ -82,14 +77,12 @@ rotavap.one:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_rotate_time 的参数schema description: set_rotate_time的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_rotate_time 的参数schema
properties: properties:
time: time:
description: '参数: time'
type: string type: string
required: required:
- time - time
@@ -97,7 +90,7 @@ rotavap.one:
result: {} result: {}
required: required:
- goal - goal
title: set_rotate_time 命令参数 title: set_rotate_time参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_timer: auto-set_timer:
@@ -108,14 +101,12 @@ rotavap.one:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_timer 的参数schema description: set_timer的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_timer 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -123,7 +114,7 @@ rotavap.one:
result: {} result: {}
required: required:
- goal - goal
title: set_timer 命令参数 title: set_timer参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
set_timer: set_timer:
@@ -180,27 +171,20 @@ rotavap.one:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} port:
goal: type: string
description: UniLabJsonCommand __init__ 的参数schema rate:
properties: default: 9600
port: type: string
description: '参数: port' required:
type: string - port
rate: type: object
default: 9600 data:
description: '参数: rate' properties: {}
type: integer required: []
required: type: object
- port
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
separator.homemade: separator.homemade:
class: class:
action_value_mappings: action_value_mappings:
@@ -211,18 +195,17 @@ separator.homemade:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand read_sensor_loop 的参数schema description: read_sensor_loop的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand read_sensor_loop 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: read_sensor_loop 命令参数 title: read_sensor_loop参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-stir: auto-stir:
@@ -235,30 +218,26 @@ separator.homemade:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand stir 的参数schema description: stir的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand stir 的参数schema
properties: properties:
settling_time: settling_time:
default: 10 default: 10
description: '参数: settling_time'
type: number type: number
stir_speed: stir_speed:
default: 300 default: 300
description: '参数: stir_speed'
type: number type: number
stir_time: stir_time:
default: 10 default: 10
description: '参数: stir_time'
type: number type: number
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: stir 命令参数 title: stir参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-valve_open: auto-valve_open:
@@ -270,17 +249,14 @@ separator.homemade:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand valve_open 的参数schema description: valve_open的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand valve_open 的参数schema
properties: properties:
condition: condition:
description: '参数: condition'
type: string type: string
value: value:
description: '参数: value'
type: string type: string
required: required:
- condition - condition
@@ -289,7 +265,7 @@ separator.homemade:
result: {} result: {}
required: required:
- goal - goal
title: valve_open 命令参数 title: valve_open参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-valve_open_cmd: auto-valve_open_cmd:
@@ -300,14 +276,12 @@ separator.homemade:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand valve_open_cmd 的参数schema description: valve_open_cmd的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand valve_open_cmd 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -315,7 +289,7 @@ separator.homemade:
result: {} result: {}
required: required:
- goal - goal
title: valve_open_cmd 命令参数 title: valve_open_cmd参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-write: auto-write:
@@ -326,14 +300,12 @@ separator.homemade:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand write 的参数schema description: write的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand write 的参数schema
properties: properties:
data: data:
description: '参数: data'
type: string type: string
required: required:
- data - data
@@ -341,7 +313,7 @@ separator.homemade:
result: {} result: {}
required: required:
- goal - goal
title: write 命令参数 title: write参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
stir: stir:
@@ -457,32 +429,23 @@ separator.homemade:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} baudrate_executor:
goal: default: 115200
description: UniLabJsonCommand __init__ 的参数schema type: integer
properties: baudrate_sensor:
baudrate_executor: default: 115200
default: 115200 type: integer
description: '参数: baudrate_executor' port_executor:
type: integer type: string
baudrate_sensor: port_sensor:
default: 115200 type: string
description: '参数: baudrate_sensor' required:
type: integer - port_executor
port_executor: - port_sensor
description: '参数: port_executor' type: object
type: string data:
port_sensor: properties: {}
description: '参数: port_sensor' required: []
type: string type: object
required:
- port_executor
- port_sensor
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object

299
unilabos/registry/devices/pump_and_valve.yaml
View File

@@ -8,18 +8,17 @@ solenoid_valve:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand close 的参数schema description: close的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand close 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: close 命令参数 title: close参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-is_closed: auto-is_closed:
@@ -29,18 +28,17 @@ solenoid_valve:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand is_closed 的参数schema description: is_closed的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand is_closed 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: is_closed 命令参数 title: is_closed参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-is_open: auto-is_open:
@@ -50,18 +48,17 @@ solenoid_valve:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand is_open 的参数schema description: is_open的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand is_open 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: is_open 命令参数 title: is_open参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-open: auto-open:
@@ -71,18 +68,17 @@ solenoid_valve:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand open 的参数schema description: open的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand open 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: open 命令参数 title: open参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-read_data: auto-read_data:
@@ -92,18 +88,17 @@ solenoid_valve:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand read_data 的参数schema description: read_data的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand read_data 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: read_data 命令参数 title: read_data参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-send_command: auto-send_command:
@@ -114,14 +109,12 @@ solenoid_valve:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand send_command 的参数schema description: send_command的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand send_command 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -129,7 +122,7 @@ solenoid_valve:
result: {} result: {}
required: required:
- goal - goal
title: send_command 命令参数 title: send_command参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_valve_position: auto-set_valve_position:
@@ -140,14 +133,12 @@ solenoid_valve:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_valve_position 的参数schema description: set_valve_position的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_valve_position 的参数schema
properties: properties:
position: position:
description: '参数: position'
type: string type: string
required: required:
- position - position
@@ -155,7 +146,7 @@ solenoid_valve:
result: {} result: {}
required: required:
- goal - goal
title: set_valve_position 命令参数 title: set_valve_position参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
set_valve_position: set_valve_position:
@@ -210,23 +201,23 @@ solenoid_valve:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} io_device_port:
goal: type: string
description: UniLabJsonCommand __init__ 的参数schema required:
properties: - io_device_port
io_device_port: type: object
description: '参数: io_device_port' data:
type: string properties:
required: status:
- io_device_port type: string
type: object valve_position:
result: {} type: string
required: required:
- goal - status
title: __init__ 命令参数 - valve_position
type: object type: object
solenoid_valve.mock: solenoid_valve.mock:
class: class:
action_value_mappings: action_value_mappings:
@@ -237,18 +228,17 @@ solenoid_valve.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand close 的参数schema description: close的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand close 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: close 命令参数 title: close参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-is_closed: auto-is_closed:
@@ -258,18 +248,17 @@ solenoid_valve.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand is_closed 的参数schema description: is_closed的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand is_closed 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: is_closed 命令参数 title: is_closed参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-is_open: auto-is_open:
@@ -279,18 +268,17 @@ solenoid_valve.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand is_open 的参数schema description: is_open的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand is_open 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: is_open 命令参数 title: is_open参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-open: auto-open:
@@ -300,18 +288,17 @@ solenoid_valve.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand open 的参数schema description: open的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand open 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: open 命令参数 title: open参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_valve_position: auto-set_valve_position:
@@ -322,14 +309,12 @@ solenoid_valve.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_valve_position 的参数schema description: set_valve_position的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_valve_position 的参数schema
properties: properties:
position: position:
description: '参数: position'
type: string type: string
required: required:
- position - position
@@ -337,7 +322,7 @@ solenoid_valve.mock:
result: {} result: {}
required: required:
- goal - goal
title: set_valve_position 命令参数 title: set_valve_position参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
close: close:
@@ -429,23 +414,23 @@ solenoid_valve.mock:
side: SOUTH side: SOUTH
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} port:
goal: default: COM6
description: UniLabJsonCommand __init__ 的参数schema type: string
properties: required: []
port: type: object
default: COM6 data:
description: '参数: port' properties:
type: string status:
required: [] type: string
type: object valve_position:
result: {} type: string
required: required:
- goal - status
title: __init__ 命令参数 - valve_position
type: object type: object
syringe_pump_with_valve.runze: syringe_pump_with_valve.runze:
class: class:
action_value_mappings: action_value_mappings:
@@ -456,18 +441,17 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand close 的参数schema description: close的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand close 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: close 命令参数 title: close参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-initialize: auto-initialize:
@@ -477,18 +461,17 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand initialize 的参数schema description: initialize的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand initialize 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: initialize 命令参数 title: initialize参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-pull_plunger: auto-pull_plunger:
@@ -499,14 +482,12 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand pull_plunger 的参数schema description: pull_plunger的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand pull_plunger 的参数schema
properties: properties:
volume: volume:
description: '参数: volume'
type: number type: number
required: required:
- volume - volume
@@ -514,7 +495,7 @@ syringe_pump_with_valve.runze:
result: {} result: {}
required: required:
- goal - goal
title: pull_plunger 命令参数 title: pull_plunger参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-push_plunger: auto-push_plunger:
@@ -525,14 +506,12 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand push_plunger 的参数schema description: push_plunger的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand push_plunger 的参数schema
properties: properties:
volume: volume:
description: '参数: volume'
type: number type: number
required: required:
- volume - volume
@@ -540,7 +519,7 @@ syringe_pump_with_valve.runze:
result: {} result: {}
required: required:
- goal - goal
title: push_plunger 命令参数 title: push_plunger参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-query_aux_input_status_1: auto-query_aux_input_status_1:
@@ -550,18 +529,17 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand query_aux_input_status_1 的参数schema description: query_aux_input_status_1的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand query_aux_input_status_1 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: query_aux_input_status_1 命令参数 title: query_aux_input_status_1参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-query_aux_input_status_2: auto-query_aux_input_status_2:
@@ -571,18 +549,17 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand query_aux_input_status_2 的参数schema description: query_aux_input_status_2的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand query_aux_input_status_2 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: query_aux_input_status_2 命令参数 title: query_aux_input_status_2参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-query_backlash_position: auto-query_backlash_position:
@@ -592,18 +569,17 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand query_backlash_position 的参数schema description: query_backlash_position的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand query_backlash_position 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: query_backlash_position 命令参数 title: query_backlash_position参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-query_command_buffer_status: auto-query_command_buffer_status:
@@ -613,18 +589,17 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand query_command_buffer_status 的参数schema description: query_command_buffer_status的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand query_command_buffer_status 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: query_command_buffer_status 命令参数 title: query_command_buffer_status参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-query_software_version: auto-query_software_version:
@@ -634,18 +609,17 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand query_software_version 的参数schema description: query_software_version的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand query_software_version 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: query_software_version 命令参数 title: query_software_version参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-send_command: auto-send_command:
@@ -656,14 +630,12 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand send_command 的参数schema description: send_command的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand send_command 的参数schema
properties: properties:
full_command: full_command:
description: '参数: full_command'
type: string type: string
required: required:
- full_command - full_command
@@ -671,7 +643,7 @@ syringe_pump_with_valve.runze:
result: {} result: {}
required: required:
- goal - goal
title: send_command 命令参数 title: send_command参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_baudrate: auto-set_baudrate:
@@ -682,14 +654,12 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_baudrate 的参数schema description: set_baudrate的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_baudrate 的参数schema
properties: properties:
baudrate: baudrate:
description: '参数: baudrate'
type: string type: string
required: required:
- baudrate - baudrate
@@ -697,7 +667,7 @@ syringe_pump_with_valve.runze:
result: {} result: {}
required: required:
- goal - goal
title: set_baudrate 命令参数 title: set_baudrate参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_max_velocity: auto-set_max_velocity:
@@ -708,14 +678,12 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_max_velocity 的参数schema description: set_max_velocity的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_max_velocity 的参数schema
properties: properties:
velocity: velocity:
description: '参数: velocity'
type: number type: number
required: required:
- velocity - velocity
@@ -723,7 +691,7 @@ syringe_pump_with_valve.runze:
result: {} result: {}
required: required:
- goal - goal
title: set_max_velocity 命令参数 title: set_max_velocity参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_position: auto-set_position:
@@ -735,17 +703,14 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_position 的参数schema description: set_position的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_position 的参数schema
properties: properties:
max_velocity: max_velocity:
description: '参数: max_velocity'
type: number type: number
position: position:
description: '参数: position'
type: number type: number
required: required:
- position - position
@@ -753,7 +718,7 @@ syringe_pump_with_valve.runze:
result: {} result: {}
required: required:
- goal - goal
title: set_position 命令参数 title: set_position参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_valve_position: auto-set_valve_position:
@@ -764,14 +729,12 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_valve_position 的参数schema description: set_valve_position的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_valve_position 的参数schema
properties: properties:
position: position:
description: '参数: position'
type: string type: string
required: required:
- position - position
@@ -779,7 +742,7 @@ syringe_pump_with_valve.runze:
result: {} result: {}
required: required:
- goal - goal
title: set_valve_position 命令参数 title: set_valve_position参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_velocity_grade: auto-set_velocity_grade:
@@ -790,14 +753,12 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_velocity_grade 的参数schema description: set_velocity_grade的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_velocity_grade 的参数schema
properties: properties:
velocity: velocity:
description: '参数: velocity'
type: string type: string
required: required:
- velocity - velocity
@@ -805,7 +766,7 @@ syringe_pump_with_valve.runze:
result: {} result: {}
required: required:
- goal - goal
title: set_velocity_grade 命令参数 title: set_velocity_grade参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-stop_operation: auto-stop_operation:
@@ -815,18 +776,17 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand stop_operation 的参数schema description: stop_operation的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand stop_operation 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: stop_operation 命令参数 title: stop_operation参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-wait_error: auto-wait_error:
@@ -836,18 +796,17 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand wait_error 的参数schema description: wait_error的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand wait_error 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: wait_error 命令参数 title: wait_error参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
hardware_interface: hardware_interface:
@@ -870,31 +829,49 @@ syringe_pump_with_valve.runze:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} address:
goal: default: '1'
description: UniLabJsonCommand __init__ 的参数schema type: string
properties: max_volume:
address: default: 25.0
default: '1' type: number
description: '参数: address' mode:
type: string type: string
max_volume: port:
default: 25.0 type: string
description: '参数: max_volume' required:
type: number - port
mode: type: object
description: '参数: mode' data:
type: string properties:
port: max_velocity:
description: '参数: port' type: number
type: string mode:
required: type: integer
- port plunger_position:
type: object type: string
result: {} position:
required: type: number
- goal status:
title: __init__ 命令参数 type: string
type: object 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

48
unilabos/registry/devices/robot_agv.yaml
View File

@@ -11,22 +11,18 @@ agv.SEER:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand send 的参数schema description: send的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand send 的参数schema
properties: properties:
cmd: cmd:
description: '参数: cmd'
type: string type: string
ex_data: ex_data:
default: '' default: ''
description: '参数: ex_data'
type: string type: string
obj: obj:
default: receive_socket default: receive_socket
description: '参数: obj'
type: string type: string
required: required:
- cmd - cmd
@@ -34,7 +30,7 @@ agv.SEER:
result: {} result: {}
required: required:
- goal - goal
title: send 命令参数 title: send参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-send_nav_task: auto-send_nav_task:
@@ -45,14 +41,12 @@ agv.SEER:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand send_nav_task 的参数schema description: send_nav_task的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand send_nav_task 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -60,7 +54,7 @@ agv.SEER:
result: {} result: {}
required: required:
- goal - goal
title: send_nav_task 命令参数 title: send_nav_task参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
send_nav_task: send_nav_task:
@@ -119,20 +113,20 @@ agv.SEER:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} host:
goal: type: string
description: UniLabJsonCommand __init__ 的参数schema required:
properties: - host
host: type: object
description: '参数: host' data:
type: string properties:
required: pose:
- host type: array
type: object status:
result: {} type: string
required: required:
- goal - pose
title: __init__ 命令参数 - status
type: object type: object

75
unilabos/registry/devices/robot_arm.yaml
View File

@@ -8,18 +8,17 @@ robotic_arm.UR:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand arm_init 的参数schema description: arm_init的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand arm_init 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: arm_init 命令参数 title: arm_init参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-load_pose_data: auto-load_pose_data:
@@ -30,14 +29,12 @@ robotic_arm.UR:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand load_pose_data 的参数schema description: load_pose_data的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand load_pose_data 的参数schema
properties: properties:
data: data:
description: '参数: data'
type: string type: string
required: required:
- data - data
@@ -45,7 +42,7 @@ robotic_arm.UR:
result: {} result: {}
required: required:
- goal - goal
title: load_pose_data 命令参数 title: load_pose_data参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-load_pose_file: auto-load_pose_file:
@@ -56,14 +53,12 @@ robotic_arm.UR:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand load_pose_file 的参数schema description: load_pose_file的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand load_pose_file 的参数schema
properties: properties:
file: file:
description: '参数: file'
type: string type: string
required: required:
- file - file
@@ -71,7 +66,7 @@ robotic_arm.UR:
result: {} result: {}
required: required:
- goal - goal
title: load_pose_file 命令参数 title: load_pose_file参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-move_pos_task: auto-move_pos_task:
@@ -82,14 +77,12 @@ robotic_arm.UR:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand move_pos_task 的参数schema description: move_pos_task的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand move_pos_task 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -97,7 +90,7 @@ robotic_arm.UR:
result: {} result: {}
required: required:
- goal - goal
title: move_pos_task 命令参数 title: move_pos_task参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-reload_pose: auto-reload_pose:
@@ -107,18 +100,17 @@ robotic_arm.UR:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand reload_pose 的参数schema description: reload_pose的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand reload_pose 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: reload_pose 命令参数 title: reload_pose参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
move_pos_task: move_pos_task:
@@ -179,24 +171,29 @@ robotic_arm.UR:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} host:
goal: type: string
description: UniLabJsonCommand __init__ 的参数schema retry:
properties: default: 30
host: type: string
description: '参数: host' required:
type: string - host
retry: type: object
default: 30 data:
description: '参数: retry' properties:
type: integer arm_pose:
required: type: array
- host arm_status:
type: object type: string
result: {} gripper_pose:
required: type: number
- goal gripper_status:
title: __init__ 命令参数 type: string
type: object required:
- arm_pose
- gripper_pose
- arm_status
- gripper_status
type: object

193
unilabos/registry/devices/robot_gripper.yaml
View File

@@ -8,18 +8,17 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand data_loop 的参数schema description: data_loop的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand data_loop 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: data_loop 命令参数 title: data_loop参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-data_reader: auto-data_reader:
@@ -29,18 +28,17 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand data_reader 的参数schema description: data_reader的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand data_reader 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: data_reader 命令参数 title: data_reader参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-gripper_move: auto-gripper_move:
@@ -53,20 +51,16 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand gripper_move 的参数schema description: gripper_move的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand gripper_move 的参数schema
properties: properties:
force: force:
description: '参数: force'
type: string type: string
pos: pos:
description: '参数: pos'
type: string type: string
speed: speed:
description: '参数: speed'
type: string type: string
required: required:
- pos - pos
@@ -76,7 +70,7 @@ gripper.misumi_rz:
result: {} result: {}
required: required:
- goal - goal
title: gripper_move 命令参数 title: gripper_move参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-init_gripper: auto-init_gripper:
@@ -86,18 +80,17 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand init_gripper 的参数schema description: init_gripper的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand init_gripper 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: init_gripper 命令参数 title: init_gripper参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-modbus_crc: auto-modbus_crc:
@@ -108,14 +101,12 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand modbus_crc 的参数schema description: modbus_crc的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand modbus_crc 的参数schema
properties: properties:
data: data:
description: '参数: data'
type: string type: string
required: required:
- data - data
@@ -123,7 +114,7 @@ gripper.misumi_rz:
result: {} result: {}
required: required:
- goal - goal
title: modbus_crc 命令参数 title: modbus_crc参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-move_and_rotate: auto-move_and_rotate:
@@ -139,29 +130,22 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand move_and_rotate 的参数schema description: move_and_rotate的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand move_and_rotate 的参数schema
properties: properties:
grasp_F: grasp_F:
description: '参数: grasp_F'
type: string type: string
grasp_pos: grasp_pos:
description: '参数: grasp_pos'
type: string type: string
grasp_v: grasp_v:
description: '参数: grasp_v'
type: string type: string
spin_F: spin_F:
description: '参数: spin_F'
type: string type: string
spin_pos: spin_pos:
description: '参数: spin_pos'
type: string type: string
spin_v: spin_v:
description: '参数: spin_v'
type: string type: string
required: required:
- spin_pos - spin_pos
@@ -174,7 +158,7 @@ gripper.misumi_rz:
result: {} result: {}
required: required:
- goal - goal
title: move_and_rotate 命令参数 title: move_and_rotate参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-node_gripper_move: auto-node_gripper_move:
@@ -185,14 +169,12 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand node_gripper_move 的参数schema description: node_gripper_move的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand node_gripper_move 的参数schema
properties: properties:
cmd: cmd:
description: '参数: cmd'
type: string type: string
required: required:
- cmd - cmd
@@ -200,7 +182,7 @@ gripper.misumi_rz:
result: {} result: {}
required: required:
- goal - goal
title: node_gripper_move 命令参数 title: node_gripper_move参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-node_rotate_move: auto-node_rotate_move:
@@ -211,14 +193,12 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand node_rotate_move 的参数schema description: node_rotate_move的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand node_rotate_move 的参数schema
properties: properties:
cmd: cmd:
description: '参数: cmd'
type: string type: string
required: required:
- cmd - cmd
@@ -226,7 +206,7 @@ gripper.misumi_rz:
result: {} result: {}
required: required:
- goal - goal
title: node_rotate_move 命令参数 title: node_rotate_move参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-read_address: auto-read_address:
@@ -239,20 +219,16 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand read_address 的参数schema description: read_address的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand read_address 的参数schema
properties: properties:
address: address:
description: '参数: address'
type: string type: string
data_len: data_len:
description: '参数: data_len'
type: string type: string
id: id:
description: '参数: id'
type: string type: string
required: required:
- id - id
@@ -262,7 +238,7 @@ gripper.misumi_rz:
result: {} result: {}
required: required:
- goal - goal
title: read_address 命令参数 title: read_address参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-rotate_move_abs: auto-rotate_move_abs:
@@ -275,20 +251,16 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand rotate_move_abs 的参数schema description: rotate_move_abs的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand rotate_move_abs 的参数schema
properties: properties:
force: force:
description: '参数: force'
type: string type: string
pos: pos:
description: '参数: pos'
type: string type: string
speed: speed:
description: '参数: speed'
type: string type: string
required: required:
- pos - pos
@@ -298,7 +270,7 @@ gripper.misumi_rz:
result: {} result: {}
required: required:
- goal - goal
title: rotate_move_abs 命令参数 title: rotate_move_abs参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-send_cmd: auto-send_cmd:
@@ -312,23 +284,18 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand send_cmd 的参数schema description: send_cmd的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand send_cmd 的参数schema
properties: properties:
address: address:
description: '参数: address'
type: string type: string
data: data:
description: '参数: data'
type: string type: string
fun: fun:
description: '参数: fun'
type: string type: string
id: id:
description: '参数: id'
type: string type: string
required: required:
- id - id
@@ -339,7 +306,7 @@ gripper.misumi_rz:
result: {} result: {}
required: required:
- goal - goal
title: send_cmd 命令参数 title: send_cmd参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-wait_for_gripper: auto-wait_for_gripper:
@@ -349,18 +316,17 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand wait_for_gripper 的参数schema description: wait_for_gripper的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand wait_for_gripper 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: wait_for_gripper 命令参数 title: wait_for_gripper参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-wait_for_gripper_init: auto-wait_for_gripper_init:
@@ -370,18 +336,17 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand wait_for_gripper_init 的参数schema description: wait_for_gripper_init的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand wait_for_gripper_init 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: wait_for_gripper_init 命令参数 title: wait_for_gripper_init参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-wait_for_rotate: auto-wait_for_rotate:
@@ -391,18 +356,17 @@ gripper.misumi_rz:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand wait_for_rotate 的参数schema description: wait_for_rotate的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand wait_for_rotate 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: wait_for_rotate 命令参数 title: wait_for_rotate参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
execute_command_from_outer: execute_command_from_outer:
@@ -460,35 +424,29 @@ gripper.misumi_rz:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} baudrate:
goal: default: 115200
description: UniLabJsonCommand __init__ 的参数schema type: string
properties: id:
baudrate: default: 9
default: 115200 type: string
description: '参数: baudrate' port:
type: integer type: string
id: pos_error:
default: 9 default: -11
description: '参数: id' type: string
type: integer required:
port: - port
description: '参数: port' type: object
type: string data:
pos_error: properties:
default: -11 status:
description: '参数: pos_error' type: string
type: integer required:
required: - status
- port type: object
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
gripper.mock: gripper.mock:
class: class:
action_value_mappings: action_value_mappings:
@@ -503,31 +461,27 @@ gripper.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand edit_id 的参数schema description: edit_id的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand edit_id 的参数schema
properties: properties:
params: params:
default: '{}' default: '{}'
description: '参数: params'
type: string type: string
resource: resource:
default: default:
Gripper1: {} Gripper1: {}
description: '参数: resource'
type: object type: object
wf_name: wf_name:
default: gripper_run default: gripper_run
description: '参数: wf_name'
type: string type: string
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: edit_id 命令参数 title: edit_id参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-push_to: auto-push_to:
@@ -540,21 +494,17 @@ gripper.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand push_to 的参数schema description: push_to的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand push_to 的参数schema
properties: properties:
position: position:
description: '参数: position'
type: number type: number
torque: torque:
description: '参数: torque'
type: number type: number
velocity: velocity:
default: 0.0 default: 0.0
description: '参数: velocity'
type: number type: number
required: required:
- position - position
@@ -563,7 +513,7 @@ gripper.mock:
result: {} result: {}
required: required:
- goal - goal
title: push_to 命令参数 title: push_to参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
push_to: push_to:
@@ -654,16 +604,23 @@ gripper.mock:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties: {}
feedback: {} required: []
goal: type: object
description: UniLabJsonCommand __init__ 的参数schema data:
properties: {} properties:
required: [] position:
type: object type: number
result: {} status:
required: type: string
- goal torque:
title: __init__ 命令参数 type: number
type: object velocity:
type: number
required:
- position
- velocity
- torque
- status
type: object

162
unilabos/registry/devices/robot_linear_motion.yaml
View File

@@ -8,18 +8,17 @@ linear_motion.grbl:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand initialize 的参数schema description: initialize的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand initialize 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: initialize 命令参数 title: initialize参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-move_through_points: auto-move_through_points:
@@ -30,14 +29,12 @@ linear_motion.grbl:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand move_through_points 的参数schema description: move_through_points的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand move_through_points 的参数schema
properties: properties:
positions: positions:
description: '参数: positions'
type: array type: array
required: required:
- positions - positions
@@ -45,7 +42,7 @@ linear_motion.grbl:
result: {} result: {}
required: required:
- goal - goal
title: move_through_points 命令参数 title: move_through_points参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_position: auto-set_position:
@@ -56,14 +53,12 @@ linear_motion.grbl:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_position 的参数schema description: set_position的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_position 的参数schema
properties: properties:
position: position:
description: '参数: position'
type: string type: string
required: required:
- position - position
@@ -71,7 +66,7 @@ linear_motion.grbl:
result: {} result: {}
required: required:
- goal - goal
title: set_position 命令参数 title: set_position参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_spindle_speed: auto-set_spindle_speed:
@@ -83,18 +78,15 @@ linear_motion.grbl:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_spindle_speed 的参数schema description: set_spindle_speed的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_spindle_speed 的参数schema
properties: properties:
max_velocity: max_velocity:
default: 500 default: 500
description: '参数: max_velocity'
type: number type: number
spindle_speed: spindle_speed:
description: '参数: spindle_speed'
type: number type: number
required: required:
- spindle_speed - spindle_speed
@@ -102,7 +94,7 @@ linear_motion.grbl:
result: {} result: {}
required: required:
- goal - goal
title: set_spindle_speed 命令参数 title: set_spindle_speed参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-stop_operation: auto-stop_operation:
@@ -112,18 +104,17 @@ linear_motion.grbl:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand stop_operation 的参数schema description: stop_operation的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand stop_operation 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: stop_operation 命令参数 title: stop_operation参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-wait_error: auto-wait_error:
@@ -133,18 +124,17 @@ linear_motion.grbl:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand wait_error 的参数schema description: wait_error的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand wait_error 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: wait_error 命令参数 title: wait_error参数
type: object type: object
type: UniLabJsonCommandAsync type: UniLabJsonCommandAsync
move_through_points: move_through_points:
@@ -502,37 +492,38 @@ linear_motion.grbl:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} address:
goal: default: '1'
description: UniLabJsonCommand __init__ 的参数schema type: string
properties: limits:
address: default:
default: '1' - -150
description: '参数: address' - 150
type: string - -200
limits: - 0
default: - -80
- -150 - 0
- 150 type: array
- -200 port:
- 0 type: string
- -80 required:
- 0 - port
description: '参数: limits' type: object
type: array data:
port: properties:
description: '参数: port' position:
type: string type: string
required: spindle_speed:
- port type: number
type: object status:
result: {} type: string
required: required:
- goal - status
title: __init__ 命令参数 - position
type: object - spindle_speed
type: object
motor.iCL42: motor.iCL42:
class: class:
action_value_mappings: action_value_mappings:
@@ -546,20 +537,16 @@ motor.iCL42:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand execute_run_motor 的参数schema description: execute_run_motor的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand execute_run_motor 的参数schema
properties: properties:
mode: mode:
description: '参数: mode'
type: string type: string
position: position:
description: '参数: position'
type: number type: number
velocity: velocity:
description: '参数: velocity'
type: integer type: integer
required: required:
- mode - mode
@@ -569,7 +556,7 @@ motor.iCL42:
result: {} result: {}
required: required:
- goal - goal
title: execute_run_motor 命令参数 title: execute_run_motor参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-init_device: auto-init_device:
@@ -579,18 +566,17 @@ motor.iCL42:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand init_device 的参数schema description: init_device的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand init_device 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: init_device 命令参数 title: init_device参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-run_motor: auto-run_motor:
@@ -603,20 +589,16 @@ motor.iCL42:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand run_motor 的参数schema description: run_motor的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand run_motor 的参数schema
properties: properties:
mode: mode:
description: '参数: mode'
type: string type: string
position: position:
description: '参数: position'
type: number type: number
velocity: velocity:
description: '参数: velocity'
type: integer type: integer
required: required:
- mode - mode
@@ -626,7 +608,7 @@ motor.iCL42:
result: {} result: {}
required: required:
- goal - goal
title: run_motor 命令参数 title: run_motor参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
execute_command_from_outer: execute_command_from_outer:
@@ -686,24 +668,26 @@ motor.iCL42:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} device_address:
goal: default: 1
description: UniLabJsonCommand __init__ 的参数schema type: integer
properties: device_com:
device_address: default: COM9
default: 1 type: string
description: '参数: device_address' required: []
type: integer type: object
device_com: data:
default: COM9 properties:
description: '参数: device_com' is_executing_run:
type: string type: boolean
required: [] motor_position:
type: object type: integer
result: {} success:
required: type: boolean
- goal required:
title: __init__ 命令参数 - motor_position
type: object - is_executing_run
- success
type: object

120
unilabos/registry/devices/sim_nodes.yaml
View File

@@ -8,18 +8,17 @@ lh_joint_publisher:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand check_tf_update_actions 的参数schema description: check_tf_update_actions的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand check_tf_update_actions 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: check_tf_update_actions 命令参数 title: check_tf_update_actions参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-find_resource_parent: auto-find_resource_parent:
@@ -30,14 +29,12 @@ lh_joint_publisher:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand find_resource_parent 的参数schema description: find_resource_parent的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand find_resource_parent 的参数schema
properties: properties:
resource_id: resource_id:
description: '参数: resource_id'
type: string type: string
required: required:
- resource_id - resource_id
@@ -45,7 +42,7 @@ lh_joint_publisher:
result: {} result: {}
required: required:
- goal - goal
title: find_resource_parent 命令参数 title: find_resource_parent参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-inverse_kinematics: auto-inverse_kinematics:
@@ -62,32 +59,24 @@ lh_joint_publisher:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand inverse_kinematics 的参数schema description: inverse_kinematics的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand inverse_kinematics 的参数schema
properties: properties:
parent_id: parent_id:
description: '参数: parent_id'
type: string type: string
x: x:
description: '参数: x'
type: string type: string
x_joint: x_joint:
description: '参数: x_joint'
type: object type: object
y: y:
description: '参数: y'
type: string type: string
y_joint: y_joint:
description: '参数: y_joint'
type: object type: object
z: z:
description: '参数: z'
type: string type: string
z_joint: z_joint:
description: '参数: z_joint'
type: object type: object
required: required:
- x - x
@@ -101,7 +90,7 @@ lh_joint_publisher:
result: {} result: {}
required: required:
- goal - goal
title: inverse_kinematics 命令参数 title: inverse_kinematics参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-lh_joint_action_callback: auto-lh_joint_action_callback:
@@ -112,14 +101,12 @@ lh_joint_publisher:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand lh_joint_action_callback 的参数schema description: lh_joint_action_callback的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand lh_joint_action_callback 的参数schema
properties: properties:
goal_handle: goal_handle:
description: '参数: goal_handle'
type: string type: string
required: required:
- goal_handle - goal_handle
@@ -127,7 +114,7 @@ lh_joint_publisher:
result: {} result: {}
required: required:
- goal - goal
title: lh_joint_action_callback 命令参数 title: lh_joint_action_callback参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-lh_joint_pub_callback: auto-lh_joint_pub_callback:
@@ -137,18 +124,17 @@ lh_joint_publisher:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand lh_joint_pub_callback 的参数schema description: lh_joint_pub_callback的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: lh_joint_pub_callback 命令参数 title: lh_joint_pub_callback参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-move_joints: auto-move_joints:
@@ -167,39 +153,29 @@ lh_joint_publisher:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand move_joints 的参数schema description: move_joints的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand move_joints 的参数schema
properties: properties:
option: option:
description: '参数: option'
type: string type: string
resource_names: resource_names:
description: '参数: resource_names'
type: string type: string
speed: speed:
default: 0.1 default: 0.1
description: '参数: speed'
type: string type: string
x: x:
description: '参数: x'
type: string type: string
x_joint: x_joint:
description: '参数: x_joint'
type: string type: string
y: y:
description: '参数: y'
type: string type: string
y_joint: y_joint:
description: '参数: y_joint'
type: string type: string
z: z:
description: '参数: z'
type: string type: string
z_joint: z_joint:
description: '参数: z_joint'
type: string type: string
required: required:
- resource_names - resource_names
@@ -211,7 +187,7 @@ lh_joint_publisher:
result: {} result: {}
required: required:
- goal - goal
title: move_joints 命令参数 title: move_joints参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-move_to: auto-move_to:
@@ -224,20 +200,16 @@ lh_joint_publisher:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand move_to 的参数schema description: move_to的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand move_to 的参数schema
properties: properties:
joint_positions: joint_positions:
description: '参数: joint_positions'
type: string type: string
parent_id: parent_id:
description: '参数: parent_id'
type: string type: string
speed: speed:
description: '参数: speed'
type: string type: string
required: required:
- joint_positions - joint_positions
@@ -247,7 +219,7 @@ lh_joint_publisher:
result: {} result: {}
required: required:
- goal - goal
title: move_to 命令参数 title: move_to参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-resource_move: auto-resource_move:
@@ -260,20 +232,16 @@ lh_joint_publisher:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand resource_move 的参数schema description: resource_move的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand resource_move 的参数schema
properties: properties:
channels: channels:
description: '参数: channels'
type: array type: array
link_name: link_name:
description: '参数: link_name'
type: string type: string
resource_id: resource_id:
description: '参数: resource_id'
type: string type: string
required: required:
- resource_id - resource_id
@@ -283,7 +251,7 @@ lh_joint_publisher:
result: {} result: {}
required: required:
- goal - goal
title: resource_move 命令参数 title: resource_move参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-send_resource_action: auto-send_resource_action:
@@ -295,17 +263,14 @@ lh_joint_publisher:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand send_resource_action 的参数schema description: send_resource_action的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand send_resource_action 的参数schema
properties: properties:
link_name: link_name:
description: '参数: link_name'
type: string type: string
resource_id_list: resource_id_list:
description: '参数: resource_id_list'
type: array type: array
required: required:
- resource_id_list - resource_id_list
@@ -314,7 +279,7 @@ lh_joint_publisher:
result: {} result: {}
required: required:
- goal - goal
title: send_resource_action 命令参数 title: send_resource_action参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
@@ -324,32 +289,23 @@ lh_joint_publisher:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} device_id:
goal: default: lh_joint_publisher
description: UniLabJsonCommand __init__ 的参数schema type: string
properties: rate:
device_id: default: 50
default: lh_joint_publisher type: string
description: '参数: device_id' resource_tracker:
type: string type: string
rate: resources_config:
default: 50 type: array
description: '参数: rate' required:
type: integer - resources_config
resource_tracker: - resource_tracker
description: '参数: resource_tracker' type: object
type: string data:
resources_config: properties: {}
description: '参数: resources_config' required: []
type: array type: object
required:
- resources_config
- resource_tracker
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object

251
unilabos/registry/devices/temperature.yaml
View File

@@ -12,23 +12,18 @@ chiller:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand build_modbus_frame 的参数schema description: build_modbus_frame的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand build_modbus_frame 的参数schema
properties: properties:
device_address: device_address:
description: '参数: device_address'
type: integer type: integer
function_code: function_code:
description: '参数: function_code'
type: integer type: integer
register_address: register_address:
description: '参数: register_address'
type: integer type: integer
value: value:
description: '参数: value'
type: integer type: integer
required: required:
- device_address - device_address
@@ -39,7 +34,7 @@ chiller:
result: {} result: {}
required: required:
- goal - goal
title: build_modbus_frame 命令参数 title: build_modbus_frame参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-convert_temperature_to_modbus_value: auto-convert_temperature_to_modbus_value:
@@ -51,18 +46,15 @@ chiller:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand convert_temperature_to_modbus_value 的参数schema description: convert_temperature_to_modbus_value的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand convert_temperature_to_modbus_value 的参数schema
properties: properties:
decimal_points: decimal_points:
default: 1 default: 1
description: '参数: decimal_points'
type: integer type: integer
temperature: temperature:
description: '参数: temperature'
type: number type: number
required: required:
- temperature - temperature
@@ -70,7 +62,7 @@ chiller:
result: {} result: {}
required: required:
- goal - goal
title: convert_temperature_to_modbus_value 命令参数 title: convert_temperature_to_modbus_value参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-modbus_crc: auto-modbus_crc:
@@ -81,14 +73,12 @@ chiller:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand modbus_crc 的参数schema description: modbus_crc的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand modbus_crc 的参数schema
properties: properties:
data: data:
description: '参数: data'
type: string type: string
required: required:
- data - data
@@ -96,7 +86,7 @@ chiller:
result: {} result: {}
required: required:
- goal - goal
title: modbus_crc 命令参数 title: modbus_crc参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_temperature: auto-set_temperature:
@@ -107,14 +97,12 @@ chiller:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_temperature 的参数schema description: set_temperature的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_temperature 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -122,7 +110,7 @@ chiller:
result: {} result: {}
required: required:
- goal - goal
title: set_temperature 命令参数 title: set_temperature参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-stop: auto-stop:
@@ -132,18 +120,17 @@ chiller:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand stop 的参数schema description: stop的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand stop 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: stop 命令参数 title: stop参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
set_temperature: set_temperature:
@@ -200,27 +187,20 @@ chiller:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} port:
goal: type: string
description: UniLabJsonCommand __init__ 的参数schema rate:
properties: default: 9600
port: type: string
description: '参数: port' required:
type: string - port
rate: type: object
default: 9600 data:
description: '参数: rate' properties: {}
type: integer required: []
required: type: object
- port
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
heaterstirrer.dalong: heaterstirrer.dalong:
class: class:
action_value_mappings: action_value_mappings:
@@ -231,18 +211,17 @@ heaterstirrer.dalong:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand close 的参数schema description: close的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand close 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: close 命令参数 title: close参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-heatchill: auto-heatchill:
@@ -258,33 +237,26 @@ heaterstirrer.dalong:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand heatchill 的参数schema description: heatchill的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand heatchill 的参数schema
properties: properties:
purpose: purpose:
default: reaction default: reaction
description: '参数: purpose'
type: string type: string
stir: stir:
default: true default: true
description: '参数: stir'
type: boolean type: boolean
stir_speed: stir_speed:
default: 300 default: 300
description: '参数: stir_speed'
type: number type: number
temp: temp:
description: '参数: temp'
type: number type: number
time: time:
default: 3600 default: 3600
description: '参数: time'
type: number type: number
vessel: vessel:
description: '参数: vessel'
type: string type: string
required: required:
- vessel - vessel
@@ -293,7 +265,7 @@ heaterstirrer.dalong:
result: {} result: {}
required: required:
- goal - goal
title: heatchill 命令参数 title: heatchill参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_stir_speed: auto-set_stir_speed:
@@ -304,14 +276,12 @@ heaterstirrer.dalong:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_stir_speed 的参数schema description: set_stir_speed的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_stir_speed 的参数schema
properties: properties:
speed: speed:
description: '参数: speed'
type: number type: number
required: required:
- speed - speed
@@ -319,7 +289,7 @@ heaterstirrer.dalong:
result: {} result: {}
required: required:
- goal - goal
title: set_stir_speed 命令参数 title: set_stir_speed参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_temp_inner: auto-set_temp_inner:
@@ -331,18 +301,15 @@ heaterstirrer.dalong:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_temp_inner 的参数schema description: set_temp_inner的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_temp_inner 的参数schema
properties: properties:
temp: temp:
description: '参数: temp'
type: number type: number
type: type:
default: warning default: warning
description: '参数: type'
type: string type: string
required: required:
- temp - temp
@@ -350,7 +317,7 @@ heaterstirrer.dalong:
result: {} result: {}
required: required:
- goal - goal
title: set_temp_inner 命令参数 title: set_temp_inner参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_temp_target: auto-set_temp_target:
@@ -361,14 +328,12 @@ heaterstirrer.dalong:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_temp_target 的参数schema description: set_temp_target的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_temp_target 的参数schema
properties: properties:
temp: temp:
description: '参数: temp'
type: string type: string
required: required:
- temp - temp
@@ -376,7 +341,7 @@ heaterstirrer.dalong:
result: {} result: {}
required: required:
- goal - goal
title: set_temp_target 命令参数 title: set_temp_target参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_temp_warning: auto-set_temp_warning:
@@ -387,14 +352,12 @@ heaterstirrer.dalong:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_temp_warning 的参数schema description: set_temp_warning的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_temp_warning 的参数schema
properties: properties:
temp: temp:
description: '参数: temp'
type: string type: string
required: required:
- temp - temp
@@ -402,7 +365,7 @@ heaterstirrer.dalong:
result: {} result: {}
required: required:
- goal - goal
title: set_temp_warning 命令参数 title: set_temp_warning参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
heatchill: heatchill:
@@ -582,31 +545,38 @@ heaterstirrer.dalong:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} baudrate:
goal: default: 9600
description: UniLabJsonCommand __init__ 的参数schema type: integer
properties: port:
baudrate: default: COM6
default: 9600 type: string
description: '参数: baudrate' temp_warning:
type: integer default: 50.0
port: type: string
default: COM6 required: []
description: '参数: port' type: object
type: string data:
temp_warning: properties:
default: 50.0 status:
description: '参数: temp_warning' type: string
type: number stir_speed:
required: [] type: number
type: object temp:
result: {} type: number
required: temp_target:
- goal type: number
title: __init__ 命令参数 temp_warning:
type: object type: number
required:
- status
- stir_speed
- temp
- temp_warning
- temp_target
type: object
tempsensor: tempsensor:
class: class:
action_value_mappings: action_value_mappings:
@@ -621,23 +591,18 @@ tempsensor:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand build_modbus_request 的参数schema description: build_modbus_request的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand build_modbus_request 的参数schema
properties: properties:
device_id: device_id:
description: '参数: device_id'
type: string type: string
function_code: function_code:
description: '参数: function_code'
type: string type: string
register_address: register_address:
description: '参数: register_address'
type: string type: string
register_count: register_count:
description: '参数: register_count'
type: string type: string
required: required:
- device_id - device_id
@@ -648,7 +613,7 @@ tempsensor:
result: {} result: {}
required: required:
- goal - goal
title: build_modbus_request 命令参数 title: build_modbus_request参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-calculate_crc: auto-calculate_crc:
@@ -659,14 +624,12 @@ tempsensor:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand calculate_crc 的参数schema description: calculate_crc的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand calculate_crc 的参数schema
properties: properties:
data: data:
description: '参数: data'
type: string type: string
required: required:
- data - data
@@ -674,7 +637,7 @@ tempsensor:
result: {} result: {}
required: required:
- goal - goal
title: calculate_crc 命令参数 title: calculate_crc参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-read_modbus_response: auto-read_modbus_response:
@@ -685,14 +648,12 @@ tempsensor:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand read_modbus_response 的参数schema description: read_modbus_response的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand read_modbus_response 的参数schema
properties: properties:
response: response:
description: '参数: response'
type: string type: string
required: required:
- response - response
@@ -700,7 +661,7 @@ tempsensor:
result: {} result: {}
required: required:
- goal - goal
title: read_modbus_response 命令参数 title: read_modbus_response参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-send_prototype_command: auto-send_prototype_command:
@@ -711,14 +672,12 @@ tempsensor:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand send_prototype_command 的参数schema description: send_prototype_command的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand send_prototype_command 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -726,7 +685,7 @@ tempsensor:
result: {} result: {}
required: required:
- goal - goal
title: send_prototype_command 命令参数 title: send_prototype_command参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_warning: auto-set_warning:
@@ -737,14 +696,12 @@ tempsensor:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_warning 的参数schema description: set_warning的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_warning 的参数schema
properties: properties:
command: command:
description: '参数: command'
type: string type: string
required: required:
- command - command
@@ -752,7 +709,7 @@ tempsensor:
result: {} result: {}
required: required:
- goal - goal
title: set_warning 命令参数 title: set_warning参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
set_warning: set_warning:
@@ -810,32 +767,26 @@ tempsensor:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} address:
goal: type: string
description: UniLabJsonCommand __init__ 的参数schema baudrate:
properties: default: 9600
address: type: string
description: '参数: address' port:
type: string type: string
baudrate: warning:
default: 9600 type: string
description: '参数: baudrate' required:
type: integer - port
port: - warning
description: '参数: port' - address
type: string type: object
warning: data:
description: '参数: warning' properties:
type: string value:
required: type: number
- port required:
- warning - value
- address type: object
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object

114
unilabos/registry/devices/vacuum_and_purge.yaml
View File

@@ -8,18 +8,17 @@ gas_source.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand close 的参数schema description: close的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand close 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: close 命令参数 title: close参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-is_closed: auto-is_closed:
@@ -29,18 +28,17 @@ gas_source.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand is_closed 的参数schema description: is_closed的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand is_closed 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: is_closed 命令参数 title: is_closed参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-is_open: auto-is_open:
@@ -50,18 +48,17 @@ gas_source.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand is_open 的参数schema description: is_open的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand is_open 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: is_open 命令参数 title: is_open参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-open: auto-open:
@@ -71,18 +68,17 @@ gas_source.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand open 的参数schema description: open的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand open 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: open 命令参数 title: open参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_status: auto-set_status:
@@ -93,14 +89,12 @@ gas_source.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_status 的参数schema description: set_status的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_status 的参数schema
properties: properties:
string: string:
description: '参数: string'
type: string type: string
required: required:
- string - string
@@ -108,7 +102,7 @@ gas_source.mock:
result: {} result: {}
required: required:
- goal - goal
title: set_status 命令参数 title: set_status参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
close: close:
@@ -238,23 +232,20 @@ gas_source.mock:
label: out label: out
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} port:
goal: default: COM6
description: UniLabJsonCommand __init__ 的参数schema type: string
properties: required: []
port: type: object
default: COM6 data:
description: '参数: port' properties:
type: string status:
required: [] type: string
type: object required:
result: {} - status
required: type: object
- goal
title: __init__ 命令参数
type: object
vacuum_pump.mock: vacuum_pump.mock:
class: class:
action_value_mappings: action_value_mappings:
@@ -265,18 +256,17 @@ vacuum_pump.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand close 的参数schema description: close的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand close 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: close 命令参数 title: close参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-is_closed: auto-is_closed:
@@ -286,18 +276,17 @@ vacuum_pump.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand is_closed 的参数schema description: is_closed的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand is_closed 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: is_closed 命令参数 title: is_closed参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-is_open: auto-is_open:
@@ -307,18 +296,17 @@ vacuum_pump.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand is_open 的参数schema description: is_open的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand is_open 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: is_open 命令参数 title: is_open参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-open: auto-open:
@@ -328,18 +316,17 @@ vacuum_pump.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand open 的参数schema description: open的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand open 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: open 命令参数 title: open参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-set_status: auto-set_status:
@@ -350,14 +337,12 @@ vacuum_pump.mock:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand set_status 的参数schema description: set_status的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand set_status 的参数schema
properties: properties:
string: string:
description: '参数: string'
type: string type: string
required: required:
- string - string
@@ -365,7 +350,7 @@ vacuum_pump.mock:
result: {} result: {}
required: required:
- goal - goal
title: set_status 命令参数 title: set_status参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
close: close:
@@ -495,20 +480,17 @@ vacuum_pump.mock:
label: out label: out
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} port:
goal: default: COM6
description: UniLabJsonCommand __init__ 的参数schema type: string
properties: required: []
port: type: object
default: COM6 data:
description: '参数: port' properties:
type: string status:
required: [] type: string
type: object required:
result: {} - status
required: type: object
- goal
title: __init__ 命令参数
type: object

1215
unilabos/registry/devices/virtual_device.yaml
View File

File diff suppressed because it is too large Load Diff

79
unilabos/registry/devices/work_station.yaml
View File

@@ -2276,17 +2276,14 @@ workstation:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand create_ros_action_server 的参数schema description: create_ros_action_server的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand create_ros_action_server 的参数schema
properties: properties:
action_name: action_name:
description: '参数: action_name'
type: string type: string
action_value_mapping: action_value_mapping:
description: '参数: action_value_mapping'
type: string type: string
required: required:
- action_name - action_name
@@ -2295,7 +2292,7 @@ workstation:
result: {} result: {}
required: required:
- goal - goal
title: create_ros_action_server 命令参数 title: create_ros_action_server参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-execute_single_action: auto-execute_single_action:
@@ -2308,20 +2305,16 @@ workstation:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand execute_single_action 的参数schema description: execute_single_action的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand execute_single_action 的参数schema
properties: properties:
action_kwargs: action_kwargs:
description: '参数: action_kwargs'
type: string type: string
action_name: action_name:
description: '参数: action_name'
type: string type: string
device_id: device_id:
description: '参数: device_id'
type: string type: string
required: required:
- device_id - device_id
@@ -2331,7 +2324,7 @@ workstation:
result: {} result: {}
required: required:
- goal - goal
title: execute_single_action 命令参数 title: execute_single_action参数
type: object type: object
type: UniLabJsonCommandAsync type: UniLabJsonCommandAsync
auto-initialize_device: auto-initialize_device:
@@ -2343,17 +2336,14 @@ workstation:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand initialize_device 的参数schema description: initialize_device的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand initialize_device 的参数schema
properties: properties:
device_config: device_config:
description: '参数: device_config'
type: string type: string
device_id: device_id:
description: '参数: device_id'
type: string type: string
required: required:
- device_id - device_id
@@ -2362,7 +2352,7 @@ workstation:
result: {} result: {}
required: required:
- goal - goal
title: initialize_device 命令参数 title: initialize_device参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
@@ -2372,40 +2362,23 @@ workstation:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} children:
goal: type: object
description: UniLabJsonCommand __init__ 的参数schema device_id:
properties: type: string
args: protocol_type:
description: '参数: args' type: string
type: string resource_tracker:
children: type: string
description: '参数: children' required:
type: object - device_id
device_id: - children
description: '参数: device_id' - protocol_type
type: string - resource_tracker
kwargs: type: object
description: '参数: kwargs' data:
type: string properties: {}
protocol_type: required: []
description: '参数: protocol_type' type: object
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

69
unilabos/registry/devices/zhida_hplc.yaml
View File

@@ -43,18 +43,17 @@ zhida_hplc:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand abort 的参数schema description: abort的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand abort 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: abort 命令参数 title: abort参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-close: auto-close:
@@ -64,18 +63,17 @@ zhida_hplc:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand close 的参数schema description: close的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand close 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: close 命令参数 title: close参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-connect: auto-connect:
@@ -85,18 +83,17 @@ zhida_hplc:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand connect 的参数schema description: connect的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand connect 的参数schema
properties: {} properties: {}
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: connect 命令参数 title: connect参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-start: auto-start:
@@ -107,14 +104,12 @@ zhida_hplc:
handles: [] handles: []
result: {} result: {}
schema: schema:
description: UniLabJsonCommand start 的参数schema description: start的参数schema
properties: properties:
feedback: {} feedback: {}
goal: goal:
description: UniLabJsonCommand start 的参数schema
properties: properties:
text: text:
description: '参数: text'
type: string type: string
required: required:
- text - text
@@ -122,7 +117,7 @@ zhida_hplc:
result: {} result: {}
required: required:
- goal - goal
title: start 命令参数 title: start参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
get_methods: get_methods:
@@ -212,28 +207,26 @@ zhida_hplc:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema config:
properties: properties:
feedback: {} host:
goal: default: 192.168.1.47
description: UniLabJsonCommand __init__ 的参数schema type: string
properties: port:
host: default: 5792
default: 192.168.1.47 type: string
description: '参数: host' timeout:
type: string default: 10.0
port: type: string
default: 5792 required: []
description: '参数: port' type: object
type: integer data:
timeout: properties:
default: 10.0 methods:
description: '参数: timeout' type: object
type: number status:
required: [] type: object
type: object required:
result: {} - status
required: - methods
- goal type: object
title: __init__ 命令参数
type: object

116
unilabos/registry/registry.py
View File

@@ -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}") 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) 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( def _generate_unilab_json_command_schema(
self, method_args: List[Dict[str, Any]], method_name: str self, method_args: List[Dict[str, Any]], method_name: str
) -> Dict[str, Any]: ) -> Dict[str, Any]:
@@ -211,54 +265,24 @@ class Registry:
JSON Schema格式的参数schema JSON Schema格式的参数schema
""" """
schema = { schema = {
"description": f"UniLabJsonCommand {method_name} 的参数schema",
"type": "object", "type": "object",
"properties": {}, "properties": {},
"required": [], "required": [],
} }
for arg_info in method_args: for arg_info in method_args:
param_name = arg_info.get("name", "") 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_default = arg_info.get("default")
param_required = arg_info.get("required", True) param_required = arg_info.get("required", True)
schema["properties"][param_name] = self._generate_schema_from_info(
prop_schema = {"description": f"参数: {param_name}"} param_name, param_type, param_default
)
# 根据类型设置schema FIXME 不完整
if param_type:
param_type_lower = param_type.lower()
if param_type_lower in ["str", "string"]:
prop_schema["type"] = "string"
elif param_type_lower in ["int", "integer"]:
prop_schema["type"] = "integer"
elif param_type_lower in ["float", "number"]:
prop_schema["type"] = "number"
elif param_type_lower in ["bool", "boolean"]:
prop_schema["type"] = "boolean"
elif param_type_lower in ["list", "array"]:
prop_schema["type"] = "array"
elif param_type_lower in ["dict", "object"]:
prop_schema["type"] = "object"
else:
# 默认为字符串类型
prop_schema["type"] = "string"
else:
# 如果没有类型信息，默认为字符串
prop_schema["type"] = "string"
# 设置默认值
if param_default is not None:
prop_schema["default"] = param_default
schema["properties"][param_name] = prop_schema
# 如果是必需参数，添加到required列表
if param_required: if param_required:
schema["required"].append(param_name) schema["required"].append(param_name)
return { return {
"title": f"{method_name} 命令参数", "title": f"{method_name}参数",
"description": f"UniLabJsonCommand {method_name} 的参数schema", "description": f"{method_name}的参数schema",
"type": "object", "type": "object",
"properties": {"goal": schema, "feedback": {}, "result": {}}, "properties": {"goal": schema, "feedback": {}, "result": {}},
"required": ["goal"], "required": ["goal"],
@@ -314,14 +338,21 @@ class Registry:
status_type = "String" # 替换成ROS的String，便于显示 status_type = "String" # 替换成ROS的String，便于显示
device_config["class"]["status_types"][status_name] = status_type 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}") 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 target_type = String
status_str_type_mapping[status_type] = target_type status_str_type_mapping[status_type] = target_type
device_config["class"]["status_types"] = dict( device_config["class"]["status_types"] = dict(
sorted(device_config["class"]["status_types"].items()) sorted(device_config["class"]["status_types"].items())
) )
if complete_registry: 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 # 处理动作值映射
device_config["class"]["action_value_mappings"].update( device_config["class"]["action_value_mappings"].update(
{ {
@@ -337,9 +368,14 @@ class Registry:
for k, v in enhanced_info["action_methods"].items() 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__" 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.pop("schema", None)
device_config["class"]["action_value_mappings"] = dict( device_config["class"]["action_value_mappings"] = dict(
sorted(device_config["class"]["action_value_mappings"].items()) sorted(device_config["class"]["action_value_mappings"].items())

32
unilabos/utils/import_manager.py
View File

@@ -240,36 +240,8 @@ class ImportManager:
cls = get_class(class_path) cls = get_class(class_path)
class_name = cls.__name__ class_name = cls.__name__
result = { result = {"class_name": class_name, "init_params": self._analyze_method_signature(cls.__init__)["args"],
"class_name": class_name, "status_methods": {}, "action_methods": {}}
"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)
# 分析类的所有成员 # 分析类的所有成员
for name, method in cls.__dict__.items(): for name, method in cls.__dict__.items():
if name.startswith("_"): if name.startswith("_"):