diff --git a/.gitignore b/.gitignore
index 5fab5d5..9d40cbc 100644
--- a/.gitignore
+++ b/.gitignore
@@ -246,3 +246,5 @@ local_test2.py
ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
*.bz2
test_config.py
+
+
diff --git a/unilabos-linux-64.yaml b/unilabos-linux-64.yaml
index c84e045..7e27d9f 100644
--- a/unilabos-linux-64.yaml
+++ b/unilabos-linux-64.yaml
@@ -63,6 +63,9 @@ dependencies:
# ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
# ilab equipments
- uni-lab::ros-humble-unilabos-msgs
+ - zeep
+ - jinja2
+ - pprp
- pip:
- paho-mqtt
- opentrons_shared_data
diff --git a/unilabos-osx-64.yaml b/unilabos-osx-64.yaml
index ca9a96f..91ce422 100644
--- a/unilabos-osx-64.yaml
+++ b/unilabos-osx-64.yaml
@@ -62,6 +62,9 @@ dependencies:
# ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
# ilab equipments
- uni-lab::ros-humble-unilabos-msgs
+ - zeep
+ - jinja2
+ - pprp
- pip:
- paho-mqtt
- opentrons_shared_data
diff --git a/unilabos-osx-arm64.yaml b/unilabos-osx-arm64.yaml
index 7f9675d..b56f28a 100644
--- a/unilabos-osx-arm64.yaml
+++ b/unilabos-osx-arm64.yaml
@@ -65,6 +65,9 @@ dependencies:
# ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
# ilab equipments
- uni-lab::ros-humble-unilabos-msgs
+ - zeep
+ - jinja2
+ - pprp
- pip:
- paho-mqtt
- opentrons_shared_data
diff --git a/unilabos-win64.yaml b/unilabos-win64.yaml
index b2065a0..c3d09c6 100644
--- a/unilabos-win64.yaml
+++ b/unilabos-win64.yaml
@@ -65,6 +65,9 @@ dependencies:
- uni-lab::ros-humble-unilabos-msgs
# driver
#- crcmod
+ - zeep
+ - jinja2
+ - pprp
- pip:
- paho-mqtt
- opentrons_shared_data
diff --git a/unilabos/devices/balance/__init__.py b/unilabos/devices/balance/__init__.py
new file mode 100644
index 0000000..c627116
--- /dev/null
+++ b/unilabos/devices/balance/__init__.py
@@ -0,0 +1,6 @@
+# Balance devices module
+
+# Import balance device modules
+from . import mettler_toledo_xpr
+
+__all__ = ['mettler_toledo_xpr']
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/MT.Laboratory.Balance.XprXsr.V03.wsdl.template b/unilabos/devices/balance/mettler_toledo_xpr/MT.Laboratory.Balance.XprXsr.V03.wsdl.template
new file mode 100644
index 0000000..aacf70c
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/MT.Laboratory.Balance.XprXsr.V03.wsdl.template
@@ -0,0 +1,51 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/Mettler_Toledo_Balance_ROS2_User_Guide.md b/unilabos/devices/balance/mettler_toledo_xpr/Mettler_Toledo_Balance_ROS2_User_Guide.md
new file mode 100644
index 0000000..747dc61
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/Mettler_Toledo_Balance_ROS2_User_Guide.md
@@ -0,0 +1,268 @@
+# 梅特勒天平 ROS2 使用指南 / Mettler Toledo Balance ROS2 User Guide
+
+## 概述 / Overview
+
+梅特勒托利多XPR/XSR天平驱动支持通过ROS2动作进行操作，包括去皮、清零、读取重量等功能。
+
+The Mettler Toledo XPR/XSR balance driver supports operations through ROS2 actions, including tare, zero, weight reading, and other functions.
+
+## 主要功能 / Main Features
+
+### 1. 去皮操作 / Tare Operation (`tare`)
+
+- **功能 / Function**: 执行天平去皮操作 / Perform balance tare operation
+- **输入 / Input**: `{"immediate": bool}` - 是否立即去皮 / Whether to tare immediately
+- **输出 / Output**: `{"return_info": str, "success": bool}`
+
+### 2. 清零操作 / Zero Operation (`zero`)
+
+- **功能 / Function**: 执行天平清零操作 / Perform balance zero operation
+- **输入 / Input**: `{"immediate": bool}` - 是否立即清零 / Whether to zero immediately
+- **输出 / Output**: `{"return_info": str, "success": bool}`
+
+### 3. 读取重量 / Read Weight (`read` / `get_weight`)
+
+- **功能 / Function**: 读取当前天平重量 / Read current balance weight
+- **输入 / Input**: 无参数 / No parameters
+- **输出 / Output**: `{"return_info": str, "success": bool}` - 包含重量信息 / Contains weight information
+
+### 4. 带去皮读取重量 / Read with Tare (`read_with_tare`)
+
+- **功能 / Function**: 先去皮再读取重量 / Tare first then read weight
+- **输入 / Input**: 无参数 / No parameters
+- **输出 / Output**: `{"return_info": str, "success": bool}` - 包含去皮后的重量信息 / Contains weight information after taring
+
+### 5. 断开连接 / Disconnect (`disconnect`)
+
+- **功能 / Function**: 断开与天平的连接 / Disconnect from the balance
+- **输入 / Input**: 无参数 / No parameters
+- **输出 / Output**: `{"return_info": str, "success": bool}` - 断开连接结果 / Disconnection result
+
+## 使用方法 / Usage Methods
+
+### ROS2命令行使用 / ROS2 Command Line Usage
+
+### 1. 去皮操作 / Tare Operation
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+ command: '{\"command\": \"tare\", \"params\": {\"immediate\": false}}'
+}"
+```
+
+### 2. 清零操作 / Zero Operation
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+ command: '{\"command\": \"zero\", \"params\": {\"immediate\": false}}'
+}"
+```
+
+### 3. 读取重量 / Read Weight
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+ command: '{\"command\": \"read\"}'
+}"
+```
+
+或者使用别名 / Or use alias:
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+ command: '{\"command\": \"get_weight\"}'
+}"
+```
+
+### 4. 带去皮读取重量 / Read with Tare
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+ command: '{\"command\": \"read_with_tare\"}'
+}"
+```
+
+### 5. 断开连接 / Disconnect
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+ command: '{\"command\": \"disconnect\"}'
+}"
+```
+
+## 命令格式说明 / Command Format Description
+
+所有命令都使用JSON格式，包含以下字段 / All commands use JSON format with the following fields：
+
+```json
+{
+ "command": "命令名称 / Command name",
+ "params": {
+ "参数名 / Parameter name": "参数值 / Parameter value"
+ }
+}
+```
+
+**注意事项 / Notes：**
+1. JSON字符串需要正确转义引号 / JSON strings need proper quote escaping
+2. 布尔值使用小写（true/false）/ Boolean values use lowercase (true/false)
+3. 如果命令不需要参数，可以省略`params`字段 / If command doesn't need parameters, `params` field can be omitted
+
+## 返回结果 / Return Results
+
+所有命令都会返回包含以下字段的结果 / All commands return results with the following fields：
+
+- `success`: 布尔值，表示操作是否成功 / Boolean value indicating operation success
+- `return_info`: 字符串，包含操作结果的详细信息 / String containing detailed operation result information
+
+## 成功执行示例 / Successful Execution Example
+
+以下是一个成功执行读取重量命令的示例 / Here is an example of successfully executing a weight reading command：
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+ command: '{\"command\": \"read\"}'
+}"
+```
+
+**成功返回结果 / Successful Return Result：**
+```
+Waiting for an action server to become available...
+Sending goal:
+ command: '{"command": "read"}'
+
+Goal accepted :)
+
+Result:
+ success: True
+ return_info: Weight: 0.24866 Milligram
+
+Goal finished with status: SUCCEEDED
+```
+
+### Python代码使用 / Python Code Usage
+
+```python
+import rclpy
+from rclpy.node import Node
+from rclpy.action import ActionClient
+from unilabos_msgs.action import SendCmd
+import json
+
+class BalanceController(Node):
+ """梅特勒天平控制器 / Mettler Balance Controller"""
+ def __init__(self):
+ super().__init__('balance_controller')
+ self._action_client = ActionClient(self, SendCmd, '/devices/BALANCE_STATION/send_cmd')
+
+ def send_command(self, command, params=None):
+ """发送命令到天平 / Send command to balance"""
+ goal_msg = SendCmd.Goal()
+
+ cmd_data = {'command': command}
+ if params:
+ cmd_data['params'] = params
+
+ goal_msg.command = json.dumps(cmd_data)
+
+ self._action_client.wait_for_server()
+ future = self._action_client.send_goal_async(goal_msg)
+
+ return future
+
+ def tare_balance(self, immediate=False):
+ """去皮操作 / Tare operation"""
+ return self.send_command('tare', {'immediate': immediate})
+
+ def zero_balance(self, immediate=False):
+ """清零操作 / Zero operation"""
+ return self.send_command('zero', {'immediate': immediate})
+
+ def read_weight(self):
+ """读取重量 / Read weight"""
+ return self.send_command('read')
+
+ def read_with_tare(self):
+ """带去皮读取重量 / Read weight with tare"""
+ return self.send_command('read_with_tare')
+
+ def disconnect_balance(self):
+ """断开连接 / Disconnect"""
+ return self.send_command('disconnect')
+
+# 使用示例 / Usage Example
+def main():
+ rclpy.init()
+ controller = BalanceController()
+
+ # 去皮操作 / Tare operation
+ future = controller.tare_balance(immediate=False)
+ rclpy.spin_until_future_complete(controller, future)
+ result = future.result().result
+ print(f"去皮结果 / Tare result: {result.success}, 信息 / Info: {result.return_info}")
+
+ # 读取重量 / Read weight
+ future = controller.read_weight()
+ rclpy.spin_until_future_complete(controller, future)
+ result = future.result().result
+ print(f"读取结果 / Read result: {result.success}, 信息 / Info: {result.return_info}")
+
+ controller.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
+```
+
+## 使用注意事项 / Usage Notes
+
+1. **设备连接 / Device Connection**: 确保梅特勒天平设备已连接并可访问 / Ensure Mettler balance device is connected and accessible
+2. **命令格式 / Command Format**: JSON字符串需要正确转义引号 / JSON strings need proper quote escaping
+3. **参数类型 / Parameter Types**: 布尔值使用小写（true/false）/ Boolean values use lowercase (true/false)
+4. **权限 / Permissions**: 确保有操作天平的权限 / Ensure you have permission to operate the balance
+
+## 故障排除 / Troubleshooting
+
+### 常见问题 / Common Issues
+
+1. **JSON格式错误 / JSON Format Error**: 确保JSON字符串格式正确且引号已转义 / Ensure JSON string format is correct and quotes are escaped
+2. **未知命令名称 / Unknown Command Name**: 检查命令名称是否正确 / Check if command name is correct
+3. **设备连接失败 / Device Connection Failed**: 检查网络连接和设备状态 / Check network connection and device status
+4. **操作超时 / Operation Timeout**: 检查设备是否响应正常 / Check if device is responding normally
+
+### 错误处理 / Error Handling
+
+如果命令执行失败，返回结果中的`success`字段将为`false`，`return_info`字段将包含错误信息。
+
+If command execution fails, the `success` field in the return result will be `false`, and the `return_info` field will contain error information.
+
+### 调试技巧 / Debugging Tips
+
+1. 检查设备节点是否正在运行 / Check if device node is running：
+ ```bash
+ ros2 node list | grep BALANCE
+ ```
+
+2. 查看可用的action / View available actions：
+ ```bash
+ ros2 action list | grep BALANCE
+ ```
+
+3. 检查action接口 / Check action interface：
+ ```bash
+ ros2 action info /devices/BALANCE_STATION/send_cmd
+ ```
+
+4. 查看节点日志 / View node logs：
+ ```bash
+ ros2 topic echo /rosout
+ ```
+
+## 总结 / Summary
+
+梅特勒托利多天平设备现在支持 / Mettler Toledo balance device now supports:
+
+1. 通过ROS2 SendCmd动作进行统一操作 / Unified operations through ROS2 SendCmd actions
+2. 完整的天平功能支持（去皮、清零、读重等）/ Complete balance function support (tare, zero, weight reading, etc.)
+3. 完善的错误处理和日志记录 / Comprehensive error handling and logging
+4. 简化的操作流程和调试方法 / Simplified operation workflow and debugging methods
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/README.md b/unilabos/devices/balance/mettler_toledo_xpr/README.md
new file mode 100644
index 0000000..d46a927
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/README.md
@@ -0,0 +1,123 @@
+# Mettler Toledo XPR/XSR Balance Driver
+
+## 概述
+
+本驱动程序为梅特勒托利多XPR/XSR系列天平提供标准接口，支持去皮、清零和重量读取等操作。
+
+## ⚠️ 重要说明 - WSDL文件配置
+
+### 问题说明
+
+本驱动程序需要使用梅特勒托利多官方提供的WSDL文件来与天平通信。由于该WSDL文件包含专有信息，不能随开源项目一起分发。
+
+### 配置步骤
+
+1. **获取WSDL文件**
+ - 联系梅特勒托利多技术支持
+ - 或从您的天平设备Web界面下载
+ - 或从梅特勒托利多官方SDK获取
+
+2. **安装WSDL文件**
+ ```bash
+ # 将获取的WSDL文件复制到驱动目录
+ cp /path/to/your/MT.Laboratory.Balance.XprXsr.V03.wsdl \
+ unilabos/devices/balance/mettler_toledo_xpr/
+ ```
+
+3. **验证安装**
+ - 确保文件名为：`MT.Laboratory.Balance.XprXsr.V03.wsdl`
+ - 确保文件包含Jinja2模板变量：`{{host}}`、`{{port}}`、`{{api_path}}`
+
+### WSDL文件要求
+
+- 文件必须是有效的WSDL格式
+- 必须包含SessionService和WeighingService的定义
+- 端点地址应使用模板变量以支持动态IP配置：
+ ```xml
+
+
+ ```
+
+### 文件结构
+
+```
+mettler_toledo_xpr/
+├── MT.Laboratory.Balance.XprXsr.V03.wsdl # 实际WSDL文件（用户提供）
+├── MT.Laboratory.Balance.XprXsr.V03.wsdl.template # 模板文件（仅供参考）
+├── mettler_toledo_xpr.py # 驱动程序
+├── balance.yaml # 设备配置
+├── SendCmd_Usage_Guide.md # 使用指南
+└── README.md # 本文件
+```
+
+## 使用方法
+
+### 基本配置
+
+```python
+from unilabos.devices.balance.mettler_toledo_xpr import MettlerToledoXPR
+
+# 创建天平实例
+balance = MettlerToledoXPR(
+ ip="192.168.1.10", # 天平IP地址
+ port=81, # 天平端口
+ password="123456", # 天平密码
+ timeout=10 # 连接超时时间
+)
+
+# 执行操作
+balance.tare() # 去皮
+balance.zero() # 清零
+weight = balance.get_weight() # 读取重量
+```
+
+### ROS2 SendCmd Action
+
+详细的ROS2使用方法请参考 [SendCmd_Usage_Guide.md](SendCmd_Usage_Guide.md)
+
+## 故障排除
+
+### 常见错误
+
+1. **FileNotFoundError: WSDL template not found**
+ - 确保WSDL文件已正确放置在驱动目录中
+ - 检查文件名是否正确
+
+2. **连接失败**
+ - 检查天平IP地址和端口配置
+ - 确保天平Web服务已启用
+ - 验证网络连接
+
+3. **认证失败**
+ - 检查天平密码是否正确
+ - 确保天平允许Web服务访问
+
+### 调试模式
+
+```python
+import logging
+logging.basicConfig(level=logging.DEBUG)
+
+# 创建天平实例，将显示详细日志
+balance = MettlerToledoXPR(ip="192.168.1.10")
+```
+
+## 支持的操作
+
+- **去皮 (Tare)**: 将当前重量设为零点
+- **清零 (Zero)**: 重新校准零点
+- **读取重量 (Get Weight)**: 获取当前重量值
+- **带去皮读取**: 先去皮再读取重量
+- **连接管理**: 自动连接和断开
+
+## 技术支持
+
+如果您在配置WSDL文件时遇到问题，请：
+
+1. 查看梅特勒托利多官方文档
+2. 联系梅特勒托利多技术支持
+3. 在项目GitHub页面提交Issue
+
+## 许可证
+
+本驱动程序遵循项目主许可证。WSDL文件的使用需遵循梅特勒托利多的许可条款。
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/__init__.py b/unilabos/devices/balance/mettler_toledo_xpr/__init__.py
new file mode 100644
index 0000000..80b47f7
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/__init__.py
@@ -0,0 +1,5 @@
+# Mettler Toledo XPR Balance Driver Module
+
+from .mettler_toledo_xpr import MettlerToledoXPR
+
+__all__ = ['MettlerToledoXPR']
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/balance.yaml b/unilabos/devices/balance/mettler_toledo_xpr/balance.yaml
new file mode 100644
index 0000000..19bc241
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/balance.yaml
@@ -0,0 +1,256 @@
+balance.mettler_toledo_xpr:
+ category:
+ - balance
+ class:
+ action_value_mappings:
+ disconnect:
+ feedback: {}
+ goal: {}
+ goal_default: {}
+ handles: []
+ result:
+ success: success
+ schema:
+ description: Disconnect from balance
+ properties:
+ feedback: {}
+ goal:
+ properties: {}
+ required: []
+ type: object
+ result:
+ properties:
+ success:
+ description: Whether disconnect was successful
+ type: boolean
+ required:
+ - success
+ type: object
+ required:
+ - goal
+ type: object
+ type: UniLabJsonCommand
+ get_weight:
+ feedback: {}
+ goal: {}
+ goal_default: {}
+ handles: []
+ result:
+ unit: unit
+ weight: weight
+ schema:
+ description: Get current weight reading
+ properties:
+ feedback: {}
+ goal:
+ properties: {}
+ required: []
+ type: object
+ result:
+ properties:
+ unit:
+ description: Weight unit (e.g., g, kg)
+ type: string
+ weight:
+ description: Weight value
+ type: number
+ required:
+ - weight
+ - unit
+ type: object
+ required:
+ - goal
+ type: object
+ type: UniLabJsonCommand
+ read_with_tare:
+ feedback: {}
+ goal:
+ immediate_tare: immediate_tare
+ goal_default:
+ immediate_tare: true
+ handles: []
+ result:
+ unit: unit
+ weight: weight
+ schema:
+ description: Perform tare then read weight (standard read operation)
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ immediate_tare:
+ default: true
+ description: Whether to use immediate tare
+ type: boolean
+ required: []
+ type: object
+ result:
+ properties:
+ unit:
+ description: Weight unit (e.g., g, kg)
+ type: string
+ weight:
+ description: Weight value after tare
+ type: number
+ required:
+ - weight
+ - unit
+ type: object
+ required:
+ - goal
+ type: object
+ type: UniLabJsonCommand
+ send_cmd:
+ feedback: {}
+ goal:
+ command: command
+ goal_default:
+ command: ''
+ handles: []
+ result:
+ return_info: return_info
+ success: success
+ schema:
+ description: ''
+ properties:
+ feedback:
+ properties:
+ status:
+ type: string
+ required:
+ - status
+ title: SendCmd_Feedback
+ type: object
+ goal:
+ properties:
+ command:
+ type: string
+ required:
+ - command
+ title: SendCmd_Goal
+ type: object
+ result:
+ properties:
+ return_info:
+ type: string
+ success:
+ type: boolean
+ required:
+ - return_info
+ - success
+ title: SendCmd_Result
+ type: object
+ required:
+ - goal
+ title: SendCmd
+ type: object
+ type: SendCmd
+ tare:
+ feedback: {}
+ goal:
+ immediate: immediate
+ goal_default:
+ immediate: false
+ handles: []
+ result:
+ success: success
+ schema:
+ description: Tare operation for balance
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ immediate:
+ default: false
+ description: Whether to perform immediate tare
+ type: boolean
+ required: []
+ type: object
+ result:
+ properties:
+ success:
+ description: Whether tare operation was successful
+ type: boolean
+ required:
+ - success
+ type: object
+ required:
+ - goal
+ type: object
+ type: UniLabJsonCommand
+ zero:
+ feedback: {}
+ goal:
+ immediate: immediate
+ goal_default:
+ immediate: false
+ handles: []
+ result:
+ success: success
+ schema:
+ description: Zero operation for balance
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ immediate:
+ default: false
+ description: Whether to perform immediate zero
+ type: boolean
+ required: []
+ type: object
+ result:
+ properties:
+ success:
+ description: Whether zero operation was successful
+ type: boolean
+ required:
+ - success
+ type: object
+ required:
+ - goal
+ type: object
+ type: UniLabJsonCommand
+ module: unilabos.devices.balance.mettler_toledo_xpr.mettler_toledo_xpr:MettlerToledoXPR
+ status_types:
+ error_message: str
+ is_stable: bool
+ status: str
+ unit: str
+ weight: float
+ type: python
+ config_info: []
+ description: Mettler Toledo XPR/XSR Balance Driver
+ handles: []
+ icon: ''
+ init_param_schema:
+ description: MettlerToledoXPR __init__ parameters
+ properties:
+ feedback: {}
+ goal:
+ description: Initialization parameters for Mettler Toledo XPR balance
+ properties:
+ ip:
+ default: 192.168.1.10
+ description: Balance IP address
+ type: string
+ password:
+ default: '123456'
+ description: Balance password
+ type: string
+ port:
+ default: 81
+ description: Balance port number
+ type: integer
+ timeout:
+ default: 10
+ description: Connection timeout in seconds
+ type: integer
+ required: []
+ type: object
+ result: {}
+ required:
+ - goal
+ title: __init__ command parameters
+ type: object
+ version: 1.0.0
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/balance_test.json b/unilabos/devices/balance/mettler_toledo_xpr/balance_test.json
new file mode 100644
index 0000000..b5f93dc
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/balance_test.json
@@ -0,0 +1,25 @@
+{
+ "nodes": [
+ {
+ "id": "BALANCE_STATION",
+ "name": "METTLER_TOLEDO_XPR",
+ "parent": null,
+ "type": "device",
+ "class": "balance.mettler_toledo_xpr",
+ "position": {
+ "x": 620.6111111111111,
+ "y": 171,
+ "z": 0
+ },
+ "config": {
+ "ip": "192.168.1.10",
+ "port": 81,
+ "password": "123456",
+ "timeout": 10
+ },
+ "data": {},
+ "children": []
+ }
+ ],
+ "links": []
+}
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/mettler_toledo_xpr.py b/unilabos/devices/balance/mettler_toledo_xpr/mettler_toledo_xpr.py
new file mode 100644
index 0000000..b7e5100
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/mettler_toledo_xpr.py
@@ -0,0 +1,654 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+Mettler Toledo XPR/XSR Balance Driver for Uni-Lab OS
+
+This driver provides standard interface for Mettler Toledo XPR/XSR balance operations
+including tare, zero, and weight reading functions.
+"""
+
+import enum
+import base64
+import hashlib
+import logging
+import time
+from pathlib import Path
+from decimal import Decimal
+from typing import Tuple, Optional
+
+from jinja2 import Template
+from requests import Session
+from zeep import Client
+from zeep.transports import Transport
+import pprp
+
+# Import UniversalDriver - handle import error gracefully
+try:
+ from unilabos.device_comms.universal_driver import UniversalDriver
+except ImportError:
+ # Fallback for standalone testing
+ class UniversalDriver:
+ """Fallback UniversalDriver for standalone testing"""
+ def __init__(self):
+ self.success = False
+
+
+class Outcome(enum.Enum):
+ """Balance operation outcome enumeration"""
+ SUCCESS = "Success"
+ ERROR = "Error"
+
+
+class MettlerToledoXPR(UniversalDriver):
+ """Mettler Toledo XPR/XSR Balance Driver
+
+ Provides standard interface for balance operations including:
+ - Tare (去皮)
+ - Zero (清零)
+ - Weight reading (读数)
+ """
+
+ def __init__(self, ip: str = "192.168.1.10", port: int = 81,
+ password: str = "123456", timeout: int = 10):
+ """Initialize the balance driver
+
+ Args:
+ ip: Balance IP address
+ port: Balance port number
+ password: Balance password
+ timeout: Connection timeout in seconds
+ """
+ super().__init__()
+
+ self.ip = ip
+ self.port = port
+ self.password = password
+ self.timeout = timeout
+ self.api_path = "MT/Laboratory/Balance/XprXsr/V03"
+
+ # Status properties
+ self._status = "Disconnected"
+ self._last_weight = 0.0
+ self._last_unit = "g"
+ self._is_stable = False
+ self._error_message = ""
+
+ # ROS2 action result properties
+ self.success = False
+ self.return_info = ""
+
+ # Service objects
+ self.client = None
+ self.session_svc = None
+ self.weighing_svc = None
+ self.session_id = None
+
+ # WSDL template path
+ self.wsdl_template = Path(__file__).parent / "MT.Laboratory.Balance.XprXsr.V03.wsdl"
+
+ # Bindings
+ self.bindings = {
+ "session": "{http://MT/Laboratory/Balance/XprXsr/V03}BasicHttpBinding_ISessionService",
+ "weigh": "{http://MT/Laboratory/Balance/XprXsr/V03}BasicHttpBinding_IWeighingService",
+ }
+
+ # Setup logging
+ self.logger = logging.getLogger(f"MettlerToledoXPR-{ip}")
+
+ # Initialize connection
+ self._connect()
+
+ @property
+ def status(self) -> str:
+ """Current device status"""
+ return self._status
+
+ @property
+ def weight(self) -> float:
+ """Last measured weight value"""
+ return self._last_weight
+
+ @property
+ def unit(self) -> str:
+ """Weight unit (e.g., 'g', 'kg')"""
+ return self._last_unit
+
+ @property
+ def is_stable(self) -> bool:
+ """Whether the weight reading is stable"""
+ return self._is_stable
+
+ @property
+ def error_message(self) -> str:
+ """Last error message"""
+ return self._error_message
+
+ def _decrypt_session_id(self, pw: str, enc_sid: str, salt: str) -> str:
+ """Decrypt session ID using password and salt"""
+ key = hashlib.pbkdf2_hmac("sha1", pw.encode(),
+ base64.b64decode(salt), 1000, dklen=32)
+ plain = pprp.decrypt_sink(
+ pprp.rijndael_decrypt_gen(
+ key, pprp.data_source_gen(base64.b64decode(enc_sid))))
+ return plain.decode()
+
+ def _render_wsdl(self) -> Path:
+ """Render WSDL template with current connection parameters"""
+ if not self.wsdl_template.exists():
+ error_msg = (
+ f"WSDL file not found: {self.wsdl_template}\n\n"
+ "IMPORTANT: You need to obtain the official WSDL file from Mettler Toledo.\n"
+ "Please follow these steps:\n"
+ "1. Contact Mettler Toledo support to get the WSDL file\n"
+ "2. Place it in the driver directory as 'MT.Laboratory.Balance.XprXsr.V03.wsdl'\n"
+ "3. Ensure it contains Jinja2 template variables: {{host}}, {{port}}, {{api_path}}\n\n"
+ "For detailed instructions, see the README.md file in the driver directory."
+ )
+ raise FileNotFoundError(error_msg)
+
+ try:
+ text = Template(self.wsdl_template.read_text(encoding="utf-8")).render(
+ host=self.ip, port=self.port, api_path=self.api_path)
+ except Exception as e:
+ error_msg = (
+ f"Failed to render WSDL template: {e}\n\n"
+ "This usually means the WSDL file doesn't contain the required template variables.\n"
+ "Please ensure your WSDL file contains: {{host}}, {{port}}, {{api_path}}\n"
+ "See README.md for detailed configuration instructions."
+ )
+ raise RuntimeError(error_msg) from e
+
+ wsdl_path = self.wsdl_template.parent / f"rendered_{self.ip}_{self.port}.wsdl"
+ wsdl_path.write_text(text, encoding="utf-8")
+
+ return wsdl_path
+
+ def _connect(self):
+ """Establish connection to the balance"""
+ try:
+ self._status = "Connecting"
+
+ # Render WSDL
+ wsdl_path = self._render_wsdl()
+ self.logger.info(f"WSDL rendered to {wsdl_path}")
+
+ # Create SOAP client
+ transport = Transport(session=Session(), timeout=self.timeout)
+ self.client = Client(wsdl=str(wsdl_path), transport=transport)
+
+ # Create service proxies
+ base_url = f"http://{self.ip}:{self.port}/{self.api_path}"
+ self.session_svc = self.client.create_service(
+ self.bindings["session"], f"{base_url}/SessionService")
+ self.weighing_svc = self.client.create_service(
+ self.bindings["weigh"], f"{base_url}/WeighingService")
+
+ self.logger.info("Zeep service proxies created")
+
+ # Open session
+ self.logger.info("Opening session...")
+ reply = self.session_svc.OpenSession()
+ if reply.Outcome != Outcome.SUCCESS.value:
+ raise RuntimeError(f"OpenSession failed: {getattr(reply, 'ErrorMessage', '')}")
+
+ self.session_id = self._decrypt_session_id(
+ self.password, reply.SessionId, reply.Salt)
+
+ self.logger.info(f"Session established successfully, SessionId={self.session_id}")
+ self._status = "Connected"
+ self._error_message = ""
+
+ except Exception as e:
+ self._status = "Error"
+ self._error_message = str(e)
+ self.logger.error(f"Connection failed: {e}")
+ raise
+
+ def _ensure_connected(self):
+ """Ensure the device is connected"""
+ if self._status != "Connected" or self.session_id is None:
+ self._connect()
+
+ def tare(self, immediate: bool = False) -> bool:
+ """Perform tare operation (去皮)
+
+ Args:
+ immediate: Whether to perform immediate tare
+
+ Returns:
+ bool: True if successful, False otherwise
+ """
+ try:
+ self._ensure_connected()
+ self._status = "Taring"
+
+ self.logger.info(f"Performing tare (immediate={immediate})...")
+ reply = self.weighing_svc.Tare(self.session_id, immediate)
+
+ if reply.Outcome != Outcome.SUCCESS.value:
+ error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
+ self.logger.error(f"Tare failed: {error_msg}")
+ self._error_message = f"Tare failed: {error_msg}"
+ self._status = "Error"
+ return False
+
+ self.logger.info("Tare completed successfully")
+ self._status = "Connected"
+ self._error_message = ""
+ return True
+
+ except Exception as e:
+ self.logger.error(f"Tare operation failed: {e}")
+ self._error_message = str(e)
+ self._status = "Error"
+ return False
+
+ def zero(self, immediate: bool = False) -> bool:
+ """Perform zero operation (清零)
+
+ Args:
+ immediate: Whether to perform immediate zero
+
+ Returns:
+ bool: True if successful, False otherwise
+ """
+ try:
+ self._ensure_connected()
+ self._status = "Zeroing"
+
+ self.logger.info(f"Performing zero (immediate={immediate})...")
+ reply = self.weighing_svc.Zero(self.session_id, immediate)
+
+ if reply.Outcome != Outcome.SUCCESS.value:
+ error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
+ self.logger.error(f"Zero failed: {error_msg}")
+ self._error_message = f"Zero failed: {error_msg}"
+ self._status = "Error"
+ return False
+
+ self.logger.info("Zero completed successfully")
+ self._status = "Connected"
+ self._error_message = ""
+ return True
+
+ except Exception as e:
+ self.logger.error(f"Zero operation failed: {e}")
+ self._error_message = str(e)
+ self._status = "Error"
+ return False
+
+ def get_weight(self) -> float:
+ """Get current weight reading (读数)
+
+ Returns:
+ float: Weight value
+ """
+ try:
+ self._ensure_connected()
+ self._status = "Reading"
+
+ self.logger.info("Getting weight...")
+ reply = self.weighing_svc.GetWeight(self.session_id)
+
+ if reply.Outcome != Outcome.SUCCESS.value:
+ error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
+ self.logger.error(f"GetWeight failed: {error_msg}")
+ self._error_message = f"GetWeight failed: {error_msg}"
+ self._status = "Error"
+ return 0.0
+
+ # Handle different response structures
+ if hasattr(reply, 'WeightSample'):
+ # Handle WeightSample structure (most common for XPR)
+ weight_sample = reply.WeightSample
+ if hasattr(weight_sample, 'NetWeight'):
+ weight_val = float(Decimal(weight_sample.NetWeight.Value))
+ weight_unit = weight_sample.NetWeight.Unit
+ elif hasattr(weight_sample, 'GrossWeight'):
+ weight_val = float(Decimal(weight_sample.GrossWeight.Value))
+ weight_unit = weight_sample.GrossWeight.Unit
+ else:
+ weight_val = 0.0
+ weight_unit = 'g'
+ is_stable = getattr(weight_sample, 'Stable', True)
+ elif hasattr(reply, 'Weight'):
+ weight_val = float(Decimal(reply.Weight.Value))
+ weight_unit = reply.Weight.Unit
+ is_stable = getattr(reply.Weight, 'IsStable', True)
+ elif hasattr(reply, 'Value'):
+ weight_val = float(Decimal(reply.Value))
+ weight_unit = getattr(reply, 'Unit', 'g')
+ is_stable = getattr(reply, 'IsStable', True)
+ else:
+ # Try to extract from reply attributes
+ weight_val = float(Decimal(getattr(reply, 'WeightValue', getattr(reply, 'Value', '0'))))
+ weight_unit = getattr(reply, 'WeightUnit', getattr(reply, 'Unit', 'g'))
+ is_stable = getattr(reply, 'IsStable', True)
+
+ # Convert to grams for consistent output (ROS2 requirement)
+ if weight_unit.lower() in ['milligram', 'mg']:
+ weight_val_grams = weight_val / 1000.0
+ elif weight_unit.lower() in ['kilogram', 'kg']:
+ weight_val_grams = weight_val * 1000.0
+ elif weight_unit.lower() in ['gram', 'g']:
+ weight_val_grams = weight_val
+ else:
+ # Default to assuming grams if unit is unknown
+ weight_val_grams = weight_val
+ self.logger.warning(f"Unknown weight unit: {weight_unit}, assuming grams")
+
+ # Update internal state (keep original values for reference)
+ self._last_weight = weight_val
+ self._last_unit = weight_unit
+ self._is_stable = is_stable
+
+ self.logger.info(f"Weight: {weight_val_grams} g (original: {weight_val} {weight_unit})")
+ self._status = "Connected"
+ self._error_message = ""
+
+ return weight_val_grams
+
+ except Exception as e:
+ self.logger.error(f"Get weight failed: {e}")
+ self._error_message = str(e)
+ self._status = "Error"
+ return 0.0
+
+ def get_weight_with_unit(self) -> Tuple[float, str]:
+ """Get current weight reading with unit (读数含单位)
+
+ Returns:
+ Tuple[float, str]: Weight value and unit
+ """
+ try:
+ self._ensure_connected()
+ self._status = "Reading"
+
+ self.logger.info("Getting weight with unit...")
+ reply = self.weighing_svc.GetWeight(self.session_id)
+
+ if reply.Outcome != Outcome.SUCCESS.value:
+ error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
+ self.logger.error(f"GetWeight failed: {error_msg}")
+ self._error_message = f"GetWeight failed: {error_msg}"
+ self._status = "Error"
+ return 0.0, ""
+
+ # Handle different response structures
+ if hasattr(reply, 'WeightSample'):
+ # Handle WeightSample structure (most common for XPR)
+ weight_sample = reply.WeightSample
+ if hasattr(weight_sample, 'NetWeight'):
+ weight_val = float(Decimal(weight_sample.NetWeight.Value))
+ weight_unit = weight_sample.NetWeight.Unit
+ elif hasattr(weight_sample, 'GrossWeight'):
+ weight_val = float(Decimal(weight_sample.GrossWeight.Value))
+ weight_unit = weight_sample.GrossWeight.Unit
+ else:
+ weight_val = 0.0
+ weight_unit = 'g'
+ is_stable = getattr(weight_sample, 'Stable', True)
+ elif hasattr(reply, 'Weight'):
+ weight_val = float(Decimal(reply.Weight.Value))
+ weight_unit = reply.Weight.Unit
+ is_stable = getattr(reply.Weight, 'IsStable', True)
+ elif hasattr(reply, 'Value'):
+ weight_val = float(Decimal(reply.Value))
+ weight_unit = getattr(reply, 'Unit', 'g')
+ is_stable = getattr(reply, 'IsStable', True)
+ else:
+ # Try to extract from reply attributes
+ weight_val = float(Decimal(getattr(reply, 'WeightValue', getattr(reply, 'Value', '0'))))
+ weight_unit = getattr(reply, 'WeightUnit', getattr(reply, 'Unit', 'g'))
+ is_stable = getattr(reply, 'IsStable', True)
+
+ # Update internal state
+ self._last_weight = weight_val
+ self._last_unit = weight_unit
+ self._is_stable = is_stable
+
+ self.logger.info(f"Weight: {weight_val} {weight_unit}")
+ self._status = "Connected"
+ self._error_message = ""
+
+ return weight_val, weight_unit
+
+ except Exception as e:
+ self.logger.error(f"Get weight with unit failed: {e}")
+ self._error_message = str(e)
+ self._status = "Error"
+ return 0.0, ""
+
+ def read_with_tare(self, immediate_tare: bool = True) -> Tuple[float, str]:
+ """Perform tare then read weight (standard read operation)
+
+ Args:
+ immediate_tare: Whether to use immediate tare
+
+ Returns:
+ Tuple[float, str]: Weight value and unit
+ """
+ try:
+ # Try immediate tare first
+ if not self.tare(immediate_tare):
+ # If immediate tare fails and it's an LFT balance, try normal tare
+ if immediate_tare and "Tare immediate cannot be executed" in self._error_message:
+ self.logger.warning("LFT balance doesn't support immediate tare, using normal tare")
+ if not self.tare(False):
+ return 0.0, ""
+ else:
+ return 0.0, ""
+
+ # Small delay to ensure tare is complete
+ time.sleep(0.5)
+
+ # Get weight
+ return self.get_weight_with_unit()
+
+ except Exception as e:
+ self.logger.error(f"Read with tare failed: {e}")
+ self._error_message = str(e)
+ self._status = "Error"
+ return 0.0, ""
+
+ def disconnect(self):
+ """Disconnect from the balance"""
+ try:
+ if self.session_svc and self.session_id:
+ self.session_svc.CloseSession(self.session_id)
+ self.logger.info("Session closed")
+ except Exception as e:
+ self.logger.warning(f"Error closing session: {e}")
+ finally:
+ self.session_id = None
+ self.session_svc = None
+ self.weighing_svc = None
+ self.client = None
+ self._status = "Disconnected"
+
+ def send_cmd(self, command: str) -> dict:
+ """ROS2 SendCmd action handler
+
+ Args:
+ command: JSON string containing command and parameters
+
+ Returns:
+ dict: Result containing success status and return_info
+ """
+ return self.execute_command_from_outer(command)
+
+ def execute_command_from_outer(self, command: str) -> dict:
+ """Execute command from ROS2 SendCmd action
+
+ Args:
+ command: JSON string containing command and parameters
+
+ Returns:
+ dict: Result containing success status and return_info
+ """
+ try:
+ import json
+ # Parse JSON command
+ cmd_data = json.loads(command.replace("'", '"').replace("False", "false").replace("True", "true"))
+
+ # Extract command name and parameters
+ cmd_name = cmd_data.get('command', '')
+ params = cmd_data.get('params', {})
+
+ self.logger.info(f"Executing command: {cmd_name} with params: {params}")
+
+ # Execute different commands
+ if cmd_name == 'tare':
+ immediate = params.get('immediate', False)
+ success = self.tare(immediate)
+ result = {
+ 'success': success,
+ 'return_info': f"Tare operation {'successful' if success else 'failed'}"
+ }
+ # Update instance attributes for ROS2 action system
+ self.success = result['success']
+ self.return_info = result['return_info']
+ return result
+
+ elif cmd_name == 'zero':
+ immediate = params.get('immediate', False)
+ success = self.zero(immediate)
+ result = {
+ 'success': success,
+ 'return_info': f"Zero operation {'successful' if success else 'failed'}"
+ }
+ # Update instance attributes for ROS2 action system
+ self.success = result['success']
+ self.return_info = result['return_info']
+ return result
+
+ elif cmd_name == 'read' or cmd_name == 'get_weight':
+ try:
+ self.logger.info(f"Executing {cmd_name} command via ROS2...")
+ self.logger.info(f"Current status: {self._status}")
+
+ # Use get_weight to get weight value (returns float in grams)
+ weight_grams = self.get_weight()
+ self.logger.info(f"get_weight() returned: {weight_grams} g")
+
+ # Get the original weight and unit for display
+ original_weight = getattr(self, '_last_weight', weight_grams)
+ original_unit = getattr(self, '_last_unit', 'g')
+ self.logger.info(f"Original reading: {original_weight} {original_unit}")
+
+ result = {
+ 'success': True,
+ 'return_info': f"Weight: {original_weight} {original_unit}"
+ }
+ except Exception as e:
+ self.logger.error(f"Exception in {cmd_name}: {str(e)}")
+ self.logger.error(f"Exception type: {type(e).__name__}")
+ import traceback
+ self.logger.error(f"Traceback: {traceback.format_exc()}")
+ result = {
+ 'success': False,
+ 'return_info': f"Failed to read weight: {str(e)}"
+ }
+ # Update instance attributes for ROS2 action system
+ self.success = result['success']
+ self.return_info = result['return_info']
+ return result
+
+ elif cmd_name == 'read_with_tare':
+ try:
+ weight, unit = self.read_with_tare()
+ result = {
+ 'success': True,
+ 'return_info': f"Weight with tare: {weight} {unit}"
+ }
+ except Exception as e:
+ result = {
+ 'success': False,
+ 'return_info': f"Failed to read weight with tare: {str(e)}"
+ }
+ # Update instance attributes for ROS2 action system
+ self.success = result['success']
+ self.return_info = result['return_info']
+ return result
+
+ elif cmd_name == 'disconnect':
+ self.disconnect()
+ result = {
+ 'success': True,
+ 'return_info': "Disconnect successful"
+ }
+ # Update instance attributes for ROS2 action system
+ self.success = result['success']
+ self.return_info = result['return_info']
+ return result
+
+ else:
+ result = {
+ 'success': False,
+ 'return_info': f"Unknown command: {cmd_name}. Available commands: tare, zero, read, read_with_tare, disconnect"
+ }
+ # Update instance attributes for ROS2 action system
+ self.success = result['success']
+ self.return_info = result['return_info']
+ return result
+
+ except json.JSONDecodeError as e:
+ self.logger.error(f"JSON parsing failed: {e}")
+ result = {
+ 'success': False,
+ 'return_info': f"JSON parsing failed: {str(e)}"
+ }
+ # Update instance attributes for ROS2 action system
+ self.success = result['success']
+ self.return_info = result['return_info']
+ return result
+ except Exception as e:
+ self.logger.error(f"Command execution failed: {e}")
+ result = {
+ 'success': False,
+ 'return_info': f"Command execution failed: {str(e)}"
+ }
+ # Update instance attributes for ROS2 action system
+ self.success = result['success']
+ self.return_info = result['return_info']
+ return result
+
+ def __del__(self):
+ """Cleanup when object is destroyed"""
+ self.disconnect()
+
+
+if __name__ == "__main__":
+ # Test the driver
+ import argparse
+
+ parser = argparse.ArgumentParser(description="Mettler Toledo XPR Balance Driver Test")
+ parser.add_argument("--ip", default="192.168.1.10", help="Balance IP address")
+ parser.add_argument("--port", type=int, default=81, help="Balance port")
+ parser.add_argument("--password", default="123456", help="Balance password")
+ parser.add_argument("action", choices=["tare", "zero", "read"],
+ nargs="?", default="read", help="Action to perform")
+ parser.add_argument("--immediate", action="store_true", help="Use immediate mode")
+
+ args = parser.parse_args()
+
+ # Setup logging
+ logging.basicConfig(level=logging.INFO,
+ format="%(asctime)s %(levelname)s: %(message)s")
+
+ # Create driver instance
+ balance = MettlerToledoXPR(ip=args.ip, port=args.port, password=args.password)
+
+ try:
+ if args.action == "tare":
+ success = balance.tare(args.immediate)
+ print(f"Tare {'successful' if success else 'failed'}")
+ elif args.action == "zero":
+ success = balance.zero(args.immediate)
+ print(f"Zero {'successful' if success else 'failed'}")
+ else: # read
+ weight, unit = balance.read_with_tare()
+ print(f"Weight: {weight} {unit}")
+
+ finally:
+ balance.disconnect()
\ No newline at end of file
diff --git a/unilabos/devices/zhida_gcms/__init__.py b/unilabos/devices/zhida_gcms/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/unilabos/registry/devices/balance.yaml b/unilabos/registry/devices/balance.yaml
new file mode 100644
index 0000000..1089461
--- /dev/null
+++ b/unilabos/registry/devices/balance.yaml
@@ -0,0 +1,256 @@
+balance.mettler_toledo_xpr:
+ category:
+ - balance
+ class:
+ action_value_mappings:
+ disconnect:
+ feedback: {}
+ goal: {}
+ goal_default: {}
+ handles: []
+ result:
+ success: success
+ schema:
+ description: Disconnect from balance
+ properties:
+ feedback: {}
+ goal:
+ properties: {}
+ required: []
+ type: object
+ result:
+ properties:
+ success:
+ description: Whether disconnect was successful
+ type: boolean
+ required:
+ - success
+ type: object
+ required:
+ - goal
+ type: object
+ type: UniLabJsonCommand
+ get_weight:
+ feedback: {}
+ goal: {}
+ goal_default: {}
+ handles: []
+ result:
+ unit: unit
+ weight: weight
+ schema:
+ description: Get current weight reading
+ properties:
+ feedback: {}
+ goal:
+ properties: {}
+ required: []
+ type: object
+ result:
+ properties:
+ unit:
+ description: Weight unit (e.g., g, kg)
+ type: string
+ weight:
+ description: Weight value
+ type: number
+ required:
+ - weight
+ - unit
+ type: object
+ required:
+ - goal
+ type: object
+ type: UniLabJsonCommand
+ read_with_tare:
+ feedback: {}
+ goal:
+ immediate_tare: immediate_tare
+ goal_default:
+ immediate_tare: true
+ handles: []
+ result:
+ unit: unit
+ weight: weight
+ schema:
+ description: Perform tare then read weight (standard read operation)
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ immediate_tare:
+ default: true
+ description: Whether to use immediate tare
+ type: boolean
+ required: []
+ type: object
+ result:
+ properties:
+ unit:
+ description: Weight unit (e.g., g, kg)
+ type: string
+ weight:
+ description: Weight value after tare
+ type: number
+ required:
+ - weight
+ - unit
+ type: object
+ required:
+ - goal
+ type: object
+ type: UniLabJsonCommand
+ send_cmd:
+ feedback: {}
+ goal:
+ command: command
+ goal_default:
+ command: ''
+ handles: []
+ result:
+ return_info: return_info
+ success: success
+ schema:
+ description: ''
+ properties:
+ feedback:
+ properties:
+ status:
+ type: string
+ required:
+ - status
+ title: SendCmd_Feedback
+ type: object
+ goal:
+ properties:
+ command:
+ type: string
+ required:
+ - command
+ title: SendCmd_Goal
+ type: object
+ result:
+ properties:
+ return_info:
+ type: string
+ success:
+ type: boolean
+ required:
+ - return_info
+ - success
+ title: SendCmd_Result
+ type: object
+ required:
+ - goal
+ title: SendCmd
+ type: object
+ type: SendCmd
+ tare:
+ feedback: {}
+ goal:
+ immediate: immediate
+ goal_default:
+ immediate: false
+ handles: []
+ result:
+ success: success
+ schema:
+ description: Tare operation for balance
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ immediate:
+ default: false
+ description: Whether to perform immediate tare
+ type: boolean
+ required: []
+ type: object
+ result:
+ properties:
+ success:
+ description: Whether tare operation was successful
+ type: boolean
+ required:
+ - success
+ type: object
+ required:
+ - goal
+ type: object
+ type: UniLabJsonCommand
+ zero:
+ feedback: {}
+ goal:
+ immediate: immediate
+ goal_default:
+ immediate: false
+ handles: []
+ result:
+ success: success
+ schema:
+ description: Zero operation for balance
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ immediate:
+ default: false
+ description: Whether to perform immediate zero
+ type: boolean
+ required: []
+ type: object
+ result:
+ properties:
+ success:
+ description: Whether zero operation was successful
+ type: boolean
+ required:
+ - success
+ type: object
+ required:
+ - goal
+ type: object
+ type: UniLabJsonCommand
+ module: unilabos.devices.balance.mettler_toledo_xpr.mettler_toledo_xpr:MettlerToledoXPR
+ status_types:
+ error_message: str
+ is_stable: bool
+ status: str
+ unit: str
+ weight: float
+ type: python
+ config_info: []
+ description: Mettler Toledo XPR/XSR Balance Driver
+ handles: []
+ icon: ''
+ init_param_schema:
+ description: MettlerToledoXPR __init__ parameters
+ properties:
+ feedback: {}
+ goal:
+ description: Initialization parameters for Mettler Toledo XPR balance
+ properties:
+ ip:
+ default: 192.168.1.10
+ description: Balance IP address
+ type: string
+ password:
+ default: '123456'
+ description: Balance password
+ type: string
+ port:
+ default: 81
+ description: Balance port number
+ type: integer
+ timeout:
+ default: 10
+ description: Connection timeout in seconds
+ type: integer
+ required: []
+ type: object
+ result: {}
+ required:
+ - goal
+ title: __init__ command parameters
+ type: object
+ version: 1.0.0