open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-16 04:35:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

增加注册表版本参数，支持将auto-指令人工检查后非auto，不生成人工已检查的指令，取消不必要的description生成

Browse Source
This commit is contained in:
Xuwznln
2025-07-16 01:05:16 +08:00
parent 10cb645191
commit f9aae44174
24 changed files with 247 additions and 4286 deletions
Download Patch File Download Diff File Expand all files Collapse all files

221
unilabos/registry/devices/laiyu_add_solid.yaml
View File

@@ -15,16 +15,14 @@ laiyu_add_solid:
result:
actual_mass_mg: actual_mass_mg
schema:
description: ROS Action SolidDispenseAddPowderTube 的 JSON Schema
description: 向目标粉筒位置添加固体粉末。该函数通过Modbus RTU协议与设备通信，控制粉末分装机将指定质量的粉末添加到目标粉筒位置。支持精确称量和批量处理，适用于实验室化学试剂的自动分装。
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties: {}
required: []
title: SolidDispenseAddPowderTube_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
compound_mass:
type: number
@@ -41,7 +39,6 @@ laiyu_add_solid:
title: SolidDispenseAddPowderTube_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
actual_mass_mg:
type: number
@@ -60,38 +57,6 @@ laiyu_add_solid:
title: SolidDispenseAddPowderTube
type: object
type: SolidDispenseAddPowderTube
auto-add_powder_tube:
feedback: {}
goal: {}
goal_default:
compound_mass: null
powder_tube_number: null
target_tube_position: null
handles: []
result: {}
schema:
description: add_powder_tube的参数schema
properties:
feedback: {}
goal:
properties:
compound_mass:
type: string
powder_tube_number:
type: string
target_tube_position:
type: string
required:
- powder_tube_number
- target_tube_position
- compound_mass
type: object
result: {}
required:
- goal
title: add_powder_tube参数
type: object
type: UniLabJsonCommand
auto-calculate_crc:
feedback: {}
goal: {}
@@ -100,7 +65,7 @@ laiyu_add_solid:
handles: []
result: {}
schema:
description: calculate_crc的参数schema
description: Modbus CRC-16校验码计算函数。计算Modbus RTU通信协议所需的CRC-16校验码，确保数据传输的完整性和可靠性。该函数实现标准的CRC-16算法，用于构造完整的Modbus指令帧。
properties:
feedback: {}
goal:
@@ -116,154 +81,6 @@ laiyu_add_solid:
title: calculate_crc参数
type: object
type: UniLabJsonCommand
auto-discharge:
feedback: {}
goal: {}
goal_default:
float_in: null
handles: []
result: {}
schema:
description: discharge的参数schema
properties:
feedback: {}
goal:
properties:
float_in:
type: number
required:
- float_in
type: object
result: {}
required:
- goal
title: discharge参数
type: object
type: UniLabJsonCommand
auto-move_to_plate:
feedback: {}
goal: {}
goal_default:
string: null
handles: []
result: {}
schema:
description: move_to_plate的参数schema
properties:
feedback: {}
goal:
properties:
string:
type: string
required:
- string
type: object
result: {}
required:
- goal
title: move_to_plate参数
type: object
type: UniLabJsonCommand
auto-move_to_xyz:
feedback: {}
goal: {}
goal_default:
x: null
y: null
z: null
handles: []
result: {}
schema:
description: move_to_xyz的参数schema
properties:
feedback: {}
goal:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
type: object
result: {}
required:
- goal
title: move_to_xyz参数
type: object
type: UniLabJsonCommand
auto-pick_powder_tube:
feedback: {}
goal: {}
goal_default:
int_input: null
handles: []
result: {}
schema:
description: pick_powder_tube的参数schema
properties:
feedback: {}
goal:
properties:
int_input:
type: integer
required:
- int_input
type: object
result: {}
required:
- goal
title: pick_powder_tube参数
type: object
type: UniLabJsonCommand
auto-put_powder_tube:
feedback: {}
goal: {}
goal_default:
int_input: null
handles: []
result: {}
schema:
description: put_powder_tube的参数schema
properties:
feedback: {}
goal:
properties:
int_input:
type: integer
required:
- int_input
type: object
result: {}
required:
- goal
title: put_powder_tube参数
type: object
type: UniLabJsonCommand
auto-reset:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: reset的参数schema
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: reset参数
type: object
type: UniLabJsonCommand
auto-send_command:
feedback: {}
goal: {}
@@ -272,7 +89,7 @@ laiyu_add_solid:
handles: []
result: {}
schema:
description: send_command的参数schema
description: Modbus指令发送函数。构造完整的Modbus RTU指令帧（包含CRC校验），发送给分装设备并等待响应。该函数处理底层通信协议，确保指令的正确传输和响应接收，支持最长3分钟的响应等待时间。
properties:
feedback: {}
goal:
@@ -297,16 +114,14 @@ laiyu_add_solid:
handles: []
result: {}
schema:
description: ROS Action FloatSingleInput 的 JSON Schema
description: 执行出料操作，传入出料质量（单位0.1mg）
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties: {}
required: []
title: FloatSingleInput_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
float_in:
type: number
@@ -315,7 +130,6 @@ laiyu_add_solid:
title: FloatSingleInput_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -340,16 +154,14 @@ laiyu_add_solid:
handles: []
result: {}
schema:
description: ROS Action StrSingleInput 的 JSON Schema
description: 移动到某个孔板位置。
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties: {}
required: []
title: StrSingleInput_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
string:
type: string
@@ -358,7 +170,6 @@ laiyu_add_solid:
title: StrSingleInput_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -387,16 +198,14 @@ laiyu_add_solid:
handles: []
result: {}
schema:
description: ROS Action Point3DSeparateInput 的 JSON Schema
description: 按照坐标移动，单位为0.1mm
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties: {}
required: []
title: Point3DSeparateInput_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
x:
type: number
@@ -411,7 +220,6 @@ laiyu_add_solid:
title: Point3DSeparateInput_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -436,16 +244,14 @@ laiyu_add_solid:
handles: []
result: {}
schema:
description: ROS Action IntSingleInput 的 JSON Schema
description: 装载粉筒，传入粉筒编号
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties: {}
required: []
title: IntSingleInput_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
int_input:
maximum: 2147483647
@@ -456,7 +262,6 @@ laiyu_add_solid:
title: IntSingleInput_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -481,16 +286,14 @@ laiyu_add_solid:
handles: []
result: {}
schema:
description: ROS Action IntSingleInput 的 JSON Schema
description: 放回粉筒
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties: {}
required: []
title: IntSingleInput_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
int_input:
maximum: 2147483647
@@ -501,7 +304,6 @@ laiyu_add_solid:
title: IntSingleInput_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -524,22 +326,19 @@ laiyu_add_solid:
handles: []
result: {}
schema:
description: ROS Action EmptyIn 的 JSON Schema
description: 重置指令
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties: {}
required: []
title: EmptyIn_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties: {}
required: []
title: EmptyIn_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
@@ -556,7 +355,7 @@ laiyu_add_solid:
status_types:
status: str
type: python
description: Laiyu Add Solid
description: 来渝固体粉末自动分装设备，用于实验室化学试剂的精确称量和分装。该设备通过Modbus RTU协议与控制系统通信，集成了精密天平、三轴运动平台、粉筒管理系统等组件。支持多种粉末试剂的自动拿取、精确称量、定点分装和归位操作。具备高精度称量、位置控制和批量处理能力，适用于化学合成、药物研发、材料制备等需要精确固体试剂配制的实验室应用场景。
handles: []
icon: ''
init_param_schema: