solenoid_valve:
  class:
    action_value_mappings:
      auto-close:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand close 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand close 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: close 命令参数
          type: object
        type: UniLabJsonCommand
      auto-is_closed:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand is_closed 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand is_closed 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: is_closed 命令参数
          type: object
        type: UniLabJsonCommand
      auto-is_open:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand is_open 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand is_open 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: is_open 命令参数
          type: object
        type: UniLabJsonCommand
      auto-open:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand open 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand open 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: open 命令参数
          type: object
        type: UniLabJsonCommand
      auto-read_data:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand read_data 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand read_data 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: read_data 命令参数
          type: object
        type: UniLabJsonCommand
      auto-send_command:
        feedback: {}
        goal: {}
        goal_default:
          command: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand send_command 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand send_command 的参数schema
              properties:
                command:
                  description: '参数: command'
                  type: string
              required:
              - command
              type: object
            result: {}
          required:
          - goal
          title: send_command 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_valve_position:
        feedback: {}
        goal: {}
        goal_default:
          position: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_valve_position 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_valve_position 的参数schema
              properties:
                position:
                  description: '参数: position'
                  type: string
              required:
              - position
              type: object
            result: {}
          required:
          - goal
          title: set_valve_position 命令参数
          type: object
        type: UniLabJsonCommand
      set_valve_position:
        feedback: {}
        goal:
          string: position
        goal_default:
          string: ''
        handles: []
        result: {}
        schema:
          description: ROS Action StrSingleInput 的 JSON Schema
          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
              required:
              - string
              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
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: StrSingleInput_Result
              type: object
          required:
          - goal
          title: StrSingleInput
          type: object
        type: StrSingleInput
    module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
    status_types:
      status: str
      valve_position: str
    type: python
  description: Solenoid valve
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          io_device_port:
            description: '参数: io_device_port'
            type: string
        required:
        - io_device_port
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
solenoid_valve.mock:
  class:
    action_value_mappings:
      auto-close:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand close 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand close 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: close 命令参数
          type: object
        type: UniLabJsonCommand
      auto-is_closed:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand is_closed 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand is_closed 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: is_closed 命令参数
          type: object
        type: UniLabJsonCommand
      auto-is_open:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand is_open 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand is_open 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: is_open 命令参数
          type: object
        type: UniLabJsonCommand
      auto-open:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand open 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand open 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: open 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_valve_position:
        feedback: {}
        goal: {}
        goal_default:
          position: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_valve_position 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_valve_position 的参数schema
              properties:
                position:
                  description: '参数: position'
                  type: string
              required:
              - position
              type: object
            result: {}
          required:
          - goal
          title: set_valve_position 命令参数
          type: object
        type: UniLabJsonCommand
      close:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: ROS Action EmptyIn 的 JSON Schema
          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
              required:
              - return_info
              title: EmptyIn_Result
              type: object
          required:
          - goal
          title: EmptyIn
          type: object
        type: EmptyIn
      open:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: ROS Action EmptyIn 的 JSON Schema
          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
              required:
              - return_info
              title: EmptyIn_Result
              type: object
          required:
          - goal
          title: EmptyIn
          type: object
        type: EmptyIn
    module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
    status_types:
      status: str
      valve_position: str
    type: python
  description: Mock solenoid valve
  handles:
  - data_type: fluid
    handler_key: in
    io_type: target
    label: in
    side: NORTH
  - data_type: fluid
    handler_key: out
    io_type: source
    label: out
    side: SOUTH
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          port:
            default: COM6
            description: '参数: port'
            type: string
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
syringe_pump_with_valve.runze:
  class:
    action_value_mappings:
      auto-close:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand close 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand close 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: close 命令参数
          type: object
        type: UniLabJsonCommand
      auto-initialize:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand initialize 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand initialize 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: initialize 命令参数
          type: object
        type: UniLabJsonCommand
      auto-pull_plunger:
        feedback: {}
        goal: {}
        goal_default:
          volume: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand pull_plunger 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand pull_plunger 的参数schema
              properties:
                volume:
                  description: '参数: volume'
                  type: number
              required:
              - volume
              type: object
            result: {}
          required:
          - goal
          title: pull_plunger 命令参数
          type: object
        type: UniLabJsonCommand
      auto-push_plunger:
        feedback: {}
        goal: {}
        goal_default:
          volume: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand push_plunger 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand push_plunger 的参数schema
              properties:
                volume:
                  description: '参数: volume'
                  type: number
              required:
              - volume
              type: object
            result: {}
          required:
          - goal
          title: push_plunger 命令参数
          type: object
        type: UniLabJsonCommand
      auto-query_aux_input_status_1:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand query_aux_input_status_1 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand query_aux_input_status_1 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: query_aux_input_status_1 命令参数
          type: object
        type: UniLabJsonCommand
      auto-query_aux_input_status_2:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand query_aux_input_status_2 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand query_aux_input_status_2 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: query_aux_input_status_2 命令参数
          type: object
        type: UniLabJsonCommand
      auto-query_backlash_position:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand query_backlash_position 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand query_backlash_position 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: query_backlash_position 命令参数
          type: object
        type: UniLabJsonCommand
      auto-query_command_buffer_status:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand query_command_buffer_status 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand query_command_buffer_status 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: query_command_buffer_status 命令参数
          type: object
        type: UniLabJsonCommand
      auto-query_software_version:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand query_software_version 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand query_software_version 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: query_software_version 命令参数
          type: object
        type: UniLabJsonCommand
      auto-send_command:
        feedback: {}
        goal: {}
        goal_default:
          full_command: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand send_command 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand send_command 的参数schema
              properties:
                full_command:
                  description: '参数: full_command'
                  type: string
              required:
              - full_command
              type: object
            result: {}
          required:
          - goal
          title: send_command 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_baudrate:
        feedback: {}
        goal: {}
        goal_default:
          baudrate: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_baudrate 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_baudrate 的参数schema
              properties:
                baudrate:
                  description: '参数: baudrate'
                  type: string
              required:
              - baudrate
              type: object
            result: {}
          required:
          - goal
          title: set_baudrate 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_max_velocity:
        feedback: {}
        goal: {}
        goal_default:
          velocity: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_max_velocity 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_max_velocity 的参数schema
              properties:
                velocity:
                  description: '参数: velocity'
                  type: number
              required:
              - velocity
              type: object
            result: {}
          required:
          - goal
          title: set_max_velocity 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_position:
        feedback: {}
        goal: {}
        goal_default:
          max_velocity: null
          position: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_position 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_position 的参数schema
              properties:
                max_velocity:
                  description: '参数: max_velocity'
                  type: number
                position:
                  description: '参数: position'
                  type: number
              required:
              - position
              type: object
            result: {}
          required:
          - goal
          title: set_position 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_valve_position:
        feedback: {}
        goal: {}
        goal_default:
          position: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_valve_position 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_valve_position 的参数schema
              properties:
                position:
                  description: '参数: position'
                  type: string
              required:
              - position
              type: object
            result: {}
          required:
          - goal
          title: set_valve_position 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_velocity_grade:
        feedback: {}
        goal: {}
        goal_default:
          velocity: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_velocity_grade 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_velocity_grade 的参数schema
              properties:
                velocity:
                  description: '参数: velocity'
                  type: string
              required:
              - velocity
              type: object
            result: {}
          required:
          - goal
          title: set_velocity_grade 命令参数
          type: object
        type: UniLabJsonCommand
      auto-stop_operation:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand stop_operation 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand stop_operation 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: stop_operation 命令参数
          type: object
        type: UniLabJsonCommand
      auto-wait_error:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand wait_error 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand wait_error 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: wait_error 命令参数
          type: object
        type: UniLabJsonCommand
    hardware_interface:
      name: hardware_interface
      read: send_command
      write: send_command
    module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
    status_types:
      max_velocity: float
      mode: int
      plunger_position: String
      position: float
      status: str
      valve_position: str
      velocity_end: String
      velocity_grade: String
      velocity_init: String
    type: python
  description: Runze Syringe pump with valve
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          address:
            default: '1'
            description: '参数: address'
            type: string
          max_volume:
            default: 25.0
            description: '参数: max_volume'
            type: number
          mode:
            description: '参数: mode'
            type: string
          port:
            description: '参数: port'
            type: string
        required:
        - port
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object