linear_motion.grbl:
  class:
    action_value_mappings:
      auto-initialize:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: initialize的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: initialize参数
          type: object
        type: UniLabJsonCommand
      auto-move_through_points:
        feedback: {}
        goal: {}
        goal_default:
          positions: null
        handles: []
        result: {}
        schema:
          description: move_through_points的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                positions:
                  type: array
              required:
              - positions
              type: object
            result: {}
          required:
          - goal
          title: move_through_points参数
          type: object
        type: UniLabJsonCommand
      auto-set_position:
        feedback: {}
        goal: {}
        goal_default:
          position: null
        handles: []
        result: {}
        schema:
          description: set_position的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                position:
                  type: string
              required:
              - position
              type: object
            result: {}
          required:
          - goal
          title: set_position参数
          type: object
        type: UniLabJsonCommand
      auto-set_spindle_speed:
        feedback: {}
        goal: {}
        goal_default:
          max_velocity: 500
          spindle_speed: null
        handles: []
        result: {}
        schema:
          description: set_spindle_speed的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                max_velocity:
                  default: 500
                  type: number
                spindle_speed:
                  type: number
              required:
              - spindle_speed
              type: object
            result: {}
          required:
          - goal
          title: set_spindle_speed参数
          type: object
        type: UniLabJsonCommand
      auto-stop_operation:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: stop_operation的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: stop_operation参数
          type: object
        type: UniLabJsonCommand
      auto-wait_error:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: wait_error的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: wait_error参数
          type: object
        type: UniLabJsonCommandAsync
      move_through_points:
        feedback:
          current_pose.pose.position: position
          estimated_time_remaining.sec: time_remaining
          navigation_time.sec: time_spent
          number_of_poses_remaining: pose_number_remaining
        goal:
          poses[].pose.position: positions[]
        goal_default:
          behavior_tree: ''
          poses:
          - header:
              frame_id: ''
              stamp:
                nanosec: 0
                sec: 0
            pose:
              orientation:
                w: 1.0
                x: 0.0
                y: 0.0
                z: 0.0
              position:
                x: 0.0
                y: 0.0
                z: 0.0
        handles: []
        result: {}
        schema:
          description: ROS Action NavigateThroughPoses 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:
                current_pose:
                  properties:
                    header:
                      properties:
                        frame_id:
                          type: string
                        stamp:
                          properties:
                            nanosec:
                              maximum: 4294967295
                              minimum: 0
                              type: integer
                            sec:
                              maximum: 2147483647
                              minimum: -2147483648
                              type: integer
                          required:
                          - sec
                          - nanosec
                          title: Time
                          type: object
                      required:
                      - stamp
                      - frame_id
                      title: Header
                      type: object
                    pose:
                      properties:
                        orientation:
                          properties:
                            w:
                              type: number
                            x:
                              type: number
                            y:
                              type: number
                            z:
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: Quaternion
                          type: object
                        position:
                          properties:
                            x:
                              type: number
                            y:
                              type: number
                            z:
                              type: number
                          required:
                          - x
                          - y
                          - z
                          title: Point
                          type: object
                      required:
                      - position
                      - orientation
                      title: Pose
                      type: object
                  required:
                  - header
                  - pose
                  title: PoseStamped
                  type: object
                distance_remaining:
                  type: number
                estimated_time_remaining:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
                navigation_time:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
                number_of_poses_remaining:
                  maximum: 32767
                  minimum: -32768
                  type: integer
                number_of_recoveries:
                  maximum: 32767
                  minimum: -32768
                  type: integer
              required:
              - current_pose
              - navigation_time
              - estimated_time_remaining
              - number_of_recoveries
              - distance_remaining
              - number_of_poses_remaining
              title: NavigateThroughPoses_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                behavior_tree:
                  type: string
                poses:
                  items:
                    properties:
                      header:
                        properties:
                          frame_id:
                            type: string
                          stamp:
                            properties:
                              nanosec:
                                maximum: 4294967295
                                minimum: 0
                                type: integer
                              sec:
                                maximum: 2147483647
                                minimum: -2147483648
                                type: integer
                            required:
                            - sec
                            - nanosec
                            title: Time
                            type: object
                        required:
                        - stamp
                        - frame_id
                        title: Header
                        type: object
                      pose:
                        properties:
                          orientation:
                            properties:
                              w:
                                type: number
                              x:
                                type: number
                              y:
                                type: number
                              z:
                                type: number
                            required:
                            - x
                            - y
                            - z
                            - w
                            title: Quaternion
                            type: object
                          position:
                            properties:
                              x:
                                type: number
                              y:
                                type: number
                              z:
                                type: number
                            required:
                            - x
                            - y
                            - z
                            title: Point
                            type: object
                        required:
                        - position
                        - orientation
                        title: Pose
                        type: object
                    required:
                    - header
                    - pose
                    title: PoseStamped
                    type: object
                  type: array
              required:
              - poses
              - behavior_tree
              title: NavigateThroughPoses_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                result:
                  properties: {}
                  required: []
                  title: Empty
                  type: object
              required:
              - result
              title: NavigateThroughPoses_Result
              type: object
          required:
          - goal
          title: NavigateThroughPoses
          type: object
        type: NavigateThroughPoses
      set_spindle_speed:
        feedback:
          position: spindle_speed
        goal:
          position: spindle_speed
        goal_default:
          max_velocity: 0.0
          min_duration:
            nanosec: 0
            sec: 0
          position: 0.0
        handles: []
        result: {}
        schema:
          description: ROS Action SingleJointPosition 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:
                error:
                  type: number
                header:
                  properties:
                    frame_id:
                      type: string
                    stamp:
                      properties:
                        nanosec:
                          maximum: 4294967295
                          minimum: 0
                          type: integer
                        sec:
                          maximum: 2147483647
                          minimum: -2147483648
                          type: integer
                      required:
                      - sec
                      - nanosec
                      title: Time
                      type: object
                  required:
                  - stamp
                  - frame_id
                  title: Header
                  type: object
                position:
                  type: number
                velocity:
                  type: number
              required:
              - header
              - position
              - velocity
              - error
              title: SingleJointPosition_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                max_velocity:
                  type: number
                min_duration:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
                position:
                  type: number
              required:
              - position
              - min_duration
              - max_velocity
              title: SingleJointPosition_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties: {}
              required: []
              title: SingleJointPosition_Result
              type: object
          required:
          - goal
          title: SingleJointPosition
          type: object
        type: SingleJointPosition
    module: unilabos.devices.cnc.grbl_sync:GrblCNC
    status_types:
      position: unilabos.messages:Point3D
      spindle_speed: float
      status: str
    type: python
  description: Grbl CNC
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties:
        address:
          default: '1'
          type: string
        limits:
          default:
          - -150
          - 150
          - -200
          - 0
          - -80
          - 0
          type: array
        port:
          type: string
      required:
      - port
      type: object
    data:
      properties:
        position:
          type: string
        spindle_speed:
          type: number
        status:
          type: string
      required:
      - status
      - position
      - spindle_speed
      type: object
motor.iCL42:
  class:
    action_value_mappings:
      auto-execute_run_motor:
        feedback: {}
        goal: {}
        goal_default:
          mode: null
          position: null
          velocity: null
        handles: []
        result: {}
        schema:
          description: execute_run_motor的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                mode:
                  type: string
                position:
                  type: number
                velocity:
                  type: integer
              required:
              - mode
              - position
              - velocity
              type: object
            result: {}
          required:
          - goal
          title: execute_run_motor参数
          type: object
        type: UniLabJsonCommand
      auto-init_device:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: init_device的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: init_device参数
          type: object
        type: UniLabJsonCommand
      auto-run_motor:
        feedback: {}
        goal: {}
        goal_default:
          mode: null
          position: null
          velocity: null
        handles: []
        result: {}
        schema:
          description: run_motor的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                mode:
                  type: string
                position:
                  type: number
                velocity:
                  type: integer
              required:
              - mode
              - position
              - velocity
              type: object
            result: {}
          required:
          - goal
          title: run_motor参数
          type: object
        type: UniLabJsonCommand
      execute_command_from_outer:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result:
          success: success
        schema:
          description: ROS Action SendCmd 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:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_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: SendCmd_Result
              type: object
          required:
          - goal
          title: SendCmd
          type: object
        type: SendCmd
    module: unilabos.devices.motor.iCL42:iCL42Driver
    status_types:
      is_executing_run: bool
      motor_position: int
      success: bool
    type: python
  description: iCL42 motor
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties:
        device_address:
          default: 1
          type: integer
        device_com:
          default: COM9
          type: string
      required: []
      type: object
    data:
      properties:
        is_executing_run:
          type: boolean
        motor_position:
          type: integer
        success:
          type: boolean
      required:
      - motor_position
      - is_executing_run
      - success
      type: object