mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 04:51:10 +00:00
0bfb52df00
Update recipe.yaml fix: figure_resource use call_async in all service to avoid deadlock fix: prcxi import error 临时兼容错误的driver写法 fix protocol node fix filter protocol bugfixes on organic protocols fix and remove redundant info feat: 新增use_remote_resource参数 fix all protocol_compilers and remove deprecated devices feat: 优化protocol node节点运行日志 fix pumps and liquid_handler handle feat: workstation example add: prcxi res fix: startup slow fix: prcxi_res fix: discard_tips fix: discard_tips error fix: drop_tips not using auto resource select feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79) feat: add trace log level modify default discovery_interval to 15s fix: working dir error when input config path feat: report publish topic when error fix: workstation handlers and vessel_id parsing Cleanup registry to be easy-understanding (#76) * delete deprecated mock devices * rename categories * combine chromatographic devices * rename rviz simulation nodes * organic virtual devices * parse vessel_id * run registry completion before merge --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
993 lines
29 KiB
YAML
993 lines
29 KiB
YAML
linear_motion.grbl:
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category:
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- robot_linear_motion
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class:
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action_value_mappings:
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auto-initialize:
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feedback: {}
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goal: {}
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||
goal_default: {}
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handles: []
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result: {}
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||
schema:
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description: CNC设备初始化函数。执行Grbl CNC的完整初始化流程，包括归零操作、轴校准和状态复位。该函数将所有轴移动到原点位置(0,0,0)，确保设备处于已知的参考状态。初始化完成后设备进入空闲状态，可接收后续的运动指令。
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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||
result: {}
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required:
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- goal
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title: initialize参数
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type: object
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type: UniLabJsonCommand
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auto-set_position:
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feedback: {}
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goal: {}
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goal_default:
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position: null
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handles: []
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result: {}
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schema:
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description: CNC绝对位置设定函数。控制CNC设备移动到指定的三维坐标位置(x,y,z)。该函数支持安全限位检查，防止超出设备工作范围。移动过程中会监控设备状态，确保安全到达目标位置。适用于精确定位和轨迹控制操作。
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properties:
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feedback: {}
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goal:
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properties:
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position:
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type: string
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required:
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- position
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type: object
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result: {}
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required:
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- goal
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title: set_position参数
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type: object
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type: UniLabJsonCommand
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auto-stop_operation:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: CNC操作停止函数。立即停止当前正在执行的所有CNC运动，包括轴移动和主轴旋转。该函数用于紧急停止或任务中断，确保设备和工件的安全。停止后设备将保持当前位置，等待新的指令。
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: stop_operation参数
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type: object
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type: UniLabJsonCommand
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auto-wait_error:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: wait_error的参数schema
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: wait_error参数
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type: object
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type: UniLabJsonCommandAsync
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move_through_points:
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feedback:
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current_pose.pose.position: position
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estimated_time_remaining.sec: time_remaining
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navigation_time.sec: time_spent
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number_of_poses_remaining: pose_number_remaining
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goal:
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poses[].pose.position: positions[]
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goal_default:
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behavior_tree: ''
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poses:
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- header:
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frame_id: ''
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stamp:
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nanosec: 0
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sec: 0
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pose:
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orientation:
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w: 1.0
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x: 0.0
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y: 0.0
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z: 0.0
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position:
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x: 0.0
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y: 0.0
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z: 0.0
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback:
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properties:
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current_pose:
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properties:
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header:
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properties:
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frame_id:
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type: string
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stamp:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: stamp
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type: object
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required:
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- stamp
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- frame_id
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title: header
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type: object
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pose:
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properties:
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orientation:
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properties:
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w:
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type: number
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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- w
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title: orientation
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type: object
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position:
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properties:
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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title: position
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type: object
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required:
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- position
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- orientation
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title: pose
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type: object
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required:
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- header
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- pose
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title: current_pose
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type: object
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distance_remaining:
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type: number
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estimated_time_remaining:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: estimated_time_remaining
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type: object
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navigation_time:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: navigation_time
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type: object
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number_of_poses_remaining:
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maximum: 32767
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minimum: -32768
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type: integer
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number_of_recoveries:
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maximum: 32767
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minimum: -32768
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type: integer
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required:
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- current_pose
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- navigation_time
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- estimated_time_remaining
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- number_of_recoveries
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- distance_remaining
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- number_of_poses_remaining
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title: NavigateThroughPoses_Feedback
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type: object
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goal:
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properties:
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behavior_tree:
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type: string
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poses:
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items:
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properties:
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header:
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properties:
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frame_id:
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type: string
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stamp:
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properties:
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||
nanosec:
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||
maximum: 4294967295
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||
minimum: 0
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||
type: integer
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||
sec:
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||
maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: stamp
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type: object
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required:
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- stamp
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- frame_id
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title: header
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type: object
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pose:
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properties:
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orientation:
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properties:
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w:
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type: number
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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- w
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title: orientation
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type: object
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position:
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properties:
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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title: position
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type: object
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required:
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- position
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- orientation
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title: pose
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type: object
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required:
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- header
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- pose
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title: poses
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type: object
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type: array
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required:
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- poses
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- behavior_tree
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title: NavigateThroughPoses_Goal
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type: object
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result:
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properties:
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result:
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properties: {}
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required: []
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title: result
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||
type: object
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required:
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- result
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title: NavigateThroughPoses_Result
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type: object
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required:
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- goal
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title: NavigateThroughPoses
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type: object
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type: NavigateThroughPoses
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set_spindle_speed:
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feedback:
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position: spindle_speed
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goal:
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position: spindle_speed
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goal_default:
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max_velocity: 0.0
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min_duration:
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nanosec: 0
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sec: 0
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position: 0.0
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback:
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properties:
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error:
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type: number
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||
header:
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||
properties:
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||
frame_id:
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type: string
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||
stamp:
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||
properties:
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||
nanosec:
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||
maximum: 4294967295
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||
minimum: 0
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||
type: integer
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||
sec:
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||
maximum: 2147483647
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||
minimum: -2147483648
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||
type: integer
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||
required:
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- sec
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- nanosec
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title: stamp
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||
type: object
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||
required:
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- stamp
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- frame_id
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title: header
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||
type: object
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||
position:
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type: number
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velocity:
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type: number
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required:
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- header
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- position
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- velocity
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- error
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||
title: SingleJointPosition_Feedback
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||
type: object
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||
goal:
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||
properties:
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||
max_velocity:
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type: number
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||
min_duration:
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||
properties:
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||
nanosec:
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||
maximum: 4294967295
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||
minimum: 0
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||
type: integer
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||
sec:
|
||
maximum: 2147483647
|
||
minimum: -2147483648
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||
type: integer
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||
required:
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- sec
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- nanosec
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||
title: min_duration
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||
type: object
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||
position:
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type: number
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required:
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- position
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- min_duration
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- max_velocity
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title: SingleJointPosition_Goal
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type: object
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result:
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properties: {}
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required: []
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title: SingleJointPosition_Result
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type: object
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||
required:
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- goal
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title: SingleJointPosition
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type: object
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type: SingleJointPosition
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module: unilabos.devices.cnc.grbl_sync:GrblCNC
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status_types:
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position: unilabos.messages:Point3D
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spindle_speed: float
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status: str
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type: python
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config_info: []
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description: Grbl数控机床（CNC）设备，用于实验室精密加工和三轴定位操作。该设备基于Grbl固件，通过串口通信控制步进电机实现X、Y、Z三轴的精确运动。支持绝对定位、轨迹规划、主轴控制和实时状态监控。具备安全限位保护和运动平滑控制功能。适用于精密钻孔、铣削、雕刻、样品制备等需要高精度定位和加工的实验室应用场景。
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handles: []
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icon: ''
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init_param_schema:
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config:
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properties:
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address:
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default: '1'
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type: string
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limits:
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default:
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- -150
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- 150
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- -200
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- 0
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- -80
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- 0
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type: array
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port:
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type: string
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required:
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- port
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type: object
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data:
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properties:
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position:
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type: string
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spindle_speed:
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type: number
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status:
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type: string
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required:
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- status
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- position
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- spindle_speed
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type: object
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version: 1.0.0
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linear_motion.toyo_xyz.sim:
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category:
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- robot_linear_motion
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class:
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action_value_mappings:
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auto-check_tf_update_actions:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: check_tf_update_actions的参数schema
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: check_tf_update_actions参数
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type: object
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type: UniLabJsonCommand
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auto-moveit_joint_task:
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feedback: {}
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goal: {}
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goal_default:
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joint_names: null
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joint_positions: null
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move_group: null
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retry: 10
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speed: 1
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handles: []
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result: {}
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schema:
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description: moveit_joint_task的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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joint_names:
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type: string
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joint_positions:
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type: string
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move_group:
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type: string
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retry:
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default: 10
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type: string
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speed:
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default: 1
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type: string
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required:
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- move_group
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- joint_positions
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type: object
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result: {}
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required:
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- goal
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title: moveit_joint_task参数
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type: object
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type: UniLabJsonCommand
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auto-moveit_task:
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feedback: {}
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goal: {}
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goal_default:
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cartesian: false
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move_group: null
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offsets:
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- 0
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- 0
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- 0
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position: null
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quaternion: null
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retry: 10
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speed: 1
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target_link: null
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handles: []
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result: {}
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schema:
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description: moveit_task的参数schema
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||
properties:
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||
feedback: {}
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||
goal:
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properties:
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cartesian:
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default: false
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type: string
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||
move_group:
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||
type: string
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||
offsets:
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default:
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- 0
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- 0
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- 0
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||
type: string
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||
position:
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type: string
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||
quaternion:
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||
type: string
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||
retry:
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||
default: 10
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||
type: string
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||
speed:
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default: 1
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||
type: string
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||
target_link:
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||
type: string
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required:
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- move_group
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- position
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- quaternion
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type: object
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||
result: {}
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||
required:
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||
- goal
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||
title: moveit_task参数
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type: object
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type: UniLabJsonCommand
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||
auto-post_init:
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||
feedback: {}
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||
goal: {}
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||
goal_default:
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||
ros_node: null
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||
handles: []
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||
result: {}
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||
schema:
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||
description: post_init的参数schema
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||
properties:
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||
feedback: {}
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||
goal:
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||
properties:
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||
ros_node:
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||
type: string
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||
required:
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||
- ros_node
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||
type: object
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||
result: {}
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||
required:
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||
- goal
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||
title: post_init参数
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||
type: object
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||
type: UniLabJsonCommand
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||
auto-resource_manager:
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||
feedback: {}
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||
goal: {}
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||
goal_default:
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||
parent_link: null
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||
resource: null
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||
handles: []
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||
result: {}
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||
schema:
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||
description: resource_manager的参数schema
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties:
|
||
parent_link:
|
||
type: string
|
||
resource:
|
||
type: string
|
||
required:
|
||
- resource
|
||
- parent_link
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: resource_manager参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
auto-wait_for_resource_action:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default: {}
|
||
handles: []
|
||
result: {}
|
||
schema:
|
||
description: wait_for_resource_action的参数schema
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties: {}
|
||
required: []
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: wait_for_resource_action参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
pick_and_place:
|
||
feedback: {}
|
||
goal:
|
||
command: command
|
||
goal_default:
|
||
command: ''
|
||
handles: []
|
||
result: {}
|
||
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
|
||
set_position:
|
||
feedback: {}
|
||
goal:
|
||
command: command
|
||
goal_default:
|
||
command: ''
|
||
handles: []
|
||
result: {}
|
||
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
|
||
set_status:
|
||
feedback: {}
|
||
goal:
|
||
command: command
|
||
goal_default:
|
||
command: ''
|
||
handles: []
|
||
result: {}
|
||
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
|
||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||
status_types: {}
|
||
type: python
|
||
config_info: []
|
||
description: 东洋XYZ三轴运动平台，基于MoveIt2运动规划框架的精密定位设备。该设备通过ROS2和MoveIt2实现三维空间的精确运动控制，支持复杂轨迹规划、多点定位、速度控制等功能。具备高精度定位、平稳运动、实时轨迹监控等特性。适用于精密加工、样品定位、检测扫描、自动化装配等需要高精度三维运动控制的实验室和工业应用场景。
|
||
handles: []
|
||
icon: ''
|
||
init_param_schema:
|
||
config:
|
||
properties:
|
||
device_config:
|
||
type: string
|
||
joint_poses:
|
||
type: string
|
||
moveit_type:
|
||
type: string
|
||
rotation:
|
||
type: string
|
||
required:
|
||
- moveit_type
|
||
- joint_poses
|
||
type: object
|
||
data:
|
||
properties: {}
|
||
required: []
|
||
type: object
|
||
model:
|
||
mesh: toyo_xyz
|
||
type: device
|
||
version: 1.0.0
|
||
motor.iCL42:
|
||
category:
|
||
- robot_linear_motion
|
||
class:
|
||
action_value_mappings:
|
||
auto-execute_run_motor:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default:
|
||
mode: null
|
||
position: null
|
||
velocity: null
|
||
handles: []
|
||
result: {}
|
||
schema:
|
||
description: 步进电机执行运动函数。直接执行电机运动命令，包括位置设定、速度控制和路径规划。该函数处理底层的电机控制协议，消除警告信息，设置运动参数并启动电机运行。适用于需要直接控制电机运动的应用场景。
|
||
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: iCL42电机设备初始化函数。建立与iCL42步进电机驱动器的串口通信连接，配置通信参数包括波特率、数据位、校验位等。该函数是电机使用前的必要步骤，确保驱动器处于可控状态并准备接收运动指令。
|
||
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: 步进电机运动控制函数。根据指定的运动模式、目标位置和速度参数控制电机运动。支持多种运动模式和精确的位置控制，自动处理运动轨迹规划和执行。该函数提供异步执行和状态反馈，确保运动的准确性和可靠性。
|
||
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: ''
|
||
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
|
||
module: unilabos.devices.motor.iCL42:iCL42Driver
|
||
status_types:
|
||
is_executing_run: bool
|
||
motor_position: int
|
||
success: bool
|
||
type: python
|
||
config_info: []
|
||
description: iCL42步进电机驱动器，用于实验室设备的精密线性运动控制。该设备通过串口通信控制iCL42型步进电机驱动器，支持多种运动模式和精确的位置、速度控制。具备位置反馈、运行状态监控和故障检测功能。适用于自动进样器、样品传送、精密定位平台等需要准确线性运动控制的实验室自动化设备。
|
||
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
|
||
version: 1.0.0
|