Uni-Lab-OS/unilabos/registry/devices/robot_linear_motion.yaml

linear_motion.grbl:
  category:
  - robot_linear_motion
  class:
    action_value_mappings:
      auto-initialize:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          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。
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: initialize参数
          type: object
        type: UniLabJsonCommand
      auto-set_position:
        feedback: {}
        goal: {}
        goal_default:
          position: null
        handles: []
        result: {}
        schema:
          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。
          properties:
            feedback: {}
            goal:
              properties:
                position:
                  type: string
              required:
              - position
              type: object
            result: {}
          required:
          - goal
          title: set_position参数
          type: object
        type: UniLabJsonCommand
      auto-stop_operation:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          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。
          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: ''
          properties:
            feedback:
              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:
              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:
              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: ''
          properties:
            feedback:
              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:
              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:
              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
  config_info: []
  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。
  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
  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