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

mock_chiller:
  class:
    action_value_mappings:
      auto-emergency_stop:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand emergency_stop 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand emergency_stop 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: emergency_stop 命令参数
          type: object
        type: UniLabJsonCommand
      auto-heat_chill_start:
        feedback: {}
        goal: {}
        goal_default:
          purpose: null
          temp: null
          vessel: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand heat_chill_start 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand heat_chill_start 的参数schema
              properties:
                purpose:
                  description: '参数: purpose'
                  type: string
                temp:
                  description: '参数: temp'
                  type: number
                vessel:
                  description: '参数: vessel'
                  type: string
              required:
              - vessel
              - temp
              - purpose
              type: object
            result: {}
          required:
          - goal
          title: heat_chill_start 命令参数
          type: object
        type: UniLabJsonCommand
      auto-heat_chill_stop:
        feedback: {}
        goal: {}
        goal_default:
          vessel: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand heat_chill_stop 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand heat_chill_stop 的参数schema
              properties:
                vessel:
                  description: '参数: vessel'
                  type: string
              required:
              - vessel
              type: object
            result: {}
          required:
          - goal
          title: heat_chill_stop 命令参数
          type: object
        type: UniLabJsonCommand
      emergency_stop:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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
      heat_chill_start:
        feedback: {}
        goal:
          purpose: purpose
          temp: temp
          vessel: vessel
        goal_default:
          purpose: ''
          temp: 0.0
          vessel: ''
        handles: []
        result:
          status: status
          success: success
        schema:
          description: ROS Action HeatChillStart 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: HeatChillStart_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                purpose:
                  type: string
                temp:
                  type: number
                vessel:
                  type: string
              required:
              - vessel
              - temp
              - purpose
              title: HeatChillStart_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: HeatChillStart_Result
              type: object
          required:
          - goal
          title: HeatChillStart
          type: object
        type: HeatChillStart
      heat_chill_stop:
        feedback: {}
        goal:
          vessel: vessel
        goal_default:
          vessel: ''
        handles: []
        result:
          status: status
          success: success
        schema:
          description: ROS Action HeatChillStop 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: HeatChillStop_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                vessel:
                  type: string
              required:
              - vessel
              title: HeatChillStop_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: HeatChillStop_Result
              type: object
          required:
          - goal
          title: HeatChillStop
          type: object
        type: HeatChillStop
    module: unilabos.devices.mock.mock_chiller:MockChiller
    status_types:
      current_temperature: float
      is_cooling: bool
      is_heating: bool
      purpose: str
      status: str
      status_info: dict
      target_temperature: float
      vessel: str
    type: python
  description: Mock Chiller Device
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          port:
            default: MOCK
            description: '参数: port'
            type: string
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
mock_filter:
  class:
    action_value_mappings:
      auto-emergency_stop:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand emergency_stop 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand emergency_stop 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: emergency_stop 命令参数
          type: object
        type: UniLabJsonCommand
      auto-filter:
        feedback: {}
        goal: {}
        goal_default:
          continue_heatchill: false
          filtrate_vessel: null
          stir: false
          stir_speed: 0.0
          temp: 25.0
          vessel: null
          volume: 0.0
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand filter 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand filter 的参数schema
              properties:
                continue_heatchill:
                  default: false
                  description: '参数: continue_heatchill'
                  type: boolean
                filtrate_vessel:
                  description: '参数: filtrate_vessel'
                  type: string
                stir:
                  default: false
                  description: '参数: stir'
                  type: boolean
                stir_speed:
                  default: 0.0
                  description: '参数: stir_speed'
                  type: number
                temp:
                  default: 25.0
                  description: '参数: temp'
                  type: number
                vessel:
                  description: '参数: vessel'
                  type: string
                volume:
                  default: 0.0
                  description: '参数: volume'
                  type: number
              required:
              - vessel
              - filtrate_vessel
              type: object
            result: {}
          required:
          - goal
          title: filter 命令参数
          type: object
        type: UniLabJsonCommand
      auto-replace_filter:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand replace_filter 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand replace_filter 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: replace_filter 命令参数
          type: object
        type: UniLabJsonCommand
      auto-stop_filtering:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand stop_filtering 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand stop_filtering 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: stop_filtering 命令参数
          type: object
        type: UniLabJsonCommand
      filter:
        feedback:
          current_status: current_status
          current_temp: current_temp
          filtered_volume: filtered_volume
          progress: progress
        goal:
          continue_heatchill: continue_heatchill
          filtrate_vessel: filtrate_vessel
          stir: stir
          stir_speed: stir_speed
          temp: temp
          vessel: vessel
          volume: volume
        goal_default:
          continue_heatchill: false
          filtrate_vessel: ''
          stir: false
          stir_speed: 0.0
          temp: 0.0
          vessel: ''
          volume: 0.0
        handles: []
        result:
          message: message
          success: success
        schema:
          description: ROS Action Filter 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_status:
                  type: string
                current_temp:
                  type: number
                filtered_volume:
                  type: number
                progress:
                  type: number
              required:
              - progress
              - current_temp
              - filtered_volume
              - current_status
              title: Filter_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                continue_heatchill:
                  type: boolean
                filtrate_vessel:
                  type: string
                stir:
                  type: boolean
                stir_speed:
                  type: number
                temp:
                  type: number
                vessel:
                  type: string
                volume:
                  type: number
              required:
              - vessel
              - filtrate_vessel
              - stir
              - stir_speed
              - temp
              - continue_heatchill
              - volume
              title: Filter_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: Filter_Result
              type: object
          required:
          - goal
          title: Filter
          type: object
        type: Filter
      replace_filter:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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
      stop_filtering:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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.mock.mock_filter:MockFilter
    status_types:
      continue_heatchill: bool
      filter_life: float
      filtered_volume: float
      filtrate_vessel: str
      flow_rate: float
      is_filtering: bool
      pressure_drop: float
      progress: float
      status: str
      status_info: dict
      stir: bool
      stir_speed: float
      target_volume: float
      temperature: float
      vessel: str
    type: python
  description: Mock Filter Device
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          port:
            default: MOCK
            description: '参数: port'
            type: string
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
mock_heater:
  class:
    action_value_mappings:
      auto-emergency_stop:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand emergency_stop 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand emergency_stop 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: emergency_stop 命令参数
          type: object
        type: UniLabJsonCommand
      auto-heat_chill:
        feedback: {}
        goal: {}
        goal_default:
          purpose: Unknown
          stir: false
          stir_speed: 0.0
          temp: null
          time: null
          vessel: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand heat_chill 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand heat_chill 的参数schema
              properties:
                purpose:
                  default: Unknown
                  description: '参数: purpose'
                  type: string
                stir:
                  default: false
                  description: '参数: stir'
                  type: boolean
                stir_speed:
                  default: 0.0
                  description: '参数: stir_speed'
                  type: number
                temp:
                  description: '参数: temp'
                  type: number
                time:
                  description: '参数: time'
                  type: number
                vessel:
                  description: '参数: vessel'
                  type: string
              required:
              - vessel
              - temp
              - time
              type: object
            result: {}
          required:
          - goal
          title: heat_chill 命令参数
          type: object
        type: UniLabJsonCommand
      auto-heat_chill_start:
        feedback: {}
        goal: {}
        goal_default:
          purpose: null
          temp: null
          vessel: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand heat_chill_start 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand heat_chill_start 的参数schema
              properties:
                purpose:
                  description: '参数: purpose'
                  type: string
                temp:
                  description: '参数: temp'
                  type: number
                vessel:
                  description: '参数: vessel'
                  type: string
              required:
              - vessel
              - temp
              - purpose
              type: object
            result: {}
          required:
          - goal
          title: heat_chill_start 命令参数
          type: object
        type: UniLabJsonCommand
      auto-heat_chill_stop:
        feedback: {}
        goal: {}
        goal_default:
          vessel: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand heat_chill_stop 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand heat_chill_stop 的参数schema
              properties:
                vessel:
                  description: '参数: vessel'
                  type: string
              required:
              - vessel
              type: object
            result: {}
          required:
          - goal
          title: heat_chill_stop 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_heating_power:
        feedback: {}
        goal: {}
        goal_default:
          power: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_heating_power 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_heating_power 的参数schema
              properties:
                power:
                  description: '参数: power'
                  type: number
              required:
              - power
              type: object
            result: {}
          required:
          - goal
          title: set_heating_power 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_temperature:
        feedback: {}
        goal: {}
        goal_default:
          temperature: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_temperature 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_temperature 的参数schema
              properties:
                temperature:
                  description: '参数: temperature'
                  type: number
              required:
              - temperature
              type: object
            result: {}
          required:
          - goal
          title: set_temperature 命令参数
          type: object
        type: UniLabJsonCommand
      emergency_stop:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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
      heat_chill:
        feedback:
          status: status
        goal:
          purpose: purpose
          stir: stir
          stir_speed: stir_speed
          temp: temp
          time: time
          vessel: vessel
        goal_default:
          purpose: ''
          stir: false
          stir_speed: 0.0
          temp: 0.0
          time: 0.0
          vessel: ''
        handles: []
        result:
          success: success
        schema:
          description: ROS Action HeatChill 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: HeatChill_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                purpose:
                  type: string
                stir:
                  type: boolean
                stir_speed:
                  type: number
                temp:
                  type: number
                time:
                  type: number
                vessel:
                  type: string
              required:
              - vessel
              - temp
              - time
              - stir
              - stir_speed
              - purpose
              title: HeatChill_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: HeatChill_Result
              type: object
          required:
          - goal
          title: HeatChill
          type: object
        type: HeatChill
      heat_chill_start:
        feedback:
          status: status
        goal:
          purpose: purpose
          temp: temp
          vessel: vessel
        goal_default:
          purpose: ''
          temp: 0.0
          vessel: ''
        handles: []
        result:
          success: success
        schema:
          description: ROS Action HeatChillStart 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: HeatChillStart_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                purpose:
                  type: string
                temp:
                  type: number
                vessel:
                  type: string
              required:
              - vessel
              - temp
              - purpose
              title: HeatChillStart_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: HeatChillStart_Result
              type: object
          required:
          - goal
          title: HeatChillStart
          type: object
        type: HeatChillStart
      heat_chill_stop:
        feedback:
          status: status
        goal:
          vessel: vessel
        goal_default:
          vessel: ''
        handles: []
        result:
          success: success
        schema:
          description: ROS Action HeatChillStop 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: HeatChillStop_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                vessel:
                  type: string
              required:
              - vessel
              title: HeatChillStop_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: HeatChillStop_Result
              type: object
          required:
          - goal
          title: HeatChillStop
          type: object
        type: HeatChillStop
    module: unilabos.devices.mock.mock_heater:MockHeater
    status_types:
      current_temperature: float
      heating_power: float
      is_heating: bool
      max_temperature: float
      purpose: str
      status: str
      status_info: dict
      stir: bool
      stir_speed: float
      target_temperature: float
      vessel: str
    type: python
  description: Mock Heater Device
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          port:
            default: MOCK
            description: '参数: port'
            type: string
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
mock_pump:
  class:
    action_value_mappings:
      auto-emergency_stop:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand emergency_stop 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand emergency_stop 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: emergency_stop 命令参数
          type: object
        type: UniLabJsonCommand
      auto-pause_pump:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand pause_pump 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand pause_pump 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: pause_pump 命令参数
          type: object
        type: UniLabJsonCommand
      auto-pump_transfer:
        feedback: {}
        goal: {}
        goal_default:
          amount: ''
          from_vessel: null
          rinsing_repeats: 0
          rinsing_solvent: ''
          rinsing_volume: 0.0
          solid: false
          time: 0.0
          to_vessel: null
          viscous: false
          volume: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand pump_transfer 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand pump_transfer 的参数schema
              properties:
                amount:
                  default: ''
                  description: '参数: amount'
                  type: string
                from_vessel:
                  description: '参数: from_vessel'
                  type: string
                rinsing_repeats:
                  default: 0
                  description: '参数: rinsing_repeats'
                  type: integer
                rinsing_solvent:
                  default: ''
                  description: '参数: rinsing_solvent'
                  type: string
                rinsing_volume:
                  default: 0.0
                  description: '参数: rinsing_volume'
                  type: number
                solid:
                  default: false
                  description: '参数: solid'
                  type: boolean
                time:
                  default: 0.0
                  description: '参数: time'
                  type: number
                to_vessel:
                  description: '参数: to_vessel'
                  type: string
                viscous:
                  default: false
                  description: '参数: viscous'
                  type: boolean
                volume:
                  description: '参数: volume'
                  type: number
              required:
              - from_vessel
              - to_vessel
              - volume
              type: object
            result: {}
          required:
          - goal
          title: pump_transfer 命令参数
          type: object
        type: UniLabJsonCommand
      auto-reset_volume_counter:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand reset_volume_counter 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand reset_volume_counter 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: reset_volume_counter 命令参数
          type: object
        type: UniLabJsonCommand
      auto-resume_pump:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand resume_pump 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand resume_pump 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: resume_pump 命令参数
          type: object
        type: UniLabJsonCommand
      pause_pump:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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
      pump_transfer:
        feedback:
          current_device: current_device
          status: status
          time_remaining: time_remaining
          time_spent: time_spent
        goal:
          amount: amount
          from_vessel: from_vessel
          rinsing_repeats: rinsing_repeats
          rinsing_solvent: rinsing_solvent
          rinsing_volume: rinsing_volume
          solid: solid
          time: time
          to_vessel: to_vessel
          viscous: viscous
          volume: volume
        goal_default:
          amount: ''
          from_vessel: ''
          rinsing_repeats: 0
          rinsing_solvent: ''
          rinsing_volume: 0.0
          solid: false
          time: 0.0
          to_vessel: ''
          viscous: false
          volume: 0.0
        handles: []
        result:
          success: success
        schema:
          description: ROS Action PumpTransfer 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_device:
                  type: string
                status:
                  type: string
                time_remaining:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
                time_spent:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
              required:
              - status
              - current_device
              - time_spent
              - time_remaining
              title: PumpTransfer_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                amount:
                  type: string
                from_vessel:
                  type: string
                rinsing_repeats:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                rinsing_solvent:
                  type: string
                rinsing_volume:
                  type: number
                solid:
                  type: boolean
                time:
                  type: number
                to_vessel:
                  type: string
                viscous:
                  type: boolean
                volume:
                  type: number
              required:
              - from_vessel
              - to_vessel
              - volume
              - amount
              - time
              - viscous
              - rinsing_solvent
              - rinsing_volume
              - rinsing_repeats
              - solid
              title: PumpTransfer_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: PumpTransfer_Result
              type: object
          required:
          - goal
          title: PumpTransfer
          type: object
        type: PumpTransfer
      reset_volume_counter:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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
      resume_pump:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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.mock.mock_pump:MockPump
    status_types:
      amount: str
      current_device: str
      flow_rate: float
      from_vessel: str
      is_solid: bool
      is_viscous: bool
      max_flow_rate: float
      max_pressure: float
      pressure: float
      pump_state: str
      rinsing_repeats: int
      rinsing_solvent: str
      rinsing_volume: float
      status: str
      status_info: dict
      target_flow_rate: float
      time_remaining: float
      time_spent: float
      to_vessel: str
      total_volume: float
      transfer_time: float
      transfer_volume: float
    type: python
  description: Mock Pump Device
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          port:
            default: MOCK
            description: '参数: port'
            type: string
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
mock_rotavap:
  class:
    action_value_mappings:
      auto-emergency_stop:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand emergency_stop 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand emergency_stop 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: emergency_stop 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_pump_time:
        feedback: {}
        goal: {}
        goal_default:
          time_seconds: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_pump_time 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_pump_time 的参数schema
              properties:
                time_seconds:
                  description: '参数: time_seconds'
                  type: number
              required:
              - time_seconds
              type: object
            result: {}
          required:
          - goal
          title: set_pump_time 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_rotate_speed:
        feedback: {}
        goal: {}
        goal_default:
          speed: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_rotate_speed 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_rotate_speed 的参数schema
              properties:
                speed:
                  description: '参数: speed'
                  type: number
              required:
              - speed
              type: object
            result: {}
          required:
          - goal
          title: set_rotate_speed 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_rotate_time:
        feedback: {}
        goal: {}
        goal_default:
          time_seconds: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_rotate_time 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_rotate_time 的参数schema
              properties:
                time_seconds:
                  description: '参数: time_seconds'
                  type: number
              required:
              - time_seconds
              type: object
            result: {}
          required:
          - goal
          title: set_rotate_time 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_temperature:
        feedback: {}
        goal: {}
        goal_default:
          temperature: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_temperature 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_temperature 的参数schema
              properties:
                temperature:
                  description: '参数: temperature'
                  type: number
              required:
              - temperature
              type: object
            result: {}
          required:
          - goal
          title: set_temperature 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_timer:
        feedback: {}
        goal: {}
        goal_default:
          command: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_timer 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_timer 的参数schema
              properties:
                command:
                  description: '参数: command'
                  type: string
              required:
              - command
              type: object
            result: {}
          required:
          - goal
          title: set_timer 命令参数
          type: object
        type: UniLabJsonCommand
      auto-start_pump:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand start_pump 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand start_pump 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: start_pump 命令参数
          type: object
        type: UniLabJsonCommand
      auto-start_rotation:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand start_rotation 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand start_rotation 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: start_rotation 命令参数
          type: object
        type: UniLabJsonCommand
      auto-stop_all_operations:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand stop_all_operations 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand stop_all_operations 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: stop_all_operations 命令参数
          type: object
        type: UniLabJsonCommand
      set_pump_time:
        feedback: {}
        goal:
          float_in: time_seconds
        goal_default:
          float_in: 0.0
        handles: []
        result:
          success: success
        schema:
          description: ROS Action FloatSingleInput 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: FloatSingleInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                float_in:
                  type: number
              required:
              - float_in
              title: FloatSingleInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: FloatSingleInput_Result
              type: object
          required:
          - goal
          title: FloatSingleInput
          type: object
        type: FloatSingleInput
      set_rotate_speed:
        feedback: {}
        goal:
          float_in: speed
        goal_default:
          float_in: 0.0
        handles: []
        result:
          success: success
        schema:
          description: ROS Action FloatSingleInput 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: FloatSingleInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                float_in:
                  type: number
              required:
              - float_in
              title: FloatSingleInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: FloatSingleInput_Result
              type: object
          required:
          - goal
          title: FloatSingleInput
          type: object
        type: FloatSingleInput
      set_rotate_time:
        feedback: {}
        goal:
          float_in: time_seconds
        goal_default:
          float_in: 0.0
        handles: []
        result:
          success: success
        schema:
          description: ROS Action FloatSingleInput 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: FloatSingleInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                float_in:
                  type: number
              required:
              - float_in
              title: FloatSingleInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: FloatSingleInput_Result
              type: object
          required:
          - goal
          title: FloatSingleInput
          type: object
        type: FloatSingleInput
      set_temperature:
        feedback: {}
        goal:
          float_in: temperature
        goal_default:
          float_in: 0.0
        handles: []
        result:
          success: success
        schema:
          description: ROS Action FloatSingleInput 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: FloatSingleInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                float_in:
                  type: number
              required:
              - float_in
              title: FloatSingleInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: FloatSingleInput_Result
              type: object
          required:
          - goal
          title: FloatSingleInput
          type: object
        type: FloatSingleInput
      set_timer:
        feedback: {}
        goal:
          string: command
        goal_default:
          string: ''
        handles: []
        result:
          success: success
        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
      start_pump:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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
      start_rotation:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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.mock.mock_rotavap:MockRotavap
    status_types:
      pump_state: str
      pump_time: float
      rotate_speed: float
      rotate_state: str
      rotate_time: float
      status: str
      status_info: dict
      target_temperature: float
      temperature: float
      vacuum_level: float
    type: python
  description: Mock Rotavap Device
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          port:
            default: MOCK
            description: '参数: port'
            type: string
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
mock_separator:
  class:
    action_value_mappings:
      auto-separate:
        feedback: {}
        goal: {}
        goal_default:
          from_vessel: null
          product_phase: null
          purpose: null
          repeats: 1
          separation_vessel: null
          settling_time: 60.0
          solvent: ''
          solvent_volume: 0.0
          stir_speed: 0.0
          stir_time: 0.0
          through: ''
          to_vessel: null
          waste_phase_to_vessel: ''
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand separate 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand separate 的参数schema
              properties:
                from_vessel:
                  description: '参数: from_vessel'
                  type: string
                product_phase:
                  description: '参数: product_phase'
                  type: string
                purpose:
                  description: '参数: purpose'
                  type: string
                repeats:
                  default: 1
                  description: '参数: repeats'
                  type: integer
                separation_vessel:
                  description: '参数: separation_vessel'
                  type: string
                settling_time:
                  default: 60.0
                  description: '参数: settling_time'
                  type: number
                solvent:
                  default: ''
                  description: '参数: solvent'
                  type: string
                solvent_volume:
                  default: 0.0
                  description: '参数: solvent_volume'
                  type: number
                stir_speed:
                  default: 0.0
                  description: '参数: stir_speed'
                  type: number
                stir_time:
                  default: 0.0
                  description: '参数: stir_time'
                  type: number
                through:
                  default: ''
                  description: '参数: through'
                  type: string
                to_vessel:
                  description: '参数: to_vessel'
                  type: string
                waste_phase_to_vessel:
                  default: ''
                  description: '参数: waste_phase_to_vessel'
                  type: string
              required:
              - purpose
              - product_phase
              - from_vessel
              - separation_vessel
              - to_vessel
              type: object
            result: {}
          required:
          - goal
          title: separate 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_valve:
        feedback: {}
        goal: {}
        goal_default:
          command: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_valve 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_valve 的参数schema
              properties:
                command:
                  description: '参数: command'
                  type: string
              required:
              - command
              type: object
            result: {}
          required:
          - goal
          title: set_valve 命令参数
          type: object
        type: UniLabJsonCommand
      auto-shake:
        feedback: {}
        goal: {}
        goal_default:
          shake_time: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand shake 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand shake 的参数schema
              properties:
                shake_time:
                  description: '参数: shake_time'
                  type: number
              required:
              - shake_time
              type: object
            result: {}
          required:
          - goal
          title: shake 命令参数
          type: object
        type: UniLabJsonCommand
      auto-stop_operations:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand stop_operations 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand stop_operations 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: stop_operations 命令参数
          type: object
        type: UniLabJsonCommand
      separate:
        feedback:
          current_device: current_device
          status: status
          time_remaining: time_remaining
          time_spent: time_spent
        goal:
          from_vessel: from_vessel
          product_phase: product_phase
          purpose: purpose
          repeats: repeats
          separation_vessel: separation_vessel
          settling_time: settling_time
          solvent: solvent
          solvent_volume: solvent_volume
          stir_speed: stir_speed
          stir_time: stir_time
          through: through
          to_vessel: to_vessel
          waste_phase_to_vessel: waste_phase_to_vessel
        goal_default:
          from_vessel: ''
          product_phase: ''
          purpose: ''
          repeats: 0
          separation_vessel: ''
          settling_time: 0.0
          solvent: ''
          solvent_volume: 0.0
          stir_speed: 0.0
          stir_time: 0.0
          through: ''
          to_vessel: ''
          waste_phase_to_vessel: ''
        handles: []
        result:
          success: success
        schema:
          description: ROS Action Separate 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_device:
                  type: string
                status:
                  type: string
                time_remaining:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
                time_spent:
                  properties:
                    nanosec:
                      maximum: 4294967295
                      minimum: 0
                      type: integer
                    sec:
                      maximum: 2147483647
                      minimum: -2147483648
                      type: integer
                  required:
                  - sec
                  - nanosec
                  title: Duration
                  type: object
              required:
              - status
              - current_device
              - time_spent
              - time_remaining
              title: Separate_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                from_vessel:
                  type: string
                product_phase:
                  type: string
                purpose:
                  type: string
                repeats:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                separation_vessel:
                  type: string
                settling_time:
                  type: number
                solvent:
                  type: string
                solvent_volume:
                  type: number
                stir_speed:
                  type: number
                stir_time:
                  type: number
                through:
                  type: string
                to_vessel:
                  type: string
                waste_phase_to_vessel:
                  type: string
              required:
              - purpose
              - product_phase
              - from_vessel
              - separation_vessel
              - to_vessel
              - waste_phase_to_vessel
              - solvent
              - solvent_volume
              - through
              - repeats
              - stir_time
              - stir_speed
              - settling_time
              title: Separate_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: Separate_Result
              type: object
          required:
          - goal
          title: Separate
          type: object
        type: Separate
      set_valve:
        feedback: {}
        goal:
          string: command
        goal_default:
          string: ''
        handles: []
        result:
          success: success
        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
      shake:
        feedback:
          status: status
        goal:
          float_in: shake_time
        goal_default:
          float_in: 0.0
        handles: []
        result:
          success: success
        schema:
          description: ROS Action FloatSingleInput 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: FloatSingleInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                float_in:
                  type: number
              required:
              - float_in
              title: FloatSingleInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: FloatSingleInput_Result
              type: object
          required:
          - goal
          title: FloatSingleInput
          type: object
        type: FloatSingleInput
      stop_operations:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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.mock.mock_separator:MockSeparator
    status_types:
      current_device: str
      from_vessel: str
      product_phase: str
      purpose: str
      repeats: int
      separation_vessel: str
      settling_time: float
      shake_status: str
      shake_time: float
      solvent: str
      solvent_volume: float
      status: str
      status_info: dict
      stir_speed: float
      stir_time: float
      through: str
      time_remaining: float
      time_spent: float
      to_vessel: str
      valve_state: str
      waste_phase_to_vessel: str
    type: python
  description: Simplified Mock Separator Device
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          port:
            default: MOCK
            description: '参数: port'
            type: string
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
mock_solenoid_valve:
  class:
    action_value_mappings:
      auto-close_valve:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand close_valve 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand close_valve 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: close_valve 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_valve:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand open_valve 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand open_valve 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: open_valve 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_valve_status:
        feedback: {}
        goal: {}
        goal_default:
          status: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_valve_status 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_valve_status 的参数schema
              properties:
                status:
                  description: '参数: status'
                  type: string
              required:
              - status
              type: object
            result: {}
          required:
          - goal
          title: set_valve_status 命令参数
          type: object
        type: UniLabJsonCommand
      close_valve:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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_valve:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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
      set_valve_status:
        feedback: {}
        goal:
          string: status
        goal_default:
          string: ''
        handles: []
        result:
          success: success
        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.mock.mock_solenoid_valve:MockSolenoidValve
    status_types:
      status: str
      valve_status: str
    type: python
  description: Mock Solenoid Valve Device
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          port:
            default: MOCK
            description: '参数: port'
            type: string
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
mock_stirrer:
  class:
    action_value_mappings:
      auto-emergency_stop:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand emergency_stop 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand emergency_stop 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: emergency_stop 命令参数
          type: object
        type: UniLabJsonCommand
      auto-heating_control:
        feedback: {}
        goal: {}
        goal_default:
          heating_state: 'On'
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand heating_control 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand heating_control 的参数schema
              properties:
                heating_state:
                  default: 'On'
                  description: '参数: heating_state'
                  type: string
              required: []
              type: object
            result: {}
          required:
          - goal
          title: heating_control 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_stir_speed:
        feedback: {}
        goal: {}
        goal_default:
          speed: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_stir_speed 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_stir_speed 的参数schema
              properties:
                speed:
                  description: '参数: speed'
                  type: number
              required:
              - speed
              type: object
            result: {}
          required:
          - goal
          title: set_stir_speed 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_temperature:
        feedback: {}
        goal: {}
        goal_default:
          temperature: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_temperature 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_temperature 的参数schema
              properties:
                temperature:
                  description: '参数: temperature'
                  type: number
              required:
              - temperature
              type: object
            result: {}
          required:
          - goal
          title: set_temperature 命令参数
          type: object
        type: UniLabJsonCommand
      auto-start_stirring:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand start_stirring 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand start_stirring 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: start_stirring 命令参数
          type: object
        type: UniLabJsonCommand
      auto-stop_all_operations:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand stop_all_operations 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand stop_all_operations 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: stop_all_operations 命令参数
          type: object
        type: UniLabJsonCommand
      auto-stop_stirring:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand stop_stirring 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand stop_stirring 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: stop_stirring 命令参数
          type: object
        type: UniLabJsonCommand
      heating_control:
        feedback: {}
        goal:
          string: heating_state
        goal_default:
          string: ''
        handles: []
        result:
          success: success
        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
      set_stir_speed:
        feedback: {}
        goal:
          float_in: speed
        goal_default:
          float_in: 0.0
        handles: []
        result:
          success: success
        schema:
          description: ROS Action FloatSingleInput 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: FloatSingleInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                float_in:
                  type: number
              required:
              - float_in
              title: FloatSingleInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: FloatSingleInput_Result
              type: object
          required:
          - goal
          title: FloatSingleInput
          type: object
        type: FloatSingleInput
      set_temperature:
        feedback: {}
        goal:
          float_in: temperature
        goal_default:
          float_in: 0.0
        handles: []
        result:
          success: success
        schema:
          description: ROS Action FloatSingleInput 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: FloatSingleInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                float_in:
                  type: number
              required:
              - float_in
              title: FloatSingleInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: FloatSingleInput_Result
              type: object
          required:
          - goal
          title: FloatSingleInput
          type: object
        type: FloatSingleInput
      start_stirring:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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
      stop_stirring:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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.mock.mock_stirrer:MockStirrer
    status_types:
      heating_power: float
      heating_state: str
      max_stir_speed: float
      max_temperature: float
      status: str
      status_info: dict
      stir_speed: float
      stir_state: str
      target_stir_speed: float
      target_temperature: float
      temperature: float
    type: python
  description: Mock Stirrer Device
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          port:
            default: MOCK
            description: '参数: port'
            type: string
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
mock_stirrer_new:
  class:
    action_value_mappings:
      auto-start_stir:
        feedback: {}
        goal: {}
        goal_default:
          purpose: ''
          stir_speed: 0.0
          vessel: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand start_stir 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand start_stir 的参数schema
              properties:
                purpose:
                  default: ''
                  description: '参数: purpose'
                  type: string
                stir_speed:
                  default: 0.0
                  description: '参数: stir_speed'
                  type: number
                vessel:
                  description: '参数: vessel'
                  type: string
              required:
              - vessel
              type: object
            result: {}
          required:
          - goal
          title: start_stir 命令参数
          type: object
        type: UniLabJsonCommand
      auto-stir:
        feedback: {}
        goal: {}
        goal_default:
          settling_time: null
          stir_speed: null
          stir_time: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand stir 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand stir 的参数schema
              properties:
                settling_time:
                  description: '参数: settling_time'
                  type: number
                stir_speed:
                  description: '参数: stir_speed'
                  type: number
                stir_time:
                  description: '参数: stir_time'
                  type: number
              required:
              - stir_time
              - stir_speed
              - settling_time
              type: object
            result: {}
          required:
          - goal
          title: stir 命令参数
          type: object
        type: UniLabJsonCommand
      auto-stop_stir:
        feedback: {}
        goal: {}
        goal_default:
          vessel: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand stop_stir 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand stop_stir 的参数schema
              properties:
                vessel:
                  description: '参数: vessel'
                  type: string
              required:
              - vessel
              type: object
            result: {}
          required:
          - goal
          title: stop_stir 命令参数
          type: object
        type: UniLabJsonCommand
      start_stir:
        feedback:
          current_speed: stir_speed
          current_status: status
          progress: progress
        goal:
          purpose: purpose
          stir_speed: stir_speed
          vessel: vessel
        goal_default:
          purpose: ''
          stir_speed: 0.0
          vessel: ''
        handles: []
        result:
          message: message
          success: success
        schema:
          description: ROS Action StartStir 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_speed:
                  type: number
                current_status:
                  type: string
                progress:
                  type: number
              required:
              - progress
              - current_speed
              - current_status
              title: StartStir_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                purpose:
                  type: string
                stir_speed:
                  type: number
                vessel:
                  type: string
              required:
              - vessel
              - stir_speed
              - purpose
              title: StartStir_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: StartStir_Result
              type: object
          required:
          - goal
          title: StartStir
          type: object
        type: StartStir
      stir:
        feedback:
          status: status
        goal:
          settling_time: settling_time
          stir_speed: stir_speed
          stir_time: stir_time
        goal_default:
          settling_time: 0.0
          stir_speed: 0.0
          stir_time: 0.0
        handles: []
        result:
          success: success
        schema:
          description: ROS Action Stir 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: Stir_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                settling_time:
                  type: number
                stir_speed:
                  type: number
                stir_time:
                  type: number
              required:
              - stir_time
              - stir_speed
              - settling_time
              title: Stir_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: Stir_Result
              type: object
          required:
          - goal
          title: Stir
          type: object
        type: Stir
      stop_stir:
        feedback:
          current_status: status
          progress: progress
        goal:
          vessel: vessel
        goal_default:
          vessel: ''
        handles: []
        result:
          message: message
          success: success
        schema:
          description: ROS Action StopStir 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_status:
                  type: string
                progress:
                  type: number
              required:
              - progress
              - current_status
              title: StopStir_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                vessel:
                  type: string
              required:
              - vessel
              title: StopStir_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - success
              - message
              - return_info
              title: StopStir_Result
              type: object
          required:
          - goal
          title: StopStir
          type: object
        type: StopStir
    module: unilabos.devices.mock.mock_stirrer_new:MockStirrer_new
    status_types:
      max_stir_speed: float
      progress: float
      purpose: str
      settling_time: float
      status: str
      status_info: dict
      stir_speed: float
      stir_state: str
      stir_time: float
      target_stir_speed: float
      vessel: str
    type: python
  description: Mock Stirrer Device (Copy Version)
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          port:
            default: MOCK
            description: '参数: port'
            type: string
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
mock_vacuum:
  class:
    action_value_mappings:
      auto-emergency_stop:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand emergency_stop 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand emergency_stop 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: emergency_stop 命令参数
          type: object
        type: UniLabJsonCommand
      auto-pause_vacuum:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand pause_vacuum 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand pause_vacuum 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: pause_vacuum 命令参数
          type: object
        type: UniLabJsonCommand
      auto-power_control:
        feedback: {}
        goal: {}
        goal_default:
          power_state: 'On'
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand power_control 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand power_control 的参数schema
              properties:
                power_state:
                  default: 'On'
                  description: '参数: power_state'
                  type: string
              required: []
              type: object
            result: {}
          required:
          - goal
          title: power_control 命令参数
          type: object
        type: UniLabJsonCommand
      auto-resume_vacuum:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand resume_vacuum 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand resume_vacuum 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: resume_vacuum 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_vacuum_level:
        feedback: {}
        goal: {}
        goal_default:
          vacuum_level: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_vacuum_level 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_vacuum_level 的参数schema
              properties:
                vacuum_level:
                  description: '参数: vacuum_level'
                  type: number
              required:
              - vacuum_level
              type: object
            result: {}
          required:
          - goal
          title: set_vacuum_level 命令参数
          type: object
        type: UniLabJsonCommand
      auto-start_vacuum:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand start_vacuum 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand start_vacuum 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: start_vacuum 命令参数
          type: object
        type: UniLabJsonCommand
      auto-stop_vacuum:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand stop_vacuum 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand stop_vacuum 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: stop_vacuum 命令参数
          type: object
        type: UniLabJsonCommand
      auto-vent_to_atmosphere:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand vent_to_atmosphere 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand vent_to_atmosphere 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: vent_to_atmosphere 命令参数
          type: object
        type: UniLabJsonCommand
      pause_vacuum:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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
      power_control:
        feedback: {}
        goal:
          string: power_state
        goal_default:
          string: ''
        handles: []
        result:
          success: success
        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
      resume_vacuum:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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
      set_vacuum_level:
        feedback: {}
        goal:
          float_in: vacuum_level
        goal_default:
          float_in: 0.0
        handles: []
        result:
          success: success
        schema:
          description: ROS Action FloatSingleInput 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: FloatSingleInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                float_in:
                  type: number
              required:
              - float_in
              title: FloatSingleInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: FloatSingleInput_Result
              type: object
          required:
          - goal
          title: FloatSingleInput
          type: object
        type: FloatSingleInput
      start_vacuum:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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
      stop_vacuum:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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
      vent_to_atmosphere:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result:
          success: success
        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.mock.mock_vacuum:MockVacuum
    status_types:
      max_pump_speed: float
      power_state: str
      pump_efficiency: float
      pump_speed: float
      pump_state: str
      status: str
      status_info: dict
      target_vacuum: float
      vacuum_level: float
    type: python
  description: Mock Vacuum Pump Device
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          port:
            default: MOCK
            description: '参数: port'
            type: string
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object