mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-04 21:35:09 +00:00
4873 lines
135 KiB
YAML
4873 lines
135 KiB
YAML
virtual_centrifuge:
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class:
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action_value_mappings:
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auto-centrifuge:
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feedback: {}
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goal: {}
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goal_default:
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speed: null
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temp: 25.0
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time: null
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vessel: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand centrifuge 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand centrifuge 的参数schema
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properties:
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speed:
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description: '参数: speed'
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type: number
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temp:
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default: 25.0
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description: '参数: temp'
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type: number
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time:
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description: '参数: time'
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type: number
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vessel:
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description: '参数: vessel'
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type: string
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required:
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- vessel
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- speed
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- time
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type: object
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result: {}
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required:
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- goal
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title: centrifuge 命令参数
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type: object
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type: UniLabJsonCommandAsync
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auto-cleanup:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand cleanup 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand cleanup 的参数schema
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properties: {}
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|
required: []
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|
type: object
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|
result: {}
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required:
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- goal
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title: cleanup 命令参数
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type: object
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type: UniLabJsonCommandAsync
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auto-initialize:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand initialize 的参数schema
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properties:
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feedback: {}
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|
goal:
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description: UniLabJsonCommand initialize 的参数schema
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properties: {}
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|
required: []
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type: object
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|
result: {}
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required:
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- goal
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title: initialize 命令参数
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type: object
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type: UniLabJsonCommandAsync
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centrifuge:
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feedback:
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current_speed: current_speed
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current_status: status
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current_temp: current_temp
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progress: progress
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goal:
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speed: speed
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temp: temp
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time: time
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vessel: vessel
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goal_default:
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speed: 0.0
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temp: 0.0
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time: 0.0
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vessel: ''
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handles: []
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result:
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message: message
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success: success
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schema:
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description: ROS Action Centrifuge 的 JSON Schema
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properties:
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feedback:
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description: Action 反馈 - 执行过程中从服务器发送到客户端
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properties:
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current_speed:
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type: number
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current_status:
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type: string
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current_temp:
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type: number
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progress:
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type: number
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required:
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- progress
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- current_speed
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- current_temp
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- current_status
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title: Centrifuge_Feedback
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type: object
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goal:
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description: Action 目标 - 从客户端发送到服务器
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properties:
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speed:
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type: number
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temp:
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type: number
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time:
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type: number
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vessel:
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type: string
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required:
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- vessel
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- speed
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- time
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- temp
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title: Centrifuge_Goal
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type: object
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result:
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description: Action 结果 - 完成后从服务器发送到客户端
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properties:
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message:
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type: string
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return_info:
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type: string
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success:
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type: boolean
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required:
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- success
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- message
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- return_info
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title: Centrifuge_Result
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type: object
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required:
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- goal
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title: Centrifuge
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type: object
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type: Centrifuge
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module: unilabos.devices.virtual.virtual_centrifuge:VirtualCentrifuge
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status_types:
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centrifuge_state: str
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current_speed: float
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current_temp: float
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max_speed: float
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max_temp: float
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message: str
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min_temp: float
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progress: float
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status: str
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target_speed: float
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target_temp: float
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time_remaining: float
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type: python
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description: Virtual Centrifuge for CentrifugeProtocol Testing
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handles:
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- data_key: vessel
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data_source: handle
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data_type: transport
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description: 需要离心的样品容器
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handler_key: centrifuge
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io_type: target
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label: centrifuge
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side: NORTH
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icon: ''
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init_param_schema:
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description: UniLabJsonCommand __init__ 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand __init__ 的参数schema
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properties:
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config:
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description: '参数: config'
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type: string
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device_id:
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description: '参数: device_id'
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type: string
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kwargs:
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description: '参数: kwargs'
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type: string
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required:
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- kwargs
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type: object
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result: {}
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required:
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- goal
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title: __init__ 命令参数
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type: object
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virtual_column:
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class:
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action_value_mappings:
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auto-cleanup:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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|
result: {}
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|
schema:
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description: UniLabJsonCommand cleanup 的参数schema
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properties:
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|
feedback: {}
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|
goal:
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|
description: UniLabJsonCommand cleanup 的参数schema
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|
properties: {}
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|
required: []
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|
type: object
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|
result: {}
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|
required:
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- goal
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title: cleanup 命令参数
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type: object
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type: UniLabJsonCommandAsync
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auto-initialize:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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|
schema:
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|
description: UniLabJsonCommand initialize 的参数schema
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|
properties:
|
|
feedback: {}
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|
goal:
|
|
description: UniLabJsonCommand initialize 的参数schema
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|
properties: {}
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|
required: []
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|
type: object
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|
result: {}
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|
required:
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- goal
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title: initialize 命令参数
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type: object
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type: UniLabJsonCommandAsync
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auto-run_column:
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feedback: {}
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goal: {}
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goal_default:
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column: null
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from_vessel: null
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to_vessel: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand run_column 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand run_column 的参数schema
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properties:
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column:
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description: '参数: column'
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type: string
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from_vessel:
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description: '参数: from_vessel'
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type: string
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to_vessel:
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description: '参数: to_vessel'
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type: string
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required:
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- from_vessel
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- to_vessel
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- column
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type: object
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result: {}
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required:
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- goal
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title: run_column 命令参数
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type: object
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type: UniLabJsonCommandAsync
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run_column:
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feedback:
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current_status: current_status
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processed_volume: processed_volume
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progress: progress
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goal:
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column: column
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from_vessel: from_vessel
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to_vessel: to_vessel
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goal_default:
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column: ''
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from_vessel: ''
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to_vessel: ''
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handles: []
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result:
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message: current_status
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return_info: current_status
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success: success
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schema:
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description: ROS Action RunColumn 的 JSON Schema
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properties:
|
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feedback:
|
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description: Action 反馈 - 执行过程中从服务器发送到客户端
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properties:
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progress:
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type: number
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status:
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type: string
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required:
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- status
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- progress
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title: RunColumn_Feedback
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type: object
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goal:
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description: Action 目标 - 从客户端发送到服务器
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properties:
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column:
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type: string
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from_vessel:
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type: string
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to_vessel:
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type: string
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required:
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- from_vessel
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- to_vessel
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- column
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title: RunColumn_Goal
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type: object
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result:
|
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description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
message:
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type: string
|
|
return_info:
|
|
type: string
|
|
success:
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type: boolean
|
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required:
|
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- success
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- message
|
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- return_info
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|
title: RunColumn_Result
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type: object
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required:
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- goal
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title: RunColumn
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type: object
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type: RunColumn
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module: unilabos.devices.virtual.virtual_column:VirtualColumn
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status_types:
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column_diameter: float
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column_length: float
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column_state: str
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current_flow_rate: float
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current_status: str
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max_flow_rate: float
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processed_volume: float
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progress: float
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status: str
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type: python
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description: Virtual Column Chromatography Device for RunColumn Protocol Testing
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handles:
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- data_key: from_vessel
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data_source: handle
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data_type: transport
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description: 样品输入口
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handler_key: columnin
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io_type: target
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label: columnin
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side: WEST
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- data_key: to_vessel
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data_source: handle
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data_type: transport
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description: 产物输出口
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handler_key: columnout
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io_type: source
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label: columnout
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side: EAST
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icon: ''
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init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
config:
|
|
description: '参数: config'
|
|
type: object
|
|
device_id:
|
|
description: '参数: device_id'
|
|
type: string
|
|
kwargs:
|
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description: '参数: kwargs'
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|
type: string
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|
required:
|
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- kwargs
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|
type: object
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|
result: {}
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required:
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- goal
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title: __init__ 命令参数
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type: object
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virtual_filter:
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class:
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action_value_mappings:
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auto-cleanup:
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feedback: {}
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|
goal: {}
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|
goal_default: {}
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|
handles: []
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|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
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- goal
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|
title: cleanup 命令参数
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type: object
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|
type: UniLabJsonCommandAsync
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auto-filter:
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feedback: {}
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goal: {}
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goal_default:
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continue_heatchill: false
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filtrate_vessel: ''
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stir: false
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stir_speed: 300.0
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temp: 25.0
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vessel: null
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volume: 0.0
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handles: []
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result: {}
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schema:
|
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description: UniLabJsonCommand filter 的参数schema
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properties:
|
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feedback: {}
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|
goal:
|
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description: UniLabJsonCommand filter 的参数schema
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|
properties:
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continue_heatchill:
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default: false
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description: '参数: continue_heatchill'
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type: boolean
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filtrate_vessel:
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default: ''
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description: '参数: filtrate_vessel'
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type: string
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stir:
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default: false
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description: '参数: stir'
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type: boolean
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|
stir_speed:
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default: 300.0
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description: '参数: stir_speed'
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|
type: number
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|
temp:
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default: 25.0
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description: '参数: temp'
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|
type: number
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|
vessel:
|
|
description: '参数: vessel'
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|
type: string
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|
volume:
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default: 0.0
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|
description: '参数: volume'
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|
type: number
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|
required:
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- vessel
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|
type: object
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|
result: {}
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|
required:
|
|
- goal
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|
title: filter 命令参数
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|
type: object
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|
type: UniLabJsonCommandAsync
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|
auto-initialize:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: initialize 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
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
|
|
return_info: 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
|
|
module: unilabos.devices.virtual.virtual_filter:VirtualFilter
|
|
status_types:
|
|
current_status: str
|
|
current_temp: float
|
|
filtered_volume: float
|
|
max_stir_speed: float
|
|
max_temp: float
|
|
max_volume: float
|
|
message: str
|
|
progress: float
|
|
status: str
|
|
type: python
|
|
description: Virtual Filter for FilterProtocol Testing
|
|
handles:
|
|
- data_key: vessel_in
|
|
data_source: handle
|
|
data_type: transport
|
|
description: 需要过滤的样品容器
|
|
handler_key: filter_in
|
|
io_type: target
|
|
label: filter_in
|
|
side: NORTH
|
|
- data_key: filtrate_out
|
|
data_source: handle
|
|
data_type: transport
|
|
description: 滤液出口
|
|
handler_key: filtrate_out
|
|
io_type: source
|
|
label: filtrate_out
|
|
side: SOUTH
|
|
- data_key: retentate_out
|
|
data_source: handle
|
|
data_type: transport
|
|
description: 滤渣/固体出口
|
|
handler_key: retentate_out
|
|
io_type: source
|
|
label: retentate_out
|
|
side: EAST
|
|
icon: ''
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
config:
|
|
description: '参数: config'
|
|
type: string
|
|
device_id:
|
|
description: '参数: device_id'
|
|
type: string
|
|
kwargs:
|
|
description: '参数: kwargs'
|
|
type: string
|
|
required:
|
|
- kwargs
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|
|
virtual_gas_source:
|
|
class:
|
|
action_value_mappings:
|
|
auto-cleanup:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: cleanup 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-close:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand close 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand close 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: close 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_status:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_status 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_status 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_status 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-initialize:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: initialize 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-is_closed:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand is_closed 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand is_closed 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_closed 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-is_open:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand is_open 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand is_open 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_open 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-open:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand open 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand open 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: open 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_status:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
string: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand set_status 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand set_status 的参数schema
|
|
properties:
|
|
string:
|
|
description: '参数: string'
|
|
type: string
|
|
required:
|
|
- string
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_status 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
close:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: ROS Action EmptyIn 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties: {}
|
|
required: []
|
|
title: EmptyIn_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties: {}
|
|
required: []
|
|
title: EmptyIn_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
required:
|
|
- return_info
|
|
title: EmptyIn_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: EmptyIn
|
|
type: object
|
|
type: EmptyIn
|
|
open:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: ROS Action EmptyIn 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties: {}
|
|
required: []
|
|
title: EmptyIn_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties: {}
|
|
required: []
|
|
title: EmptyIn_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
required:
|
|
- return_info
|
|
title: EmptyIn_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: EmptyIn
|
|
type: object
|
|
type: EmptyIn
|
|
set_status:
|
|
feedback: {}
|
|
goal:
|
|
string: string
|
|
goal_default:
|
|
string: ''
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: ROS Action StrSingleInput 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties: {}
|
|
required: []
|
|
title: StrSingleInput_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
string:
|
|
type: string
|
|
required:
|
|
- string
|
|
title: StrSingleInput_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
success:
|
|
type: boolean
|
|
required:
|
|
- return_info
|
|
- success
|
|
title: StrSingleInput_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: StrSingleInput
|
|
type: object
|
|
type: StrSingleInput
|
|
module: unilabos.devices.virtual.virtual_gas_source:VirtualGasSource
|
|
status_types:
|
|
get_status: str
|
|
status: str
|
|
type: python
|
|
description: Virtual gas source
|
|
handles:
|
|
- data_key: fluid_out
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 气源出气口
|
|
handler_key: gassource
|
|
io_type: source
|
|
label: gassource
|
|
side: SOUTH
|
|
icon: ''
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
config:
|
|
description: '参数: config'
|
|
type: string
|
|
device_id:
|
|
description: '参数: device_id'
|
|
type: string
|
|
kwargs:
|
|
description: '参数: kwargs'
|
|
type: string
|
|
required:
|
|
- kwargs
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|
|
virtual_heatchill:
|
|
class:
|
|
action_value_mappings:
|
|
auto-cleanup:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: cleanup 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-heat_chill:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
purpose: null
|
|
stir: null
|
|
stir_speed: null
|
|
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:
|
|
description: '参数: purpose'
|
|
type: string
|
|
stir:
|
|
description: '参数: stir'
|
|
type: boolean
|
|
stir_speed:
|
|
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
|
|
- stir
|
|
- stir_speed
|
|
- purpose
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: heat_chill 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
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: UniLabJsonCommandAsync
|
|
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: UniLabJsonCommandAsync
|
|
auto-initialize:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: initialize 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
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.virtual.virtual_heatchill:VirtualHeatChill
|
|
status_types:
|
|
is_stirring: bool
|
|
operation_mode: str
|
|
remaining_time: float
|
|
status: str
|
|
stir_speed: float
|
|
type: python
|
|
description: Virtual HeatChill for HeatChillProtocol Testing
|
|
handles:
|
|
- data_key: vessel
|
|
data_source: handle
|
|
data_type: mechanical
|
|
description: 加热/冷却器的物理连接口
|
|
handler_key: heatchill
|
|
io_type: source
|
|
label: heatchill
|
|
side: NORTH
|
|
icon: Heater.webp
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
config:
|
|
description: '参数: config'
|
|
type: object
|
|
device_id:
|
|
description: '参数: device_id'
|
|
type: string
|
|
kwargs:
|
|
description: '参数: kwargs'
|
|
type: string
|
|
required:
|
|
- kwargs
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|
|
virtual_multiway_valve:
|
|
class:
|
|
action_value_mappings:
|
|
auto-close:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand close 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand close 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: close 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_available_ports:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_available_ports 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_available_ports 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_available_ports 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_available_positions:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_available_positions 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_available_positions 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_available_positions 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_current_port:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_current_port 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_current_port 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_current_port 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_current_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_current_position 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_current_position 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_current_position 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_flow_path:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_flow_path 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_flow_path 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_flow_path 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_info:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_info 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_info 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_info 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_valve_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_valve_position 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_valve_position 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_valve_position 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-is_at_port:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
port_number: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand is_at_port 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand is_at_port 的参数schema
|
|
properties:
|
|
port_number:
|
|
description: '参数: port_number'
|
|
type: integer
|
|
required:
|
|
- port_number
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_at_port 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-is_at_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
position: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand is_at_position 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand is_at_position 的参数schema
|
|
properties:
|
|
position:
|
|
description: '参数: position'
|
|
type: integer
|
|
required:
|
|
- position
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_at_position 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-is_at_pump_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand is_at_pump_position 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand is_at_pump_position 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_at_pump_position 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-open:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand open 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand open 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: open 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-reset:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand reset 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand reset 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: reset 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
command: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand set_position 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand set_position 的参数schema
|
|
properties:
|
|
command:
|
|
description: '参数: command'
|
|
type: string
|
|
required:
|
|
- command
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_position 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_to_port:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
port_number: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand set_to_port 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand set_to_port 的参数schema
|
|
properties:
|
|
port_number:
|
|
description: '参数: port_number'
|
|
type: integer
|
|
required:
|
|
- port_number
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_to_port 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_to_pump_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand set_to_pump_position 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand set_to_pump_position 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_to_pump_position 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_valve_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
command: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand set_valve_position 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand set_valve_position 的参数schema
|
|
properties:
|
|
command:
|
|
description: '参数: command'
|
|
type: string
|
|
required:
|
|
- command
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_valve_position 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-switch_between_pump_and_port:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
port_number: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand switch_between_pump_and_port 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand switch_between_pump_and_port 的参数schema
|
|
properties:
|
|
port_number:
|
|
description: '参数: port_number'
|
|
type: integer
|
|
required:
|
|
- port_number
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: switch_between_pump_and_port 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
set_position:
|
|
feedback: {}
|
|
goal:
|
|
command: command
|
|
goal_default:
|
|
command: ''
|
|
handles: []
|
|
result:
|
|
success: success
|
|
schema:
|
|
description: ROS Action SendCmd 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties:
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
title: SendCmd_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
command:
|
|
type: string
|
|
required:
|
|
- command
|
|
title: SendCmd_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
success:
|
|
type: boolean
|
|
required:
|
|
- return_info
|
|
- success
|
|
title: SendCmd_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: SendCmd
|
|
type: object
|
|
type: SendCmd
|
|
set_valve_position:
|
|
feedback: {}
|
|
goal:
|
|
command: command
|
|
goal_default:
|
|
command: ''
|
|
handles: []
|
|
result:
|
|
success: success
|
|
schema:
|
|
description: ROS Action SendCmd 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties:
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
title: SendCmd_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
command:
|
|
type: string
|
|
required:
|
|
- command
|
|
title: SendCmd_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
success:
|
|
type: boolean
|
|
required:
|
|
- return_info
|
|
- success
|
|
title: SendCmd_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: SendCmd
|
|
type: object
|
|
type: SendCmd
|
|
module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve
|
|
status_types:
|
|
current_position: int
|
|
get_available_ports: dict
|
|
get_available_positions: list
|
|
get_current_port: str
|
|
get_current_position: int
|
|
get_flow_path: str
|
|
get_info: dict
|
|
get_valve_position: int
|
|
max_positions: Int32
|
|
status: str
|
|
target_position: int
|
|
valve_state: str
|
|
type: python
|
|
description: Virtual 8-Way Valve for flow direction control
|
|
handles:
|
|
- data_key: fluid_in
|
|
data_source: handle
|
|
data_type: fluid
|
|
description: 八通阀门进液口
|
|
handler_key: transferpump
|
|
io_type: target
|
|
label: transferpump
|
|
side: NORTH
|
|
- data_key: fluid_port_1
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口1
|
|
handler_key: 1
|
|
io_type: source
|
|
label: 1
|
|
side: NORTH
|
|
- data_key: fluid_port_2
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口2
|
|
handler_key: 2
|
|
io_type: source
|
|
label: 2
|
|
side: EAST
|
|
- data_key: fluid_port_3
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口3
|
|
handler_key: 3
|
|
io_type: source
|
|
label: 3
|
|
side: EAST
|
|
- data_key: fluid_port_4
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口4
|
|
handler_key: 4
|
|
io_type: source
|
|
label: 4
|
|
side: SOUTH
|
|
- data_key: fluid_port_5
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口5
|
|
handler_key: 5
|
|
io_type: source
|
|
label: 5
|
|
side: SOUTH
|
|
- data_key: fluid_port_6
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口6
|
|
handler_key: 6
|
|
io_type: source
|
|
label: 6
|
|
side: WEST
|
|
- data_key: fluid_port_7
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口7
|
|
handler_key: 7
|
|
io_type: source
|
|
label: 7
|
|
side: WEST
|
|
- data_key: fluid_port_8
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口8
|
|
handler_key: 8
|
|
io_type: source
|
|
label: 8
|
|
side: NORTH
|
|
icon: EightPipeline.webp
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
port:
|
|
default: VIRTUAL
|
|
description: '参数: port'
|
|
type: string
|
|
positions:
|
|
default: 8
|
|
description: '参数: positions'
|
|
type: integer
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|
|
virtual_pump:
|
|
class:
|
|
action_value_mappings:
|
|
auto-clean_vessel:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
repeats: 1
|
|
solvent: null
|
|
temp: null
|
|
vessel: null
|
|
volume: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand clean_vessel 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand clean_vessel 的参数schema
|
|
properties:
|
|
repeats:
|
|
default: 1
|
|
description: '参数: repeats'
|
|
type: integer
|
|
solvent:
|
|
description: '参数: solvent'
|
|
type: string
|
|
temp:
|
|
description: '参数: temp'
|
|
type: number
|
|
vessel:
|
|
description: '参数: vessel'
|
|
type: string
|
|
volume:
|
|
description: '参数: volume'
|
|
type: number
|
|
required:
|
|
- vessel
|
|
- solvent
|
|
- volume
|
|
- temp
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: clean_vessel 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-cleanup:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: cleanup 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-initialize:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: initialize 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-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 transfer 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand 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: transfer 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
set_valve_position:
|
|
feedback:
|
|
status: status
|
|
goal:
|
|
float_in: valve_position
|
|
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
|
|
transfer:
|
|
feedback:
|
|
status: status
|
|
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
|
|
module: unilabos.devices.virtual.virtual_pump:VirtualPump
|
|
status_types:
|
|
current_status: str
|
|
current_volume: float
|
|
from_vessel: str
|
|
max_volume: float
|
|
position: Float64
|
|
progress: float
|
|
status: str
|
|
to_vessel: str
|
|
transfer_rate: float
|
|
transferred_volume: float
|
|
valve_position: int
|
|
type: python
|
|
description: Virtual Pump for PumpTransferProtocol Testing
|
|
handles:
|
|
- data_key: fluid_in
|
|
data_source: handle
|
|
data_type: fluid
|
|
description: 泵的输出口
|
|
handler_key: pumpio
|
|
io_type: source
|
|
label: pumpio
|
|
icon: ''
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
config:
|
|
description: '参数: config'
|
|
type: object
|
|
device_id:
|
|
description: '参数: device_id'
|
|
type: string
|
|
kwargs:
|
|
description: '参数: kwargs'
|
|
type: string
|
|
required:
|
|
- kwargs
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|
|
virtual_rotavap:
|
|
class:
|
|
action_value_mappings:
|
|
auto-cleanup:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: cleanup 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-evaporate:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
pressure: 0.1
|
|
stir_speed: 100.0
|
|
temp: 60.0
|
|
time: 1800.0
|
|
vessel: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand evaporate 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand evaporate 的参数schema
|
|
properties:
|
|
pressure:
|
|
default: 0.1
|
|
description: '参数: pressure'
|
|
type: number
|
|
stir_speed:
|
|
default: 100.0
|
|
description: '参数: stir_speed'
|
|
type: number
|
|
temp:
|
|
default: 60.0
|
|
description: '参数: temp'
|
|
type: number
|
|
time:
|
|
default: 1800.0
|
|
description: '参数: time'
|
|
type: number
|
|
vessel:
|
|
description: '参数: vessel'
|
|
type: string
|
|
required:
|
|
- vessel
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: evaporate 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-initialize:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: initialize 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
evaporate:
|
|
feedback:
|
|
current_temp: current_temp
|
|
evaporated_volume: evaporated_volume
|
|
progress: progress
|
|
status: status
|
|
goal:
|
|
pressure: pressure
|
|
stir_speed: stir_speed
|
|
temp: temp
|
|
time: time
|
|
vessel: vessel
|
|
goal_default:
|
|
pressure: 0.0
|
|
stir_speed: 0.0
|
|
temp: 0.0
|
|
time: 0.0
|
|
vessel: ''
|
|
handles: []
|
|
result:
|
|
message: message
|
|
success: success
|
|
schema:
|
|
description: ROS Action Evaporate 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: Evaporate_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
pressure:
|
|
type: number
|
|
stir_speed:
|
|
type: number
|
|
temp:
|
|
type: number
|
|
time:
|
|
type: number
|
|
vessel:
|
|
type: string
|
|
required:
|
|
- vessel
|
|
- pressure
|
|
- temp
|
|
- time
|
|
- stir_speed
|
|
title: Evaporate_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: Evaporate_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: Evaporate
|
|
type: object
|
|
type: Evaporate
|
|
module: unilabos.devices.virtual.virtual_rotavap:VirtualRotavap
|
|
status_types:
|
|
current_temp: float
|
|
evaporated_volume: float
|
|
max_rotation_speed: float
|
|
max_temp: float
|
|
message: str
|
|
progress: float
|
|
remaining_time: float
|
|
rotation_speed: float
|
|
rotavap_state: str
|
|
status: str
|
|
vacuum_pressure: float
|
|
type: python
|
|
description: Virtual Rotary Evaporator for EvaporateProtocol Testing
|
|
handles:
|
|
- data_key: vessel_in
|
|
data_source: handle
|
|
data_type: fluid
|
|
description: 样品连接口
|
|
handler_key: sample_in
|
|
io_type: target
|
|
label: sample_in
|
|
side: NORTH
|
|
- data_key: product_out
|
|
data_source: handle
|
|
data_type: fluid
|
|
description: 浓缩产物出口
|
|
handler_key: product_out
|
|
io_type: source
|
|
label: product_out
|
|
side: SOUTH
|
|
- data_key: solvent_out
|
|
data_source: handle
|
|
data_type: fluid
|
|
description: 冷凝溶剂出口
|
|
handler_key: solvent_out
|
|
io_type: source
|
|
label: solvent_out
|
|
side: EAST
|
|
icon: Rotaryevaporator.webp
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
config:
|
|
description: '参数: config'
|
|
type: string
|
|
device_id:
|
|
description: '参数: device_id'
|
|
type: string
|
|
kwargs:
|
|
description: '参数: kwargs'
|
|
type: string
|
|
required:
|
|
- kwargs
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|
|
virtual_separator:
|
|
class:
|
|
action_value_mappings:
|
|
auto-cleanup:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: cleanup 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-initialize:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: initialize 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-separate:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
from_vessel: null
|
|
product_phase: null
|
|
purpose: null
|
|
repeats: 1
|
|
separation_vessel: null
|
|
settling_time: 300.0
|
|
solvent: ''
|
|
solvent_volume: 50.0
|
|
stir_speed: 300.0
|
|
stir_time: 30.0
|
|
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: 300.0
|
|
description: '参数: settling_time'
|
|
type: number
|
|
solvent:
|
|
default: ''
|
|
description: '参数: solvent'
|
|
type: string
|
|
solvent_volume:
|
|
default: 50.0
|
|
description: '参数: solvent_volume'
|
|
type: number
|
|
stir_speed:
|
|
default: 300.0
|
|
description: '参数: stir_speed'
|
|
type: number
|
|
stir_time:
|
|
default: 30.0
|
|
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: UniLabJsonCommandAsync
|
|
separate:
|
|
feedback:
|
|
current_status: status
|
|
progress: progress
|
|
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:
|
|
message: message
|
|
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
|
|
module: unilabos.devices.virtual.virtual_separator:VirtualSeparator
|
|
status_types:
|
|
has_phases: bool
|
|
message: str
|
|
phase_separation: bool
|
|
progress: float
|
|
separator_state: str
|
|
settling_time: float
|
|
status: str
|
|
stir_speed: float
|
|
volume: float
|
|
type: python
|
|
description: Virtual Separator for SeparateProtocol Testing
|
|
handles:
|
|
- data_key: from_vessel
|
|
data_source: handle
|
|
data_type: fluid
|
|
description: 需要分离的混合液体输入口
|
|
handler_key: separator_in
|
|
io_type: target
|
|
label: separator_in
|
|
side: NORTH
|
|
- data_key: bottom_outlet
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 下相（重相）液体输出口
|
|
handler_key: bottom_phase_out
|
|
io_type: source
|
|
label: bottom_phase_out
|
|
side: SOUTH
|
|
- data_key: top_outlet
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 上相（轻相）液体输出口
|
|
handler_key: top_phase_out
|
|
io_type: source
|
|
label: top_phase_out
|
|
side: EAST
|
|
- data_key: mechanical_port
|
|
data_source: handle
|
|
data_type: mechanical
|
|
description: 用于连接搅拌器等机械设备的接口
|
|
handler_key: bind
|
|
io_type: target
|
|
label: bind
|
|
side: WEST
|
|
icon: Separator.webp
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
config:
|
|
description: '参数: config'
|
|
type: string
|
|
device_id:
|
|
description: '参数: device_id'
|
|
type: string
|
|
kwargs:
|
|
description: '参数: kwargs'
|
|
type: string
|
|
required:
|
|
- kwargs
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|
|
virtual_solenoid_valve:
|
|
class:
|
|
action_value_mappings:
|
|
auto-cleanup:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: cleanup 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-close:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand close 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand close 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: close 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-get_state:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_state 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_state 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_state 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_valve_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_valve_position 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_valve_position 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_valve_position 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-initialize:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: initialize 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
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-open:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand open 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand open 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: open 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-reset:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand reset 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand reset 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: reset 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-set_state:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
command: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand set_state 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand set_state 的参数schema
|
|
properties:
|
|
command:
|
|
description: '参数: command'
|
|
type: string
|
|
required:
|
|
- command
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_state 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-set_valve_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
command: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand set_valve_position 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand set_valve_position 的参数schema
|
|
properties:
|
|
command:
|
|
description: '参数: command'
|
|
type: string
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_valve_position 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-toggle:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand toggle 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand toggle 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: toggle 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
close:
|
|
feedback: {}
|
|
goal:
|
|
command: CLOSED
|
|
goal_default:
|
|
command: ''
|
|
handles: []
|
|
result:
|
|
success: success
|
|
schema:
|
|
description: ROS Action SendCmd 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties:
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
title: SendCmd_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
command:
|
|
type: string
|
|
required:
|
|
- command
|
|
title: SendCmd_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
success:
|
|
type: boolean
|
|
required:
|
|
- return_info
|
|
- success
|
|
title: SendCmd_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: SendCmd
|
|
type: object
|
|
type: SendCmd
|
|
open:
|
|
feedback: {}
|
|
goal:
|
|
command: OPEN
|
|
goal_default:
|
|
command: ''
|
|
handles: []
|
|
result:
|
|
success: success
|
|
schema:
|
|
description: ROS Action SendCmd 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties:
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
title: SendCmd_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
command:
|
|
type: string
|
|
required:
|
|
- command
|
|
title: SendCmd_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
success:
|
|
type: boolean
|
|
required:
|
|
- return_info
|
|
- success
|
|
title: SendCmd_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: SendCmd
|
|
type: object
|
|
type: SendCmd
|
|
set_state:
|
|
feedback: {}
|
|
goal:
|
|
command: command
|
|
goal_default:
|
|
command: ''
|
|
handles: []
|
|
result:
|
|
success: success
|
|
schema:
|
|
description: ROS Action SendCmd 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties:
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
title: SendCmd_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
command:
|
|
type: string
|
|
required:
|
|
- command
|
|
title: SendCmd_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
success:
|
|
type: boolean
|
|
required:
|
|
- return_info
|
|
- success
|
|
title: SendCmd_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: SendCmd
|
|
type: object
|
|
type: SendCmd
|
|
set_valve_position:
|
|
feedback: {}
|
|
goal:
|
|
command: command
|
|
goal_default:
|
|
command: ''
|
|
handles: []
|
|
result:
|
|
success: success
|
|
schema:
|
|
description: ROS Action SendCmd 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties:
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
title: SendCmd_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
command:
|
|
type: string
|
|
required:
|
|
- command
|
|
title: SendCmd_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
success:
|
|
type: boolean
|
|
required:
|
|
- return_info
|
|
- success
|
|
title: SendCmd_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: SendCmd
|
|
type: object
|
|
type: SendCmd
|
|
module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve
|
|
status_types:
|
|
get_state: dict
|
|
get_valve_position: str
|
|
is_open: bool
|
|
status: str
|
|
valve_state: str
|
|
type: python
|
|
description: Virtual Solenoid Valve for simple on/off flow control
|
|
handles:
|
|
- data_key: fluid_port_in
|
|
data_source: handle
|
|
data_type: fluid
|
|
description: 电磁阀的进液口
|
|
handler_key: in
|
|
io_type: target
|
|
label: in
|
|
side: NORTH
|
|
- data_key: fluid_port_out
|
|
data_source: handle
|
|
data_type: fluid
|
|
description: 电磁阀的出液口
|
|
handler_key: out
|
|
io_type: source
|
|
label: out
|
|
side: SOUTH
|
|
icon: ''
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
config:
|
|
description: '参数: config'
|
|
type: object
|
|
device_id:
|
|
description: '参数: device_id'
|
|
type: string
|
|
kwargs:
|
|
description: '参数: kwargs'
|
|
type: string
|
|
required:
|
|
- kwargs
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|
|
virtual_stirrer:
|
|
class:
|
|
action_value_mappings:
|
|
auto-cleanup:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: cleanup 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-initialize:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: initialize 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-start_stir:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
purpose: null
|
|
stir_speed: null
|
|
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:
|
|
description: '参数: purpose'
|
|
type: string
|
|
stir_speed:
|
|
description: '参数: stir_speed'
|
|
type: number
|
|
vessel:
|
|
description: '参数: vessel'
|
|
type: string
|
|
required:
|
|
- vessel
|
|
- stir_speed
|
|
- purpose
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: start_stir 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
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: UniLabJsonCommandAsync
|
|
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: UniLabJsonCommandAsync
|
|
start_stir:
|
|
feedback:
|
|
status: status
|
|
goal:
|
|
purpose: purpose
|
|
stir_speed: stir_speed
|
|
vessel: vessel
|
|
goal_default:
|
|
purpose: ''
|
|
stir_speed: 0.0
|
|
vessel: ''
|
|
handles: []
|
|
result:
|
|
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:
|
|
status: status
|
|
goal:
|
|
vessel: vessel
|
|
goal_default:
|
|
vessel: ''
|
|
handles: []
|
|
result:
|
|
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.virtual.virtual_stirrer:VirtualStirrer
|
|
status_types:
|
|
current_speed: float
|
|
current_vessel: str
|
|
is_stirring: bool
|
|
operation_mode: str
|
|
remaining_time: float
|
|
status: str
|
|
type: python
|
|
description: Virtual Stirrer for StirProtocol Testing
|
|
handles:
|
|
- data_key: vessel
|
|
data_source: handle
|
|
data_type: mechanical
|
|
description: 搅拌器的机械连接口
|
|
handler_key: stirrer
|
|
io_type: source
|
|
label: stirrer
|
|
side: NORTH
|
|
icon: Stirrer.webp
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
config:
|
|
description: '参数: config'
|
|
type: object
|
|
device_id:
|
|
description: '参数: device_id'
|
|
type: string
|
|
kwargs:
|
|
description: '参数: kwargs'
|
|
type: string
|
|
required:
|
|
- kwargs
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|
|
virtual_transfer_pump:
|
|
class:
|
|
action_value_mappings:
|
|
auto-aspirate:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
velocity: null
|
|
volume: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand aspirate 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand aspirate 的参数schema
|
|
properties:
|
|
velocity:
|
|
description: '参数: velocity'
|
|
type: number
|
|
volume:
|
|
description: '参数: volume'
|
|
type: number
|
|
required:
|
|
- volume
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: aspirate 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-cleanup:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: cleanup 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-dispense:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
velocity: null
|
|
volume: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand dispense 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand dispense 的参数schema
|
|
properties:
|
|
velocity:
|
|
description: '参数: velocity'
|
|
type: number
|
|
volume:
|
|
description: '参数: volume'
|
|
type: number
|
|
required:
|
|
- volume
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: dispense 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-empty_syringe:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
velocity: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand empty_syringe 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand empty_syringe 的参数schema
|
|
properties:
|
|
velocity:
|
|
description: '参数: velocity'
|
|
type: number
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: empty_syringe 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-fill_syringe:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
velocity: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand fill_syringe 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand fill_syringe 的参数schema
|
|
properties:
|
|
velocity:
|
|
description: '参数: velocity'
|
|
type: number
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: fill_syringe 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-get_current_volume:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_current_volume 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_current_volume 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_current_volume 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_position 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_position 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_position 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_pump_info:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_pump_info 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_pump_info 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_pump_info 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_remaining_capacity:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_remaining_capacity 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_remaining_capacity 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_remaining_capacity 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_status:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_status 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_status 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_status 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-initialize:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: initialize 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-is_empty:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand is_empty 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand is_empty 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_empty 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-is_full:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand is_full 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand is_full 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_full 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-pull_plunger:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
velocity: null
|
|
volume: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand pull_plunger 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand pull_plunger 的参数schema
|
|
properties:
|
|
velocity:
|
|
description: '参数: velocity'
|
|
type: number
|
|
volume:
|
|
description: '参数: volume'
|
|
type: number
|
|
required:
|
|
- volume
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: pull_plunger 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-push_plunger:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
velocity: null
|
|
volume: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand push_plunger 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand push_plunger 的参数schema
|
|
properties:
|
|
velocity:
|
|
description: '参数: velocity'
|
|
type: number
|
|
volume:
|
|
description: '参数: volume'
|
|
type: number
|
|
required:
|
|
- volume
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: push_plunger 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-set_max_velocity:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
velocity: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand set_max_velocity 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand set_max_velocity 的参数schema
|
|
properties:
|
|
velocity:
|
|
description: '参数: velocity'
|
|
type: number
|
|
required:
|
|
- velocity
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_max_velocity 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
max_velocity: null
|
|
position: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand set_position 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand set_position 的参数schema
|
|
properties:
|
|
max_velocity:
|
|
description: '参数: max_velocity'
|
|
type: number
|
|
position:
|
|
description: '参数: position'
|
|
type: number
|
|
required:
|
|
- position
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_position 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-stop_operation:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand stop_operation 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand stop_operation 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: stop_operation 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-transfer:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
aspirate_velocity: null
|
|
dispense_velocity: null
|
|
volume: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand transfer 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand transfer 的参数schema
|
|
properties:
|
|
aspirate_velocity:
|
|
description: '参数: aspirate_velocity'
|
|
type: number
|
|
dispense_velocity:
|
|
description: '参数: dispense_velocity'
|
|
type: number
|
|
volume:
|
|
description: '参数: volume'
|
|
type: number
|
|
required:
|
|
- volume
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: transfer 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
set_position:
|
|
feedback:
|
|
current_position: current_position
|
|
progress: progress
|
|
status: status
|
|
goal:
|
|
max_velocity: max_velocity
|
|
position: position
|
|
goal_default:
|
|
max_velocity: 0.0
|
|
position: 0.0
|
|
handles: []
|
|
result:
|
|
message: message
|
|
success: success
|
|
schema:
|
|
description: ROS Action SetPumpPosition 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_position:
|
|
type: number
|
|
progress:
|
|
type: number
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
- current_position
|
|
- progress
|
|
title: SetPumpPosition_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
max_velocity:
|
|
type: number
|
|
position:
|
|
type: number
|
|
required:
|
|
- position
|
|
- max_velocity
|
|
title: SetPumpPosition_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:
|
|
- return_info
|
|
- success
|
|
- message
|
|
title: SetPumpPosition_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: SetPumpPosition
|
|
type: object
|
|
type: SetPumpPosition
|
|
transfer:
|
|
feedback:
|
|
current_status: current_status
|
|
progress: progress
|
|
transferred_volume: transferred_volume
|
|
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:
|
|
message: message
|
|
success: success
|
|
schema:
|
|
description: ROS Action Transfer 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
|
|
transferred_volume:
|
|
type: number
|
|
required:
|
|
- progress
|
|
- transferred_volume
|
|
- current_status
|
|
title: Transfer_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: Transfer_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: Transfer_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: Transfer
|
|
type: object
|
|
type: Transfer
|
|
module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump
|
|
status_types:
|
|
current_volume: float
|
|
get_current_volume: float
|
|
get_position: float
|
|
get_pump_info: dict
|
|
get_remaining_capacity: float
|
|
get_status: str
|
|
max_velocity: float
|
|
max_volume: Float64
|
|
position: float
|
|
status: str
|
|
transfer_rate: float
|
|
type: python
|
|
description: Virtual Transfer Pump for TransferProtocol Testing (Syringe-style)
|
|
handles:
|
|
- data_key: fluid_port
|
|
data_source: handle
|
|
data_type: fluid
|
|
description: 注射器式转移泵的连接口
|
|
handler_key: transferpump
|
|
io_type: source
|
|
label: transferpump
|
|
side: SOUTH
|
|
icon: Pump.webp
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
config:
|
|
description: '参数: config'
|
|
type: object
|
|
device_id:
|
|
description: '参数: device_id'
|
|
type: string
|
|
kwargs:
|
|
description: '参数: kwargs'
|
|
type: string
|
|
required:
|
|
- kwargs
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|
|
virtual_vacuum_pump:
|
|
class:
|
|
action_value_mappings:
|
|
auto-cleanup:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand cleanup 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: cleanup 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-close:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand close 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand close 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: close 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-get_status:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand get_status 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand get_status 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: get_status 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-initialize:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand initialize 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: initialize 命令参数
|
|
type: object
|
|
type: UniLabJsonCommandAsync
|
|
auto-is_closed:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand is_closed 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand is_closed 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_closed 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-is_open:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand is_open 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand is_open 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_open 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-open:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand open 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand open 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: open 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_status:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
string: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand set_status 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand set_status 的参数schema
|
|
properties:
|
|
string:
|
|
description: '参数: string'
|
|
type: string
|
|
required:
|
|
- string
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_status 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
close:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: ROS Action EmptyIn 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties: {}
|
|
required: []
|
|
title: EmptyIn_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties: {}
|
|
required: []
|
|
title: EmptyIn_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
required:
|
|
- return_info
|
|
title: EmptyIn_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: EmptyIn
|
|
type: object
|
|
type: EmptyIn
|
|
open:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: ROS Action EmptyIn 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties: {}
|
|
required: []
|
|
title: EmptyIn_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties: {}
|
|
required: []
|
|
title: EmptyIn_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
required:
|
|
- return_info
|
|
title: EmptyIn_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: EmptyIn
|
|
type: object
|
|
type: EmptyIn
|
|
set_status:
|
|
feedback: {}
|
|
goal:
|
|
string: string
|
|
goal_default:
|
|
string: ''
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: ROS Action StrSingleInput 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties: {}
|
|
required: []
|
|
title: StrSingleInput_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
string:
|
|
type: string
|
|
required:
|
|
- string
|
|
title: StrSingleInput_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
success:
|
|
type: boolean
|
|
required:
|
|
- return_info
|
|
- success
|
|
title: StrSingleInput_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: StrSingleInput
|
|
type: object
|
|
type: StrSingleInput
|
|
module: unilabos.devices.virtual.virtual_vacuum_pump:VirtualVacuumPump
|
|
status_types:
|
|
get_status: str
|
|
status: str
|
|
type: python
|
|
description: Virtual vacuum pump
|
|
handles:
|
|
- data_key: fluid_in
|
|
data_source: handle
|
|
data_type: fluid
|
|
description: 真空泵进气口
|
|
handler_key: vacuumpump
|
|
io_type: source
|
|
label: vacuumpump
|
|
side: SOUTH
|
|
icon: Vacuum.webp
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
config:
|
|
description: '参数: config'
|
|
type: string
|
|
device_id:
|
|
description: '参数: device_id'
|
|
type: string
|
|
kwargs:
|
|
description: '参数: kwargs'
|
|
type: string
|
|
required:
|
|
- kwargs
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|