mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-30 11:23:09 +00:00
新增注册表补全功能，修复Protocol执行失败
This commit is contained in:
Xuwznln
@@ -1,56 +1,608 @@
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laiyu_add_solid:
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description: Laiyu Add Solid
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class:
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module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
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type: python
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status_types: {}
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action_value_mappings:
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add_powder_tube:
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feedback: {}
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goal:
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compound_mass: compound_mass
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powder_tube_number: powder_tube_number
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target_tube_position: target_tube_position
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goal_default:
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compound_mass: 0.0
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powder_tube_number: 0
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target_tube_position: ''
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handles: []
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result:
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actual_mass_mg: actual_mass_mg
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schema:
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description: ROS Action SolidDispenseAddPowderTube 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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required: []
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title: SolidDispenseAddPowderTube_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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compound_mass:
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type: number
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powder_tube_number:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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target_tube_position:
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type: string
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required:
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- powder_tube_number
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- target_tube_position
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- compound_mass
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title: SolidDispenseAddPowderTube_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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actual_mass_mg:
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type: number
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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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- return_info
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- actual_mass_mg
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- success
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title: SolidDispenseAddPowderTube_Result
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type: object
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required:
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- goal
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title: SolidDispenseAddPowderTube
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type: object
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type: SolidDispenseAddPowderTube
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auto-add_powder_tube:
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feedback: {}
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goal: {}
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goal_default:
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compound_mass: null
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powder_tube_number: null
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target_tube_position: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand add_powder_tube 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 add_powder_tube 的参数schema
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properties:
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compound_mass:
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description: '参数: compound_mass'
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type: string
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powder_tube_number:
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description: '参数: powder_tube_number'
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type: string
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target_tube_position:
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description: '参数: target_tube_position'
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type: string
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required:
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- powder_tube_number
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- target_tube_position
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- compound_mass
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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: add_powder_tube 命令参数
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type: object
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type: UniLabJsonCommand
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auto-calculate_crc:
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feedback: {}
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goal: {}
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goal_default:
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data: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand calculate_crc 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 calculate_crc 的参数schema
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properties:
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data:
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description: '参数: data'
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type: string
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required:
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- data
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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: calculate_crc 命令参数
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type: object
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type: UniLabJsonCommand
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auto-discharge:
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feedback: {}
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goal: {}
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goal_default:
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float_in: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand discharge 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 discharge 的参数schema
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properties:
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float_in:
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description: '参数: float_in'
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type: number
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required:
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- float_in
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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: discharge 命令参数
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type: object
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type: UniLabJsonCommand
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auto-move_to_plate:
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feedback: {}
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goal: {}
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||||
goal_default:
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string: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand move_to_plate 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 move_to_plate 的参数schema
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properties:
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string:
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description: '参数: string'
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type: string
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required:
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- string
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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: move_to_plate 命令参数
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type: object
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type: UniLabJsonCommand
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auto-move_to_xyz:
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feedback: {}
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goal: {}
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||||
goal_default:
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x: null
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y: null
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z: null
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handles: []
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||||
result: {}
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||||
schema:
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||||
description: UniLabJsonCommand move_to_xyz 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 move_to_xyz 的参数schema
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properties:
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x:
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description: '参数: x'
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type: number
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y:
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description: '参数: y'
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type: number
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z:
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description: '参数: z'
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type: number
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required:
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- x
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- y
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- z
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type: object
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result: {}
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required:
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- goal
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title: move_to_xyz 命令参数
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type: object
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type: UniLabJsonCommand
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auto-pick_powder_tube:
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feedback: {}
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goal: {}
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goal_default:
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int_input: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand pick_powder_tube 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 pick_powder_tube 的参数schema
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properties:
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int_input:
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description: '参数: int_input'
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type: integer
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required:
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- int_input
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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: pick_powder_tube 命令参数
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type: object
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type: UniLabJsonCommand
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auto-put_powder_tube:
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feedback: {}
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goal: {}
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||||
goal_default:
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int_input: null
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handles: []
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result: {}
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schema:
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||||
description: UniLabJsonCommand put_powder_tube 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 put_powder_tube 的参数schema
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properties:
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int_input:
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description: '参数: int_input'
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type: integer
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required:
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- int_input
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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: put_powder_tube 命令参数
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||||
type: object
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type: UniLabJsonCommand
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auto-reset:
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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 reset 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 reset 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: reset 命令参数
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type: object
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type: UniLabJsonCommand
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auto-send_command:
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feedback: {}
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||||
goal: {}
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||||
goal_default:
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command: null
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handles: []
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||||
result: {}
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||||
schema:
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||||
description: UniLabJsonCommand send_command 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 send_command 的参数schema
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||||
properties:
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command:
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description: '参数: command'
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type: string
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||||
required:
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- command
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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: send_command 命令参数
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type: object
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||||
type: UniLabJsonCommand
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discharge:
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feedback: {}
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goal:
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float_input: float_input
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goal_default:
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float_in: 0.0
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||||
handles: []
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||||
result: {}
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||||
schema:
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||||
description: ROS Action FloatSingleInput 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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||||
required: []
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||||
title: FloatSingleInput_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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||||
float_in:
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type: number
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||||
required:
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||||
- float_in
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||||
title: FloatSingleInput_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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||||
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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||||
- return_info
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||||
- success
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||||
title: FloatSingleInput_Result
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||||
type: object
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||||
required:
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||||
- goal
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||||
title: FloatSingleInput
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||||
type: object
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||||
type: FloatSingleInput
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||||
move_to_plate:
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||||
feedback: {}
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||||
goal:
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||||
string: string
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||||
goal_default:
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||||
string: ''
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||||
handles: []
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||||
result: {}
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||||
schema:
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||||
description: ROS Action StrSingleInput 的 JSON Schema
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||||
properties:
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||||
feedback:
|
||||
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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||||
required: []
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||||
title: StrSingleInput_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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||||
string:
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||||
type: string
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||||
required:
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||||
- string
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||||
title: StrSingleInput_Goal
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||||
type: object
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||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
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||||
return_info:
|
||||
type: string
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||||
success:
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||||
type: boolean
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||||
required:
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||||
- return_info
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||||
- success
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||||
title: StrSingleInput_Result
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||||
type: object
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||||
required:
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||||
- goal
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||||
title: StrSingleInput
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||||
type: object
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||||
type: StrSingleInput
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||||
move_to_xyz:
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||||
type: Point3DSeparateInput
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||||
feedback: {}
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||||
goal:
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||||
x: x
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||||
y: y
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||||
z: z
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||||
feedback: {}
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||||
goal_default:
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||||
x: 0.0
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||||
y: 0.0
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||||
z: 0.0
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||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action Point3DSeparateInput 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: Point3DSeparateInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point3DSeparateInput_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: Point3DSeparateInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Point3DSeparateInput
|
||||
type: object
|
||||
type: Point3DSeparateInput
|
||||
pick_powder_tube:
|
||||
type: IntSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
int_input: int_input
|
||||
feedback: {}
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action IntSingleInput 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: IntSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
int_input:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
title: IntSingleInput_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: IntSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: IntSingleInput
|
||||
type: object
|
||||
type: IntSingleInput
|
||||
put_powder_tube:
|
||||
type: IntSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
int_input: int_input
|
||||
feedback: {}
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action IntSingleInput 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: IntSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
int_input:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
title: IntSingleInput_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: IntSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: IntSingleInput
|
||||
type: object
|
||||
type: IntSingleInput
|
||||
reset:
|
||||
type: EmptyIn
|
||||
feedback: {}
|
||||
goal: {}
|
||||
feedback: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
add_powder_tube:
|
||||
type: SolidDispenseAddPowderTube
|
||||
goal:
|
||||
powder_tube_number: powder_tube_number
|
||||
target_tube_position: target_tube_position
|
||||
compound_mass: compound_mass
|
||||
feedback: {}
|
||||
result:
|
||||
actual_mass_mg: actual_mass_mg
|
||||
move_to_plate:
|
||||
type: StrSingleInput
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
result: {}
|
||||
discharge:
|
||||
type: FloatSingleInput
|
||||
goal:
|
||||
float_input: float_input
|
||||
feedback: {}
|
||||
result: {}
|
||||
|
||||
schema:
|
||||
properties: {}
|
||||
schema:
|
||||
description: ROS Action EmptyIn 的 JSON Schema
|
||||
properties:
|
||||
feedback:
|
||||
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
description: Laiyu Add Solid
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
description: UniLabJsonCommand __init__ 的参数schema
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
description: '参数: baudrate'
|
||||
type: integer
|
||||
port:
|
||||
description: '参数: port'
|
||||
type: string
|
||||
timeout:
|
||||
default: 0.5
|
||||
description: '参数: timeout'
|
||||
type: number
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: __init__ 命令参数
|
||||
type: object
|
||||
|
||||
Reference in New Issue
Block a user