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v0.10.19

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fast registry load

minor fix on skill & registry

stripe ros2 schema desc
add create-device-skill

new registry system backwards to yaml

remove not exist resource

new registry sys
exp. support with add device

add ai conventions

correct raise create resource error

ret info fix revert

ret info fix

fix prcxi check

add create_resource schema

re signal host ready event

add websocket connection timeout and improve reconnection logic

add open_timeout parameter to websocket connection
add TimeoutError and InvalidStatus exception handling
implement exponential backoff for reconnection attempts
simplify reconnection logic flow

add gzip

change pose extra to any

add isFlapY
This commit is contained in:
Xuwznln
2026-03-04 18:59:45 +08:00
parent 145fcaae65
commit c001f6a151
99 changed files with 10885 additions and 7191 deletions
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58
unilabos/registry/devices/Qone_nmr.yaml
View File

@@ -13,21 +13,18 @@ Qone_nmr:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -71,31 +68,6 @@ Qone_nmr:
title: monitor_folder_for_new_content参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
ros_node:
type: string
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-strings_to_txt:
feedback: {}
goal: {}
@@ -138,21 +110,18 @@ Qone_nmr:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -167,32 +136,31 @@ Qone_nmr:
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:

91
unilabos/registry/devices/bioyond_cell.yaml
View File

@@ -22,7 +22,8 @@ bioyond_cell:
required:
- xlsx_path
type: object
result: {}
result:
type: object
required:
- goal
title: auto_batch_outbound_from_xlsx参数
@@ -490,7 +491,9 @@ bioyond_cell:
goal:
properties:
material_names:
type: string
items:
type: string
type: array
type_id:
default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
type: string
@@ -499,7 +502,8 @@ bioyond_cell:
type: string
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: create_and_inbound_materials参数
@@ -535,7 +539,8 @@ bioyond_cell:
- type_id
- warehouse_name
type: object
result: {}
result:
type: object
required:
- goal
title: create_material参数
@@ -556,11 +561,16 @@ bioyond_cell:
goal:
properties:
mappings:
additionalProperties:
type: object
type: object
required:
- mappings
type: object
result: {}
result:
items:
type: object
type: array
required:
- goal
title: create_materials参数
@@ -592,7 +602,8 @@ bioyond_cell:
required:
- xlsx_path
type: object
result: {}
result:
type: object
required:
- goal
title: create_orders参数
@@ -624,7 +635,8 @@ bioyond_cell:
required:
- xlsx_path
type: object
result: {}
result:
type: object
required:
- goal
title: create_orders_v2参数
@@ -665,7 +677,8 @@ bioyond_cell:
- bottle_type
- location_code
type: object
result: {}
result:
type: object
required:
- goal
title: create_sample参数
@@ -718,7 +731,8 @@ bioyond_cell:
type: string
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: order_list_v2参数
@@ -821,7 +835,8 @@ bioyond_cell:
required:
- material_obj
type: object
result: {}
result:
type: object
required:
- goal
title: report_material_change参数
@@ -875,7 +890,8 @@ bioyond_cell:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: scheduler_continue参数
@@ -896,7 +912,8 @@ bioyond_cell:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: scheduler_reset参数
@@ -917,7 +934,8 @@ bioyond_cell:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: scheduler_start参数
@@ -1362,7 +1380,8 @@ bioyond_cell:
type: string
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: scheduler_start_and_auto_feeding参数
@@ -1807,7 +1826,8 @@ bioyond_cell:
type: string
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: scheduler_start_and_auto_feeding_v2参数
@@ -1828,7 +1848,8 @@ bioyond_cell:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: scheduler_stop参数
@@ -1850,12 +1871,15 @@ bioyond_cell:
properties:
items:
items:
additionalProperties:
type: string
type: object
type: array
required:
- items
type: object
result: {}
result:
type: object
required:
- goal
title: storage_batch_inbound参数
@@ -1884,7 +1908,8 @@ bioyond_cell:
- material_id
- location_id
type: object
result: {}
result:
type: object
required:
- goal
title: storage_inbound参数
@@ -1905,7 +1930,8 @@ bioyond_cell:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: transfer_1_to_2参数
@@ -1946,7 +1972,8 @@ bioyond_cell:
type: integer
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: transfer_3_to_2参数
@@ -1983,7 +2010,8 @@ bioyond_cell:
type: integer
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: transfer_3_to_2_to_1参数
@@ -2007,10 +2035,11 @@ bioyond_cell:
ip:
type: string
port:
type: string
type: integer
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: update_push_ip参数
@@ -2039,7 +2068,8 @@ bioyond_cell:
required:
- order_code
type: object
result: {}
result:
type: object
required:
- goal
title: wait_for_order_finish参数
@@ -2072,7 +2102,8 @@ bioyond_cell:
required:
- order_code
type: object
result: {}
result:
type: object
required:
- goal
title: wait_for_order_finish_polling参数
@@ -2104,7 +2135,8 @@ bioyond_cell:
type: integer
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: wait_for_transfer_task参数
@@ -2112,8 +2144,7 @@ bioyond_cell:
type: UniLabJsonCommand
module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
status_types:
device_id: String
material_info: dict
device_id: ''
type: python
config_info: []
description: ''
@@ -2134,11 +2165,7 @@ bioyond_cell:
properties:
device_id:
type: string
material_info:
type: object
required:
- device_id
- material_info
type: object
registry_type: device
version: 1.0.0

217
unilabos/registry/devices/bioyond_dispensing_station.yaml
View File

@@ -24,7 +24,8 @@ bioyond_dispensing_station:
required:
- data
type: object
result: {}
result:
type: object
required:
- goal
title: brief_step_parameters参数
@@ -53,7 +54,8 @@ bioyond_dispensing_station:
- report_request
- used_materials
type: object
result: {}
result:
type: object
required:
- goal
title: process_order_finish_report参数
@@ -78,7 +80,8 @@ bioyond_dispensing_station:
required:
- order_id
type: object
result: {}
result:
type: object
required:
- goal
title: project_order_report参数
@@ -128,7 +131,8 @@ bioyond_dispensing_station:
required:
- workflow_id
type: object
result: {}
result:
type: object
required:
- goal
title: workflow_sample_locations参数
@@ -144,12 +148,12 @@ bioyond_dispensing_station:
temperature: temperature
titration: titration
goal_default:
delay_time: '600'
hold_m_name: ''
delay_time: null
hold_m_name: null
liquid_material_name: NMP
speed: '400'
temperature: '40'
titration: ''
speed: null
temperature: null
titration: null
handles:
input:
- data_key: titration
@@ -165,20 +169,16 @@ bioyond_dispensing_station:
handler_key: BATCH_CREATE_RESULT
io_type: sink
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
result:
return_info: return_info
placeholder_keys: {}
result: {}
schema:
description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
properties:
feedback:
properties: {}
required: []
title: BatchCreate9010VialFeedingTasks_Feedback
type: object
goal:
properties:
delay_time:
default: '600'
description: 延迟时间(秒),默认600
type: string
hold_m_name:
@@ -189,11 +189,9 @@ bioyond_dispensing_station:
description: 10%物料的液体物料名称,默认为"NMP"
type: string
speed:
default: '400'
description: 搅拌速度,默认400
type: string
temperature:
default: '40'
description: 温度(℃),默认40
type: string
titration:
@@ -202,21 +200,14 @@ bioyond_dispensing_station:
type: string
required:
- titration
- hold_m_name
title: BatchCreate9010VialFeedingTasks_Goal
type: object
result:
properties:
return_info:
description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
type: string
required:
- return_info
title: BatchCreate9010VialFeedingTasks_Result
type: object
type: string
required:
- goal
title: BatchCreate9010VialFeedingTasks
title: batch_create_90_10_vial_feeding_tasks参数
type: object
type: UniLabJsonCommand
batch_create_diamine_solution_tasks:
@@ -228,11 +219,11 @@ bioyond_dispensing_station:
speed: speed
temperature: temperature
goal_default:
delay_time: '600'
delay_time: null
liquid_material_name: NMP
solutions: ''
speed: '400'
temperature: '20'
solutions: null
speed: null
temperature: null
handles:
input:
- data_key: solutions
@@ -248,20 +239,16 @@ bioyond_dispensing_station:
handler_key: BATCH_CREATE_RESULT
io_type: sink
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
result:
return_info: return_info
placeholder_keys: {}
result: {}
schema:
description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
properties:
feedback:
properties: {}
required: []
title: BatchCreateDiamineSolutionTasks_Feedback
type: object
goal:
properties:
delay_time:
default: '600'
description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
type: string
liquid_material_name:
@@ -275,11 +262,9 @@ bioyond_dispensing_station:
4.5, "solvent_volume": 18}]'
type: string
speed:
default: '400'
description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
type: string
temperature:
default: '20'
description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
type: string
required:
@@ -287,17 +272,11 @@ bioyond_dispensing_station:
title: BatchCreateDiamineSolutionTasks_Goal
type: object
result:
properties:
return_info:
description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
type: string
required:
- return_info
title: BatchCreateDiamineSolutionTasks_Result
type: object
type: string
required:
- goal
title: BatchCreateDiamineSolutionTasks
title: batch_create_diamine_solution_tasks参数
type: object
type: UniLabJsonCommand
compute_experiment_design:
@@ -309,7 +288,7 @@ bioyond_dispensing_station:
wt_percent: wt_percent
goal_default:
m_tot: '70'
ratio: ''
ratio: null
titration_percent: '0.03'
wt_percent: '0.25'
handles:
@@ -338,12 +317,8 @@ bioyond_dispensing_station:
handler_key: feeding_order
io_type: sink
label: Feeding Order Data From Calculation Node
result:
feeding_order: feeding_order
return_info: return_info
solutions: solutions
solvents: solvents
titration: titration
placeholder_keys: {}
result: {}
schema:
description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
properties:
@@ -356,7 +331,7 @@ bioyond_dispensing_station:
type: string
ratio:
description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
type: string
type: object
titration_percent:
default: '0.03'
description: 滴定比例(10%部分)
@@ -371,14 +346,23 @@ bioyond_dispensing_station:
result:
properties:
feeding_order:
items: {}
title: Feeding Order
type: array
return_info:
title: Return Info
type: string
solutions:
items: {}
title: Solutions
type: array
solvents:
additionalProperties: true
title: Solvents
type: object
titration:
additionalProperties: true
title: Titration
type: object
required:
- solutions
@@ -386,11 +370,11 @@ bioyond_dispensing_station:
- solvents
- feeding_order
- return_info
title: ComputeExperimentDesign_Result
title: ComputeExperimentDesignReturn
type: object
required:
- goal
title: ComputeExperimentDesign
title: compute_experiment_design参数
type: object
type: UniLabJsonCommand
create_90_10_vial_feeding_task:
@@ -444,17 +428,18 @@ bioyond_dispensing_station:
speed: ''
temperature: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: DispenStationVialFeed_Feedback
type: object
goal:
additionalProperties: false
properties:
delay_time:
type: string
@@ -502,38 +487,13 @@ bioyond_dispensing_station:
type: string
temperature:
type: string
required:
- order_name
- percent_90_1_assign_material_name
- percent_90_1_target_weigh
- percent_90_2_assign_material_name
- percent_90_2_target_weigh
- percent_90_3_assign_material_name
- percent_90_3_target_weigh
- percent_10_1_assign_material_name
- percent_10_1_target_weigh
- percent_10_1_volume
- percent_10_1_liquid_material_name
- percent_10_2_assign_material_name
- percent_10_2_target_weigh
- percent_10_2_volume
- percent_10_2_liquid_material_name
- percent_10_3_assign_material_name
- percent_10_3_target_weigh
- percent_10_3_volume
- percent_10_3_liquid_material_name
- speed
- temperature
- delay_time
- hold_m_name
title: DispenStationVialFeed_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: DispenStationVialFeed_Result
type: object
required:
@@ -564,17 +524,18 @@ bioyond_dispensing_station:
temperature: ''
volume: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: DispenStationSolnPrep_Feedback
type: object
goal:
additionalProperties: false
properties:
delay_time:
type: string
@@ -594,24 +555,13 @@ bioyond_dispensing_station:
type: string
volume:
type: string
required:
- order_name
- material_name
- target_weigh
- volume
- liquid_material_name
- speed
- temperature
- delay_time
- hold_m_name
title: DispenStationSolnPrep_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: DispenStationSolnPrep_Result
type: object
required:
@@ -624,8 +574,8 @@ bioyond_dispensing_station:
goal: {}
goal_default: {}
handles: {}
result:
return_info: return_info
placeholder_keys: {}
result: {}
schema:
description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
properties:
@@ -635,12 +585,6 @@ bioyond_dispensing_station:
required: []
type: object
result:
properties:
return_info:
description: 调度器启动结果，成功返回1，失败返回0
type: integer
required:
- return_info
title: scheduler_start结果
type: object
required:
@@ -654,8 +598,8 @@ bioyond_dispensing_station:
target_device_id: target_device_id
transfer_groups: transfer_groups
goal_default:
target_device_id: ''
transfer_groups: ''
target_device_id: null
transfer_groups: null
handles: {}
placeholder_keys:
target_device_id: unilabos_devices
@@ -671,32 +615,13 @@ bioyond_dispensing_station:
type: string
transfer_groups:
description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
items:
properties:
materials:
description: 物料名称（手动输入，系统将通过RPC查询验证）
type: string
target_sites:
description: 目标库位（手动输入，如"A01"）
type: string
target_stack:
description: 目标堆栈名称（从列表选择）
enum:
- 堆栈1左
- 堆栈1右
- 站内试剂存放堆栈
type: string
required:
- materials
- target_stack
- target_sites
type: object
type: array
required:
- target_device_id
- transfer_groups
type: object
result: {}
result:
type: object
required:
- goal
title: transfer_materials_to_reaction_station参数
@@ -709,9 +634,9 @@ bioyond_dispensing_station:
check_interval: check_interval
timeout: timeout
goal_default:
batch_create_result: ''
check_interval: '10'
timeout: '7200'
batch_create_result: null
check_interval: 10
timeout: 7200
handles:
input:
- data_key: batch_create_result
@@ -727,47 +652,35 @@ bioyond_dispensing_station:
handler_key: batch_reports_result
io_type: sink
label: Batch Order Completion Reports
result:
return_info: return_info
placeholder_keys: {}
result: {}
schema:
description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
properties:
feedback:
properties: {}
required: []
title: WaitForMultipleOrdersAndGetReports_Feedback
type: object
goal:
properties:
batch_create_result:
description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
type: string
check_interval:
default: '10'
default: 10
description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
type: string
type: integer
timeout:
default: '7200'
default: 7200
description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
type: string
required:
- batch_create_result
type: integer
required: []
title: WaitForMultipleOrdersAndGetReports_Goal
type: object
result:
properties:
return_info:
description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
order_id, status, completion_status, report, elapsed_time)'
type: string
required:
- return_info
title: WaitForMultipleOrdersAndGetReports_Result
type: object
required:
- goal
title: WaitForMultipleOrdersAndGetReports
title: wait_for_multiple_orders_and_get_reports参数
type: object
type: UniLabJsonCommand
module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation

81
unilabos/registry/devices/camera.yaml
View File

@@ -1,81 +0,0 @@
camera:
category:
- camera
class:
action_value_mappings:
auto-destroy_node:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: destroy_node参数
type: object
type: UniLabJsonCommand
auto-timer_callback:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: timer_callback参数
type: object
type: UniLabJsonCommand
module: unilabos.ros.nodes.presets.camera:VideoPublisher
status_types: {}
type: ros2
config_info: []
description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
handles: []
icon: ''
init_param_schema:
config:
properties:
camera_index:
default: 0
type: string
device_id:
default: video_publisher
type: string
device_uuid:
default: ''
type: string
period:
default: 0.1
type: number
registry_name:
default: ''
type: string
resource_tracker:
type: object
required: []
type: object
data:
properties: {}
required: []
type: object
version: 1.0.0

8
unilabos/registry/devices/cameraSII.yaml
View File

@@ -18,7 +18,7 @@ cameracontroller_device:
goal:
properties:
config:
type: string
type: object
required: []
type: object
result: {}
@@ -42,7 +42,8 @@ cameracontroller_device:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: stop参数
@@ -50,7 +51,7 @@ cameracontroller_device:
type: UniLabJsonCommand
module: unilabos.devices.cameraSII.cameraUSB:CameraController
status_types:
status: dict
status: Dict[str, Any]
type: python
config_info: []
description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
@@ -103,5 +104,4 @@ cameracontroller_device:
required:
- status
type: object
registry_type: device
version: 1.0.0

64
unilabos/registry/devices/characterization_chromatic.yaml
View File

@@ -141,30 +141,26 @@ hplc.agilent:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -175,7 +171,6 @@ hplc.agilent:
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
status_types:
could_run: bool
data_file: String
device_status: str
driver_init_ok: bool
finish_status: str
@@ -199,10 +194,6 @@ hplc.agilent:
properties:
could_run:
type: boolean
data_file:
items:
type: string
type: array
device_status:
type: string
driver_init_ok:
@@ -216,14 +207,13 @@ hplc.agilent:
success:
type: boolean
required:
- status_text
- device_status
- could_run
- device_status
- driver_init_ok
- is_running
- success
- finish_status
- data_file
- is_running
- status_text
- success
type: object
version: 1.0.0
hplc.agilent-zhida:
@@ -236,26 +226,25 @@ hplc.agilent-zhida:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -315,21 +304,18 @@ hplc.agilent-zhida:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -341,35 +327,35 @@ hplc.agilent-zhida:
feedback: {}
goal:
string: string
text: text
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -407,7 +393,7 @@ hplc.agilent-zhida:
status:
type: object
required:
- status
- methods
- status
type: object
version: 1.0.0

15
unilabos/registry/devices/characterization_optic.yaml
View File

@@ -120,42 +120,41 @@ raman.home_made:
type: object
type: UniLabJsonCommand
raman_cmd:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:

231
unilabos/registry/devices/chinwe.yaml
View File

@@ -19,7 +19,8 @@ separator.chinwe:
properties: {}
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: connect参数
@@ -65,135 +66,145 @@ separator.chinwe:
required:
- command_dict
type: object
result: {}
result:
type: boolean
required:
- goal
title: execute_command_from_outer参数
type: object
type: UniLabJsonCommand
motor_rotate_quarter:
feedback: {}
goal:
direction: 顺时针
motor_id: 4
speed: 60
goal_default:
direction: 顺时针
motor_id: null
speed: 60
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 电机旋转 1/4 圈
properties:
feedback: {}
goal:
properties:
direction:
default: 顺时针
description: 旋转方向
enum:
- 顺时针
- 逆时针
type: string
motor_id:
default: '4'
description: 选择电机 (4:搅拌, 5:旋钮)
enum:
- '4'
- '5'
type: string
type: integer
speed:
default: 60
description: 速度 (RPM)
type: integer
required:
- motor_id
- speed
type: object
result: {}
required:
- goal
title: motor_rotate_quarter参数
type: object
type: UniLabJsonCommand
motor_run_continuous:
feedback: {}
goal:
direction: 顺时针
motor_id: 4
speed: 60
goal_default:
direction: 顺时针
motor_id: null
speed: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 电机一直旋转 (速度模式)
properties:
feedback: {}
goal:
properties:
direction:
default: 顺时针
description: 旋转方向
enum:
- 顺时针
- 逆时针
type: string
motor_id:
default: '4'
description: 选择电机 (4:搅拌, 5:旋钮)
enum:
- '4'
- '5'
type: string
type: integer
speed:
default: 60
description: 速度 (RPM)
type: integer
required:
- motor_id
- speed
type: object
result: {}
required:
- goal
title: motor_run_continuous参数
type: object
type: UniLabJsonCommand
motor_stop:
feedback: {}
goal:
motor_id: 4
goal_default:
motor_id: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 停止指定步进电机
properties:
feedback: {}
goal:
properties:
motor_id:
default: '4'
description: 选择电机
enum:
- '4'
- '5'
title: '注: 4=搅拌, 5=旋钮'
type: string
type: integer
required:
- motor_id
type: object
result: {}
required:
- goal
title: motor_stop参数
type: object
type: UniLabJsonCommand
pump_aspirate:
feedback: {}
goal:
pump_id: 1
valve_port: 1
volume: 1000
goal_default:
pump_id: null
valve_port: null
volume: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 注射泵吸液
properties:
feedback: {}
goal:
properties:
pump_id:
default: '1'
description: 选择泵
enum:
- '1'
- '2'
- '3'
type: string
type: integer
valve_port:
default: '1'
description: 阀门端口
enum:
- '1'
- '2'
- '3'
- '4'
- '5'
- '6'
- '7'
- '8'
type: string
type: integer
volume:
default: 1000
description: 吸液步数
type: integer
required:
@@ -201,41 +212,38 @@ separator.chinwe:
- volume
- valve_port
type: object
result: {}
required:
- goal
title: pump_aspirate参数
type: object
type: UniLabJsonCommand
pump_dispense:
feedback: {}
goal:
pump_id: 1
valve_port: 1
volume: 1000
goal_default:
pump_id: null
valve_port: null
volume: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 注射泵排液
properties:
feedback: {}
goal:
properties:
pump_id:
default: '1'
description: 选择泵
enum:
- '1'
- '2'
- '3'
type: string
type: integer
valve_port:
default: '1'
description: 阀门端口
enum:
- '1'
- '2'
- '3'
- '4'
- '5'
- '6'
- '7'
- '8'
type: string
type: integer
volume:
default: 1000
description: 排液步数
type: integer
required:
@@ -243,121 +251,152 @@ separator.chinwe:
- volume
- valve_port
type: object
result: {}
required:
- goal
title: pump_dispense参数
type: object
type: UniLabJsonCommand
pump_initialize:
feedback: {}
goal:
drain_port: 0
output_port: 0
pump_id: 1
speed: 10
goal_default:
drain_port: 0
output_port: 0
pump_id: null
speed: 10
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 初始化指定注射泵
properties:
feedback: {}
goal:
properties:
drain_port:
default: 0
description: 排液口索引
type: integer
type: string
output_port:
default: 0
description: 输出口索引
type: integer
pump_id:
default: '1'
description: 选择泵
enum:
- '1'
- '2'
- '3'
title: '注: 1号泵, 2号泵, 3号泵'
type: string
pump_id:
description: 选择泵
title: '注: 1号泵, 2号泵, 3号泵'
type: integer
speed:
default: 10
description: 运动速度
type: integer
type: string
required:
- pump_id
type: object
result: {}
required:
- goal
title: pump_initialize参数
type: object
type: UniLabJsonCommand
pump_valve:
feedback: {}
goal:
port: 1
pump_id: 1
goal_default:
port: null
pump_id: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 切换指定泵的阀门端口
properties:
feedback: {}
goal:
properties:
port:
default: '1'
description: 阀门端口号 (1-8)
enum:
- '1'
- '2'
- '3'
- '4'
- '5'
- '6'
- '7'
- '8'
type: string
type: integer
pump_id:
default: '1'
description: 选择泵
enum:
- '1'
- '2'
- '3'
type: string
type: integer
required:
- pump_id
- port
type: object
result: {}
required:
- goal
title: pump_valve参数
type: object
type: UniLabJsonCommand
wait_sensor_level:
feedback: {}
goal:
target_state: 有液
timeout: 30
goal_default:
target_state: 有液
timeout: 30
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 等待传感器液位条件
properties:
feedback: {}
goal:
properties:
target_state:
default: 有液
description: 目标液位状态
enum:
- 有液
- 无液
type: string
timeout:
default: 30
description: 超时时间 (秒)
type: integer
required:
- target_state
required: []
type: object
result:
type: boolean
required:
- goal
title: wait_sensor_level参数
type: object
type: UniLabJsonCommand
wait_time:
feedback: {}
goal:
duration: 10
goal_default:
duration: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 等待指定时间
properties:
feedback: {}
goal:
properties:
duration:
default: 10
description: 等待时间 (秒)
type: integer
required:
- duration
type: object
result:
type: boolean
required:
- goal
title: wait_time参数
type: object
type: UniLabJsonCommand
module: unilabos.devices.separator.chinwe:ChinweDevice
status_types:
@@ -406,8 +445,8 @@ separator.chinwe:
sensor_rssi:
type: integer
required:
- is_connected
- sensor_level
- sensor_rssi
- is_connected
type: object
version: 2.1.0

76
unilabos/registry/devices/coin_cell_workstation.yaml
View File

@@ -64,7 +64,8 @@ coincellassemblyworkstation_device:
properties: {}
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: fun_wuliao_test参数
@@ -109,7 +110,8 @@ coincellassemblyworkstation_device:
- elec_num
- elec_use_num
type: object
result: {}
result:
type: object
required:
- goal
title: func_allpack_cmd参数
@@ -220,7 +222,8 @@ coincellassemblyworkstation_device:
- elec_num
- elec_use_num
type: object
result: {}
result:
type: object
required:
- goal
title: func_allpack_cmd_simp参数
@@ -309,7 +312,8 @@ coincellassemblyworkstation_device:
type: boolean
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: func_pack_device_init_auto_start_combined参数
@@ -351,7 +355,8 @@ coincellassemblyworkstation_device:
properties: {}
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: func_pack_device_stop参数
@@ -376,7 +381,8 @@ coincellassemblyworkstation_device:
type: string
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: func_pack_get_msg_cmd参数
@@ -430,7 +436,8 @@ coincellassemblyworkstation_device:
properties: {}
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: func_pack_send_finished_cmd参数
@@ -467,7 +474,8 @@ coincellassemblyworkstation_device:
- assembly_type
- assembly_pressure
type: object
result: {}
result:
type: boolean
required:
- goal
title: func_pack_send_msg_cmd参数
@@ -611,7 +619,8 @@ coincellassemblyworkstation_device:
- elec_num
- elec_use_num
type: object
result: {}
result:
type: object
required:
- goal
title: func_sendbottle_allpack_multi参数
@@ -663,31 +672,6 @@ coincellassemblyworkstation_device:
title: modify_deck_name参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
ros_node:
type: object
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-qiming_coin_cell_code:
feedback: {}
goal: {}
@@ -735,7 +719,8 @@ coincellassemblyworkstation_device:
required:
- fujipian_panshu
type: object
result: {}
result:
type: boolean
required:
- goal
title: qiming_coin_cell_code参数
@@ -826,25 +811,24 @@ coincellassemblyworkstation_device:
sys_status:
type: string
required:
- sys_status
- sys_mode
- request_rec_msg_status
- request_send_msg_status
- data_assembly_coin_cell_num
- data_assembly_pressure
- data_assembly_time
- data_open_circuit_voltage
- data_axis_x_pos
- data_axis_y_pos
- data_axis_z_pos
- data_pole_weight
- data_assembly_pressure
- data_electrolyte_volume
- data_coin_num
- data_coin_cell_code
- data_coin_num
- data_electrolyte_code
- data_glove_box_pressure
- data_electrolyte_volume
- data_glove_box_o2_content
- data_glove_box_pressure
- data_glove_box_water_content
- data_open_circuit_voltage
- data_pole_weight
- request_rec_msg_status
- request_send_msg_status
- sys_mode
- sys_status
type: object
registry_type: device
version: 1.0.0

82
unilabos/registry/devices/gas_handler.yaml
View File

@@ -50,26 +50,25 @@ gas_source.mock:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -82,26 +81,25 @@ gas_source.mock:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -116,32 +114,31 @@ gas_source.mock:
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -232,26 +229,25 @@ vacuum_pump.mock:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -264,26 +260,25 @@ vacuum_pump.mock:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -298,32 +293,31 @@ vacuum_pump.mock:
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:

2
unilabos/registry/devices/hotel.yaml
View File

@@ -5,7 +5,7 @@ hotel.thermo_orbitor_rs2_hotel:
action_value_mappings: {}
module: unilabos.devices.resource_container.container:HotelContainer
status_types:
rotation: String
rotation: ''
type: python
config_info: []
description: Thermo Orbitor RS2 Hotel容器设备，用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控，主要用于存储实验样品、试剂瓶或其他实验器具，支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。

93
unilabos/registry/devices/laiyu_liquid_test.yaml
View File

@@ -22,7 +22,8 @@ xyz_stepper_controller:
required:
- degrees
type: object
result: {}
result:
type: integer
required:
- goal
title: degrees_to_steps参数
@@ -47,7 +48,8 @@ xyz_stepper_controller:
required:
- axis
type: object
result: {}
result:
type: boolean
required:
- goal
title: emergency_stop参数
@@ -72,7 +74,10 @@ xyz_stepper_controller:
type: boolean
required: []
type: object
result: {}
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: enable_all_axes参数
@@ -101,7 +106,8 @@ xyz_stepper_controller:
required:
- axis
type: object
result: {}
result:
type: boolean
required:
- goal
title: enable_motor参数
@@ -122,7 +128,10 @@ xyz_stepper_controller:
properties: {}
required: []
type: object
result: {}
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: home_all_axes参数
@@ -147,7 +156,8 @@ xyz_stepper_controller:
required:
- axis
type: object
result: {}
result:
type: boolean
required:
- goal
title: home_axis参数
@@ -188,7 +198,8 @@ xyz_stepper_controller:
- axis
- position
type: object
result: {}
result:
type: boolean
required:
- goal
title: move_to_position参数
@@ -229,7 +240,8 @@ xyz_stepper_controller:
- axis
- degrees
type: object
result: {}
result:
type: boolean
required:
- goal
title: move_to_position_degrees参数
@@ -270,7 +282,8 @@ xyz_stepper_controller:
- axis
- revolutions
type: object
result: {}
result:
type: boolean
required:
- goal
title: move_to_position_revolutions参数
@@ -301,14 +314,17 @@ xyz_stepper_controller:
default: 5000
type: integer
x:
type: string
type: integer
y:
type: string
type: integer
z:
type: string
type: integer
required: []
type: object
result: {}
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: move_xyz参数
@@ -339,14 +355,17 @@ xyz_stepper_controller:
default: 5000
type: integer
x_deg:
type: string
type: number
y_deg:
type: string
type: number
z_deg:
type: string
type: number
required: []
type: object
result: {}
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: move_xyz_degrees参数
@@ -377,14 +396,17 @@ xyz_stepper_controller:
default: 5000
type: integer
x_rev:
type: string
type: number
y_rev:
type: string
type: number
z_rev:
type: string
type: number
required: []
type: object
result: {}
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: move_xyz_revolutions参数
@@ -409,7 +431,8 @@ xyz_stepper_controller:
required:
- revolutions
type: object
result: {}
result:
type: integer
required:
- goal
title: revolutions_to_steps参数
@@ -442,7 +465,8 @@ xyz_stepper_controller:
- axis
- speed
type: object
result: {}
result:
type: boolean
required:
- goal
title: set_speed_mode参数
@@ -467,7 +491,8 @@ xyz_stepper_controller:
required:
- steps
type: object
result: {}
result:
type: number
required:
- goal
title: steps_to_degrees参数
@@ -492,7 +517,8 @@ xyz_stepper_controller:
required:
- steps
type: object
result: {}
result:
type: number
required:
- goal
title: steps_to_revolutions参数
@@ -513,7 +539,10 @@ xyz_stepper_controller:
properties: {}
required: []
type: object
result: {}
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: stop_all_axes参数
@@ -542,7 +571,8 @@ xyz_stepper_controller:
required:
- axis
type: object
result: {}
result:
type: boolean
required:
- goal
title: wait_for_completion参数
@@ -550,8 +580,7 @@ xyz_stepper_controller:
type: UniLabJsonCommand
module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
status_types:
all_positions: dict
motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
all_positions: Dict[MotorAxis, MotorPosition]
type: python
config_info: []
description: 新XYZ控制器
@@ -574,12 +603,10 @@ xyz_stepper_controller:
data:
properties:
all_positions:
type: object
motor_status:
additionalProperties:
type: object
type: object
required:
- motor_status
- all_positions
type: object
registry_type: device
version: 1.0.0

3520
unilabos/registry/devices/liquid_handler.yaml
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File diff suppressed because it is too large Load Diff

228
unilabos/registry/devices/neware_battery_test_system.yaml
View File

@@ -5,31 +5,6 @@ neware_battery_test_system:
- battery_test
class:
action_value_mappings:
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
ros_node:
type: string
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-print_status_summary:
feedback: {}
goal: {}
@@ -66,7 +41,8 @@ neware_battery_test_system:
properties: {}
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: test_connection参数
@@ -77,9 +53,8 @@ neware_battery_test_system:
goal: {}
goal_default: {}
handles: {}
result:
return_info: return_info
success: success
placeholder_keys: {}
result: {}
schema:
description: 调试方法：显示所有资源的实际名称
properties:
@@ -89,19 +64,10 @@ neware_battery_test_system:
required: []
type: object
result:
properties:
return_info:
description: 资源调试信息
type: string
success:
description: 是否成功
type: boolean
required:
- return_info
- success
type: object
required:
- goal
title: debug_resource_names参数
type: object
type: UniLabJsonCommand
export_status_json:
@@ -111,9 +77,8 @@ neware_battery_test_system:
goal_default:
filepath: bts_status.json
handles: {}
result:
return_info: return_info
success: success
placeholder_keys: {}
result: {}
schema:
description: 导出当前状态数据到JSON文件
properties:
@@ -127,19 +92,10 @@ neware_battery_test_system:
required: []
type: object
result:
properties:
return_info:
description: 导出操作结果信息
type: string
success:
description: 导出是否成功
type: boolean
required:
- return_info
- success
type: object
required:
- goal
title: export_status_json参数
type: object
type: UniLabJsonCommand
get_device_summary:
@@ -181,10 +137,8 @@ neware_battery_test_system:
goal_default:
plate_num: null
handles: {}
result:
plate_data: plate_data
return_info: return_info
success: success
placeholder_keys: {}
result: {}
schema:
description: 获取指定盘或所有盘的状态信息
properties:
@@ -193,29 +147,14 @@ neware_battery_test_system:
properties:
plate_num:
description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
maximum: 2
minimum: 1
type: integer
required: []
type: object
result:
properties:
plate_data:
description: 盘状态数据（单盘或所有盘）
type: object
return_info:
description: 操作结果信息
type: string
success:
description: 查询是否成功
type: boolean
required:
- return_info
- success
- plate_data
type: object
required:
- goal
title: get_plate_status参数
type: object
type: UniLabJsonCommand
print_status_summary_action:
@@ -223,9 +162,8 @@ neware_battery_test_system:
goal: {}
goal_default: {}
handles: {}
result:
return_info: return_info
success: success
placeholder_keys: {}
result: {}
schema:
description: 打印通道状态摘要信息到控制台
properties:
@@ -235,28 +173,21 @@ neware_battery_test_system:
required: []
type: object
result:
properties:
return_info:
description: 打印操作结果信息
type: string
success:
description: 打印是否成功
type: boolean
required:
- return_info
- success
type: object
required:
- goal
title: print_status_summary_action参数
type: object
type: UniLabJsonCommand
query_plate_action:
feedback: {}
goal:
string: plate_id
plate_id: plate_id
string: string
goal_default:
string: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
@@ -264,27 +195,23 @@ neware_battery_test_system:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -298,13 +225,11 @@ neware_battery_test_system:
csv_path: string
output_dir: string
goal_default:
csv_path: ''
csv_path: null
output_dir: .
handles: {}
result:
return_info: return_info
submitted_count: submitted_count
success: success
placeholder_keys: {}
result: {}
schema:
description: 从CSV文件批量提交Neware测试任务
properties:
@@ -315,31 +240,17 @@ neware_battery_test_system:
description: 输入CSV文件的绝对路径
type: string
output_dir:
default: .
description: 输出目录（用于存储XML和备份文件），默认当前目录
type: string
required:
- csv_path
type: object
result:
properties:
return_info:
description: 执行结果详细信息
type: string
submitted_count:
description: 成功提交的任务数量
type: integer
success:
description: 是否成功
type: boolean
total_count:
description: CSV文件中的总行数
type: integer
required:
- return_info
- success
type: object
required:
- goal
title: submit_from_csv参数
type: object
type: UniLabJsonCommand
test_connection_action:
@@ -347,9 +258,8 @@ neware_battery_test_system:
goal: {}
goal_default: {}
handles: {}
result:
return_info: return_info
success: success
placeholder_keys: {}
result: {}
schema:
description: 测试与电池测试系统的TCP连接
properties:
@@ -359,19 +269,10 @@ neware_battery_test_system:
required: []
type: object
result:
properties:
return_info:
description: 连接测试结果信息
type: string
success:
description: 连接测试是否成功
type: boolean
required:
- return_info
- success
type: object
required:
- goal
title: test_connection_action参数
type: object
type: UniLabJsonCommand
upload_backup_to_oss:
@@ -392,12 +293,8 @@ neware_battery_test_system:
handler_key: uploaded_files
io_type: sink
label: Uploaded Files (with standard flow info)
result:
failed_files: failed_files
return_info: return_info
success: success
total_count: total_count
uploaded_count: uploaded_count
placeholder_keys: {}
result: {}
schema:
description: 上传备份文件到阿里云OSS
properties:
@@ -417,65 +314,17 @@ neware_battery_test_system:
required: []
type: object
result:
properties:
failed_files:
description: 上传失败的文件名列表
items:
type: string
type: array
return_info:
description: 上传操作结果信息
type: string
success:
description: 上传是否成功
type: boolean
total_count:
description: 总文件数
type: integer
uploaded_count:
description: 成功上传的文件数
type: integer
uploaded_files:
description: 成功上传的文件详情列表
items:
properties:
Battery_Code:
description: 电池编码
type: string
Electrolyte_Code:
description: 电解液编码
type: string
filename:
description: 文件名
type: string
url:
description: OSS下载链接
type: string
required:
- filename
- url
- Battery_Code
- Electrolyte_Code
type: object
type: array
required:
- return_info
- success
- uploaded_count
- total_count
- failed_files
- uploaded_files
type: object
required:
- goal
title: upload_backup_to_oss参数
type: object
type: UniLabJsonCommand
module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
status_types:
channel_status: dict
connection_info: dict
channel_status: Dict[int, Dict]
connection_info: Dict[str, str]
device_summary: dict
plate_status: dict
status: str
total_channels: int
type: python
@@ -517,23 +366,24 @@ neware_battery_test_system:
data:
properties:
channel_status:
additionalProperties:
type: object
type: object
connection_info:
additionalProperties:
type: string
type: object
device_summary:
type: object
plate_status:
type: object
status:
type: string
total_channels:
type: integer
required:
- status
- channel_status
- connection_info
- total_channels
- plate_status
- device_summary
- status
- total_channels
type: object
version: 1.0.0

10
unilabos/registry/devices/opcua_example.yaml
View File

@@ -142,8 +142,7 @@ opcua_example:
type: object
type: UniLabJsonCommand
module: unilabos.device_comms.opcua_client.client:OpcUaClient
status_types:
node_value: String
status_types: {}
type: python
config_info: []
description: null
@@ -167,10 +166,7 @@ opcua_example:
- url
type: object
data:
properties:
node_value:
type: string
required:
- node_value
properties: {}
required: []
type: object
version: 1.0.0

3
unilabos/registry/devices/opsky_ATR30007.yaml
View File

@@ -80,7 +80,8 @@ opsky_ATR30007:
type: string
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: run_once参数

75
unilabos/registry/devices/organic_miscellaneous.yaml
View File

@@ -100,42 +100,41 @@ rotavap.one:
type: object
type: UniLabJsonCommand
set_timer:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -250,9 +249,13 @@ separator.homemade:
feedback:
status: status
goal:
event: event
settling_time: settling_time
stir_speed: stir_speed
stir_time: stir_time,
stir_time: stir_time
time: time
time_spec: time_spec
vessel: vessel
goal_default:
event: ''
settling_time: ''
@@ -281,34 +284,42 @@ separator.homemade:
sample_id: ''
type: ''
handles: {}
placeholder_keys: {}
result:
message: message
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: Stir_Feedback
type: object
goal:
additionalProperties: false
properties:
event:
type: string
settling_time:
type: string
stir_speed:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
stir_time:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
time:
type: string
time_spec:
type: string
vessel:
additionalProperties: false
properties:
category:
type: string
@@ -327,16 +338,26 @@ separator.homemade:
parent:
type: string
pose:
additionalProperties: false
properties:
orientation:
additionalProperties: false
properties:
w:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
@@ -346,12 +367,19 @@ separator.homemade:
title: orientation
type: object
position:
additionalProperties: false
properties:
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
@@ -381,17 +409,10 @@ separator.homemade:
- data
title: vessel
type: object
required:
- vessel
- time
- event
- time_spec
- stir_time
- stir_speed
- settling_time
title: Stir_Goal
type: object
result:
additionalProperties: false
properties:
message:
type: string
@@ -399,10 +420,6 @@ separator.homemade:
type: string
success:
type: boolean
required:
- success
- message
- return_info
title: Stir_Result
type: object
required:
@@ -418,36 +435,34 @@ separator.homemade:
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:

187
unilabos/registry/devices/post_process_station.yaml
View File

@@ -28,31 +28,6 @@ post_process_station:
title: load_config参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
ros_node:
type: string
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-print_cache_stats:
feedback: {}
goal: {}
@@ -104,42 +79,41 @@ post_process_station:
type: object
type: UniLabJsonCommand
disconnect:
feedback: {}
feedback:
status: status
goal:
command: {}
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -149,42 +123,41 @@ post_process_station:
type: SendCmd
read_node:
feedback:
result: result
status: status
goal:
command: node_name
command: command
node_name: node_name
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -283,17 +256,19 @@ post_process_station:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: PostProcessTriggerClean_Feedback
type: object
goal:
additionalProperties: false
properties:
acetone_inner_wall_cleaning_count:
maximum: 2147483647
minimum: -2147483648
type: integer
acetone_inner_wall_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
acetone_inner_wall_cleaning_waste_time:
maximum: 2147483647
@@ -304,6 +279,8 @@ post_process_station:
minimum: -2147483648
type: integer
acetone_outer_wall_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
acetone_outer_wall_cleaning_wait_time:
maximum: 2147483647
@@ -322,6 +299,8 @@ post_process_station:
minimum: -2147483648
type: integer
acetone_stirrer_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
acetone_stirrer_cleaning_wait_time:
maximum: 2147483647
@@ -348,6 +327,8 @@ post_process_station:
minimum: -2147483648
type: integer
nmp_inner_wall_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
nmp_inner_wall_cleaning_waste_time:
maximum: 2147483647
@@ -358,6 +339,8 @@ post_process_station:
minimum: -2147483648
type: integer
nmp_outer_wall_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
nmp_outer_wall_cleaning_wait_time:
maximum: 2147483647
@@ -376,6 +359,8 @@ post_process_station:
minimum: -2147483648
type: integer
nmp_stirrer_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
nmp_stirrer_cleaning_wait_time:
maximum: 2147483647
@@ -394,6 +379,8 @@ post_process_station:
minimum: -2147483648
type: integer
water_inner_wall_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
water_inner_wall_cleaning_waste_time:
maximum: 2147483647
@@ -404,6 +391,8 @@ post_process_station:
minimum: -2147483648
type: integer
water_outer_wall_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
water_outer_wall_cleaning_wait_time:
maximum: 2147483647
@@ -422,6 +411,8 @@ post_process_station:
minimum: -2147483648
type: integer
water_stirrer_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
water_stirrer_cleaning_wait_time:
maximum: 2147483647
@@ -431,55 +422,13 @@ post_process_station:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- nmp_outer_wall_cleaning_injection
- nmp_outer_wall_cleaning_count
- nmp_outer_wall_cleaning_wait_time
- nmp_outer_wall_cleaning_waste_time
- nmp_inner_wall_cleaning_injection
- nmp_inner_wall_cleaning_count
- nmp_pump_cleaning_suction_count
- nmp_inner_wall_cleaning_waste_time
- nmp_stirrer_cleaning_injection
- nmp_stirrer_cleaning_count
- nmp_stirrer_cleaning_wait_time
- nmp_stirrer_cleaning_waste_time
- water_outer_wall_cleaning_injection
- water_outer_wall_cleaning_count
- water_outer_wall_cleaning_wait_time
- water_outer_wall_cleaning_waste_time
- water_inner_wall_cleaning_injection
- water_inner_wall_cleaning_count
- water_pump_cleaning_suction_count
- water_inner_wall_cleaning_waste_time
- water_stirrer_cleaning_injection
- water_stirrer_cleaning_count
- water_stirrer_cleaning_wait_time
- water_stirrer_cleaning_waste_time
- acetone_outer_wall_cleaning_injection
- acetone_outer_wall_cleaning_count
- acetone_outer_wall_cleaning_wait_time
- acetone_outer_wall_cleaning_waste_time
- acetone_inner_wall_cleaning_injection
- acetone_inner_wall_cleaning_count
- acetone_pump_cleaning_suction_count
- acetone_inner_wall_cleaning_waste_time
- acetone_stirrer_cleaning_injection
- acetone_stirrer_cleaning_count
- acetone_stirrer_cleaning_wait_time
- acetone_stirrer_cleaning_waste_time
- pipe_blowing_time
- injection_pump_forward_empty_suction_count
- injection_pump_reverse_empty_suction_count
- filtration_liquid_selection
title: PostProcessTriggerClean_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: PostProcessTriggerClean_Result
type: object
required:
@@ -502,11 +451,11 @@ post_process_station:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: PostProcessGrab_Feedback
type: object
goal:
additionalProperties: false
properties:
raw_tank_number:
maximum: 2147483647
@@ -516,17 +465,13 @@ post_process_station:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- reaction_tank_number
- raw_tank_number
title: PostProcessGrab_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: PostProcessGrab_Result
type: object
required:
@@ -573,13 +518,15 @@ post_process_station:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: PostProcessTriggerPostPro_Feedback
type: object
goal:
additionalProperties: false
properties:
atomization_fast_speed:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
atomization_pressure_kpa:
maximum: 2147483647
@@ -594,8 +541,12 @@ post_process_station:
minimum: -2147483648
type: integer
first_wash_water_amount:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
initial_water_amount:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
injection_pump_push_speed:
maximum: 2147483647
@@ -622,32 +573,20 @@ post_process_station:
minimum: -2147483648
type: integer
second_wash_water_amount:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
wash_slow_speed:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- atomization_fast_speed
- wash_slow_speed
- injection_pump_suction_speed
- injection_pump_push_speed
- raw_liquid_suction_count
- first_wash_water_amount
- second_wash_water_amount
- first_powder_mixing_tim
- second_powder_mixing_time
- first_powder_wash_count
- second_powder_wash_count
- initial_water_amount
- pre_filtration_mixing_time
- atomization_pressure_kpa
title: PostProcessTriggerPostPro_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: PostProcessTriggerPostPro_Result
type: object
required:
@@ -669,30 +608,26 @@ post_process_station:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -702,8 +637,7 @@ post_process_station:
type: SendCmd
module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
status_types:
cache_stats: dict
node_value: String
cache_stats: Dict[str, Any]
type: python
config_info: []
description: 后处理站
@@ -718,7 +652,9 @@ post_process_station:
config_path:
type: string
deck:
type: string
anyOf:
- type: object
- type: object
password:
type: string
subscription_interval:
@@ -738,10 +674,7 @@ post_process_station:
properties:
cache_stats:
type: object
node_value:
type: string
required:
- node_value
- cache_stats
type: object
version: 1.0.0

144
unilabos/registry/devices/pump_and_valve.yaml
View File

@@ -136,36 +136,36 @@ solenoid_valve:
set_valve_position:
feedback: {}
goal:
string: position
position: position
string: string
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -278,26 +278,25 @@ solenoid_valve.mock:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -310,26 +309,25 @@ solenoid_valve.mock:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -422,6 +420,27 @@ syringe_pump_with_valve.runze.SY03B-T06:
title: initialize参数
type: object
type: UniLabJsonCommand
auto-list:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: list的参数schema
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: list参数
type: object
type: UniLabJsonCommand
auto-pull_plunger:
feedback: {}
goal: {}
@@ -695,7 +714,10 @@ syringe_pump_with_valve.runze.SY03B-T06:
goal:
properties:
position:
type: string
anyOf:
- type: integer
- type: string
- type: number
required:
- position
type: object
@@ -720,7 +742,9 @@ syringe_pump_with_valve.runze.SY03B-T06:
goal:
properties:
velocity:
type: string
anyOf:
- type: integer
- type: string
required:
- velocity
type: object
@@ -780,13 +804,13 @@ syringe_pump_with_valve.runze.SY03B-T06:
status_types:
max_velocity: float
mode: int
plunger_position: String
plunger_position: ''
position: float
status: str
valve_position: str
velocity_end: String
velocity_grade: String
velocity_init: String
velocity_end: ''
velocity_grade: ''
velocity_init: ''
type: python
config_info: []
description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -885,15 +909,15 @@ syringe_pump_with_valve.runze.SY03B-T06:
velocity_init:
type: string
required:
- status
- mode
- max_velocity
- mode
- plunger_position
- position
- status
- valve_position
- velocity_end
- velocity_grade
- velocity_init
- velocity_end
- valve_position
- position
- plunger_position
type: object
version: 1.0.0
syringe_pump_with_valve.runze.SY03B-T08:
@@ -943,6 +967,27 @@ syringe_pump_with_valve.runze.SY03B-T08:
title: initialize参数
type: object
type: UniLabJsonCommand
auto-list:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: list的参数schema
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: list参数
type: object
type: UniLabJsonCommand
auto-pull_plunger:
feedback: {}
goal: {}
@@ -1216,7 +1261,10 @@ syringe_pump_with_valve.runze.SY03B-T08:
goal:
properties:
position:
type: string
anyOf:
- type: integer
- type: string
- type: number
required:
- position
type: object
@@ -1241,7 +1289,9 @@ syringe_pump_with_valve.runze.SY03B-T08:
goal:
properties:
velocity:
type: string
anyOf:
- type: integer
- type: string
required:
- velocity
type: object
@@ -1301,13 +1351,13 @@ syringe_pump_with_valve.runze.SY03B-T08:
status_types:
max_velocity: float
mode: int
plunger_position: String
plunger_position: ''
position: float
status: str
valve_position: str
velocity_end: String
velocity_grade: String
velocity_init: String
velocity_end: ''
velocity_grade: ''
velocity_init: ''
type: python
config_info: []
description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -1422,14 +1472,14 @@ syringe_pump_with_valve.runze.SY03B-T08:
velocity_init:
type: string
required:
- status
- mode
- max_velocity
- mode
- plunger_position
- position
- status
- valve_position
- velocity_end
- velocity_grade
- velocity_init
- velocity_end
- valve_position
- position
- plunger_position
type: object
version: 1.0.0

308
unilabos/registry/devices/reaction_station_bioyond.yaml
View File

@@ -13,12 +13,13 @@ reaction_station.bioyond:
start_point: start_point
start_step_key: start_step_key
goal_default:
duration: 0
duration: null
end_point: 0
end_step_key: ''
start_point: 0
start_step_key: ''
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 添加时间约束 - 在两个工作流之间添加时间约束
@@ -30,23 +31,19 @@ reaction_station.bioyond:
description: 时间(秒)
type: integer
end_point:
default: Start
default: 0
description: 终点计时点 (Start=开始前, End=结束后)
enum:
- Start
- End
type: string
type: integer
end_step_key:
default: ''
description: 终点步骤Key (可选, 默认为空则自动选择)
type: string
start_point:
default: Start
default: 0
description: 起点计时点 (Start=开始前, End=结束后)
enum:
- Start
- End
type: string
type: integer
start_step_key:
default: ''
description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
type: string
required:
@@ -98,7 +95,8 @@ reaction_station.bioyond:
required:
- json_str
type: object
result: {}
result:
type: object
required:
- goal
title: create_order参数
@@ -125,7 +123,8 @@ reaction_station.bioyond:
required:
- workflow_ids
type: object
result: {}
result:
type: object
required:
- goal
title: hard_delete_merged_workflows参数
@@ -150,7 +149,8 @@ reaction_station.bioyond:
required:
- json_str
type: object
result: {}
result:
type: object
required:
- goal
title: merge_workflow_with_parameters参数
@@ -175,7 +175,8 @@ reaction_station.bioyond:
required:
- report_request
type: object
result: {}
result:
type: object
required:
- goal
title: process_temperature_cutoff_report参数
@@ -200,7 +201,12 @@ reaction_station.bioyond:
required:
- web_workflow_json
type: object
result: {}
result:
items:
additionalProperties:
type: string
type: object
type: array
required:
- goal
title: process_web_workflows参数
@@ -229,7 +235,8 @@ reaction_station.bioyond:
- reactor_id
- temperature
type: object
result: {}
result:
type: string
required:
- goal
title: set_reactor_temperature参数
@@ -254,7 +261,8 @@ reaction_station.bioyond:
required:
- preintake_id
type: object
result: {}
result:
type: object
required:
- goal
title: skip_titration_steps参数
@@ -275,7 +283,8 @@ reaction_station.bioyond:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: sync_workflow_sequence_from_bioyond参数
@@ -307,7 +316,8 @@ reaction_station.bioyond:
type: integer
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: wait_for_multiple_orders_and_get_reports参数
@@ -359,7 +369,8 @@ reaction_station.bioyond:
required:
- workflow_id
type: object
result: {}
result:
type: object
required:
- goal
title: workflow_step_query参数
@@ -370,9 +381,8 @@ reaction_station.bioyond:
goal: {}
goal_default: {}
handles: {}
result:
code: code
message: message
placeholder_keys: {}
result: {}
schema:
description: 清空服务端所有非核心工作流 (保留核心流程)
properties:
@@ -382,13 +392,6 @@ reaction_station.bioyond:
required: []
type: object
result:
properties:
code:
description: 操作结果代码(1表示成功)
type: integer
message:
description: 结果描述
type: string
type: object
required:
- goal
@@ -405,13 +408,14 @@ reaction_station.bioyond:
torque_variation: torque_variation
volume: volume
goal_default:
assign_material_name: ''
temperature: ''
time: ''
titration_type: ''
torque_variation: ''
volume: ''
assign_material_name: null
temperature: 25.0
time: '90'
titration_type: '1'
torque_variation: 2
volume: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 滴回去
@@ -423,33 +427,27 @@ reaction_station.bioyond:
description: 物料名称（不能为空）
type: string
temperature:
default: 25.0
description: 温度设定(°C)
type: string
type: number
time:
default: '90'
description: 观察时间(分钟)
type: string
titration_type:
default: '1'
description: 是否滴定(NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
torque_variation:
default: 2
description: 是否观察 (NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
type: integer
volume:
description: 分液公式(mL)
type: string
required:
- volume
- assign_material_name
- time
- torque_variation
- titration_type
- temperature
- volume
type: object
result: {}
required:
@@ -462,7 +460,7 @@ reaction_station.bioyond:
goal:
batch_reports_result: batch_reports_result
goal_default:
batch_reports_result: ''
batch_reports_result: null
handles:
input:
- data_key: batch_reports_result
@@ -478,8 +476,8 @@ reaction_station.bioyond:
handler_key: ACTUALS_EXTRACTED
io_type: sink
label: Extracted Actuals
result:
return_info: return_info
placeholder_keys: {}
result: {}
schema:
description: 从批量任务完成报告中提取每个订单的实际加料量，输出extracted列表。
properties:
@@ -493,13 +491,6 @@ reaction_station.bioyond:
- batch_reports_result
type: object
result:
properties:
return_info:
description: JSON字符串，包含actuals数组，每项含order_code, order_id, actualTargetWeigh,
actualVolume
type: string
required:
- return_info
title: extract_actuals_from_batch_reports结果
type: object
required:
@@ -517,13 +508,14 @@ reaction_station.bioyond:
torque_variation: torque_variation
volume: volume
goal_default:
assign_material_name: ''
temperature: ''
time: ''
titration_type: ''
torque_variation: ''
volume: ''
assign_material_name: BAPP
temperature: 25.0
time: '0'
titration_type: '1'
torque_variation: 1
volume: '350'
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 液体进料烧杯
@@ -532,36 +524,30 @@ reaction_station.bioyond:
goal:
properties:
assign_material_name:
default: BAPP
description: 物料名称
type: string
temperature:
default: 25.0
description: 温度设定(°C)
type: string
type: number
time:
default: '0'
description: 观察时间(分钟)
type: string
titration_type:
default: '1'
description: 是否滴定(NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
torque_variation:
default: 1
description: 是否观察 (NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
type: integer
volume:
default: '350'
description: 分液公式(mL)
type: string
required:
- volume
- assign_material_name
- time
- torque_variation
- titration_type
- temperature
required: []
type: object
result: {}
required:
@@ -580,13 +566,13 @@ reaction_station.bioyond:
torque_variation: torque_variation
volume: volume
goal_default:
assign_material_name: ''
solvents: ''
temperature: '25.00'
assign_material_name: null
solvents: null
temperature: 25.0
time: '360'
titration_type: '1'
torque_variation: '2'
volume: ''
torque_variation: 2
volume: null
handles:
input:
- data_key: solvents
@@ -595,6 +581,7 @@ reaction_station.bioyond:
handler_key: solvents
io_type: source
label: Solvents Data From Calculation Node
placeholder_keys: {}
result: {}
schema:
description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
@@ -609,27 +596,21 @@ reaction_station.bioyond:
description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
type: string
temperature:
default: '25.00'
default: 25.0
description: 温度设定(°C),默认25.00
type: string
type: number
time:
default: '360'
description: 观察时间(分钟),默认360
type: string
titration_type:
default: 'NO'
default: '1'
description: 是否滴定(NO=否, YES=是),默认NO
enum:
- 'NO'
- 'YES'
type: string
torque_variation:
default: 'YES'
default: 2
description: 是否观察 (NO=否, YES=是),默认YES
enum:
- 'NO'
- 'YES'
type: string
type: integer
volume:
description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
type: string
@@ -655,15 +636,15 @@ reaction_station.bioyond:
volume_formula: volume_formula
x_value: x_value
goal_default:
assign_material_name: ''
extracted_actuals: ''
feeding_order_data: ''
temperature: '25.00'
assign_material_name: null
extracted_actuals: null
feeding_order_data: null
temperature: 25.0
time: '90'
titration_type: '2'
torque_variation: '2'
volume_formula: ''
x_value: ''
torque_variation: 2
volume_formula: null
x_value: null
handles:
input:
- data_key: extracted_actuals
@@ -678,6 +659,7 @@ reaction_station.bioyond:
handler_key: feeding_order
io_type: source
label: Feeding Order Data From Calculation Node
placeholder_keys: {}
result: {}
schema:
description: 液体进料(滴定)。支持两种模式:1)直接提供volume_formula;2)自动计算-提供x_value+feeding_order_data+extracted_actuals,系统自动生成公式"1000*(m二酐-x)*V二酐滴定/m二酐滴定"
@@ -696,27 +678,21 @@ reaction_station.bioyond:
{"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
type: string
temperature:
default: '25.00'
default: 25.0
description: 温度设定(°C),默认25.00
type: string
type: number
time:
default: '90'
description: 观察时间(分钟),默认90
type: string
titration_type:
default: 'YES'
default: '2'
description: 是否滴定(NO=否, YES=是),默认YES
enum:
- 'NO'
- 'YES'
type: string
torque_variation:
default: 'YES'
default: 2
description: 是否观察 (NO=否, YES=是),默认YES
enum:
- 'NO'
- 'YES'
type: string
type: integer
volume_formula:
description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
type: string
@@ -742,13 +718,14 @@ reaction_station.bioyond:
torque_variation: torque_variation
volume_formula: volume_formula
goal_default:
assign_material_name: ''
temperature: ''
time: ''
titration_type: ''
torque_variation: ''
volume_formula: ''
assign_material_name: null
temperature: 25.0
time: '0'
titration_type: '1'
torque_variation: 1
volume_formula: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 液体进料小瓶(非滴定)
@@ -760,33 +737,27 @@ reaction_station.bioyond:
description: 物料名称
type: string
temperature:
default: 25.0
description: 温度设定(°C)
type: string
type: number
time:
default: '0'
description: 观察时间(分钟)
type: string
titration_type:
default: '1'
description: 是否滴定(NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
torque_variation:
default: 1
description: 是否观察 (NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
type: integer
volume_formula:
description: 分液公式(mL)
type: string
required:
- volume_formula
- assign_material_name
- time
- torque_variation
- titration_type
- temperature
type: object
result: {}
required:
@@ -800,9 +771,10 @@ reaction_station.bioyond:
task_name: task_name
workflow_name: workflow_name
goal_default:
task_name: ''
workflow_name: ''
task_name: null
workflow_name: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 处理并执行工作流
@@ -820,7 +792,8 @@ reaction_station.bioyond:
- workflow_name
- task_name
type: object
result: {}
result:
type: object
required:
- goal
title: process_and_execute_workflow参数
@@ -833,10 +806,11 @@ reaction_station.bioyond:
cutoff: cutoff
temperature: temperature
goal_default:
assign_material_name: ''
cutoff: ''
temperature: ''
assign_material_name: null
cutoff: '900000'
temperature: -10.0
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数
@@ -848,14 +822,14 @@ reaction_station.bioyond:
description: 物料名称
type: string
cutoff:
default: '900000'
description: 粘度上限
type: string
temperature:
default: -10.0
description: 温度设定(°C)
type: string
type: number
required:
- cutoff
- temperature
- assign_material_name
type: object
result: {}
@@ -869,6 +843,7 @@ reaction_station.bioyond:
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作
@@ -878,15 +853,7 @@ reaction_station.bioyond:
properties: {}
required: []
type: object
result:
properties:
code:
description: 操作结果代码(1表示成功,0表示失败)
type: integer
return_info:
description: 操作结果详细信息
type: string
type: object
result: {}
required:
- goal
title: reactor_taken_out参数
@@ -897,8 +864,8 @@ reaction_station.bioyond:
goal: {}
goal_default: {}
handles: {}
result:
return_info: return_info
placeholder_keys: {}
result: {}
schema:
description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
properties:
@@ -908,12 +875,6 @@ reaction_station.bioyond:
required: []
type: object
result:
properties:
return_info:
description: 调度器启动结果，成功返回1，失败返回0
type: integer
required:
- return_info
title: scheduler_start结果
type: object
required:
@@ -930,12 +891,13 @@ reaction_station.bioyond:
time: time
torque_variation: torque_variation
goal_default:
assign_material_name: ''
material_id: ''
temperature: ''
time: ''
torque_variation: ''
assign_material_name: null
material_id: null
temperature: 25.0
time: '0'
torque_variation: 1
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA)
@@ -948,29 +910,21 @@ reaction_station.bioyond:
type: string
material_id:
description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
enum:
- Salt
- Flour
- BTDA
type: string
temperature:
default: 25.0
description: 温度设定(°C)
type: string
type: number
time:
default: '0'
description: 观察时间(分钟)
type: string
torque_variation:
default: 1
description: 是否观察 (NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
type: integer
required:
- assign_material_name
- material_id
- time
- torque_variation
- temperature
type: object
result: {}
required:

15
unilabos/registry/devices/robot_agv.yaml
View File

@@ -37,42 +37,41 @@ agv.SEER:
type: object
type: UniLabJsonCommand
send_nav_task:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:

120
unilabos/registry/devices/robot_arm.yaml
View File

@@ -122,31 +122,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
title: moveit_task参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: post_init的参数schema
properties:
feedback: {}
goal:
properties:
ros_node:
type: object
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-resource_manager:
feedback: {}
goal: {}
@@ -198,41 +173,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
type: object
type: UniLabJsonCommand
pick_and_place:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -241,41 +216,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
type: object
type: SendCmd
set_position:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -284,41 +259,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
type: object
type: SendCmd
set_status:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -455,42 +430,41 @@ robotic_arm.UR:
type: object
type: UniLabJsonCommand
move_pos_task:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -532,8 +506,8 @@ robotic_arm.UR:
type: string
required:
- arm_pose
- gripper_pose
- arm_status
- gripper_pose
- gripper_status
type: object
version: 1.0.0
@@ -726,41 +700,41 @@ robotic_arm.elite:
type: object
type: UniLabJsonCommand
modbus_task_cmd:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -770,8 +744,8 @@ robotic_arm.elite:
type: SendCmd
module: unilabos.devices.arm.elite_robot:EliteRobot
status_types:
actual_joint_positions: String
arm_pose: String
actual_joint_positions: ''
arm_pose: list[float]
type: python
config_info: []
description: Elite robot arm
@@ -797,8 +771,8 @@ robotic_arm.elite:
type: number
type: array
required:
- arm_pose
- actual_joint_positions
- arm_pose
type: object
model:
mesh: elite_robot

62
unilabos/registry/devices/robot_gripper.yaml
View File

@@ -114,11 +114,12 @@ gripper.misumi_rz:
goal:
properties:
data:
type: string
type: object
required:
- data
type: object
result: {}
result:
type: object
required:
- goal
title: modbus_crc参数
@@ -398,30 +399,26 @@ gripper.misumi_rz:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -504,71 +501,82 @@ gripper.mock:
type: UniLabJsonCommand
push_to:
feedback:
effort: torque
effort: effort
position: position
reached_goal: reached_goal
stalled: stalled
goal:
command.max_effort: torque
command.position: position
command: command
position: position
torque: torque
velocity: velocity
goal_default:
command:
max_effort: 0.0
position: 0.0
handles: {}
placeholder_keys: {}
result:
effort: torque
effort: effort
position: position
reached_goal: reached_goal
stalled: stalled
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
effort:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
position:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
reached_goal:
type: boolean
stalled:
type: boolean
required:
- position
- effort
- stalled
- reached_goal
title: GripperCommand_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
additionalProperties: false
properties:
max_effort:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
position:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- position
- max_effort
title: command
type: object
required:
- command
title: GripperCommand_Goal
type: object
result:
additionalProperties: false
properties:
effort:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
position:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
reached_goal:
type: boolean
stalled:
type: boolean
required:
- position
- effort
- stalled
- reached_goal
title: GripperCommand_Result
type: object
required:
@@ -604,8 +612,8 @@ gripper.mock:
type: number
required:
- position
- velocity
- torque
- status
- torque
- velocity
type: object
version: 1.0.0

236
unilabos/registry/devices/robot_linear_motion.yaml
View File

@@ -24,6 +24,27 @@ linear_motion.grbl:
title: initialize参数
type: object
type: UniLabJsonCommand
auto-list:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: list的参数schema
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: list参数
type: object
type: UniLabJsonCommand
auto-set_position:
feedback: {}
goal: {}
@@ -93,44 +114,39 @@ linear_motion.grbl:
type: UniLabJsonCommandAsync
move_through_points:
feedback:
current_pose.pose.position: position
estimated_time_remaining.sec: time_remaining
navigation_time.sec: time_spent
number_of_poses_remaining: pose_number_remaining
current_pose: current_pose
distance_remaining: distance_remaining
estimated_time_remaining: estimated_time_remaining
navigation_time: navigation_time
number_of_poses_remaining: number_of_poses_remaining
number_of_recoveries: number_of_recoveries
goal:
poses[].pose.position: positions[]
behavior_tree: behavior_tree
poses: poses
positions: positions
goal_default:
behavior_tree: ''
poses:
- header:
frame_id: ''
stamp:
nanosec: 0
sec: 0
pose:
orientation:
w: 1.0
x: 0.0
y: 0.0
z: 0.0
position:
x: 0.0
y: 0.0
z: 0.0
poses: []
handles: {}
result: {}
placeholder_keys: {}
result:
result: result
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
current_pose:
additionalProperties: false
properties:
header:
additionalProperties: false
properties:
frame_id:
type: string
stamp:
additionalProperties: false
properties:
nanosec:
maximum: 4294967295
@@ -151,16 +167,26 @@ linear_motion.grbl:
title: header
type: object
pose:
additionalProperties: false
properties:
orientation:
additionalProperties: false
properties:
w:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
@@ -170,12 +196,19 @@ linear_motion.grbl:
title: orientation
type: object
position:
additionalProperties: false
properties:
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
@@ -194,8 +227,11 @@ linear_motion.grbl:
title: current_pose
type: object
distance_remaining:
maximum: 3.4028235e+38
minimum: -3.4028235e+38
type: number
estimated_time_remaining:
additionalProperties: false
properties:
nanosec:
maximum: 4294967295
@@ -211,6 +247,7 @@ linear_motion.grbl:
title: estimated_time_remaining
type: object
navigation_time:
additionalProperties: false
properties:
nanosec:
maximum: 4294967295
@@ -233,16 +270,10 @@ linear_motion.grbl:
maximum: 32767
minimum: -32768
type: integer
required:
- current_pose
- navigation_time
- estimated_time_remaining
- number_of_recoveries
- distance_remaining
- number_of_poses_remaining
title: NavigateThroughPoses_Feedback
type: object
goal:
additionalProperties: false
properties:
behavior_tree:
type: string
@@ -256,12 +287,8 @@ linear_motion.grbl:
stamp:
properties:
nanosec:
maximum: 4294967295
minimum: 0
type: integer
sec:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- sec
@@ -314,23 +341,17 @@ linear_motion.grbl:
required:
- header
- pose
title: poses
type: object
type: array
required:
- poses
- behavior_tree
title: NavigateThroughPoses_Goal
type: object
result:
additionalProperties: false
properties:
result:
properties: {}
required: []
additionalProperties: true
title: result
type: object
required:
- result
title: NavigateThroughPoses_Result
type: object
required:
@@ -340,9 +361,15 @@ linear_motion.grbl:
type: NavigateThroughPoses
set_spindle_speed:
feedback:
position: spindle_speed
error: error
header: header
position: position
velocity: velocity
goal:
position: spindle_speed
max_velocity: max_velocity
min_duration: min_duration
position: position
spindle_speed: spindle_speed
goal_default:
max_velocity: 0.0
min_duration:
@@ -350,19 +377,25 @@ linear_motion.grbl:
sec: 0
position: 0.0
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
error:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
header:
additionalProperties: false
properties:
frame_id:
type: string
stamp:
additionalProperties: false
properties:
nanosec:
maximum: 4294967295
@@ -383,21 +416,24 @@ linear_motion.grbl:
title: header
type: object
position:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
velocity:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- header
- position
- velocity
- error
title: SingleJointPosition_Feedback
type: object
goal:
additionalProperties: false
properties:
max_velocity:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
min_duration:
additionalProperties: false
properties:
nanosec:
maximum: 4294967295
@@ -413,16 +449,13 @@ linear_motion.grbl:
title: min_duration
type: object
position:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- position
- min_duration
- max_velocity
title: SingleJointPosition_Goal
type: object
result:
properties: {}
required: []
additionalProperties: true
title: SingleJointPosition_Result
type: object
required:
@@ -432,7 +465,7 @@ linear_motion.grbl:
type: SingleJointPosition
module: unilabos.devices.cnc.grbl_sync:GrblCNC
status_types:
position: unilabos.messages:Point3D
position: Point3D
spindle_speed: float
status: str
type: python
@@ -471,9 +504,9 @@ linear_motion.grbl:
status:
type: string
required:
- status
- position
- spindle_speed
- status
type: object
version: 1.0.0
linear_motion.toyo_xyz.sim:
@@ -600,31 +633,6 @@ linear_motion.toyo_xyz.sim:
title: moveit_task参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: post_init的参数schema
properties:
feedback: {}
goal:
properties:
ros_node:
type: object
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-resource_manager:
feedback: {}
goal: {}
@@ -676,41 +684,41 @@ linear_motion.toyo_xyz.sim:
type: object
type: UniLabJsonCommand
pick_and_place:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -719,41 +727,41 @@ linear_motion.toyo_xyz.sim:
type: object
type: SendCmd
set_position:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -762,41 +770,41 @@ linear_motion.toyo_xyz.sim:
type: object
type: SendCmd
set_status:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -939,30 +947,26 @@ motor.iCL42:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -1000,8 +1004,8 @@ motor.iCL42:
success:
type: boolean
required:
- motor_position
- is_executing_run
- motor_position
- success
type: object
version: 1.0.0

130
unilabos/registry/devices/solid_dispenser.yaml
View File

@@ -14,19 +14,24 @@ solid_dispenser.laiyu:
powder_tube_number: 0
target_tube_position: ''
handles: {}
placeholder_keys: {}
result:
actual_mass_mg: actual_mass_mg
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: SolidDispenseAddPowderTube_Feedback
type: object
goal:
additionalProperties: false
properties:
compound_mass:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
powder_tube_number:
maximum: 2147483647
@@ -34,24 +39,19 @@ solid_dispenser.laiyu:
type: integer
target_tube_position:
type: string
required:
- powder_tube_number
- target_tube_position
- compound_mass
title: SolidDispenseAddPowderTube_Goal
type: object
result:
additionalProperties: false
properties:
actual_mass_mg:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
return_info:
type: string
success:
type: boolean
required:
- return_info
- actual_mass_mg
- success
title: SolidDispenseAddPowderTube_Result
type: object
required:
@@ -74,11 +74,12 @@ solid_dispenser.laiyu:
goal:
properties:
data:
type: string
type: object
required:
- data
type: object
result: {}
result:
type: object
required:
- goal
title: calculate_crc参数
@@ -99,11 +100,12 @@ solid_dispenser.laiyu:
goal:
properties:
command:
type: string
type: object
required:
- command
type: object
result: {}
result:
type: object
required:
- goal
title: send_command参数
@@ -112,36 +114,37 @@ solid_dispenser.laiyu:
discharge:
feedback: {}
goal:
float_input: float_input
float_in: float_in
goal_default:
float_in: 0.0
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: FloatSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
float_in:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- float_in
title: FloatSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: FloatSingleInput_Result
type: object
required:
@@ -156,32 +159,31 @@ solid_dispenser.laiyu:
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -200,38 +202,41 @@ solid_dispenser.laiyu:
y: 0.0
z: 0.0
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: Point3DSeparateInput_Feedback
type: object
goal:
additionalProperties: false
properties:
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
- y
- z
title: Point3DSeparateInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: Point3DSeparateInput_Result
type: object
required:
@@ -246,34 +251,33 @@ solid_dispenser.laiyu:
goal_default:
int_input: 0
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: IntSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
int_input:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- int_input
title: IntSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: IntSingleInput_Result
type: object
required:
@@ -288,34 +292,33 @@ solid_dispenser.laiyu:
goal_default:
int_input: 0
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: IntSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
int_input:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- int_input
title: IntSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: IntSingleInput_Result
type: object
required:
@@ -328,26 +331,25 @@ solid_dispenser.laiyu:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:

130
unilabos/registry/devices/temperature.yaml
View File

@@ -34,7 +34,8 @@ chiller:
- register_address
- value
type: object
result: {}
result:
type: object
required:
- goal
title: build_modbus_frame参数
@@ -63,7 +64,8 @@ chiller:
required:
- temperature
type: object
result: {}
result:
type: integer
required:
- goal
title: convert_temperature_to_modbus_value参数
@@ -84,11 +86,12 @@ chiller:
goal:
properties:
data:
type: string
type: object
required:
- data
type: object
result: {}
result:
type: object
required:
- goal
title: modbus_crc参数
@@ -116,42 +119,41 @@ chiller:
type: object
type: UniLabJsonCommand
set_temperature:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -266,9 +268,15 @@ heaterstirrer.dalong:
feedback:
status: status
goal:
pressure: pressure
purpose: purpose
reflux_solvent: reflux_solvent
stir: stir
stir_speed: stir_speed
temp: temp
temp_spec: temp_spec
time: time
time_spec: time_spec
vessel: vessel
goal_default:
pressure: ''
@@ -301,20 +309,23 @@ heaterstirrer.dalong:
sample_id: ''
type: ''
handles: {}
placeholder_keys: {}
result:
message: message
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: HeatChill_Feedback
type: object
goal:
additionalProperties: false
properties:
pressure:
type: string
@@ -325,8 +336,12 @@ heaterstirrer.dalong:
stir:
type: boolean
stir_speed:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
temp:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
temp_spec:
type: string
@@ -335,6 +350,7 @@ heaterstirrer.dalong:
time_spec:
type: string
vessel:
additionalProperties: false
properties:
category:
type: string
@@ -353,16 +369,26 @@ heaterstirrer.dalong:
parent:
type: string
pose:
additionalProperties: false
properties:
orientation:
additionalProperties: false
properties:
w:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
@@ -372,12 +398,19 @@ heaterstirrer.dalong:
title: orientation
type: object
position:
additionalProperties: false
properties:
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
@@ -407,20 +440,10 @@ heaterstirrer.dalong:
- data
title: vessel
type: object
required:
- vessel
- temp
- time
- temp_spec
- time_spec
- pressure
- reflux_solvent
- stir
- stir_speed
- purpose
title: HeatChill_Goal
type: object
result:
additionalProperties: false
properties:
message:
type: string
@@ -428,10 +451,6 @@ heaterstirrer.dalong:
type: string
success:
type: boolean
required:
- success
- message
- return_info
title: HeatChill_Result
type: object
required:
@@ -440,42 +459,42 @@ heaterstirrer.dalong:
type: object
type: HeatChill
set_temp_target:
feedback: {}
feedback:
status: status
goal:
command: temp
command: command
temp: temp
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -484,42 +503,42 @@ heaterstirrer.dalong:
type: object
type: SendCmd
set_temp_warning:
feedback: {}
feedback:
status: status
goal:
command: temp
command: command
temp: temp
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -569,8 +588,8 @@ heaterstirrer.dalong:
- status
- stir_speed
- temp
- temp_warning
- temp_target
- temp_warning
type: object
version: 1.0.0
tempsensor:
@@ -691,42 +710,41 @@ tempsensor:
type: object
type: UniLabJsonCommand
set_warning:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:

1894
unilabos/registry/devices/virtual_device.yaml
View File

File diff suppressed because it is too large Load Diff

1272
unilabos/registry/devices/work_station.yaml
View File

File diff suppressed because it is too large Load Diff

226
unilabos/registry/devices/xrd_d7mate.yaml
View File

@@ -45,31 +45,6 @@ xrd_d7mate:
title: connect参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
ros_node:
type: string
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-start_from_string:
feedback: {}
goal: {}
@@ -85,11 +60,14 @@ xrd_d7mate:
goal:
properties:
params:
type: string
anyOf:
- type: string
- type: object
required:
- params
type: object
result: {}
result:
type: object
required:
- goal
title: start_from_string参数
@@ -105,21 +83,18 @@ xrd_d7mate:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -130,38 +105,38 @@ xrd_d7mate:
get_sample_down:
feedback: {}
goal:
sample_station: 1
int_input: int_input
sample_station: sample_station
goal_default:
int_input: 0
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: IntSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
int_input:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- int_input
title: IntSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: IntSingleInput_Result
type: object
required:
@@ -179,21 +154,18 @@ xrd_d7mate:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -211,21 +183,18 @@ xrd_d7mate:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -238,26 +207,25 @@ xrd_d7mate:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -274,42 +242,35 @@ xrd_d7mate:
sample_id: ''
start_theta: 10.0
goal_default:
end_theta: 80.0
exp_time: 0.5
increment: 0.02
sample_id: Sample001
start_theta: 10.0
end_theta: null
exp_time: null
increment: null
sample_id: null
start_theta: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 送样完成后，发送样品信息和采集参数
properties:
feedback:
properties: {}
required: []
title: SampleReadyInput_Feedback
type: object
goal:
properties:
end_theta:
description: 结束角度（≥5.5°，且必须大于start_theta）
minimum: 5.5
type: number
exp_time:
description: 曝光时间（0.1-5.0秒）
maximum: 5.0
minimum: 0.1
type: number
increment:
description: 角度增量（≥0.005）
minimum: 0.005
type: number
sample_id:
description: 样品标识符
type: string
start_theta:
description: 起始角度（≥5°）
minimum: 5.0
type: number
required:
- sample_id
@@ -320,19 +281,11 @@ xrd_d7mate:
title: SampleReadyInput_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SampleReadyInput_Result
type: object
required:
- goal
title: SampleReadyInput
title: send_sample_ready参数
type: object
type: UniLabJsonCommand
set_power_off:
@@ -340,26 +293,25 @@ xrd_d7mate:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -372,26 +324,25 @@ xrd_d7mate:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -405,18 +356,16 @@ xrd_d7mate:
current: 30.0
voltage: 40.0
goal_default:
current: 30.0
voltage: 40.0
current: null
voltage: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 设置高压电源电压和电流
properties:
feedback:
properties: {}
required: []
title: VoltageCurrentInput_Feedback
type: object
goal:
properties:
current:
@@ -431,19 +380,11 @@ xrd_d7mate:
title: VoltageCurrentInput_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: VoltageCurrentInput_Result
type: object
required:
- goal
title: VoltageCurrentInput
title: set_voltage_current参数
type: object
type: UniLabJsonCommand
start:
@@ -453,11 +394,12 @@ xrd_d7mate:
end_theta: 80.0
exp_time: 0.1
increment: 0.05
sample_id: 样品名称
sample_id: ''
start_theta: 10.0
string: ''
wait_minutes: 3.0
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 启动自动模式→上样→等待→样品准备→监控→检测下样位→执行下样流程。
@@ -466,54 +408,42 @@ xrd_d7mate:
goal:
properties:
end_theta:
default: 80.0
description: 结束角度（≥5.5°，且必须大于start_theta）
minimum: 5.5
type: string
type: number
exp_time:
default: 0.1
description: 曝光时间（0.1-5.0秒）
maximum: 5.0
minimum: 0.1
type: string
type: number
increment:
default: 0.05
description: 角度增量（≥0.005）
minimum: 0.005
type: string
type: number
sample_id:
default: ''
description: 样品标识符
type: string
start_theta:
default: 10.0
description: 起始角度（≥5°）
minimum: 5.0
type: string
type: number
string:
default: ''
description: 字符串格式的参数输入，如果提供则优先解析使用
type: string
wait_minutes:
default: 3.0
description: 允许上样后等待分钟数
minimum: 0.0
type: number
required:
- sample_id
- start_theta
- end_theta
- increment
- exp_time
required: []
title: StartWorkflow_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StartWorkflow_Result
type: object
required:
- goal
title: StartWorkflow
title: start参数
type: object
type: UniLabJsonCommand
start_auto_mode:
@@ -521,17 +451,15 @@ xrd_d7mate:
goal:
status: true
goal_default:
status: true
status: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 启动或停止自动模式
properties:
feedback:
properties: {}
required: []
title: BoolSingleInput_Feedback
type: object
goal:
properties:
status:
@@ -542,25 +470,16 @@ xrd_d7mate:
title: BoolSingleInput_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: BoolSingleInput_Result
type: object
required:
- goal
title: BoolSingleInput
title: start_auto_mode参数
type: object
type: UniLabJsonCommand
module: unilabos.devices.xrd_d7mate.xrd_d7mate:XRDClient
status_types:
current_acquire_data: dict
sample_down: dict
sample_request: dict
sample_status: dict
type: python
@@ -586,16 +505,13 @@ xrd_d7mate:
properties:
current_acquire_data:
type: object
sample_down:
type: object
sample_request:
type: object
sample_status:
type: object
required:
- sample_request
- current_acquire_data
- sample_request
- sample_status
- sample_down
type: object
version: 1.0.0

112
unilabos/registry/devices/zhida_gcms.yaml
View File

@@ -8,26 +8,25 @@ zhida_gcms:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -77,31 +76,6 @@ zhida_gcms:
title: connect参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
ros_node:
type: string
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
get_methods:
feedback: {}
goal: {}
@@ -112,21 +86,18 @@ zhida_gcms:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -144,21 +115,18 @@ zhida_gcms:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -176,21 +144,18 @@ zhida_gcms:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -203,26 +168,25 @@ zhida_gcms:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -234,35 +198,35 @@ zhida_gcms:
feedback: {}
goal:
string: string
text: text
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -273,36 +237,36 @@ zhida_gcms:
start_with_csv_file:
feedback: {}
goal:
csv_file_path: csv_file_path
string: string
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -343,8 +307,8 @@ zhida_gcms:
version:
type: object
required:
- status
- methods
- status
- version
type: object
version: 1.0.0