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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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93
unilabos/registry/devices/laiyu_liquid_test.yaml
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@@ -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