separator.chinwe: category: - separator - chinwe class: action_value_mappings: auto-connect: feedback: {} goal: {} goal_default: {} handles: {} placeholder_keys: {} result: {} schema: description: '' properties: feedback: {} goal: properties: {} required: [] type: object result: type: boolean required: - goal title: connect参数 type: object type: UniLabJsonCommand auto-disconnect: feedback: {} goal: {} goal_default: {} handles: {} placeholder_keys: {} result: {} schema: description: '' properties: feedback: {} goal: properties: {} required: [] type: object result: {} required: - goal title: disconnect参数 type: object type: UniLabJsonCommand auto-execute_command_from_outer: feedback: {} goal: {} goal_default: command_dict: null handles: {} placeholder_keys: {} result: {} schema: description: '' properties: feedback: {} goal: properties: command_dict: type: object required: - command_dict type: object 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 type: string motor_id: description: 选择电机 (4:搅拌, 5:旋钮) type: integer speed: default: 60 description: 速度 (RPM) type: integer required: - motor_id 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 type: string motor_id: description: 选择电机 (4:搅拌, 5:旋钮) type: integer speed: 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: description: 选择电机 title: '注: 4=搅拌, 5=旋钮' 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: description: 选择泵 type: integer valve_port: description: 阀门端口 type: integer volume: description: 吸液步数 type: integer required: - pump_id - 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: description: 选择泵 type: integer valve_port: description: 阀门端口 type: integer volume: description: 排液步数 type: integer required: - pump_id - 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: string output_port: default: 0 description: 输出口索引 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: 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: description: 阀门端口号 (1-8) type: integer pump_id: description: 选择泵 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 type: string timeout: default: 30 description: 超时时间 (秒) type: integer 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: 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: is_connected: bool sensor_level: bool sensor_rssi: int type: python config_info: [] description: ChinWe 简易工作站控制器 (3泵, 2电机, 1传感器) handles: [] icon: '' init_param_schema: config: properties: baudrate: default: 9600 type: integer motor_ids: items: type: integer type: array port: default: 192.168.1.200:8899 type: string pump_ids: items: type: integer type: array sensor_id: default: 6 type: integer sensor_threshold: default: 300 type: integer timeout: default: 10.0 type: number required: [] type: object data: properties: is_connected: type: boolean sensor_level: type: boolean sensor_rssi: type: integer required: - is_connected - sensor_level - sensor_rssi type: object version: 2.1.0