mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-24 04:10:33 +00:00
c001f6a151
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
453 lines
11 KiB
YAML
453 lines
11 KiB
YAML
separator.chinwe:
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category:
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- separator
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- chinwe
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class:
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action_value_mappings:
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auto-connect:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: ''
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result:
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type: boolean
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required:
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- goal
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title: connect参数
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type: object
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type: UniLabJsonCommand
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auto-disconnect:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: ''
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: disconnect参数
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type: object
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type: UniLabJsonCommand
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auto-execute_command_from_outer:
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feedback: {}
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goal: {}
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goal_default:
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command_dict: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: ''
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properties:
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feedback: {}
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goal:
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properties:
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command_dict:
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type: object
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required:
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- command_dict
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type: object
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result:
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type: boolean
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required:
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- goal
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title: execute_command_from_outer参数
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type: object
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type: UniLabJsonCommand
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motor_rotate_quarter:
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feedback: {}
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goal:
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direction: 顺时针
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motor_id: 4
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speed: 60
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goal_default:
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direction: 顺时针
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motor_id: null
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speed: 60
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 电机旋转 1/4 圈
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properties:
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feedback: {}
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goal:
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properties:
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direction:
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default: 顺时针
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description: 旋转方向
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type: string
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motor_id:
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description: 选择电机 (4:搅拌, 5:旋钮)
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type: integer
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speed:
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default: 60
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description: 速度 (RPM)
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type: integer
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required:
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- motor_id
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type: object
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result: {}
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required:
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- goal
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title: motor_rotate_quarter参数
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type: object
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type: UniLabJsonCommand
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motor_run_continuous:
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feedback: {}
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goal:
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direction: 顺时针
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motor_id: 4
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speed: 60
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goal_default:
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direction: 顺时针
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motor_id: null
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speed: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 电机一直旋转 (速度模式)
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properties:
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feedback: {}
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goal:
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properties:
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direction:
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default: 顺时针
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description: 旋转方向
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type: string
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motor_id:
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description: 选择电机 (4:搅拌, 5:旋钮)
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type: integer
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speed:
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description: 速度 (RPM)
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type: integer
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required:
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- motor_id
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- speed
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type: object
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result: {}
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required:
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- goal
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title: motor_run_continuous参数
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type: object
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type: UniLabJsonCommand
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motor_stop:
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feedback: {}
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goal:
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motor_id: 4
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goal_default:
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motor_id: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 停止指定步进电机
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properties:
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feedback: {}
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goal:
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properties:
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motor_id:
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description: 选择电机
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title: '注: 4=搅拌, 5=旋钮'
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type: integer
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required:
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- motor_id
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type: object
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result: {}
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required:
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- goal
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title: motor_stop参数
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type: object
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type: UniLabJsonCommand
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pump_aspirate:
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feedback: {}
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goal:
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pump_id: 1
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valve_port: 1
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volume: 1000
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goal_default:
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pump_id: null
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valve_port: null
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volume: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 注射泵吸液
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properties:
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feedback: {}
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goal:
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properties:
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pump_id:
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description: 选择泵
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type: integer
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valve_port:
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description: 阀门端口
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type: integer
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volume:
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description: 吸液步数
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type: integer
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required:
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- pump_id
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- volume
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- valve_port
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type: object
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result: {}
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required:
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- goal
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title: pump_aspirate参数
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type: object
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type: UniLabJsonCommand
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pump_dispense:
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feedback: {}
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goal:
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pump_id: 1
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valve_port: 1
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volume: 1000
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goal_default:
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pump_id: null
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valve_port: null
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volume: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 注射泵排液
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properties:
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feedback: {}
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goal:
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properties:
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pump_id:
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description: 选择泵
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type: integer
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valve_port:
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description: 阀门端口
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type: integer
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volume:
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description: 排液步数
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type: integer
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required:
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- pump_id
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- volume
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- valve_port
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type: object
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result: {}
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required:
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- goal
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title: pump_dispense参数
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type: object
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type: UniLabJsonCommand
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pump_initialize:
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feedback: {}
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goal:
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drain_port: 0
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output_port: 0
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pump_id: 1
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speed: 10
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goal_default:
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drain_port: 0
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output_port: 0
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pump_id: null
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speed: 10
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 初始化指定注射泵
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properties:
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feedback: {}
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goal:
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properties:
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drain_port:
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default: 0
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description: 排液口索引
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type: string
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output_port:
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default: 0
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description: 输出口索引
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type: string
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pump_id:
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description: 选择泵
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title: '注: 1号泵, 2号泵, 3号泵'
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type: integer
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speed:
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default: 10
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description: 运动速度
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type: string
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required:
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- pump_id
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type: object
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result: {}
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required:
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- goal
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title: pump_initialize参数
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type: object
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type: UniLabJsonCommand
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pump_valve:
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feedback: {}
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goal:
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port: 1
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pump_id: 1
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goal_default:
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port: null
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pump_id: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 切换指定泵的阀门端口
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properties:
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feedback: {}
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goal:
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properties:
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port:
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description: 阀门端口号 (1-8)
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type: integer
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pump_id:
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description: 选择泵
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type: integer
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required:
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- pump_id
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- port
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type: object
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result: {}
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required:
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- goal
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title: pump_valve参数
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type: object
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type: UniLabJsonCommand
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wait_sensor_level:
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feedback: {}
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goal:
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target_state: 有液
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timeout: 30
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goal_default:
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target_state: 有液
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timeout: 30
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 等待传感器液位条件
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properties:
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feedback: {}
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goal:
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properties:
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target_state:
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default: 有液
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description: 目标液位状态
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type: string
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timeout:
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default: 30
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description: 超时时间 (秒)
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type: integer
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required: []
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type: object
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result:
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type: boolean
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required:
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- goal
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title: wait_sensor_level参数
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type: object
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type: UniLabJsonCommand
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wait_time:
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feedback: {}
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goal:
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duration: 10
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goal_default:
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duration: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 等待指定时间
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properties:
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feedback: {}
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goal:
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properties:
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duration:
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description: 等待时间 (秒)
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type: integer
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required:
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- duration
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type: object
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result:
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type: boolean
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required:
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- goal
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title: wait_time参数
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type: object
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type: UniLabJsonCommand
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module: unilabos.devices.separator.chinwe:ChinweDevice
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status_types:
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is_connected: bool
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sensor_level: bool
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sensor_rssi: int
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type: python
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config_info: []
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description: ChinWe 简易工作站控制器 (3泵, 2电机, 1传感器)
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handles: []
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icon: ''
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init_param_schema:
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config:
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properties:
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baudrate:
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default: 9600
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type: integer
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motor_ids:
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items:
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type: integer
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type: array
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port:
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default: 192.168.1.200:8899
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type: string
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pump_ids:
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items:
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type: integer
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type: array
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sensor_id:
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default: 6
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type: integer
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sensor_threshold:
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default: 300
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type: integer
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timeout:
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default: 10.0
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type: number
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required: []
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type: object
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data:
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properties:
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is_connected:
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type: boolean
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sensor_level:
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type: boolean
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sensor_rssi:
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type: integer
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required:
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- is_connected
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- sensor_level
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- sensor_rssi
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type: object
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version: 2.1.0
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