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任务支持 #2636 » LO-FOC-2804-2.json

孙乃宇, 2026-09-24 18:20

 
{
"Version": "v2.6.0",
"code": {
"data": "button.programming[0].action.action",
"send": "action.action",
"button": {
"function": [
{ "action": { "name": "入口" } },
{ "action": { "name": "出口" } }
],
"programming": [
{ "action": { "name": "开始", "action": { "actions": [] } } },
{
"action": {
"name": "暂停",
"action": {
"actions": [
{
"id": "3",
"type": "0",
"version": "v2.6.0",
"normal_data": {
"data": [
{ "val": "X", "name": "Axis", "type": "0" },
{ "val": "1", "name": "Acc", "type": "0" }
],
"name": "PuaseRunningInstruction",
"serialport": "idx0"
}
}
]
}
}
},
{
"action": {
"name": "继续",
"action": {
"actions": [
{
"id": "4",
"type": "0",
"version": "v2.6.0",
"normal_data": {
"data": [
{ "val": "X", "name": "Axis", "type": "0" },
{ "val": "1", "name": "Acc", "type": "0" }
],
"name": "StartRunningInstruction",
"serialport": "idx0"
}
}
]
}
}
},
{
"action": {
"name": "结束",
"action": {
"actions": [
{
"id": "6",
"type": "0",
"version": "v2.6.0",
"normal_data": {
"data": [
{ "val": "X", "name": "Axis", "type": "0" },
{ "val": "1", "name": "Acc", "type": "0" }
],
"name": "ProgramStop",
"serialport": "com4"
}
}
]
}
}
}
]
},
"programming": [
{
"sub": [
{
"attribute": {
"name": "获取转台当前位置",
"type": "BgetCurrentLocation1",
"isPrevious": true,
"isNext": true
},
"sub": [
{
"name": "出参",
"data": "action.normal_data.out.val_name",
"valueType": "action.normal_data.out.type",
"type": "1",
"value": "",
"ishide": "0",
"isEdit": "1",
"action": {}
},
{
"name": "端口号",
"value": "com3",
"isvariable": "0",
"data": "action.normal_data.serialport",
"enName": "serialport",
"type": "1",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": {}
},
{
"name": "开始运动",
"is_negative": [],
"type": "0",
"ishide": "0",
"isEdit": "0",
"useGloble": "0",
"action": {
"id": "uuid",
"version": "v2.6.0",
"type": "0",
"normal_data": {
"serialport": "com4",
"name": "GetPosition",
"data": [{ "name": "Axis", "type": "0", "val": "X" }],
"out": { "type": "1", "val_name": "a1" }
}
}
}
]
},
{
"attribute": {
"name": "获取摆台当前位置",
"type": "BgetCurrentLocation2",
"isPrevious": true,
"isNext": true
},
"sub": [
{
"name": "出参",
"data": "action.normal_data.out.val_name",
"valueType": "action.normal_data.out.type",
"type": "1",
"value": "",
"ishide": "0",
"isEdit": "1",
"action": {}
},
{
"name": "端口号",
"value": "com3",
"isvariable": "0",
"data": "action.normal_data.serialport",
"enName": "serialport",
"type": "1",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": {}
},
{
"name": "开始运动",
"is_negative": [],
"type": "0",
"ishide": "0",
"isEdit": "0",
"useGloble": "0",
"action": {
"id": "uuid",
"version": "v2.6.0",
"type": "0",
"normal_data": {
"serialport": "com4",
"name": "GetPosition",
"data": [{ "name": "Axis", "type": "0", "val": "Y" }],
"out": { "type": "1", "val_name": "a1" }
}
}
}
]
},
{
"attribute": {
"name": "设置云台PID参数",
"type": "absolutePositioningDefault12",
"isPrevious": true,
"isNext": true
},
"sub": [
{
"name": "出参",
"data": "action.normal_data.out.val_name",
"type": "9",
"value": "",
"isvariable": "0",
"ishide": "1",
"isEdit": "0",
"action": {}
},
{
"name": "端口号",
"value": "com3",
"isvariable": "0",
"data": "action.normal_data.serialport",
"enName": "serialport",
"type": "1",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": {}
},
{
"name": "选择轴",
"data": "action.normal_data.data[0].val",
"valueType": "action.normal_data.data[0].type",
"value": "0",
"isvariable": "0",
"enName": "Axis",
"type": "2",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": [
{ "name": "0轴", "value": "0" },
{ "name": "1轴", "value": "1" }
]
},
{
"name": "速度环P值",
"value": "0.1",
"data": "action.normal_data.data[1].val",
"valueType": "action.normal_data.data[1].type",
"isvariable": "0",
"enName": "VelP",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "速度环I值",
"value": "0.1",
"data": "action.normal_data.data[2].val",
"valueType": "action.normal_data.data[2].type",
"isvariable": "0",
"enName": "VelI",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "速度环D值",
"value": "0.1",
"data": "action.normal_data.data[3].val",
"valueType": "action.normal_data.data[3].type",
"isvariable": "0",
"enName": "VelD",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "output_ramp",
"value": "0.1",
"data": "action.normal_data.data[4].val",
"valueType": "action.normal_data.data[4].type",
"isvariable": "0",
"enName": "Ramp",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "LPF Tf",
"value": "0.1",
"data": "action.normal_data.data[5].val",
"valueType": "action.normal_data.data[5].type",
"isvariable": "0",
"enName": "LPFTf",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "velocity_limit",
"value": "0.1",
"data": "action.normal_data.data[6].val",
"valueType": "action.normal_data.data[6].type",
"isvariable": "0",
"enName": "VelLimit",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "角度环P值",
"value": "0.1",
"data": "action.normal_data.data[7].val",
"valueType": "action.normal_data.data[7].type",
"isvariable": "0",
"enName": "AngleP",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "角度环限速",
"value": "0.1",
"data": "action.normal_data.data[8].val",
"valueType": "action.normal_data.data[8].type",
"isvariable": "0",
"enName": "AngleLimit",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "开始",
"is_negative": [],
"type": "0",
"ishide": "0",
"isEdit": "0",
"useGloble": "0",
"action": {
"id": "uuid",
"version": "v2.6.0",
"type": "0",
"normal_data": {
"serialport": "com3",
"name": "SingleToPosition",
"data": [
{ "name": "Axis", "type": "0", "val": "X" },
{ "name": "VelP", "type": "0", "val": "0.1" },
{ "name": "VelI", "type": "0", "val": "0.1" },
{ "name": "Veld", "type": "0", "val": "0.1" },
{ "name": "Ramp", "type": "0", "val": "0.1" },
{ "name": "LPFTf", "type": "0", "val": "0.1" },
{ "name": "VelLimt", "type": "0", "val": "0.1" },
{ "name": "AngleP", "type": "0", "val": "0.1" },
{ "name": "AngleLimit", "type": "0", "val": "0.1" }
],
"out": { "type": "0", "val_name": "" }
}
}
}
]
},
{
"attribute": {
"name": "转台位置运动",
"type": "absolutePositioningDefault",
"isPrevious": true,
"isNext": true
},
"sub": [
{
"name": "出参",
"data": "action.normal_data.out.val_name",
"type": "9",
"value": "",
"isvariable": "0",
"ishide": "1",
"isEdit": "0",
"action": {}
},
{
"name": "端口号",
"value": "com3",
"isvariable": "0",
"data": "action.normal_data.serialport",
"enName": "serialport",
"type": "1",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": {}
},
{
"name": "选择轴",
"data": "action.normal_data.data[0].val",
"valueType": "action.normal_data.data[0].type",
"value": "0",
"isvariable": "0",
"enName": "Axis",
"type": "2",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": [
{ "name": "0轴", "value": "0" },
{ "name": "1轴", "value": "1" }
]
},
{
"name": "位置",
"value": "10",
"data": "action.normal_data.data[1].val",
"valueType": "action.normal_data.data[1].type",
"isvariable": "0",
"enName": "Distance",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "速度",
"value": "10",
"data": "action.normal_data.data[2].val",
"valueType": "action.normal_data.data[2].type",
"isvariable": "0",
"enName": "Speed",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "开始",
"is_negative": [],
"type": "0",
"ishide": "0",
"isEdit": "0",
"useGloble": "0",
"action": {
"id": "uuid",
"version": "v2.6.0",
"type": "0",
"normal_data": {
"serialport": "com3",
"name": "SingleToPosition",
"data": [
{ "name": "Axis", "type": "0", "val": "X" },
{ "name": "Distance", "type": "0", "val": "10" },
{ "name": "Speed", "type": "0", "val": "10" }
],
"out": { "type": "0", "val_name": "" }
}
}
}
]
},
{
"attribute": {
"name": "摆台位置运动",
"type": "absolutePositioningDefault1",
"isPrevious": true,
"isNext": true
},
"sub": [
{
"name": "出参",
"data": "action.normal_data.out.val_name",
"type": "9",
"value": "",
"isvariable": "0",
"ishide": "1",
"isEdit": "0",
"action": {}
},
{
"name": "端口号",
"value": "com3",
"isvariable": "0",
"data": "action.normal_data.serialport",
"enName": "serialport",
"type": "1",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": {}
},
{
"name": "选择轴",
"data": "action.normal_data.data[0].val",
"valueType": "action.normal_data.data[0].type",
"value": "1",
"isvariable": "0",
"enName": "Axis",
"type": "2",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": [
{ "name": "0轴", "value": "0" },
{ "name": "1轴", "value": "1" }
]
},
{
"name": "位置",
"value": "10",
"data": "action.normal_data.data[1].val",
"valueType": "action.normal_data.data[1].type",
"isvariable": "0",
"enName": "Distance",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "速度",
"value": "10",
"data": "action.normal_data.data[2].val",
"valueType": "action.normal_data.data[2].type",
"isvariable": "0",
"enName": "Speed",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "开始",
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"type": "0",
"ishide": "0",
"isEdit": "0",
"useGloble": "0",
"action": {
"id": "uuid",
"version": "v2.6.0",
"type": "0",
"normal_data": {
"serialport": "com3",
"name": "SingleToPosition",
"data": [
{ "name": "Axis", "type": "0", "val": "Y" },
{ "name": "Distance", "type": "0", "val": "10" },
{ "name": "Speed", "type": "0", "val": "10" }
],
"out": { "type": "0", "val_name": "" }
}
}
}
]
},
{
"attribute": {
"name": "转台速度运动",
"type": "speedMotionEditing-B1",
"isPrevious": true,
"isNext": true
},
"sub": [
{
"name": "出参",
"data": "action.normal_data.out.val_name",
"type": "9",
"value": "",
"isvariable": "0",
"ishide": "1",
"isEdit": "1",
"action": {}
},
{
"name": "端口号",
"value": "com3",
"isvariable": "0",
"data": "action.normal_data.serialport",
"enName": "serialport",
"type": "1",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": {}
},
{
"name": "选择轴",
"data": "action.normal_data.data[0].val",
"valueType": "action.normal_data.data[0].type",
"value": "X",
"isvariable": "0",
"enName": "Axis",
"type": "2",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": [
{ "name": "0轴", "value": "0" },
{ "name": "1轴", "value": "1" }
]
},
{
"name": "速度",
"value": "10",
"data": "action.normal_data.data[1].val",
"valueType": "action.normal_data.data[1].type",
"isvariable": "0",
"enName": "Speed",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "开始",
"is_negative": [],
"type": "0",
"ishide": "0",
"isEdit": "0",
"useGloble": "0",
"action": {
"id": "uuid",
"version": "v2.6.0",
"type": "0",
"normal_data": {
"serialport": "com3",
"name": "SingleToSpeed",
"data": [
{ "name": "Axis", "type": "0", "val": "X" },
{ "name": "Speed", "type": "0", "val": "10" }
],
"out": { "type": "0", "val_name": "" }
}
}
}
]
},
{
"attribute": {
"name": "摆台速度运动",
"type": "speedMotionEditing-B2",
"isPrevious": true,
"isNext": true
},
"sub": [
{
"name": "出参",
"data": "action.normal_data.out.val_name",
"type": "9",
"value": "",
"isvariable": "0",
"ishide": "1",
"isEdit": "1",
"action": {}
},
{
"name": "端口号",
"value": "com3",
"isvariable": "0",
"data": "action.normal_data.serialport",
"enName": "serialport",
"type": "1",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": {}
},
{
"name": "选择轴",
"data": "action.normal_data.data[0].val",
"valueType": "action.normal_data.data[0].type",
"value": "Y",
"isvariable": "0",
"enName": "Axis",
"type": "2",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": [
{ "name": "0轴", "value": "0" },
{ "name": "1轴", "value": "1" }
]
},
{
"name": "速度",
"value": "10",
"data": "action.normal_data.data[1].val",
"valueType": "action.normal_data.data[1].type",
"isvariable": "0",
"enName": "Speed",
"type": "1",
"ishide": "0",
"isEdit": "1",
"useGloble": "0",
"action": {}
},
{
"name": "开始",
"is_negative": [],
"type": "0",
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"isEdit": "0",
"useGloble": "0",
"action": {
"id": "uuid",
"version": "v2.6.0",
"type": "0",
"normal_data": {
"serialport": "com3",
"name": "SingleToSpeed",
"data": [
{ "name": "Axis", "type": "0", "val": "Y" },
{ "name": "Speed", "type": "0", "val": "10" }
],
"out": { "type": "0", "val_name": "" }
}
}
}
]
},
{
"attribute": {
"name": "转台单轴停止",
"type": "BAxisStop1",
"isPrevious": true,
"isNext": true
},
"sub": [
{
"name": "选择轴",
"data": "action.normal_data.data[0].val",
"value": "X",
"enName": "Axis",
"type": "2",
"isvariable": "0",
"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": [
{ "name": "X轴", "value": "X" },
{ "name": "Y轴", "value": "Y" },
{ "name": "Z轴", "value": "Z" },
{ "name": "A轴", "value": "A" },
{ "name": "B轴", "value": "B" },
{ "name": "C轴", "value": "C" }
]
},
{
"name": "开始运动",
"is_negative": [],
"type": "0",
"ishide": "0",
"isEdit": "0",
"useGloble": "0",
"action": {
"id": "3843c5aa-3715-4220-9d14-586eae2b9b4d",
"version": "v2.6.0",
"type": "0",
"normal_data": {
"serialport": "com4",
"name": "AxisStop",
"data": [{ "name": "Axis", "type": "0", "val": "X" }],
"out": { "type": "0", "val_name": "" }
}
}
}
]
},
{
"attribute": {
"name": "摆台单轴停止",
"type": "BAxisStop2",
"isPrevious": true,
"isNext": true
},
"sub": [
{
"name": "选择轴",
"data": "action.normal_data.data[0].val",
"value": "Y",
"enName": "Axis",
"type": "2",
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"ishide": "1",
"isEdit": "0",
"useGloble": "0",
"action": [
{ "name": "X轴", "value": "X" },
{ "name": "Y轴", "value": "Y" },
{ "name": "Z轴", "value": "Z" },
{ "name": "A轴", "value": "A" },
{ "name": "B轴", "value": "B" },
{ "name": "C轴", "value": "C" }
]
},
{
"name": "开始运动",
"is_negative": [],
"type": "0",
"ishide": "0",
"isEdit": "0",
"useGloble": "0",
"action": {
"id": "3843c5aa-3715-4220-9d14-586eae2b9b4d",
"version": "v2.6.0",
"type": "0",
"normal_data": {
"serialport": "com4",
"name": "AxisStop",
"data": [{ "name": "Axis", "type": "0", "val": "Y" }],
"out": { "type": "0", "val_name": "" }
}
}
}
]
}
],
"color": "",
"groupId": "run",
"groupName": "运行指令"
}
]
},
"single": [],
"monitor": [
{
"name": "版本号",
"en_name": "Version",
"disable": false,
"type": "0",
"value": "0"
},
{
"name": "串口号",
"en_name": "SerialPort",
"disable": false,
"type": "0",
"value": ""
},
{
"name": "时间",
"en_name": "time",
"disable": false,
"type": "0",
"value": ""
},
{
"name": "运行状态-0",
"en_name": "ActionStatus-0",
"disable": false,
"type": "0",
"value": "0"
},
{
"name": "运行状态-1",
"en_name": "ActionStatus-1",
"disable": false,
"type": "0",
"value": "0"
},
{
"name": "轴速度-0",
"en_name": "SPAxisSpeed-0",
"disable": false,
"type": "0",
"value": "0.000000"
},
{
"name": "轴速度-1",
"en_name": "SPAxisSpeed-1",
"disable": false,
"type": "0",
"value": "0.000000"
},
{
"name": "位置-0",
"en_name": "position-0",
"disable": false,
"type": "0",
"value": "23.484249"
},
{
"name": "位置-1",
"en_name": "position-1",
"disable": false,
"type": "0",
"value": "-0.006750"
}
],
"attribute": [],
"openJson": [{ "Version": "v2.6.0", "SPOpen": "-gimbal" }],
"Initialization": {
"id": "uuid",
"version": "v2.6.0",
"type": "0",
"normal_data": {
"serialport": "idx0",
"name": "SetCamParameters",
"data": [
{ "val": "BGR24", "name": "Tformat", "type": "2" },
{ "val": "0", "name": "PixelRateSel", "type": "0" },
{ "val": "50", "name": "AeTarget", "type": "0" },
{ "val": "AE_MODE_CLOSE", "name": "AeMode", "type": "2" },
{ "val": "20000", "name": "Exposure", "type": "0" },
{ "val": "5", "name": "AnalogGain", "type": "0" },
{ "val": "0", "name": "AntiFlick", "type": "0" },
{ "val": "AWB_OP_CONTINUOUS", "name": "AwbOperation", "type": "2" },
{ "val": "1", "name": "RedGain", "type": "0" },
{ "val": "1", "name": "GreenGain", "type": "0" },
{ "val": "1", "name": "BlueGain", "type": "0" },
{ "val": "128", "name": "Saturation", "type": "0" },
{ "val": "6500", "name": "ColorTemperature", "type": "0" },
{ "val": "0", "name": "ColorSolutionSel", "type": "0" },
{ "val": "0", "name": "BayerDecodeSel", "type": "0" },
{ "val": "0", "name": "BlackLevel", "type": "0" },
{ "val": "100", "name": "Gama", "type": "0" },
{ "val": "100", "name": "Contrast", "type": "0" },
{ "val": "0", "name": "Reduct2d", "type": "0" },
{ "val": "0", "name": "Reduct3d", "type": "0" },
{ "val": "0", "name": "Sharpness", "type": "0" },
{ "val": "90", "name": "Quality", "type": "0" },
{ "val": "X", "name": "Axis", "type": "0" }
],
"out": { "type": "0", "val_name": "" }
}
},
"queryJson": { "Version": "v2.6.0", "SPQuery": "gimbal" },
"checkJson": [
{
"model": "LO-ALN100-2",
"type": "1",
"relationship": "checkInitBlock",
"rules": "",
"Objective": ["9"]
},
{
"model": "LO-ALN100-2",
"type": "1",
"relationship": "checkContain",
"main": "2",
"subs": ["4"]
},
{
"model": "LO-ALN100-2",
"type": "1",
"relationship": "checkAsyncVarScope",
"main": "2",
"subs": ["4"]
},
{
"model": "LO-ALN100-2",
"type": "1",
"relationship": "checkEmptyVal",
"rules": ""
},
{
"model": "LO-ALN100-2",
"type": "1",
"relationship": "checkVarName",
"rules": "",
"Objective": ["6"]
},
{
"model": "LO-ALN100-2",
"type": "1",
"relationship": "checkForTime",
"rules": "",
"Objective": ["2"]
},
{
"model": "LO-ALN100-2",
"type": "1",
"relationship": "checkAsyncTime",
"rules": "",
"Objective": ["8"]
},
{
"model": "LO-ALN100-2",
"type": "0",
"relationship": "checkCameraRecord",
"rules": "",
"Objective": ["8"]
}
],
"dataProcessing": [
{
"is_must": "1",
"processingLogic": "数据处理",
"data": [
{ "name": "无需处理", "value": "NoProcessed" },
{ "name": "中心点", "value": "FindCircleCenter" }
]
}
]
}
(4-4/4)