Human readable description of the control command.

Optional condition to check if the control command was successful. Condition is met when the values for the signals specified here match with the values read from the opcua server.

Optional command to execute if wait_for_condition is met. This is not executed if wait_for_condition is not specified.

Optional command to execute if wait_for_condition is not met. This is not executed if wait_for_condition is not specified.

Optional sequence of control commands, each of which includes node values to set along with a duration to wait after write. The commands are written in the order specified.

Optional belief world updates to make on completion. This is executed if wait_for_condition is met or unspecified.

Optional condition to check if the control command was successful in sim.

Control command to invoke.

Contains desired values for signal names corresponding to the sequential commands. It is mandatory to provide these values for signals that don't have default values in the configuration of this control command. Optionally, these can be used to override the default values themselves. If a signal name appears multiple times in the sequential commands, then all the values would be overridden (and not just the first match).

Timeout for the control command's wait_for_condition to be met.

Whether the control action was successful or not.

Optional message containing the reason for failure (if relevant).

Updates to apply to the world as a result of this control action.

Human readable description of the command.

Describes which signals to read for each status update.

Status command to invoke.

Contains values read for the signals corresponding to the status command.

Config for the GPIO service that would communicate with the backend server (e.g. opcua).

Connection info that describes how to connect to a remote GPIO service instead of starting one.

Describes the control, match and status commands.

Signals corresponding to the opcua input nodes.

Signals corresponding to the opcua output nodes.

Human readable description of the command.

Describes the matching condition for the command. The condition is considered to be met when the values read from the opcua server match the values specified based on the matching criteria like any_of or all_of.

Describes the matching condition for the command in sim.

Match command to invoke.

Timeout to wait till the match condition is met.

Returns true if the match condition was successful.

Describes the name of the node variable.

Mapping from human readable signal names to opcua node variables.

Mapping from human readable control commands to the command specification.

Mapping from human readable match commands to the command specification.

Mapping from human readable status commands to the command specification.

Describes the human readable name for the signal.

Node variables that can be written to.

Node variables that can be read.

Mapping from input signal names to their desired values. Desired values can be left empty if they will be provided as part of ControlRequest's user_input field.

Duration to wait after setting the values (if given). It is allowed to only set the duration and not the values, which has the effect of adding a wait duration without any write.