Closes #3. Closes #12.

Closes #3. Closes #12.
* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>

unilabos/app/web/pages.py

@@ -92,19 +92,7 @@ def setup_web_pages(router: APIRouter) -> None:
 
             # 获取已加载的设备
             if lab_registry:
-                # 设备类型
-                for device_id, device_info in lab_registry.device_type_registry.items():
-                    msg = {
-                            "id": device_id,
-                            "name": device_info.get("name", "未命名"),
-                            "file_path": device_info.get("file_path", ""),
-                            "class_json": json.dumps(
-                                device_info.get("class", {}), indent=4, ensure_ascii=False, cls=TypeEncoder
-                            ),
-                        }
-                    mqtt_client.publish_registry(device_id, device_info)
-                    devices.append(msg)
-
+                devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
                 # 资源类型
                 for resource_id, resource_info in lab_registry.resource_type_registry.items():
                     resources.append(

unilabos/app/web/templates/status.html

@@ -96,17 +96,19 @@
             <tr>
                 <th>设备ID</th>
                 <th>命名空间</th>
+                <th>机器名称</th>
                 <th>状态</th>
             </tr>
             {% for device_id, device_info in host_node_info.devices.items() %}
             <tr>
                 <td>{{ device_id }}</td>
                 <td>{{ device_info.namespace }}</td>
+                <td>{{ device_info.machine_name }}</td>
                 <td><span class="status-badge online">{{ "在线" if device_info.is_online else "离线" }}</span></td>
             </tr>
             {% else %}
             <tr>
-                <td colspan="3" class="empty-state">没有发现已管理的设备</td>
+                <td colspan="4" class="empty-state">没有发现已管理的设备</td>
             </tr>
             {% endfor %}
         </table>
@@ -218,6 +220,7 @@
             <th>Device ID</th>
             <th>节点名称</th>
             <th>命名空间</th>
+            <th>机器名称</th>
             <th>状态项</th>
             <th>动作数</th>
         </tr>
@@ -227,6 +230,7 @@
             <td>{{ device_id }}</td>
             <td>{{ device_info.node_name }}</td>
             <td>{{ device_info.namespace }}</td>
+            <td>{{ device_info.machine_name|default("本地") }}</td>
             <td>{{ ros_node_info.device_topics.get(device_id, {})|length }}</td>
             <td>{{ ros_node_info.device_actions.get(device_id, {})|length }} <span class="toggle-indicator">▼</span></td>
         </tr>
@@ -329,8 +333,13 @@
         <tr id="device-info-{{ loop.index }}" class="detail-row" style="display: none;">
             <td colspan="5">
                 <div class="content-full">
-                    <pre>{{ device.class_json }}</pre>
-                    
+                    {% if device.class %}
+                        <pre>{{ device.class | tojson(indent=4) }}</pre>
+                    {% else %}
+                        <!-- 这里可以放占位内容，比如 -->
+                        <pre>// No data</pre>
+                    {% endif %}
+
                     {% if device.is_online %}
                     <div class="status-badge"><span class="online-status">在线</span></div>
                     {% endif %}
@@ -362,7 +371,12 @@
                                     <button class="copy-btn" onclick="copyToClipboard(this.previousElementSibling.textContent, event)">复制</button>
                                     <button class="debug-btn" onclick="toggleDebugInfo(this, event)">调试</button>
                                     <div class="debug-info" style="display:none;">
-                                        <pre>{{ action_info|tojson(indent=2) }}</pre>
+                                        {% if action_info %}
+                                            <pre>{{ action_info | tojson(indent=4) }}</pre>
+                                        {% else %}
+                                            <!-- 这里可以放占位内容，比如 -->
+                                            <pre>// No data</pre>
+                                        {% endif %}
                                     </div>
                                 </div>
                                 

unilabos/app/web/utils/host_utils.py

@@ -30,20 +30,19 @@ def get_host_node_info() -> Dict[str, Any]:
         return host_info
     host_info["available"] = True
     host_info["devices"] = {
-        device_id: {
+        edge_device_id: {
             "namespace": namespace,
-            "is_online": f"{namespace}/{device_id}" in host_node._online_devices,
-            "key": f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}",
+            "is_online": f"{namespace}/{edge_device_id}" in host_node._online_devices,
+            "key": f"{namespace}/{edge_device_id}" if namespace.startswith("/") else f"/{namespace}/{edge_device_id}",
+            "machine_name": host_node.device_machine_names.get(edge_device_id, "未知"),
         }
-        for device_id, namespace in host_node.devices_names.items()
+        for edge_device_id, namespace in host_node.devices_names.items()
     }
     # 获取已订阅的主题
     host_info["subscribed_topics"] = sorted(list(host_node._subscribed_topics))
     # 获取动作客户端信息
     for action_id, client in host_node._action_clients.items():
-        host_info["action_clients"] = {
-            action_id: get_action_info(client, full_name=action_id)
-        }
+        host_info["action_clients"] = {action_id: get_action_info(client, full_name=action_id)}
 
     # 获取设备状态
     host_info["device_status"] = host_node.device_status

unilabos/app/web/utils/ros_utils.py

@@ -12,6 +12,7 @@ from unilabos.app.web.utils.action_utils import get_action_info
 # 存储 ROS 节点信息的全局变量
 ros_node_info = {"online_devices": {}, "device_topics": {}, "device_actions": {}}
 
+
 def get_ros_node_info() -> Dict[str, Any]:
     """获取 ROS 节点信息，包括设备节点、发布的状态和动作
 
@@ -35,6 +36,13 @@ def update_ros_node_info() -> Dict[str, Any]:
 
     try:
         from unilabos.ros.nodes.base_device_node import registered_devices
+        from unilabos.ros.nodes.presets.host_node import HostNode
+
+        # 尝试获取主机节点实例
+        host_node = HostNode.get_instance(0)
+        device_machine_names = {}
+        if host_node:
+            device_machine_names = host_node.device_machine_names
 
         for device_id, device_info in registered_devices.items():
             # 设备基本信息
@@ -42,6 +50,7 @@ def update_ros_node_info() -> Dict[str, Any]:
                 "node_name": device_info["node_name"],
                 "namespace": device_info["namespace"],
                 "uuid": device_info["uuid"],
+                "machine_name": device_machine_names.get(device_id, "本地"),
             }
 
             # 设备话题（状态）信息
@@ -55,10 +64,7 @@ def update_ros_node_info() -> Dict[str, Any]:
             }
 
             # 设备动作信息
-            result["device_actions"][device_id] = {
-                k: get_action_info(v, k)
-                for k, v in device_info["actions"].items()
-            }
+            result["device_actions"][device_id] = {k: get_action_info(v, k) for k, v in device_info["actions"].items()}
         # 更新全局变量
         ros_node_info = result
     except Exception as e: