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/registry/devices/characterization_optic.yaml

@@ -19,6 +19,49 @@ raman_home_made:
       status:
         type: string
     required:
-      - status
+    - status
     additionalProperties: false
-    type: object
+    type: object
+hplc.agilent:
+  description: HPLC device
+  class:
+    module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
+    type: python
+    status_types:
+      device_status: String
+      could_run: Bool
+      driver_init_ok: Bool
+      is_running: Bool
+      finish_status: String
+      status_text: String
+    action_value_mappings:
+      execute_command_from_outer:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success
+  schema:
+    properties:
+      device_status:
+        type: string
+      could_run:
+        type: boolean
+      driver_init_ok:
+        type: boolean
+      is_running:
+        type: boolean
+      finish_status:
+        type: string
+      status_text:
+        type: string
+    required:
+    - device_status
+    - could_run
+    - driver_init_ok
+    - is_running
+    - finish_status
+    - status_text
+    additionalProperties: false
+    type: object

unilabos/registry/registry.py

@@ -1,3 +1,4 @@
+import json
 import os
 import sys
 from pathlib import Path
@@ -6,8 +7,9 @@ from typing import Any
 import yaml
 
 from unilabos.utils import logger
-from unilabos.ros.msgs.message_converter import msg_converter_manager
+from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
 from unilabos.utils.decorator import singleton
+from unilabos.utils.type_check import TypeEncoder
 
 DEFAULT_PATHS = [Path(__file__).absolute().parent]
 
@@ -129,6 +131,7 @@ class Registry:
                                     action_config["type"] = self._replace_type_with_class(
                                         action_config["type"], device_id, f"动作 {action_name}"
                                     )
+                                    action_config["schema"] = ros_action_to_json_schema(action_config["type"])
 
                 self.device_type_registry.update(data)
 
@@ -143,6 +146,16 @@ class Registry:
                     f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
                 )
 
+    def obtain_registry_device_info(self):
+        devices = []
+        for device_id, device_info in self.device_type_registry.items():
+            msg = {
+                "id": device_id,
+                **device_info
+            }
+            devices.append(msg)
+        return devices
+
 
 # 全局单例实例
 lab_registry = Registry()