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/ros/main_slave_run.py

@@ -1,22 +1,25 @@
+import copy
+import json
 import os
-import traceback
+import threading
 from typing import Optional, Dict, Any, List
 
 import rclpy
 from unilabos_msgs.msg import Resource  # type: ignore
-from unilabos_msgs.srv import ResourceAdd  # type: ignore
+from unilabos_msgs.srv import ResourceAdd, SerialCommand  # type: ignore
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.timer import Timer
 
+from unilabos.registry.registry import lab_registry
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
 )
 from unilabos.ros.nodes.presets.host_node import HostNode
-from unilabos.ros.x.rclpyx import run_event_loop_in_thread
 from unilabos.utils import logger
 from unilabos.config.config import BasicConfig
+from unilabos.utils.type_check import TypeEncoder
 
 
 def exit() -> None:
@@ -59,16 +62,11 @@ def main(
         discovery_interval,
     )
 
-    executor.add_node(host_node)
-    # run_event_loop_in_thread()
+    thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
+    thread.start()
 
-    try:
-        executor.spin()
-    except Exception as e:
-        logger.error(traceback.format_exc())
-        print(f"Exception caught: {e}")
-    finally:
-        exit()
+    while True:
+        input()
 
 
 def slave(
@@ -82,7 +80,7 @@ def slave(
     """从节点函数"""
     rclpy.init(args=args)
     rclpy.__executor = executor = MultiThreadedExecutor()
-
+    devices_config_copy = copy.deepcopy(devices_config)
     for device_id, device_config in devices_config.items():
         d = initialize_device_from_dict(device_id, device_config)
         if d is None:
@@ -93,32 +91,36 @@ def slave(
         # else:
         #     print(f"Warning: Device {device_id} could not be initialized or is not a valid Node")
 
-    machine_name = os.popen("hostname").read().strip()
-    machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
-    n = Node(f"slaveMachine_{machine_name}", parameter_overrides=[])
+    n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
     executor.add_node(n)
 
-    if BasicConfig.slave_no_host:
-        # 确保ResourceAdd存在
-        if "ResourceAdd" in globals():
-            rclient = n.create_client(ResourceAdd, "/resources/add")
-            rclient.wait_for_service()  # FIXME 可能一直等待，加一个参数
+    thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
+    thread.start()
 
-            request = ResourceAdd.Request()
-            request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]
-            response = rclient.call_async(request)
-        else:
-            print("Warning: ResourceAdd service not available")
+    if not BasicConfig.slave_no_host:
+        sclient = n.create_client(SerialCommand, "/node_info_update")
+        sclient.wait_for_service()
 
-    run_event_loop_in_thread()
+        request = SerialCommand.Request()
+        request.command = json.dumps({
+            "machine_name": BasicConfig.machine_name,
+            "type": "slave",
+            "devices_config": devices_config_copy,
+            "registry_config": lab_registry.obtain_registry_device_info()
+        }, ensure_ascii=False, cls=TypeEncoder)
+        response = sclient.call_async(request).result()
+        logger.info(f"Slave node info updated.")
 
-    try:
-        executor.spin()
-    except Exception as e:
-        print(f"Exception caught: {e}")
-    finally:
-        exit()
+        rclient = n.create_client(ResourceAdd, "/resources/add")
+        rclient.wait_for_service()  # FIXME 可能一直等待，加一个参数
 
+        request = ResourceAdd.Request()
+        request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]
+        response = rclient.call_async(request).result()
+        logger.info(f"Slave resource added.")
+
+    while True:
+        input()
 
 if __name__ == "__main__":
     main()

unilabos/ros/nodes/base_device_node.py

@@ -1,3 +1,4 @@
+import json
 import threading
 import time
 import traceback
@@ -13,15 +14,17 @@ from rclpy.action import ActionServer
 from rclpy.action.server import ServerGoalHandle
 from rclpy.client import Client
 from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.service import Service
 
 from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
     convert_from_ros_msg,
     convert_from_ros_msg_with_mapping,
-    convert_to_ros_msg_with_mapping,
+    convert_to_ros_msg_with_mapping, ros_action_to_json_schema,
 )
-from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList  # type: ignore
+from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
+    SerialCommand  # type: ignore
 from unilabos_msgs.msg import Resource  # type: ignore
 
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
@@ -29,7 +32,7 @@ from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from unilabos.utils.async_util import run_async_func
 from unilabos.utils.log import info, debug, warning, error, critical, logger
-from unilabos.utils.type_check import get_type_class
+from unilabos.utils.type_check import get_type_class, TypeEncoder
 
 T = TypeVar("T")
 
@@ -44,19 +47,17 @@ class ROSLoggerAdapter:
 
     @property
     def identifier(self):
-        return f"{self.namespace}/{self.node_name}"
+        return f"{self.namespace}"
 
-    def __init__(self, ros_logger, node_name, namespace):
+    def __init__(self, ros_logger, namespace):
         """
         初始化日志适配器
 
         Args:
             ros_logger: ROS2日志记录器
-            node_name: 节点名称
             namespace: 命名空间
         """
         self.ros_logger = ros_logger
-        self.node_name = node_name
         self.namespace = namespace
         self.level_2_logger_func = {
             "info": info,
@@ -258,9 +259,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             self.lab_logger().critical("资源跟踪器未初始化，请检查")
 
         # 创建自定义日志记录器
-        self._lab_logger = ROSLoggerAdapter(self.get_logger(), self.node_name, self.namespace)
+        self._lab_logger = ROSLoggerAdapter(self.get_logger(), self.namespace)
 
-        self._action_servers = {}
+        self._action_servers: Dict[str, ActionServer] = {}
         self._property_publishers = {}
         self._status_types = status_types
         self._action_value_mappings = action_value_mappings
@@ -284,7 +285,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 self.create_ros_action_server(action_name, action_value_mapping)
 
         # 创建线程池执行器
-        self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1))
+        self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}")
 
         # 创建资源管理客户端
         self._resource_clients: Dict[str, Client] = {
@@ -295,6 +296,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             "resource_list": self.create_client(ResourceList, "/resources/list"),
         }
 
+        def query_host_name_cb(req, res):
+            self.register_device()
+            self.lab_logger().info("Host要求重新注册当前节点")
+            res.response = ""
+            return res
+
+        self._service_server: Dict[str, Service] = {
+            "query_host_name": self.create_service(
+                SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
+            ),
+        }
+
         # 向全局在线设备注册表添加设备信息
         self.register_device()
         rclpy.get_global_executor().add_node(self)
@@ -318,6 +331,31 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         )
         # 加入全局注册表
         registered_devices[self.device_id] = device_info
+        from unilabos.config.config import BasicConfig
+        if not BasicConfig.is_host_mode:
+            sclient = self.create_client(SerialCommand, "/node_info_update")
+            # 启动线程执行发送任务
+            threading.Thread(
+                target=self.send_slave_node_info,
+                args=(sclient,),
+                daemon=True,
+                name=f"ROSDevice{self.device_id}_send_slave_node_info"
+            ).start()
+
+    def send_slave_node_info(self, sclient):
+        sclient.wait_for_service()
+        request = SerialCommand.Request()
+        from unilabos.config.config import BasicConfig
+        request.command = json.dumps({
+            "SYNC_SLAVE_NODE_INFO": {
+                "machine_name": BasicConfig.machine_name,
+                "type": "slave",
+                "edge_device_id": self.device_id
+            }}, ensure_ascii=False, cls=TypeEncoder)
+
+        # 发送异步请求并等待结果
+        future = sclient.call_async(request)
+        response = future.result()
 
     def lab_logger(self):
         """

unilabos/ros/nodes/presets/host_node.py

@@ -1,4 +1,5 @@
 import copy
+import json
 import threading
 import time
 import traceback
@@ -7,12 +8,13 @@ from typing import Optional, Dict, Any, List, ClassVar, Set
 
 from action_msgs.msg import GoalStatus
 from unilabos_msgs.msg import Resource  # type: ignore
-from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList  # type: ignore
+from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, SerialCommand  # type: ignore
 from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.service import Service
 from unique_identifier_msgs.msg import UUID
 
+from unilabos.registry.registry import lab_registry
 from unilabos.resources.registry import add_schema
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
@@ -20,10 +22,12 @@ from unilabos.ros.msgs.message_converter import (
     get_ros_type_by_msgname,
     convert_from_ros_msg,
     convert_to_ros_msg,
-    msg_converter_manager, ros_action_to_json_schema,
+    msg_converter_manager,
+    ros_action_to_json_schema,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
+from unilabos.utils.type_check import TypeEncoder
 
 
 class HostNode(BaseROS2DeviceNode):
@@ -95,6 +99,7 @@ class HostNode(BaseROS2DeviceNode):
         # 创建设备、动作客户端和目标存储
         self.devices_names: Dict[str, str] = {}  # 存储设备名称和命名空间的映射
         self.devices_instances: Dict[str, ROS2DeviceNode] = {}  # 存储设备实例
+        self.device_machine_names: Dict[str, str] = {device_id: "本地", }  # 存储设备ID到机器名称的映射
         self._action_clients: Dict[str, ActionClient] = {}  # 用来存储多个ActionClient实例
         self._action_value_mappings: Dict[str, Dict] = (
             {}
@@ -106,18 +111,24 @@ class HostNode(BaseROS2DeviceNode):
         self._subscribed_topics = set()  # 用于跟踪已订阅的话题
 
         # 创建物料增删改查服务（非客户端）
-        self._init_resource_service()
+        self._init_host_service()
 
         self.device_status = {}  # 用来存储设备状态
         self.device_status_timestamps = {}  # 用来存储设备状态最后更新时间
 
+        from unilabos.app.mq import mqtt_client
+        for device_config in lab_registry.obtain_registry_device_info():
+            mqtt_client.publish_registry(device_config["id"], device_config)
+
         # 首次发现网络中的设备
         self._discover_devices()
 
         # 初始化所有本机设备节点，多一次过滤，防止重复初始化
         for device_id, device_config in devices_config.items():
             if device_config.get("type", "device") != "device":
-                self.lab_logger().debug(f"[Host Node] Skipping type {device_config['type']} {device_id} already existed, skipping.")
+                self.lab_logger().debug(
+                    f"[Host Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
+                )
                 continue
             if device_id not in self.devices_names:
                 self.initialize_device(device_id, device_config)
@@ -150,6 +161,13 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info("[Host Node] Host node initialized.")
         HostNode._ready_event.set()
 
+    def _send_re_register(self, sclient):
+        sclient.wait_for_service()
+        request = SerialCommand.Request()
+        request.command = ""
+        future = sclient.call_async(request)
+        response = future.result()
+
     def _discover_devices(self) -> None:
         """
         发现网络中的设备
@@ -166,23 +184,37 @@ class HostNode(BaseROS2DeviceNode):
         current_devices = set()
 
         for device_id, namespace in nodes_and_names:
-            if not namespace.startswith("/devices"):
+            if not namespace.startswith("/devices/"):
                 continue
-
+            edge_device_id = namespace[9:]
             # 将设备添加到当前设备集合
-            device_key = f"{namespace}/{device_id}"
+            device_key = f"{namespace}/{edge_device_id}"  # namespace已经包含device_id了，这里复写一遍
             current_devices.add(device_key)
 
             # 如果是新设备，记录并创建ActionClient
-            if device_id not in self.devices_names:
+            if edge_device_id not in self.devices_names:
                 self.lab_logger().info(f"[Host Node] Discovered new device: {device_key}")
-                self.devices_names[device_id] = namespace
+                self.devices_names[edge_device_id] = namespace
                 self._create_action_clients_for_device(device_id, namespace)
                 self._online_devices.add(device_key)
+                sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
+                threading.Thread(
+                    target=self._send_re_register,
+                    args=(sclient,),
+                    daemon=True,
+                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
+                ).start()
             elif device_key not in self._online_devices:
                 # 设备重新上线
                 self.lab_logger().info(f"[Host Node] Device reconnected: {device_key}")
                 self._online_devices.add(device_key)
+                sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
+                threading.Thread(
+                    target=self._send_re_register,
+                    args=(sclient,),
+                    daemon=True,
+                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
+                ).start()
 
         # 检测离线设备
         offline_devices = self._online_devices - current_devices
@@ -224,16 +256,22 @@ class HostNode(BaseROS2DeviceNode):
                     self._action_clients[action_id] = ActionClient(
                         self, action_type, action_id, callback_group=self.callback_group
                     )
-                    self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
+                    self.lab_logger().debug(f"[Host Node] Created ActionClient (Discovery): {action_id}")
+                    action_name = action_id[len(namespace) + 1:]
+                    edge_device_id = namespace[9:]
                     from unilabos.app.mq import mqtt_client
                     info_with_schema = ros_action_to_json_schema(action_type)
-                    mqtt_client.publish_actions(action_id, info_with_schema)
+                    mqtt_client.publish_actions(action_name, {
+                        "device_id": edge_device_id,
+                        "action_name": action_name,
+                        "schema": info_with_schema,
+                    })
                 except Exception as e:
                     self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
 
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
         """
-        根据配置初始化设备
+        根据配置初始化设备，
 
         此函数根据提供的设备配置动态导入适当的设备类并创建其实例。
         同时为设备的动作值映射设置动作客户端。
@@ -249,7 +287,8 @@ class HostNode(BaseROS2DeviceNode):
         if d is None:
             return
         # noinspection PyProtectedMember
-        self.devices_names[device_id] = d._ros_node.namespace
+        self.devices_names[device_id] = d._ros_node.namespace  # 这里不涉及二级device_id
+        self.device_machine_names[device_id] = "本地"
         self.devices_instances[device_id] = d
         # noinspection PyProtectedMember
         for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
@@ -257,13 +296,17 @@ class HostNode(BaseROS2DeviceNode):
             if action_id not in self._action_clients:
                 action_type = action_value_mapping["type"]
                 self._action_clients[action_id] = ActionClient(self, action_type, action_id)
-                self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
+                self.lab_logger().debug(f"[Host Node] Created ActionClient (Local): {action_id}")  # 子设备再创建用的是Discover发现的
                 from unilabos.app.mq import mqtt_client
                 info_with_schema = ros_action_to_json_schema(action_type)
-                mqtt_client.publish_actions(action_id, info_with_schema)
+                mqtt_client.publish_actions(action_name, {
+                    "device_id": device_id,
+                    "action_name": action_name,
+                    "schema": info_with_schema,
+                })
             else:
                 self.lab_logger().warning(f"[Host Node] ActionClient {action_id} already exists.")
-        device_key = f"{self.devices_names[device_id]}/{device_id}"
+        device_key = f"{self.devices_names[device_id]}/{device_id}"  # 这里不涉及二级device_id
         # 添加到在线设备列表
         self._online_devices.add(device_key)
 
@@ -285,8 +328,8 @@ class HostNode(BaseROS2DeviceNode):
 
                 # 解析设备名和属性名
                 parts = topic.split("/")
-                if len(parts) >= 4:
-                    device_id = parts[-2]
+                if len(parts) >= 4:  # 可能有ProtocolNode，创建更长的设备
+                    device_id = "/".join(parts[2:-1])
                     property_name = parts[-1]
 
                     # 初始化设备状态字典
@@ -473,7 +516,7 @@ class HostNode(BaseROS2DeviceNode):
 
     """Resource"""
 
-    def _init_resource_service(self):
+    def _init_host_service(self):
         self._resource_services: Dict[str, Service] = {
             "resource_add": self.create_service(
                 ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup()
@@ -496,8 +539,39 @@ class HostNode(BaseROS2DeviceNode):
             "resource_list": self.create_service(
                 ResourceList, "/resources/list", self._resource_list_callback, callback_group=ReentrantCallbackGroup()
             ),
+            "node_info_update": self.create_service(
+                SerialCommand,
+                "/node_info_update",
+                self._node_info_update_callback,
+                callback_group=ReentrantCallbackGroup(),
+            ),
         }
 
+    def _node_info_update_callback(self, request, response):
+        """
+        更新节点信息回调
+        """
+        self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
+        try:
+            from unilabos.app.mq import mqtt_client
+
+            info = json.loads(request.command)
+            if "SYNC_SLAVE_NODE_INFO" in info:
+                info = info["SYNC_SLAVE_NODE_INFO"]
+                machine_name = info["machine_name"]
+                edge_device_id = info["edge_device_id"]
+                self.device_machine_names[edge_device_id] = machine_name
+            else:
+                registry_config = info["registry_config"]
+                for device_config in registry_config:
+                    mqtt_client.publish_registry(device_config["id"], device_config)
+            self.lab_logger().debug(f"[Host Node] Node info update: {info}")
+            response.response = "OK"
+        except Exception as e:
+            self.lab_logger().error(f"[Host Node] Error updating node info: {e.args}")
+            response.response = "ERROR"
+        return response
+
     def _resource_add_callback(self, request, response):
         """
         添加资源回调

unilabos/ros/utils/driver_creator.py

@@ -224,8 +224,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(getattr(self.device_instance, "setup")):
             from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
             ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(lambda x: logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成"))
-# 2486229810384
-#2486232539792
+
 
 class ProtocolNodeCreator(DeviceClassCreator[T]):
     """