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()