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>

test/experiments/HPLC.json

@@ -5,7 +5,7 @@
             "name": "HPLC",
             "parent": null,
             "type": "device",
-            "class": "hplc",
+            "class": "hplc.agilent",
             "position": {
                 "x": 620.6111111111111,
                 "y": 171,
@@ -19,8 +19,8 @@
         },
         {
             "id": "BottlesRack3",
-            "name": "Revvity上样盘3",
+            "name": "上样盘3",
-            "parent": "Revvity",
+            "parent": "HPLC",
             "type": "plate",
             "class": null,
             "position": {

unilabos/app/main.py

@@ -58,6 +58,18 @@ def parse_args():
         default=None,
         help="配置文件路径，支持.py格式的Python配置文件",
     )
+    parser.add_argument(
+        "--port",
+        type=int,
+        default=8002,
+        help="信息页web服务的启动端口",
+    )
+    parser.add_argument(
+        "--open_browser",
+        type=bool,
+        default=True,
+        help="是否在启动时打开信息页",
+    )
 
     return parser.parse_args()
 
@@ -84,6 +96,9 @@ def main():
     # 设置BasicConfig参数
     BasicConfig.is_host_mode = not args_dict.get("without_host", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
+    machine_name = os.popen("hostname").read().strip()
+    machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
+    BasicConfig.machine_name = machine_name
 
     from unilabos.resources.graphio import (
         read_node_link_json,
@@ -151,7 +166,7 @@ def main():
         mqtt_client.start()
 
     start_backend(**args_dict)
-    start_server()
+    start_server(port=args_dict.get("port", 8002), open_browser=args_dict.get("open_browser", False))
 
 
 if __name__ == "__main__":

unilabos/app/mq.py

@@ -146,7 +146,7 @@ class MQTTClient:
         if self.mqtt_disable:
             return
         status = {"data": device_status.get(device_id, {}), "device_id": device_id}
-        address = f"labs/{MQConfig.lab_id}/devices"
+        address = f"labs/{MQConfig.lab_id}/devices/"
         self.client.publish(address, json.dumps(status), qos=2)
         logger.critical(f"Device status published: address: {address}, {status}")
 
@@ -168,11 +168,8 @@ class MQTTClient:
         if self.mqtt_disable:
             return
         address = f"labs/{MQConfig.lab_id}/actions/"
-        action_type_name = action_info["title"]
+        self.client.publish(address, json.dumps(action_info), qos=2)
-        action_info["title"] = action_id
+        logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
-        action_data = json.dumps({action_type_name: action_info}, ensure_ascii=False)
-        self.client.publish(address, action_data, qos=2)
-        logger.debug(f"Action data published: address: {address}, {action_data}")
 
 
 mqtt_client = MQTTClient()

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
+                devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
-                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)
-
                 # 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>
@@ -329,7 +333,12 @@
         <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>
@@ -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,
+            "is_online": f"{namespace}/{edge_device_id}" in host_node._online_devices,
-            "key": f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}",
+            "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"] = {
+        host_info["action_clients"] = {action_id: get_action_info(client, full_name=action_id)}
-            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] = {
+            result["device_actions"][device_id] = {k: get_action_info(v, k) for k, v in device_info["actions"].items()}
-                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:

unilabos/config/config.py

@@ -12,6 +12,7 @@ class BasicConfig:
     config_path = ""
     is_host_mode = True  # 从registry.py移动过来
     slave_no_host = False  # 是否跳过rclient.wait_for_service()
+    machine_name = "undefined"
 
 
 # MQTT配置

unilabos/registry/devices/characterization_optic.yaml

@@ -22,3 +22,46 @@ raman_home_made:
     - status
     additionalProperties: false
     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()

unilabos/resources/graphio.py

@@ -1,4 +1,5 @@
 import importlib
+import inspect
 import json
 from typing import Union
 import numpy as np
@@ -384,7 +385,11 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
     d = resource_ulab_to_plr_inner(resource)
     """无法通过Resource进行反序列化，例如TipSpot必须内部序列化好，直接用TipSpot序列化会多参数，导致出错"""
     from pylabrobot.utils.object_parsing import find_subclass
-    resource_plr = find_subclass(d["type"], ResourcePLR).deserialize(d, allow_marshal=True)
+    sub_cls = find_subclass(d["type"], ResourcePLR)
+    spect = inspect.signature(sub_cls)
+    if "category" not in spect.parameters:
+        d.pop("category")
+    resource_plr = sub_cls.deserialize(d, allow_marshal=True)
     resource_plr.load_all_state(all_states)
     return resource_plr
 

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)
+    thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
-    # run_event_loop_in_thread()
+    thread.start()
 
-    try:
+    while True:
-        executor.spin()
+        input()
-    except Exception as e:
-        logger.error(traceback.format_exc())
-        print(f"Exception caught: {e}")
-    finally:
-        exit()
 
 
 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()
+    n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
-    machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
-    n = Node(f"slaveMachine_{machine_name}", parameter_overrides=[])
     executor.add_node(n)
 
-    if BasicConfig.slave_no_host:
+    thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
-        # 确保ResourceAdd存在
+    thread.start()
-        if "ResourceAdd" in globals():
+
+    if not BasicConfig.slave_no_host:
+        sclient = n.create_client(SerialCommand, "/node_info_update")
+        sclient.wait_for_service()
+
+        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.")
+
         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)
+        response = rclient.call_async(request).result()
-        else:
+        logger.info(f"Slave resource added.")
-            print("Warning: ResourceAdd service not available")
-
-    run_event_loop_in_thread()
-
-    try:
-        executor.spin()
-    except Exception as e:
-        print(f"Exception caught: {e}")
-    finally:
-        exit()
 
+    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:
+                if len(parts) >= 4:  # 可能有ProtocolNode，创建更长的设备
-                    device_id = parts[-2]
+                    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]):
     """