注册表上报handle和schema (param input)

unilabos/registry/devices/liquid_handler.yaml

@@ -245,6 +245,21 @@ liquid_handler:
           target_vols: target_vols
           aspiration_flow_rate: aspiration_flow_rate
           dispense_flow_rates: dispense_flow_rates
+  handles:
+    input:
+    - handler_key: liquid-input
+      label: Liquid Input
+      data_type: resource
+      io_type: target
+      data_source: handle
+      data_key: liquid
+    output:
+    - handler_key: liquid-output
+      label: Liquid Output
+      data_type: resource
+      io_type: source
+      data_source: executor
+      data_key: liquid
   schema:
     type: object
     properties:

unilabos/registry/devices/pump_and_valve.yaml

@@ -23,20 +23,51 @@ syringe_pump_with_valve.runze:
         type: string
         description: The position of the valve
     required:
-      - status
-      - position
-      - valve_position
+    - status
+    - position
+    - valve_position
     additionalProperties: false
 
-
 solenoid_valve.mock:
   description: Mock solenoid valve
   class:
     module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
     type: python
+    status_types:
+      status: String
+      valve_position: String
+    action_value_mappings:
+      open:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      close:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+  handles:
+    input:
+    - handler_key: fluid-input
+      label: Fluid Input
+      data_type: fluid
+    output:
+    - handler_key: fluid-output
+      label: Fluid Output
+      data_type: fluid
+  init_param_schema:
+    type: object
+    properties:
+      port:
+        type: string
+        description: "通信端口"
+        default: "COM6"
+    required:
+    - port
 
 solenoid_valve:
   description: Solenoid valve
   class:
     module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
-    type: python
+    type: python

unilabos/registry/devices/vacuum_and_purge.yaml

@@ -22,9 +22,76 @@ vacuum_pump.mock:
           string: string
         feedback: {}
         result: {}
+  handles:
+    input:
+    - handler_key: fluid-input
+      label: Fluid Input
+      data_type: fluid
+      io_type: target
+      data_source: handle
+      data_key: fluid_in
+    output:
+    - handler_key: fluid-output
+      label: Fluid Output
+      data_type: fluid
+      io_type: source
+      data_source: executor
+      data_key: fluid_out
+  init_param_schema:
+    type: object
+    properties:
+      port:
+        type: string
+        description: "通信端口"
+        default: "COM6"
+    required:
+    - port
 
 gas_source.mock:
   description: Mock gas source
   class:
     module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
     type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      open:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      close:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      set_status:
+        type: StrSingleInput
+        goal:
+          string: string
+        feedback: {}
+        result: {}
+  handles:
+    input:
+    - handler_key: fluid-input
+      label: Fluid Input
+      data_type: fluid
+      io_type: target
+      data_source: handle
+      data_key: fluid_in
+    output:
+    - handler_key: fluid-output
+      label: Fluid Output
+      data_type: fluid
+      io_type: source
+      data_source: executor
+      data_key: fluid_out
+  init_param_schema:
+    type: object
+    properties:
+      port:
+        type: string
+        description: "通信端口"
+        default: "COM6"
+    required:
+    - port

unilabos/registry/devices/work_station.yaml

@@ -4,4 +4,4 @@ workstation:
     module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
     type: ros2
   schema:
-    properties: {}
+    properties: {}