Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7

unilabos/devices/liquid_handling/biomek.py

@@ -23,8 +23,8 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
     该类用于处理Biomek液体处理器的特定操作。
     """
 
-    def __init__(self, *args, **kwargs):
+    def __init__(self, backend=None, deck=None, *args, **kwargs):
-        super().__init__(*args, **kwargs)
+        super().__init__(backend, deck, *args, **kwargs)
         self._status = "Idle"  # 初始状态为 Idle
         self._success = False  # 初始成功状态为 False
         self._status_queue = kwargs.get("status_queue", None)  # 状态队列
@@ -421,7 +421,6 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
 
 
 if __name__ == "__main__":
-
     steps_info = ''' 
     {
       "steps": [

unilabos/registry/devices/liquid_handler.yaml

@@ -340,6 +340,21 @@ liquid_handler.biomek:
           none_keys: none_keys
         feedback: {}
         result: {}
+        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
       transfer_biomek:
         type: LiquidHandlerTransferBiomek
         goal:
@@ -351,6 +366,21 @@ liquid_handler.biomek:
           dispense_techniques: dispense_techniques
         feedback: {}
         result: {}
+        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/registry.py

@@ -64,6 +64,7 @@ class Registry:
                                 "goal_default": yaml.safe_load(
                                     io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
                                 ),
+                                "handles": {},
                             },
                             "create_resource": {
                                 "type": self.ResourceCreateFromOuterEasy,
@@ -84,6 +85,7 @@ class Registry:
                                 "goal_default": yaml.safe_load(
                                     io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
                                 ),
+                                "handles": {},
                             },
                             "test_latency": {
                                 "type": self.EmptyIn,
@@ -92,6 +94,7 @@ class Registry:
                                 "result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
                                 "schema": ros_action_to_json_schema(self.EmptyIn),
                                 "goal_default": {},
+                                "handles": {},
                             },
                         },
                     },
@@ -214,6 +217,8 @@ class Registry:
                         # 处理动作值映射
                         if "action_value_mappings" in device_config["class"]:
                             for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                                if "handles" not in action_config:
+                                    action_config["handles"] = []
                                 if "type" in action_config:
                                     action_config["type"] = self._replace_type_with_class(
                                         action_config["type"], device_id, f"动作 {action_name}"