支持通过导入方式补全注册表，新增工作流unilabos_device_id字段

unilabos/registry/devices/characterization_optic.yaml

@@ -0,0 +1,505 @@
+hplc.agilent:
+  class:
+    action_value_mappings:
+      auto-check_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand check_status 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand check_status 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_status 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-execute_command_from_outer:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand execute_command_from_outer 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand execute_command_from_outer 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_command_from_outer 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-extract_data_from_txt:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand extract_data_from_txt 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand extract_data_from_txt 的参数schema
+              properties:
+                file_path:
+                  description: '参数: file_path'
+                  type: string
+              required:
+              - file_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: extract_data_from_txt 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-get_data_file:
+        feedback: {}
+        goal: {}
+        goal_default:
+          after_time: null
+          mat_index: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand get_data_file 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand get_data_file 的参数schema
+              properties:
+                after_time:
+                  description: '参数: after_time'
+                  type: string
+                mat_index:
+                  description: '参数: mat_index'
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: get_data_file 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-start_sequence:
+        feedback: {}
+        goal: {}
+        goal_default:
+          params: null
+          resource: null
+          wf_name: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand start_sequence 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand start_sequence 的参数schema
+              properties:
+                params:
+                  description: '参数: params'
+                  type: string
+                resource:
+                  description: '参数: resource'
+                  type: object
+                wf_name:
+                  description: '参数: wf_name'
+                  type: string
+              required:
+              - wf_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start_sequence 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-try_close_sub_device:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_name: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand try_close_sub_device 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand try_close_sub_device 的参数schema
+              properties:
+                device_name:
+                  description: '参数: device_name'
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: try_close_sub_device 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-try_open_sub_device:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_name: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand try_open_sub_device 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand try_open_sub_device 的参数schema
+              properties:
+                device_name:
+                  description: '参数: device_name'
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: try_open_sub_device 命令参数
+          type: object
+        type: UniLabJsonCommand
+      execute_command_from_outer:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result:
+          success: success
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
+    status_types:
+      could_run: bool
+      device_status: str
+      driver_init_ok: bool
+      finish_status: str
+      get_data_file: tuple
+      is_running: bool
+      status_text: str
+      success: bool
+    type: python
+  description: HPLC device
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          driver_debug:
+            default: false
+            description: '参数: driver_debug'
+            type: boolean
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
+raman_home_made:
+  class:
+    action_value_mappings:
+      auto-ccd_time:
+        feedback: {}
+        goal: {}
+        goal_default:
+          int_time: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand ccd_time 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand ccd_time 的参数schema
+              properties:
+                int_time:
+                  description: '参数: int_time'
+                  type: string
+              required:
+              - int_time
+              type: object
+            result: {}
+          required:
+          - goal
+          title: ccd_time 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-laser_on_power:
+        feedback: {}
+        goal: {}
+        goal_default:
+          output_voltage_laser: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand laser_on_power 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand laser_on_power 的参数schema
+              properties:
+                output_voltage_laser:
+                  description: '参数: output_voltage_laser'
+                  type: string
+              required:
+              - output_voltage_laser
+              type: object
+            result: {}
+          required:
+          - goal
+          title: laser_on_power 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-raman_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand raman_cmd 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand raman_cmd 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: raman_cmd 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-raman_without_background:
+        feedback: {}
+        goal: {}
+        goal_default:
+          int_time: null
+          laser_power: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand raman_without_background 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand raman_without_background 的参数schema
+              properties:
+                int_time:
+                  description: '参数: int_time'
+                  type: string
+                laser_power:
+                  description: '参数: laser_power'
+                  type: string
+              required:
+              - int_time
+              - laser_power
+              type: object
+            result: {}
+          required:
+          - goal
+          title: raman_without_background 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-raman_without_background_average:
+        feedback: {}
+        goal: {}
+        goal_default:
+          average: null
+          int_time: null
+          laser_power: null
+          sample_name: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand raman_without_background_average 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand raman_without_background_average 的参数schema
+              properties:
+                average:
+                  description: '参数: average'
+                  type: string
+                int_time:
+                  description: '参数: int_time'
+                  type: string
+                laser_power:
+                  description: '参数: laser_power'
+                  type: string
+                sample_name:
+                  description: '参数: sample_name'
+                  type: string
+              required:
+              - sample_name
+              - int_time
+              - laser_power
+              - average
+              type: object
+            result: {}
+          required:
+          - goal
+          title: raman_without_background_average 命令参数
+          type: object
+        type: UniLabJsonCommand
+      raman_cmd:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result:
+          success: success
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.raman_uv.home_made_raman:RamanObj
+    status_types:
+      status: String
+    type: python
+  description: Raman spectroscopy device
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          baudrate_ccd:
+            default: 921600
+            description: '参数: baudrate_ccd'
+            type: integer
+          baudrate_laser:
+            default: 9600
+            description: '参数: baudrate_laser'
+            type: integer
+          port_ccd:
+            description: '参数: port_ccd'
+            type: string
+          port_laser:
+            description: '参数: port_laser'
+            type: string
+        required:
+        - port_laser
+        - port_ccd
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/hotel.yaml

@@ -23,7 +23,8 @@ hotel.thermo_orbitor_rs2_hotel:
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.resource_container.container:HotelContainer
-    status_types: {}
+    status_types:
+      get_rotation: String
     type: python
   description: Thermo Orbitor RS2 Hotel
   handles: []

unilabos/registry/devices/mock_devices.yaml

@@ -250,6 +250,7 @@ mock_chiller:
     module: unilabos.devices.mock.mock_chiller:MockChiller
     status_types:
       current_temperature: float
+      get_status_info: dict
       is_cooling: bool
       is_heating: bool
       purpose: str
@@ -594,6 +595,7 @@ mock_filter:
       filtered_volume: float
       filtrate_vessel: str
       flow_rate: float
+      get_status_info: dict
       is_filtering: bool
       pressure_drop: float
       progress: float
@@ -1053,6 +1055,7 @@ mock_heater:
     module: unilabos.devices.mock.mock_heater:MockHeater
     status_types:
       current_temperature: float
+      get_status_info: dict
       heating_power: float
       is_heating: bool
       max_temperature: float
@@ -1510,6 +1513,7 @@ mock_pump:
       current_device: str
       flow_rate: float
       from_vessel: str
+      get_status_info: dict
       is_solid: bool
       is_viscous: bool
       max_flow_rate: float
@@ -2081,6 +2085,7 @@ mock_rotavap:
         type: EmptyIn
     module: unilabos.devices.mock.mock_rotavap:MockRotavap
     status_types:
+      get_status_info: dict
       pump_state: str
       pump_time: float
       rotate_speed: float
@@ -2573,6 +2578,7 @@ mock_separator:
     status_types:
       current_device: str
       from_vessel: str
+      get_status_info: dict
       product_phase: str
       purpose: str
       repeats: int
@@ -2865,6 +2871,7 @@ mock_solenoid_valve:
         type: StrSingleInput
     module: unilabos.devices.mock.mock_solenoid_valve:MockSolenoidValve
     status_types:
+      get_valve_status: str
       status: str
       valve_status: str
     type: python
@@ -3281,6 +3288,7 @@ mock_stirrer:
         type: EmptyIn
     module: unilabos.devices.mock.mock_stirrer:MockStirrer
     status_types:
+      get_status_info: dict
       heating_power: float
       heating_state: str
       max_stir_speed: float
@@ -3621,6 +3629,7 @@ mock_stirrer_new:
         type: StopStir
     module: unilabos.devices.mock.mock_stirrer_new:MockStirrer_new
     status_types:
+      get_status_info: dict
       max_stir_speed: float
       progress: float
       purpose: str
@@ -4125,6 +4134,7 @@ mock_vacuum:
         type: EmptyIn
     module: unilabos.devices.mock.mock_vacuum:MockVacuum
     status_types:
+      get_status_info: dict
       max_pump_speed: float
       power_state: str
       pump_efficiency: float

unilabos/registry/devices/moveit_config.yaml

@@ -1,6 +1,294 @@
 moveit.arm_slider:
   class:
     action_value_mappings:
+      auto-check_tf_update_actions:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand check_tf_update_actions 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand check_tf_update_actions 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_tf_update_actions 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-moveit_joint_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          joint_names: null
+          joint_positions: null
+          move_group: null
+          retry: 10
+          speed: 1
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand moveit_joint_task 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand moveit_joint_task 的参数schema
+              properties:
+                joint_names:
+                  description: '参数: joint_names'
+                  type: string
+                joint_positions:
+                  description: '参数: joint_positions'
+                  type: string
+                move_group:
+                  description: '参数: move_group'
+                  type: string
+                retry:
+                  default: 10
+                  description: '参数: retry'
+                  type: string
+                speed:
+                  default: 1
+                  description: '参数: speed'
+                  type: string
+              required:
+              - move_group
+              - joint_positions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_joint_task 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-moveit_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cartesian: false
+          move_group: null
+          offsets:
+          - 0
+          - 0
+          - 0
+          position: null
+          quaternion: null
+          retry: 10
+          speed: 1
+          target_link: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand moveit_task 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand moveit_task 的参数schema
+              properties:
+                cartesian:
+                  default: false
+                  description: '参数: cartesian'
+                  type: string
+                move_group:
+                  description: '参数: move_group'
+                  type: string
+                offsets:
+                  default:
+                  - 0
+                  - 0
+                  - 0
+                  description: '参数: offsets'
+                  type: string
+                position:
+                  description: '参数: position'
+                  type: string
+                quaternion:
+                  description: '参数: quaternion'
+                  type: string
+                retry:
+                  default: 10
+                  description: '参数: retry'
+                  type: string
+                speed:
+                  default: 1
+                  description: '参数: speed'
+                  type: string
+                target_link:
+                  description: '参数: target_link'
+                  type: string
+              required:
+              - move_group
+              - position
+              - quaternion
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_task 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pick_and_place:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand pick_and_place 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand pick_and_place 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pick_and_place 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand post_init 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand post_init 的参数schema
+              properties:
+                ros_node:
+                  description: '参数: ros_node'
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-resource_manager:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parent_link: null
+          resource: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand resource_manager 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand resource_manager 的参数schema
+              properties:
+                parent_link:
+                  description: '参数: parent_link'
+                  type: string
+                resource:
+                  description: '参数: resource'
+                  type: string
+              required:
+              - resource
+              - parent_link
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_manager 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_position 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_status:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_status 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_status 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_status 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_resource_action:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_for_resource_action 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_for_resource_action 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_resource_action 命令参数
+          type: object
+        type: UniLabJsonCommand
       pick_and_place:
         feedback: {}
         goal:
@@ -151,8 +439,22 @@ moveit.arm_slider:
       feedback: {}
       goal:
         description: UniLabJsonCommand __init__ 的参数schema
-        properties: {}
+        properties:
-        required: []
+          device_config:
+            description: '参数: device_config'
+            type: string
+          joint_poses:
+            description: '参数: joint_poses'
+            type: string
+          moveit_type:
+            description: '参数: moveit_type'
+            type: string
+          rotation:
+            description: '参数: rotation'
+            type: string
+        required:
+        - moveit_type
+        - joint_poses
         type: object
       result: {}
     required:
@@ -165,6 +467,294 @@ moveit.arm_slider:
 moveit.toyo_xyz:
   class:
     action_value_mappings:
+      auto-check_tf_update_actions:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand check_tf_update_actions 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand check_tf_update_actions 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_tf_update_actions 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-moveit_joint_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          joint_names: null
+          joint_positions: null
+          move_group: null
+          retry: 10
+          speed: 1
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand moveit_joint_task 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand moveit_joint_task 的参数schema
+              properties:
+                joint_names:
+                  description: '参数: joint_names'
+                  type: string
+                joint_positions:
+                  description: '参数: joint_positions'
+                  type: string
+                move_group:
+                  description: '参数: move_group'
+                  type: string
+                retry:
+                  default: 10
+                  description: '参数: retry'
+                  type: string
+                speed:
+                  default: 1
+                  description: '参数: speed'
+                  type: string
+              required:
+              - move_group
+              - joint_positions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_joint_task 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-moveit_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cartesian: false
+          move_group: null
+          offsets:
+          - 0
+          - 0
+          - 0
+          position: null
+          quaternion: null
+          retry: 10
+          speed: 1
+          target_link: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand moveit_task 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand moveit_task 的参数schema
+              properties:
+                cartesian:
+                  default: false
+                  description: '参数: cartesian'
+                  type: string
+                move_group:
+                  description: '参数: move_group'
+                  type: string
+                offsets:
+                  default:
+                  - 0
+                  - 0
+                  - 0
+                  description: '参数: offsets'
+                  type: string
+                position:
+                  description: '参数: position'
+                  type: string
+                quaternion:
+                  description: '参数: quaternion'
+                  type: string
+                retry:
+                  default: 10
+                  description: '参数: retry'
+                  type: string
+                speed:
+                  default: 1
+                  description: '参数: speed'
+                  type: string
+                target_link:
+                  description: '参数: target_link'
+                  type: string
+              required:
+              - move_group
+              - position
+              - quaternion
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_task 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pick_and_place:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand pick_and_place 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand pick_and_place 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pick_and_place 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand post_init 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand post_init 的参数schema
+              properties:
+                ros_node:
+                  description: '参数: ros_node'
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-resource_manager:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parent_link: null
+          resource: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand resource_manager 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand resource_manager 的参数schema
+              properties:
+                parent_link:
+                  description: '参数: parent_link'
+                  type: string
+                resource:
+                  description: '参数: resource'
+                  type: string
+              required:
+              - resource
+              - parent_link
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_manager 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_position 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_status:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_status 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_status 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_status 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_resource_action:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_for_resource_action 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_for_resource_action 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_resource_action 命令参数
+          type: object
+        type: UniLabJsonCommand
       pick_and_place:
         feedback: {}
         goal:
@@ -315,8 +905,22 @@ moveit.toyo_xyz:
       feedback: {}
       goal:
         description: UniLabJsonCommand __init__ 的参数schema
-        properties: {}
+        properties:
-        required: []
+          device_config:
+            description: '参数: device_config'
+            type: string
+          joint_poses:
+            description: '参数: joint_poses'
+            type: string
+          moveit_type:
+            description: '参数: moveit_type'
+            type: string
+          rotation:
+            description: '参数: rotation'
+            type: string
+        required:
+        - moveit_type
+        - joint_poses
         type: object
       result: {}
     required:

unilabos/registry/devices/pump_and_valve.yaml

@@ -224,6 +224,7 @@ solenoid_valve:
         type: StrSingleInput
     module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
     status_types:
+      get_valve_position: str
       status: str
       valve_position: str
     type: python
@@ -454,6 +455,7 @@ solenoid_valve.mock:
         type: EmptyIn
     module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
     status_types:
+      get_valve_position: str
       status: str
       valve_position: str
     type: python
@@ -1087,6 +1089,14 @@ syringe_pump_with_valve.runze:
       write: send_command
     module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
     status_types:
+      get_max_velocity: String
+      get_plunger_position: String
+      get_position: String
+      get_status: String
+      get_valve_position: str
+      get_velocity_end: String
+      get_velocity_grade: String
+      get_velocity_init: String
       max_velocity: float
       mode: int
       position: float

unilabos/registry/devices/robot_gripper.yaml

@@ -1,6 +1,410 @@
 gripper.misumi_rz:
   class:
     action_value_mappings:
+      auto-data_loop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand data_loop 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand data_loop 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: data_loop 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-data_reader:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand data_reader 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand data_reader 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: data_reader 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-gripper_move:
+        feedback: {}
+        goal: {}
+        goal_default:
+          force: null
+          pos: null
+          speed: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand gripper_move 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand gripper_move 的参数schema
+              properties:
+                force:
+                  description: '参数: force'
+                  type: string
+                pos:
+                  description: '参数: pos'
+                  type: string
+                speed:
+                  description: '参数: speed'
+                  type: string
+              required:
+              - pos
+              - speed
+              - force
+              type: object
+            result: {}
+          required:
+          - goal
+          title: gripper_move 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-init_gripper:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand init_gripper 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand init_gripper 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: init_gripper 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-modbus_crc:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand modbus_crc 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand modbus_crc 的参数schema
+              properties:
+                data:
+                  description: '参数: data'
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: modbus_crc 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_and_rotate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          grasp_F: null
+          grasp_pos: null
+          grasp_v: null
+          spin_F: null
+          spin_pos: null
+          spin_v: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand move_and_rotate 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_and_rotate 的参数schema
+              properties:
+                grasp_F:
+                  description: '参数: grasp_F'
+                  type: string
+                grasp_pos:
+                  description: '参数: grasp_pos'
+                  type: string
+                grasp_v:
+                  description: '参数: grasp_v'
+                  type: string
+                spin_F:
+                  description: '参数: spin_F'
+                  type: string
+                spin_pos:
+                  description: '参数: spin_pos'
+                  type: string
+                spin_v:
+                  description: '参数: spin_v'
+                  type: string
+              required:
+              - spin_pos
+              - grasp_pos
+              - spin_v
+              - grasp_v
+              - spin_F
+              - grasp_F
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_and_rotate 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-node_gripper_move:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cmd: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand node_gripper_move 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand node_gripper_move 的参数schema
+              properties:
+                cmd:
+                  description: '参数: cmd'
+                  type: string
+              required:
+              - cmd
+              type: object
+            result: {}
+          required:
+          - goal
+          title: node_gripper_move 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-node_rotate_move:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cmd: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand node_rotate_move 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand node_rotate_move 的参数schema
+              properties:
+                cmd:
+                  description: '参数: cmd'
+                  type: string
+              required:
+              - cmd
+              type: object
+            result: {}
+          required:
+          - goal
+          title: node_rotate_move 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_address:
+        feedback: {}
+        goal: {}
+        goal_default:
+          address: null
+          data_len: null
+          id: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand read_address 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand read_address 的参数schema
+              properties:
+                address:
+                  description: '参数: address'
+                  type: string
+                data_len:
+                  description: '参数: data_len'
+                  type: string
+                id:
+                  description: '参数: id'
+                  type: string
+              required:
+              - id
+              - address
+              - data_len
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_address 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-rotate_move_abs:
+        feedback: {}
+        goal: {}
+        goal_default:
+          force: null
+          pos: null
+          speed: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand rotate_move_abs 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand rotate_move_abs 的参数schema
+              properties:
+                force:
+                  description: '参数: force'
+                  type: string
+                pos:
+                  description: '参数: pos'
+                  type: string
+                speed:
+                  description: '参数: speed'
+                  type: string
+              required:
+              - pos
+              - speed
+              - force
+              type: object
+            result: {}
+          required:
+          - goal
+          title: rotate_move_abs 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          address: null
+          data: null
+          fun: null
+          id: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_cmd 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_cmd 的参数schema
+              properties:
+                address:
+                  description: '参数: address'
+                  type: string
+                data:
+                  description: '参数: data'
+                  type: string
+                fun:
+                  description: '参数: fun'
+                  type: string
+                id:
+                  description: '参数: id'
+                  type: string
+              required:
+              - id
+              - fun
+              - address
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_cmd 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_gripper:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_for_gripper 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_for_gripper 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_gripper 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_gripper_init:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_for_gripper_init 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_for_gripper_init 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_gripper_init 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_rotate:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_for_rotate 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_for_rotate 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_rotate 命令参数
+          type: object
+        type: UniLabJsonCommand
       execute_command_from_outer:
         feedback: {}
         goal:
@@ -50,7 +454,7 @@ gripper.misumi_rz:
         type: SendCmd
     module: unilabos.devices.motor.Grasp:EleGripper
     status_types:
-      status: String
+      status: str
     type: python
   description: Misumi RZ gripper
   handles: []
@@ -61,8 +465,24 @@ gripper.misumi_rz:
       feedback: {}
       goal:
         description: UniLabJsonCommand __init__ 的参数schema
-        properties: {}
+        properties:
-        required: []
+          baudrate:
+            default: 115200
+            description: '参数: baudrate'
+            type: integer
+          id:
+            default: 9
+            description: '参数: id'
+            type: integer
+          port:
+            description: '参数: port'
+            type: string
+          pos_error:
+            default: -11
+            description: '参数: pos_error'
+            type: integer
+        required:
+        - port
         type: object
       result: {}
     required:
@@ -72,6 +492,80 @@ gripper.misumi_rz:
 gripper.mock:
   class:
     action_value_mappings:
+      auto-edit_id:
+        feedback: {}
+        goal: {}
+        goal_default:
+          params: '{}'
+          resource:
+            Gripper1: {}
+          wf_name: gripper_run
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand edit_id 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand edit_id 的参数schema
+              properties:
+                params:
+                  default: '{}'
+                  description: '参数: params'
+                  type: string
+                resource:
+                  default:
+                    Gripper1: {}
+                  description: '参数: resource'
+                  type: object
+                wf_name:
+                  default: gripper_run
+                  description: '参数: wf_name'
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: edit_id 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-push_to:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+          torque: null
+          velocity: 0.0
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand push_to 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand push_to 的参数schema
+              properties:
+                position:
+                  description: '参数: position'
+                  type: number
+                torque:
+                  description: '参数: torque'
+                  type: number
+                velocity:
+                  default: 0.0
+                  description: '参数: velocity'
+                  type: number
+              required:
+              - position
+              - torque
+              type: object
+            result: {}
+          required:
+          - goal
+          title: push_to 命令参数
+          type: object
+        type: UniLabJsonCommand
       push_to:
         feedback:
           effort: torque
@@ -151,9 +645,10 @@ gripper.mock:
         type: GripperCommand
     module: unilabos.devices.gripper.mock:MockGripper
     status_types:
-      position: Float64
+      position: float
-      status: String
+      status: str
-      torque: Float64
+      torque: float
+      velocity: float
     type: python
   description: Mock gripper
   handles: []

unilabos/registry/devices/robot_linear_motion.yaml

@@ -1,6 +1,152 @@
 linear_motion.grbl:
   class:
     action_value_mappings:
+      auto-initialize:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand initialize 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand initialize 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: initialize 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_through_points:
+        feedback: {}
+        goal: {}
+        goal_default:
+          positions: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand move_through_points 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_through_points 的参数schema
+              properties:
+                positions:
+                  description: '参数: positions'
+                  type: array
+              required:
+              - positions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_through_points 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_position 的参数schema
+              properties:
+                position:
+                  description: '参数: position'
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_spindle_speed:
+        feedback: {}
+        goal: {}
+        goal_default:
+          max_velocity: 500
+          spindle_speed: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_spindle_speed 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_spindle_speed 的参数schema
+              properties:
+                max_velocity:
+                  default: 500
+                  description: '参数: max_velocity'
+                  type: number
+                spindle_speed:
+                  description: '参数: spindle_speed'
+                  type: number
+              required:
+              - spindle_speed
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_spindle_speed 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_operation:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand stop_operation 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand stop_operation 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_operation 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_error:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_error 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_error 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_error 命令参数
+          type: object
+        type: UniLabJsonCommandAsync
       move_through_points:
         feedback:
           current_pose.pose.position: position
@@ -347,7 +493,12 @@ linear_motion.grbl:
           type: object
         type: SingleJointPosition
     module: unilabos.devices.cnc.grbl_sync:GrblCNC
-    status_types: {}
+    status_types:
+      get_position: String
+      get_status: String
+      position: unilabos.messages:Point3D
+      spindle_speed: float
+      status: str
     type: python
   description: Grbl CNC
   handles: []
@@ -358,8 +509,26 @@ linear_motion.grbl:
       feedback: {}
       goal:
         description: UniLabJsonCommand __init__ 的参数schema
-        properties: {}
+        properties:
-        required: []
+          address:
+            default: '1'
+            description: '参数: address'
+            type: string
+          limits:
+            default:
+            - -150
+            - 150
+            - -200
+            - 0
+            - -80
+            - 0
+            description: '参数: limits'
+            type: string
+          port:
+            description: '参数: port'
+            type: string
+        required:
+        - port
         type: object
       result: {}
     required:

unilabos/registry/devices/sim_nodes.yaml

@@ -182,7 +182,7 @@ lh_joint_publisher:
                 speed:
                   default: 0.1
                   description: '参数: speed'
-                  type: number
+                  type: string
                 x:
                   description: '参数: x'
                   type: string
@@ -268,7 +268,7 @@ lh_joint_publisher:
               properties:
                 channels:
                   description: '参数: channels'
-                  type: string
+                  type: array
                 link_name:
                   description: '参数: link_name'
                   type: string
@@ -306,7 +306,7 @@ lh_joint_publisher:
                   type: string
                 resource_id_list:
                   description: '参数: resource_id_list'
-                  type: string
+                  type: array
               required:
               - resource_id_list
               - link_name

unilabos/registry/devices/temperature.yaml

@@ -614,6 +614,8 @@ heaterstirrer.dalong:
         type: SendCmd
     module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
     status_types:
+      get_status: str
+      get_temp: String
       status: str
       stir_speed: float
       temp: float

unilabos/registry/devices/vacuum_and_purge.yaml

@@ -247,6 +247,7 @@ gas_source.mock:
         type: StrSingleInput
     module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
     status_types:
+      get_status: str
       status: str
     type: python
   description: Mock gas source
@@ -525,6 +526,7 @@ vacuum_pump.mock:
         type: StrSingleInput
     module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
     status_types:
+      get_status: str
       status: str
     type: python
   description: Mock vacuum pump

unilabos/registry/devices/work_station.yaml

@@ -2298,6 +2298,42 @@ workstation:
           title: create_ros_action_server 命令参数
           type: object
         type: UniLabJsonCommand
+      auto-execute_single_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          action_kwargs: null
+          action_name: null
+          device_id: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand execute_single_action 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand execute_single_action 的参数schema
+              properties:
+                action_kwargs:
+                  description: '参数: action_kwargs'
+                  type: string
+                action_name:
+                  description: '参数: action_name'
+                  type: string
+                device_id:
+                  description: '参数: device_id'
+                  type: string
+              required:
+              - device_id
+              - action_name
+              - action_kwargs
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_single_action 命令参数
+          type: object
+        type: UniLabJsonCommandAsync
       auto-initialize_device:
         feedback: {}
         goal: {}
@@ -2342,12 +2378,18 @@ workstation:
       goal:
         description: UniLabJsonCommand __init__ 的参数schema
         properties:
+          args:
+            description: '参数: args'
+            type: string
           children:
             description: '参数: children'
             type: object
           device_id:
             description: '参数: device_id'
             type: string
+          kwargs:
+            description: '参数: kwargs'
+            type: string
           protocol_type:
             description: '参数: protocol_type'
             type: string
@@ -2359,6 +2401,8 @@ workstation:
         - children
         - protocol_type
         - resource_tracker
+        - args
+        - kwargs
         type: object
       result: {}
     required:

unilabos/registry/devices/zhida_hplc.yaml

@@ -226,6 +226,7 @@ zhida_hplc:
         type: StrSingleInput
     module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
     status_types:
+      get_methods: dict
       status: dict
     type: python
   description: Zhida HPLC

unilabos/registry/registry.py

@@ -190,7 +190,9 @@ class Registry:
             logger.error(f"[UniLab Registry] 无法找到类型 '{type_name}' 用于设备 {device_id} 的 {field_name}")
             sys.exit(1)
 
-    def _generate_unilab_json_command_schema(self, method_args: List[Dict[str, Any]], method_name: str) -> Dict[str, Any]:
+    def _generate_unilab_json_command_schema(
+        self, method_args: List[Dict[str, Any]], method_name: str
+    ) -> Dict[str, Any]:
         """
         根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
 
@@ -302,6 +304,7 @@ class Registry:
                         for status_name, status_type in device_config["class"]["status_types"].items():
                             if status_type in ["Any", "None"]:
                                 status_type = "String"  # 替换成ROS的String，便于显示
+                                device_config["class"]["status_types"][status_name] = status_type
                             target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
                             status_str_type_mapping[status_type] = target_type
                         device_config["class"]["status_types"] = dict(
@@ -322,7 +325,9 @@ class Registry:
                                 for k, v in enhanced_info["action_methods"].items()
                             }
                         )
-                        device_config["init_param_schema"] = self._generate_unilab_json_command_schema(enhanced_info["init_params"], "__init__")
+                        device_config["init_param_schema"] = self._generate_unilab_json_command_schema(
+                            enhanced_info["init_params"], "__init__"
+                        )
                         device_config.pop("schema", None)
                         device_config["class"]["action_value_mappings"] = dict(
                             sorted(device_config["class"]["action_value_mappings"].items())
@@ -398,7 +403,28 @@ class Registry:
     def obtain_registry_device_info(self):
         devices = []
         for device_id, device_info in self.device_type_registry.items():
-            msg = {"id": device_id, **device_info}
+            device_info_copy = copy.deepcopy(device_info)
+            if "class" in device_info_copy and "action_value_mappings" in device_info_copy["class"]:
+                action_mappings = device_info_copy["class"]["action_value_mappings"]
+                for action_name, action_config in action_mappings.items():
+                    if "schema" in action_config and action_config["schema"]:
+                        schema = action_config["schema"]
+                        # 确保schema结构存在
+                        if (
+                            "properties" in schema
+                            and "goal" in schema["properties"]
+                            and "properties" in schema["properties"]["goal"]
+                        ):
+                            schema["properties"]["goal"]["properties"] = {
+                                "unilabos_device_id": {
+                                    "type": "string",
+                                    "default": "",
+                                    "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例",
+                                },
+                                **schema["properties"]["goal"]["properties"],
+                            }
+
+            msg = {"id": device_id, **device_info_copy}
             devices.append(msg)
         return devices
 

unilabos/ros/nodes/presets/protocol_node.py

@@ -168,10 +168,9 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
             execution_error = ""
             execution_success = False
             protocol_return_value = None
-
+            self.get_logger().info(f"Executing {protocol_name} action...")
+            action_value_mapping = self._action_value_mappings[protocol_name]
             try:
-                self.get_logger().info(f"Executing {protocol_name} action...")
-                action_value_mapping = self._action_value_mappings[protocol_name]
                 print("+" * 30)
                 print(protocol_steps_generator)
                 # 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤

unilabos/utils/import_manager.py

@@ -207,7 +207,6 @@ class ImportManager:
         dynamic_info = None
         if use_dynamic:
             try:
-                raise ValueError("强制使用动态导入")  # 强制使用动态导入以测试功能
                 dynamic_info = self._get_dynamic_class_info(module_path)
                 result["dynamic_import_success"] = True
                 logger.debug(f"[ImportManager] 动态导入类 {module_path} 成功")
@@ -242,7 +241,7 @@ class ImportManager:
 
         result = {
             "class_name": class_name,
-            "init_params": {},
+            "init_params": [],
             "status_methods": {},
             "action_methods": {},
         }
@@ -268,10 +267,10 @@ class ImportManager:
                 "required": param.default == inspect.Parameter.empty,
                 "default": param_default,
             }
-            result["init_params"][param_name] = param_info
+            result["init_params"].append(param_info)
 
         # 分析类的所有成员
-        for name, method in inspect.getmembers(cls):
+        for name, method in cls.__dict__.items():
             if name.startswith("_"):
                 continue
 
@@ -551,7 +550,7 @@ class ImportManager:
             if i >= num_required:
                 default_index = i - num_required
                 if default_index < len(defaults):
-                    default_value: Constant = defaults[default_index]
+                    default_value: Constant = defaults[default_index]  # type: ignore
                     assert isinstance(default_value, Constant), "暂不支持对非常量类型进行推断，可反馈开源仓库"
                     arg_info["default"] = default_value.value
                     # 如果没有类型注解，尝试从默认值推断类型
@@ -565,7 +564,6 @@ class ImportManager:
 
         return method_info
 
-
     def _infer_type_from_default(self, node: ast.AST) -> Optional[str]:
         """从默认值推断参数类型"""
         if isinstance(node, ast.Constant):
@@ -594,11 +592,6 @@ class ImportManager:
                 return "Optional[Any]"
             elif node.id in ["True", "False"]:
                 return "bool"
-        elif isinstance(node, ast.Attribute):
-            # 处理类似 os.path.join 的情况
-            attr_str = self._extract_default_value(node)
-            if "path" in attr_str.lower():
-                return "str"
 
         return None