Merge branch 'dev' into workstation_dev_new

# Conflicts:
#	unilabos/registry/devices/work_station.yaml

example_devices.py

@@ -0,0 +1,588 @@
+"""
+示例设备类文件，用于测试注册表编辑器
+"""
+
+import asyncio
+from typing import Dict, Any, Optional, List
+
+
+class SmartPumpController:
+    """
+    智能泵控制器
+
+    支持多种泵送模式，具有高精度流量控制和自动校准功能。
+    适用于实验室自动化系统中的液体处理任务。
+    """
+
+    def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
+        """
+        初始化智能泵控制器
+
+        Args:
+            device_id: 设备唯一标识符
+            port: 通信端口
+        """
+        self.device_id = device_id
+        self.port = port
+        self.is_connected = False
+        self.current_flow_rate = 0.0
+        self.total_volume_pumped = 0.0
+        self.calibration_factor = 1.0
+        self.pump_mode = "continuous"  # continuous, volume, rate
+
+    def connect_device(self, timeout: int = 10) -> bool:
+        """
+        连接到泵设备
+
+        Args:
+            timeout: 连接超时时间（秒）
+
+        Returns:
+            bool: 连接是否成功
+        """
+        # 模拟连接过程
+        self.is_connected = True
+        return True
+
+    def disconnect_device(self) -> bool:
+        """
+        断开设备连接
+
+        Returns:
+            bool: 断开连接是否成功
+        """
+        self.is_connected = False
+        self.current_flow_rate = 0.0
+        return True
+
+    def set_flow_rate(self, flow_rate: float, units: str = "ml/min") -> bool:
+        """
+        设置泵流速
+
+        Args:
+            flow_rate: 流速值
+            units: 流速单位
+
+        Returns:
+            bool: 设置是否成功
+        """
+        if not self.is_connected:
+            return False
+
+        self.current_flow_rate = flow_rate
+        return True
+
+    async def pump_volume_async(self, volume: float, flow_rate: float) -> Dict[str, Any]:
+        """
+        异步泵送指定体积的液体
+
+        Args:
+            volume: 目标体积 (mL)
+            flow_rate: 泵送流速 (mL/min)
+
+        Returns:
+            Dict: 包含操作结果的字典
+        """
+        if not self.is_connected:
+            return {"success": False, "error": "设备未连接"}
+
+        # 计算泵送时间
+        pump_time = (volume / flow_rate) * 60  # 转换为秒
+
+        self.current_flow_rate = flow_rate
+        await asyncio.sleep(min(pump_time, 3.0))  # 模拟泵送过程
+
+        self.total_volume_pumped += volume
+        self.current_flow_rate = 0.0
+
+        return {
+            "success": True,
+            "pumped_volume": volume,
+            "actual_time": min(pump_time, 3.0),
+            "total_volume": self.total_volume_pumped,
+        }
+
+    def emergency_stop(self) -> bool:
+        """
+        紧急停止泵
+
+        Returns:
+            bool: 停止是否成功
+        """
+        self.current_flow_rate = 0.0
+        return True
+
+    def perform_calibration(self, reference_volume: float, measured_volume: float) -> bool:
+        """
+        执行泵校准
+
+        Args:
+            reference_volume: 参考体积
+            measured_volume: 实际测量体积
+
+        Returns:
+            bool: 校准是否成功
+        """
+        if measured_volume > 0:
+            self.calibration_factor = reference_volume / measured_volume
+            return True
+        return False
+
+    # 状态查询方法
+    def get_connection_status(self) -> str:
+        """获取连接状态"""
+        return "connected" if self.is_connected else "disconnected"
+
+    def get_current_flow_rate(self) -> float:
+        """获取当前流速 (mL/min)"""
+        return self.current_flow_rate
+
+    def get_total_volume(self) -> float:
+        """获取累计泵送体积 (mL)"""
+        return self.total_volume_pumped
+
+    def get_calibration_factor(self) -> float:
+        """获取校准因子"""
+        return self.calibration_factor
+
+    def get_pump_mode(self) -> str:
+        """获取泵送模式"""
+        return self.pump_mode
+
+    def get_device_status(self) -> Dict[str, Any]:
+        """获取设备完整状态信息"""
+        return {
+            "device_id": self.device_id,
+            "connected": self.is_connected,
+            "flow_rate": self.current_flow_rate,
+            "total_volume": self.total_volume_pumped,
+            "calibration_factor": self.calibration_factor,
+            "mode": self.pump_mode,
+            "running": self.current_flow_rate > 0,
+        }
+
+
+class AdvancedTemperatureController:
+    """
+    高级温度控制器
+
+    支持PID控制、多点温度监控和程序化温度曲线。
+    适用于需要精确温度控制的化学反应和材料处理过程。
+    """
+
+    def __init__(self, controller_id: str = "temp_controller_01"):
+        """
+        初始化温度控制器
+
+        Args:
+            controller_id: 控制器ID
+        """
+        self.controller_id = controller_id
+        self.current_temperature = 25.0
+        self.target_temperature = 25.0
+        self.is_heating = False
+        self.is_cooling = False
+        self.pid_enabled = True
+        self.temperature_history: List[Dict] = []
+
+    def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
+        """
+        设置目标温度
+
+        Args:
+            temperature: 目标温度 (°C)
+            rate: 升温/降温速率 (°C/min)
+
+        Returns:
+            bool: 设置是否成功
+        """
+        self.target_temperature = temperature
+        return True
+
+    async def heat_to_temperature_async(
+        self, temperature: float, tolerance: float = 0.5, timeout: int = 600
+    ) -> Dict[str, Any]:
+        """
+        异步加热到指定温度
+
+        Args:
+            temperature: 目标温度 (°C)
+            tolerance: 温度容差 (°C)
+            timeout: 最大等待时间 (秒)
+
+        Returns:
+            Dict: 操作结果
+        """
+        self.target_temperature = temperature
+        start_temp = self.current_temperature
+
+        if temperature > start_temp:
+            self.is_heating = True
+        elif temperature < start_temp:
+            self.is_cooling = True
+
+        # 模拟温度变化过程
+        steps = min(abs(temperature - start_temp) * 2, 20)  # 计算步数
+        step_time = min(timeout / steps if steps > 0 else 1, 2.0)  # 每步最多2秒
+
+        for step in range(int(steps)):
+            progress = (step + 1) / steps
+            self.current_temperature = start_temp + (temperature - start_temp) * progress
+
+            # 记录温度历史
+            self.temperature_history.append(
+                {
+                    "timestamp": asyncio.get_event_loop().time(),
+                    "temperature": self.current_temperature,
+                    "target": self.target_temperature,
+                }
+            )
+
+            await asyncio.sleep(step_time)
+
+            # 保持历史记录不超过100条
+            if len(self.temperature_history) > 100:
+                self.temperature_history.pop(0)
+
+        # 最终设置为目标温度
+        self.current_temperature = temperature
+        self.is_heating = False
+        self.is_cooling = False
+
+        return {
+            "success": True,
+            "final_temperature": self.current_temperature,
+            "start_temperature": start_temp,
+            "time_taken": steps * step_time,
+        }
+
+    def enable_pid_control(self, kp: float = 1.0, ki: float = 0.1, kd: float = 0.05) -> bool:
+        """
+        启用PID控制
+
+        Args:
+            kp: 比例增益
+            ki: 积分增益
+            kd: 微分增益
+
+        Returns:
+            bool: 启用是否成功
+        """
+        self.pid_enabled = True
+        return True
+
+    def run_temperature_program(self, program: List[Dict]) -> bool:
+        """
+        运行温度程序
+
+        Args:
+            program: 温度程序列表，每个元素包含温度和持续时间
+
+        Returns:
+            bool: 程序启动是否成功
+        """
+        # 模拟程序启动
+        return True
+
+    # 状态查询方法
+    def get_current_temperature(self) -> float:
+        """获取当前温度 (°C)"""
+        return round(self.current_temperature, 2)
+
+    def get_target_temperature(self) -> float:
+        """获取目标温度 (°C)"""
+        return self.target_temperature
+
+    def get_heating_status(self) -> bool:
+        """获取加热状态"""
+        return self.is_heating
+
+    def get_cooling_status(self) -> bool:
+        """获取制冷状态"""
+        return self.is_cooling
+
+    def get_pid_status(self) -> bool:
+        """获取PID控制状态"""
+        return self.pid_enabled
+
+    def get_temperature_history(self) -> List[Dict]:
+        """获取温度历史记录"""
+        return self.temperature_history[-10:]  # 返回最近10条记录
+
+    def get_controller_status(self) -> Dict[str, Any]:
+        """获取控制器完整状态"""
+        return {
+            "controller_id": self.controller_id,
+            "current_temp": self.current_temperature,
+            "target_temp": self.target_temperature,
+            "is_heating": self.is_heating,
+            "is_cooling": self.is_cooling,
+            "pid_enabled": self.pid_enabled,
+            "history_count": len(self.temperature_history),
+        }
+
+
+class MultiChannelAnalyzer:
+    """
+    多通道分析仪
+
+    支持同时监测多个通道的信号，提供实时数据采集和分析功能。
+    常用于光谱分析、电化学测量等应用场景。
+    """
+
+    def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
+        """
+        初始化多通道分析仪
+
+        Args:
+            analyzer_id: 分析仪ID
+            channels: 通道数量
+        """
+        self.analyzer_id = analyzer_id
+        self.channel_count = channels
+        self.channel_data = {i: {"value": 0.0, "unit": "V", "enabled": True} for i in range(channels)}
+        self.is_measuring = False
+        self.sample_rate = 1000  # Hz
+
+    def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
+        """
+        配置通道
+
+        Args:
+            channel: 通道编号
+            enabled: 是否启用
+            unit: 测量单位
+
+        Returns:
+            bool: 配置是否成功
+        """
+        if 0 <= channel < self.channel_count:
+            self.channel_data[channel]["enabled"] = enabled
+            self.channel_data[channel]["unit"] = unit
+            return True
+        return False
+
+    async def start_measurement_async(self, duration: int = 10) -> Dict[str, Any]:
+        """
+        开始异步测量
+
+        Args:
+            duration: 测量持续时间（秒）
+
+        Returns:
+            Dict: 测量结果
+        """
+        self.is_measuring = True
+
+        # 模拟数据采集
+        measurements = []
+        for second in range(duration):
+            timestamp = asyncio.get_event_loop().time()
+            frame_data = {}
+
+            for channel in range(self.channel_count):
+                if self.channel_data[channel]["enabled"]:
+                    # 模拟传感器数据
+                    import random
+
+                    value = random.uniform(-5.0, 5.0)
+                    frame_data[f"channel_{channel}"] = value
+                    self.channel_data[channel]["value"] = value
+
+            measurements.append({"timestamp": timestamp, "data": frame_data})
+
+            await asyncio.sleep(1.0)  # 每秒采集一次
+
+        self.is_measuring = False
+
+        return {
+            "success": True,
+            "duration": duration,
+            "samples_count": len(measurements),
+            "measurements": measurements[-5:],  # 只返回最后5个样本
+            "channels_active": len([ch for ch in self.channel_data.values() if ch["enabled"]]),
+        }
+
+    def stop_measurement(self) -> bool:
+        """
+        停止测量
+
+        Returns:
+            bool: 停止是否成功
+        """
+        self.is_measuring = False
+        return True
+
+    def reset_channels(self) -> bool:
+        """
+        重置所有通道
+
+        Returns:
+            bool: 重置是否成功
+        """
+        for channel in self.channel_data:
+            self.channel_data[channel]["value"] = 0.0
+        return True
+
+    # 状态查询方法
+    def get_measurement_status(self) -> bool:
+        """获取测量状态"""
+        return self.is_measuring
+
+    def get_channel_count(self) -> int:
+        """获取通道数量"""
+        return self.channel_count
+
+    def get_sample_rate(self) -> float:
+        """获取采样率 (Hz)"""
+        return self.sample_rate
+
+    def get_channel_values(self) -> Dict[int, float]:
+        """获取所有通道的当前值"""
+        return {ch: data["value"] for ch, data in self.channel_data.items() if data["enabled"]}
+
+    def get_enabled_channels(self) -> List[int]:
+        """获取已启用的通道列表"""
+        return [ch for ch, data in self.channel_data.items() if data["enabled"]]
+
+    def get_analyzer_status(self) -> Dict[str, Any]:
+        """获取分析仪完整状态"""
+        return {
+            "analyzer_id": self.analyzer_id,
+            "channel_count": self.channel_count,
+            "is_measuring": self.is_measuring,
+            "sample_rate": self.sample_rate,
+            "active_channels": len(self.get_enabled_channels()),
+            "channel_data": self.channel_data,
+        }
+
+
+class AutomatedDispenser:
+    """
+    自动分配器
+
+    精确控制固体和液体材料的分配，支持多种分配模式和容器管理。
+    集成称重功能，确保分配精度和重现性。
+    """
+
+    def __init__(self, dispenser_id: str = "dispenser_01"):
+        """
+        初始化自动分配器
+
+        Args:
+            dispenser_id: 分配器ID
+        """
+        self.dispenser_id = dispenser_id
+        self.is_ready = True
+        self.current_position = {"x": 0.0, "y": 0.0, "z": 0.0}
+        self.dispensed_total = 0.0
+        self.container_capacity = 1000.0  # mL
+        self.precision_mode = True
+
+    def move_to_position(self, x: float, y: float, z: float) -> bool:
+        """
+        移动到指定位置
+
+        Args:
+            x: X坐标 (mm)
+            y: Y坐标 (mm)
+            z: Z坐标 (mm)
+
+        Returns:
+            bool: 移动是否成功
+        """
+        self.current_position = {"x": x, "y": y, "z": z}
+        return True
+
+    async def dispense_liquid_async(self, volume: float, container_id: str, viscosity: str = "low") -> Dict[str, Any]:
+        """
+        异步分配液体
+
+        Args:
+            volume: 分配体积 (mL)
+            container_id: 容器ID
+            viscosity: 液体粘度等级
+
+        Returns:
+            Dict: 分配结果
+        """
+        if not self.is_ready:
+            return {"success": False, "error": "设备未就绪"}
+
+        if volume <= 0:
+            return {"success": False, "error": "体积必须大于0"}
+
+        # 模拟分配过程
+        dispense_time = volume * 0.1  # 每mL需要0.1秒
+        if viscosity == "high":
+            dispense_time *= 2  # 高粘度液体需要更长时间
+
+        await asyncio.sleep(min(dispense_time, 5.0))  # 最多等待5秒
+
+        self.dispensed_total += volume
+
+        return {
+            "success": True,
+            "dispensed_volume": volume,
+            "container_id": container_id,
+            "actual_time": min(dispense_time, 5.0),
+            "total_dispensed": self.dispensed_total,
+        }
+
+    def clean_dispenser(self, wash_volume: float = 5.0) -> bool:
+        """
+        清洗分配器
+
+        Args:
+            wash_volume: 清洗液体积 (mL)
+
+        Returns:
+            bool: 清洗是否成功
+        """
+        # 模拟清洗过程
+        return True
+
+    def calibrate_volume(self, target_volume: float) -> bool:
+        """
+        校准分配体积
+
+        Args:
+            target_volume: 校准目标体积 (mL)
+
+        Returns:
+            bool: 校准是否成功
+        """
+        # 模拟校准过程
+        return True
+
+    # 状态查询方法
+    def get_ready_status(self) -> bool:
+        """获取就绪状态"""
+        return self.is_ready
+
+    def get_current_position(self) -> Dict[str, float]:
+        """获取当前位置坐标"""
+        return self.current_position.copy()
+
+    def get_dispensed_total(self) -> float:
+        """获取累计分配体积 (mL)"""
+        return self.dispensed_total
+
+    def get_container_capacity(self) -> float:
+        """获取容器容量 (mL)"""
+        return self.container_capacity
+
+    def get_precision_mode(self) -> bool:
+        """获取精密模式状态"""
+        return self.precision_mode
+
+    def get_dispenser_status(self) -> Dict[str, Any]:
+        """获取分配器完整状态"""
+        return {
+            "dispenser_id": self.dispenser_id,
+            "ready": self.is_ready,
+            "position": self.current_position,
+            "dispensed_total": self.dispensed_total,
+            "capacity": self.container_capacity,
+            "precision_mode": self.precision_mode,
+        }

unilabos/app/web/pages.py

@@ -78,21 +78,23 @@ def setup_web_pages(router: APIRouter) -> None:
             HTMLResponse: 渲染后的HTML页面
         """
         try:
-            # 准备设备数据
+            # 准备初始数据结构（这些数据将通过WebSocket实时更新）
             devices = []
             resources = []
             modules = {"names": [], "classes": [], "displayed_count": 0, "total_count": 0}
 
-            # 获取在线设备信息
+            # 获取在线设备信息（用于初始渲染）
             ros_node_info = get_ros_node_info()
-            # 获取主机节点信息
+            # 获取主机节点信息（用于初始渲染）
             host_node_info = get_host_node_info()
-            # 获取Registry路径信息
+            # 获取Registry路径信息（静态信息，不需要实时更新）
             registry_info = get_registry_info()
 
-            # 获取已加载的设备
+            # 获取初始数据用于页面渲染（后续将被WebSocket数据覆盖）
             if lab_registry:
-                devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
+                devices = json.loads(
+                    json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder)
+                )
                 # 资源类型
                 for resource_id, resource_info in lab_registry.resource_type_registry.items():
                     resources.append(
@@ -103,7 +105,7 @@ def setup_web_pages(router: APIRouter) -> None:
                         }
                     )
 
-            # 获取导入的模块
+            # 获取导入的模块（初始数据）
             if msg_converter_manager:
                 modules["names"] = msg_converter_manager.list_modules()
                 all_classes = [i for i in msg_converter_manager.list_classes() if "." in i]
@@ -171,3 +173,20 @@ def setup_web_pages(router: APIRouter) -> None:
         except Exception as e:
             error(f"打开文件夹时出错: {str(e)}")
             return {"status": "error", "message": f"Failed to open folder: {str(e)}"}
+
+    @router.get("/registry-editor", response_class=HTMLResponse, summary="Registry Editor")
+    async def registry_editor_page() -> str:
+        """
+        注册表编辑页面，用于导入Python文件并生成注册表
+
+        Returns:
+            HTMLResponse: 渲染后的HTML页面
+        """
+        try:
+            # 使用模板渲染页面
+            template = env.get_template("registry_editor.html")
+            html = template.render()
+            return html
+        except Exception as e:
+            error(f"生成注册表编辑页面时出错: {str(e)}")
+            raise HTTPException(status_code=500, detail=f"Error generating registry editor page: {str(e)}")

unilabos/app/web/templates/base.html

@@ -162,7 +162,6 @@
 <body>
     <h1>{% block header %}UniLab{% endblock %}</h1>
     {% block nav %}
-    <a href="/unilabos/webtic" class="home-link">Home</a>
     {% endblock %}
 
     {% block top_info %}{% endblock %}

unilabos/app/web/templates/home.html

@@ -1,22 +1,25 @@
-{% extends "base.html" %}
+{% extends "base.html" %} {% block title %}UniLab API{% endblock %} {% block
-
+header %}UniLab API{% endblock %} {% block nav %}
-{% block title %}UniLab API{% endblock %}
+<div class="nav-tabs">
-
+  <a
-{% block header %}UniLab API{% endblock %}
+    href="/"
-
+    class="nav-tab"
-{% block nav %}
+    style="background-color: #2196f3; color: white"
-<a href="/status" class="status-link">System Status</a>
+    target="_blank"
-{% endblock %}
+    >主页</a
-
+  >
-{% block content %}
+  <a href="/status" class="nav-tab">状态</a>
-<div class="card">
+  <a href="/registry-editor" class="nav-tab" target="_blank">注册表编辑</a>
-    <h2>Available Endpoints</h2>
-    {% for route in routes %}
-    <div class="endpoint">
-        <span class="method">{{ route.method }}</span>
-        <a href="{{ route.path }}">{{ route.path }}</a>
-        <p>{{ route.summary }}</p>
-    </div>
-    {% endfor %}
 </div>
-{% endblock %} 
+{% endblock %} {% block content %}
+<div class="card">
+  <h2>Available Endpoints</h2>
+  {% for route in routes %}
+  <div class="endpoint">
+    <span class="method">{{ route.method }}</span>
+    <a href="{{ route.path }}">{{ route.path }}</a>
+    <p>{{ route.summary }}</p>
+  </div>
+  {% endfor %}
+</div>
+{% endblock %}

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -336,7 +336,7 @@ separator.homemade:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -350,12 +350,12 @@ separator.homemade:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -372,7 +372,7 @@ separator.homemade:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel

unilabos/registry/devices/robot_gripper.yaml

@@ -533,7 +533,7 @@ gripper.mock:
                   required:
                   - position
                   - max_effort
-                  title: GripperCommand
+                  title: command
                   type: object
               required:
               - command

unilabos/registry/devices/robot_linear_motion.yaml

@@ -139,12 +139,12 @@ linear_motion.grbl:
                           required:
                           - sec
                           - nanosec
-                          title: Time
+                          title: stamp
                           type: object
                       required:
                       - stamp
                       - frame_id
-                      title: Header
+                      title: header
                       type: object
                     pose:
                       properties:
@@ -163,7 +163,7 @@ linear_motion.grbl:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -177,17 +177,17 @@ linear_motion.grbl:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                   required:
                   - header
                   - pose
-                  title: PoseStamped
+                  title: current_pose
                   type: object
                 distance_remaining:
                   type: number
@@ -204,7 +204,7 @@ linear_motion.grbl:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: estimated_time_remaining
                   type: object
                 navigation_time:
                   properties:
@@ -219,7 +219,7 @@ linear_motion.grbl:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: navigation_time
                   type: object
                 number_of_poses_remaining:
                   maximum: 32767
@@ -262,12 +262,12 @@ linear_motion.grbl:
                             required:
                             - sec
                             - nanosec
-                            title: Time
+                            title: stamp
                             type: object
                         required:
                         - stamp
                         - frame_id
-                        title: Header
+                        title: header
                         type: object
                       pose:
                         properties:
@@ -286,7 +286,7 @@ linear_motion.grbl:
                             - y
                             - z
                             - w
-                            title: Quaternion
+                            title: orientation
                             type: object
                           position:
                             properties:
@@ -300,17 +300,17 @@ linear_motion.grbl:
                             - x
                             - y
                             - z
-                            title: Point
+                            title: position
                             type: object
                         required:
                         - position
                         - orientation
-                        title: Pose
+                        title: pose
                         type: object
                     required:
                     - header
                     - pose
-                    title: PoseStamped
+                    title: poses
                     type: object
                   type: array
               required:
@@ -323,7 +323,7 @@ linear_motion.grbl:
                 result:
                   properties: {}
                   required: []
-                  title: Empty
+                  title: result
                   type: object
               required:
               - result
@@ -371,12 +371,12 @@ linear_motion.grbl:
                       required:
                       - sec
                       - nanosec
-                      title: Time
+                      title: stamp
                       type: object
                   required:
                   - stamp
                   - frame_id
-                  title: Header
+                  title: header
                   type: object
                 position:
                   type: number
@@ -406,7 +406,7 @@ linear_motion.grbl:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: min_duration
                   type: object
                 position:
                   type: number

unilabos/registry/devices/temperature.yaml

@@ -362,7 +362,7 @@ heaterstirrer.dalong:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -376,12 +376,12 @@ heaterstirrer.dalong:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -398,7 +398,7 @@ heaterstirrer.dalong:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel

unilabos/registry/devices/virtual_device.yaml

@@ -145,7 +145,7 @@ virtual_centrifuge:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -159,12 +159,12 @@ virtual_centrifuge:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -181,7 +181,7 @@ virtual_centrifuge:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -446,7 +446,7 @@ virtual_column:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -460,12 +460,12 @@ virtual_column:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -482,7 +482,7 @@ virtual_column:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: from_vessel
                   type: object
                 pct1:
                   type: string
@@ -531,7 +531,7 @@ virtual_column:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -545,12 +545,12 @@ virtual_column:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -567,7 +567,7 @@ virtual_column:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: to_vessel
                   type: object
               required:
               - from_vessel
@@ -850,7 +850,7 @@ virtual_filter:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -864,12 +864,12 @@ virtual_filter:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -886,7 +886,7 @@ virtual_filter:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: filtrate_vessel
                   type: object
                 stir:
                   type: boolean
@@ -929,7 +929,7 @@ virtual_filter:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -943,12 +943,12 @@ virtual_filter:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -965,7 +965,7 @@ virtual_filter:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
                 volume:
                   type: number
@@ -1071,8 +1071,8 @@ virtual_filter:
       - status
       - progress
       - current_temp
-      - filtered_volume
       - current_status
+      - filtered_volume
       - message
       - max_temp
       - max_stir_speed
@@ -1455,7 +1455,7 @@ virtual_heatchill:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -1469,12 +1469,12 @@ virtual_heatchill:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -1491,7 +1491,7 @@ virtual_heatchill:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -1610,7 +1610,7 @@ virtual_heatchill:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -1624,12 +1624,12 @@ virtual_heatchill:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -1646,7 +1646,7 @@ virtual_heatchill:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -1747,7 +1747,7 @@ virtual_heatchill:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -1761,12 +1761,12 @@ virtual_heatchill:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -1783,7 +1783,7 @@ virtual_heatchill:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -2397,7 +2397,7 @@ virtual_rotavap:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: time_remaining
                   type: object
                 time_spent:
                   properties:
@@ -2412,7 +2412,7 @@ virtual_rotavap:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: time_spent
                   type: object
               required:
               - status
@@ -2468,7 +2468,7 @@ virtual_rotavap:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -2482,12 +2482,12 @@ virtual_rotavap:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -2504,7 +2504,7 @@ virtual_rotavap:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -2889,7 +2889,7 @@ virtual_separator:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -2903,12 +2903,12 @@ virtual_separator:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -2925,7 +2925,7 @@ virtual_separator:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: from_vessel
                   type: object
                 product_phase:
                   type: string
@@ -2964,7 +2964,7 @@ virtual_separator:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -2978,12 +2978,12 @@ virtual_separator:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3000,7 +3000,7 @@ virtual_separator:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: product_vessel
                   type: object
                 purpose:
                   type: string
@@ -3043,7 +3043,7 @@ virtual_separator:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -3057,12 +3057,12 @@ virtual_separator:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3079,7 +3079,7 @@ virtual_separator:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: separation_vessel
                   type: object
                 settling_time:
                   type: number
@@ -3128,7 +3128,7 @@ virtual_separator:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -3142,12 +3142,12 @@ virtual_separator:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3164,7 +3164,7 @@ virtual_separator:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: to_vessel
                   type: object
                 vessel:
                   properties:
@@ -3201,7 +3201,7 @@ virtual_separator:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -3215,12 +3215,12 @@ virtual_separator:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3237,7 +3237,7 @@ virtual_separator:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
                 volume:
                   type: string
@@ -3276,7 +3276,7 @@ virtual_separator:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -3290,12 +3290,12 @@ virtual_separator:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3312,7 +3312,7 @@ virtual_separator:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: waste_phase_to_vessel
                   type: object
                 waste_vessel:
                   properties:
@@ -3349,7 +3349,7 @@ virtual_separator:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -3363,12 +3363,12 @@ virtual_separator:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3385,7 +3385,7 @@ virtual_separator:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: waste_vessel
                   type: object
               required:
               - vessel
@@ -3951,7 +3951,7 @@ virtual_solid_dispenser:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -3965,12 +3965,12 @@ virtual_solid_dispenser:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3987,7 +3987,7 @@ virtual_solid_dispenser:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
                 viscous:
                   type: boolean
@@ -4332,7 +4332,7 @@ virtual_stirrer:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -4346,12 +4346,12 @@ virtual_stirrer:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -4368,7 +4368,7 @@ virtual_stirrer:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -4492,7 +4492,7 @@ virtual_stirrer:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -4506,12 +4506,12 @@ virtual_stirrer:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -4528,7 +4528,7 @@ virtual_stirrer:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -4639,7 +4639,7 @@ virtual_stirrer:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -4653,12 +4653,12 @@ virtual_stirrer:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -4675,7 +4675,7 @@ virtual_stirrer:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -4704,6 +4704,7 @@ virtual_stirrer:
     status_types:
       current_speed: float
       current_vessel: str
+      device_info: dict
       is_stirring: bool
       max_speed: float
       min_speed: float
@@ -4738,6 +4739,8 @@ virtual_stirrer:
           type: number
         current_vessel:
           type: string
+        device_info:
+          type: object
         is_stirring:
           type: boolean
         max_speed:
@@ -4759,6 +4762,7 @@ virtual_stirrer:
       - remaining_time
       - max_speed
       - min_speed
+      - device_info
       type: object
   version: 1.0.0
 virtual_transfer_pump:

unilabos/registry/registry.py

@@ -24,12 +24,11 @@ DEFAULT_PATHS = [Path(__file__).absolute().parent]
 class Registry:
     def __init__(self, registry_paths=None):
         import ctypes
+
         try:
             import unilabos_msgs
         except ImportError:
-            logger.error(
+            logger.error("[UniLab Registry] unilabos_msgs模块未找到，请确保已根据官方文档安装unilabos_msgs包。")
-                "[UniLab Registry] unilabos_msgs模块未找到，请确保已根据官方文档安装unilabos_msgs包。"
-            )
             sys.exit(1)
         try:
             ctypes.CDLL(str(Path(unilabos_msgs.__file__).parent / "unilabos_msgs_s__rosidl_typesupport_c.pyd"))
@@ -219,7 +218,7 @@ class Registry:
                         yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
 
                 self.resource_type_registry.update(data)
-                logger.trace(
+                logger.trace(  # type: ignore
                     f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
                     + f"Add {list(data.keys())}"
                 )
@@ -406,7 +405,7 @@ class Registry:
         devices_path = abs_path / "devices"
         device_comms_path = abs_path / "device_comms"
         files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
-        logger.trace(
+        logger.trace(  # type: ignore
             f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
             + f"total: {len(files)}"
         )
@@ -577,7 +576,7 @@ class Registry:
                             }
                     device_config["file_path"] = str(file.absolute()).replace("\\", "/")
                     device_config["registry_type"] = "device"
-                    logger.trace(
+                    logger.trace(  # type: ignore
                         f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
                         + f"[{data[device_id].get('name', '未命名设备')}]"
                     )

unilabos/registry/resources/organic/workstation.yaml

@@ -1,12 +1,12 @@
-get_workstation_plate_resource:
+#get_workstation_plate_resource:
-  category:
+#  category:
-  - workstation
+#  - workstation
-  class:
+#  class:
-    module: unilabos.ros.nodes.presets.workstation:get_workstation_plate_resource
+#    module: unilabos.devices.workstation.workstation_base:get_workstation_plate_resource
-    type: pylabrobot
+#    type: pylabrobot
-  description: workstation example resource
+#  description: workstation example resource
-  handles: []
+#  handles: []
-  icon: ''
+#  icon: ''
-  init_param_schema: {}
+#  init_param_schema: {}
-  registry_type: resource
+#  registry_type: resource
-  version: 1.0.0
+#  version: 1.0.0

unilabos/ros/msgs/message_converter.py

@@ -510,7 +510,7 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
         Python字典
     """
     data: Dict[str, Any] = {}
-    
+
     # # 🔧 添加调试信息
     # print(f"🔍 convert_from_ros_msg_with_mapping 开始")
     # print(f"🔍 ros_msg 类型: {type(ros_msg)}")
@@ -519,14 +519,14 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
     # print("-" * 60)
 
     for msg_name, attr_name in value_mapping.items():
-    #    print(f"🔍 处理映射: {msg_name} -> {attr_name}")
+        #    print(f"🔍 处理映射: {msg_name} -> {attr_name}")
-        
+
         msg_path = msg_name.split(".")
         current = ros_msg
-        
+
         # print(f"🔍 msg_path: {msg_path}")
         # print(f"🔍 current 初始值: {current} (类型: {type(current)})")
-        
+
         try:
             if not attr_name.endswith("[]"):
                 # 处理单值映射
@@ -539,7 +539,7 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
                     else:
                         # print(f"❌ 属性 '{name}' 不存在于 {type(current)}")
                         break
-                
+
                 converted_value = convert_from_ros_msg(current)
                 # print(f"🔍 转换后的值: {converted_value} (类型: {type(converted_value)})")
                 data[attr_name] = converted_value
@@ -587,13 +587,13 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
             # print(f"❌ 映射转换错误 {msg_name} -> {attr_name}: {e}")
             logger.debug(f"Mapping conversion error for {msg_name} -> {attr_name}")
             continue
-        
+
     #    print(f"🔍 当前 data 状态: {data}")
     #    print("-" * 40)
 
-    #print(f"🔍 convert_from_ros_msg_with_mapping 结束")
+    # print(f"🔍 convert_from_ros_msg_with_mapping 结束")
-    #print(f"🔍 最终 data: {data}")
+    # print(f"🔍 最终 data: {data}")
-    #print("=" * 60)
+    # print("=" * 60)
     return data
 
 
@@ -648,25 +648,28 @@ basic_type_map = {
 }
 
 
-def ros_field_type_to_json_schema(type_info: Type | str, slot_type: str = None) -> Dict[str, Any]:
+def ros_field_type_to_json_schema(
+    type_info: Type | str, field_name: str
+) -> Dict[str, Any]:
     """
     将 ROS 字段类型转换为 JSON Schema 类型定义
 
     Args:
         type_info: ROS 类型
         slot_type: ROS 类型
+        field_name: 字段名，用于设置复杂类型的title
 
     Returns:
         对应的 JSON Schema 类型定义
     """
     if isinstance(type_info, UnboundedSequence):
-        return {"type": "array", "items": ros_field_type_to_json_schema(type_info.value_type)}
+        return {"type": "array", "items": ros_field_type_to_json_schema(type_info.value_type, field_name)}  # type: ignore
     if isinstance(type_info, NamespacedType):
         cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
         type_class = msg_converter_manager.get_class(cls_name)
-        return ros_field_type_to_json_schema(type_class)
+        return ros_field_type_to_json_schema(type_class, field_name)
     elif isinstance(type_info, BasicType):
-        return ros_field_type_to_json_schema(type_info.typename)
+        return ros_field_type_to_json_schema(type_info.typename, field_name)
     elif isinstance(type_info, UnboundedString):
         return basic_type_map["string"]
     elif isinstance(type_info, str):
@@ -683,8 +686,9 @@ def ros_field_type_to_json_schema(type_info: Type | str, slot_type: str = None)
                 },
                 "required": ["sec", "nanosec"],
             }
+        return {}
     else:
-        return ros_message_to_json_schema(type_info)
+        return ros_message_to_json_schema(type_info, field_name)
     # # 处理数组类型
     # if field_type.endswith('[]'):
     #     item_type = field_type[:-2]
@@ -708,28 +712,28 @@ def ros_field_type_to_json_schema(type_info: Type | str, slot_type: str = None)
     # return {'type': 'object', 'description': f'未知类型: {field_type}'}
 
 
-def ros_message_to_json_schema(msg_class: Any) -> Dict[str, Any]:
+def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any]:
     """
     将 ROS 消息类转换为 JSON Schema
 
     Args:
         msg_class: ROS 消息类
+        field_name: 字段名，用于设置schema的title，如果为None则使用类名
 
     Returns:
         对应的 JSON Schema 定义
     """
     schema = {"type": "object", "properties": {}, "required": []}
 
-    # 获取类名作为标题
+    # 优先使用字段名作为标题，否则使用类名
-    if hasattr(msg_class, "__name__"):
+    schema["title"] = field_name
-        schema["title"] = msg_class.__name__
 
     # 获取消息的字段和字段类型
     try:
         for ind, slot_info in enumerate(msg_class._fields_and_field_types.items()):
             slot_name, slot_type = slot_info
             type_info = msg_class.SLOT_TYPES[ind]
-            field_schema = ros_field_type_to_json_schema(type_info, slot_type)
+            field_schema = ros_field_type_to_json_schema(type_info, slot_name)
             schema["properties"][slot_name] = field_schema
             schema["required"].append(slot_name)
         # if hasattr(msg_class, 'get_fields_and_field_types'):
@@ -788,15 +792,15 @@ def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, An
         "properties": {
             "goal": {
                 # 'description': 'Action 目标 - 从客户端发送到服务器',
-                **ros_message_to_json_schema(action_class.Goal)
+                **ros_message_to_json_schema(action_class.Goal, action_class.Goal.__name__)
             },
             "feedback": {
                 # 'description': 'Action 反馈 - 执行过程中从服务器发送到客户端',
-                **ros_message_to_json_schema(action_class.Feedback)
+                **ros_message_to_json_schema(action_class.Feedback, action_class.Feedback.__name__)
             },
             "result": {
                 # 'description': 'Action 结果 - 完成后从服务器发送到客户端',
-                **ros_message_to_json_schema(action_class.Result)
+                **ros_message_to_json_schema(action_class.Result, action_class.Result.__name__)
             },
         },
         "required": ["goal"],