支持local_config启动 添加注册表description字段 (#13)

Closes #11

* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>

unilabos/app/web/pages.py

@@ -0,0 +1,184 @@
+"""
+Web页面模块
+
+提供系统Web界面的页面定义
+"""
+
+import json
+import os
+import sys
+from pathlib import Path
+from typing import Dict
+
+from fastapi import APIRouter, HTTPException
+from fastapi.responses import HTMLResponse, JSONResponse
+from jinja2 import Environment, FileSystemLoader
+
+from unilabos.config.config import BasicConfig
+from unilabos.registry.registry import lab_registry
+from unilabos.app.mq import mqtt_client
+from unilabos.ros.msgs.message_converter import msg_converter_manager
+from unilabos.utils.log import error
+from unilabos.utils.type_check import TypeEncoder
+from unilabos.app.web.utils.device_utils import get_registry_info
+from unilabos.app.web.utils.host_utils import get_host_node_info
+from unilabos.app.web.utils.ros_utils import get_ros_node_info, update_ros_node_info
+
+# 设置Jinja2模板环境
+template_dir = Path(__file__).parent / "templates"
+env = Environment(loader=FileSystemLoader(template_dir))
+
+
+def setup_web_pages(router: APIRouter) -> None:
+    """
+    设置Web页面路由
+
+    Args:
+        router: FastAPI路由器实例
+    """
+    # 在web服务启动时，尝试初始化ROS节点信息
+    update_ros_node_info()
+
+    @router.get("/", response_class=HTMLResponse, summary="Home Page")
+    async def home_page() -> str:
+        """
+        首页，显示所有可用的API路由
+
+        Returns:
+            HTMLResponse: 渲染后的HTML页面
+        """
+        try:
+            # 收集所有路由
+            routes = []
+            for route in router.routes:
+                if hasattr(route, "methods") and hasattr(route, "path"):
+                    for method in list(getattr(route, "methods", [])):
+                        path = getattr(route, "path", "")
+                        # 只显示GET方法的路由作为链接
+                        if method == "GET":
+                            name = getattr(route, "name", "") or path
+                            summary = getattr(route, "summary", "") or name
+                            routes.append({"method": method, "path": path, "name": name, "summary": summary})
+
+            # 使用模板渲染页面
+            template = env.get_template("home.html")
+            html = template.render(routes=routes)
+
+            return html
+        except Exception as e:
+            error(f"生成主页时出错: {str(e)}")
+            raise HTTPException(status_code=500, detail=f"Error generating home page: {str(e)}")
+
+    @router.get("/status", response_class=HTMLResponse, summary="System Status")
+    async def status_page() -> str:
+        """
+        状态页面，显示系统状态信息
+
+        Returns:
+            HTMLResponse: 渲染后的HTML页面
+        """
+        try:
+            # 准备设备数据
+            devices = []
+            resources = []
+            modules = {"names": [], "classes": [], "displayed_count": 0, "total_count": 0}
+
+            # 获取在线设备信息
+            ros_node_info = get_ros_node_info()
+            # 获取主机节点信息
+            host_node_info = get_host_node_info()
+            # 获取Registry路径信息
+            registry_info = get_registry_info()
+
+            # 获取已加载的设备
+            if lab_registry:
+                # 设备类型
+                for device_id, device_info in lab_registry.device_type_registry.items():
+                    msg = {
+                            "id": device_id,
+                            "name": device_info.get("name", "未命名"),
+                            "file_path": device_info.get("file_path", ""),
+                            "class_json": json.dumps(
+                                device_info.get("class", {}), indent=4, ensure_ascii=False, cls=TypeEncoder
+                            ),
+                        }
+                    mqtt_client.publish_registry(device_id, device_info)
+                    devices.append(msg)
+
+                # 资源类型
+                for resource_id, resource_info in lab_registry.resource_type_registry.items():
+                    resources.append(
+                        {
+                            "id": resource_id,
+                            "name": resource_info.get("name", "未命名"),
+                            "file_path": resource_info.get("file_path", ""),
+                        }
+                    )
+
+            # 获取导入的模块
+            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]
+                modules["total_count"] = len(all_classes)
+                modules["classes"] = all_classes
+
+            # 使用模板渲染页面
+            template = env.get_template("status.html")
+            html = template.render(
+                devices=devices,
+                resources=resources,
+                modules=modules,
+                is_host_mode=BasicConfig.is_host_mode,
+                registry_info=registry_info,
+                ros_node_info=ros_node_info,
+                host_node_info=host_node_info,
+            )
+
+            return html
+        except Exception as e:
+            error(f"生成状态页面时出错: {str(e)}")
+            raise HTTPException(status_code=500, detail=f"Error generating status page: {str(e)}")
+
+    @router.get("/open-folder", response_class=JSONResponse, summary="Open Local Folder")
+    async def open_folder(path: str = "") -> Dict[str, str]:
+        """
+        打开本地文件夹
+
+        Args:
+            path: 要打开的文件夹路径
+
+        Returns:
+            JSONResponse: 操作结果
+
+        Raises:
+            HTTPException: 如果路径为空或不存在
+        """
+        if not path:
+            return {"status": "error", "message": "Path is empty"}
+
+        try:
+            # 规范化路径
+            norm_path = os.path.normpath(path)
+
+            # 如果是文件路径，获取其目录
+            if os.path.isfile(norm_path):
+                norm_path = os.path.dirname(norm_path)
+
+            # 检查路径是否存在
+            if not os.path.exists(norm_path):
+                return {"status": "error", "message": f"Path does not exist: {norm_path}"}
+
+            # Windows
+            if os.name == "nt":
+                os.startfile(norm_path)
+            # macOS
+            elif sys.platform == "darwin":
+                os.system(f'open "{norm_path}"')
+            # Linux
+            else:
+                os.system(f'xdg-open "{norm_path}"')
+
+            return {"status": "success", "message": f"Opened folder: {norm_path}"}
+        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)}"}