Merge branch 'main' into dev

# Conflicts:
#	.conda/recipe.yaml
#	.github/workflows/conda-pack-build.yml
#	recipes/msgs/recipe.yaml
#	recipes/unilabos/recipe.yaml
#	scripts/verify_installation.py
#	setup.py
#	unilabos/app/main.py
#	unilabos/app/mq.py
#	unilabos/app/register.py
#	unilabos/compile/heatchill_protocol.py
#	unilabos/compile/separate_protocol.py
#	unilabos/config/config.py
#	unilabos/devices/pump_and_valve/runze_backbone.py
#	unilabos/devices/pump_and_valve/runze_multiple_backbone.py
#	unilabos/registry/devices/characterization_chromatic.yaml
#	unilabos/registry/devices/liquid_handler.yaml
#	unilabos/registry/devices/pump_and_valve.yaml
#	unilabos/registry/devices/robot_arm.yaml
#	unilabos/registry/devices/robot_linear_motion.yaml
#	unilabos/registry/devices/work_station.yaml
#	unilabos/registry/registry.py
#	unilabos/registry/resources/organic/workstation.yaml
#	unilabos/resources/plr_additional_res_reg.py
#	unilabos/ros/nodes/base_device_node.py
#	unilabos/ros/nodes/presets/host_node.py
#	unilabos/ros/nodes/presets/workstation.py
#	unilabos/ros/nodes/resource_tracker.py
#	unilabos/utils/environment_check.py
#	unilabos_msgs/package.xml

.github/workflows/deploy-docs.yml

@@ -0,0 +1,98 @@
+name: Deploy Docs
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: '要部署文档的分支'
+        required: false
+        default: 'main'
+        type: string
+      deploy_to_pages:
+        description: '是否部署到 GitHub Pages'
+        required: false
+        default: true
+        type: boolean
+
+# 设置 GITHUB_TOKEN 权限以部署到 GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+# 只允许一个并发部署，跳过正在进行和最新排队之间的运行
+# 但是不取消正在进行的运行，因为我们希望允许这些生产部署完成
+concurrency:
+  group: 'pages'
+  cancel-in-progress: false
+
+jobs:
+  # Build documentation
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.inputs.branch || github.ref }}
+
+      - name: Setup Python environment
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+
+      - name: Install system dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y pandoc
+
+      - name: Install Python dependencies
+        run: |
+          python -m pip install --upgrade pip
+          # Install package in development mode to get version info
+          pip install -e .
+          # Install documentation dependencies
+          pip install -r docs/requirements.txt
+
+      - name: Setup Pages
+        id: pages
+        uses: actions/configure-pages@v4
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+
+      - name: Build Sphinx documentation
+        run: |
+          cd docs
+          # Clean previous builds
+          rm -rf _build
+          # Build HTML documentation
+          python -m sphinx -b html . _build/html -v
+
+      - name: Check build results
+        run: |
+          echo "Documentation build completed, checking output directory:"
+          ls -la docs/_build/html/
+          echo "Checking for index.html:"
+          test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
+
+      - name: Upload build artifacts
+        uses: actions/upload-pages-artifact@v3
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+        with:
+          path: docs/_build/html
+
+  # Deploy to GitHub Pages
+  deploy:
+    if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    runs-on: ubuntu-latest
+    needs: build
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4

README.md

@@ -31,7 +31,7 @@ Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.d
 
 Detailed documentation can be found at:
 
-- [Online Documentation](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
+- [Online Documentation](https://dptech-corp.github.io/Uni-Lab-OS/)
 
 ## Quick Start
 
@@ -55,7 +55,7 @@ pip install .
 
 3. Start Uni-Lab System:
 
-Please refer to [Documentation - Boot Examples](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
+Please refer to [Documentation - Boot Examples](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
 
 ## Message Format
 

README_zh.md

@@ -31,7 +31,7 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
 
 详细文档可在以下位置找到:
 
-- [在线文档](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
+- [在线文档](https://dptech-corp.github.io/Uni-Lab-OS/)
 
 ## 快速开始
 
@@ -57,7 +57,7 @@ pip install .
 
 3. 启动 Uni-Lab 系统:
 
-请见[文档-启动样例](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
+请见[文档-启动样例](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
 
 ## 消息格式
 

docs/requirements.txt

@@ -0,0 +1,13 @@
+# Sphinx文档构建依赖
+sphinx>=7.0.0
+sphinx-rtd-theme>=2.0.0
+myst-parser>=2.0.0
+
+# 用于支持Jupyter notebook文档
+myst-nb>=1.0.0
+
+# 用于代码复制按钮
+sphinx-copybutton>=0.5.0
+
+# 用于自动摘要生成
+sphinx-autobuild>=2024.2.4

unilabos/registry/devices/virtual_device.yaml

@@ -4741,7 +4741,6 @@ virtual_stirrer:
     status_types:
       current_speed: float
       current_vessel: str
-      device_info: dict
       is_stirring: bool
       max_speed: float
       min_speed: float
@@ -4776,8 +4775,6 @@ virtual_stirrer:
           type: number
         current_vessel:
           type: string
-        device_info:
-          type: object
         is_stirring:
           type: boolean
         max_speed:
@@ -4799,7 +4796,6 @@ virtual_stirrer:
       - remaining_time
       - max_speed
       - min_speed
-      - device_info
       type: object
   version: 1.0.0
 virtual_transfer_pump:

unilabos/ros/nodes/presets/workstation.py

@@ -1,8 +1,13 @@
 import json
 import time
 import traceback
+<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
 from pprint import pformat
 from typing import List, Dict, Any, Optional, TYPE_CHECKING
+========
+from pprint import pprint, saferepr, pformat
+from typing import Union
+>>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
 
 import rclpy
 from rosidl_runtime_py import message_to_ordereddict
@@ -193,8 +198,13 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
             execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
             callback_group=ReentrantCallbackGroup(),
         )
+<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
         self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
         return
+========
+
+        self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
+>>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
 
     def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
         async def execute_protocol(goal_handle: ServerGoalHandle):
@@ -245,10 +255,15 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                         logs.append(step)
                     elif isinstance(step, list):
                         logs.append(step)
+<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
                 self.lab_logger().info(
                     f"Goal received: {protocol_kwargs}, running steps: "
                     f"{json.dumps(logs, indent=4, ensure_ascii=False)}"
                 )
+========
+                self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: "
+                                       f"{json.dumps(logs, indent=4, ensure_ascii=False)}")
+>>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
 
                 time_start = time.time()
                 time_overall = 100
@@ -263,6 +278,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                             time.sleep(action["action_kwargs"]["time"])
                             step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
                         else:
+<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
                             try:
                                 result = await self.execute_single_action(**action)
                                 step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
@@ -273,6 +289,13 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                                 step_results.append(
                                     {"step": i + 1, "action": action["action_name"], "result": ex.args[0]}
                                 )
+========
+                            result = await self.execute_single_action(**action)
+                            step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
+                            ret_info = json.loads(getattr(result, "return_info", "{}"))
+                            if not ret_info.get("suc", False):
+                                raise RuntimeError(f"Step {i + 1} failed.")
+>>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
                     elif isinstance(action, list):
                         # 如果是并行动作，同时执行
                         actions = action
@@ -310,6 +333,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
 
             except Exception as e:
                 # 捕获并记录错误信息
+<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
                 str_step_results = [
                     {
                         k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v
@@ -317,6 +341,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                     }
                     for i in step_results
                 ]
+========
+                str_step_results = [{k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v for k, v in i.items()} for i in step_results]
+>>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
                 execution_error = f"{traceback.format_exc()}\n\nStep Result: {pformat(str_step_results)}"
                 execution_success = False
                 self.lab_logger().error(f"协议 {protocol_name} 执行出错: {str(e)} \n{traceback.format_exc()}")