注册表自动补全 & Action自动注册 (#57)

* add biomek.py demo implementation

* 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。

* Test

* fix biomek success type

* Convert LH action to biomek.

* Update biomek.py

* 注册表上报handle和schema (param input)

* 修复biomek缺少的字段

* delete 's'

* Remove warnings

* Update biomek.py

* Biomek test

* Update biomek.py

* 新增transfer_biomek的msg

* New transfer_biomek

* Updated transfer_biomek

* 更新transfer_biomek的msg

* 更新transfer_biomek的msg

* 支持Biomek创建

* new action

* fix key name typo

* New parameter for biomek to run.

* Refine

* Update

* new actions

* new actions

* 1

* registry

* fix biomek startup
add action handles

* fix handles not as default entry

* biomek_test.py

biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json

* Update biomek.py

* biomek_test.py

* fix liquid_handler.biomek handles

* host node新增resource add时间统计
create_resource新增handle
bump version to 0.9.2

* 修正物料上传时间
改用biomek_test
增加ResultInfoEncoder
支持返回结果上传

* 正确发送return_info结果

* 同步执行状态信息

* 取消raiseValueError提示

* Update biomek_test.py

* 0608 DONE

* 同步了Biomek.py 现在应可用

* biomek switch back to non-test

* temp disable initialize resource

* 37-biomek-i5i7 (#40)

* add biomek.py demo implementation

* 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。

* Test

* fix biomek success type

* Convert LH action to biomek.

* Update biomek.py

* 注册表上报handle和schema (param input)

* 修复biomek缺少的字段

* delete 's'

* Remove warnings

* Update biomek.py

* Biomek test

* Update biomek.py

* 新增transfer_biomek的msg

* New transfer_biomek

* Updated transfer_biomek

* 更新transfer_biomek的msg

* 更新transfer_biomek的msg

* 支持Biomek创建

* new action

* fix key name typo

* New parameter for biomek to run.

* Refine

* Update

* new actions

* new actions

* 1

* registry

* fix biomek startup
add action handles

* fix handles not as default entry

* biomek_test.py

biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json

* Update biomek.py

* biomek_test.py

* fix liquid_handler.biomek handles

* host node新增resource add时间统计
create_resource新增handle
bump version to 0.9.2

* 修正物料上传时间
改用biomek_test
增加ResultInfoEncoder
支持返回结果上传

* 正确发送return_info结果

* 同步执行状态信息

* 取消raiseValueError提示

* Update biomek_test.py

* 0608 DONE

* 同步了Biomek.py 现在应可用

* biomek switch back to non-test

* temp disable initialize resource

* Refine biomek

* Refine copy issue

* Refine

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: qxw138 <qxw@stu.pku.edu.cn>

* Device visualization (#39)

* 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

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

* 提取lh的joint发布

* unify liquid_handler definition

* 修改物料跟随与物料添加逻辑

修改物料跟随与物料添加逻辑
将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写

* Revert "修改物料跟随与物料添加逻辑"

This reverts commit 498c997ad7.

* Reapply "修改物料跟随与物料添加逻辑"

This reverts commit 3a60d2ae81.

* Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization"

This reverts commit fa727220af, reversing
changes made to 498c997ad7.

* 修改物料放下时的方法，如果选择

修改物料放下时的方法，
如果选择drop_trash，则删除物料显示
如果选择drop，则让其解除连接

* add biomek.py demo implementation

* 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。

* Test

* fix biomek success type

* Convert LH action to biomek.

* Update biomek.py

* 注册表上报handle和schema (param input)

* 修复biomek缺少的字段

* delete 's'

* Remove warnings

* Update biomek.py

* Biomek test

* Update biomek.py

* 新增transfer_biomek的msg

* New transfer_biomek

* Updated transfer_biomek

* 更新transfer_biomek的msg

* 更新transfer_biomek的msg

* 支持Biomek创建

* new action

* fix key name typo

* New parameter for biomek to run.

* Refine

* Update

* new actions

* new actions

* 1

* registry

* fix biomek startup
add action handles

* fix handles not as default entry

* unilab添加moveit启动

1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动

* biomek_test.py

biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json

* Update biomek.py

* biomek_test.py

* fix liquid_handler.biomek handles

* 修改物体attach时，多次赋值当前时间导致卡顿问题，

* Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 56d45b94f5.

* Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 07d9db20c3.

* 添加缺少物料："plate_well_G12",

* host node新增resource add时间统计
create_resource新增handle
bump version to 0.9.2

* 修正物料上传时间
改用biomek_test
增加ResultInfoEncoder
支持返回结果上传

* 正确发送return_info结果

* 同步执行状态信息

* 取消raiseValueError提示

* Update biomek_test.py

* 0608 DONE

* 同步了Biomek.py 现在应可用

* biomek switch back to non-test

* temp disable initialize resource

* add

* fix tip resource data

* liquid states

* change to debug level

* Revert "change to debug level"

This reverts commit 5d9953c3e5.

* Reapply "change to debug level"

This reverts commit 2487bb6ffc.

* fix tip resource data

* add full device

* add moveit yaml

* 修复moveit
增加post_init阶段，给予ros_node反向

* remove necessary node

* fix moveit action client

* remove necessary imports

* Update moveit_interface.py

* fix handler_key uppercase

* json add liquids

* fix setup

* add

* change to "sources" and "targets" for lh

* bump version

* remove parent's parent link

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: qxw138 <qxw@stu.pku.edu.cn>

* Device visualization (#41)

* 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

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

* 提取lh的joint发布

* unify liquid_handler definition

* 修改物料跟随与物料添加逻辑

修改物料跟随与物料添加逻辑
将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写

* Revert "修改物料跟随与物料添加逻辑"

This reverts commit 498c997ad7.

* Reapply "修改物料跟随与物料添加逻辑"

This reverts commit 3a60d2ae81.

* Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization"

This reverts commit fa727220af, reversing
changes made to 498c997ad7.

* 修改物料放下时的方法，如果选择

修改物料放下时的方法，
如果选择drop_trash，则删除物料显示
如果选择drop，则让其解除连接

* add biomek.py demo implementation

* 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。

* Test

* fix biomek success type

* Convert LH action to biomek.

* Update biomek.py

* 注册表上报handle和schema (param input)

* 修复biomek缺少的字段

* delete 's'

* Remove warnings

* Update biomek.py

* Biomek test

* Update biomek.py

* 新增transfer_biomek的msg

* New transfer_biomek

* Updated transfer_biomek

* 更新transfer_biomek的msg

* 更新transfer_biomek的msg

* 支持Biomek创建

* new action

* fix key name typo

* New parameter for biomek to run.

* Refine

* Update

* new actions

* new actions

* 1

* registry

* fix biomek startup
add action handles

* fix handles not as default entry

* unilab添加moveit启动

1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动

* biomek_test.py

biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json

* Update biomek.py

* biomek_test.py

* fix liquid_handler.biomek handles

* 修改物体attach时，多次赋值当前时间导致卡顿问题，

* Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 56d45b94f5.

* Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 07d9db20c3.

* 添加缺少物料："plate_well_G12",

* host node新增resource add时间统计
create_resource新增handle
bump version to 0.9.2

* 修正物料上传时间
改用biomek_test
增加ResultInfoEncoder
支持返回结果上传

* 正确发送return_info结果

* 同步执行状态信息

* 取消raiseValueError提示

* Update biomek_test.py

* 0608 DONE

* 同步了Biomek.py 现在应可用

* biomek switch back to non-test

* temp disable initialize resource

* add

* fix tip resource data

* liquid states

* change to debug level

* Revert "change to debug level"

This reverts commit 5d9953c3e5.

* Reapply "change to debug level"

This reverts commit 2487bb6ffc.

* fix tip resource data

* add full device

* add moveit yaml

* 修复moveit
增加post_init阶段，给予ros_node反向

* remove necessary node

* fix moveit action client

* remove necessary imports

* Update moveit_interface.py

* fix handler_key uppercase

* json add liquids

* fix setup

* add

* change to "sources" and "targets" for lh

* bump version

* remove parent's parent link

* change arm's name

* change name

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: qxw138 <qxw@stu.pku.edu.cn>

* fix move it

* fix move it

* create_resource

* bump ver
modify slot type

* 增加modbus支持
调整protocol node以更好支持多种类型的read和write

* 调整protocol node以更好支持多种类型的read和write

* 补充日志

* Device visualization (#42)

* 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

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

* 提取lh的joint发布

* unify liquid_handler definition

* 修改物料跟随与物料添加逻辑

修改物料跟随与物料添加逻辑
将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写

* Revert "修改物料跟随与物料添加逻辑"

This reverts commit 498c997ad7.

* Reapply "修改物料跟随与物料添加逻辑"

This reverts commit 3a60d2ae81.

* Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization"

This reverts commit fa727220af, reversing
changes made to 498c997ad7.

* 修改物料放下时的方法，如果选择

修改物料放下时的方法，
如果选择drop_trash，则删除物料显示
如果选择drop，则让其解除连接

* unilab添加moveit启动

1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动

* 修改物体attach时，多次赋值当前时间导致卡顿问题，

* Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 56d45b94f5.

* Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 07d9db20c3.

* 添加缺少物料："plate_well_G12",

* add

* fix tip resource data

* liquid states

* change to debug level

* Revert "change to debug level"

This reverts commit 5d9953c3e5.

* Reapply "change to debug level"

This reverts commit 2487bb6ffc.

* fix tip resource data

* add full device

* add moveit yaml

* 修复moveit
增加post_init阶段，给予ros_node反向

* remove necessary node

* fix moveit action client

* remove necessary imports

* Update moveit_interface.py

* fix handler_key uppercase

* json add liquids

* fix setup

* add

* change to "sources" and "targets" for lh

* bump version

* remove parent's parent link

* change arm's name

* change name

* fix ik error

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>

* Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43)

* Add Device MockChiller

Add device MockChiller

* Add Device MockFilter

* Add Device MockPump

* Add Device MockRotavap

* Add Device MockSeparator

* Add Device MockStirrer

* Add Device MockHeater

* Add Device MockVacuum

* Add Device MockSolenoidValve

* Add Device Mock \_init_.py

* 规范模拟设备代码与注册表信息

* 更改Mock大写文件夹名

* 删除大写目录

* Edited Mock device json

* Match mock device with action

* Edit mock device yaml

* Add new action

* Add Virtual Device, Action, YAML, Protocol for Organic Syn

* 单独分类测试的protocol文件夹

* 更名Action

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>

* bump version & protocol fix

* hotfix: Add macos_sdk_config (#46)

Co-authored-by: quehh <scienceol@outlook.com>

* include device_mesh when pip install

* 测试自动构建

* try build fix

* try build

* test artifacts

* hotfix: Add .certs in .gitignore

* create container

* container 添加和更新完成

* Device registry port (#49)

* 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

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

* unify liquid_handler definition

* Update virtual_device.yaml

* 更正了stir和heater的连接方式

* 区分了虚拟仪器中的八通阀和电磁阀，添加了两个阀门的驱动

* 修改了add protocol

* 修复了阀门更新版的bug

* 修复了添加protocol前缀导致的不能启动的bug

* Fix handles

* bump version to 0.9.6

* add resource edge upload

* update container registry and handles

* add virtual_separator virtual_rotavap
fix transfer_pump

* fix container value
add parent_name to edge device id

* 大图的问题都修复好了，添加了gassource和vacuum pump的驱动以及注册表

* default resource upload mode is false

* 添加了icon的文件名在注册表里面

* 修改了json图中link的格式

* fix resource and edge upload

* fix device ports

* Fix edge id

* 移除device的父节点关联

* separate registry sync and resource_add

* 默认不进行注册表报送，通过命令unilabos-register或者增加启动参数

* 完善tip

* protocol node不再嵌套显示

* bump version to 0.9.7  新增一个测试PumpTransferProtocol的teststation，亲测可以运行，将八通阀们和转移泵与pump_protocol适配

* protocol node 执行action不应携带自身device id

* 添加了一套简易双八通阀工作站JSON，亲测能跑

* 修复了很多protocol，亲测能跑

* 添加了run column和filter through的protocol，亲测能跑

* fix mock_reactor

* 修改了大图和小图的json，但是在前端上没看到改变

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>

* 更新workstation注册表

* 添加了两个protocol的检索功能 (#51)

* 添加了两个protocol的检索liquid type功能

* fix workstation registry

* 修复了没连接的几个仪器的link，添加了container的icon

* 修改了json和注册表，现在大图全部的device都链接上了

* 修复了小图的json图，线全部连上了

* add work_station protocol handles (ports)

* fix workstation action handle

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Co-authored-by: Junhan Chang <changjh@dp.tech>

* 新增注册表补全功能，修复Protocol执行失败

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

* 修复不启用注册表补充就无法启动的bug

* 修复部分识别error

* 修复静态方法识别get status，注册表支持python类型

* status types对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换

* 支持通过list[int]，list[float]进行Int64MultiArray，Float64MultiArray的替换

* 成功动态导入的不再需要使用静态导入

* Fix handle names (#55)

* fix handle names

* improve evacuateAndRefill gas source finding

* add camera and dependency (#56)

* 修复auto-的Action在protocol node下错误注册

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: qxw138 <qxw@stu.pku.edu.cn>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: Kongchang Feng <2100011801@stu.pku.edu.cn>
Co-authored-by: hh. <103566763+Mile-Away@users.noreply.github.com>
Co-authored-by: quehh <scienceol@outlook.com>
Co-authored-by: Harvey Que <quehaohui@dp.tech>
Co-authored-by: Junhan Chang <changjh@dp.tech>

test/experiments/camera.json

@@ -0,0 +1,45 @@
+{
+    "nodes": [
+        {
+            "id": "Camera",
+            "name": "摄像头",
+            "children": [
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "camera",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "camera_index": 0,
+                "period": 0.05
+            },
+            "data": {
+            }
+        },
+        {
+            "id": "Gripper1",
+            "name": "假夹爪",
+            "children": [
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "gripper.mock",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+            },
+            "data": {
+            }
+        }
+    ],
+    "links": [
+        
+    ]
+}

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -680,7 +680,7 @@
             "type": "fluid",
             "port": {
                 "multiway_valve_1": "5",
-                "rotavap_1": "sample_in"
+                "rotavap_1": "samplein"
             }
         },
         {
@@ -770,7 +770,7 @@
             "type": "transport",
             "port": {
                 "multiway_valve_2": "4",
-                "filter_1": "filter_in"
+                "filter_1": "filterin"
             }
         },
         {
@@ -800,7 +800,7 @@
             "type": "fluid",
             "port": {
                 "multiway_valve_2": "6",
-                "separator_1": "separator_in"
+                "separator_1": "separatorin"
             }
         },
         {
@@ -809,7 +809,7 @@
             "target": "collection_bottle_3",
             "type": "fluid",
             "port": {
-                "separator_1": "bottom_phase_out",
+                "separator_1": "bottomphaseout",
                 "collection_bottle_3": "top"
             }
         },
@@ -859,7 +859,7 @@
             "target": "waste_bottle_2",
             "type": "fluid",
             "port": {
-                "separator_1": "top_phase_out",
+                "separator_1": "topphaseout",
                 "waste_bottle_2": "top"
             }
         },
@@ -879,7 +879,7 @@
         "target": "collection_bottle_1",
         "type": "transport",
         "port": {
-            "filter_1": "filtrate_out",
+            "filter_1": "filtrateout",
             "collection_bottle_1": "top"
         }
         },
@@ -889,7 +889,7 @@
             "target": "waste_bottle_1",
             "type": "transport",
             "port": {
-                "filter_1": "retentate_out",
+                "filter_1": "retentateout",
                 "waste_bottle_1": "top"
             }
         }

unilabos-linux-64.yaml

@@ -48,8 +48,9 @@ dependencies:
   - ros-humble-ros2-control
   - ros-humble-robot-state-publisher
   - ros-humble-joint-state-publisher
-  # web
+  # web and visualization
   - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
   # geometry & motion planning
   - ros-humble-tf2
   - ros-humble-moveit

unilabos-osx-arm64.yaml

@@ -50,8 +50,9 @@ dependencies:
   - ros-humble-ros2-control
   - ros-humble-robot-state-publisher
   - ros-humble-joint-state-publisher
-  # web
+  # web and visualization
   - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
   # geometry & motion planning
   - ros-humble-tf2
   - ros-humble-moveit

unilabos-win64.yaml

@@ -6,12 +6,12 @@ channels:
 dependencies:
   # Basics
   - python=3.11.11
-  - compilers
+  # - compilers
-  - cmake
+  # - cmake
-  - make
+  # - make
-  - ninja
+  # - ninja
-  - sphinx
+  # - sphinx
-  - sphinx_rtd_theme
+  # - sphinx_rtd_theme
   # Data Visualization
   - numpy
   - scipy
@@ -23,7 +23,7 @@ dependencies:
   - pyserial
   - pyusb
   - pylibftdi
-  - pymodbus
+  - pymodbus==3.6.9
   - python-can
   - pyvisa
   - opencv
@@ -48,8 +48,9 @@ dependencies:
   - ros-humble-ros2-control
   - ros-humble-robot-state-publisher
   - ros-humble-joint-state-publisher
-  # web
+  # web and visualization
   - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
   # geometry & motion planning
   - ros-humble-tf2
   - ros-humble-moveit
@@ -61,5 +62,12 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   # ros-humble-unilabos-msgs
+  # driver
+  #- crcmod
   - pip:
-      - paho-mqtt
+      - paho-mqtt
+      # driver
+      #- ur-rtde  # set PYTHONUTF8=1
+      #- pyautogui
+      #- pywinauto
+      #- pywinauto_recorder

unilabos/app/controler.py

@@ -25,12 +25,13 @@ def job_add(req: JobAddReq) -> JobData:
     if req.job_id is None:
         req.job_id = str(uuid.uuid4())
     action_name = req.data["action"]
-    action_kwargs = req.data["action_kwargs"]
+    action_type = req.data.get("action_type", "LocalUnknown")
-    req.data['action'] = action_name
+    action_args = req.data.get("action_kwargs", None)  # 兼容老版本，后续删除
-    if action_name == "execute_command_from_outer":
+    if action_args is None:
-        action_kwargs = {"command": json.dumps(action_kwargs)}
+        action_args = req.data.get("action_args")
-    elif "command" in action_kwargs:
+    else:
-        action_kwargs = action_kwargs["command"]
+        if "command" in action_args:
+            action_args = action_args["command"]
     # print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
-    HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id, server_info=req.server_info)
+    HostNode.get_instance().send_goal(req.device_id, action_type=action_type, action_name=action_name, action_kwargs=action_args, goal_uuid=req.job_id, server_info=req.server_info)
     return JobData(jobId=req.job_id)

unilabos/app/register.py

@@ -34,7 +34,7 @@ def main():
     """
     parser = argparse.ArgumentParser(description="注册设备和资源到 MQTT")
     parser.add_argument(
-        "--registry_path",
+        "--registry",
         type=str,
         default=None,
         action="append",
@@ -46,10 +46,16 @@ def main():
         default=None,
         help="配置文件路径，支持.py格式的Python配置文件",
     )
+    parser.add_argument(
+        "--complete_registry",
+        action="store_true",
+        default=False,
+        help="是否补全注册表",
+    )
     args = parser.parse_args()
 
     # 构建注册表
-    build_registry(args.registry_path)
+    build_registry(args.registry, args.complete_registry)
     load_config_from_file(args.config)
 
     from unilabos.app.mq import mqtt_client

unilabos/app/web/pages.py

@@ -7,6 +7,7 @@ Web页面模块
 import json
 import os
 import sys
+import traceback
 from pathlib import Path
 from typing import Dict
 
@@ -17,7 +18,7 @@ from jinja2 import Environment, FileSystemLoader
 from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
 from unilabos.ros.msgs.message_converter import msg_converter_manager
-from unilabos.utils.log import error
+from unilabos.utils.log import error, debug
 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
@@ -123,6 +124,7 @@ def setup_web_pages(router: APIRouter) -> None:
 
             return html
         except Exception as e:
+            debug(traceback.format_exc())
             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)}")
 

unilabos/app/web/utils/action_utils.py

@@ -65,6 +65,8 @@ def get_yaml_from_goal_type(goal_type) -> str:
     Returns:
         str: 默认Goal参数的YAML格式字符串
     """
+    if isinstance(goal_type, str):
+        return "{}"
     if not goal_type:
         return "{}"
 

unilabos/compile/evacuateandrefill_protocol.py

@@ -5,38 +5,138 @@ from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_pr
 
 
 def find_gas_source(G: nx.DiGraph, gas: str) -> str:
-    """根据气体名称查找对应的气源"""
+    """
-    # 按照命名规则查找气源
+    根据气体名称查找对应的气源，支持多种匹配模式：
+    1. 容器名称匹配
+    2. 气体类型匹配（data.gas_type）
+    3. 默认气源
+    """
+    print(f"EVACUATE_REFILL: 正在查找气体 '{gas}' 的气源...")
+    
+    # 第一步：通过容器名称匹配
     gas_source_patterns = [
         f"gas_source_{gas}",
         f"gas_{gas}",
         f"flask_{gas}",
-        f"{gas}_source"
+        f"{gas}_source",
+        f"source_{gas}",
+        f"reagent_bottle_{gas}",
+        f"bottle_{gas}"
     ]
     
     for pattern in gas_source_patterns:
         if pattern in G.nodes():
+            print(f"EVACUATE_REFILL: 通过名称匹配找到气源: {pattern}")
             return pattern
     
-    # 模糊匹配
+    # 第二步：通过气体类型匹配 (data.gas_type)
-    for node in G.nodes():
+    for node_id in G.nodes():
-        node_class = G.nodes[node].get('class', '') or ''
+        node_data = G.nodes[node_id]
-        if 'gas_source' in node_class and gas.lower() in node.lower():
+        node_class = node_data.get('class', '') or ''
-            return node
+        
-        if node.startswith('flask_') and gas.lower() in node.lower():
+        # 检查是否是气源设备
-            return node
+        if ('gas_source' in node_class or 
+            'gas' in node_id.lower() or 
+            node_id.startswith('flask_')):
+            
+            # 检查 data.gas_type
+            data = node_data.get('data', {})
+            gas_type = data.get('gas_type', '')
+            
+            if gas_type.lower() == gas.lower():
+                print(f"EVACUATE_REFILL: 通过气体类型匹配找到气源: {node_id} (gas_type: {gas_type})")
+                return node_id
+            
+            # 检查 config.gas_type  
+            config = node_data.get('config', {})
+            config_gas_type = config.get('gas_type', '')
+            
+            if config_gas_type.lower() == gas.lower():
+                print(f"EVACUATE_REFILL: 通过配置气体类型匹配找到气源: {node_id} (config.gas_type: {config_gas_type})")
+                return node_id
     
-    # 查找所有可用的气源
+    # 第三步：查找所有可用的气源设备
-    available_gas_sources = [
+    available_gas_sources = []
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        node_class = node_data.get('class', '') or ''
+        
+        if ('gas_source' in node_class or 
+            'gas' in node_id.lower() or
+            (node_id.startswith('flask_') and any(g in node_id.lower() for g in ['air', 'nitrogen', 'argon']))):
+            
+            data = node_data.get('data', {})
+            gas_type = data.get('gas_type', 'unknown')
+            available_gas_sources.append(f"{node_id} (gas_type: {gas_type})")
+    
+    print(f"EVACUATE_REFILL: 可用气源列表: {available_gas_sources}")
+    
+    # 第四步：如果找不到特定气体，使用默认的第一个气源
+    default_gas_sources = [
         node for node in G.nodes() 
         if ((G.nodes[node].get('class') or '').startswith('virtual_gas_source')
-            or ('gas' in node and 'source' in node)
+            or 'gas_source' in node)
-            or (node.startswith('flask_') and any(g in node.lower() for g in ['air', 'nitrogen', 'argon', 'vacuum'])))
     ]
     
+    if default_gas_sources:
+        default_source = default_gas_sources[0]
+        print(f"EVACUATE_REFILL: ⚠️ 未找到特定气体 '{gas}'，使用默认气源: {default_source}")
+        return default_source
+    
     raise ValueError(f"找不到气体 '{gas}' 对应的气源。可用气源: {available_gas_sources}")
 
 
+def find_gas_source_by_any_match(G: nx.DiGraph, gas: str) -> str:
+    """
+    增强版气源查找，支持各种匹配方式的别名函数
+    """
+    return find_gas_source(G, gas)
+
+
+def get_gas_source_type(G: nx.DiGraph, gas_source: str) -> str:
+    """获取气源的气体类型"""
+    if gas_source not in G.nodes():
+        return "unknown"
+    
+    node_data = G.nodes[gas_source]
+    data = node_data.get('data', {})
+    config = node_data.get('config', {})
+    
+    # 检查多个可能的字段
+    gas_type = (data.get('gas_type') or 
+                config.get('gas_type') or 
+                data.get('gas') or
+                config.get('gas') or
+                "air")  # 默认为空气
+    
+    return gas_type
+
+
+def find_vessels_by_gas_type(G: nx.DiGraph, gas: str) -> List[str]:
+    """
+    根据气体类型查找所有匹配的容器/气源
+    """
+    matching_vessels = []
+    
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        
+        # 检查容器名称匹配
+        if gas.lower() in node_id.lower():
+            matching_vessels.append(f"{node_id} (名称匹配)")
+            continue
+        
+        # 检查气体类型匹配
+        data = node_data.get('data', {})
+        config = node_data.get('config', {})
+        
+        gas_type = data.get('gas_type', '') or config.get('gas_type', '')
+        if gas_type.lower() == gas.lower():
+            matching_vessels.append(f"{node_id} (gas_type: {gas_type})")
+    
+    return matching_vessels
+
+
 def find_vacuum_pump(G: nx.DiGraph) -> str:
     """查找真空泵设备"""
     vacuum_pumps = [

unilabos/devices/agv/ur_arm_task.py

@@ -1,9 +1,12 @@
-import rtde_control
+try:
-import dashboard_client
+    import rtde_control
+    import dashboard_client
+    import rtde_receive
+except ImportError as ex:
+    print("Import Error, Please Install Packages in ur_arm_task.py First!", ex)
 import time
 import json
 from unilabos.devices.agv.robotiq_gripper import RobotiqGripper
-import rtde_receive
 from std_msgs.msg import Float64MultiArray
 from pydantic import BaseModel
 

unilabos/devices/laiyu_add_solid/laiyu.py

@@ -234,71 +234,71 @@ class Laiyu:
         resp_reset = self.reset()
         return actual_mass_mg
 
+if __name__ == "__main__":
+
+    '''
+    样例：对单个粉筒进行称量
+    '''
+
+    modbus = Laiyu(port="COM25")
+
+    mass_test = modbus.add_powder_tube(1, 'h12', 6.0)
+    print(f"实际出料质量：{mass_test}mg")
 
 
-'''
+    '''
-样例：对单个粉筒进行称量
+    样例: 对一份excel文件记录的化合物进行称量
-'''
+    '''
 
-modbus = Laiyu(port="COM25") 
+    excel_file = r"C:\auto\laiyu\test1.xlsx"
+    # 定义输出文件路径，用于记录实际加样多少
+    output_file = r"C:\auto\laiyu\test_output.xlsx"
 
-mass_test = modbus.add_powder_tube(1, 'h12', 6.0)
+    # 定义物料名称和料筒位置关系
-print(f"实际出料质量：{mass_test}mg")
+    compound_positions = {
+        'XPhos': '1',
+        'Cu(OTf)2': '2',
+        'CuSO4': '3',
+        'PPh3': '4',
+    }
 
+    # read excel file
+    # excel_file = r"C:\auto\laiyu\test.xlsx"
+    df = pd.read_excel(excel_file, sheet_name='Sheet1')
+    # 读取Excel文件中的数据
+    # 遍历每一行数据
+    for index, row in df.iterrows():
+        # 获取物料名称和质量
+        copper_name = row['copper']
+        copper_mass = row['copper_mass']
+        ligand_name = row['ligand']
+        ligand_mass = row['ligand_mass']
+        target_tube_position = row['position']
+        # 获取物料位置 from compound_positions
+        copper_position = compound_positions.get(copper_name)
+        ligand_position = compound_positions.get(ligand_name)
+        # 判断物料位置是否存在
+        if copper_position is None:
+            print(f"物料位置不存在：{copper_name}")
+            continue
+        if ligand_position is None:
+            print(f"物料位置不存在：{ligand_name}")
+            continue
+        # 加铜
+        copper_actual_mass = modbus.add_powder_tube(int(copper_position), target_tube_position, copper_mass)
+        time.sleep(1)
+        # 加配体
+        ligand_actual_mass = modbus.add_powder_tube(int(ligand_position), target_tube_position, ligand_mass)
+        time.sleep(1)
+        # 保存至df
+        df.at[index, 'copper_actual_mass'] = copper_actual_mass
+        df.at[index, 'ligand_actual_mass'] = ligand_actual_mass
 
-'''
+    # 保存修改后的数据到新的Excel文件
-样例: 对一份excel文件记录的化合物进行称量
+    df.to_excel(output_file, index=False)
-'''
+    print(f"已保存到文件：{output_file}")
 
-excel_file = r"C:\auto\laiyu\test1.xlsx"
+    # 关闭串口
-# 定义输出文件路径，用于记录实际加样多少
+    modbus.ser.close()
-output_file = r"C:\auto\laiyu\test_output.xlsx"
+    print("串口已关闭")
-
-# 定义物料名称和料筒位置关系
-compound_positions = {
-    'XPhos': '1',
-    'Cu(OTf)2': '2',
-    'CuSO4': '3',
-    'PPh3': '4',
-}
-
-# read excel file
-# excel_file = r"C:\auto\laiyu\test.xlsx"
-df = pd.read_excel(excel_file, sheet_name='Sheet1')
-# 读取Excel文件中的数据
-# 遍历每一行数据
-for index, row in df.iterrows():
-    # 获取物料名称和质量
-    copper_name = row['copper']
-    copper_mass = row['copper_mass']
-    ligand_name = row['ligand']
-    ligand_mass = row['ligand_mass']
-    target_tube_position = row['position']
-    # 获取物料位置 from compound_positions
-    copper_position = compound_positions.get(copper_name)
-    ligand_position = compound_positions.get(ligand_name)
-    # 判断物料位置是否存在
-    if copper_position is None:
-        print(f"物料位置不存在：{copper_name}")
-        continue
-    if ligand_position is None:
-        print(f"物料位置不存在：{ligand_name}")
-        continue
-    # 加铜
-    copper_actual_mass = modbus.add_powder_tube(int(copper_position), target_tube_position, copper_mass)
-    time.sleep(1)
-    # 加配体
-    ligand_actual_mass = modbus.add_powder_tube(int(ligand_position), target_tube_position, ligand_mass)
-    time.sleep(1)
-    # 保存至df
-    df.at[index, 'copper_actual_mass'] = copper_actual_mass
-    df.at[index, 'ligand_actual_mass'] = ligand_actual_mass
-
-# 保存修改后的数据到新的Excel文件
-df.to_excel(output_file, index=False)
-print(f"已保存到文件：{output_file}")
-
-# 关闭串口
-modbus.ser.close()
-print("串口已关闭")
 

unilabos/devices/liquid_handling/revvity.py

@@ -3,7 +3,11 @@ import sys
 import io
 # sys.path.insert(0, r'C:\kui\winprep_cli\winprep_c_Uni-lab\x64\Debug')
 
-import winprep_c
+try:
+    import winprep_c
+except ImportError as e:
+    print("Error importing winprep_c:", e)
+    print("Please ensure that the winprep_c module is correctly installed and accessible.")
 from queue import Queue
 
 

unilabos/devices/motor/iCL42.py

@@ -21,7 +21,7 @@ except Exception as e:
     sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", "..")))
     from unilabos.utils.pywinauto_util import connect_application, get_process_pid_by_name, get_ui_path_with_window_specification, print_wrapper_identifiers
     from unilabos.device_comms.universal_driver import UniversalDriver, SingleRunningExecutor
-    from unilabos.devices.template_driver import universal_driver as ud
+    from unilabos.device_comms import universal_driver as ud
     print(f"使用文件DEBUG运行: {e}")
 
 

unilabos/devices/raman_uv/home_made_raman.py

@@ -9,7 +9,7 @@ from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
 import time
 
 class RamanObj:
-    def __init__(self, port_laser,port_ccd, baudrate_laser=9600, baudrate_ccd=921600):
+    def __init__(self, port_laser, port_ccd, baudrate_laser=9600, baudrate_ccd=921600):
         self.port_laser = port_laser
         self.port_ccd = port_ccd
 

unilabos/devices/zhida_hplc/zhida.py

@@ -1,11 +1,9 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
-import socket
-import json
 import base64
-import argparse
+import json
-import sys
+import socket
 import time
 
 
@@ -96,17 +94,20 @@ class ZhidaClient:
     def abort(self) -> dict:
         return self._send_command({"command": "abort"})
 
-"""
-a,b,c
-1,2,4
-2,4,5
-"""
 
-client = ZhidaClient()
+if __name__ == "__main__":
-# 连接
+
-client.connect()
+    """
-# 获取状态
+    a,b,c
-print(client.status)
+    1,2,4
+    2,4,5
+    """
+
+    client = ZhidaClient()
+    # 连接
+    client.connect()
+    # 获取状态
+    print(client.status)
 
 
-# 命令格式：python zhida.py <subcommand> [options]
+    # 命令格式：python zhida.py <subcommand> [options]

unilabos/registry/device_comms/modbus_ioboard.yaml

@@ -1,10 +1,10 @@
-io_snrd:
+#io_snrd:
-  description: IO Board with 16 IOs
+#  description: IO Board with 16 IOs
-  class:
+#  class:
-    module: ilabos.device_comms.SRND_16_IO:SRND_16_IO
+#    module: unilabos.device_comms.SRND_16_IO:SRND_16_IO
-    type: python
+#    type: python
-    hardware_interface:
+#    hardware_interface:
-      name: modbus_client
+#      name: modbus_client
-      extra_info: []
+#      extra_info: []
-      read: read_io_coil
+#      read: read_io_coil
-      write: write_io_coil
+#      write: write_io_coil

unilabos/registry/device_comms/serial.yaml

@@ -1,7 +1,117 @@
 serial:
-  description: Serial communication interface, used when sharing same serial port for multiple devices
   class:
+    action_value_mappings:
+      auto-handle_serial_request:
+        feedback: {}
+        goal: {}
+        goal_default:
+          request: null
+          response: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand handle_serial_request 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand handle_serial_request 的参数schema
+              properties:
+                request:
+                  description: '参数: request'
+                  type: string
+                response:
+                  description: '参数: response'
+                  type: string
+              required:
+              - request
+              - response
+              type: object
+            result: {}
+          required:
+          - goal
+          title: handle_serial_request 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_data:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand read_data 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand read_data 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_data 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_command 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_command 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command 命令参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.ros.nodes.presets.serial_node:ROS2SerialNode
+    status_types: {}
     type: ros2
-  schema:
+  description: Serial communication interface, used when sharing same serial port
-    properties: {}
+    for multiple devices
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          baudrate:
+            default: 9600
+            description: '参数: baudrate'
+            type: integer
+          device_id:
+            description: '参数: device_id'
+            type: string
+          port:
+            description: '参数: port'
+            type: string
+          resource_tracker:
+            description: '参数: resource_tracker'
+            type: string
+        required:
+        - device_id
+        - port
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/camera.yaml

@@ -0,0 +1,10 @@
+camera:
+  class:
+    action_value_mappings: {}
+    module: unilabos.ros.nodes.presets.camera:VideoPublisher
+    status_types: {}
+    type: ros2
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema: {}

unilabos/registry/devices/characterization_optic.yaml

@@ -1,67 +1,449 @@
-# 光学表征设备：红外、紫外可见、拉曼等
-raman_home_made:
-  description: Raman spectroscopy device
-  class:
-    module: unilabos.devices.raman_uv.home_made_raman:RamanObj
-    type: python
-    status_types:
-      status: String
-    action_value_mappings:
-      raman_cmd:
-        type: SendCmd
-        goal:
-          command: command
-        feedback: {}
-        result:
-          success: success
-  schema:
-    properties:
-      status:
-        type: string
-    required:
-    - status
-    additionalProperties: false
-    type: object
 hplc.agilent:
-  description: HPLC device
   class:
-    module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
-    type: python
-    status_types:
-      device_status: String
-      could_run: Bool
-      driver_init_ok: Bool
-      is_running: Bool
-      finish_status: String
-      status_text: String
     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-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-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:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-  schema:
+        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
+      data_file: list
+      device_status: str
+      driver_init_ok: bool
+      finish_status: str
+      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:
-      device_status:
+      feedback: {}
-        type: string
+      goal:
-      could_run:
+        description: UniLabJsonCommand __init__ 的参数schema
-        type: boolean
+        properties:
-      driver_init_ok:
+          driver_debug:
-        type: boolean
+            default: false
-      is_running:
+            description: '参数: driver_debug'
-        type: boolean
+            type: boolean
-      finish_status:
+        required: []
-        type: string
+        type: object
-      status_text:
+      result: {}
-        type: string
     required:
-    - device_status
+    - goal
-    - could_run
+    title: __init__ 命令参数
-    - driver_init_ok
+    type: object
-    - is_running
+raman_home_made:
-    - finish_status
+  class:
-    - status_text
+    action_value_mappings:
-    additionalProperties: false
+      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: {}
+    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

@@ -1,9 +1,35 @@
 hotel.thermo_orbitor_rs2_hotel:
-  description: Thermo Orbitor RS2 Hotel
+  class:
-  class: 
+    action_value_mappings: {}
     module: unilabos.devices.resource_container.container:HotelContainer
+    status_types:
+      rotation: String
     type: python
+  description: Thermo Orbitor RS2 Hotel
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          device_config:
+            description: '参数: device_config'
+            type: object
+          rotation:
+            description: '参数: rotation'
+            type: object
+        required:
+        - rotation
+        - device_config
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
   model:
-    type: device
     mesh: thermo_orbitor_rs2_hotel
-
+    type: device

unilabos/registry/devices/laiyu_add_solid.yaml

@@ -1,56 +1,608 @@
 laiyu_add_solid:
-  description: Laiyu Add Solid
   class:
-    module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
-    type: python
-    status_types: {}
     action_value_mappings:
+      add_powder_tube:
+        feedback: {}
+        goal:
+          compound_mass: compound_mass
+          powder_tube_number: powder_tube_number
+          target_tube_position: target_tube_position
+        goal_default:
+          compound_mass: 0.0
+          powder_tube_number: 0
+          target_tube_position: ''
+        handles: []
+        result:
+          actual_mass_mg: actual_mass_mg
+        schema:
+          description: ROS Action SolidDispenseAddPowderTube 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: {}
+              required: []
+              title: SolidDispenseAddPowderTube_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                compound_mass:
+                  type: number
+                powder_tube_number:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+                target_tube_position:
+                  type: string
+              required:
+              - powder_tube_number
+              - target_tube_position
+              - compound_mass
+              title: SolidDispenseAddPowderTube_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                actual_mass_mg:
+                  type: number
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - actual_mass_mg
+              - success
+              title: SolidDispenseAddPowderTube_Result
+              type: object
+          required:
+          - goal
+          title: SolidDispenseAddPowderTube
+          type: object
+        type: SolidDispenseAddPowderTube
+      auto-add_powder_tube:
+        feedback: {}
+        goal: {}
+        goal_default:
+          compound_mass: null
+          powder_tube_number: null
+          target_tube_position: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand add_powder_tube 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand add_powder_tube 的参数schema
+              properties:
+                compound_mass:
+                  description: '参数: compound_mass'
+                  type: string
+                powder_tube_number:
+                  description: '参数: powder_tube_number'
+                  type: string
+                target_tube_position:
+                  description: '参数: target_tube_position'
+                  type: string
+              required:
+              - powder_tube_number
+              - target_tube_position
+              - compound_mass
+              type: object
+            result: {}
+          required:
+          - goal
+          title: add_powder_tube 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-calculate_crc:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand calculate_crc 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand calculate_crc 的参数schema
+              properties:
+                data:
+                  description: '参数: data'
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: calculate_crc 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-discharge:
+        feedback: {}
+        goal: {}
+        goal_default:
+          float_in: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand discharge 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand discharge 的参数schema
+              properties:
+                float_in:
+                  description: '参数: float_in'
+                  type: number
+              required:
+              - float_in
+              type: object
+            result: {}
+          required:
+          - goal
+          title: discharge 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_plate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          string: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand move_to_plate 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_to_plate 的参数schema
+              properties:
+                string:
+                  description: '参数: string'
+                  type: string
+              required:
+              - string
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to_plate 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_xyz:
+        feedback: {}
+        goal: {}
+        goal_default:
+          x: null
+          y: null
+          z: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand move_to_xyz 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_to_xyz 的参数schema
+              properties:
+                x:
+                  description: '参数: x'
+                  type: number
+                y:
+                  description: '参数: y'
+                  type: number
+                z:
+                  description: '参数: z'
+                  type: number
+              required:
+              - x
+              - y
+              - z
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to_xyz 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pick_powder_tube:
+        feedback: {}
+        goal: {}
+        goal_default:
+          int_input: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand pick_powder_tube 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand pick_powder_tube 的参数schema
+              properties:
+                int_input:
+                  description: '参数: int_input'
+                  type: integer
+              required:
+              - int_input
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pick_powder_tube 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-put_powder_tube:
+        feedback: {}
+        goal: {}
+        goal_default:
+          int_input: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand put_powder_tube 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand put_powder_tube 的参数schema
+              properties:
+                int_input:
+                  description: '参数: int_input'
+                  type: integer
+              required:
+              - int_input
+              type: object
+            result: {}
+          required:
+          - goal
+          title: put_powder_tube 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reset:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand reset 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand reset 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reset 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_command 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_command 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command 命令参数
+          type: object
+        type: UniLabJsonCommand
+      discharge:
+        feedback: {}
+        goal:
+          float_input: float_input
+        goal_default:
+          float_in: 0.0
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action FloatSingleInput 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: {}
+              required: []
+              title: FloatSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                float_in:
+                  type: number
+              required:
+              - float_in
+              title: FloatSingleInput_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: FloatSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: FloatSingleInput
+          type: object
+        type: FloatSingleInput
+      move_to_plate:
+        feedback: {}
+        goal:
+          string: string
+        goal_default:
+          string: ''
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action StrSingleInput 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: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_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: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
       move_to_xyz:
-        type: Point3DSeparateInput
+        feedback: {}
         goal:
           x: x
           y: y
           z: z
-        feedback: {}
+        goal_default:
+          x: 0.0
+          y: 0.0
+          z: 0.0
+        handles: []
         result: {}
+        schema:
+          description: ROS Action Point3DSeparateInput 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: {}
+              required: []
+              title: Point3DSeparateInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                x:
+                  type: number
+                y:
+                  type: number
+                z:
+                  type: number
+              required:
+              - x
+              - y
+              - z
+              title: Point3DSeparateInput_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: Point3DSeparateInput_Result
+              type: object
+          required:
+          - goal
+          title: Point3DSeparateInput
+          type: object
+        type: Point3DSeparateInput
       pick_powder_tube:
-        type: IntSingleInput
+        feedback: {}
         goal:
           int_input: int_input
-        feedback: {}
+        goal_default:
+          int_input: 0
+        handles: []
         result: {}
+        schema:
+          description: ROS Action IntSingleInput 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: {}
+              required: []
+              title: IntSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                int_input:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+              required:
+              - int_input
+              title: IntSingleInput_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: IntSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: IntSingleInput
+          type: object
+        type: IntSingleInput
       put_powder_tube:
-        type: IntSingleInput
+        feedback: {}
         goal:
           int_input: int_input
-        feedback: {}
+        goal_default:
+          int_input: 0
+        handles: []
         result: {}
+        schema:
+          description: ROS Action IntSingleInput 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: {}
+              required: []
+              title: IntSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                int_input:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+              required:
+              - int_input
+              title: IntSingleInput_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: IntSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: IntSingleInput
+          type: object
+        type: IntSingleInput
       reset:
-        type: EmptyIn
+        feedback: {}
         goal: {}
-        feedback: {}
+        goal_default: {}
+        handles: []
         result: {}
-      add_powder_tube:
+        schema:
-        type: SolidDispenseAddPowderTube
+          description: ROS Action EmptyIn 的 JSON Schema
-        goal:
+          properties:
-          powder_tube_number: powder_tube_number
+            feedback:
-          target_tube_position: target_tube_position
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
-          compound_mass: compound_mass
+              properties: {}
-        feedback: {}
+              required: []
-        result: 
+              title: EmptyIn_Feedback
-          actual_mass_mg: actual_mass_mg
+              type: object
-      move_to_plate:
+            goal:
-        type: StrSingleInput
+              description: Action 目标 - 从客户端发送到服务器
-        goal:
+              properties: {}
-          string: string
+              required: []
-        feedback: {}
+              title: EmptyIn_Goal
-        result: {}
+              type: object
-      discharge:
+            result:
-        type: FloatSingleInput
+              description: Action 结果 - 完成后从服务器发送到客户端
-        goal:
+              properties:
-          float_input: float_input
+                return_info:
-        feedback: {}
+                  type: string
-        result: {}
+              required:
-        
+              - return_info
-  schema:
+              title: EmptyIn_Result
-    properties: {}
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+    module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
+    status_types:
+      status: str
+    type: python
+  description: Laiyu Add Solid
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          baudrate:
+            default: 115200
+            description: '参数: baudrate'
+            type: integer
+          port:
+            description: '参数: port'
+            type: string
+          timeout:
+            default: 0.5
+            description: '参数: timeout'
+            type: number
+        required:
+        - port
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/moveit_config.yaml

@@ -1,56 +1,932 @@
-moveit.toyo_xyz:
-  description: Toyo XYZ
-  class:
-    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
-    type: python
-    action_value_mappings:
-      set_position:
-        type: SendCmd
-        goal:
-          command: command
-        feedback: { }
-        result: { }
-      pick_and_place:
-        type: SendCmd
-        goal:
-          command: command
-        feedback: { }
-        result: { }
-      set_status:
-        type: SendCmd
-        goal:
-          command: command
-        feedback: { }
-        result: { }
-
-  model:
-    type: device
-    mesh: toyo_xyz
-
 moveit.arm_slider:
-  description: Arm with Slider
-  model:
-    type: device
-    mesh: arm_slider
   class:
-    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
-    type: python
     action_value_mappings:
-      set_position:
+      auto-check_tf_update_actions:
-        type: SendCmd
-        goal:
-          command: command
         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:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result: {}
+        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
+      set_position:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        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
       set_status:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result: {}
+        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.ros_dev.moveit_interface:MoveitInterface
+    status_types: {}
+    type: python
+  description: Arm with Slider
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          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:
+    - goal
+    title: __init__ 命令参数
+    type: object
+  model:
+    mesh: arm_slider
+    type: device
+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:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        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
+      set_position:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        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
+      set_status:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        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.ros_dev.moveit_interface:MoveitInterface
+    status_types: {}
+    type: python
+  description: Toyo XYZ
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          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:
+    - goal
+    title: __init__ 命令参数
+    type: object
+  model:
+    mesh: toyo_xyz
+    type: device

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -1,73 +1,488 @@
-separator.homemade:
-  description: Separator device with homemade grbl controller
-  class:
-    module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
-    type: python
-    status_types:
-      sensordata: Float64
-      status: String
-    action_value_mappings:
-      stir:
-        type: Stir
-        goal:
-          stir_time: stir_time,
-          stir_speed: stir_speed
-          settling_time: settling_time
-        feedback:
-          status: status
-        result: 
-          success: success
-      valve_open_cmd:
-        type: SendCmd
-        goal: 
-          command: command
-        feedback: 
-          status: status
-        result": 
-          success: success
-  schema:
-    type: object
-    properties:
-      status:
-        type: string
-        description: The status of the device
-      sensordata:
-        type: number
-        description: 电导传感器数据
-    required:
-      - status
-      - sensordata
-    additionalProperties: false
-
 rotavap.one:
-  description: Rotavap device
   class:
-    module: unilabos.devices.rotavap.rotavap_one:RotavapOne
-    type: python
-    status_types:
-      pump_time: Float64
-      rotate_time: Float64
     action_value_mappings:
+      auto-cmd_write:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cmd: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand cmd_write 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand cmd_write 的参数schema
+              properties:
+                cmd:
+                  description: '参数: cmd'
+                  type: string
+              required:
+              - cmd
+              type: object
+            result: {}
+          required:
+          - goal
+          title: cmd_write 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-main_loop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand main_loop 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand main_loop 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: main_loop 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_pump_time:
+        feedback: {}
+        goal: {}
+        goal_default:
+          time: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_pump_time 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_pump_time 的参数schema
+              properties:
+                time:
+                  description: '参数: time'
+                  type: string
+              required:
+              - time
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_pump_time 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_rotate_time:
+        feedback: {}
+        goal: {}
+        goal_default:
+          time: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_rotate_time 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_rotate_time 的参数schema
+              properties:
+                time:
+                  description: '参数: time'
+                  type: string
+              required:
+              - time
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_rotate_time 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_timer:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_timer 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_timer 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_timer 命令参数
+          type: object
+        type: UniLabJsonCommand
       set_timer:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-  schema:
+        schema:
-    type: object
+          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.rotavap.rotavap_one:RotavapOne
+    status_types: {}
+    type: python
+  description: Rotavap device
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
     properties:
-      temperature:
+      feedback: {}
-        type: number
+      goal:
-        description: 旋蒸水浴温度
+        description: UniLabJsonCommand __init__ 的参数schema
-      pump_time:
+        properties:
-        type: number
+          port:
-        description: The pump time of the device
+            description: '参数: port'
-      rotate_time:
+            type: string
-        type: number
+          rate:
-        description: The rotate time of the device
+            default: 9600
+            description: '参数: rate'
+            type: integer
+        required:
+        - port
+        type: object
+      result: {}
     required:
-      - pump_time
+    - goal
-      - rotate_time
+    title: __init__ 命令参数
-    additionalProperties: false
+    type: object
+separator.homemade:
+  class:
+    action_value_mappings:
+      auto-read_sensor_loop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand read_sensor_loop 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand read_sensor_loop 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_sensor_loop 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stir:
+        feedback: {}
+        goal: {}
+        goal_default:
+          settling_time: 10
+          stir_speed: 300
+          stir_time: 10
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand stir 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand stir 的参数schema
+              properties:
+                settling_time:
+                  default: 10
+                  description: '参数: settling_time'
+                  type: number
+                stir_speed:
+                  default: 300
+                  description: '参数: stir_speed'
+                  type: number
+                stir_time:
+                  default: 10
+                  description: '参数: stir_time'
+                  type: number
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stir 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-valve_open:
+        feedback: {}
+        goal: {}
+        goal_default:
+          condition: null
+          value: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand valve_open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand valve_open 的参数schema
+              properties:
+                condition:
+                  description: '参数: condition'
+                  type: string
+                value:
+                  description: '参数: value'
+                  type: string
+              required:
+              - condition
+              - value
+              type: object
+            result: {}
+          required:
+          - goal
+          title: valve_open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-valve_open_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand valve_open_cmd 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand valve_open_cmd 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: valve_open_cmd 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-write:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand write 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand write 的参数schema
+              properties:
+                data:
+                  description: '参数: data'
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: write 命令参数
+          type: object
+        type: UniLabJsonCommand
+      stir:
+        feedback:
+          status: status
+        goal:
+          settling_time: settling_time
+          stir_speed: stir_speed
+          stir_time: stir_time,
+        goal_default:
+          settling_time: 0.0
+          stir_speed: 0.0
+          stir_time: 0.0
+        handles: []
+        result:
+          success: success
+        schema:
+          description: ROS Action Stir 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: Stir_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                settling_time:
+                  type: number
+                stir_speed:
+                  type: number
+                stir_time:
+                  type: number
+              required:
+              - stir_time
+              - stir_speed
+              - settling_time
+              title: Stir_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: Stir_Result
+              type: object
+          required:
+          - goal
+          title: Stir
+          type: object
+        type: Stir
+      valve_open_cmd:
+        feedback:
+          status: status
+        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.separator.homemade_grbl_conductivity:SeparatorController
+    status_types: {}
+    type: python
+  description: Separator device with homemade grbl controller
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          baudrate_executor:
+            default: 115200
+            description: '参数: baudrate_executor'
+            type: integer
+          baudrate_sensor:
+            default: 115200
+            description: '参数: baudrate_sensor'
+            type: integer
+          port_executor:
+            description: '参数: port_executor'
+            type: string
+          port_sensor:
+            description: '参数: port_sensor'
+            type: string
+        required:
+        - port_executor
+        - port_sensor
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/pump_and_valve.yaml

@@ -1,85 +1,900 @@
-syringe_pump_with_valve.runze:
+solenoid_valve:
-  description: Runze Syringe pump with valve
   class:
-    module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_closed:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_closed 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_closed 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_closed 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_data:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand read_data 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand read_data 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_data 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_command 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_command 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_valve_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_valve_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_valve_position 的参数schema
+              properties:
+                position:
+                  description: '参数: position'
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_valve_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      set_valve_position:
+        feedback: {}
+        goal:
+          string: position
+        goal_default:
+          string: ''
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action StrSingleInput 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: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_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: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+    module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
+    status_types:
+      status: str
+      valve_position: str
     type: python
+  description: Solenoid valve
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          io_device_port:
+            description: '参数: io_device_port'
+            type: string
+        required:
+        - io_device_port
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
+solenoid_valve.mock:
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_closed:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_closed 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_closed 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_closed 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_valve_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_valve_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_valve_position 的参数schema
+              properties:
+                position:
+                  description: '参数: position'
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_valve_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action EmptyIn 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: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_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
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action EmptyIn 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: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_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
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+    module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
+    status_types:
+      status: str
+      valve_position: str
+    type: python
+  description: Mock solenoid valve
+  handles:
+  - data_type: fluid
+    handler_key: in
+    io_type: target
+    label: in
+    side: NORTH
+  - data_type: fluid
+    handler_key: out
+    io_type: source
+    label: out
+    side: SOUTH
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          port:
+            default: COM6
+            description: '参数: port'
+            type: string
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
+syringe_pump_with_valve.runze:
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      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-pull_plunger:
+        feedback: {}
+        goal: {}
+        goal_default:
+          volume: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand pull_plunger 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand pull_plunger 的参数schema
+              properties:
+                volume:
+                  description: '参数: volume'
+                  type: number
+              required:
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pull_plunger 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-push_plunger:
+        feedback: {}
+        goal: {}
+        goal_default:
+          volume: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand push_plunger 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand push_plunger 的参数schema
+              properties:
+                volume:
+                  description: '参数: volume'
+                  type: number
+              required:
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: push_plunger 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_aux_input_status_1:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand query_aux_input_status_1 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand query_aux_input_status_1 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_aux_input_status_1 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_aux_input_status_2:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand query_aux_input_status_2 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand query_aux_input_status_2 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_aux_input_status_2 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_backlash_position:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand query_backlash_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand query_backlash_position 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_backlash_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_command_buffer_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand query_command_buffer_status 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand query_command_buffer_status 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_command_buffer_status 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_software_version:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand query_software_version 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand query_software_version 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_software_version 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          full_command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_command 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_command 的参数schema
+              properties:
+                full_command:
+                  description: '参数: full_command'
+                  type: string
+              required:
+              - full_command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_baudrate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          baudrate: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_baudrate 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_baudrate 的参数schema
+              properties:
+                baudrate:
+                  description: '参数: baudrate'
+                  type: string
+              required:
+              - baudrate
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_baudrate 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_max_velocity:
+        feedback: {}
+        goal: {}
+        goal_default:
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_max_velocity 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_max_velocity 的参数schema
+              properties:
+                velocity:
+                  description: '参数: velocity'
+                  type: number
+              required:
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_max_velocity 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          max_velocity: null
+          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:
+                max_velocity:
+                  description: '参数: max_velocity'
+                  type: number
+                position:
+                  description: '参数: position'
+                  type: number
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_valve_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_valve_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_valve_position 的参数schema
+              properties:
+                position:
+                  description: '参数: position'
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_valve_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_velocity_grade:
+        feedback: {}
+        goal: {}
+        goal_default:
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_velocity_grade 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_velocity_grade 的参数schema
+              properties:
+                velocity:
+                  description: '参数: velocity'
+                  type: string
+              required:
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_velocity_grade 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: UniLabJsonCommand
     hardware_interface:
       name: hardware_interface
       read: send_command
       write: send_command
-  schema:
+    module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
-    type: object
-    properties:
-      status:
-        type: string
-        description: The status of the device
-      position:
-        type: number
-        description: The volume of the syringe
-      speed_max:
-        type: number
-        description: The speed of the syringe
-      valve_position:
-        type: string
-        description: The position of the valve
-    required:
-    - status
-    - position
-    - valve_position
-    additionalProperties: false
-
-solenoid_valve.mock:
-  description: Mock solenoid valve
-  class:
-    module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
-    type: python
     status_types:
-      status: String
+      max_velocity: float
-      valve_position: String
+      mode: int
-    action_value_mappings:
+      plunger_position: String
-      open:
+      position: float
-        type: EmptyIn
+      status: str
-        goal: {}
+      valve_position: str
-        feedback: {}
+      velocity_end: String
-        result: {}
+      velocity_grade: String
-      close:
+      velocity_init: String
-        type: EmptyIn
+    type: python
-        goal: {}
+  description: Runze Syringe pump with valve
-        feedback: {}
+  handles: []
-        result: {}
+  icon: ''
-  handles:
-    - handler_key: in
-      label: in
-      io_type: target
-      data_type: fluid
-      side: NORTH
-    - handler_key: out
-      label: out
-      io_type: source
-      data_type: fluid
-      side: SOUTH
   init_param_schema:
-    type: object
+    description: UniLabJsonCommand __init__ 的参数schema
     properties:
-      port:
+      feedback: {}
-        type: string
+      goal:
-        description: "通信端口"
+        description: UniLabJsonCommand __init__ 的参数schema
-        default: "COM6"
+        properties:
+          address:
+            default: '1'
+            description: '参数: address'
+            type: string
+          max_volume:
+            default: 25.0
+            description: '参数: max_volume'
+            type: number
+          mode:
+            description: '参数: mode'
+            type: string
+          port:
+            description: '参数: port'
+            type: string
+        required:
+        - port
+        type: object
+      result: {}
     required:
-    - port
+    - goal
-
+    title: __init__ 命令参数
-solenoid_valve:
+    type: object
-  description: Solenoid valve
-  class:
-    module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
-    type: python
-    status_types:
-      status: String
-      valve_position: String
-    action_value_mappings:
-      set_valve_position:
-        type: StrSingleInput
-        goal:
-          string: position
-        feedback: {}
-        result: {}

unilabos/registry/devices/robot_agv.yaml

@@ -1,29 +1,138 @@
-# 仙工智能底盘（知行使用）
 agv.SEER:
-  description: SEER AGV
   class:
-    module: unilabos.devices.agv.agv_navigator:AgvNavigator
-    type: python
-    status_types:
-      pose: Float64MultiArray
-      status: String
     action_value_mappings:
+      auto-send:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cmd: null
+          ex_data: ''
+          obj: receive_socket
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send 的参数schema
+              properties:
+                cmd:
+                  description: '参数: cmd'
+                  type: string
+                ex_data:
+                  default: ''
+                  description: '参数: ex_data'
+                  type: string
+                obj:
+                  default: receive_socket
+                  description: '参数: obj'
+                  type: string
+              required:
+              - cmd
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_nav_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_nav_task 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_nav_task 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_nav_task 命令参数
+          type: object
+        type: UniLabJsonCommand
       send_nav_task:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-  schema:
+        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.agv.agv_navigator:AgvNavigator
+    status_types:
+      pose: list
+      status: str
+    type: python
+  description: SEER AGV
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
     properties:
-      pose:
+      feedback: {}
-        type: array
+      goal:
-        items:
+        description: UniLabJsonCommand __init__ 的参数schema
-          type: number
+        properties:
-      status:
+          host:
-        type: string
+            description: '参数: host'
+            type: string
+        required:
+        - host
+        type: object
+      result: {}
     required:
-      - status
+    - goal
-    additionalProperties: false
+    title: __init__ 命令参数
-    type: object
+    type: object

unilabos/registry/devices/robot_arm.yaml

@@ -1,37 +1,202 @@
 robotic_arm.UR:
-  description: UR robotic arm
   class:
-    module: unilabos.devices.agv.ur_arm_task:UrArmTask
-    type: python
-    status_types:
-      arm_pose: Float64MultiArray
-      gripper_pose: Float64
-      arm_status: String
-      gripper_status: String
     action_value_mappings:
+      auto-arm_init:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand arm_init 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand arm_init 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: arm_init 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-load_pose_data:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand load_pose_data 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand load_pose_data 的参数schema
+              properties:
+                data:
+                  description: '参数: data'
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: load_pose_data 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-load_pose_file:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand load_pose_file 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand load_pose_file 的参数schema
+              properties:
+                file:
+                  description: '参数: file'
+                  type: string
+              required:
+              - file
+              type: object
+            result: {}
+          required:
+          - goal
+          title: load_pose_file 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_pos_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand move_pos_task 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_pos_task 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_pos_task 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reload_pose:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand reload_pose 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand reload_pose 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reload_pose 命令参数
+          type: object
+        type: UniLabJsonCommand
       move_pos_task:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-  schema:
+        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.agv.ur_arm_task:UrArmTask
+    status_types:
+      arm_pose: list
+      arm_status: str
+      gripper_pose: float
+      gripper_status: str
+    type: python
+  description: UR robotic arm
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
     properties:
-      arm_pose:
+      feedback: {}
-        type: array
+      goal:
-        items:
+        description: UniLabJsonCommand __init__ 的参数schema
-          type: number
+        properties:
-      gripper_pose:
+          host:
-        type: number
+            description: '参数: host'
-      arm_status:
+            type: string
-        type: string
+          retry:
-        description: 机械臂设备状态
+            default: 30
-      gripper_status:
+            description: '参数: retry'
-        type: string
+            type: integer
-        description: 机械爪设备状态
+        required:
+        - host
+        type: object
+      result: {}
     required:
-      - arm_status
+    - goal
-      - gripper_status
+    title: __init__ 命令参数
-    additionalProperties: false
+    type: object
-    type: object

unilabos/registry/devices/robot_gripper.yaml

@@ -1,37 +1,669 @@
-gripper.mock:
-  description: Mock gripper
-  class:
-    module: unilabos.devices.gripper.mock:MockGripper
-    type: python
-    status_types:
-      position: Float64
-      torque: Float64
-      status: String
-    action_value_mappings:
-      push_to:
-        type: GripperCommand
-        goal:
-          command.position: position
-          command.max_effort: torque
-        feedback:
-          position: position
-          effort: torque
-        result:
-          position: position
-          effort: torque
-
 gripper.misumi_rz:
-  description: Misumi RZ gripper
   class:
-    module: unilabos.devices.motor:Grasp.EleGripper
-    type: python
-    status_types:
-      status: String
     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:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        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.motor.Grasp:EleGripper
+    status_types:
+      status: str
+    type: python
+  description: Misumi RZ gripper
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          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:
+    - goal
+    title: __init__ 命令参数
+    type: object
+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
+          position: position
+        goal:
+          command.max_effort: torque
+          command.position: position
+        goal_default:
+          command:
+            max_effort: 0.0
+            position: 0.0
+        handles: []
+        result:
+          effort: torque
+          position: position
+        schema:
+          description: ROS Action GripperCommand 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:
+                effort:
+                  type: number
+                position:
+                  type: number
+                reached_goal:
+                  type: boolean
+                stalled:
+                  type: boolean
+              required:
+              - position
+              - effort
+              - stalled
+              - reached_goal
+              title: GripperCommand_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  properties:
+                    max_effort:
+                      type: number
+                    position:
+                      type: number
+                  required:
+                  - position
+                  - max_effort
+                  title: GripperCommand
+                  type: object
+              required:
+              - command
+              title: GripperCommand_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                effort:
+                  type: number
+                position:
+                  type: number
+                reached_goal:
+                  type: boolean
+                stalled:
+                  type: boolean
+              required:
+              - position
+              - effort
+              - stalled
+              - reached_goal
+              title: GripperCommand_Result
+              type: object
+          required:
+          - goal
+          title: GripperCommand
+          type: object
+        type: GripperCommand
+    module: unilabos.devices.gripper.mock:MockGripper
+    status_types:
+      position: float
+      status: str
+      torque: float
+      velocity: float
+    type: python
+  description: Mock gripper
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties: {}
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/robot_linear_motion.yaml

@@ -1,57 +1,709 @@
 linear_motion.grbl:
-  description: Grbl CNC
   class:
-    module: unilabos.devices.cnc.grbl_sync:GrblCNC
-    type: python
     action_value_mappings:
-      move_through_points: &move_through_points
+      auto-initialize:
-        type: NavigateThroughPoses
+        feedback: {}
-        goal: 
+        goal: {}
-          poses[].pose.position: positions[]
+        goal_default: {}
-        feedback: 
+        handles: []
-          current_pose.pose.position: position
-          navigation_time.sec: time_spent
-          estimated_time_remaining.sec: time_remaining
-          number_of_poses_remaining: pose_number_remaining
         result: {}
-      set_spindle_speed:
+        schema:
-        type: SingleJointPosition
+          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
+          estimated_time_remaining.sec: time_remaining
+          navigation_time.sec: time_spent
+          number_of_poses_remaining: pose_number_remaining
         goal:
-          position: spindle_speed
+          poses[].pose.position: positions[]
+        goal_default:
+          behavior_tree: ''
+          poses:
+          - header:
+              frame_id: ''
+              stamp:
+                nanosec: 0
+                sec: 0
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action NavigateThroughPoses 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:
+                current_pose:
+                  properties:
+                    header:
+                      properties:
+                        frame_id:
+                          type: string
+                        stamp:
+                          properties:
+                            nanosec:
+                              maximum: 4294967295
+                              minimum: 0
+                              type: integer
+                            sec:
+                              maximum: 2147483647
+                              minimum: -2147483648
+                              type: integer
+                          required:
+                          - sec
+                          - nanosec
+                          title: Time
+                          type: object
+                      required:
+                      - stamp
+                      - frame_id
+                      title: Header
+                      type: object
+                    pose:
+                      properties:
+                        orientation:
+                          properties:
+                            w:
+                              type: number
+                            x:
+                              type: number
+                            y:
+                              type: number
+                            z:
+                              type: number
+                          required:
+                          - x
+                          - y
+                          - z
+                          - w
+                          title: Quaternion
+                          type: object
+                        position:
+                          properties:
+                            x:
+                              type: number
+                            y:
+                              type: number
+                            z:
+                              type: number
+                          required:
+                          - x
+                          - y
+                          - z
+                          title: Point
+                          type: object
+                      required:
+                      - position
+                      - orientation
+                      title: Pose
+                      type: object
+                  required:
+                  - header
+                  - pose
+                  title: PoseStamped
+                  type: object
+                distance_remaining:
+                  type: number
+                estimated_time_remaining:
+                  properties:
+                    nanosec:
+                      maximum: 4294967295
+                      minimum: 0
+                      type: integer
+                    sec:
+                      maximum: 2147483647
+                      minimum: -2147483648
+                      type: integer
+                  required:
+                  - sec
+                  - nanosec
+                  title: Duration
+                  type: object
+                navigation_time:
+                  properties:
+                    nanosec:
+                      maximum: 4294967295
+                      minimum: 0
+                      type: integer
+                    sec:
+                      maximum: 2147483647
+                      minimum: -2147483648
+                      type: integer
+                  required:
+                  - sec
+                  - nanosec
+                  title: Duration
+                  type: object
+                number_of_poses_remaining:
+                  maximum: 32767
+                  minimum: -32768
+                  type: integer
+                number_of_recoveries:
+                  maximum: 32767
+                  minimum: -32768
+                  type: integer
+              required:
+              - current_pose
+              - navigation_time
+              - estimated_time_remaining
+              - number_of_recoveries
+              - distance_remaining
+              - number_of_poses_remaining
+              title: NavigateThroughPoses_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                behavior_tree:
+                  type: string
+                poses:
+                  items:
+                    properties:
+                      header:
+                        properties:
+                          frame_id:
+                            type: string
+                          stamp:
+                            properties:
+                              nanosec:
+                                maximum: 4294967295
+                                minimum: 0
+                                type: integer
+                              sec:
+                                maximum: 2147483647
+                                minimum: -2147483648
+                                type: integer
+                            required:
+                            - sec
+                            - nanosec
+                            title: Time
+                            type: object
+                        required:
+                        - stamp
+                        - frame_id
+                        title: Header
+                        type: object
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: Quaternion
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: Point
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: Pose
+                        type: object
+                    required:
+                    - header
+                    - pose
+                    title: PoseStamped
+                    type: object
+                  type: array
+              required:
+              - poses
+              - behavior_tree
+              title: NavigateThroughPoses_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                result:
+                  properties: {}
+                  required: []
+                  title: Empty
+                  type: object
+              required:
+              - result
+              title: NavigateThroughPoses_Result
+              type: object
+          required:
+          - goal
+          title: NavigateThroughPoses
+          type: object
+        type: NavigateThroughPoses
+      set_spindle_speed:
         feedback:
           position: spindle_speed
+        goal:
+          position: spindle_speed
+        goal_default:
+          max_velocity: 0.0
+          min_duration:
+            nanosec: 0
+            sec: 0
+          position: 0.0
+        handles: []
         result: {}
-  schema:
+        schema:
-    type: object
+          description: ROS Action SingleJointPosition 的 JSON Schema
-    properties:
+          properties:
-      position:
+            feedback:
-        type: array
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
-        items:
+              properties:
-          type: number
+                error:
-        description: The position of the device
+                  type: number
-      spindle_speed:
+                header:
-        type: number
+                  properties:
-        description: The spindle speed of the device
+                    frame_id:
-    required:
+                      type: string
-      - position
+                    stamp:
-      - spindle_speed
+                      properties:
-    additionalProperties: false
+                        nanosec:
-
+                          maximum: 4294967295
-
+                          minimum: 0
-motor.iCL42:
+                          type: integer
-  description: iCL42 motor
+                        sec:
-  class:
+                          maximum: 2147483647
-    module: unilabos.devices.motor.iCL42:iCL42Driver
+                          minimum: -2147483648
-    type: python
+                          type: integer
+                      required:
+                      - sec
+                      - nanosec
+                      title: Time
+                      type: object
+                  required:
+                  - stamp
+                  - frame_id
+                  title: Header
+                  type: object
+                position:
+                  type: number
+                velocity:
+                  type: number
+              required:
+              - header
+              - position
+              - velocity
+              - error
+              title: SingleJointPosition_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                max_velocity:
+                  type: number
+                min_duration:
+                  properties:
+                    nanosec:
+                      maximum: 4294967295
+                      minimum: 0
+                      type: integer
+                    sec:
+                      maximum: 2147483647
+                      minimum: -2147483648
+                      type: integer
+                  required:
+                  - sec
+                  - nanosec
+                  title: Duration
+                  type: object
+                position:
+                  type: number
+              required:
+              - position
+              - min_duration
+              - max_velocity
+              title: SingleJointPosition_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties: {}
+              required: []
+              title: SingleJointPosition_Result
+              type: object
+          required:
+          - goal
+          title: SingleJointPosition
+          type: object
+        type: SingleJointPosition
+    module: unilabos.devices.cnc.grbl_sync:GrblCNC
     status_types:
-      motor_position: Int64
+      position: unilabos.messages:Point3D
-      is_executing_run: Bool
+      spindle_speed: float
-      success: Bool
+      status: str
+    type: python
+  description: Grbl CNC
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          address:
+            default: '1'
+            description: '参数: address'
+            type: string
+          limits:
+            default:
+            - -150
+            - 150
+            - -200
+            - 0
+            - -80
+            - 0
+            description: '参数: limits'
+            type: array
+          port:
+            description: '参数: port'
+            type: string
+        required:
+        - port
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
+motor.iCL42:
+  class:
     action_value_mappings:
+      auto-execute_run_motor:
+        feedback: {}
+        goal: {}
+        goal_default:
+          mode: null
+          position: null
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand execute_run_motor 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand execute_run_motor 的参数schema
+              properties:
+                mode:
+                  description: '参数: mode'
+                  type: string
+                position:
+                  description: '参数: position'
+                  type: number
+                velocity:
+                  description: '参数: velocity'
+                  type: integer
+              required:
+              - mode
+              - position
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_run_motor 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-init_device:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand init_device 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand init_device 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: init_device 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_motor:
+        feedback: {}
+        goal: {}
+        goal_default:
+          mode: null
+          position: null
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand run_motor 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand run_motor 的参数schema
+              properties:
+                mode:
+                  description: '参数: mode'
+                  type: string
+                position:
+                  description: '参数: position'
+                  type: number
+                velocity:
+                  description: '参数: velocity'
+                  type: integer
+              required:
+              - mode
+              - position
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_motor 命令参数
+          type: object
+        type: UniLabJsonCommand
       execute_command_from_outer:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
-          success: success
+          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.motor.iCL42:iCL42Driver
+    status_types:
+      is_executing_run: bool
+      motor_position: int
+      success: bool
+    type: python
+  description: iCL42 motor
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          device_address:
+            default: 1
+            description: '参数: device_address'
+            type: integer
+          device_com:
+            default: COM9
+            description: '参数: device_com'
+            type: string
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/sim_nodes.yaml

@@ -1,5 +1,355 @@
 lh_joint_publisher:
   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-find_resource_parent:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource_id: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand find_resource_parent 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand find_resource_parent 的参数schema
+              properties:
+                resource_id:
+                  description: '参数: resource_id'
+                  type: string
+              required:
+              - resource_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: find_resource_parent 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-inverse_kinematics:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parent_id: null
+          x: null
+          x_joint: null
+          y: null
+          y_joint: null
+          z: null
+          z_joint: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand inverse_kinematics 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand inverse_kinematics 的参数schema
+              properties:
+                parent_id:
+                  description: '参数: parent_id'
+                  type: string
+                x:
+                  description: '参数: x'
+                  type: string
+                x_joint:
+                  description: '参数: x_joint'
+                  type: object
+                y:
+                  description: '参数: y'
+                  type: string
+                y_joint:
+                  description: '参数: y_joint'
+                  type: object
+                z:
+                  description: '参数: z'
+                  type: string
+                z_joint:
+                  description: '参数: z_joint'
+                  type: object
+              required:
+              - x
+              - y
+              - z
+              - parent_id
+              - x_joint
+              - y_joint
+              - z_joint
+              type: object
+            result: {}
+          required:
+          - goal
+          title: inverse_kinematics 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-lh_joint_action_callback:
+        feedback: {}
+        goal: {}
+        goal_default:
+          goal_handle: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand lh_joint_action_callback 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand lh_joint_action_callback 的参数schema
+              properties:
+                goal_handle:
+                  description: '参数: goal_handle'
+                  type: string
+              required:
+              - goal_handle
+              type: object
+            result: {}
+          required:
+          - goal
+          title: lh_joint_action_callback 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-lh_joint_pub_callback:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: lh_joint_pub_callback 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_joints:
+        feedback: {}
+        goal: {}
+        goal_default:
+          option: null
+          resource_names: null
+          speed: 0.1
+          x: null
+          x_joint: null
+          y: null
+          y_joint: null
+          z: null
+          z_joint: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand move_joints 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_joints 的参数schema
+              properties:
+                option:
+                  description: '参数: option'
+                  type: string
+                resource_names:
+                  description: '参数: resource_names'
+                  type: string
+                speed:
+                  default: 0.1
+                  description: '参数: speed'
+                  type: string
+                x:
+                  description: '参数: x'
+                  type: string
+                x_joint:
+                  description: '参数: x_joint'
+                  type: string
+                y:
+                  description: '参数: y'
+                  type: string
+                y_joint:
+                  description: '参数: y_joint'
+                  type: string
+                z:
+                  description: '参数: z'
+                  type: string
+                z_joint:
+                  description: '参数: z_joint'
+                  type: string
+              required:
+              - resource_names
+              - x
+              - y
+              - z
+              - option
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_joints 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to:
+        feedback: {}
+        goal: {}
+        goal_default:
+          joint_positions: null
+          parent_id: null
+          speed: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand move_to 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_to 的参数schema
+              properties:
+                joint_positions:
+                  description: '参数: joint_positions'
+                  type: string
+                parent_id:
+                  description: '参数: parent_id'
+                  type: string
+                speed:
+                  description: '参数: speed'
+                  type: string
+              required:
+              - joint_positions
+              - speed
+              - parent_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-resource_move:
+        feedback: {}
+        goal: {}
+        goal_default:
+          channels: null
+          link_name: null
+          resource_id: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand resource_move 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand resource_move 的参数schema
+              properties:
+                channels:
+                  description: '参数: channels'
+                  type: array
+                link_name:
+                  description: '参数: link_name'
+                  type: string
+                resource_id:
+                  description: '参数: resource_id'
+                  type: string
+              required:
+              - resource_id
+              - link_name
+              - channels
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_move 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_resource_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          link_name: null
+          resource_id_list: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_resource_action 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_resource_action 的参数schema
+              properties:
+                link_name:
+                  description: '参数: link_name'
+                  type: string
+                resource_id_list:
+                  description: '参数: resource_id_list'
+                  type: array
+              required:
+              - resource_id_list
+              - link_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_resource_action 命令参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
+    status_types: {}
     type: ros2
-
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          device_id:
+            default: lh_joint_publisher
+            description: '参数: device_id'
+            type: string
+          rate:
+            default: 50
+            description: '参数: rate'
+            type: integer
+          resource_tracker:
+            description: '参数: resource_tracker'
+            type: string
+          resources_config:
+            description: '参数: resources_config'
+            type: array
+        required:
+        - resources_config
+        - resource_tracker
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/temperature.yaml

@@ -1,65 +1,841 @@
-heaterstirrer.dalong:
+chiller:
-  description: DaLong heater stirrer
   class:
-    module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
-    type: python
-    status_types:
-      temp: Float64
-      temp_warning: Float64
-      stir_speed: Float64
     action_value_mappings:
-      set_temp_warning:
+      auto-build_modbus_frame:
-        type: SendCmd
-        goal:
-          command: temp
         feedback: {}
+        goal: {}
+        goal_default:
+          device_address: null
+          function_code: null
+          register_address: null
+          value: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand build_modbus_frame 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand build_modbus_frame 的参数schema
+              properties:
+                device_address:
+                  description: '参数: device_address'
+                  type: integer
+                function_code:
+                  description: '参数: function_code'
+                  type: integer
+                register_address:
+                  description: '参数: register_address'
+                  type: integer
+                value:
+                  description: '参数: value'
+                  type: integer
+              required:
+              - device_address
+              - function_code
+              - register_address
+              - value
+              type: object
+            result: {}
+          required:
+          - goal
+          title: build_modbus_frame 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-convert_temperature_to_modbus_value:
+        feedback: {}
+        goal: {}
+        goal_default:
+          decimal_points: 1
+          temperature: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand convert_temperature_to_modbus_value 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand convert_temperature_to_modbus_value 的参数schema
+              properties:
+                decimal_points:
+                  default: 1
+                  description: '参数: decimal_points'
+                  type: integer
+                temperature:
+                  description: '参数: temperature'
+                  type: number
+              required:
+              - temperature
+              type: object
+            result: {}
+          required:
+          - goal
+          title: convert_temperature_to_modbus_value 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-set_temperature:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_temperature 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_temperature 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_temperature 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand stop 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand stop 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop 命令参数
+          type: object
+        type: UniLabJsonCommand
+      set_temperature:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-      set_temp_target:
+        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
-        goal:
+    module: unilabos.devices.temperature.chiller:Chiller
-          command: temp
+    status_types: {}
+    type: python
+  description: Chiller
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          port:
+            description: '参数: port'
+            type: string
+          rate:
+            default: 9600
+            description: '参数: rate'
+            type: integer
+        required:
+        - port
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
+heaterstirrer.dalong:
+  class:
+    action_value_mappings:
+      auto-close:
         feedback: {}
-        result:
+        goal: {}
-          success: success
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-heatchill:
+        feedback: {}
+        goal: {}
+        goal_default:
+          purpose: reaction
+          stir: true
+          stir_speed: 300
+          temp: null
+          time: 3600
+          vessel: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand heatchill 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand heatchill 的参数schema
+              properties:
+                purpose:
+                  default: reaction
+                  description: '参数: purpose'
+                  type: string
+                stir:
+                  default: true
+                  description: '参数: stir'
+                  type: boolean
+                stir_speed:
+                  default: 300
+                  description: '参数: stir_speed'
+                  type: number
+                temp:
+                  description: '参数: temp'
+                  type: number
+                time:
+                  default: 3600
+                  description: '参数: time'
+                  type: number
+                vessel:
+                  description: '参数: vessel'
+                  type: string
+              required:
+              - vessel
+              - temp
+              type: object
+            result: {}
+          required:
+          - goal
+          title: heatchill 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_stir_speed:
+        feedback: {}
+        goal: {}
+        goal_default:
+          speed: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_stir_speed 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_stir_speed 的参数schema
+              properties:
+                speed:
+                  description: '参数: speed'
+                  type: number
+              required:
+              - speed
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_stir_speed 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_temp_inner:
+        feedback: {}
+        goal: {}
+        goal_default:
+          temp: null
+          type: warning
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_temp_inner 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_temp_inner 的参数schema
+              properties:
+                temp:
+                  description: '参数: temp'
+                  type: number
+                type:
+                  default: warning
+                  description: '参数: type'
+                  type: string
+              required:
+              - temp
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_temp_inner 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_temp_target:
+        feedback: {}
+        goal: {}
+        goal_default:
+          temp: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_temp_target 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_temp_target 的参数schema
+              properties:
+                temp:
+                  description: '参数: temp'
+                  type: string
+              required:
+              - temp
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_temp_target 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_temp_warning:
+        feedback: {}
+        goal: {}
+        goal_default:
+          temp: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_temp_warning 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_temp_warning 的参数schema
+              properties:
+                temp:
+                  description: '参数: temp'
+                  type: string
+              required:
+              - temp
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_temp_warning 命令参数
+          type: object
+        type: UniLabJsonCommand
       heatchill:
-        type: HeatChill
-        goal:
-          vessel: vessel
-          temp: temp
-          time: time
-          purpose: purpose
         feedback:
           status: status
-        result:
-          success: success
-
-chiller:
-  description: Chiller
-  class:
-    module: unilabos.devices.temperature.chiller:Chiller
-    type: python
-    action_value_mappings:
-      set_temperature:
-        type: SendCmd
         goal:
-          command: command
+          purpose: purpose
-        feedback: {}
+          temp: temp
+          time: time
+          vessel: vessel
+        goal_default:
+          purpose: ''
+          stir: false
+          stir_speed: 0.0
+          temp: 0.0
+          time: 0.0
+          vessel: ''
+        handles: []
         result:
           success: success
-tempsensor:
+        schema:
-  description: Temperature sensor
+          description: ROS Action HeatChill 的 JSON Schema
-  class:
+          properties:
-    module: unilabos.devices.temperature.sensor_node:TempSensorNode
+            feedback:
-    type: python
+              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: HeatChill_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                purpose:
+                  type: string
+                stir:
+                  type: boolean
+                stir_speed:
+                  type: number
+                temp:
+                  type: number
+                time:
+                  type: number
+                vessel:
+                  type: string
+              required:
+              - vessel
+              - temp
+              - time
+              - stir
+              - stir_speed
+              - purpose
+              title: HeatChill_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: HeatChill_Result
+              type: object
+          required:
+          - goal
+          title: HeatChill
+          type: object
+        type: HeatChill
+      set_temp_target:
+        feedback: {}
+        goal:
+          command: temp
+        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
+      set_temp_warning:
+        feedback: {}
+        goal:
+          command: temp
+        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.heaterstirrer.dalong:HeaterStirrer_DaLong
     status_types:
-      value: Float64
+      status: str
-      warning: Float64
+      stir_speed: float
+      temp: float
+      temp_target: float
+      temp_warning: float
+    type: python
+  description: DaLong heater stirrer
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          baudrate:
+            default: 9600
+            description: '参数: baudrate'
+            type: integer
+          port:
+            default: COM6
+            description: '参数: port'
+            type: string
+          temp_warning:
+            default: 50.0
+            description: '参数: temp_warning'
+            type: number
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
+tempsensor:
+  class:
     action_value_mappings:
+      auto-build_modbus_request:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_id: null
+          function_code: null
+          register_address: null
+          register_count: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand build_modbus_request 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand build_modbus_request 的参数schema
+              properties:
+                device_id:
+                  description: '参数: device_id'
+                  type: string
+                function_code:
+                  description: '参数: function_code'
+                  type: string
+                register_address:
+                  description: '参数: register_address'
+                  type: string
+                register_count:
+                  description: '参数: register_count'
+                  type: string
+              required:
+              - device_id
+              - function_code
+              - register_address
+              - register_count
+              type: object
+            result: {}
+          required:
+          - goal
+          title: build_modbus_request 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-calculate_crc:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand calculate_crc 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand calculate_crc 的参数schema
+              properties:
+                data:
+                  description: '参数: data'
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: calculate_crc 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_modbus_response:
+        feedback: {}
+        goal: {}
+        goal_default:
+          response: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand read_modbus_response 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand read_modbus_response 的参数schema
+              properties:
+                response:
+                  description: '参数: response'
+                  type: string
+              required:
+              - response
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_modbus_response 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_prototype_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_prototype_command 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_prototype_command 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_prototype_command 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_warning:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_warning 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_warning 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_warning 命令参数
+          type: object
+        type: UniLabJsonCommand
       set_warning:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        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.temperature.sensor_node:TempSensorNode
+    status_types:
+      value: float
+    type: python
+  description: Temperature sensor
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          address:
+            description: '参数: address'
+            type: string
+          baudrate:
+            default: 9600
+            description: '参数: baudrate'
+            type: integer
+          port:
+            description: '参数: port'
+            type: string
+          warning:
+            description: '参数: warning'
+            type: string
+        required:
+        - port
+        - warning
+        - address
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/vacuum_and_purge.yaml

@@ -1,81 +1,514 @@
-vacuum_pump.mock:
-  description: Mock vacuum pump
-  class:
-    module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
-    type: python
-    status_types:
-      status: String
-    action_value_mappings:
-      open:
-        type: EmptyIn
-        goal: {}
-        feedback: {}
-        result: {}
-      close:
-        type: EmptyIn
-        goal: {}
-        feedback: {}
-        result: {}
-      set_status:
-        type: StrSingleInput
-        goal:
-          string: string
-        feedback: {}
-        result: {}
-  handles:
-    - handler_key: out
-      label: out
-      data_type: fluid
-      io_type: source
-      data_source: handle
-      data_key: fluid_in
-  init_param_schema:
-    type: object
-    properties:
-      port:
-        type: string
-        description: "通信端口"
-        default: "COM6"
-    required:
-    - port
-
 gas_source.mock:
-  description: Mock gas source
   class:
-    module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
-    type: python
-    status_types:
-      status: String
     action_value_mappings:
-      open:
+      auto-close:
-        type: EmptyIn
-        goal: {}
         feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
         result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_closed:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_closed 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_closed 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_closed 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_status:
+        feedback: {}
+        goal: {}
+        goal_default:
+          string: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_status 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_status 的参数schema
+              properties:
+                string:
+                  description: '参数: string'
+                  type: string
+              required:
+              - string
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_status 命令参数
+          type: object
+        type: UniLabJsonCommand
       close:
-        type: EmptyIn
-        goal: {}
         feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
         result: {}
+        schema:
+          description: ROS Action EmptyIn 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: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_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
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action EmptyIn 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: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_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
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
       set_status:
-        type: StrSingleInput
+        feedback: {}
         goal:
           string: string
-        feedback: {}
+        goal_default:
+          string: ''
+        handles: []
         result: {}
+        schema:
+          description: ROS Action StrSingleInput 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: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_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: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+    module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
+    status_types:
+      status: str
+    type: python
+  description: Mock gas source
   handles:
-    - handler_key: out
+  - data_key: fluid_out
-      label: out
+    data_source: executor
-      data_type: fluid
+    data_type: fluid
-      io_type: source
+    handler_key: out
-      data_source: executor
+    io_type: source
-      data_key: fluid_out
+    label: out
+  icon: ''
   init_param_schema:
-    type: object
+    description: UniLabJsonCommand __init__ 的参数schema
     properties:
-      port:
+      feedback: {}
-        type: string
+      goal:
-        description: "通信端口"
+        description: UniLabJsonCommand __init__ 的参数schema
-        default: "COM6"
+        properties:
+          port:
+            default: COM6
+            description: '参数: port'
+            type: string
+        required: []
+        type: object
+      result: {}
     required:
-    - port
+    - goal
+    title: __init__ 命令参数
+    type: object
+vacuum_pump.mock:
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_closed:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_closed 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_closed 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_closed 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_status:
+        feedback: {}
+        goal: {}
+        goal_default:
+          string: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_status 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_status 的参数schema
+              properties:
+                string:
+                  description: '参数: string'
+                  type: string
+              required:
+              - string
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_status 命令参数
+          type: object
+        type: UniLabJsonCommand
+      close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action EmptyIn 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: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_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
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action EmptyIn 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: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_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
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      set_status:
+        feedback: {}
+        goal:
+          string: string
+        goal_default:
+          string: ''
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action StrSingleInput 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: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_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: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+    module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
+    status_types:
+      status: str
+    type: python
+  description: Mock vacuum pump
+  handles:
+  - data_key: fluid_in
+    data_source: handle
+    data_type: fluid
+    handler_key: out
+    io_type: source
+    label: out
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          port:
+            default: COM6
+            description: '参数: port'
+            type: string
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/zhida_hplc.yaml

@@ -1,27 +1,239 @@
 zhida_hplc:
-  description: Zhida HPLC
   class:
-    module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
-    type: python
-    status_types:
-      status: String
     action_value_mappings:
+      abort:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action EmptyIn 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: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_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
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      auto-abort:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand abort 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand abort 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: abort 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-connect:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand connect 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand connect 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: connect 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-start:
+        feedback: {}
+        goal: {}
+        goal_default:
+          text: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand start 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand start 的参数schema
+              properties:
+                text:
+                  description: '参数: text'
+                  type: string
+              required:
+              - text
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start 命令参数
+          type: object
+        type: UniLabJsonCommand
+      get_methods:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action EmptyIn 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: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_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
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
       start:
-        type: StrSingleInput
+        feedback: {}
         goal:
           string: string
-        feedback: {}
+        goal_default:
+          string: ''
+        handles: []
         result: {}
-      abort:
+        schema:
-        type: EmptyIn
+          description: ROS Action StrSingleInput 的 JSON Schema
-        goal: {}
+          properties:
-        feedback: {}
+            feedback:
-        result: {}
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
-      get_methods:
+              properties: {}
-        type: EmptyIn
+              required: []
-        goal: {}
+              title: StrSingleInput_Feedback
-        feedback: {}
+              type: object
-        result: {}
+            goal:
-
+              description: Action 目标 - 从客户端发送到服务器
-  schema:
+              properties:
-    properties: {}
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_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: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+    module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
+    status_types:
+      methods: dict
+      status: dict
+    type: python
+  description: Zhida HPLC
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          host:
+            default: 192.168.1.47
+            description: '参数: host'
+            type: string
+          port:
+            default: 5792
+            description: '参数: port'
+            type: integer
+          timeout:
+            default: 10.0
+            description: '参数: timeout'
+            type: number
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/registry.py

@@ -1,14 +1,17 @@
+import copy
 import io
 import os
 import sys
 from pathlib import Path
-from typing import Any
+from typing import Any, Dict, List
 
 import yaml
 
-from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
+from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String
 from unilabos.utils import logger
 from unilabos.utils.decorator import singleton
+from unilabos.utils.import_manager import get_enhanced_class_info
+from unilabos.utils.type_check import NoAliasDumper
 
 DEFAULT_PATHS = [Path(__file__).absolute().parent]
 
@@ -32,7 +35,7 @@ class Registry:
         # 其他状态变量
         # self.is_host_mode = False  # 移至BasicConfig中
 
-    def setup(self):
+    def setup(self, complete_registry=False):
         # 检查是否已调用过setup
         if self._setup_called:
             logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
@@ -86,13 +89,15 @@ class Registry:
                                     io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
                                 ),
                                 "handles": {
-                                    "output": [{
+                                    "output": [
-                                        "handler_key": "labware",
+                                        {
-                                        "label": "Labware",
+                                            "handler_key": "labware",
-                                        "data_type": "resource",
+                                            "label": "Labware",
-                                        "data_source": "handle",
+                                            "data_type": "resource",
-                                        "data_key": "liquid"
+                                            "data_source": "handle",
-                                    }]
+                                            "data_key": "liquid",
+                                        }
+                                    ]
                                 },
                             },
                             "test_latency": {
@@ -110,7 +115,6 @@ class Registry:
                     "registry_type": "device",
                     "handles": [],
                     "init_param_schema": {},
-                    "schema": {"properties": {}, "additionalProperties": False, "type": "object"},
                     "file_path": "/",
                 }
             }
@@ -121,13 +125,13 @@ class Registry:
             sys_path = path.parent
             logger.debug(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
             sys.path.append(str(sys_path))
-            self.load_device_types(path)
+            self.load_device_types(path, complete_registry)
-            self.load_resource_types(path)
+            self.load_resource_types(path, complete_registry)
         logger.info("[UniLab Registry] 注册表设置完成")
         # 标记setup已被调用
         self._setup_called = True
 
-    def load_resource_types(self, path: os.PathLike):
+    def load_resource_types(self, path: os.PathLike, complete_registry: bool):
         abs_path = Path(path).absolute()
         resource_path = abs_path / "resources"
         files = list(resource_path.glob("*/*.yaml"))
@@ -176,7 +180,14 @@ class Registry:
         if not type_name or type_name == "":
             logger.warning(f"[UniLab Registry] 设备 {device_id} 的 {field_name} 类型为空，跳过替换")
             return type_name
-        if "." in type_name:
+        convert_manager = {  # 将python基本对象转为ros2基本对象
+            "str": "String",
+            "bool": "Bool",
+            "int": "Int64",
+            "float": "Float64",
+        }
+        type_name = convert_manager.get(type_name, type_name)  # 替换为ROS2类型
+        if ":" in type_name:
             type_class = msg_converter_manager.get_class(type_name)
         else:
             type_class = msg_converter_manager.search_class(type_name)
@@ -186,7 +197,74 @@ 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 load_device_types(self, path: os.PathLike):
+    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
+
+        Args:
+            method_args: 方法信息字典，包含args等
+            method_name: 方法名称
+
+        Returns:
+            JSON Schema格式的参数schema
+        """
+        schema = {
+            "description": f"UniLabJsonCommand {method_name} 的参数schema",
+            "type": "object",
+            "properties": {},
+            "required": [],
+        }
+
+        for arg_info in method_args:
+            param_name = arg_info.get("name", "")
+            param_type = arg_info.get("type")
+            param_default = arg_info.get("default")
+            param_required = arg_info.get("required", True)
+
+            prop_schema = {"description": f"参数: {param_name}"}
+
+            # 根据类型设置schema FIXME 不完整
+            if param_type:
+                param_type_lower = param_type.lower()
+                if param_type_lower in ["str", "string"]:
+                    prop_schema["type"] = "string"
+                elif param_type_lower in ["int", "integer"]:
+                    prop_schema["type"] = "integer"
+                elif param_type_lower in ["float", "number"]:
+                    prop_schema["type"] = "number"
+                elif param_type_lower in ["bool", "boolean"]:
+                    prop_schema["type"] = "boolean"
+                elif param_type_lower in ["list", "array"]:
+                    prop_schema["type"] = "array"
+                elif param_type_lower in ["dict", "object"]:
+                    prop_schema["type"] = "object"
+                else:
+                    # 默认为字符串类型
+                    prop_schema["type"] = "string"
+            else:
+                # 如果没有类型信息，默认为字符串
+                prop_schema["type"] = "string"
+
+            # 设置默认值
+            if param_default is not None:
+                prop_schema["default"] = param_default
+
+            schema["properties"][param_name] = prop_schema
+
+            # 如果是必需参数，添加到required列表
+            if param_required:
+                schema["required"].append(param_name)
+        return {
+            "title": f"{method_name} 命令参数",
+            "description": f"UniLabJsonCommand {method_name} 的参数schema",
+            "type": "object",
+            "properties": {"goal": schema, "feedback": {}, "result": {}},
+            "required": ["goal"],
+        }
+
+    def load_device_types(self, path: os.PathLike, complete_registry: bool):
         abs_path = Path(path).absolute()
         devices_path = abs_path / "devices"
         device_comms_path = abs_path / "device_comms"
@@ -199,12 +277,18 @@ class Registry:
         from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
 
         for i, file in enumerate(files):
-            data = yaml.safe_load(open(file, encoding="utf-8"))
+            with open(file, encoding="utf-8", mode="r") as f:
+                data = yaml.safe_load(io.StringIO(f.read()))
+            complete_data = {}
+            action_str_type_mapping = {
+                "UniLabJsonCommand": "UniLabJsonCommand",
+                "UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
+            }
+            status_str_type_mapping = {}
             if data:
                 # 在添加到注册表前处理类型替换
                 for device_id, device_config in data.items():
                     # 添加文件路径信息 - 使用规范化的完整文件路径
-                    device_config["file_path"] = str(file.absolute()).replace("\\", "/")
                     if "description" not in device_config:
                         device_config["description"] = ""
                     if "icon" not in device_config:
@@ -213,42 +297,116 @@ class Registry:
                         device_config["handles"] = []
                     if "init_param_schema" not in device_config:
                         device_config["init_param_schema"] = {}
-                    device_config["registry_type"] = "device"
                     if "class" in device_config:
-                        # 处理状态类型
+                        if "status_types" not in device_config["class"]:
-                        if "status_types" in device_config["class"]:
+                            device_config["class"]["status_types"] = {}
-                            for status_name, status_type in device_config["class"]["status_types"].items():
+                        if "action_value_mappings" not in device_config["class"]:
-                                device_config["class"]["status_types"][status_name] = self._replace_type_with_class(
+                            device_config["class"]["action_value_mappings"] = {}
-                                    status_type, device_id, f"状态 {status_name}"
+                        enhanced_info = {}
-                                )
+                        if complete_registry:
-
+                            device_config["class"]["status_types"].clear()
-                        # 处理动作值映射
+                            enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
-                        if "action_value_mappings" in device_config["class"]:
+                            device_config["class"]["status_types"].update(
-                            for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                                {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
-                                if "handles" not in action_config:
+                            )
-                                    action_config["handles"] = []
+                        for status_name, status_type in device_config["class"]["status_types"].items():
-                                if "type" in action_config:
+                            if status_type in ["Any", "None", "Unknown"]:
-                                    action_config["type"] = self._replace_type_with_class(
+                                status_type = "String"  # 替换成ROS的String，便于显示
-                                        action_config["type"], device_id, f"动作 {action_name}"
+                                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}")
+                            if target_type in [dict, list]:  # 对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换
+                                target_type = String
+                            status_str_type_mapping[status_type] = target_type
+                        device_config["class"]["status_types"] = dict(
+                            sorted(device_config["class"]["status_types"].items())
+                        )
+                        if complete_registry:
+                            device_config["class"]["action_value_mappings"] = {k:v for k, v in device_config["class"]["action_value_mappings"].items() if not k.startswith("auto-")}
+                            # 处理动作值映射
+                            device_config["class"]["action_value_mappings"].update(
+                                {
+                                    f"auto-{k}": {
+                                        "type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
+                                        "goal": {},
+                                        "feedback": {},
+                                        "result": {},
+                                        "schema": self._generate_unilab_json_command_schema(v["args"], k),
+                                        "goal_default": {i["name"]: i["default"] for i in v["args"]},
+                                        "handles": [],
+                                    }
+                                    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.pop("schema", None)
+                        device_config["class"]["action_value_mappings"] = dict(
+                            sorted(device_config["class"]["action_value_mappings"].items())
+                        )
+                        for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                            if "handles" not in action_config:
+                                action_config["handles"] = []
+                            if "type" in action_config:
+                                action_type_str: str = action_config["type"]
+                                # 通过Json发放指令，而不是通过特殊的ros action进行处理
+                                if not action_type_str.startswith("UniLabJsonCommand"):
+                                    target_type = self._replace_type_with_class(
+                                        action_type_str, device_id, f"动作 {action_name}"
                                     )
-                                    if action_config["type"] is not None:
+                                    action_str_type_mapping[action_type_str] = target_type
+                                    if target_type is not None:
                                         action_config["goal_default"] = yaml.safe_load(
-                                            io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal))
+                                            io.StringIO(get_yaml_from_goal_type(target_type.Goal))
                                         )
-                                        action_config["schema"] = ros_action_to_json_schema(action_config["type"])
+                                        action_config["schema"] = ros_action_to_json_schema(target_type)
                                     else:
                                         logger.warning(
                                             f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
                                         )
-
+                        complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items())))  # 稍后dump到文件
-                self.device_type_registry.update(data)
+                        for status_name, status_type in device_config["class"]["status_types"].items():
-
+                            device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
-                for device_id in data.keys():
+                        for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                            action_config["type"] = action_str_type_mapping[action_config["type"]]
+                        for additional_action in ["_execute_driver_command", "_execute_driver_command_async"]:
+                            device_config["class"]["action_value_mappings"][additional_action] = {
+                                "type": self._replace_type_with_class(
+                                    "StrSingleInput", device_id, f"动作 {additional_action}"
+                                ),
+                                "goal": {"string": "string"},
+                                "feedback": {},
+                                "result": {},
+                                "schema": ros_action_to_json_schema(
+                                    self._replace_type_with_class(
+                                        "StrSingleInput", device_id, f"动作 {additional_action}"
+                                    )
+                                ),
+                                "goal_default": yaml.safe_load(
+                                    io.StringIO(
+                                        get_yaml_from_goal_type(
+                                            self._replace_type_with_class(
+                                                "StrSingleInput", device_id, f"动作 {additional_action}"
+                                            ).Goal
+                                        )
+                                    )
+                                ),
+                                "handles": [],
+                            }
+                    if "registry_type" not in device_config:
+                        device_config["registry_type"] = "device"
+                    device_config["file_path"] = str(file.absolute()).replace("\\", "/")
+                    device_config["registry_type"] = "device"
                     logger.debug(
                         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')}]"
                     )
                     current_device_number += 1
+                complete_data = dict(sorted(complete_data.items()))
+                complete_data = copy.deepcopy(complete_data)
+                with open(file, "w", encoding="utf-8") as f:
+                    yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
+                self.device_type_registry.update(data)
             else:
                 logger.debug(
                     f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
@@ -257,7 +415,28 @@ 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
 
@@ -273,7 +452,7 @@ class Registry:
 lab_registry = Registry()
 
 
-def build_registry(registry_paths=None):
+def build_registry(registry_paths=None, complete_registry=False):
     """
     构建或获取Registry单例实例
 
@@ -297,6 +476,6 @@ def build_registry(registry_paths=None):
                 lab_registry.registry_paths.append(path)
 
     # 初始化注册表
-    lab_registry.setup()
+    lab_registry.setup(complete_registry)
 
     return lab_registry

unilabos/ros/device_node_wrapper.py

@@ -55,7 +55,7 @@ def ros2_device_node(
             "read": "read_data",
             "extra_info": [],
         }
-
+    # FIXME 后面要删除
     for k, v in cls.__dict__.items():
         if not k.startswith("_") and isinstance(v, property):
             # noinspection PyUnresolvedReferences

unilabos/ros/msgs/message_converter.py

@@ -727,7 +727,6 @@ def ros_action_to_json_schema(action_class: Any) -> Dict[str, Any]:
     
     # 创建基础 schema
     schema = {
-        '$schema': 'http://json-schema.org/draft-07/schema#',
         'title': action_class.__name__,
         'description': f"ROS Action {action_class.__name__} 的 JSON Schema",
         'type': 'object',

unilabos/ros/nodes/base_device_node.py

@@ -1,4 +1,5 @@
 import copy
+import io
 import json
 import threading
 import time
@@ -10,6 +11,7 @@ from concurrent.futures import ThreadPoolExecutor
 import asyncio
 
 import rclpy
+import yaml
 from rclpy.node import Node
 from rclpy.action import ActionServer, ActionClient
 from rclpy.action.server import ServerGoalHandle
@@ -166,7 +168,10 @@ class PropertyPublisher:
         self.print_publish = print_publish
 
         self._value = None
-        self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
+        try:
+            self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
+        except AttributeError as ex:
+            logger.error(f"创建发布者失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}")
         self.timer = node.create_timer(self.timer_period, self.publish_property)
         self.__loop = get_event_loop()
         str_msg_type = str(msg_type)[8:-2]
@@ -302,6 +307,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         # 创建动作服务
         if self.create_action_server:
             for action_name, action_value_mapping in self._action_value_mappings.items():
+                if action_name.startswith("auto-"):
+                    continue
                 self.create_ros_action_server(action_name, action_value_mapping)
 
         # 创建线程池执行器
@@ -838,6 +845,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 class DeviceInitError(Exception):
     pass
 
+class JsonCommandInitError(Exception):
+    pass
 
 class ROS2DeviceNode:
     """
@@ -954,12 +963,51 @@ class ROS2DeviceNode:
         self._ros_node: BaseROS2DeviceNode
         self._ros_node.lab_logger().info(f"初始化完成 {self._ros_node.uuid} {self.driver_is_ros}")
         self.driver_instance._ros_node = self._ros_node  # type: ignore
+        self.driver_instance._execute_driver_command = self._execute_driver_command  # type: ignore
+        self.driver_instance._execute_driver_command_async = self._execute_driver_command_async  # type: ignore
         if hasattr(self.driver_instance, "post_init"):
             try:
                 self.driver_instance.post_init(self._ros_node)  # type: ignore
             except Exception as e:
                 self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
 
+    def _execute_driver_command(self, string: str):
+        try:
+            target = json.loads(string)
+        except Exception as ex:
+            try:
+                target = yaml.safe_load(io.StringIO(string))
+            except Exception as ex2:
+                raise JsonCommandInitError(f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}")
+        try:
+            function_name = target["function_name"]
+            function_args = target["function_args"]
+            assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
+            function = getattr(self.driver_instance, function_name)
+            assert callable(function), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
+            return function(**function_args)
+        except KeyError as ex:
+            raise JsonCommandInitError(f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}")
+
+    async def _execute_driver_command_async(self, string: str):
+        try:
+            target = json.loads(string)
+        except Exception as ex:
+            try:
+                target = yaml.safe_load(io.StringIO(string))
+            except Exception as ex2:
+                raise JsonCommandInitError(f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}")
+        try:
+            function_name = target["function_name"]
+            function_args = target["function_args"]
+            assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
+            function = getattr(self.driver_instance, function_name)
+            assert callable(function), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
+            assert asyncio.iscoroutinefunction(function), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
+            return await function(**function_args)
+        except KeyError as ex:
+            raise JsonCommandInitError(f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}")
+
     def _start_loop(self):
         def run_event_loop():
             loop = asyncio.new_event_loop()

unilabos/ros/nodes/presets/camera.py

@@ -0,0 +1,61 @@
+import rclpy
+from rclpy.node import Node
+import cv2
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
+
+class VideoPublisher(BaseROS2DeviceNode):
+    def __init__(self, device_id='video_publisher', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
+        # 初始化BaseROS2DeviceNode，使用自身作为driver_instance
+        BaseROS2DeviceNode.__init__(
+            self,
+            driver_instance=self,
+            device_id=device_id,
+            status_types={},
+            action_value_mappings={},
+            hardware_interface="camera",
+            print_publish=False,
+            resource_tracker=resource_tracker,
+        )
+        # 创建一个发布者，发布到 /video 话题，消息类型为 sensor_msgs/Image，队列长度设为 10
+        self.publisher_ = self.create_publisher(Image, f'/{device_id}/video', 10)
+        # 初始化摄像头（默认设备索引为 0）
+        self.cap = cv2.VideoCapture(camera_index)
+        if not self.cap.isOpened():
+            self.get_logger().error("无法打开摄像头")
+        # 用于将 OpenCV 的图像转换为 ROS 图像消息
+        self.bridge = CvBridge()
+        # 设置定时器，10 Hz 发布一次
+        timer_period = period  # 单位：秒
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+
+    def timer_callback(self):
+        ret, frame = self.cap.read()
+        if not ret:
+            self.get_logger().error("读取视频帧失败")
+            return
+        # 将 OpenCV 图像转换为 ROS Image 消息，注意图像编码需与摄像头数据匹配，这里使用 bgr8
+        img_msg = self.bridge.cv2_to_imgmsg(frame, encoding="bgr8")
+        self.publisher_.publish(img_msg)
+        # self.get_logger().info("已发布视频帧")
+
+    def destroy_node(self):
+        # 释放摄像头资源
+        if self.cap.isOpened():
+            self.cap.release()
+        super().destroy_node()
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = VideoPublisher()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

unilabos/ros/nodes/presets/host_node.py

@@ -459,6 +459,8 @@ class HostNode(BaseROS2DeviceNode):
         self.devices_instances[device_id] = d
         # noinspection PyProtectedMember
         for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
+            if action_name.startswith("auto-"):
+                continue
             action_id = f"/devices/{device_id}/{action_name}"
             if action_id not in self._action_clients:
                 action_type = action_value_mapping["type"]
@@ -567,6 +569,7 @@ class HostNode(BaseROS2DeviceNode):
     def send_goal(
         self,
         device_id: str,
+        action_type: str,
         action_name: str,
         action_kwargs: Dict[str, Any],
         goal_uuid: Optional[str] = None,
@@ -577,11 +580,26 @@ class HostNode(BaseROS2DeviceNode):
 
         Args:
             device_id: 设备ID
+            action_type: 动作类型
             action_name: 动作名称
             action_kwargs: 动作参数
             goal_uuid: 目标UUID，如果为None则自动生成
+            server_info: 服务器发送信息，包含发送时间戳等
         """
-        action_id = f"/devices/{device_id}/{action_name}"
+        if action_type.startswith("UniLabJsonCommand"):
+            if action_name.startswith("auto-"):
+                action_name = action_name[5:]
+            action_id = f"/devices/{device_id}/_execute_driver_command"
+            action_kwargs = {
+                "string": json.dumps({
+                    "function_name": action_name,
+                    "function_args": action_kwargs,
+                })
+            }
+            if action_type.startswith("UniLabJsonCommandAsync"):
+                action_id = f"/devices/{device_id}/_execute_driver_command_async"
+        else:
+            action_id = f"/devices/{device_id}/{action_name}"
         if action_name == "test_latency" and server_info is not None:
             self.server_latest_timestamp = server_info.get("send_timestamp", 0.0)
         if action_id not in self._action_clients:

unilabos/ros/nodes/presets/protocol_node.py

@@ -1,7 +1,5 @@
 import time
-import asyncio
 import traceback
-from types import MethodType
 from typing import Union
 
 import rclpy
@@ -19,9 +17,11 @@ from unilabos.ros.msgs.message_converter import (
     get_action_type,
     convert_to_ros_msg,
     convert_from_ros_msg,
-    convert_from_ros_msg_with_mapping,
+    convert_from_ros_msg_with_mapping, String,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
+from unilabos.utils.log import error
+from unilabos.utils.type_check import serialize_result_info
 
 
 class ROS2ProtocolNode(BaseROS2DeviceNode):
@@ -33,7 +33,15 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
     # create_action_server = False  # Action Server要自己创建
 
-    def __init__(self, device_id: str, children: dict, protocol_type: Union[str, list[str]], resource_tracker: DeviceNodeResourceTracker, *args, **kwargs):
+    def __init__(
+        self,
+        device_id: str,
+        children: dict,
+        protocol_type: Union[str, list[str]],
+        resource_tracker: DeviceNodeResourceTracker,
+        *args,
+        **kwargs,
+    ):
         self._setup_protocol_names(protocol_type)
 
         # 初始化其它属性
@@ -60,12 +68,14 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
         for device_id, device_config in self.children.items():
             if device_config.get("type", "device") != "device":
-                self.lab_logger().debug(f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping.")
+                self.lab_logger().debug(
+                    f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
+                )
                 continue
             try:
                 d = self.initialize_device(device_id, device_config)
             except Exception as ex:
-                self.lab_logger().error(f"[Protocol Node] Failed to initialize device {device_id}: {ex}")
+                self.lab_logger().error(f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}")
                 d = None
             if d is None:
                 continue
@@ -76,22 +86,27 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
             # 设置硬件接口代理
             if d:
+                hardware_interface = d.ros_node_instance._hardware_interface
                 if (
-                    hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["name"])
+                    hasattr(d.driver_instance, hardware_interface["name"])
-                    and hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["write"])
+                    and hasattr(d.driver_instance, hardware_interface["write"])
-                    and (d.ros_node_instance._hardware_interface["read"] is None or hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["read"]))
+                    and (hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
                 ):
 
-                    name = getattr(d.driver_instance, d.ros_node_instance._hardware_interface["name"])
+                    name = getattr(d.driver_instance, hardware_interface["name"])
-                    read = d.ros_node_instance._hardware_interface.get("read", None)
+                    read = hardware_interface.get("read", None)
-                    write = d.ros_node_instance._hardware_interface.get("write", None)
+                    write = hardware_interface.get("write", None)
 
                     # 如果硬件接口是字符串，通过通信设备提供
                     if isinstance(name, str) and name in self.sub_devices:
                         communicate_device = self.sub_devices[name]
                         communicate_hardware_info = communicate_device.ros_node_instance._hardware_interface
                         self._setup_hardware_proxy(d, self.sub_devices[name], read, write)
-                        self.lab_logger().info(f"\n通信代理：为子设备{device_id}\n    添加了{read}方法(来源：{name} {communicate_hardware_info['write']}) \n    添加了{write}方法(来源：{name} {communicate_hardware_info['read']})")
+                        self.lab_logger().info(
+                            f"\n通信代理：为子设备{device_id}\n    "
+                            f"添加了{read}方法(来源：{name} {communicate_hardware_info['write']}) \n    "
+                            f"添加了{write}方法(来源：{name} {communicate_hardware_info['read']})"
+                        )
 
     def _setup_protocol_names(self, protocol_type):
         # 处理协议类型
@@ -119,11 +134,17 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
         if d is not None and hasattr(d, "ros_node_instance"):
             node = d.ros_node_instance
             for action_name, action_mapping in node._action_value_mappings.items():
+                if action_name.startswith("auto-"):
+                    continue
                 action_id = f"/devices/{device_id_abs}/{action_name}"
                 if action_id not in self._action_clients:
-                    self._action_clients[action_id] = ActionClient(
+                    try:
-                        self, action_mapping["type"], action_id, callback_group=self.callback_group
+                        self._action_clients[action_id] = ActionClient(
-                    )
+                            self, action_mapping["type"], action_id, callback_group=self.callback_group
+                        )
+                    except Exception as ex:
+                        self.lab_logger().error(f"创建动作客户端失败: {action_id}, 错误: {ex}")
+                        continue
                     self.lab_logger().debug(f"为子设备 {device_id} 创建动作客户端: {action_name}")
         return d
 
@@ -149,63 +170,126 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
     def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
         async def execute_protocol(goal_handle: ServerGoalHandle):
             """执行完整的工作流"""
-            self.get_logger().info(f'Executing {protocol_name} action...')
+            # 初始化结果信息变量
+            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]
-            print('+'*30)
+            try:
-            print(protocol_steps_generator)
+                print("+" * 30)
-            # 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
+                print(protocol_steps_generator)
-            goal = goal_handle.request
+                # 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
-            protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
+                goal = goal_handle.request
+                protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
 
-            # 向Host查询物料当前状态
+                # 向Host查询物料当前状态
-            for k, v in goal.get_fields_and_field_types().items():
+                for k, v in goal.get_fields_and_field_types().items():
-                if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                    r = ResourceGet.Request()
+                        r = ResourceGet.Request()
-                    r.id = protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
+                        resource_id = (
-                    r.with_children = True
+                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
-                    response = await self._resource_clients["resource_get"].call_async(r)
+                        )
-                    protocol_kwargs[k] = list_to_nested_dict([convert_from_ros_msg(rs) for rs in response.resources])
+                        r.id = resource_id
+                        r.with_children = True
+                        response = await self._resource_clients["resource_get"].call_async(r)
+                        protocol_kwargs[k] = list_to_nested_dict(
+                            [convert_from_ros_msg(rs) for rs in response.resources]
+                        )
 
-            from unilabos.resources.graphio import physical_setup_graph
+                from unilabos.resources.graphio import physical_setup_graph
-            self.get_logger().info(f'Working on physical setup: {physical_setup_graph}')
-            protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
 
-            self.get_logger().info(f'Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}')
+                self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
+                protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
 
-            time_start = time.time()
+                self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")
-            time_overall = 100
-            self._busy = True
 
-            # 逐步执行工作流
+                time_start = time.time()
-            for i, action in enumerate(protocol_steps):
+                time_overall = 100
-                self.get_logger().info(f'Running step {i+1}: {action}')
+                self._busy = True
-                if type(action) == dict:
-                    # 如果是单个动作，直接执行
-                    if action["action_name"] == "wait":
-                        time.sleep(action["action_kwargs"]["time"])
-                    else:
-                        result = await self.execute_single_action(**action)
-                elif type(action) == list:
-                    # 如果是并行动作，同时执行
-                    actions = action
-                    futures = [rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions]
-                    results = [await f for f in futures]
 
-            # 向Host更新物料当前状态
+                # 逐步执行工作流
-            for k, v in goal.get_fields_and_field_types().items():
+                step_results = []
-                if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                for i, action in enumerate(protocol_steps):
-                    r = ResourceUpdate.Request()
+                    self.get_logger().info(f"Running step {i + 1}: {action}")
-                    r.resources = [
+                    if isinstance(action, dict):
-                        convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
+                        # 如果是单个动作，直接执行
-                    ]
+                        if action["action_name"] == "wait":
-                    response = await self._resource_clients["resource_update"].call_async(r)
+                            time.sleep(action["action_kwargs"]["time"])
+                            step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
+                        else:
+                            result = await self.execute_single_action(**action)
+                            step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
+                    elif isinstance(action, list):
+                        # 如果是并行动作，同时执行
+                        actions = action
+                        futures = [
+                            rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions
+                        ]
+                        results = [await f for f in futures]
+                        step_results.append(
+                            {
+                                "step": i + 1,
+                                "parallel_actions": [a["action_name"] for a in actions],
+                                "results": results,
+                            }
+                        )
 
-            goal_handle.succeed()
+                # 向Host更新物料当前状态
+                for k, v in goal.get_fields_and_field_types().items():
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                        r = ResourceUpdate.Request()
+                        r.resources = [
+                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
+                        ]
+                        response = await self._resource_clients["resource_update"].call_async(r)
+
+                # 设置成功状态和返回值
+                execution_success = True
+                protocol_return_value = {
+                    "protocol_name": protocol_name,
+                    "steps_executed": len(protocol_steps),
+                    "step_results": step_results,
+                    "total_time": time.time() - time_start,
+                }
+
+                goal_handle.succeed()
+
+            except Exception as e:
+                # 捕获并记录错误信息
+                execution_error = traceback.format_exc()
+                execution_success = False
+                error(f"协议 {protocol_name} 执行失败")
+                error(traceback.format_exc())
+                self.lab_logger().error(f"协议执行出错: {str(e)}")
+
+                # 设置动作失败
+                goal_handle.abort()
+
+            finally:
+                self._busy = False
+
+            # 创建结果消息
             result = action_value_mapping["type"].Result()
-            result.success = True
+            result.success = execution_success
 
-            self._busy = False
+            # 获取结果消息类型信息，检查是否有return_info字段
+            result_msg_types = action_value_mapping["type"].Result.get_fields_and_field_types()
+
+            # 设置return_info字段（如果存在）
+            for attr_name in result_msg_types.keys():
+                if attr_name in ["success", "reached_goal"]:
+                    setattr(result, attr_name, execution_success)
+                elif attr_name == "return_info":
+                    setattr(
+                        result,
+                        attr_name,
+                        serialize_result_info(execution_error, execution_success, protocol_return_value),
+                    )
+
+            self.lab_logger().info(f"协议 {protocol_name} 完成并返回结果")
             return result
+
         return execute_protocol
 
     async def execute_single_action(self, device_id, action_name, action_kwargs):
@@ -241,14 +325,19 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
         return result_future.result
 
-
     """还没有改过的部分"""
 
-    def _setup_hardware_proxy(self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method):
+    def _setup_hardware_proxy(
+        self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method
+    ):
         """为设备设置硬件接口代理"""
         # extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])]
-        write_func = getattr(communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"])
+        write_func = getattr(
-        read_func = getattr(communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"])
+            communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"]
+        )
+        read_func = getattr(
+            communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"]
+        )
 
         def _read(*args, **kwargs):
             return read_func(*args, **kwargs)
@@ -264,7 +353,6 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
             # bound_write = MethodType(_write, device.driver_instance)
             setattr(device.driver_instance, write_method, _write)
 
-
     async def _update_resources(self, goal, protocol_kwargs):
         """更新资源状态"""
         for k, v in goal.get_fields_and_field_types().items():

unilabos/utils/import_manager.py

@@ -7,7 +7,11 @@
 import builtins
 import importlib
 import inspect
+import sys
 import traceback
+import ast
+import os
+from pathlib import Path
 from typing import Dict, List, Any, Optional, Callable, Type
 
 
@@ -18,8 +22,12 @@ __all__ = [
     "get_class",
     "get_module",
     "init_from_list",
+    "get_class_info_static",
+    "get_registry_class_info",
 ]
 
+from ast import Constant
+
 from unilabos.utils import logger
 
 
@@ -114,15 +122,16 @@ class ImportManager:
         # 尝试动态导入
         if ":" in class_name:
             module_path, cls_name = class_name.rsplit(":", 1)
-            # 如果cls_name是builtins中的关键字，则返回对应类
-            if cls_name in builtins.__dict__:
-                return builtins.__dict__[cls_name]
             module = self.load_module(module_path)
             if hasattr(module, cls_name):
                 cls = getattr(module, cls_name)
                 self._classes[class_name] = cls
                 self._classes[cls_name] = cls
                 return cls
+        else:
+            # 如果cls_name是builtins中的关键字，则返回对应类
+            if class_name in builtins.__dict__:
+                return builtins.__dict__[class_name]
 
         raise KeyError(f"找不到类: {class_name}")
 
@@ -149,6 +158,9 @@ class ImportManager:
         Returns:
             找到的类对象，如果未找到则返回None
         """
+        # 如果cls_name是builtins中的关键字，则返回对应类
+        if class_name in builtins.__dict__:
+            return builtins.__dict__[class_name]
         # 首先在已索引的类中查找
         if class_name in self._classes:
             return self._classes[class_name]
@@ -161,7 +173,9 @@ class ImportManager:
         # 遍历所有已加载的模块进行搜索
         for module_path, module in self._modules.items():
             for name, obj in inspect.getmembers(module):
-                if inspect.isclass(obj) and ((name.lower() == class_name.lower()) if search_lower else (name == class_name)):
+                if inspect.isclass(obj) and (
+                    (name.lower() == class_name.lower()) if search_lower else (name == class_name)
+                ):
                     # 将找到的类添加到索引中
                     self._classes[name] = obj
                     self._classes[f"{module_path}:{name}"] = obj
@@ -169,6 +183,590 @@ class ImportManager:
 
         return None
 
+    def get_enhanced_class_info(self, module_path: str, use_dynamic: bool = True) -> Dict[str, Any]:
+        """
+        获取增强的类信息，支持动态导入和静态分析
+
+        Args:
+            module_path: 模块路径，格式为 "module.path" 或 "module.path:ClassName"
+            use_dynamic: 是否优先使用动态导入
+
+        Returns:
+            包含详细类信息的字典
+        """
+        result = {
+            "module_path": module_path,
+            "dynamic_import_success": False,
+            "static_analysis_success": False,
+            "init_params": {},
+            "status_methods": {},  # get_ 开头和 @property 方法
+            "action_methods": {},  # set_ 开头和其他非_开头方法
+        }
+
+        # 尝试动态导入
+        dynamic_info = None
+        static_info = None
+        if use_dynamic:
+            try:
+                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")
+            except Exception as e:
+                logger.warning(
+                    f"[UniLab Registry] 在补充注册表时，动态导入类 "
+                    f"{module_path} 失败（将使用静态分析，"
+                    f"建议修复导入错误，以实现更好的注册表识别效果！）: {e}"
+                )
+                use_dynamic = False
+        if not use_dynamic:
+            # 尝试静态分析
+            try:
+                static_info = self._get_static_class_info(module_path)
+                result["static_analysis_success"] = True
+                logger.debug(f"[ImportManager] 静态分析类 {module_path} 成功")
+            except Exception as e:
+                logger.warning(f"[ImportManager] 静态分析类 {module_path} 失败: {e}")
+
+        # 合并信息（优先使用动态导入的信息）
+        if dynamic_info:
+            result.update(dynamic_info)
+        elif static_info:
+            result.update(static_info)
+
+        return result
+
+    def _get_dynamic_class_info(self, class_path: str) -> Dict[str, Any]:
+        """使用inspect模块动态获取类信息"""
+        cls = get_class(class_path)
+        class_name = cls.__name__
+
+        result = {
+            "class_name": class_name,
+            "init_params": [],
+            "status_methods": {},
+            "action_methods": {},
+        }
+
+        init_signature = inspect.signature(cls.__init__)
+        for param_name, param in init_signature.parameters.items():
+            if param_name == "self":
+                continue
+
+            # 先获取注解类型
+            param_type = self._get_type_string(param.annotation)
+            param_default = None if param.default == inspect.Parameter.empty else param.default
+
+            # 如果type为Any或None，尝试用default的类型推断
+            if param_type in ["Any", "None"]:
+                if param.default != inspect.Parameter.empty and param.default is not None:
+                    default_type = type(param.default)
+                    param_type = self._get_type_string(default_type)
+
+            param_info = {
+                "name": param_name,
+                "type": param_type,
+                "required": param.default == inspect.Parameter.empty,
+                "default": param_default,
+            }
+            result["init_params"].append(param_info)
+
+        # 分析类的所有成员
+        for name, method in cls.__dict__.items():
+            if name.startswith("_"):
+                continue
+
+            # 检查是否是property
+            if isinstance(method, property):
+                # @property 装饰的方法
+                # noinspection PyTypeChecker
+                return_type = self._get_return_type_from_method(method.fget) if method.fget else "Any"
+                prop_info = {
+                    "name": name,
+                    "return_type": return_type,
+                }
+                result["status_methods"][name] = prop_info
+
+                # 检查是否有对应的setter
+                if method.fset:
+                    setter_info = self._analyze_method_signature(method.fset)
+                    result["action_methods"][name] = setter_info
+
+            elif inspect.ismethod(method) or inspect.isfunction(method):
+                if name.startswith("get_"):
+                    actual_name = name[4:]  # 去掉get_前缀
+                    if actual_name in result["status_methods"]:
+                        continue
+                    # get_ 开头的方法归类为status
+                    method_info = self._analyze_method_signature(method)
+                    result["status_methods"][actual_name] = method_info
+                elif not name.startswith("_"):
+                    # 其他非_开头的方法归类为action
+                    method_info = self._analyze_method_signature(method)
+                    result["action_methods"][name] = method_info
+
+        return result
+
+    def _get_static_class_info(self, module_path: str) -> Dict[str, Any]:
+        """使用AST静态分析获取类信息"""
+        module_name, class_name = module_path.rsplit(":", 1)
+        # 将模块路径转换为文件路径
+        file_path = self._module_path_to_file_path(module_name)
+        if not file_path or not os.path.exists(file_path):
+            raise FileNotFoundError(f"找不到模块文件: {module_name} -> {file_path}")
+
+        with open(file_path, "r", encoding="utf-8") as f:
+            source_code = f.read()
+
+        tree = ast.parse(source_code)
+
+        # 查找目标类
+        target_class = None
+        for node in ast.walk(tree):
+            if isinstance(node, ast.ClassDef):
+                if node.name == class_name:
+                    target_class = node
+                    break
+
+        if target_class is None:
+            raise AttributeError(f"在文件 {file_path} 中找不到类 {class_name}")
+
+        result = {
+            "class_name": class_name,
+            "init_params": {},
+            "status_methods": {},
+            "action_methods": {},
+        }
+
+        # 分析类的方法
+        for node in target_class.body:
+            if isinstance(node, ast.FunctionDef):
+                method_info = self._analyze_method_node(node)
+                method_name = node.name
+                if method_name == "__init__":
+                    result["init_params"] = method_info["args"]
+                elif method_name.startswith("_"):
+                    continue
+                elif self._is_property_method(node):
+                    # @property 装饰的方法
+                    result["status_methods"][method_name] = method_info
+                elif method_name.startswith("get_"):
+                    # get_ 开头的方法归类为status
+                    actual_name = method_name[4:]  # 去掉get_前缀
+                    if actual_name not in result["status_methods"]:
+                        result["status_methods"][actual_name] = method_info
+                else:
+                    # 其他非_开头的方法归类为action
+                    result["action_methods"][method_name] = method_info
+        return result
+
+    def _analyze_method_signature(self, method) -> Dict[str, Any]:
+        """
+        分析方法签名，提取具体的命名参数信息
+
+        注意：此方法会跳过*args和**kwargs，只提取具体的命名参数
+        这样可以确保通过**dict方式传参时的准确性
+
+        示例用法：
+            method_info = self._analyze_method_signature(some_method)
+            params = {"param1": "value1", "param2": "value2"}
+            result = some_method(**params)  # 安全的参数传递
+        """
+        signature = inspect.signature(method)
+        args = []
+        num_required = 0
+
+        for param_name, param in signature.parameters.items():
+            # 跳过self参数
+            if param_name == "self":
+                continue
+
+            # 跳过*args和**kwargs参数
+            if param.kind == param.VAR_POSITIONAL:  # *args
+                continue
+            if param.kind == param.VAR_KEYWORD:  # **kwargs
+                continue
+
+            is_required = param.default == inspect.Parameter.empty
+            if is_required:
+                num_required += 1
+
+            args.append(
+                {
+                    "name": param_name,
+                    "type": self._get_type_string(param.annotation),
+                    "required": is_required,
+                    "default": None if param.default == inspect.Parameter.empty else param.default,
+                }
+            )
+
+        return {
+            "name": method.__name__,
+            "args": args,
+            "return_type": self._get_type_string(signature.return_annotation),
+            "is_async": inspect.iscoroutinefunction(method),
+        }
+
+    def _get_return_type_from_method(self, method) -> str:
+        """从方法中获取返回类型"""
+        signature = inspect.signature(method)
+        return self._get_type_string(signature.return_annotation)
+
+    def _get_type_string(self, annotation) -> str:
+        """将类型注解转换为Class Library中可搜索的类名"""
+        if annotation == inspect.Parameter.empty:
+            return "Any"  # 如果没有注解，返回Any
+        if annotation is None:
+            return "None"  # 明确的None类型
+        if hasattr(annotation, "__origin__"):
+            # 处理typing模块的类型
+            origin = annotation.__origin__
+            if origin in (list, set, tuple):
+                if hasattr(annotation, "__args__") and annotation.__args__:
+                    if len(annotation.__args__):
+                        arg0 = annotation.__args__[0]
+                        if isinstance(arg0, int):
+                            return "Int64MultiArray"
+                        elif isinstance(arg0, float):
+                            return "Float64MultiArray"
+                return "list"
+            elif origin is dict:
+                return "dict"
+            elif origin is Optional:
+                return "Unknown"
+            return f"Unknown"
+        annotation_str = str(annotation)
+        # 处理typing模块的复杂类型
+        if "typing." in annotation_str:
+            # 简化typing类型显示
+            return (
+                annotation_str.replace("typing.", "")
+                if getattr(annotation, "_name", None) is None
+                else annotation._name.lower()
+            )
+        # 如果是类型对象
+        if hasattr(annotation, "__name__"):
+            # 如果是内置类型
+            if annotation.__module__ == "builtins":
+                return annotation.__name__
+            else:
+                # 如果是自定义类，返回完整路径
+                return f"{annotation.__module__}:{annotation.__name__}"
+        # 如果是typing模块的类型
+        elif hasattr(annotation, "_name"):
+            return annotation._name
+        # 如果是字符串形式的类型注解
+        elif isinstance(annotation, str):
+            return annotation
+        else:
+            return annotation_str
+
+    def _is_property_method(self, node: ast.FunctionDef) -> bool:
+        """检查是否是@property装饰的方法"""
+        for decorator in node.decorator_list:
+            if isinstance(decorator, ast.Name) and decorator.id == "property":
+                return True
+        return False
+
+    def _is_setter_method(self, node: ast.FunctionDef) -> bool:
+        """检查是否是@xxx.setter装饰的方法"""
+        for decorator in node.decorator_list:
+            if isinstance(decorator, ast.Attribute) and decorator.attr == "setter":
+                return True
+        return False
+
+    def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
+        """从setter装饰器中获取属性名"""
+        for decorator in node.decorator_list:
+            if isinstance(decorator, ast.Attribute) and decorator.attr == "setter":
+                if isinstance(decorator.value, ast.Name):
+                    return decorator.value.id
+        return node.name
+
+    def get_class_info_static(self, module_class_path: str) -> Dict[str, Any]:
+        """
+        静态分析获取类的方法信息，不需要实际导入模块
+
+        Args:
+            module_class_path: 格式为 "module.path:ClassName" 的字符串
+
+        Returns:
+            包含类方法信息的字典
+        """
+        try:
+            if ":" not in module_class_path:
+                raise ValueError("module_class_path必须是 'module.path:ClassName' 格式")
+
+            module_path, class_name = module_class_path.rsplit(":", 1)
+
+            # 将模块路径转换为文件路径
+            file_path = self._module_path_to_file_path(module_path)
+            if not file_path or not os.path.exists(file_path):
+                logger.warning(f"找不到模块文件: {module_path} -> {file_path}")
+                return {}
+
+            # 解析源码
+            with open(file_path, "r", encoding="utf-8") as f:
+                source_code = f.read()
+
+            tree = ast.parse(source_code)
+
+            # 查找目标类
+            class_node = None
+            for node in ast.walk(tree):
+                if isinstance(node, ast.ClassDef) and node.name == class_name:
+                    class_node = node
+                    break
+
+            if not class_node:
+                logger.warning(f"在模块 {module_path} 中找不到类 {class_name}")
+                return {}
+
+            # 分析类的方法
+            methods_info = {}
+            for node in class_node.body:
+                if isinstance(node, ast.FunctionDef):
+                    method_info = self._analyze_method_node(node)
+                    methods_info[node.name] = method_info
+
+            return {
+                "class_name": class_name,
+                "module_path": module_path,
+                "file_path": file_path,
+                "methods": methods_info,
+            }
+
+        except Exception as e:
+            logger.error(f"静态分析类 {module_class_path} 时出错: {str(e)}")
+            return {}
+
+    def _module_path_to_file_path(self, module_path: str) -> Optional[str]:
+        for path in sys.path:
+            potential_path = Path(path) / module_path.replace(".", "/")
+
+            # 检查是否为包
+            if (potential_path / "__init__.py").exists():
+                return str(potential_path / "__init__.py")
+
+            # 检查是否为模块文件
+            if (potential_path.parent / f"{potential_path.name}.py").exists():
+                return str(potential_path.parent / f"{potential_path.name}.py")
+
+        return None
+
+    def _analyze_method_node(self, node: ast.FunctionDef) -> Dict[str, Any]:
+        """分析方法节点，提取参数和返回类型信息"""
+        method_info = {
+            "name": node.name,
+            "args": [],
+            "return_type": None,
+            "is_async": isinstance(node, ast.AsyncFunctionDef),
+        }
+        # 获取默认值列表
+        defaults = node.args.defaults
+        num_defaults = len(defaults)
+
+        # 计算必需参数数量
+        total_args = len(node.args.args)
+        num_required = total_args - num_defaults
+
+        # 提取参数信息
+        for i, arg in enumerate(node.args.args):
+            if arg.arg == "self":
+                continue
+            arg_info = {
+                "name": arg.arg,
+                "type": None,
+                "default": None,
+                "required": i < num_required,
+            }
+
+            # 提取类型注解
+            if arg.annotation:
+                arg_info["type"] = ast.unparse(arg.annotation) if hasattr(ast, "unparse") else str(arg.annotation)
+
+            # 提取默认值并推断类型
+            if i >= num_required:
+                default_index = i - num_required
+                if default_index < len(defaults):
+                    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
+                    if not arg_info["type"]:
+                        arg_info["type"] = self._get_type_string(type(arg_info["default"]))
+            method_info["args"].append(arg_info)
+
+        # 提取返回类型
+        if node.returns:
+            method_info["return_type"] = ast.unparse(node.returns) if hasattr(ast, "unparse") else str(node.returns)
+
+        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):
+            value = node.value
+            if isinstance(value, bool):
+                return "bool"
+            elif isinstance(value, int):
+                return "int"
+            elif isinstance(value, float):
+                return "float"
+            elif isinstance(value, str):
+                return "str"
+            elif value is None:
+                return "Optional[Any]"
+        elif isinstance(node, ast.List):
+            return "List"
+        elif isinstance(node, ast.Dict):
+            return "Dict"
+        elif isinstance(node, ast.Tuple):
+            return "Tuple"
+        elif isinstance(node, ast.Set):
+            return "Set"
+        elif isinstance(node, ast.Name):
+            # 常见的默认值模式
+            if node.id in ["None"]:
+                return "Optional[Any]"
+            elif node.id in ["True", "False"]:
+                return "bool"
+
+        return None
+
+    def _infer_types_from_docstring(self, method_info: Dict[str, Any]) -> None:
+        """从docstring中推断参数类型"""
+        docstring = method_info.get("docstring", "")
+        if not docstring:
+            return
+
+        lines = docstring.split("\n")
+        in_args_section = False
+
+        for line in lines:
+            line = line.strip()
+
+            # 检测Args或Arguments段落
+            if line.lower().startswith(("args:", "arguments:")):
+                in_args_section = True
+                continue
+            elif line.startswith(("returns:", "return:", "yields:", "raises:")):
+                in_args_section = False
+                continue
+            elif not line or not in_args_section:
+                continue
+
+            # 解析参数行，格式通常是: param_name (type): description 或 param_name: description
+            if ":" in line:
+                parts = line.split(":", 1)
+                param_part = parts[0].strip()
+
+                # 提取参数名和类型
+                param_name = None
+                param_type = None
+
+                if "(" in param_part and ")" in param_part:
+                    # 格式: param_name (type)
+                    param_name = param_part.split("(")[0].strip()
+                    type_part = param_part.split("(")[1].split(")")[0].strip()
+                    param_type = type_part
+                else:
+                    # 格式: param_name
+                    param_name = param_part
+
+                # 更新对应参数的类型信息
+                if param_name:
+                    for arg_info in method_info["args"]:
+                        if arg_info["name"] == param_name and not arg_info["type"]:
+                            if param_type:
+                                arg_info["inferred_type"] = param_type
+                            elif not arg_info["inferred_type"]:
+                                # 从描述中推断类型
+                                description = parts[1].strip().lower()
+                                if any(word in description for word in ["path", "file", "directory", "filename"]):
+                                    arg_info["inferred_type"] = "str"
+                                elif any(
+                                    word in description for word in ["port", "number", "count", "size", "length"]
+                                ):
+                                    arg_info["inferred_type"] = "int"
+                                elif any(
+                                    word in description for word in ["rate", "ratio", "percentage", "temperature"]
+                                ):
+                                    arg_info["inferred_type"] = "float"
+                                elif any(word in description for word in ["flag", "enable", "disable", "option"]):
+                                    arg_info["inferred_type"] = "bool"
+
+    def get_registry_class_info(self, module_class_path: str) -> Dict[str, Any]:
+        """
+        获取适用于注册表的类信息，包含完整的类型推断
+
+        Args:
+            module_class_path: 格式为 "module.path:ClassName" 的字符串
+
+        Returns:
+            适用于注册表的类信息字典
+        """
+        class_info = self.get_class_info_static(module_class_path)
+        if not class_info:
+            return {}
+
+        registry_info = {
+            "class_name": class_info["class_name"],
+            "module_path": class_info["module_path"],
+            "file_path": class_info["file_path"],
+            "methods": {},
+            "properties": [],
+            "init_params": {},
+            "action_methods": {},
+        }
+
+        for method_name, method_info in class_info["methods"].items():
+            # 分类处理不同类型的方法
+            if method_info["is_property"]:
+                registry_info["properties"].append(
+                    {
+                        "name": method_name,
+                        "return_type": method_info.get("return_type"),
+                        "docstring": method_info.get("docstring"),
+                    }
+                )
+            elif method_name == "__init__":
+                # 处理初始化参数
+                init_params = {}
+                for arg in method_info["args"]:
+                    if arg["name"] != "self":
+                        param_info = {
+                            "name": arg["name"],
+                            "type": arg.get("type") or arg.get("inferred_type"),
+                            "required": arg.get("is_required", True),
+                            "default": arg.get("default"),
+                        }
+                        init_params[arg["name"]] = param_info
+                registry_info["init_params"] = init_params
+            elif not method_name.startswith("_"):
+                # 处理公共方法（可能的action方法）
+                action_info = {
+                    "name": method_name,
+                    "params": {},
+                    "return_type": method_info.get("return_type"),
+                    "docstring": method_info.get("docstring"),
+                    "num_required": method_info.get("num_required", 0) - 1,  # 减去self
+                    "num_defaults": method_info.get("num_defaults", 0),
+                }
+
+                for arg in method_info["args"]:
+                    if arg["name"] != "self":
+                        param_info = {
+                            "name": arg["name"],
+                            "type": arg.get("type") or arg.get("inferred_type"),
+                            "required": arg.get("is_required", True),
+                            "default": arg.get("default"),
+                        }
+                        action_info["params"][arg["name"]] = param_info
+
+                registry_info["action_methods"][method_name] = action_info
+
+        return registry_info
+
 
 # 全局实例，便于直接使用
 default_manager = ImportManager()
@@ -193,3 +791,18 @@ def init_from_list(module_list: List[str]) -> None:
     """从模块列表初始化默认管理器"""
     global default_manager
     default_manager = ImportManager(module_list)
+
+
+def get_class_info_static(module_class_path: str) -> Dict[str, Any]:
+    """静态分析获取类信息的便捷函数"""
+    return default_manager.get_class_info_static(module_class_path)
+
+
+def get_registry_class_info(module_class_path: str) -> Dict[str, Any]:
+    """获取适用于注册表的类信息的便捷函数"""
+    return default_manager.get_registry_class_info(module_class_path)
+
+
+def get_enhanced_class_info(module_path: str, use_dynamic: bool = True) -> Dict[str, Any]:
+    """获取增强的类信息的便捷函数"""
+    return default_manager.get_enhanced_class_info(module_path, use_dynamic)

unilabos/utils/type_check.py

@@ -2,6 +2,8 @@ import collections.abc
 import json
 from typing import get_origin, get_args
 
+import yaml
+
 
 def get_type_class(type_hint):
     origin = get_origin(type_hint)
@@ -22,6 +24,12 @@ class TypeEncoder(json.JSONEncoder):
         return super().default(obj)
 
 
+class NoAliasDumper(yaml.SafeDumper):
+    def ignore_aliases(self, data):
+        return True
+
+
+
 class ResultInfoEncoder(json.JSONEncoder):
     """专门用于处理任务执行结果信息的JSON编码器"""