Merge branch 'device_visualization' of https://github.com/q434343/Uni-Lab-OS into device_visualization

test/experiments/HPLC.json

@@ -5,7 +5,7 @@
             "name": "HPLC",
             "parent": null,
             "type": "device",
-            "class": "hplc",
+            "class": "hplc.agilent",
             "position": {
                 "x": 620.6111111111111,
                 "y": 171,

unilabos/app/main.py

@@ -59,6 +59,18 @@ def parse_args():
         default=None,
         help="配置文件路径，支持.py格式的Python配置文件",
     )
+    parser.add_argument(
+        "--port",
+        type=int,
+        default=8002,
+        help="信息页web服务的启动端口",
+    )
+    parser.add_argument(
+        "--open_browser",
+        type=bool,
+        default=True,
+        help="是否在启动时打开信息页",
+    )
     parser.add_argument(
         "--visual",
         choices=["rviz", "web","None"],

unilabos/app/mq.py

@@ -146,7 +146,7 @@ class MQTTClient:
         if self.mqtt_disable:
             return
         status = {"data": device_status.get(device_id, {}), "device_id": device_id}
-        address = f"labs/{MQConfig.lab_id}/devices"
+        address = f"labs/{MQConfig.lab_id}/devices/"
         self.client.publish(address, json.dumps(status), qos=2)
         logger.critical(f"Device status published: address: {address}, {status}")
 

unilabos/app/web/pages.py

@@ -92,19 +92,7 @@ def setup_web_pages(router: APIRouter) -> None:
 
             # 获取已加载的设备
             if lab_registry:
-                # 设备类型
+                devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
-                for device_id, device_info in lab_registry.device_type_registry.items():
-                    msg = {
-                            "id": device_id,
-                            "name": device_info.get("name", "未命名"),
-                            "file_path": device_info.get("file_path", ""),
-                            "class_json": json.dumps(
-                                device_info.get("class", {}), indent=4, ensure_ascii=False, cls=TypeEncoder
-                            ),
-                        }
-                    mqtt_client.publish_registry(device_id, device_info)
-                    devices.append(msg)
-
                 # 资源类型
                 for resource_id, resource_info in lab_registry.resource_type_registry.items():
                     resources.append(

unilabos/app/web/templates/status.html

@@ -96,17 +96,19 @@
             <tr>
                 <th>设备ID</th>
                 <th>命名空间</th>
+                <th>机器名称</th>
                 <th>状态</th>
             </tr>
             {% for device_id, device_info in host_node_info.devices.items() %}
             <tr>
                 <td>{{ device_id }}</td>
                 <td>{{ device_info.namespace }}</td>
+                <td>{{ device_info.machine_name }}</td>
                 <td><span class="status-badge online">{{ "在线" if device_info.is_online else "离线" }}</span></td>
             </tr>
             {% else %}
             <tr>
-                <td colspan="3" class="empty-state">没有发现已管理的设备</td>
+                <td colspan="4" class="empty-state">没有发现已管理的设备</td>
             </tr>
             {% endfor %}
         </table>
@@ -218,6 +220,7 @@
             <th>Device ID</th>
             <th>节点名称</th>
             <th>命名空间</th>
+            <th>机器名称</th>
             <th>状态项</th>
             <th>动作数</th>
         </tr>
@@ -227,6 +230,7 @@
             <td>{{ device_id }}</td>
             <td>{{ device_info.node_name }}</td>
             <td>{{ device_info.namespace }}</td>
+            <td>{{ device_info.machine_name|default("本地") }}</td>
             <td>{{ ros_node_info.device_topics.get(device_id, {})|length }}</td>
             <td>{{ ros_node_info.device_actions.get(device_id, {})|length }} <span class="toggle-indicator">▼</span></td>
         </tr>
@@ -329,7 +333,7 @@
         <tr id="device-info-{{ loop.index }}" class="detail-row" style="display: none;">
             <td colspan="5">
                 <div class="content-full">
-                    <pre>{{ device.class_json }}</pre>
+                    <pre>{{ device.class|tojson(indent=4) }}</pre>
                     
                     {% if device.is_online %}
                     <div class="status-badge"><span class="online-status">在线</span></div>

unilabos/app/web/utils/host_utils.py

@@ -34,6 +34,7 @@ def get_host_node_info() -> Dict[str, Any]:
             "namespace": namespace,
             "is_online": f"{namespace}/{device_id}" in host_node._online_devices,
             "key": f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}",
+            "machine_name": host_node.device_machine_names.get(device_id, "未知"),
         }
         for device_id, namespace in host_node.devices_names.items()
     }
@@ -41,9 +42,7 @@ def get_host_node_info() -> Dict[str, Any]:
     host_info["subscribed_topics"] = sorted(list(host_node._subscribed_topics))
     # 获取动作客户端信息
     for action_id, client in host_node._action_clients.items():
-        host_info["action_clients"] = {
+        host_info["action_clients"] = {action_id: get_action_info(client, full_name=action_id)}
-            action_id: get_action_info(client, full_name=action_id)
-        }
 
     # 获取设备状态
     host_info["device_status"] = host_node.device_status

unilabos/app/web/utils/ros_utils.py

@@ -12,6 +12,7 @@ from unilabos.app.web.utils.action_utils import get_action_info
 # 存储 ROS 节点信息的全局变量
 ros_node_info = {"online_devices": {}, "device_topics": {}, "device_actions": {}}
 
+
 def get_ros_node_info() -> Dict[str, Any]:
     """获取 ROS 节点信息，包括设备节点、发布的状态和动作
 
@@ -35,6 +36,13 @@ def update_ros_node_info() -> Dict[str, Any]:
 
     try:
         from unilabos.ros.nodes.base_device_node import registered_devices
+        from unilabos.ros.nodes.presets.host_node import HostNode
+
+        # 尝试获取主机节点实例
+        host_node = HostNode.get_instance(0)
+        device_machine_names = {}
+        if host_node:
+            device_machine_names = host_node.device_machine_names
 
         for device_id, device_info in registered_devices.items():
             # 设备基本信息
@@ -42,6 +50,7 @@ def update_ros_node_info() -> Dict[str, Any]:
                 "node_name": device_info["node_name"],
                 "namespace": device_info["namespace"],
                 "uuid": device_info["uuid"],
+                "machine_name": device_machine_names.get(device_id, "本地"),
             }
 
             # 设备话题（状态）信息
@@ -55,10 +64,7 @@ def update_ros_node_info() -> Dict[str, Any]:
             }
 
             # 设备动作信息
-            result["device_actions"][device_id] = {
+            result["device_actions"][device_id] = {k: get_action_info(v, k) for k, v in device_info["actions"].items()}
-                k: get_action_info(v, k)
-                for k, v in device_info["actions"].items()
-            }
         # 更新全局变量
         ros_node_info = result
     except Exception as e:

unilabos/compile/clean_protocol.py

@@ -6,7 +6,7 @@ def generate_clean_protocol(
     G: nx.DiGraph, 
     vessel: str,  # Vessel to clean.
     solvent: str, # Solvent to clean vessel with.
-    volume: float = 25000.0, # Optional. Volume of solvent to clean vessel with.
+    volume: float = 25.0, # Optional. Volume of solvent to clean vessel with.
     temp: float = 25, # Optional. Temperature to heat vessel to while cleaning.
     repeats: int = 1, # Optional. Number of cleaning cycles to perform.
 ) -> list[dict]:
@@ -27,7 +27,7 @@ def generate_clean_protocol(
     from_vessel = f"flask_{solvent}"
     waste_vessel = f"waste_workup"
     
-    transfer_flowrate = flowrate = 2500.0
+    transfer_flowrate = flowrate = 2.5
     
     # 生成泵操作的动作序列
     for i in range(repeats):

unilabos/compile/evaporate_protocol.py

@@ -24,8 +24,8 @@ def generate_evaporate_protocol(
     
     # 生成泵操作的动作序列
     pump_action_sequence = []
-    reactor_volume = 500000.0
+    reactor_volume = 500.0
-    transfer_flowrate = flowrate = 2500.0
+    transfer_flowrate = flowrate = 2.5
     
     # 开启冷凝器
     pump_action_sequence.append({

unilabos/compile/pump_protocol.py

@@ -7,7 +7,7 @@ def generate_pump_protocol(
     from_vessel: str, 
     to_vessel: str, 
     volume: float, 
-    flowrate: float = 500.0,
+    flowrate: float = 0.5,
     transfer_flowrate: float = 0, 
 ) -> list[dict]:
     """
@@ -141,11 +141,11 @@ def generate_pump_protocol_with_rinsing(
     time: float = 0,
     viscous: bool = False,
     rinsing_solvent: str = "air",
-    rinsing_volume: float = 5000.0,
+    rinsing_volume: float = 5.0,
     rinsing_repeats: int = 2,
     solid: bool = False,
-    flowrate: float = 2500.0,
+    flowrate: float = 2.5,
-    transfer_flowrate: float = 500.0, 
+    transfer_flowrate: float = 0.5, 
 ) -> list[dict]:
     """
     Generates a pump protocol for transferring a specified volume between vessels, including rinsing steps with a chosen solvent. This function constructs a sequence of pump actions based on the provided parameters and the shortest path in a directed graph.
@@ -159,11 +159,11 @@ def generate_pump_protocol_with_rinsing(
         time (float, optional): Time over which to perform the transfer (default is 0).
         viscous (bool, optional): Indicates if the fluid is viscous (default is False).
         rinsing_solvent (str, optional): The solvent to use for rinsing (default is "air").
-        rinsing_volume (float, optional): The volume of rinsing solvent to use (default is 5000.0).
+        rinsing_volume (float, optional): The volume of rinsing solvent to use (default is 5.0).
         rinsing_repeats (int, optional): The number of times to repeat rinsing (default is 2).
         solid (bool, optional): Indicates if the transfer involves a solid (default is False).
-        flowrate (float, optional): The flow rate for the transfer (default is 2500.0). 最终注入容器B时的流速
+        flowrate (float, optional): The flow rate for the transfer (default is 2.5). 最终注入容器B时的流速
-        transfer_flowrate (float, optional): The flow rate for the transfer action (default is 500.0). 泵骨架中转移流速（若不指定，默认与注入流速相同）
+        transfer_flowrate (float, optional): The flow rate for the transfer action (default is 0.5). 泵骨架中转移流速（若不指定，默认与注入流速相同）
     
     Returns:
         list[dict]: A sequence of pump actions to be executed for the transfer and rinsing process. 泵操作的动作序列.
@@ -172,7 +172,7 @@ def generate_pump_protocol_with_rinsing(
         AssertionError: If the number of rinsing solvents does not match the number of rinsing repeats.
     
     Examples:
-        pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 100.0, rinsing_solvent="water")
+        pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 0.1, rinsing_solvent="water")
     """
     air_vessel = "flask_air"
     waste_vessel = f"waste_workup"

unilabos/compile/separate_protocol.py

@@ -11,7 +11,7 @@ def generate_separate_protocol(
     to_vessel: str, # Vessel to send product phase to.
     waste_phase_to_vessel: str, # Optional. Vessel to send waste phase to.
     solvent: str, # Optional. Solvent to add to separation vessel after contents of from_vessel has been transferred to create two phases.
-    solvent_volume: float = 50000, # Optional. Volume of solvent to add.
+    solvent_volume: float = 50, # Optional. Volume of solvent to add (mL).
     through: str = "", # Optional. Solid chemical to send product phase through on way to to_vessel, e.g. 'celite'.
     repeats: int = 1, # Optional. Number of separations to perform.
     stir_time: float = 30, # Optional. Time stir for after adding solvent, before separation of phases.
@@ -32,7 +32,7 @@ def generate_separate_protocol(
     
     # 生成泵操作的动作序列
     pump_action_sequence = []
-    reactor_volume = 500000.0
+    reactor_volume = 500.0
     waste_vessel = waste_phase_to_vessel
     
     # TODO：通过物料管理系统找到溶剂的容器
@@ -46,7 +46,7 @@ def generate_separate_protocol(
     separator_controller = f"{separation_vessel}_controller"
     separation_vessel_bottom = f"flask_{separation_vessel}"
     
-    transfer_flowrate = flowrate = 2500.0
+    transfer_flowrate = flowrate = 2.5
     
     if from_vessel != separation_vessel:
         pump_action_sequence.append(
@@ -140,8 +140,8 @@ def generate_separate_protocol(
                     "action_kwargs": {
                         "from_vessel": separation_vessel_bottom,
                         "to_vessel": to_vessel,
-                        "volume": 250000.0,
+                        "volume": 250.0,
-                        "time": 250000.0 / flowrate,
+                        "time": 250.0 / flowrate,
                         # "transfer_flowrate": transfer_flowrate,
                     }
                 }
@@ -164,8 +164,8 @@ def generate_separate_protocol(
                     "action_kwargs": {
                         "from_vessel": separation_vessel_bottom,
                         "to_vessel": waste_vessel,
-                        "volume": 250000.0,
+                        "volume": 250.0,
-                        "time": 250000.0 / flowrate,
+                        "time": 250.0 / flowrate,
                         # "transfer_flowrate": transfer_flowrate,
                     }
                 }
@@ -179,8 +179,8 @@ def generate_separate_protocol(
                     "action_kwargs": {
                         "from_vessel": separation_vessel_bottom,
                         "to_vessel": waste_vessel,
-                        "volume": 250000.0,
+                        "volume": 250.0,
-                        "time": 250000.0 / flowrate,
+                        "time": 250.0 / flowrate,
                         # "transfer_flowrate": transfer_flowrate,
                     }
                 }
@@ -203,8 +203,8 @@ def generate_separate_protocol(
                     "action_kwargs": {
                         "from_vessel": separation_vessel_bottom,
                         "to_vessel": to_vessel,
-                        "volume": 250000.0,
+                        "volume": 250.0,
-                        "time": 250000.0 / flowrate,
+                        "time": 250.0 / flowrate,
                         # "transfer_flowrate": transfer_flowrate,
                     }
                 }
@@ -221,8 +221,8 @@ def generate_separate_protocol(
                     "action_kwargs": {
                         "from_vessel": to_vessel,
                         "to_vessel": separation_vessel,
-                        "volume": 250000.0,
+                        "volume": 250.0,
-                        "time": 250000.0 / flowrate,
+                        "time": 250.0 / flowrate,
                         # "transfer_flowrate": transfer_flowrate,
                     }
                 }

unilabos/registry/device_comms/serial.yaml

@@ -1,7 +1,7 @@
 serial:
   description: Serial communication interface, used when sharing same serial port for multiple devices
   class:
-    module: unilabos.ros.nodes.presets:ROS2SerialNode
+    module: unilabos.ros.nodes.presets.serial_node:ROS2SerialNode
     type: ros2
   schema:
     properties: {}

unilabos/registry/devices/characterization_optic.yaml

@@ -19,6 +19,49 @@ raman_home_made:
       status:
         type: string
     required:
-      - status
+    - status
     additionalProperties: false
-    type: object
+    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:
+      execute_command_from_outer:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success
+  schema:
+    properties:
+      device_status:
+        type: string
+      could_run:
+        type: boolean
+      driver_init_ok:
+        type: boolean
+      is_running:
+        type: boolean
+      finish_status:
+        type: string
+      status_text:
+        type: string
+    required:
+    - device_status
+    - could_run
+    - driver_init_ok
+    - is_running
+    - finish_status
+    - status_text
+    additionalProperties: false
+    type: object

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -1,7 +1,7 @@
 separator.homemade:
   description: Separator device with homemade grbl controller
   class:
-    module: unilabos.devices.separator.homemade_grbl_conductivity:Separator_Controller
+    module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
     type: python
     status_types:
       sensordata: Float64

unilabos/registry/devices/pump_and_valve.yaml

@@ -3,6 +3,10 @@ syringe_pump_with_valve.runze:
   class:
     module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
     type: python
+    hardware_interface:
+      name: hardware_interface
+      read: send_command
+      write: send_command
   schema:
     type: object
     properties:

unilabos/registry/registry.py

@@ -1,3 +1,4 @@
+import json
 import os
 import sys
 from pathlib import Path
@@ -6,8 +7,9 @@ from typing import Any
 import yaml
 
 from unilabos.utils import logger
-from unilabos.ros.msgs.message_converter import msg_converter_manager
+from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
 from unilabos.utils.decorator import singleton
+from unilabos.utils.type_check import TypeEncoder
 
 DEFAULT_PATHS = [Path(__file__).absolute().parent]
 
@@ -129,6 +131,7 @@ class Registry:
                                     action_config["type"] = self._replace_type_with_class(
                                         action_config["type"], device_id, f"动作 {action_name}"
                                     )
+                                    action_config["schema"] = ros_action_to_json_schema(action_config["type"])
 
                 self.device_type_registry.update(data)
 
@@ -143,6 +146,16 @@ class Registry:
                     f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
                 )
 
+    def obtain_registry_device_info(self):
+        devices = []
+        for device_id, device_info in self.device_type_registry.items():
+            msg = {
+                "id": device_id,
+                **device_info
+            }
+            devices.append(msg)
+        return devices
+
 
 # 全局单例实例
 lab_registry = Registry()

unilabos/resources/graphio.py

@@ -1,4 +1,5 @@
 import importlib
+import inspect
 import json
 from typing import Union
 import numpy as np
@@ -384,7 +385,11 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
     d = resource_ulab_to_plr_inner(resource)
     """无法通过Resource进行反序列化，例如TipSpot必须内部序列化好，直接用TipSpot序列化会多参数，导致出错"""
     from pylabrobot.utils.object_parsing import find_subclass
-    resource_plr = find_subclass(d["type"], ResourcePLR).deserialize(d, allow_marshal=True)
+    sub_cls = find_subclass(d["type"], ResourcePLR)
+    spect = inspect.signature(sub_cls)
+    if "category" not in spect.parameters:
+        d.pop("category")
+    resource_plr = sub_cls.deserialize(d, allow_marshal=True)
     resource_plr.load_all_state(all_states)
     return resource_plr
 

unilabos/ros/main_slave_run.py

@@ -1,14 +1,17 @@
+import copy
+import json
 import os
 import traceback
 from typing import Optional, Dict, Any, List
 
 import rclpy
 from unilabos_msgs.msg import Resource  # type: ignore
-from unilabos_msgs.srv import ResourceAdd  # type: ignore
+from unilabos_msgs.srv import ResourceAdd, SerialCommand  # type: ignore
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.timer import Timer
 
+from unilabos.registry.registry import lab_registry
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
@@ -17,6 +20,7 @@ from unilabos.ros.nodes.presets.host_node import HostNode
 from unilabos.ros.x.rclpyx import run_event_loop_in_thread
 from unilabos.utils import logger
 from unilabos.config.config import BasicConfig
+from unilabos.utils.type_check import TypeEncoder
 
 
 def exit() -> None:
@@ -82,7 +86,7 @@ def slave(
     """从节点函数"""
     rclpy.init(args=args)
     rclpy.__executor = executor = MultiThreadedExecutor()
-
+    devices_config_copy = copy.deepcopy(devices_config)
     for device_id, device_config in devices_config.items():
         d = initialize_device_from_dict(device_id, device_config)
         if d is None:
@@ -98,17 +102,28 @@ def slave(
     n = Node(f"slaveMachine_{machine_name}", parameter_overrides=[])
     executor.add_node(n)
 
-    if BasicConfig.slave_no_host:
+    if not BasicConfig.slave_no_host:
-        # 确保ResourceAdd存在
+        sclient = n.create_client(SerialCommand, "/node_info_update")
-        if "ResourceAdd" in globals():
+        sclient.wait_for_service()
-            rclient = n.create_client(ResourceAdd, "/resources/add")
+
-            rclient.wait_for_service()  # FIXME 可能一直等待，加一个参数
+        request = SerialCommand.Request()
+        request.command = json.dumps({
+            "machine_name": machine_name,
+            "type": "slave",
+            "devices_config": devices_config_copy,
+            "registry_config": lab_registry.obtain_registry_device_info()
+        }, ensure_ascii=False, cls=TypeEncoder)
+        response = sclient.call_async(request).result()
+        logger.info(f"Slave node info updated.")
+
+        rclient = n.create_client(ResourceAdd, "/resources/add")
+        rclient.wait_for_service()  # FIXME 可能一直等待，加一个参数
+
+        request = ResourceAdd.Request()
+        request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]
+        response = rclient.call_async(request).result()
+        logger.info(f"Slave resource added.")
 
-            request = ResourceAdd.Request()
-            request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]
-            response = rclient.call_async(request)
-        else:
-            print("Warning: ResourceAdd service not available")
 
     run_event_loop_in_thread()
 

unilabos/ros/nodes/base_device_node.py

@@ -342,9 +342,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 else:
                     return getattr(self.driver_instance, attr_name)
             except AttributeError as ex:
-                self.lab_logger().error(
+                if ex.args[0].startswith(f"AttributeError: '{self.driver_instance.__class__.__name__}' object"):
-                    f"publish error, {str(type(self.driver_instance))[8:-2]} has no attribute '{attr_name}'"
+                    self.lab_logger().error(
-                )
+                        f"publish error, {str(type(self.driver_instance))[8:-2]} has no attribute '{attr_name}'"
+                    )
+                else:
+                    self.lab_logger().error(
+                        f"publish error, when {str(type(self.driver_instance))[8:-2]} getting attribute '{attr_name}'"
+                    )
+                    self.lab_logger().error(traceback.format_exc())
 
         self._property_publishers[attr_name] = PropertyPublisher(
             self, attr_name, get_device_attr, msg_type, initial_period, self._print_publish
@@ -430,6 +436,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 self.lab_logger().info(f"同步执行动作 {ACTION}")
                 future = self._executor.submit(ACTION, **action_kwargs)
 
+                def _handle_future_exception(fut):
+                    try:
+                        fut.result()
+                    except Exception as e:
+                        error(f"同步任务 {ACTION.__name__} 报错了")
+                        error(traceback.format_exc())
+
+                future.add_done_callback(_handle_future_exception)
+
             action_type = action_value_mapping["type"]
             feedback_msg_types = action_type.Feedback.get_fields_and_field_types()
             result_msg_types = action_type.Result.get_fields_and_field_types()

unilabos/ros/nodes/presets/host_node.py

@@ -1,17 +1,20 @@
 import copy
+import json
 import threading
 import time
+import traceback
 import uuid
 from typing import Optional, Dict, Any, List, ClassVar, Set
 
 from action_msgs.msg import GoalStatus
 from unilabos_msgs.msg import Resource  # type: ignore
-from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList  # type: ignore
+from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, SerialCommand  # type: ignore
 from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.service import Service
 from unique_identifier_msgs.msg import UUID
 
+from unilabos.registry.registry import lab_registry
 from unilabos.resources.registry import add_schema
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
@@ -19,7 +22,8 @@ from unilabos.ros.msgs.message_converter import (
     get_ros_type_by_msgname,
     convert_from_ros_msg,
     convert_to_ros_msg,
-    msg_converter_manager, ros_action_to_json_schema,
+    msg_converter_manager,
+    ros_action_to_json_schema,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
@@ -94,6 +98,7 @@ class HostNode(BaseROS2DeviceNode):
         # 创建设备、动作客户端和目标存储
         self.devices_names: Dict[str, str] = {}  # 存储设备名称和命名空间的映射
         self.devices_instances: Dict[str, ROS2DeviceNode] = {}  # 存储设备实例
+        self.device_machine_names: Dict[str, str] = {}  # 存储设备ID到机器名称的映射
         self._action_clients: Dict[str, ActionClient] = {}  # 用来存储多个ActionClient实例
         self._action_value_mappings: Dict[str, Dict] = (
             {}
@@ -105,18 +110,24 @@ class HostNode(BaseROS2DeviceNode):
         self._subscribed_topics = set()  # 用于跟踪已订阅的话题
 
         # 创建物料增删改查服务（非客户端）
-        self._init_resource_service()
+        self._init_host_service()
 
         self.device_status = {}  # 用来存储设备状态
         self.device_status_timestamps = {}  # 用来存储设备状态最后更新时间
 
+        from unilabos.app.mq import mqtt_client
+        for device_config in lab_registry.obtain_registry_device_info():
+            mqtt_client.publish_registry(device_config["id"], device_config)
+
         # 首次发现网络中的设备
         self._discover_devices()
 
         # 初始化所有本机设备节点，多一次过滤，防止重复初始化
         for device_id, device_config in devices_config.items():
             if device_config.get("type", "device") != "device":
-                self.lab_logger().debug(f"[Host Node] Skipping type {device_config['type']} {device_id} already existed, skipping.")
+                self.lab_logger().debug(
+                    f"[Host Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
+                )
                 continue
             if device_id not in self.devices_names:
                 self.initialize_device(device_id, device_config)
@@ -132,10 +143,14 @@ class HostNode(BaseROS2DeviceNode):
                 controller_config["update_rate"] = update_rate
                 self.initialize_controller(controller_id, controller_config)
 
-        for bridge in self.bridges:
+        try:
-            if hasattr(bridge, "resource_add"):
+            for bridge in self.bridges:
-                self.lab_logger().info("[Host Node-Resource] Adding resources to bridge.")
+                if hasattr(bridge, "resource_add"):
-                bridge.resource_add(add_schema(resources_config))
+                    self.lab_logger().info("[Host Node-Resource] Adding resources to bridge.")
+                    bridge.resource_add(add_schema(resources_config))
+        except Exception as ex:
+            self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
+            self.lab_logger().error(traceback.format_exc())
 
         # 创建定时器，定期发现设备
         self._discovery_timer = self.create_timer(
@@ -221,6 +236,7 @@ class HostNode(BaseROS2DeviceNode):
                     )
                     self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
                     from unilabos.app.mq import mqtt_client
+
                     info_with_schema = ros_action_to_json_schema(action_type)
                     mqtt_client.publish_actions(action_id, info_with_schema)
                 except Exception as e:
@@ -245,6 +261,7 @@ class HostNode(BaseROS2DeviceNode):
             return
         # noinspection PyProtectedMember
         self.devices_names[device_id] = d._ros_node.namespace
+        self.device_machine_names[device_id] = "本地"
         self.devices_instances[device_id] = d
         # noinspection PyProtectedMember
         for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
@@ -254,6 +271,7 @@ class HostNode(BaseROS2DeviceNode):
                 self._action_clients[action_id] = ActionClient(self, action_type, action_id)
                 self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
                 from unilabos.app.mq import mqtt_client
+
                 info_with_schema = ros_action_to_json_schema(action_type)
                 mqtt_client.publish_actions(action_id, info_with_schema)
             else:
@@ -468,7 +486,7 @@ class HostNode(BaseROS2DeviceNode):
 
     """Resource"""
 
-    def _init_resource_service(self):
+    def _init_host_service(self):
         self._resource_services: Dict[str, Service] = {
             "resource_add": self.create_service(
                 ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup()
@@ -491,8 +509,41 @@ class HostNode(BaseROS2DeviceNode):
             "resource_list": self.create_service(
                 ResourceList, "/resources/list", self._resource_list_callback, callback_group=ReentrantCallbackGroup()
             ),
+            "node_info_update": self.create_service(
+                SerialCommand,
+                "/node_info_update",
+                self._node_info_update_callback,
+                callback_group=ReentrantCallbackGroup(),
+            ),
         }
 
+    def _node_info_update_callback(self, request, response):
+        """
+        更新节点信息回调
+        """
+        self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
+        try:
+            from unilabos.app.mq import mqtt_client
+
+            info = json.loads(request.command)
+            machine_name = info["machine_name"]
+            devices_config = info["devices_config"]
+            registry_config = info["registry_config"]
+
+            # 更新设备机器名称映射
+            for device_id in devices_config.keys():
+                self.device_machine_names[device_id] = machine_name
+                self.lab_logger().debug(f"[Host Node] Updated machine name for device {device_id}: {machine_name}")
+
+            for device_config in registry_config:
+                mqtt_client.publish_registry(device_config["id"], device_config)
+            self.lab_logger().info(f"[Host Node] Node info update: {info}")
+            response.response = "OK"
+        except Exception as e:
+            self.lab_logger().error(f"[Host Node] Error updating node info: {str(e)}")
+            response.response = "ERROR"
+        return response
+
     def _resource_add_callback(self, request, response):
         """
         添加资源回调

unilabos/ros/nodes/presets/protocol_node.py

@@ -20,7 +20,7 @@ from unilabos.ros.msgs.message_converter import (
     convert_from_ros_msg,
     convert_from_ros_msg_with_mapping,
 )
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
 
 
 class ROS2ProtocolNode(BaseROS2DeviceNode):
@@ -55,34 +55,39 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
         )
 
         # 初始化子设备
-        communication_node_id = None
+        self.communication_node_id_to_instance = {}
+
         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.")
                 continue
-            d = self.initialize_device(device_id, device_config)
+            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}")
+                d = None
             if d is None:
                 continue
 
             if "serial_" in device_id or "io_" in device_id:
-                communication_node_id = device_id
+                self.communication_node_id_to_instance[device_id] = d
                 continue
 
             # 设置硬件接口代理
-            if d and hasattr(d, "_hardware_interface"):
+            if d:
                 if (
-                    hasattr(d, d._hardware_interface["name"])
+                    hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["name"])
-                    and hasattr(d, d._hardware_interface["write"])
+                    and hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["write"])
-                    and (d._hardware_interface["read"] is None or hasattr(d, d._hardware_interface["read"]))
+                    and (d.ros_node_instance._hardware_interface["read"] is None or hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["read"]))
                 ):
 
-                    name = getattr(d, d._hardware_interface["name"])
+                    name = getattr(d.driver_instance, d.ros_node_instance._hardware_interface["name"])
-                    read = d._hardware_interface.get("read", None)
+                    read = d.ros_node_instance._hardware_interface.get("read", None)
-                    write = d._hardware_interface.get("write", None)
+                    write = d.ros_node_instance._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 communication_node_id in self.sub_devices:
+                    if isinstance(name, str) and name in self.sub_devices:
-                        self._setup_hardware_proxy(d, self.sub_devices[communication_node_id], read, write)
+                        self._setup_hardware_proxy(d, self.sub_devices[name], read, write)
 
     def _setup_protocol_names(self, protocol_type):
         # 处理协议类型
@@ -234,11 +239,11 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
     """还没有改过的部分"""
 
-    def _setup_hardware_proxy(self, device, communication_device, 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, info) for info in communication_device._hardware_interface.get("extra_info", [])]
+        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, communication_device._hardware_interface["write"])
+        write_func = getattr(communication_device.ros_node_instance, communication_device.ros_node_instance._hardware_interface["write"])
-        read_func = getattr(communication_device, communication_device._hardware_interface["read"])
+        read_func = getattr(communication_device.ros_node_instance, communication_device.ros_node_instance._hardware_interface["read"])
 
         def _read():
             return read_func(*extra_info)
@@ -247,9 +252,9 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
             return write_func(*extra_info, command)
 
         if read_method:
-            setattr(device, read_method, _read)
+            setattr(device.driver_instance, read_method, _read)
         if write_method:
-            setattr(device, write_method, _write)
+            setattr(device.driver_instance, write_method, _write)
 
 
     async def _update_resources(self, goal, protocol_kwargs):

unilabos/ros/nodes/presets/serial_node.py

@@ -21,6 +21,7 @@ class ROS2SerialNode(BaseROS2DeviceNode):
             self.hardware_interface = Serial(baudrate=baudrate, port=port)
         except (OSError, SerialException) as e:
             # 因为还没调用父类初始化，无法使用日志，直接抛出异常
+            # print(f"Failed to connect to serial port {port} at {baudrate} baudrate.")
             raise RuntimeError(f"Failed to connect to serial port {port} at {baudrate} baudrate.") from e
 
         # 初始化BaseROS2DeviceNode，使用自身作为driver_instance
@@ -46,7 +47,7 @@ class ROS2SerialNode(BaseROS2DeviceNode):
         self.lab_logger().info(f"【ROS2SerialNode.__init__】创建串口写入服务: serialwrite")
 
     def send_command(self, command: str):
-        self.lab_logger().info(f"【ROS2SerialNode.send_command】发送命令: {command}")
+        # self.lab_logger().debug(f"【ROS2SerialNode.send_command】发送命令: {command}")
         with self._query_lock:
             if self._closing:
                 self.lab_logger().error(f"【ROS2SerialNode.send_command】设备正在关闭，无法发送命令")
@@ -58,23 +59,23 @@ class ROS2SerialNode(BaseROS2DeviceNode):
             response = self.hardware_interface.write(full_command_data)
             # time.sleep(0.05)
             output = self._receive(self.hardware_interface.read_until(b"\n"))
-            self.lab_logger().info(f"【ROS2SerialNode.send_command】接收响应: {output}")
+            # self.lab_logger().debug(f"【ROS2SerialNode.send_command】接收响应: {output}")
         return output
 
     def read_data(self):
-        self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取数据")
+        # self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取数据")
         with self._query_lock:
             if self._closing:
                 self.lab_logger().error(f"【ROS2SerialNode.read_data】设备正在关闭，无法读取数据")
                 raise RuntimeError
             data = self.hardware_interface.read_until(b"\n")
             result = self._receive(data)
-            self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取到数据: {result}")
+            # self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取到数据: {result}")
             return result
 
     def _receive(self, data: bytes):
         ascii_string = "".join(chr(byte) for byte in data)
-        self.lab_logger().debug(f"【ROS2SerialNode._receive】接收数据: {ascii_string}")
+        # self.lab_logger().debug(f"【ROS2SerialNode._receive】接收数据: {ascii_string}")
         return ascii_string
 
     def handle_serial_request(self, request, response):