修复protocolnode的兼容性

unilabos/registry/devices/work_station.yaml

@@ -6024,156 +6024,18 @@ workstation:
           title: WashSolid
           type: object
         type: WashSolid
-      auto-create_ros_action_server:
-        feedback: {}
-        goal: {}
-        goal_default:
-          action_name: null
-          action_value_mapping: null
-        handles: {}
-        result: {}
-        schema:
-          description: create_ros_action_server的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                action_name:
-                  type: string
-                action_value_mapping:
-                  type: string
-              required:
-              - action_name
-              - action_value_mapping
-              type: object
-            result: {}
-          required:
-          - goal
-          title: create_ros_action_server参数
-          type: object
-        type: UniLabJsonCommand
-      auto-execute_single_action:
-        feedback: {}
-        goal: {}
-        goal_default:
-          action_kwargs: null
-          action_name: null
-          device_id: null
-        handles: {}
-        result: {}
-        schema:
-          description: execute_single_action的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                action_kwargs:
-                  type: string
-                action_name:
-                  type: string
-                device_id:
-                  type: string
-              required:
-              - device_id
-              - action_name
-              - action_kwargs
-              type: object
-            result: {}
-          required:
-          - goal
-          title: execute_single_action参数
-          type: object
-        type: UniLabJsonCommandAsync
-      auto-initialize_device:
-        feedback: {}
-        goal: {}
-        goal_default:
-          device_config: null
-          device_id: null
-        handles: {}
-        result: {}
-        schema:
-          description: initialize_device的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                device_config:
-                  type: string
-                device_id:
-                  type: string
-              required:
-              - device_id
-              - device_config
-              type: object
-            result: {}
-          required:
-          - goal
-          title: initialize_device参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode
+    module: unilabos.devices.workstation.workstation_base:ProtocolNode
     status_types: {}
-    type: ros2
+    type: python
   config_info: []
   description: Workstation
   handles: []
   icon: ''
-  init_param_schema:
-    config:
-      properties:
-        action_value_mappings:
-          type: object
-        children:
-          type: object
-        device_id:
-          type: string
-        driver_instance:
-          type: string
-        hardware_interface:
-          type: object
-        print_publish:
-          default: true
-          type: string
-        protocol_type:
-          items:
-            type: string
-          type: array
-        resource_tracker:
-          type: string
-        status_types:
-          type: object
-      required:
-      - protocol_type
-      - children
-      - driver_instance
-      - device_id
-      - status_types
-      - action_value_mappings
-      - hardware_interface
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  version: 1.0.0
-workstation.example:
-  category:
-  - work_station
-  class:
-    action_value_mappings: {}
-    module: unilabos.devices.workstation.workstation_base:WorkstationExample
-    status_types: {}
-    type: ros2
-  config_info: []
-  description: Example Workstation
-  handles: []
-  icon: ''
   init_param_schema:
     config:
       properties:
         station_resource:
-          type: object
+          type: string
       required:
       - station_resource
       type: object

unilabos/registry/registry.py

@@ -19,6 +19,9 @@ from unilabos.utils.type_check import NoAliasDumper
 
 DEFAULT_PATHS = [Path(__file__).absolute().parent]
 
+class ROSMsgNotFound(Exception):
+    pass
+
 
 @singleton
 class Registry:
@@ -308,7 +311,7 @@ class Registry:
             return type_class
         else:
             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)
+            raise ROSMsgNotFound(f"类型 '{type_name}' 未找到，用于设备 {device_id} 的 {field_name}")
 
     def _get_json_schema_type(self, type_str: str) -> str:
         """
@@ -495,7 +498,10 @@ class Registry:
                             if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
                                 status_type = "String"  # 替换成ROS的String，便于显示
                                 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}")
+                            try:
+                                target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
+                            except ROSMsgNotFound:
+                                continue
                             if target_type in [
                                 dict,
                                 list,
@@ -568,9 +574,12 @@ class Registry:
                                 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}"
-                                    )
+                                    try:
+                                        target_type = self._replace_type_with_class(
+                                            action_type_str, device_id, f"动作 {action_name}"
+                                        )
+                                    except ROSMsgNotFound:
+                                        continue
                                     action_str_type_mapping[action_type_str] = target_type
                                     if target_type is not None:
                                         action_config["goal_default"] = yaml.safe_load(