Fix handles

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -50,12 +50,12 @@ requirements:
     - robostack-staging::ros-humble-rosidl-default-generators
     - robostack-staging::ros-humble-std-msgs
     - robostack-staging::ros-humble-geometry-msgs
-    - robostack-staging::ros2-distro-mutex=0.6.*
+    - robostack-staging::ros2-distro-mutex=0.5.*
   run:
     - robostack-staging::ros-humble-action-msgs
     - robostack-staging::ros-humble-ros-workspace
     - robostack-staging::ros-humble-rosidl-default-runtime
     - robostack-staging::ros-humble-std-msgs
     - robostack-staging::ros-humble-geometry-msgs
-    - robostack-staging::ros2-distro-mutex=0.6.*
+#    - robostack-staging::ros2-distro-mutex=0.6.*
     - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -77,8 +77,7 @@
                 "z": 0
             },
             "config": {
-                "positions": 8,
+                "positions": 8
-                "current_position": 1
             },
             "data": {
                 "valve_state": "Ready",
@@ -98,8 +97,7 @@
                 "z": 0
             },
             "config": {
-                "positions": 8,
+                "positions": 8
-                "current_position": 1
             },
             "data": {
                 "valve_state": "Ready",
@@ -489,7 +487,7 @@
             "children": [],
             "parent": "ComprehensiveProtocolStation",
             "type": "device",
-            "class": "gas_source.mock",
+            "class": "container",
             "position": {
                 "x": 650,
                 "y": 150,

test/experiments/mock_reactor.json

@@ -37,7 +37,10 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 5000.0
+                "max_volume": 5000.0,
+                "size_x": 200.0,
+                "size_y": 200.0,
+                "size_z": 200.0
             },
             "data": {
                 "liquid": [
@@ -71,7 +74,7 @@
             "type": "device",
             "class": "solenoid_valve.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 780,
                 "y": 171,
                 "z": 0
             },
@@ -89,7 +92,7 @@
             "type": "device",
             "class": "vacuum_pump.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 500,
                 "y": 171,
                 "z": 0
             },
@@ -107,7 +110,7 @@
             "type": "device",
             "class": "gas_source.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 900,
                 "y": 171,
                 "z": 0
             },

unilabos/registry/devices/pump_and_valve.yaml

@@ -48,14 +48,14 @@ solenoid_valve.mock:
         feedback: {}
         result: {}
   handles:
-    input:
     - handler_key: fluid-input
       label: Fluid Input
       data_type: fluid
-    output:
+      side: NORTH
     - handler_key: fluid-output
       label: Fluid Output
       data_type: fluid
+      side: SOUTH
   init_param_schema:
     type: object
     properties:

unilabos/registry/devices/virtual_device.yaml

@@ -7,7 +7,7 @@
 
 # 2. virtual_stirrer - 虚拟搅拌器  
 # 描述：机械连接设备，提供搅拌功能
-# 连接特性：1个双向连接点（bidirectional）
+# 连接特性：1个双向连接点（undirected）
 # 数据类型：mechanical（机械连接）
 
 # 3a. virtual_valve - 虚拟八通阀门
@@ -32,12 +32,12 @@
 
 # 6. virtual_heatchill - 虚拟加热/冷却器
 # 描述：温控设备，容器直接放置在设备上进行温度控制
-# 连接特性：1个双向连接点（bidirectional）
+# 连接特性：1个双向连接点（undirected）
 # 数据类型：mechanical（机械/物理接触连接）
 
 # 7. virtual_transfer_pump - 虚拟转移泵（注射器式）
 # 描述：注射器式转移泵，通过同一个口吸入和排出液体
-# 连接特性：1个双向连接点（bidirectional）
+# 连接特性：1个双向连接点（undirected）
 # 数据类型：fluid（流体连接）
 
 # 8. virtual_column - 虚拟色谱柱
@@ -83,7 +83,6 @@ virtual_pump:
           success: success
   # 虚拟泵节点配置 - 具有多通道阀门特性，根据valve_position可连接多个容器
   handles:
-    input:
     - handler_key: pump-inlet
       label: Pump Inlet
       data_type: fluid
@@ -91,14 +90,6 @@ virtual_pump:
       data_source: handle
       data_key: fluid_in
       description: "泵的进液口，连接源容器"
-    output:
-    - handler_key: pump-outlet-1
-      label: Outlet Port 1
-      data_type: fluid
-      io_type: source
-      data_source: executor
-      data_key: fluid_out_1
-      description: "阀门位置1的出液口"
   schema:
     type: object
     properties:
@@ -148,11 +139,11 @@ virtual_stirrer:
           success: success
   # 虚拟搅拌器节点配置 - 机械连接设备，单一双向连接点
   handles:
-    bidirectional:
     - handler_key: stirrer-vessel
       label: Vessel Connection
       data_type: mechanical
-      io_type: bidirectional
+      side: SOUTH
+      io_type: undirected
       data_source: handle
       data_key: vessel
       description: "搅拌器的机械连接口，直接与反应容器连接提供搅拌功能"
@@ -191,7 +182,6 @@ virtual_multiway_valve:
           success: success
   # 八通阀门节点配置 - 1个输入口，8个输出口，可切换流向
   handles:
-    input:
     - handler_key: multiway-valve-inlet
       label: Valve Inlet
       data_type: fluid
@@ -199,59 +189,66 @@ virtual_multiway_valve:
       data_source: handle
       data_key: fluid_in
       description: "八通阀门进液口，接收来源流体"
-    output:
     - handler_key: multiway-valve-port-1
-      label: Port 1
+      label: 1
       data_type: fluid
+      side: NORTH
       io_type: source
       data_source: executor
       data_key: fluid_port_1
       description: "八通阀门端口1，position=1时流体从此口流出"
     - handler_key: multiway-valve-port-2
-      label: Port 2
+      label: 2
       data_type: fluid
+      side: EAST
       io_type: source
       data_source: executor
       data_key: fluid_port_2
       description: "八通阀门端口2，position=2时流体从此口流出"
     - handler_key: multiway-valve-port-3
-      label: Port 3
+      label: 3
       data_type: fluid
+      side: EAST
       io_type: source
       data_source: executor
       data_key: fluid_port_3
       description: "八通阀门端口3，position=3时流体从此口流出"
     - handler_key: multiway-valve-port-4
-      label: Port 4
+      label: 4
       data_type: fluid
+      side: SOUTH
       io_type: source
       data_source: executor
       data_key: fluid_port_4
       description: "八通阀门端口4，position=4时流体从此口流出"
     - handler_key: multiway-valve-port-5
-      label: Port 5
+      label: 5
       data_type: fluid
+      side: SOUTH
       io_type: source
       data_source: executor
       data_key: fluid_port_5
       description: "八通阀门端口5，position=5时流体从此口流出"
-    - handler_key: multiway-valve-port-6
-      label: Port 6
-      data_type: fluid
-      io_type: source
-      data_source: executor
-      data_key: fluid_port_6
-      description: "八通阀门端口6，position=6时流体从此口流出"
     - handler_key: multiway-valve-port-7
-      label: Port 7
+      label: 7
       data_type: fluid
+      side: WEST
       io_type: source
       data_source: executor
       data_key: fluid_port_7
       description: "八通阀门端口7，position=7时流体从此口流出"
-    - handler_key: multiway-valve-port-8
+    - handler_key: multiway-valve-port-6
-      label: Port 8
+      label: 6
       data_type: fluid
+      side: WEST
+      io_type: source
+      data_source: executor
+      data_key: fluid_port_6
+      description: "八通阀门端口6，position=6时流体从此口流出"
+    - handler_key: multiway-valve-port-8
+      label: 8
+      data_type: fluid
+      side: NORTH
       io_type: source
       data_source: executor
       data_key: fluid_port_8
@@ -299,11 +296,17 @@ virtual_solenoid_valve:
           success: success
   # 电磁阀门节点配置 - 双向流通的开关型阀门，流动方向由泵决定
   handles:
-    bidirectional:
+    - handler_key: solenoid-valve-port-in
-    - handler_key: solenoid-valve-port
+      label: in
-      label: Valve Port
       data_type: fluid
-      io_type: bidirectional
+      io_type: undirected
+      data_source: handle
+      data_key: fluid_port
+      description: "电磁阀的双向流体口，开启时允许流体双向通过，关闭时完全阻断"
+    - handler_key: solenoid-valve-port-out
+      label: out
+      data_type: fluid
+      io_type: undirected
       data_source: handle
       data_key: fluid_port
       description: "电磁阀的双向流体口，开启时允许流体双向通过，关闭时完全阻断"
@@ -354,22 +357,13 @@ virtual_centrifuge:
           message: message
   # 虚拟离心机节点配置 - 单个样品处理设备，输入输出都是同一个样品容器
   handles:
-    input:
     - handler_key: centrifuge-sample
-      label: Sample Input
+      label: Sample Input/Output
-      data_type: resource
+      data_type: transport
-      io_type: target
+      io_type: undirected
       data_source: handle
       data_key: vessel
       description: "需要离心的样品容器"
-    output:
-    - handler_key: centrifuge-sample-out
-      label: Centrifuged Sample
-      data_type: resource
-      io_type: source
-      data_source: executor
-      data_key: vessel
-      description: "经过离心处理的样品容器"
   schema:
     type: object
     properties:
@@ -424,25 +418,26 @@ virtual_filter:
           message: message
   # 虚拟过滤器节点配置 - 分离设备，1个输入(原始样品)，2个输出(滤液和滤渣)
   handles:
-    input:
+    - handler_key: filter-in
-    - handler_key: filter-sample-in
+      label: Input
-      label: Sample Input
+      data_type: fluid
-      data_type: resource
+      side: NORTH
       io_type: target
       data_source: handle
       data_key: vessel
       description: "需要过滤的原始样品容器"
-    output:
     - handler_key: filter-filtrate-out
-      label: Filtrate Output
+      label: Output
-      data_type: resource
+      data_type: fluid
+      side: SOUTH
       io_type: source
       data_source: executor
       data_key: filtrate_vessel
       description: "过滤后的滤液容器"
     - handler_key: filter-residue-out
-      label: Filter Residue
+      label: Residue
       data_type: resource
+      side: WEST
       io_type: source
       data_source: executor
       data_key: residue_vessel
@@ -502,11 +497,11 @@ virtual_heatchill:
           success: success
   # 虚拟加热/冷却器节点配置 - 温控设备，单一双向连接点用于放置容器
   handles:
-    bidirectional:
     - handler_key: heatchill-vessel
-      label: Vessel Connection
+      label: Connection
       data_type: mechanical
-      io_type: bidirectional
+      side: NORTH
+      io_type: undirected
       data_source: handle
       data_key: vessel
       description: "加热/冷却器的物理连接口，容器直接放置在设备上进行温度控制"
@@ -530,7 +525,7 @@ virtual_heatchill:
 virtual_transfer_pump:
   description: Virtual Transfer Pump for TransferProtocol Testing (Syringe-style)
   class:
-    module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump
+    module: unilabos.devices.virtual.virtual_transferpump:VirtualPump
     type: python
     status_types:
       status: String
@@ -565,11 +560,11 @@ virtual_transfer_pump:
           message: message
   # 注射器式转移泵节点配置 - 只有一个双向连接口，可吸入和排出液体
   handles:
-    bidirectional:
+    undirected:
     - handler_key: syringe-port
       label: Syringe Port
       data_type: fluid
-      io_type: bidirectional
+      io_type: undirected
       data_source: handle
       data_key: fluid_port
       description: "注射器式转移泵的唯一连接口，通过阀门切换实现吸入和排出"
@@ -617,18 +612,18 @@ virtual_column:
           message: message
   # 虚拟色谱柱节点配置 - 分离纯化设备，1个样品输入口，1个纯化产物输出口
   handles:
-    input:
     - handler_key: column-sample-inlet
       label: Sample Input
-      data_type: resource
+      data_type: fluid
+      side: NORTH
       io_type: target
       data_source: handle
       data_key: from_vessel
       description: "需要纯化的样品输入口"
-    output:
     - handler_key: column-product-outlet
       label: Purified Product
-      data_type: resource
+      data_type: fluid
+      side: SOUTH
       io_type: source
       data_source: executor
       data_key: to_vessel

unilabos/ros/msgs/message_converter.py

@@ -100,7 +100,7 @@ _action_mapping: Dict[Type, Dict[str, Any]] = {
 
 # 添加Protocol action类型到映射
 for py_msgtype in imsg.__all__:
-    if py_msgtype not in _action_mapping and py_msgtype.endswith("Protocol"):
+    if py_msgtype not in _action_mapping and (py_msgtype.endswith("Protocol") or py_msgtype.startswith("Protocol")):
         try:
             protocol_class = msg_converter_manager.get_class(f"unilabos.messages.{py_msgtype}")
             action_name = py_msgtype.replace("Protocol", "")
@@ -117,6 +117,7 @@ for py_msgtype in imsg.__all__:
                     "result": {k: k for k in action_type.Result().get_fields_and_field_types().keys()},
                 }
         except Exception:
+            traceback.print_exc()
             logger.debug(f"Failed to load Protocol class: {py_msgtype}")
 
 # Python到ROS消息转换器