fix pumps and liquid_handler handle

unilabos/registry/devices/liquid_handler.yaml

@@ -3997,7 +3997,34 @@ liquid_handler:
           touch_tip: false
           use_channels:
           - 0
-        handles: []
+        handles:
+          input:
+          - data_key: liquid
+            data_source: handle
+            data_type: resource
+            handler_key: sources
+            label: sources
+          - data_key: liquid
+            data_source: executor
+            data_type: resource
+            handler_key: targets
+            label: targets
+          - data_key: liquid
+            data_source: executor
+            data_type: resource
+            handler_key: tip_rack
+            label: tip_rack
+          output:
+          - data_key: liquid
+            data_source: handle
+            data_type: resource
+            handler_key: sources_out
+            label: sources
+          - data_key: liquid
+            data_source: executor
+            data_type: resource
+            handler_key: targets_out
+            label: targets
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -4363,21 +4390,7 @@ liquid_handler:
     type: python
   config_info: []
   description: Liquid handler device controlled by pylabrobot
-  handles:
+  handles: []
-    input:
-    - data_key: liquid
-      data_source: handle
-      data_type: resource
-      handler_key: liquid-input
-      io_type: target
-      label: Liquid Input
-    output:
-    - data_key: liquid
-      data_source: executor
-      data_type: resource
-      handler_key: liquid-output
-      io_type: source
-      label: Liquid Output
   icon: icon_yiyezhan.webp
   init_param_schema:
     config:

unilabos/registry/devices/pump_and_valve.yaml

@@ -366,7 +366,7 @@ solenoid_valve.mock:
       - valve_position
       type: object
   version: 1.0.0
-syringe_pump_with_valve.runze:
+syringe_pump_with_valve.runze.SY03B-T08:
   category:
   - pump_and_valve
   class:
@@ -764,8 +764,582 @@ syringe_pump_with_valve.runze:
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
-  handles: []
+  handles:
-  icon: ''
+    - data_key: fluid_port_1
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口1
+      handler_key: '1'
+      io_type: source
+      label: '1'
+      side: NORTH
+    - data_key: fluid_port_2
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口2
+      handler_key: '2'
+      io_type: source
+      label: '2'
+      side: EAST
+    - data_key: fluid_port_3
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口3
+      handler_key: '3'
+      io_type: source
+      label: '3'
+      side: EAST
+    - data_key: fluid_port_4
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口4
+      handler_key: '4'
+      io_type: source
+      label: '4'
+      side: SOUTH
+    - data_key: fluid_port_5
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口5
+      handler_key: '5'
+      io_type: source
+      label: '5'
+      side: SOUTH
+    - data_key: fluid_port_6
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口6
+      handler_key: '6'
+      io_type: source
+      label: '6'
+      side: WEST
+    - data_key: fluid_port_7
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口7
+      handler_key: '7'
+      io_type: source
+      label: '7'
+      side: WEST
+    - data_key: fluid_port_8
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口8-特殊输入
+      handler_key: '8'
+      io_type: target
+      label: '8'
+      side: WEST
+    - data_key: fluid_port_8
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口8
+      handler_key: '8'
+      io_type: source
+      label: '8'
+      side: NORTH
+  init_param_schema:
+    config:
+      properties:
+        address:
+          default: '1'
+          type: string
+        max_volume:
+          default: 25.0
+          type: number
+        mode:
+          type: string
+        port:
+          type: string
+      required:
+      - port
+      type: object
+    data:
+      properties:
+        max_velocity:
+          type: number
+        mode:
+          type: integer
+        plunger_position:
+          type: string
+        position:
+          type: number
+        status:
+          type: string
+        valve_position:
+          type: string
+        velocity_end:
+          type: string
+        velocity_grade:
+          type: string
+        velocity_init:
+          type: string
+      required:
+      - status
+      - mode
+      - max_velocity
+      - velocity_grade
+      - velocity_init
+      - velocity_end
+      - valve_position
+      - position
+      - plunger_position
+      type: object
+  version: 1.0.0
+syringe_pump_with_valve.runze.SY03B-T06:
+  category:
+  - pump_and_valve
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: close的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close参数
+          type: object
+        type: UniLabJsonCommand
+      auto-initialize:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: initialize的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: initialize参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pull_plunger:
+        feedback: {}
+        goal: {}
+        goal_default:
+          volume: null
+        handles: []
+        result: {}
+        schema:
+          description: pull_plunger的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                volume:
+                  type: number
+              required:
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pull_plunger参数
+          type: object
+        type: UniLabJsonCommand
+      auto-push_plunger:
+        feedback: {}
+        goal: {}
+        goal_default:
+          volume: null
+        handles: []
+        result: {}
+        schema:
+          description: push_plunger的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                volume:
+                  type: number
+              required:
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: push_plunger参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_aux_input_status_1:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_aux_input_status_1的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_aux_input_status_1参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_aux_input_status_2:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_aux_input_status_2的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_aux_input_status_2参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_backlash_position:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_backlash_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_backlash_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_command_buffer_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_command_buffer_status的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_command_buffer_status参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_software_version:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_software_version的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_software_version参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          full_command: null
+        handles: []
+        result: {}
+        schema:
+          description: send_command的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                full_command:
+                  type: string
+              required:
+              - full_command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_baudrate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          baudrate: null
+        handles: []
+        result: {}
+        schema:
+          description: set_baudrate的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                baudrate:
+                  type: string
+              required:
+              - baudrate
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_baudrate参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_max_velocity:
+        feedback: {}
+        goal: {}
+        goal_default:
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: set_max_velocity的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                velocity:
+                  type: number
+              required:
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_max_velocity参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          max_velocity: null
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: set_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                max_velocity:
+                  type: number
+                position:
+                  type: number
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_valve_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: set_valve_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                position:
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_valve_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_velocity_grade:
+        feedback: {}
+        goal: {}
+        goal_default:
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: set_velocity_grade的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                velocity:
+                  type: string
+              required:
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_velocity_grade参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_operation:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: stop_operation的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_operation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_error:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: wait_error的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_error参数
+          type: object
+        type: UniLabJsonCommand
+    hardware_interface:
+      name: hardware_interface
+      read: send_command
+      write: send_command
+    module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
+    status_types:
+      max_velocity: float
+      mode: int
+      plunger_position: String
+      position: float
+      status: str
+      valve_position: str
+      velocity_end: String
+      velocity_grade: String
+      velocity_init: String
+    type: python
+  config_info: []
+  description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
+  handles:
+    - data_key: fluid_port_1
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口1
+      handler_key: '1'
+      io_type: source
+      label: '1'
+      side: NORTH
+    - data_key: fluid_port_2
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口2
+      handler_key: '2'
+      io_type: source
+      label: '2'
+      side: EAST
+    - data_key: fluid_port_3
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口3
+      handler_key: '3'
+      io_type: source
+      label: '3'
+      side: SOUTH
+    - data_key: fluid_port_4
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口4
+      handler_key: '4'
+      io_type: source
+      label: '4'
+      side: SOUTH
+    - data_key: fluid_port_5
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口5
+      handler_key: '5'
+      io_type: source
+      label: '5'
+      side: EAST
+    - data_key: fluid_port_6
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口6
+      handler_key: '6'
+      io_type: source
+      label: '6'
+      side: NORTH
+    - data_key: fluid_port_6
+      data_source: executor
+      data_type: fluid
+      description: 六通阀门端口6-特殊输入
+      handler_key: '6'
+      io_type: target
+      label: '6-in'
+      side: WEST
   init_param_schema:
     config:
       properties: