From 93f0e08d7504c95ebbdafea9fad931d3b7a980dd Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Sat, 11 Oct 2025 03:04:15 +0800
Subject: [PATCH] fix host_node test_resource error

---
 unilabos/registry/registry.py | 93 ++++++++++++++++++++---------------
 1 file changed, 52 insertions(+), 41 deletions(-)

diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py
index 2cc5dc28..97018d4e 100644
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -148,7 +148,7 @@ class Registry:
                                 "goal_default": {},
                                 "handles": {},
                             },
-                            "test_resource": {
+                            "auto-test_resource": {
                                 "type": "UniLabJsonCommand",
                                 "goal": {},
                                 "feedback": {},
@@ -162,27 +162,21 @@ class Registry:
                                                 "resource": ros_message_to_json_schema(Resource, "resource"),
                                                 "resources": {
                                                     "items": {
-                                                        "properties": ros_message_to_json_schema(Resource, "resources"),
-                                                        "type": "object"
+                                                        "properties": ros_message_to_json_schema(
+                                                            Resource, "resources"
+                                                        ),
+                                                        "type": "object",
                                                     },
-                                                    "type": "array"
-                                                },
-                                                "device": {
-                                                    "type": "string"
-                                                },
-                                                "devices": {
-                                                    "items": {
-                                                        "type": "string"
-                                                    },
-                                                    "type": "array"
+                                                    "type": "array",
                                                 },
+                                                "device": {"type": "string"},
+                                                "devices": {"items": {"type": "string"}, "type": "array"},
                                             },
-                                            "type": "object"
+                                            "type": "object",
                                         },
-                                        "result": {}
+                                        "result": {},
                                     },
-                                    "required": ["goal"],
-                                    "title": "transfer_resource_to_another参数",
+                                    "title": "test_resource",
                                     "type": "object",
                                 },
                                 "placeholder_keys": {
@@ -207,6 +201,8 @@ class Registry:
                 }
             }
         )
+        # 为host_node添加内置的驱动命令动作
+        self._add_builtin_actions(self.device_type_registry["host_node"], "host_node")
         logger.trace(f"[UniLab Registry] ----------Setup----------")
         self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
         for i, path in enumerate(self.registry_paths):
@@ -501,6 +497,43 @@ class Registry:
             "required": ["goal"],
         }
 
+    def _add_builtin_actions(self, device_config: Dict[str, Any], device_id: str):
+        """
+        为设备配置添加内置的执行驱动命令动作
+
+        Args:
+            device_config: 设备配置字典
+            device_id: 设备ID
+        """
+        from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
+
+        if "class" not in device_config:
+            return
+
+        if "action_value_mappings" not in device_config["class"]:
+            device_config["class"]["action_value_mappings"] = {}
+
+        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": {},
+            }
+
     def load_device_types(self, path: os.PathLike, complete_registry: bool):
         # return
         abs_path = Path(path).absolute()
@@ -676,30 +709,8 @@ class Registry:
                             device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
                         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": {},
-                            }
+                        # 添加内置的驱动命令动作
+                        self._add_builtin_actions(device_config, device_id)
                     device_config["file_path"] = str(file.absolute()).replace("\\", "/")
                     device_config["registry_type"] = "device"
                     logger.trace(  # type: ignore