Merge remote-tracking branch 'origin/dev' into fork/q434343/device_visualization

test/experiments/HPLC.json

@@ -19,8 +19,8 @@
         },
         {
             "id": "BottlesRack3",
-            "name": "Revvity上样盘3",
-            "parent": "Revvity",
+            "name": "上样盘3",
+            "parent": "HPLC",
             "type": "plate",
             "class": null,
             "position": {

unilabos/app/main.py

@@ -13,7 +13,7 @@ ilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if ilabos_dir not in sys.path:
     sys.path.append(ilabos_dir)
 
-from unilabos.config.config import load_config, BasicConfig
+from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.device_mesh.resource_visalization import ResourceVisualization
 
@@ -86,8 +86,10 @@ def main():
     args = parse_args()
     args_dict = vars(args)
 
-    # 加载配置文件 - 这里保持最先加载配置的逻辑
+    # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
+    if config_path is None:
+        config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
     if config_path:
         if not os.path.exists(config_path):
             print_status(f"配置文件 {config_path} 不存在", "error")
@@ -102,6 +104,9 @@ def main():
     # 设置BasicConfig参数
     BasicConfig.is_host_mode = not args_dict.get("without_host", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
+    machine_name = os.popen("hostname").read().strip()
+    machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
+    BasicConfig.machine_name = machine_name
 
     from unilabos.resources.graphio import (
         read_node_link_json,

unilabos/app/mq.py

@@ -168,11 +168,8 @@ class MQTTClient:
         if self.mqtt_disable:
             return
         address = f"labs/{MQConfig.lab_id}/actions/"
-        action_type_name = action_info["title"]
-        action_info["title"] = action_id
-        action_data = json.dumps({action_type_name: action_info}, ensure_ascii=False)
-        self.client.publish(address, action_data, qos=2)
-        logger.debug(f"Action data published: address: {address}, {action_data}")
+        self.client.publish(address, json.dumps(action_info), qos=2)
+        logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
 
 
 mqtt_client = MQTTClient()

unilabos/app/web/templates/status.html

@@ -333,8 +333,13 @@
         <tr id="device-info-{{ loop.index }}" class="detail-row" style="display: none;">
             <td colspan="5">
                 <div class="content-full">
-                    <pre>{{ device.class|tojson(indent=4) }}</pre>
-                    
+                    {% if device.class %}
+                        <pre>{{ device.class | tojson(indent=4) }}</pre>
+                    {% else %}
+                        <!-- 这里可以放占位内容，比如 -->
+                        <pre>// No data</pre>
+                    {% endif %}
+
                     {% if device.is_online %}
                     <div class="status-badge"><span class="online-status">在线</span></div>
                     {% endif %}
@@ -366,7 +371,12 @@
                                     <button class="copy-btn" onclick="copyToClipboard(this.previousElementSibling.textContent, event)">复制</button>
                                     <button class="debug-btn" onclick="toggleDebugInfo(this, event)">调试</button>
                                     <div class="debug-info" style="display:none;">
-                                        <pre>{{ action_info|tojson(indent=2) }}</pre>
+                                        {% if action_info %}
+                                            <pre>{{ action_info | tojson(indent=4) }}</pre>
+                                        {% else %}
+                                            <!-- 这里可以放占位内容，比如 -->
+                                            <pre>// No data</pre>
+                                        {% endif %}
                                     </div>
                                 </div>
                                 

unilabos/app/web/utils/host_utils.py

@@ -30,13 +30,13 @@ def get_host_node_info() -> Dict[str, Any]:
         return host_info
     host_info["available"] = True
     host_info["devices"] = {
-        device_id: {
+        edge_device_id: {
             "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"),
+            "is_online": f"{namespace}/{edge_device_id}" in host_node._online_devices,
+            "key": f"{namespace}/{edge_device_id}" if namespace.startswith("/") else f"/{namespace}/{edge_device_id}",
+            "machine_name": host_node.device_machine_names.get(edge_device_id, "未知"),
         }
-        for device_id, namespace in host_node.devices_names.items()
+        for edge_device_id, namespace in host_node.devices_names.items()
     }
     # 获取已订阅的主题
     host_info["subscribed_topics"] = sorted(list(host_node._subscribed_topics))

unilabos/config/config.py

@@ -12,6 +12,7 @@ class BasicConfig:
     config_path = ""
     is_host_mode = True  # 从registry.py移动过来
     slave_no_host = False  # 是否跳过rclient.wait_for_service()
+    machine_name = "undefined"
 
 
 # MQTT配置
@@ -100,26 +101,79 @@ def _update_config_from_module(module):
             logger.warning("Skipping key file loading, key_file is empty")
 
 
+def _update_config_from_env():
+    prefix = "UNILABOS."
+    for env_key, env_value in os.environ.items():
+        if not env_key.startswith(prefix):
+            continue
+        try:
+            key_path = env_key[len(prefix):]  # Remove UNILAB_ prefix
+            class_field = key_path.upper().split(".", 1)
+            if len(class_field) != 2:
+                logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")
+                continue
+
+            class_key, field_key = class_field
+            # 遍历 globals 找匹配类（不区分大小写）
+            matched_cls = None
+            for name, obj in globals().items():
+                if name.upper() == class_key and isinstance(obj, type):
+                    matched_cls = obj
+                    break
+
+            if matched_cls is None:
+                logger.warning(f"[ENV] 未找到类：{class_key}")
+                continue
+
+            # 查找类属性（不区分大小写）
+            matched_field = None
+            for attr in dir(matched_cls):
+                if attr.upper() == field_key:
+                    matched_field = attr
+                    break
+
+            if matched_field is None:
+                logger.warning(f"[ENV] 类 {matched_cls.__name__} 中未找到字段：{field_key}")
+                continue
+
+            current_value = getattr(matched_cls, matched_field)
+            attr_type = type(current_value)
+            if attr_type == bool:
+                value = env_value.lower() in ("true", "1", "yes")
+            elif attr_type == int:
+                value = int(env_value)
+            elif attr_type == float:
+                value = float(env_value)
+            else:
+                value = env_value
+            setattr(matched_cls, matched_field, value)
+            logger.info(f"[ENV] 设置 {matched_cls.__name__}.{matched_field} = {value}")
+        except Exception as e:
+            logger.warning(f"[ENV] 解析环境变量 {env_key} 失败: {e}")
+
+
+
 def load_config(config_path=None):
     # 如果提供了配置文件路径，从该文件导入配置
     if config_path:
+        _update_config_from_env()  # 允许config_path被env设定后读取
         BasicConfig.config_path = os.path.abspath(os.path.dirname(config_path))
         if not os.path.exists(config_path):
-            logger.error(f"配置文件 {config_path} 不存在")
+            logger.error(f"[ENV] 配置文件 {config_path} 不存在")
             exit(1)
 
         try:
             module_name = "lab_" + os.path.basename(config_path).replace(".py", "")
             spec = importlib.util.spec_from_file_location(module_name, config_path)
             if spec is None:
-                logger.error(f"配置文件 {config_path} 错误")
+                logger.error(f"[ENV] 配置文件 {config_path} 错误")
                 return
             module = importlib.util.module_from_spec(spec)
             spec.loader.exec_module(module)  # type: ignore
             _update_config_from_module(module)
-            logger.info(f"配置文件 {config_path} 加载成功")
+            logger.info(f"[ENV] 配置文件 {config_path} 加载成功")
         except Exception as e:
-            logger.error(f"加载配置文件 {config_path} 失败: {e}")
+            logger.error(f"[ENV] 加载配置文件 {config_path} 失败")
             traceback.print_exc()
             exit(1)
     else:

unilabos/ros/main_slave_run.py

@@ -1,7 +1,7 @@
 import copy
 import json
 import os
-import traceback
+import threading
 from typing import Optional, Dict, Any, List
 
 import rclpy
@@ -17,7 +17,6 @@ from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
 )
 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
@@ -63,16 +62,11 @@ def main(
         discovery_interval,
     )
 
-    executor.add_node(host_node)
-    # run_event_loop_in_thread()
+    thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
+    thread.start()
 
-    try:
-        executor.spin()
-    except Exception as e:
-        logger.error(traceback.format_exc())
-        print(f"Exception caught: {e}")
-    finally:
-        exit()
+    while True:
+        input()
 
 
 def slave(
@@ -97,18 +91,19 @@ def slave(
         # else:
         #     print(f"Warning: Device {device_id} could not be initialized or is not a valid Node")
 
-    machine_name = os.popen("hostname").read().strip()
-    machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
-    n = Node(f"slaveMachine_{machine_name}", parameter_overrides=[])
+    n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
     executor.add_node(n)
 
+    thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
+    thread.start()
+
     if not BasicConfig.slave_no_host:
         sclient = n.create_client(SerialCommand, "/node_info_update")
         sclient.wait_for_service()
 
         request = SerialCommand.Request()
         request.command = json.dumps({
-            "machine_name": machine_name,
+            "machine_name": BasicConfig.machine_name,
             "type": "slave",
             "devices_config": devices_config_copy,
             "registry_config": lab_registry.obtain_registry_device_info()
@@ -124,16 +119,8 @@ def slave(
         response = rclient.call_async(request).result()
         logger.info(f"Slave resource added.")
 
-
-    run_event_loop_in_thread()
-
-    try:
-        executor.spin()
-    except Exception as e:
-        print(f"Exception caught: {e}")
-    finally:
-        exit()
-
+    while True:
+        input()
 
 if __name__ == "__main__":
     main()

unilabos/ros/nodes/base_device_node.py

@@ -1,3 +1,4 @@
+import json
 import threading
 import time
 import traceback
@@ -13,15 +14,17 @@ from rclpy.action import ActionServer
 from rclpy.action.server import ServerGoalHandle
 from rclpy.client import Client
 from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.service import Service
 
 from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
     convert_from_ros_msg,
     convert_from_ros_msg_with_mapping,
-    convert_to_ros_msg_with_mapping,
+    convert_to_ros_msg_with_mapping, ros_action_to_json_schema,
 )
-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 unilabos_msgs.msg import Resource  # type: ignore
 
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
@@ -29,7 +32,7 @@ from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from unilabos.utils.async_util import run_async_func
 from unilabos.utils.log import info, debug, warning, error, critical, logger
-from unilabos.utils.type_check import get_type_class
+from unilabos.utils.type_check import get_type_class, TypeEncoder
 
 T = TypeVar("T")
 
@@ -44,19 +47,17 @@ class ROSLoggerAdapter:
 
     @property
     def identifier(self):
-        return f"{self.namespace}/{self.node_name}"
+        return f"{self.namespace}"
 
-    def __init__(self, ros_logger, node_name, namespace):
+    def __init__(self, ros_logger, namespace):
         """
         初始化日志适配器
 
         Args:
             ros_logger: ROS2日志记录器
-            node_name: 节点名称
             namespace: 命名空间
         """
         self.ros_logger = ros_logger
-        self.node_name = node_name
         self.namespace = namespace
         self.level_2_logger_func = {
             "info": info,
@@ -258,9 +259,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             self.lab_logger().critical("资源跟踪器未初始化，请检查")
 
         # 创建自定义日志记录器
-        self._lab_logger = ROSLoggerAdapter(self.get_logger(), self.node_name, self.namespace)
+        self._lab_logger = ROSLoggerAdapter(self.get_logger(), self.namespace)
 
-        self._action_servers = {}
+        self._action_servers: Dict[str, ActionServer] = {}
         self._property_publishers = {}
         self._status_types = status_types
         self._action_value_mappings = action_value_mappings
@@ -284,7 +285,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 self.create_ros_action_server(action_name, action_value_mapping)
 
         # 创建线程池执行器
-        self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1))
+        self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}")
 
         # 创建资源管理客户端
         self._resource_clients: Dict[str, Client] = {
@@ -295,6 +296,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             "resource_list": self.create_client(ResourceList, "/resources/list"),
         }
 
+        def query_host_name_cb(req, res):
+            self.register_device()
+            self.lab_logger().info("Host要求重新注册当前节点")
+            res.response = ""
+            return res
+
+        self._service_server: Dict[str, Service] = {
+            "query_host_name": self.create_service(
+                SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
+            ),
+        }
+
         # 向全局在线设备注册表添加设备信息
         self.register_device()
         rclpy.get_global_executor().add_node(self)
@@ -318,6 +331,31 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         )
         # 加入全局注册表
         registered_devices[self.device_id] = device_info
+        from unilabos.config.config import BasicConfig
+        if not BasicConfig.is_host_mode:
+            sclient = self.create_client(SerialCommand, "/node_info_update")
+            # 启动线程执行发送任务
+            threading.Thread(
+                target=self.send_slave_node_info,
+                args=(sclient,),
+                daemon=True,
+                name=f"ROSDevice{self.device_id}_send_slave_node_info"
+            ).start()
+
+    def send_slave_node_info(self, sclient):
+        sclient.wait_for_service()
+        request = SerialCommand.Request()
+        from unilabos.config.config import BasicConfig
+        request.command = json.dumps({
+            "SYNC_SLAVE_NODE_INFO": {
+                "machine_name": BasicConfig.machine_name,
+                "type": "slave",
+                "edge_device_id": self.device_id
+            }}, ensure_ascii=False, cls=TypeEncoder)
+
+        # 发送异步请求并等待结果
+        future = sclient.call_async(request)
+        response = future.result()
 
     def lab_logger(self):
         """

unilabos/ros/nodes/presets/host_node.py

@@ -27,6 +27,7 @@ from unilabos.ros.msgs.message_converter import (
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
+from unilabos.utils.type_check import TypeEncoder
 
 
 class HostNode(BaseROS2DeviceNode):
@@ -98,7 +99,7 @@ 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.device_machine_names: Dict[str, str] = {device_id: "本地", }  # 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] = (
             {}
@@ -160,6 +161,13 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info("[Host Node] Host node initialized.")
         HostNode._ready_event.set()
 
+    def _send_re_register(self, sclient):
+        sclient.wait_for_service()
+        request = SerialCommand.Request()
+        request.command = ""
+        future = sclient.call_async(request)
+        response = future.result()
+
     def _discover_devices(self) -> None:
         """
         发现网络中的设备
@@ -176,23 +184,37 @@ class HostNode(BaseROS2DeviceNode):
         current_devices = set()
 
         for device_id, namespace in nodes_and_names:
-            if not namespace.startswith("/devices"):
+            if not namespace.startswith("/devices/"):
                 continue
-
+            edge_device_id = namespace[9:]
             # 将设备添加到当前设备集合
-            device_key = f"{namespace}/{device_id}"
+            device_key = f"{namespace}/{edge_device_id}"  # namespace已经包含device_id了，这里复写一遍
             current_devices.add(device_key)
 
             # 如果是新设备，记录并创建ActionClient
-            if device_id not in self.devices_names:
+            if edge_device_id not in self.devices_names:
                 self.lab_logger().info(f"[Host Node] Discovered new device: {device_key}")
-                self.devices_names[device_id] = namespace
+                self.devices_names[edge_device_id] = namespace
                 self._create_action_clients_for_device(device_id, namespace)
                 self._online_devices.add(device_key)
+                sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
+                threading.Thread(
+                    target=self._send_re_register,
+                    args=(sclient,),
+                    daemon=True,
+                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
+                ).start()
             elif device_key not in self._online_devices:
                 # 设备重新上线
                 self.lab_logger().info(f"[Host Node] Device reconnected: {device_key}")
                 self._online_devices.add(device_key)
+                sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
+                threading.Thread(
+                    target=self._send_re_register,
+                    args=(sclient,),
+                    daemon=True,
+                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
+                ).start()
 
         # 检测离线设备
         offline_devices = self._online_devices - current_devices
@@ -234,17 +256,22 @@ class HostNode(BaseROS2DeviceNode):
                     self._action_clients[action_id] = ActionClient(
                         self, action_type, action_id, callback_group=self.callback_group
                     )
-                    self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
+                    self.lab_logger().debug(f"[Host Node] Created ActionClient (Discovery): {action_id}")
+                    action_name = action_id[len(namespace) + 1:]
+                    edge_device_id = namespace[9:]
                     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)
+                    mqtt_client.publish_actions(action_name, {
+                        "device_id": edge_device_id,
+                        "action_name": action_name,
+                        "schema": info_with_schema,
+                    })
                 except Exception as e:
                     self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
 
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
         """
-        根据配置初始化设备
+        根据配置初始化设备，
 
         此函数根据提供的设备配置动态导入适当的设备类并创建其实例。
         同时为设备的动作值映射设置动作客户端。
@@ -260,7 +287,7 @@ class HostNode(BaseROS2DeviceNode):
         if d is None:
             return
         # noinspection PyProtectedMember
-        self.devices_names[device_id] = d._ros_node.namespace
+        self.devices_names[device_id] = d._ros_node.namespace  # 这里不涉及二级device_id
         self.device_machine_names[device_id] = "本地"
         self.devices_instances[device_id] = d
         # noinspection PyProtectedMember
@@ -269,14 +296,17 @@ class HostNode(BaseROS2DeviceNode):
             if action_id not in self._action_clients:
                 action_type = action_value_mapping["type"]
                 self._action_clients[action_id] = ActionClient(self, action_type, action_id)
-                self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
+                self.lab_logger().debug(f"[Host Node] Created ActionClient (Local): {action_id}")  # 子设备再创建用的是Discover发现的
                 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)
+                mqtt_client.publish_actions(action_name, {
+                    "device_id": device_id,
+                    "action_name": action_name,
+                    "schema": info_with_schema,
+                })
             else:
                 self.lab_logger().warning(f"[Host Node] ActionClient {action_id} already exists.")
-        device_key = f"{self.devices_names[device_id]}/{device_id}"
+        device_key = f"{self.devices_names[device_id]}/{device_id}"  # 这里不涉及二级device_id
         # 添加到在线设备列表
         self._online_devices.add(device_key)
 
@@ -298,8 +328,8 @@ class HostNode(BaseROS2DeviceNode):
 
                 # 解析设备名和属性名
                 parts = topic.split("/")
-                if len(parts) >= 4:
-                    device_id = parts[-2]
+                if len(parts) >= 4:  # 可能有ProtocolNode，创建更长的设备
+                    device_id = "/".join(parts[2:-1])
                     property_name = parts[-1]
 
                     # 初始化设备状态字典
@@ -526,21 +556,19 @@ class HostNode(BaseROS2DeviceNode):
             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}")
+            if "SYNC_SLAVE_NODE_INFO" in info:
+                info = info["SYNC_SLAVE_NODE_INFO"]
+                machine_name = info["machine_name"]
+                edge_device_id = info["edge_device_id"]
+                self.device_machine_names[edge_device_id] = machine_name
+            else:
+                registry_config = info["registry_config"]
+                for device_config in registry_config:
+                    mqtt_client.publish_registry(device_config["id"], device_config)
+            self.lab_logger().debug(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)}")
+            self.lab_logger().error(f"[Host Node] Error updating node info: {e.args}")
             response.response = "ERROR"
         return response
 

unilabos/ros/utils/driver_creator.py

@@ -224,8 +224,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(getattr(self.device_instance, "setup")):
             from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
             ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(lambda x: logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成"))
-# 2486229810384
-#2486232539792
+
 
 class ProtocolNodeCreator(DeviceClassCreator[T]):
     """