Update registry. Update uuid loop figure method. Update install docs.

docs/user_guide/quick_install_guide.md

@@ -0,0 +1,197 @@
+# Uni-Lab-OS 一键安装快速指南
+
+## 概述
+
+本指南提供最快速的 Uni-Lab-OS 安装方法，使用预打包的 conda 环境，无需手动配置依赖。
+
+## 前置要求
+
+- 已安装 Conda/Miniconda/Miniforge/Mamba
+- 至少 10GB 可用磁盘空间
+- Windows 10+, macOS 10.14+, 或 Linux (Ubuntu 20.04+)
+
+## 安装步骤
+
+### 第一步：下载预打包环境
+
+1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
+
+2. 选择最新的成功构建记录（绿色勾号 ✓）
+
+3. 在页面底部的 "Artifacts" 部分，下载对应你操作系统的压缩包：
+   - Windows: `unilab-pack-win-64-{branch}.zip`
+   - macOS (Intel): `unilab-pack-osx-64-{branch}.tar.gz`
+   - macOS (Apple Silicon): `unilab-pack-osx-arm64-{branch}.tar.gz`
+   - Linux: `unilab-pack-linux-64-{branch}.tar.gz`
+
+### 第二步：解压并运行安装脚本
+
+#### Windows
+
+```batch
+REM 使用 Windows 资源管理器解压下载的 zip 文件
+REM 或使用命令行：
+tar -xzf unilab-pack-win-64-dev.zip
+
+REM 进入解压后的目录
+cd unilab-pack-win-64-dev
+
+REM 双击运行 install_unilab.bat
+REM 或在命令行中执行：
+install_unilab.bat
+```
+
+#### macOS
+
+```bash
+# 解压下载的压缩包
+tar -xzf unilab-pack-osx-arm64-dev.tar.gz
+
+# 进入解压后的目录
+cd unilab-pack-osx-arm64-dev
+
+# 运行安装脚本
+bash install_unilab.sh
+```
+
+#### Linux
+
+```bash
+# 解压下载的压缩包
+tar -xzf unilab-pack-linux-64-dev.tar.gz
+
+# 进入解压后的目录
+cd unilab-pack-linux-64-dev
+
+# 添加执行权限（如果需要）
+chmod +x install_unilab.sh
+
+# 运行安装脚本
+./install_unilab.sh
+```
+
+### 第三步：激活环境
+
+```bash
+conda activate unilab
+```
+
+### 第四步：验证安装（推荐）
+
+```bash
+# 确保已激活环境
+conda activate unilab
+
+# 运行验证脚本
+python verify_installation.py
+```
+
+如果看到 "✓ All checks passed!"，说明安装成功！
+
+## 常见问题
+
+### Q: 安装脚本找不到 conda？
+
+**A:** 确保你已经安装了 conda/miniconda/miniforge，并且安装在标准位置：
+
+- **Windows**:
+
+  - `%USERPROFILE%\miniforge3`
+  - `%USERPROFILE%\miniconda3`
+  - `%USERPROFILE%\anaconda3`
+  - `C:\ProgramData\miniforge3`
+
+- **macOS/Linux**:
+  - `~/miniforge3`
+  - `~/miniconda3`
+  - `~/anaconda3`
+  - `/opt/conda`
+
+如果安装在其他位置，可以先激活 conda base 环境，然后手动运行安装脚本。
+
+### Q: 安装后激活环境提示找不到？
+
+**A:** 尝试以下方法：
+
+```bash
+# 方法 1: 使用 conda activate
+conda activate unilab
+
+# 方法 2: 使用完整路径激活（Windows）
+call C:\Users\{YourUsername}\miniforge3\envs\unilab\Scripts\activate.bat
+
+# 方法 2: 使用完整路径激活（Unix）
+source ~/miniforge3/envs/unilab/bin/activate
+```
+
+### Q: conda-unpack 失败怎么办？
+
+**A:** 尝试手动运行：
+
+```bash
+# Windows
+cd %CONDA_PREFIX%\envs\unilab
+.\Scripts\conda-unpack.exe
+
+# macOS/Linux
+cd $CONDA_PREFIX/envs/unilab
+./bin/conda-unpack
+```
+
+### Q: 验证脚本报错？
+
+**A:** 首先确认环境已激活：
+
+```bash
+# 检查当前环境
+conda env list
+
+# 应该看到 unilab 前面有 * 标记
+```
+
+如果仍有问题，查看具体报错信息，可能需要：
+
+- 重新运行安装脚本
+- 检查磁盘空间
+- 查看详细文档
+
+### Q: 环境很大，有办法减小吗？
+
+**A:** 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用手动安装方式，只安装需要的组件。
+
+### Q: 如何更新到最新版本？
+
+**A:** 重新下载最新的预打包环境，运行安装脚本时选择覆盖现有环境。
+
+或者在现有环境中更新：
+
+```bash
+conda activate unilab
+
+# 更新 unilabos
+cd /path/to/Uni-Lab-OS
+git pull
+pip install -e . --upgrade
+
+# 更新 ros-humble-unilabos-msgs
+mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge
+```
+
+## 下一步
+
+安装完成后，你可以：
+
+1. **查看启动指南**: {doc}`launch`
+2. **运行示例**: {doc}`../boot_examples/index`
+3. **配置设备**: 编辑 `unilabos_data/startup_config.json`
+4. **阅读开发文档**: {doc}`../developer_guide/workstation_architecture`
+
+## 需要帮助？
+
+- **文档**: [docs/user_guide/installation.md](installation.md)
+- **问题反馈**: [GitHub Issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- **开发版安装**: 参考 {doc}`installation` 的方式二
+
+---
+
+**提示**: 这个预打包环境包含了从指定分支（通常是 `dev`）构建的最新代码。如果需要稳定版本，请使用方式二手动安装 release 版本。

unilabos/registry/devices/virtual_device.yaml

@@ -4741,6 +4741,7 @@ virtual_stirrer:
     status_types:
       current_speed: float
       current_vessel: str
+      device_info: dict
       is_stirring: bool
       max_speed: float
       min_speed: float
@@ -4775,6 +4776,8 @@ virtual_stirrer:
           type: number
         current_vessel:
           type: string
+        device_info:
+          type: object
         is_stirring:
           type: boolean
         max_speed:
@@ -4796,6 +4799,7 @@ virtual_stirrer:
       - remaining_time
       - max_speed
       - min_speed
+      - device_info
       type: object
   version: 1.0.0
 virtual_transfer_pump:

unilabos/registry/resources/bioyond/bottle_carriers.yaml

@@ -22,18 +22,6 @@ BIOYOND_PolymerStation_1FlaskCarrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-BIOYOND_PolymerStation_6VialCarrier:
-  category:
-  - bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6VialCarrier
-    type: pylabrobot
-  description: BIOYOND_PolymerStation_6VialCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 BIOYOND_PolymerStation_6StockCarrier:
   category:
   - bottle_carriers
@@ -46,4 +34,15 @@ BIOYOND_PolymerStation_6StockCarrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-
+BIOYOND_PolymerStation_6VialCarrier:
+  category:
+  - bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6VialCarrier
+    type: pylabrobot
+  description: BIOYOND_PolymerStation_6VialCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/registry/resources/bioyond/bottles.yaml

@@ -1,24 +1,50 @@
-BIOYOND_PolymerStation_Solid_Stock:
-  class:
-    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Stock
-    type: pylabrobot
-
-BIOYOND_PolymerStation_Solid_Vial:
-  class:
-    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Vial
-    type: pylabrobot
-
 BIOYOND_PolymerStation_Liquid_Vial:
+  category:
+  - bottles
   class:
     module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Vial
     type: pylabrobot
-
+  handles: []
-BIOYOND_PolymerStation_Solution_Beaker:
+  icon: ''
-  class:
+  init_param_schema: {}
-    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solution_Beaker
+  version: 1.0.0
-    type: pylabrobot
-
 BIOYOND_PolymerStation_Reagent_Bottle:
+  category:
+  - bottles
   class:
     module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reagent_Bottle
     type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+BIOYOND_PolymerStation_Solid_Stock:
+  category:
+  - bottles
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Stock
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+BIOYOND_PolymerStation_Solid_Vial:
+  category:
+  - bottles
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Vial
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+BIOYOND_PolymerStation_Solution_Beaker:
+  category:
+  - bottles
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solution_Beaker
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0

unilabos/ros/main_slave_run.py

@@ -1,4 +1,3 @@
-import copy
 import json
 import threading
 import time
@@ -183,14 +182,22 @@ def slave(
             )
             tree_response: SerialCommand_Response = rclient.call_async(request).result()
             uuid_mapping = json.loads(tree_response.response)
+            # 创建反向映射：new_uuid -> old_uuid
+            reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
             for node in resources_config.root_nodes:
                 if node.res_content.type == "device":
                     for sub_node in node.children:
                         # 只有二级子设备
                         if sub_node.res_content.type != "device":
                             device_tracker = devices_instances[node.res_content.id].resource_tracker
-                            resource_instance = device_tracker.figure_resource(
+                            # sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
-                                {"uuid": sub_node.res_content.uuid})
+                            old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
+                            if old_uuid:
+                                # 找到旧UUID，使用UUID查找
+                                resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
+                            else:
+                                # 未找到旧UUID，使用name查找
+                                resource_instance = device_tracker.figure_resource({"name": sub_node.res_content.name})
                             device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
                 else:
                     logger.error("Slave模式不允许新增非设备节点下的物料")

unilabos/ros/nodes/presets/host_node.py

@@ -252,6 +252,8 @@ class HostNode(BaseROS2DeviceNode):
                     )
                     # resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
                     # resources_config 的 root node 是
+                    # 创建反向映射：new_uuid -> old_uuid
+                    reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
                     for tree in resources_config.trees:
                         node = tree.root_node
                         if node.res_content.type == "device":
@@ -260,8 +262,16 @@ class HostNode(BaseROS2DeviceNode):
                                 if sub_node.res_content.type != "device":
                                     # slave节点走c2s更新接口，拿到add自行update uuid
                                     device_tracker = self.devices_instances[node.res_content.id].resource_tracker
-                                    resource_instance = device_tracker.figure_resource(
+                                    # sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
-                                        {"uuid": sub_node.res_content.uuid})
+                                    old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
+                                    if old_uuid:
+                                        # 找到旧UUID，使用UUID查找
+                                        resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
+                                    else:
+                                        # 未找到旧UUID，使用name查找
+                                        resource_instance = device_tracker.figure_resource(
+                                            {"name": sub_node.res_content.name}
+                                        )
                                     device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
                         else:
                             try:
@@ -897,6 +907,7 @@ class HostNode(BaseROS2DeviceNode):
         uuid_list: List[str] = data["data"]
         with_children: bool = data["with_children"]
         from unilabos.app.web.client import http_client
+
         resource_response = http_client.resource_tree_get(uuid_list, with_children)
         response.response = json.dumps(resource_response)
 
@@ -920,6 +931,7 @@ class HostNode(BaseROS2DeviceNode):
         )
 
         from unilabos.app.web.client import http_client
+
         resource_start_time = time.time()
         uuid_mapping = http_client.resource_tree_update(resource_tree_set, "", False)
         success = bool(uuid_mapping)
@@ -1254,7 +1266,9 @@ class HostNode(BaseROS2DeviceNode):
             "status": "success",
         }
 
-    def test_resource(self, resource: ResourceSlot, resources: List[ResourceSlot], device: DeviceSlot, devices: List[DeviceSlot]):
+    def test_resource(
+        self, resource: ResourceSlot, resources: List[ResourceSlot], device: DeviceSlot, devices: List[DeviceSlot]
+    ):
         return {
             "resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(),
             "devices": [device, *devices],
@@ -1280,9 +1294,7 @@ class HostNode(BaseROS2DeviceNode):
         else:
             self.lab_logger().warning("⚠️ 收到无效的Pong响应（缺少ping_id）")
 
-    def notify_resource_tree_update(
+    def notify_resource_tree_update(self, device_id: str, action: str, resource_uuid_list: List[str]) -> bool:
-        self, device_id: str, action: str, resource_uuid_list: List[str]
-    ) -> bool:
         """
         通知设备节点更新资源树
 

unilabos/ros/nodes/presets/workstation.py

@@ -1,13 +1,8 @@
 import json
 import time
 import traceback
-<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
 from pprint import pformat
 from typing import List, Dict, Any, Optional, TYPE_CHECKING
-========
-from pprint import pprint, saferepr, pformat
-from typing import Union
->>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
 
 import rclpy
 from rosidl_runtime_py import message_to_ordereddict
@@ -198,13 +193,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
             execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
             callback_group=ReentrantCallbackGroup(),
         )
-<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
         self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
         return
-========
-
-        self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
->>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
 
     def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
         async def execute_protocol(goal_handle: ServerGoalHandle):
@@ -255,15 +245,10 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                         logs.append(step)
                     elif isinstance(step, list):
                         logs.append(step)
-<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
                 self.lab_logger().info(
                     f"Goal received: {protocol_kwargs}, running steps: "
                     f"{json.dumps(logs, indent=4, ensure_ascii=False)}"
                 )
-========
-                self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: "
-                                       f"{json.dumps(logs, indent=4, ensure_ascii=False)}")
->>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
 
                 time_start = time.time()
                 time_overall = 100
@@ -278,7 +263,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                             time.sleep(action["action_kwargs"]["time"])
                             step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
                         else:
-<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
                             try:
                                 result = await self.execute_single_action(**action)
                                 step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
@@ -289,13 +273,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                                 step_results.append(
                                     {"step": i + 1, "action": action["action_name"], "result": ex.args[0]}
                                 )
-========
-                            result = await self.execute_single_action(**action)
-                            step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
-                            ret_info = json.loads(getattr(result, "return_info", "{}"))
-                            if not ret_info.get("suc", False):
-                                raise RuntimeError(f"Step {i + 1} failed.")
->>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
                     elif isinstance(action, list):
                         # 如果是并行动作，同时执行
                         actions = action
@@ -333,7 +310,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
 
             except Exception as e:
                 # 捕获并记录错误信息
-<<<<<<<< HEAD:unilabos/ros/nodes/presets/workstation.py
                 str_step_results = [
                     {
                         k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v
@@ -341,9 +317,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                     }
                     for i in step_results
                 ]
-========
-                str_step_results = [{k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v for k, v in i.items()} for i in step_results]
->>>>>>>> main:unilabos/ros/nodes/presets/protocol_node.py
                 execution_error = f"{traceback.format_exc()}\n\nStep Result: {pformat(str_step_results)}"
                 execution_success = False
                 self.lab_logger().error(f"协议 {protocol_name} 执行出错: {str(e)} \n{traceback.format_exc()}")

unilabos/ros/nodes/resource_tracker.py

@@ -1060,6 +1060,8 @@ class DeviceNodeResourceTracker(object):
             else:
                 # 对于实例类型，需要特殊处理 uuid 字段
                 # 如果查找的是 unilabos_uuid，使用 getattr
+                if identifier_key == "uuid":
+                    identifier_key = "unilabos_uuid"
                 if hasattr(resource, identifier_key):
                     if getattr(resource, identifier_key) == compare_value:
                         res_list.append((parent_res, resource))