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修复静态方法识别get status，注册表支持python类型

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This commit is contained in:
Xuwznln
2025-06-28 12:18:30 +08:00
parent 9be6e1069a
commit be0a73eb19
14 changed files with 60 additions and 1024 deletions
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60
unilabos/registry/devices/characterization_optic.yaml
View File

@@ -22,32 +22,6 @@ hplc.agilent:
title: check_status 命令参数
type: object
type: UniLabJsonCommand
auto-execute_command_from_outer:
feedback: {}
goal: {}
goal_default:
command: null
handles: []
result: {}
schema:
description: UniLabJsonCommand execute_command_from_outer 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand execute_command_from_outer 的参数schema
properties:
command:
description: '参数: command'
type: string
required:
- command
type: object
result: {}
required:
- goal
title: execute_command_from_outer 命令参数
type: object
type: UniLabJsonCommand
auto-extract_data_from_txt:
feedback: {}
goal: {}
@@ -74,35 +48,6 @@ hplc.agilent:
title: extract_data_from_txt 命令参数
type: object
type: UniLabJsonCommand
auto-get_data_file:
feedback: {}
goal: {}
goal_default:
after_time: null
mat_index: null
handles: []
result: {}
schema:
description: UniLabJsonCommand get_data_file 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_data_file 的参数schema
properties:
after_time:
description: '参数: after_time'
type: string
mat_index:
description: '参数: mat_index'
type: string
required: []
type: object
result: {}
required:
- goal
title: get_data_file 命令参数
type: object
type: UniLabJsonCommand
auto-start_sequence:
feedback: {}
goal: {}
@@ -237,10 +182,10 @@ hplc.agilent:
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
status_types:
could_run: bool
data_file: tuple
device_status: str
driver_init_ok: bool
finish_status: str
get_data_file: tuple
is_running: bool
status_text: str
success: bool
@@ -467,8 +412,7 @@ raman_home_made:
type: object
type: SendCmd
module: unilabos.devices.raman_uv.home_made_raman:RamanObj
status_types:
status: String
status_types: {}
type: python
description: Raman spectroscopy device
handles: []

25
unilabos/registry/devices/hotel.yaml
View File

@@ -1,30 +1,9 @@
hotel.thermo_orbitor_rs2_hotel:
class:
action_value_mappings:
auto-get_rotation:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_rotation 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_rotation 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_rotation 命令参数
type: object
type: UniLabJsonCommand
action_value_mappings: {}
module: unilabos.devices.resource_container.container:HotelContainer
status_types:
get_rotation: String
rotation: String
type: python
description: Thermo Orbitor RS2 Hotel
handles: []

3
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -4831,8 +4831,7 @@ liquid_handler:
type: object
type: LiquidHandlerTransfer
module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
status_types:
name: String
status_types: {}
type: python
description: Liquid handler device controlled by pylabrobot
handles:

230
unilabos/registry/devices/mock_devices.yaml
View File

@@ -22,27 +22,6 @@ mock_chiller:
title: emergency_stop 命令参数
type: object
type: UniLabJsonCommand
auto-get_status_info:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status_info 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status_info 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status_info 命令参数
type: object
type: UniLabJsonCommand
auto-heat_chill_start:
feedback: {}
goal: {}
@@ -250,11 +229,11 @@ mock_chiller:
module: unilabos.devices.mock.mock_chiller:MockChiller
status_types:
current_temperature: float
get_status_info: dict
is_cooling: bool
is_heating: bool
purpose: str
status: str
status_info: dict
target_temperature: float
vessel: str
type: python
@@ -359,27 +338,6 @@ mock_filter:
title: filter 命令参数
type: object
type: UniLabJsonCommand
auto-get_status_info:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status_info 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status_info 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status_info 命令参数
type: object
type: UniLabJsonCommand
auto-replace_filter:
feedback: {}
goal: {}
@@ -595,11 +553,11 @@ mock_filter:
filtered_volume: float
filtrate_vessel: str
flow_rate: float
get_status_info: dict
is_filtering: bool
pressure_drop: float
progress: float
status: str
status_info: dict
stir: bool
stir_speed: float
target_volume: float
@@ -651,27 +609,6 @@ mock_heater:
title: emergency_stop 命令参数
type: object
type: UniLabJsonCommand
auto-get_status_info:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status_info 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status_info 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status_info 命令参数
type: object
type: UniLabJsonCommand
auto-heat_chill:
feedback: {}
goal: {}
@@ -1055,12 +992,12 @@ mock_heater:
module: unilabos.devices.mock.mock_heater:MockHeater
status_types:
current_temperature: float
get_status_info: dict
heating_power: float
is_heating: bool
max_temperature: float
purpose: str
status: str
status_info: dict
stir: bool
stir_speed: float
target_temperature: float
@@ -1111,27 +1048,6 @@ mock_pump:
title: emergency_stop 命令参数
type: object
type: UniLabJsonCommand
auto-get_status_info:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status_info 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status_info 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status_info 命令参数
type: object
type: UniLabJsonCommand
auto-pause_pump:
feedback: {}
goal: {}
@@ -1513,7 +1429,6 @@ mock_pump:
current_device: str
flow_rate: float
from_vessel: str
get_status_info: dict
is_solid: bool
is_viscous: bool
max_flow_rate: float
@@ -1524,6 +1439,7 @@ mock_pump:
rinsing_solvent: str
rinsing_volume: float
status: str
status_info: dict
target_flow_rate: float
time_remaining: float
time_spent: float
@@ -1577,27 +1493,6 @@ mock_rotavap:
title: emergency_stop 命令参数
type: object
type: UniLabJsonCommand
auto-get_status_info:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status_info 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status_info 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status_info 命令参数
type: object
type: UniLabJsonCommand
auto-set_pump_time:
feedback: {}
goal: {}
@@ -2085,14 +1980,13 @@ mock_rotavap:
type: EmptyIn
module: unilabos.devices.mock.mock_rotavap:MockRotavap
status_types:
get_status_info: dict
pump_state: str
pump_time: float
rotate_speed: float
rotate_state: str
rotate_time: float
status: str
success: String
status_info: dict
target_temperature: float
temperature: float
vacuum_level: float
@@ -2121,27 +2015,6 @@ mock_rotavap:
mock_separator:
class:
action_value_mappings:
auto-get_status_info:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status_info 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status_info 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status_info 命令参数
type: object
type: UniLabJsonCommand
auto-separate:
feedback: {}
goal: {}
@@ -2578,7 +2451,6 @@ mock_separator:
status_types:
current_device: str
from_vessel: str
get_status_info: dict
product_phase: str
purpose: str
repeats: int
@@ -2589,6 +2461,7 @@ mock_separator:
solvent: str
solvent_volume: float
status: str
status_info: dict
stir_speed: float
stir_time: float
through: str
@@ -2643,27 +2516,6 @@ mock_solenoid_valve:
title: close_valve 命令参数
type: object
type: UniLabJsonCommand
auto-get_valve_status:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_valve_status 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_valve_status 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_valve_status 命令参数
type: object
type: UniLabJsonCommand
auto-is_closed:
feedback: {}
goal: {}
@@ -2871,7 +2723,6 @@ mock_solenoid_valve:
type: StrSingleInput
module: unilabos.devices.mock.mock_solenoid_valve:MockSolenoidValve
status_types:
get_valve_status: str
status: str
valve_status: str
type: python
@@ -2920,27 +2771,6 @@ mock_stirrer:
title: emergency_stop 命令参数
type: object
type: UniLabJsonCommand
auto-get_status_info:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status_info 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status_info 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status_info 命令参数
type: object
type: UniLabJsonCommand
auto-heating_control:
feedback: {}
goal: {}
@@ -3288,12 +3118,12 @@ mock_stirrer:
type: EmptyIn
module: unilabos.devices.mock.mock_stirrer:MockStirrer
status_types:
get_status_info: dict
heating_power: float
heating_state: str
max_stir_speed: float
max_temperature: float
status: str
status_info: dict
stir_speed: float
stir_state: str
target_stir_speed: float
@@ -3324,27 +3154,6 @@ mock_stirrer:
mock_stirrer_new:
class:
action_value_mappings:
auto-get_status_info:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status_info 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status_info 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status_info 命令参数
type: object
type: UniLabJsonCommand
auto-start_stir:
feedback: {}
goal: {}
@@ -3629,12 +3438,12 @@ mock_stirrer_new:
type: StopStir
module: unilabos.devices.mock.mock_stirrer_new:MockStirrer_new
status_types:
get_status_info: dict
max_stir_speed: float
progress: float
purpose: str
settling_time: float
status: str
status_info: dict
stir_speed: float
stir_state: str
stir_time: float
@@ -3686,27 +3495,6 @@ mock_vacuum:
title: emergency_stop 命令参数
type: object
type: UniLabJsonCommand
auto-get_status_info:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status_info 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status_info 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status_info 命令参数
type: object
type: UniLabJsonCommand
auto-pause_vacuum:
feedback: {}
goal: {}
@@ -4134,13 +3922,13 @@ mock_vacuum:
type: EmptyIn
module: unilabos.devices.mock.mock_vacuum:MockVacuum
status_types:
get_status_info: dict
max_pump_speed: float
power_state: str
pump_efficiency: float
pump_speed: float
pump_state: str
status: str
status_info: dict
target_vacuum: float
vacuum_level: float
type: python

8
unilabos/registry/devices/organic_miscellaneous.yaml
View File

@@ -174,9 +174,7 @@ rotavap.one:
type: object
type: SendCmd
module: unilabos.devices.rotavap.rotavap_one:RotavapOne
status_types:
pump_time: Float64
rotate_time: Float64
status_types: {}
type: python
description: Rotavap device
handles: []
@@ -453,9 +451,7 @@ separator.homemade:
type: object
type: SendCmd
module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
status_types:
sensordata: Float64
status: String
status_types: {}
type: python
description: Separator device with homemade grbl controller
handles: []

245
unilabos/registry/devices/pump_and_valve.yaml
View File

@@ -22,27 +22,6 @@ solenoid_valve:
title: close 命令参数
type: object
type: UniLabJsonCommand
auto-get_valve_position:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_valve_position 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_valve_position 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_valve_position 命令参数
type: object
type: UniLabJsonCommand
auto-is_closed:
feedback: {}
goal: {}
@@ -224,7 +203,6 @@ solenoid_valve:
type: StrSingleInput
module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
status_types:
get_valve_position: str
status: str
valve_position: str
type: python
@@ -273,27 +251,6 @@ solenoid_valve.mock:
title: close 命令参数
type: object
type: UniLabJsonCommand
auto-get_valve_position:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_valve_position 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_valve_position 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_valve_position 命令参数
type: object
type: UniLabJsonCommand
auto-is_closed:
feedback: {}
goal: {}
@@ -455,7 +412,6 @@ solenoid_valve.mock:
type: EmptyIn
module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
status_types:
get_valve_position: str
status: str
valve_position: str
type: python
@@ -514,174 +470,6 @@ syringe_pump_with_valve.runze:
title: close 命令参数
type: object
type: UniLabJsonCommand
auto-get_max_velocity:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_max_velocity 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_max_velocity 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_max_velocity 命令参数
type: object
type: UniLabJsonCommand
auto-get_plunger_position:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_plunger_position 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_plunger_position 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_plunger_position 命令参数
type: object
type: UniLabJsonCommand
auto-get_position:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_position 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_position 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_position 命令参数
type: object
type: UniLabJsonCommand
auto-get_status:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status 命令参数
type: object
type: UniLabJsonCommand
auto-get_valve_position:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_valve_position 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_valve_position 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_valve_position 命令参数
type: object
type: UniLabJsonCommand
auto-get_velocity_end:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_velocity_end 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_velocity_end 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_velocity_end 命令参数
type: object
type: UniLabJsonCommand
auto-get_velocity_grade:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_velocity_grade 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_velocity_grade 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_velocity_grade 命令参数
type: object
type: UniLabJsonCommand
auto-get_velocity_init:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_velocity_init 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_velocity_init 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_velocity_init 命令参数
type: object
type: UniLabJsonCommand
auto-initialize:
feedback: {}
goal: {}
@@ -703,27 +491,6 @@ syringe_pump_with_valve.runze:
title: initialize 命令参数
type: object
type: UniLabJsonCommand
auto-list:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand list 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand list 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: list 命令参数
type: object
type: UniLabJsonCommand
auto-pull_plunger:
feedback: {}
goal: {}
@@ -1089,19 +856,15 @@ syringe_pump_with_valve.runze:
write: send_command
module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
status_types:
get_max_velocity: String
get_plunger_position: String
get_position: String
get_status: String
get_valve_position: str
get_velocity_end: String
get_velocity_grade: String
get_velocity_init: String
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
description: Runze Syringe pump with valve
handles: []

2
unilabos/registry/devices/robot_linear_motion.yaml
View File

@@ -494,8 +494,6 @@ linear_motion.grbl:
type: SingleJointPosition
module: unilabos.devices.cnc.grbl_sync:GrblCNC
status_types:
get_position: String
get_status: String
position: unilabos.messages:Point3D
spindle_speed: float
status: str

45
unilabos/registry/devices/temperature.yaml
View File

@@ -245,48 +245,6 @@ heaterstirrer.dalong:
title: close 命令参数
type: object
type: UniLabJsonCommand
auto-get_status:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status 命令参数
type: object
type: UniLabJsonCommand
auto-get_temp:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_temp 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_temp 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_temp 命令参数
type: object
type: UniLabJsonCommand
auto-heatchill:
feedback: {}
goal: {}
@@ -614,8 +572,6 @@ heaterstirrer.dalong:
type: SendCmd
module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
status_types:
get_status: str
get_temp: String
status: str
stir_speed: float
temp: float
@@ -849,7 +805,6 @@ tempsensor:
module: unilabos.devices.temperature.sensor_node:TempSensorNode
status_types:
value: float
warning: Float64
type: python
description: Temperature sensor
handles: []

44
unilabos/registry/devices/vacuum_and_purge.yaml
View File

@@ -22,27 +22,6 @@ gas_source.mock:
title: close 命令参数
type: object
type: UniLabJsonCommand
auto-get_status:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status 命令参数
type: object
type: UniLabJsonCommand
auto-is_closed:
feedback: {}
goal: {}
@@ -247,7 +226,6 @@ gas_source.mock:
type: StrSingleInput
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
status_types:
get_status: str
status: str
type: python
description: Mock gas source
@@ -301,27 +279,6 @@ vacuum_pump.mock:
title: close 命令参数
type: object
type: UniLabJsonCommand
auto-get_status:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status 命令参数
type: object
type: UniLabJsonCommand
auto-is_closed:
feedback: {}
goal: {}
@@ -526,7 +483,6 @@ vacuum_pump.mock:
type: StrSingleInput
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
status_types:
get_status: str
status: str
type: python
description: Mock vacuum pump

365
unilabos/registry/devices/virtual_device.yaml
View File

@@ -721,27 +721,6 @@ virtual_gas_source:
title: close 命令参数
type: object
type: UniLabJsonCommand
auto-get_status:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status 命令参数
type: object
type: UniLabJsonCommand
auto-initialize:
feedback: {}
goal: {}
@@ -967,7 +946,6 @@ virtual_gas_source:
type: StrSingleInput
module: unilabos.devices.virtual.virtual_gas_source:VirtualGasSource
status_types:
get_status: str
status: str
type: python
description: Virtual gas source
@@ -1409,153 +1387,6 @@ virtual_multiway_valve:
title: close 命令参数
type: object
type: UniLabJsonCommand
auto-get_available_ports:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_available_ports 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_available_ports 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_available_ports 命令参数
type: object
type: UniLabJsonCommand
auto-get_available_positions:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_available_positions 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_available_positions 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_available_positions 命令参数
type: object
type: UniLabJsonCommand
auto-get_current_port:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_current_port 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_current_port 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_current_port 命令参数
type: object
type: UniLabJsonCommand
auto-get_current_position:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_current_position 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_current_position 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_current_position 命令参数
type: object
type: UniLabJsonCommand
auto-get_flow_path:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_flow_path 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_flow_path 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_flow_path 命令参数
type: object
type: UniLabJsonCommand
auto-get_info:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_info 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_info 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_info 命令参数
type: object
type: UniLabJsonCommand
auto-get_valve_position:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_valve_position 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_valve_position 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_valve_position 命令参数
type: object
type: UniLabJsonCommand
auto-is_at_port:
feedback: {}
goal: {}
@@ -1892,17 +1723,15 @@ virtual_multiway_valve:
type: SendCmd
module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve
status_types:
available_ports: dict
available_positions: list
current_port: str
current_position: int
get_available_ports: dict
get_available_positions: list
get_current_port: str
get_current_position: int
get_flow_path: str
get_info: dict
get_valve_position: int
max_positions: Int32
flow_path: str
info: dict
status: str
target_position: int
valve_position: int
valve_state: str
type: python
description: Virtual 8-Way Valve for flow direction control
@@ -2345,7 +2174,6 @@ virtual_pump:
current_volume: float
from_vessel: str
max_volume: float
position: Float64
progress: float
status: str
to_vessel: str
@@ -3044,48 +2872,6 @@ virtual_solenoid_valve:
title: close 命令参数
type: object
type: UniLabJsonCommandAsync
auto-get_state:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_state 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_state 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_state 命令参数
type: object
type: UniLabJsonCommand
auto-get_valve_position:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_valve_position 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_valve_position 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_valve_position 命令参数
type: object
type: UniLabJsonCommand
auto-initialize:
feedback: {}
goal: {}
@@ -3432,10 +3218,10 @@ virtual_solenoid_valve:
type: SendCmd
module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve
status_types:
get_state: dict
get_valve_position: str
is_open: bool
state: dict
status: str
valve_position: str
valve_state: str
type: python
description: Virtual Solenoid Valve for simple on/off flow control
@@ -3981,111 +3767,6 @@ virtual_transfer_pump:
title: fill_syringe 命令参数
type: object
type: UniLabJsonCommandAsync
auto-get_current_volume:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_current_volume 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_current_volume 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_current_volume 命令参数
type: object
type: UniLabJsonCommand
auto-get_position:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_position 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_position 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_position 命令参数
type: object
type: UniLabJsonCommand
auto-get_pump_info:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_pump_info 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_pump_info 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_pump_info 命令参数
type: object
type: UniLabJsonCommand
auto-get_remaining_capacity:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_remaining_capacity 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_remaining_capacity 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_remaining_capacity 命令参数
type: object
type: UniLabJsonCommand
auto-get_status:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status 命令参数
type: object
type: UniLabJsonCommand
auto-initialize:
feedback: {}
goal: {}
@@ -4495,14 +4176,10 @@ virtual_transfer_pump:
module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump
status_types:
current_volume: float
get_current_volume: float
get_position: float
get_pump_info: dict
get_remaining_capacity: float
get_status: str
max_velocity: float
max_volume: Float64
position: float
pump_info: dict
remaining_capacity: float
status: str
transfer_rate: float
type: python
@@ -4586,27 +4263,6 @@ virtual_vacuum_pump:
title: close 命令参数
type: object
type: UniLabJsonCommand
auto-get_status:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_status 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_status 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_status 命令参数
type: object
type: UniLabJsonCommand
auto-initialize:
feedback: {}
goal: {}
@@ -4832,7 +4488,6 @@ virtual_vacuum_pump:
type: StrSingleInput
module: unilabos.devices.virtual.virtual_vacuum_pump:VirtualVacuumPump
status_types:
get_status: str
status: str
type: python
description: Virtual vacuum pump

23
unilabos/registry/devices/zhida_hplc.yaml
View File

@@ -99,27 +99,6 @@ zhida_hplc:
title: connect 命令参数
type: object
type: UniLabJsonCommand
auto-get_methods:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: UniLabJsonCommand get_methods 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand get_methods 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: get_methods 命令参数
type: object
type: UniLabJsonCommand
auto-start:
feedback: {}
goal: {}
@@ -226,7 +205,7 @@ zhida_hplc:
type: StrSingleInput
module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
status_types:
get_methods: dict
methods: dict
status: dict
type: python
description: Zhida HPLC

13
unilabos/registry/registry.py
View File

@@ -7,7 +7,7 @@ from typing import Any, Dict, List
import yaml
from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String
from unilabos.utils import logger
from unilabos.utils.decorator import singleton
from unilabos.utils.import_manager import get_enhanced_class_info
@@ -180,6 +180,13 @@ class Registry:
if not type_name or type_name == "":
logger.warning(f"[UniLab Registry] 设备 {device_id} 的 {field_name} 类型为空，跳过替换")
return type_name
convert_manager = { # 将python基本对象转为ros2基本对象
"str": "String",
"bool": "Bool",
"int": "Int64",
"float": "Float64",
}
type_name = convert_manager.get(type_name, type_name) # 替换为ROS2类型
if ":" in type_name:
type_class = msg_converter_manager.get_class(type_name)
else:
@@ -297,6 +304,7 @@ class Registry:
device_config["class"]["action_value_mappings"] = {}
enhanced_info = {}
if complete_registry:
device_config["class"]["status_types"].clear()
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
device_config["class"]["status_types"].update(
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
@@ -306,11 +314,14 @@ class Registry:
status_type = "String" # 替换成ROS的String，便于显示
device_config["class"]["status_types"][status_name] = status_type
target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
if target_type in [dict]: # 对于字典和对象的返回类型，要处理成字符串，直接进行转换
target_type = String
status_str_type_mapping[status_type] = target_type
device_config["class"]["status_types"] = dict(
sorted(device_config["class"]["status_types"].items())
)
if complete_registry:
device_config["class"]["action_value_mappings"] = {k:v for k, v in device_config["class"]["action_value_mappings"].items() if not k.startswith("auto-")}
# 处理动作值映射
device_config["class"]["action_value_mappings"].update(
{

5
unilabos/ros/nodes/base_device_node.py
View File

@@ -168,7 +168,10 @@ class PropertyPublisher:
self.print_publish = print_publish
self._value = None
self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
try:
self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
except AttributeError as ex:
logger.error(f"创建发布者失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}")
self.timer = node.create_timer(self.timer_period, self.publish_property)
self.__loop = get_event_loop()
str_msg_type = str(msg_type)[8:-2]

16
unilabos/utils/import_manager.py
View File

@@ -293,9 +293,12 @@ class ImportManager:
elif inspect.ismethod(method) or inspect.isfunction(method):
if name.startswith("get_"):
actual_name = name[4:] # 去掉get_前缀
if actual_name in result["status_methods"]:
continue
# get_ 开头的方法归类为status
method_info = self._analyze_method_signature(method)
result["status_methods"][name] = method_info
result["status_methods"][actual_name] = method_info
elif not name.startswith("_"):
# 其他非_开头的方法归类为action
method_info = self._analyze_method_signature(method)
@@ -346,8 +349,13 @@ class ImportManager:
elif self._is_property_method(node):
# @property 装饰的方法
result["status_methods"][method_name] = method_info
elif method_name.startswith("get_"):
# get_ 开头的方法归类为status
actual_name = method_name[4:] # 去掉get_前缀
if actual_name not in result["status_methods"]:
result["status_methods"][actual_name] = method_info
else:
# set_ 开头或其他非_开头的方法
# 其他非_开头的方法归类为action
result["action_methods"][method_name] = method_info
return result
@@ -417,7 +425,9 @@ class ImportManager:
if "typing." in annotation_str:
# 简化typing类型显示
return (
annotation_str.replace("typing.", "") if getattr(annotation, "_name", None) is None else annotation._name.lower()
annotation_str.replace("typing.", "")
if getattr(annotation, "_name", None) is None
else annotation._name.lower()
)
# 如果是类型对象
if hasattr(annotation, "__name__"):