Merge remote-tracking branch 'upstream/dev' into device_visualization

unilabos/registry/devices/liquid_handler.yaml

@@ -4388,11 +4388,11 @@ liquid_handler:
         deck:
           type: string
         simulator:
+          default: false
           type: boolean
       required:
       - backend
       - deck
-      - simulator
       type: object
     data:
       properties: {}

unilabos/registry/devices/virtual_device.yaml

@@ -2187,65 +2187,65 @@ virtual_multiway_valve:
     data_source: executor
     data_type: fluid
     description: 八通阀门端口1
-    handler_key: 1
+    handler_key: "1"
     io_type: source
-    label: 1
+    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
+    handler_key: "2"
     io_type: source
-    label: 2
+    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
+    handler_key: "3"
     io_type: source
-    label: 3
+    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
+    handler_key: "4"
     io_type: source
-    label: 4
+    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
+    handler_key: "5"
     io_type: source
-    label: 5
+    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
+    handler_key: "6"
     io_type: source
-    label: 6
+    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
+    handler_key: "7"
     io_type: source
-    label: 7
+    label: "7"
     side: WEST
   - data_key: fluid_port_8
     data_source: executor
     data_type: fluid
     description: 八通阀门端口8
-    handler_key: 8
+    handler_key: "8"
     io_type: source
-    label: 8
+    label: "8"
     side: NORTH
   icon: EightPipeline.webp
   init_param_schema:

unilabos/registry/registry.py

@@ -110,7 +110,7 @@ class Registry:
                                 "placeholder_keys": {
                                     "res_id": "unilabos_resources",  # 将当前实验室的全部物料id作为下拉框可选择
                                     "device_id": "unilabos_devices",  # 将当前实验室的全部设备id作为下拉框可选择
-                                    "parent": "unilabos_resources",  # 将当前实验室的全部物料id作为下拉框可选择
+                                    "parent": "unilabos_nodes",  # 将当前实验室的设备/物料作为下拉框可选择
                                 },
                             },
                             "test_latency": {
@@ -131,7 +131,7 @@ class Registry:
                     "config_info": [],
                     "icon": "icon_device.webp",
                     "registry_type": "device",
-                    "handles": [],
+                    "handles": [],  # virtue采用了不同的handle
                     "init_param_schema": {},
                     "file_path": "/",
                 }
@@ -499,7 +499,7 @@ class Registry:
                         )
                         for action_name, action_config in device_config["class"]["action_value_mappings"].items():
                             if "handles" not in action_config:
-                                action_config["handles"] = []
+                                action_config["handles"] = {}
                             if "type" in action_config:
                                 action_type_str: str = action_config["type"]
                                 # 通过Json发放指令，而不是通过特殊的ros action进行处理
@@ -544,7 +544,7 @@ class Registry:
                                         )
                                     )
                                 ),
-                                "handles": [],
+                                "handles": {},
                             }
                     if "registry_type" not in device_config:
                         device_config["registry_type"] = "device"