修复静态方法识别get status，注册表支持python类型

unilabos/app/register.py

@@ -13,17 +13,17 @@ def register_devices_and_resources(mqtt_client, lab_registry):
     """
     logger.info("[UniLab Register] 开始注册设备和资源...")
 
-    # # 注册设备信息
-    # for device_info in lab_registry.obtain_registry_device_info():
-    #     mqtt_client.publish_registry(device_info["id"], device_info, False)
-    #     logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
-    #
-    # # 注册资源信息
-    # for resource_info in lab_registry.obtain_registry_resource_info():
-    #     mqtt_client.publish_registry(resource_info["id"], resource_info, False)
-    #     logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
-    #
-    # time.sleep(10)
+    # 注册设备信息
+    for device_info in lab_registry.obtain_registry_device_info():
+        mqtt_client.publish_registry(device_info["id"], device_info, False)
+        logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
+
+    # 注册资源信息
+    for resource_info in lab_registry.obtain_registry_resource_info():
+        mqtt_client.publish_registry(resource_info["id"], resource_info, False)
+        logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
+
+    time.sleep(10)
 
     logger.info("[UniLab Register] 设备和资源注册完成.")
 

unilabos/app/web/client.py

@@ -40,7 +40,6 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        return True
         response = requests.post(
             f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={1 if database_process_later else 0}",
             json=resources,
@@ -61,7 +60,6 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        return True
         response = requests.post(
             f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}",
             json=resources,

unilabos/app/web/pages.py

@@ -7,6 +7,7 @@ Web页面模块
 import json
 import os
 import sys
+import traceback
 from pathlib import Path
 from typing import Dict
 
@@ -17,7 +18,7 @@ from jinja2 import Environment, FileSystemLoader
 from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
 from unilabos.ros.msgs.message_converter import msg_converter_manager
-from unilabos.utils.log import error
+from unilabos.utils.log import error, debug
 from unilabos.utils.type_check import TypeEncoder
 from unilabos.app.web.utils.device_utils import get_registry_info
 from unilabos.app.web.utils.host_utils import get_host_node_info
@@ -123,6 +124,7 @@ def setup_web_pages(router: APIRouter) -> None:
 
             return html
         except Exception as e:
+            debug(traceback.format_exc())
             error(f"生成状态页面时出错: {str(e)}")
             raise HTTPException(status_code=500, detail=f"Error generating status page: {str(e)}")
 

unilabos/registry/devices/characterization_optic.yaml

@@ -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: []

unilabos/registry/devices/hotel.yaml

@@ -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: []

unilabos/registry/devices/liquid_handler.yaml

@@ -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:
@@ -4899,7 +4898,7 @@ liquid_handler.biomek:
                 none_keys:
                   default: []
                   description: '参数: none_keys'
-                  type: string
+                  type: array
                 protocol_author:
                   description: '参数: protocol_author'
                   type: string
@@ -5287,7 +5286,7 @@ liquid_handler.biomek:
                 none_keys:
                   default: []
                   description: '参数: none_keys'
-                  type: string
+                  type: array
                 offsets:
                   description: '参数: offsets'
                   type: string

unilabos/registry/devices/mock_devices.yaml

@@ -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

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -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: []

unilabos/registry/devices/pump_and_valve.yaml

@@ -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: []

unilabos/registry/devices/robot_linear_motion.yaml

@@ -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

unilabos/registry/devices/temperature.yaml

@@ -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: []

unilabos/registry/devices/vacuum_and_purge.yaml

@@ -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

unilabos/registry/devices/virtual_device.yaml

@@ -402,7 +402,7 @@ virtual_column:
         properties:
           config:
             description: '参数: config'
-            type: string
+            type: object
           device_id:
             description: '参数: device_id'
             type: string
@@ -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
@@ -1370,7 +1348,7 @@ virtual_heatchill:
         properties:
           config:
             description: '参数: config'
-            type: string
+            type: object
           device_id:
             description: '参数: device_id'
             type: string
@@ -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: typing: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
@@ -2372,7 +2200,7 @@ virtual_pump:
         properties:
           config:
             description: '参数: config'
-            type: string
+            type: object
           device_id:
             description: '参数: device_id'
             type: string
@@ -3026,8 +2854,7 @@ virtual_solenoid_valve:
       auto-close:
         feedback: {}
         goal: {}
-        goal_default:
-          kwargs: null
+        goal_default: {}
         handles: []
         result: {}
         schema:
@@ -3036,12 +2863,8 @@ virtual_solenoid_valve:
             feedback: {}
             goal:
               description: UniLabJsonCommand close 的参数schema
-              properties:
-                kwargs:
-                  description: '参数: kwargs'
-                  type: string
-              required:
-              - kwargs
+              properties: {}
+              required: []
               type: object
             result: {}
           required:
@@ -3049,48 +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: {}
@@ -3136,8 +2917,7 @@ virtual_solenoid_valve:
       auto-open:
         feedback: {}
         goal: {}
-        goal_default:
-          kwargs: null
+        goal_default: {}
         handles: []
         result: {}
         schema:
@@ -3146,12 +2926,8 @@ virtual_solenoid_valve:
             feedback: {}
             goal:
               description: UniLabJsonCommand open 的参数schema
-              properties:
-                kwargs:
-                  description: '参数: kwargs'
-                  type: string
-              required:
-              - kwargs
+              properties: {}
+              required: []
               type: object
             result: {}
           required:
@@ -3185,7 +2961,6 @@ virtual_solenoid_valve:
         goal: {}
         goal_default:
           command: null
-          kwargs: null
         handles: []
         result: {}
         schema:
@@ -3198,12 +2973,8 @@ virtual_solenoid_valve:
                 command:
                   description: '参数: command'
                   type: string
-                kwargs:
-                  description: '参数: kwargs'
-                  type: string
               required:
               - command
-              - kwargs
               type: object
             result: {}
           required:
@@ -3216,7 +2987,6 @@ virtual_solenoid_valve:
         goal: {}
         goal_default:
           command: null
-          kwargs: null
         handles: []
         result: {}
         schema:
@@ -3229,11 +2999,7 @@ virtual_solenoid_valve:
                 command:
                   description: '参数: command'
                   type: string
-                kwargs:
-                  description: '参数: kwargs'
-                  type: string
-              required:
-              - kwargs
+              required: []
               type: object
             result: {}
           required:
@@ -3452,10 +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
@@ -3852,7 +3618,7 @@ virtual_stirrer:
         properties:
           config:
             description: '参数: config'
-            type: string
+            type: object
           device_id:
             description: '参数: device_id'
             type: string
@@ -4001,111 +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: {}
@@ -4515,14 +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
@@ -4606,27 +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: {}
@@ -4852,7 +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

unilabos/registry/devices/zhida_hplc.yaml

@@ -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

unilabos/registry/registry.py

@@ -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:
@@ -297,37 +304,42 @@ 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()}
-                        )
+                            device_config["class"]["status_types"].update(
+                                {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
+                            )
                         for status_name, status_type in device_config["class"]["status_types"].items():
                             if status_type in ["Any", "None"]:
                                 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())
                         )
-                        # 处理动作值映射
-                        device_config["class"]["action_value_mappings"].update(
-                            {
-                                f"auto-{k}": {
-                                    "type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
-                                    "goal": {},
-                                    "feedback": {},
-                                    "result": {},
-                                    "schema": self._generate_unilab_json_command_schema(v["args"], k),
-                                    "goal_default": {i["name"]: i["default"] for i in v["args"]},
-                                    "handles": [],
+                        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(
+                                {
+                                    f"auto-{k}": {
+                                        "type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
+                                        "goal": {},
+                                        "feedback": {},
+                                        "result": {},
+                                        "schema": self._generate_unilab_json_command_schema(v["args"], k),
+                                        "goal_default": {i["name"]: i["default"] for i in v["args"]},
+                                        "handles": [],
+                                    }
+                                    for k, v in enhanced_info["action_methods"].items()
                                 }
-                                for k, v in enhanced_info["action_methods"].items()
-                            }
-                        )
-                        device_config["init_param_schema"] = self._generate_unilab_json_command_schema(
-                            enhanced_info["init_params"], "__init__"
-                        )
+                            )
+                            device_config["init_param_schema"] = self._generate_unilab_json_command_schema(
+                                enhanced_info["init_params"], "__init__"
+                            )
                         device_config.pop("schema", None)
                         device_config["class"]["action_value_mappings"] = dict(
                             sorted(device_config["class"]["action_value_mappings"].items())

unilabos/ros/nodes/base_device_node.py

@@ -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]

unilabos/ros/nodes/presets/host_node.py

@@ -459,6 +459,8 @@ class HostNode(BaseROS2DeviceNode):
         self.devices_instances[device_id] = d
         # noinspection PyProtectedMember
         for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
+            if action_name.startswith("auto-"):
+                continue
             action_id = f"/devices/{device_id}/{action_name}"
             if action_id not in self._action_clients:
                 action_type = action_value_mapping["type"]

unilabos/utils/import_manager.py

@@ -216,15 +216,16 @@ class ImportManager:
                     f"{module_path} 失败（将使用静态分析，"
                     f"建议修复导入错误，以实现更好的注册表识别效果！）: {e}"
                 )
-
-        # 尝试静态分析
-        static_info = None
-        try:
-            static_info = self._get_static_class_info(module_path)
-            result["static_analysis_success"] = True
-            logger.debug(f"[ImportManager] 静态分析类 {module_path} 成功")
-        except Exception as e:
-            logger.warning(f"[ImportManager] 静态分析类 {module_path} 失败: {e}")
+            use_dynamic = False
+        if not use_dynamic:
+            # 尝试静态分析
+            static_info = None
+            try:
+                static_info = self._get_static_class_info(module_path)
+                result["static_analysis_success"] = True
+                logger.debug(f"[ImportManager] 静态分析类 {module_path} 成功")
+            except Exception as e:
+                logger.warning(f"[ImportManager] 静态分析类 {module_path} 失败: {e}")
 
         # 合并信息（优先使用动态导入的信息）
         if dynamic_info:
@@ -292,9 +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)
@@ -345,21 +349,43 @@ 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
 
     def _analyze_method_signature(self, method) -> Dict[str, Any]:
-        """分析方法签名"""
-        signature = inspect.signature(method)
+        """
+        分析方法签名，提取具体的命名参数信息
 
+        注意：此方法会跳过*args和**kwargs，只提取具体的命名参数
+        这样可以确保通过**dict方式传参时的准确性
+
+        示例用法：
+            method_info = self._analyze_method_signature(some_method)
+            params = {"param1": "value1", "param2": "value2"}
+            result = some_method(**params)  # 安全的参数传递
+        """
+        signature = inspect.signature(method)
         args = []
         num_required = 0
+
         for param_name, param in signature.parameters.items():
+            # 跳过self参数
             if param_name == "self":
                 continue
 
+            # 跳过*args和**kwargs参数
+            if param.kind == param.VAR_POSITIONAL:  # *args
+                continue
+            if param.kind == param.VAR_KEYWORD:  # **kwargs
+                continue
+
             is_required = param.default == inspect.Parameter.empty
             if is_required:
                 num_required += 1
@@ -392,10 +418,17 @@ class ImportManager:
         """将类型注解转换为字符串"""
         if annotation == inspect.Parameter.empty:
             return "Any"  # 如果没有注解，返回Any
-
         if annotation is None:
             return "None"  # 明确的None类型
-
+        annotation_str = str(annotation)
+        # 处理typing模块的复杂类型
+        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()
+            )
         # 如果是类型对象
         if hasattr(annotation, "__name__"):
             # 如果是内置类型
@@ -404,22 +437,13 @@ class ImportManager:
             else:
                 # 如果是自定义类，返回完整路径
                 return f"{annotation.__module__}:{annotation.__name__}"
-
         # 如果是typing模块的类型
         elif hasattr(annotation, "_name"):
             return annotation._name
-
         # 如果是字符串形式的类型注解
         elif isinstance(annotation, str):
             return annotation
-
-        # 其他情况，尝试转换为字符串
         else:
-            annotation_str = str(annotation)
-            # 处理typing模块的复杂类型
-            if "typing." in annotation_str:
-                # 简化typing类型显示
-                return annotation_str.replace("typing.", "")
             return annotation_str
 
     def _is_property_method(self, node: ast.FunctionDef) -> bool: