Delete unnecessary files.

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": "/",
                 }
@@ -144,7 +144,7 @@ class Registry:
             logger.debug(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
             sys.path.append(str(sys_path))
             self.load_device_types(path, complete_registry)
-            # self.load_resource_types(path, complete_registry)
+            self.load_resource_types(path, complete_registry)
         logger.info("[UniLab Registry] 注册表设置完成")
         # 标记setup已被调用
         self._setup_called = True
@@ -174,7 +174,7 @@ class Registry:
                     if "icon" not in resource_info:
                         resource_info["icon"] = ""
                     if "handles" not in resource_info:
-                        resource_info["handles"] = {}
+                        resource_info["handles"] = []
                     if "init_param_schema" not in resource_info:
                         resource_info["init_param_schema"] = {}
                     if complete_registry:
@@ -418,7 +418,7 @@ class Registry:
                     if "icon" not in device_config:
                         device_config["icon"] = ""
                     if "handles" not in device_config:
-                        device_config["handles"] = {}
+                        device_config["handles"] = []
                     if "init_param_schema" not in device_config:
                         device_config["init_param_schema"] = {}
                     if "class" in device_config:

unilabos/ros/nodes/presets/host_node.py

@@ -364,7 +364,16 @@ class HostNode(BaseROS2DeviceNode):
             resources, device_ids, bind_parent_ids, bind_locations, other_calling_params
         ):
             # 这里要求device_id传入必须是edge_device_id
-            namespace = "/devices/" + device_id
+            if device_id not in self.devices_names:
+                self.lab_logger().error(f"[Host Node] Device {device_id} not found in devices_names. Create resource failed.")
+                raise ValueError(f"[Host Node] Device {device_id} not found in devices_names. Create resource failed.")
+
+            device_key = f"{self.devices_names[device_id]}/{device_id}"
+            if device_key not in self._online_devices:
+                self.lab_logger().error(f"[Host Node] Device {device_key} is offline. Create resource failed.")
+                raise ValueError(f"[Host Node] Device {device_key} is offline. Create resource failed.")
+
+            namespace = self.devices_names[device_id]
             srv_address = f"/srv{namespace}/append_resource"
             sclient = self.create_client(SerialCommand, srv_address)
             sclient.wait_for_service()

unilabos/ros/nodes/presets/protocol_node.py

@@ -112,6 +112,8 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                             f"添加了{write}方法(来源：{name} {communicate_hardware_info['read']})"
                         )
 
+        self.lab_logger().info(f"ROS2ProtocolNode {device_id} initialized with protocols: {self.protocol_names}")
+
     def _setup_protocol_names(self, protocol_type):
         # 处理协议类型
         if isinstance(protocol_type, str):