---
description: 注册表配置规范 (YAML)
globs: ["unilabos/registry/**/*.yaml"]
---

# 注册表配置规范

## 概述

注册表使用 YAML 格式定义设备和资源类型，是 Uni-Lab-OS 的核心配置系统。

## 目录结构

```
unilabos/registry/
├── devices/              # 设备类型注册
│   ├── virtual_device.yaml
│   ├── liquid_handler.yaml
│   └── ...
├── device_comms/         # 通信设备配置
│   ├── communication_devices.yaml
│   └── modbus_ioboard.yaml
└── resources/            # 资源类型注册
    ├── bioyond/
    ├── organic/
    ├── opentrons/
    └── ...
```

## 设备注册表格式

### 基本结构

```yaml
device_type_id:
  # 基本信息
  description: "设备描述"
  version: "1.0.0"
  category:
    - category_name
  icon: "icon_device.webp"

  # 类配置
  class:
    module: "unilabos.devices.my_module:MyClass"
    type: python

    # 状态类型（属性 -> ROS消息类型）
    status_types:
      status: String
      temperature: Float64
      is_running: Bool

    # 动作映射
    action_value_mappings:
      action_name:
        type: UniLabJsonCommand  # 或 UniLabJsonCommandAsync
        goal: {}
        feedback: {}
        result: {}
        schema: {...}
        handles: {}
```

### action_value_mappings 详细格式

```yaml
action_value_mappings:
  # 同步动作
  my_sync_action:
    type: UniLabJsonCommand
    goal:
      param1: param1
      param2: param2
    feedback: {}
    result:
      success: success
      message: message
    goal_default:
      param1: 0.0
      param2: ""
    handles: {}
    placeholder_keys:
      device_param: unilabos_devices   # 设备选择器
      resource_param: unilabos_resources  # 资源选择器
    schema:
      title: "动作名称参数"
      description: "动作描述"
      type: object
      properties:
        goal:
          type: object
          properties:
            param1:
              type: number
            param2:
              type: string
          required:
            - param1
        feedback: {}
        result:
          type: object
          properties:
            success:
              type: boolean
            message:
              type: string
      required:
        - goal

  # 异步动作
  my_async_action:
    type: UniLabJsonCommandAsync
    goal: {}
    feedback:
      progress: progress
      current_status: status
    result:
      success: success
    schema: {...}
```

### 自动生成的动作

以 `auto-` 开头的动作由系统自动生成：

```yaml
action_value_mappings:
  auto-initialize:
    type: UniLabJsonCommandAsync
    goal: {}
    feedback: {}
    result: {}
    schema: {...}

  auto-cleanup:
    type: UniLabJsonCommandAsync
    goal: {}
    feedback: {}
    result: {}
    schema: {...}
```

### handles 配置

用于工作流编辑器中的数据流连接：

```yaml
handles:
  input:
    - handler_key: "input_resource"
      data_type: "resource"
      label: "输入资源"
      data_source: "handle"
      data_key: "resources"
  output:
    - handler_key: "output_labware"
      data_type: "resource"
      label: "输出器皿"
      data_source: "executor"
      data_key: "created_resource.@flatten"
```

## 资源注册表格式

```yaml
resource_type_id:
  description: "资源描述"
  version: "1.0.0"
  category:
    - category_name
  icon: ""
  handles: []
  init_param_schema: {}

  class:
    module: "unilabos.resources.my_module:MyResource"
    type: pylabrobot  # 或 python
```

### PyLabRobot 资源示例

```yaml
BIOYOND_Electrolyte_6VialCarrier:
  category:
    - bottle_carriers
    - bioyond
  class:
    module: "unilabos.resources.bioyond.bottle_carriers:BIOYOND_Electrolyte_6VialCarrier"
    type: pylabrobot
  version: "1.0.0"
```

## 状态类型映射

Python 类型到 ROS 消息类型的映射：

| Python 类型 | ROS 消息类型 |
|------------|-------------|
| `str` | `String` |
| `bool` | `Bool` |
| `int` | `Int64` |
| `float` | `Float64` |
| `list` | `String` (序列化) |
| `dict` | `String` (序列化) |

## 自动完善注册表

使用 `--complete_registry` 参数自动生成 schema：

```bash
python -m unilabos.app.main --complete_registry
```

这会：
1. 扫描设备类的方法签名
2. 自动生成 `auto-` 前缀的动作
3. 生成 JSON Schema
4. 更新 YAML 文件

## 验证规则

1. **device_type_id** 必须唯一
2. **module** 路径必须正确可导入
3. **status_types** 的类型必须是有效的 ROS 消息类型
4. **schema** 必须是有效的 JSON Schema

## 示例：完整设备配置

```yaml
virtual_stirrer:
  category:
    - virtual_device
  description: "虚拟搅拌器设备"
  version: "1.0.0"
  icon: "icon_stirrer.webp"
  handles: []
  init_param_schema: {}

  class:
    module: "unilabos.devices.virtual.virtual_stirrer:VirtualStirrer"
    type: python

    status_types:
      status: String
      operation_mode: String
      current_speed: Float64
      is_stirring: Bool
      remaining_time: Float64

    action_value_mappings:
      auto-initialize:
        type: UniLabJsonCommandAsync
        goal: {}
        feedback: {}
        result: {}
        schema:
          title: "initialize参数"
          type: object
          properties:
            goal:
              type: object
              properties: {}
            feedback: {}
            result: {}
          required:
            - goal

      stir:
        type: UniLabJsonCommandAsync
        goal:
          stir_time: stir_time
          stir_speed: stir_speed
          settling_time: settling_time
        feedback:
          current_speed: current_speed
          remaining_time: remaining_time
        result:
          success: success
        goal_default:
          stir_time: 60.0
          stir_speed: 300.0
          settling_time: 30.0
        handles: {}
        schema:
          title: "stir参数"
          description: "搅拌操作"
          type: object
          properties:
            goal:
              type: object
              properties:
                stir_time:
                  type: number
                  description: "搅拌时间（秒）"
                stir_speed:
                  type: number
                  description: "搅拌速度（RPM）"
                settling_time:
                  type: number
                  description: "沉降时间（秒）"
              required:
                - stir_time
                - stir_speed
            feedback:
              type: object
              properties:
                current_speed:
                  type: number
                remaining_time:
                  type: number
            result:
              type: object
              properties:
                success:
                  type: boolean
          required:
            - goal
```