bump to 0.10.19

add create-device-skill

.conda/base/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos
-  version: 0.10.18
+  version: 0.10.19
 
 source:
   path: ../../unilabos
@@ -54,7 +54,7 @@ requirements:
   - pymodbus
   - matplotlib
   - pylibftdi
-  - uni-lab::unilabos-env ==0.10.18
+  - uni-lab::unilabos-env ==0.10.19
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS

.conda/environment/recipe.yaml

@@ -2,7 +2,7 @@
 
 package:
   name: unilabos-env
-  version: 0.10.18
+  version: 0.10.19
 
 build:
   noarch: generic

.conda/full/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos-full
-  version: 0.10.18
+  version: 0.10.19
 
 build:
   noarch: generic
@@ -11,7 +11,7 @@ build:
 requirements:
   run:
   # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.18
+  - uni-lab::unilabos ==0.10.19
   # Documentation tools
   - sphinx
   - sphinx_rtd_theme

.cursor/skills/create-device-skill/SKILL.md

@@ -0,0 +1,328 @@
+---
+name: create-device-skill
+description: Create a skill for any Uni-Lab device by extracting action schemas from the device registry. Use when the user wants to create a new device skill, add device API documentation, or set up action schemas for a device.
+---
+
+# 创建设备 Skill 指南
+
+本 meta-skill 教你如何为任意 Uni-Lab-OS 设备创建完整的 API 操作技能（参考 `unilab-device-api` 的成功案例）。
+
+## 数据源
+
+- **设备注册表**: `unilabos_data/req_device_registry_upload.json`
+- **结构**: `{ "resources": [{ "id": "<device_id>", "class": { "module": "<python_module:ClassName>", "action_value_mappings": { ... } } }] }`
+- **生成时机**: `unilab` 启动并完成注册表上传后自动生成
+- **module 字段**: 格式 `unilabos.devices.xxx.yyy:ClassName`，可转为源码路径 `unilabos/devices/xxx/yyy.py`，阅读源码可了解参数含义和设备行为
+
+## 创建流程
+
+### Step 0 — 收集必备信息（缺一不可，否则询问后终止）
+
+开始前**必须**确认以下 4 项信息全部就绪。如果用户未提供任何一项，**立即询问并终止当前流程**，等用户补齐后再继续。
+
+向用户提问：「请提供你的 unilab 启动参数，我需要以下信息：」
+
+#### 必备项 ①：ak / sk（认证凭据）
+
+来源：启动命令的 `--ak` `--sk` 参数，或 config.py 中的 `ak = "..."` `sk = "..."`。
+
+获取后立即生成 AUTH token：
+
+```bash
+python ./scripts/gen_auth.py <ak> <sk>
+# 或从 config.py 提取
+python ./scripts/gen_auth.py --config <config.py>
+```
+
+认证算法：`base64(ak:sk)` → `Authorization: Lab <token>`
+
+#### 必备项 ②：--addr（目标环境）
+
+决定 API 请求发往哪个服务器。从启动命令的 `--addr` 参数获取：
+
+| `--addr` 值 | BASE URL |
+|-------------|----------|
+| `test` | `https://uni-lab.test.bohrium.com` |
+| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `local` | `http://127.0.0.1:48197` |
+| 不传（默认） | `https://uni-lab.bohrium.com` |
+| 其他自定义 URL | 直接使用该 URL |
+
+#### 必备项 ③：req_device_registry_upload.json（设备注册表）
+
+数据文件由 `unilab` 启动时自动生成，需要定位它：
+
+**推断 working_dir**（即 `unilabos_data` 所在目录）：
+
+| 条件 | working_dir 取值 |
+|------|------------------|
+| 传了 `--working_dir` | `<working_dir>/unilabos_data/`（若子目录已存在则直接用） |
+| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
+| 都没传 | `<当前工作目录>/unilabos_data/` |
+
+**按优先级搜索文件**：
+
+```
+<推断的 working_dir>/unilabos_data/req_device_registry_upload.json
+<推断的 working_dir>/req_device_registry_upload.json
+<workspace 根目录>/unilabos_data/req_device_registry_upload.json
+```
+
+也可以直接 Glob 搜索：`**/req_device_registry_upload.json`
+
+找到后**必须检查文件修改时间**并告知用户：「找到注册表文件 `<路径>`，生成于 `<时间>`。请确认这是最近一次启动生成的。」超过 1 天提醒用户是否需要重新启动 `unilab`。
+
+**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等日志出现 `注册表响应数据已保存` 后再执行本流程。**终止。**
+
+#### 必备项 ④：目标设备
+
+用户需要明确要为哪个设备创建 skill。可以是设备名称（如「PRCXI 移液站」）或 device_id（如 `liquid_handler.prcxi`）。
+
+如果用户不确定，运行提取脚本列出所有设备供选择：
+
+```bash
+python ./scripts/extract_device_actions.py --registry <找到的文件路径>
+```
+
+#### 完整示例
+
+用户提供：
+
+```
+--ak a1fd9d4e-xxxx-xxxx-xxxx-d9a69c09f0fd
+--sk 136ff5c6-xxxx-xxxx-xxxx-a03e301f827b
+--addr test
+--port 8003
+--disable_browser
+```
+
+从中提取：
+- ✅ ak/sk → 运行 `gen_auth.py` 得到 `AUTH="Authorization: Lab YTFmZDlk..."`
+- ✅ addr=test → `BASE=https://uni-lab.test.bohrium.com`
+- ✅ 搜索 `unilabos_data/req_device_registry_upload.json` → 找到并确认时间
+- ✅ 用户指明目标设备 → 如 `liquid_handler.prcxi`
+
+**四项全部就绪后才进入 Step 1。**
+
+### Step 1 — 列出可用设备
+
+运行提取脚本，列出所有设备及 action 数量和 Python 源码路径，让用户选择：
+
+```bash
+# 自动搜索（默认在 unilabos_data/ 和当前目录查找）
+python ./scripts/extract_device_actions.py
+
+# 指定注册表文件路径
+python ./scripts/extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
+```
+
+脚本输出包含每个设备的 **Python 源码路径**（从 `class.module` 转换），可用于后续阅读源码理解参数含义。
+
+### Step 2 — 提取 Action Schema
+
+用户选择设备后，运行提取脚本：
+
+```bash
+python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./skills/<skill-name>/actions/
+```
+
+脚本会显示设备的 Python 源码路径和类名，方便阅读源码了解参数含义。
+
+每个 action 生成一个 JSON 文件，包含：
+- `type` — 作为 API 调用的 `action_type`
+- `schema` — 完整 JSON Schema（含 `properties.goal.properties` 参数定义）
+- `goal` — goal 字段映射（含占位符 `$placeholder`）
+- `goal_default` — 默认值
+
+### Step 3 — 写 action-index.md
+
+按模板为每个 action 写条目：
+
+```markdown
+### `<action_name>`
+
+<用途描述（一句话）>
+
+- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
+- **核心参数**: `param1`, `param2`（从 schema.required 获取）
+- **可选参数**: `param3`, `param4`
+- **占位符字段**: `field`（需填入物料信息，值以 `$` 开头）
+```
+
+描述规则：
+- 从 `schema.properties` 读参数列表（schema 已提升为 goal 内容）
+- 从 `schema.required` 区分核心/可选参数
+- 按功能分类（移液、枪头、外设等）
+- 标注 `placeholder_keys` 中的字段类型：
+  - `unilabos_resources` → **ResourceSlot**，填入 `{id, name, uuid}`（id 是路径格式，从资源树取物料节点）
+  - `unilabos_devices` → **DeviceSlot**，填入路径字符串如 `"/host_node"`（从资源树筛选 type=device）
+  - `unilabos_nodes` → **NodeSlot**，填入路径字符串如 `"/PRCXI/PRCXI_Deck"`（资源树中任意节点）
+  - `unilabos_class` → **ClassSlot**，填入类名字符串如 `"container"`（从注册表查找）
+- array 类型字段 → `[{id, name, uuid}, ...]`
+- 特殊：`create_resource` 的 `res_id`（ResourceSlot）可填不存在的路径
+
+### Step 4 — 写 SKILL.md
+
+直接复用 `unilab-device-api` 的 API 模板（10 个 endpoint），修改：
+- 设备名称
+- Action 数量
+- 目录列表
+- Session state 中的 `device_name`
+- **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab <token>`（不要硬编码 `Api` 类型的 key）
+- **Python 源码路径** — 在 SKILL.md 开头注明设备对应的源码文件，方便参考参数含义
+- **Slot 字段表** — 列出本设备哪些 action 的哪些字段需要填入 Slot（物料/设备/节点/类名）
+
+API 模板结构：
+
+```markdown
+## 设备信息
+- device_id, Python 源码路径, 设备类名
+
+## 前置条件（缺一不可）
+- ak/sk → AUTH, --addr → BASE URL
+
+## Session State
+- lab_uuid（通过 API #1 自动匹配，不要问用户）, device_name
+
+## API Endpoints (10 个)
+# 注意：
+# - #1 获取 lab 列表 + 自动匹配 lab_uuid（遍历 is_admin 的 lab，
+#   调用 /lab/info/{uuid} 比对 access_key == ak）
+# - #2 创建工作流用 POST /lab/workflow
+# - #10 获取资源树路径含 lab_uuid: /lab/material/download/{lab_uuid}
+
+## Placeholder Slot 填写规则
+- unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
+- unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
+- unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
+- unilabos_class → ClassSlot → "class_name" 字符串
+- 特例：create_resource 的 res_id 允许填不存在的路径
+- 列出本设备所有 Slot 字段、类型及含义
+
+## 渐进加载策略
+## 完整工作流 Checklist
+```
+
+### Step 5 — 验证
+
+检查文件完整性：
+- [ ] `SKILL.md` 包含 10 个 API endpoint
+- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot + create_resource 特例）和本设备的 Slot 字段表
+- [ ] `action-index.md` 列出所有 action 并有描述
+- [ ] `actions/` 目录中每个 action 有对应 JSON 文件
+- [ ] JSON 文件包含 `type`, `schema`（已提升为 goal 内容）, `goal`, `goal_default`, `placeholder_keys` 字段
+- [ ] 描述能让 agent 判断该用哪个 action
+
+## Action JSON 文件结构
+
+```json
+{
+  "type": "LiquidHandlerTransfer",    // → API 的 action_type
+  "goal": {                           // goal 字段映射
+    "sources": "sources",
+    "targets": "targets",
+    "tip_racks": "tip_racks",
+    "asp_vols": "asp_vols"
+  },
+  "schema": {                         // ← 直接是 goal 的 schema（已提升）
+    "type": "object",
+    "properties": {                   // 参数定义（即请求中 goal 的字段）
+      "sources": { "type": "array", "items": { "type": "object" } },
+      "targets": { "type": "array", "items": { "type": "object" } },
+      "asp_vols": { "type": "array", "items": { "type": "number" } }
+    },
+    "required": [...],
+    "_unilabos_placeholder_info": {   // ← Slot 类型标记
+      "sources": "unilabos_resources",
+      "targets": "unilabos_resources",
+      "tip_racks": "unilabos_resources"
+    }
+  },
+  "goal_default": { ... },            // 默认值
+  "placeholder_keys": {               // ← 汇总所有 Slot 字段
+    "sources": "unilabos_resources",  //    ResourceSlot
+    "targets": "unilabos_resources",
+    "tip_racks": "unilabos_resources",
+    "target_device_id": "unilabos_devices"  // DeviceSlot
+  }
+}
+```
+
+> **注意**：`schema` 已由脚本从原始 `schema.properties.goal` 提升为顶层，直接包含参数定义。
+> `schema.properties` 中的字段即为 API 请求 `param.goal` 中的字段。
+
+## Placeholder Slot 类型体系
+
+`placeholder_keys` / `_unilabos_placeholder_info` 中有 4 种值，对应不同的填写方式：
+
+| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
+|---------------|-----------|---------|---------|
+| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备） |
+| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅**设备**节点（type=device），路径字符串 |
+| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
+| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已上报的资源类 name |
+
+### ResourceSlot（`unilabos_resources`）
+
+最常见的类型。从资源树中选取**物料**节点（孔板、枪头盒、试剂槽等）：
+
+```json
+{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
+```
+
+- 单个（schema type=object）：`{"id": "/path/name", "name": "name", "uuid": "xxx"}`
+- 数组（schema type=array）：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
+- `id` 本身是从 parent 计算的路径格式
+- 根据 action 语义选择正确的物料（如 `sources` = 液体来源，`targets` = 目标位置）
+
+> **特例**：`create_resource` 的 `res_id` 字段，目标物料可能**尚不存在**，此时直接填写期望的路径（如 `"/workstation/container1"`），不需要 uuid。
+
+### DeviceSlot（`unilabos_devices`）
+
+填写**设备路径字符串**。从资源树中筛选 type=device 的节点，从 parent 计算路径：
+
+```
+"/host_node"
+"/bioyond_cell/reaction_station"
+```
+
+- 只填路径字符串，不需要 `{id, uuid}` 对象
+- 根据 action 语义选择正确的设备（如 `target_device_id` = 目标设备）
+
+### NodeSlot（`unilabos_nodes`）
+
+范围 = 设备 + 物料。即资源树中**所有节点**都可以选，填写**路径字符串**：
+
+```
+"/PRCXI/PRCXI_Deck"
+```
+
+- 使用场景：当参数既可能指向物料也可能指向设备时（如 `PumpTransferProtocol` 的 `from_vessel`/`to_vessel`，`create_resource` 的 `parent`）
+
+### ClassSlot（`unilabos_class`）
+
+填写注册表中已上报的**资源类 name**。从本地 `req_resource_registry_upload.json` 中查找：
+
+```
+"container"
+```
+
+### 通过 API #10 获取资源树
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
+```
+
+注意 `lab_uuid` 在路径中（不是查询参数）。资源树返回所有节点，每个节点包含 `id`（路径格式）、`name`、`uuid`、`type`、`parent` 等字段。填写 Slot 时需根据 placeholder 类型筛选正确的节点。
+
+## 最终目录结构
+
+```
+./<skill-name>/
+├── SKILL.md              # API 端点 + 渐进加载指引
+├── action-index.md       # 动作索引：描述/用途/核心参数
+└── actions/              # 每个 action 的完整 JSON Schema
+    ├── action1.json
+    ├── action2.json
+    └── ...
+```

.cursor/skills/create-device-skill/scripts/extract_device_actions.py

@@ -0,0 +1,200 @@
+#!/usr/bin/env python3
+"""
+从 req_device_registry_upload.json 中提取指定设备的 action schema。
+
+用法:
+  # 列出所有设备及 action 数量（自动搜索注册表文件）
+  python extract_device_actions.py
+
+  # 指定注册表文件路径
+  python extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
+
+  # 提取指定设备的 action 到目录
+  python extract_device_actions.py <device_id> <output_dir>
+  python extract_device_actions.py --registry <path> <device_id> <output_dir>
+
+示例:
+  python extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json
+  python extract_device_actions.py liquid_handler.prcxi .cursor/skills/unilab-device-api/actions/
+"""
+import json
+import os
+import sys
+from datetime import datetime
+
+REGISTRY_FILENAME = "req_device_registry_upload.json"
+
+def find_registry(explicit_path=None):
+    """
+    查找 req_device_registry_upload.json 文件。
+
+    搜索优先级：
+    1. 用户通过 --registry 显式指定的路径
+    2. <cwd>/unilabos_data/req_device_registry_upload.json
+    3. <cwd>/req_device_registry_upload.json
+    4. <script所在目录>/../../.. (workspace根) 下的 unilabos_data/
+    5. 向上逐级搜索父目录（最多 5 层）
+    """
+    if explicit_path:
+        if os.path.isfile(explicit_path):
+            return explicit_path
+        if os.path.isdir(explicit_path):
+            fp = os.path.join(explicit_path, REGISTRY_FILENAME)
+            if os.path.isfile(fp):
+                return fp
+        print(f"警告: 指定的路径不存在: {explicit_path}")
+        return None
+
+    candidates = [
+        os.path.join("unilabos_data", REGISTRY_FILENAME),
+        REGISTRY_FILENAME,
+    ]
+
+    for c in candidates:
+        if os.path.isfile(c):
+            return c
+
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
+    for c in candidates:
+        path = os.path.join(workspace_root, c)
+        if os.path.isfile(path):
+            return path
+
+    cwd = os.getcwd()
+    for _ in range(5):
+        parent = os.path.dirname(cwd)
+        if parent == cwd:
+            break
+        cwd = parent
+        for c in candidates:
+            path = os.path.join(cwd, c)
+            if os.path.isfile(path):
+                return path
+
+    return None
+
+def load_registry(path):
+    with open(path, 'r', encoding='utf-8') as f:
+        return json.load(f)
+
+def list_devices(data):
+    """列出所有包含 action_value_mappings 的设备，同时返回 module 路径"""
+    resources = data.get('resources', [])
+    devices = []
+    for res in resources:
+        rid = res.get('id', '')
+        cls = res.get('class', {})
+        avm = cls.get('action_value_mappings', {})
+        module = cls.get('module', '')
+        if avm:
+            devices.append((rid, len(avm), module))
+    return devices
+
+def flatten_schema_to_goal(action_data):
+    """将 schema 中嵌套的 goal 内容提升为顶层 schema，去掉 feedback/result 包装"""
+    schema = action_data.get('schema', {})
+    goal_schema = schema.get('properties', {}).get('goal', {})
+    if goal_schema:
+        action_data = dict(action_data)
+        action_data['schema'] = goal_schema
+    return action_data
+
+
+def extract_actions(data, device_id, output_dir):
+    """提取指定设备的 action schema 到独立 JSON 文件"""
+    resources = data.get('resources', [])
+    for res in resources:
+        if res.get('id') == device_id:
+            cls = res.get('class', {})
+            module = cls.get('module', '')
+            avm = cls.get('action_value_mappings', {})
+            if not avm:
+                print(f"设备 {device_id} 没有 action_value_mappings")
+                return []
+
+            if module:
+                py_path = module.split(":")[0].replace(".", "/") + ".py"
+                class_name = module.split(":")[-1] if ":" in module else ""
+                print(f"Python 源码: {py_path}")
+                if class_name:
+                    print(f"设备类: {class_name}")
+
+            os.makedirs(output_dir, exist_ok=True)
+            written = []
+            for action_name in sorted(avm.keys()):
+                action_data = flatten_schema_to_goal(avm[action_name])
+                filename = action_name.replace('-', '_') + '.json'
+                filepath = os.path.join(output_dir, filename)
+                with open(filepath, 'w', encoding='utf-8') as f:
+                    json.dump(action_data, f, indent=2, ensure_ascii=False)
+                written.append(filename)
+                print(f"  {filepath}")
+            return written
+
+    print(f"设备 {device_id} 未找到")
+    return []
+
+def main():
+    args = sys.argv[1:]
+    explicit_registry = None
+
+    if "--registry" in args:
+        idx = args.index("--registry")
+        if idx + 1 < len(args):
+            explicit_registry = args[idx + 1]
+            args = args[:idx] + args[idx + 2:]
+        else:
+            print("错误: --registry 需要指定路径")
+            sys.exit(1)
+
+    registry_path = find_registry(explicit_registry)
+    if not registry_path:
+        print(f"错误: 找不到 {REGISTRY_FILENAME}")
+        print()
+        print("解决方法:")
+        print("  1. 先运行 unilab 启动命令，等待注册表生成")
+        print("  2. 用 --registry 指定文件路径:")
+        print(f"     python {sys.argv[0]} --registry <path/to/{REGISTRY_FILENAME}>")
+        print()
+        print("搜索过的路径:")
+        for p in [
+            os.path.join("unilabos_data", REGISTRY_FILENAME),
+            REGISTRY_FILENAME,
+            os.path.join("<workspace_root>", "unilabos_data", REGISTRY_FILENAME),
+        ]:
+            print(f"  - {p}")
+        sys.exit(1)
+
+    print(f"注册表: {registry_path}")
+    mtime = os.path.getmtime(registry_path)
+    gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
+    size_mb = os.path.getsize(registry_path) / (1024 * 1024)
+    print(f"生成时间: {gen_time}  (文件大小: {size_mb:.1f} MB)")
+    data = load_registry(registry_path)
+
+    if len(args) == 0:
+        devices = list_devices(data)
+        print(f"\n找到 {len(devices)} 个设备:")
+        print(f"{'设备 ID':<50} {'Actions':>7}  {'Python 模块'}")
+        print("-" * 120)
+        for did, count, module in sorted(devices, key=lambda x: x[0]):
+            py_path = module.split(":")[0].replace(".", "/") + ".py" if module else ""
+            print(f"{did:<50} {count:>7}  {py_path}")
+
+    elif len(args) == 2:
+        device_id = args[0]
+        output_dir = args[1]
+        print(f"\n提取 {device_id} 的 actions 到 {output_dir}/")
+        written = extract_actions(data, device_id, output_dir)
+        if written:
+            print(f"\n共写入 {len(written)} 个 action 文件")
+
+    else:
+        print("用法:")
+        print("  python extract_device_actions.py [--registry <path>]                # 列出设备")
+        print("  python extract_device_actions.py [--registry <path>] <device_id> <dir>  # 提取 actions")
+        sys.exit(1)
+
+if __name__ == '__main__':
+    main()

.cursor/skills/create-device-skill/scripts/gen_auth.py

@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+"""
+从 ak/sk 生成 UniLab API Authorization header。
+
+算法: base64(ak:sk) → "Authorization: Lab <token>"
+
+用法:
+  python gen_auth.py <ak> <sk>
+  python gen_auth.py --config <config.py>
+
+示例:
+  python gen_auth.py myak mysk
+  python gen_auth.py --config experiments/config.py
+"""
+import base64
+import re
+import sys
+
+
+def gen_auth(ak: str, sk: str) -> str:
+    token = base64.b64encode(f"{ak}:{sk}".encode("utf-8")).decode("utf-8")
+    return token
+
+
+def extract_from_config(config_path: str) -> tuple:
+    """从 config.py 中提取 ak 和 sk"""
+    with open(config_path, "r", encoding="utf-8") as f:
+        content = f.read()
+    ak_match = re.search(r'''ak\s*=\s*["']([^"']+)["']''', content)
+    sk_match = re.search(r'''sk\s*=\s*["']([^"']+)["']''', content)
+    if not ak_match or not sk_match:
+        return None, None
+    return ak_match.group(1), sk_match.group(1)
+
+
+def main():
+    args = sys.argv[1:]
+
+    if len(args) == 2 and args[0] == "--config":
+        ak, sk = extract_from_config(args[1])
+        if not ak or not sk:
+            print(f"错误: 在 {args[1]} 中未找到 ak/sk 配置")
+            print("期望格式: ak = \"xxx\"  sk = \"xxx\"")
+            sys.exit(1)
+        print(f"配置文件: {args[1]}")
+    elif len(args) == 2:
+        ak, sk = args
+    else:
+        print("用法:")
+        print("  python gen_auth.py <ak> <sk>")
+        print("  python gen_auth.py --config <config.py>")
+        sys.exit(1)
+
+    token = gen_auth(ak, sk)
+    print(f"ak: {ak}")
+    print(f"sk: {sk}")
+    print()
+    print(f"Authorization header:")
+    print(f"  Authorization: Lab {token}")
+    print()
+    print(f"curl 用法:")
+    print(f'  curl -H "Authorization: Lab {token}" ...')
+    print()
+    print(f"Shell 变量:")
+    print(f'  AUTH="Authorization: Lab {token}"')
+
+
+if __name__ == "__main__":
+    main()

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.18
+  version: 0.10.19
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.18"
+  version: "0.10.19"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.18',
+    version='0.10.19',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.18"
+__version__ = "0.10.19"

unilabos/app/main.py

@@ -247,6 +247,12 @@ def parse_args():
         default=False,
         help="Run in check mode for CI: validates registry imports and ensures no file changes",
     )
+    parser.add_argument(
+        "--complete_registry",
+        action="store_true",
+        default=False,
+        help="Complete and rewrite YAML registry files using AST analysis results",
+    )
     parser.add_argument(
         "--no_update_feedback",
         action="store_true",
@@ -491,11 +497,13 @@ def main():
     # Step 0: AST 分析优先 + YAML 注册表加载
     # check_mode 和 upload_registry 都会执行实际 import 验证
     devices_dirs = args_dict.get("devices", None)
+    complete_registry = args_dict.get("complete_registry", False) or check_mode
     lab_registry = build_registry(
         registry_paths=args_dict["registry_path"],
         devices_dirs=devices_dirs,
         upload_registry=BasicConfig.upload_registry,
         check_mode=check_mode,
+        complete_registry=complete_registry,
     )
 
     # Check mode: 注册表验证完成后直接退出

unilabos/app/register.py

@@ -1,19 +1,8 @@
-import json
 import time
 from typing import Any, Dict, Optional, Tuple
 
 from unilabos.utils.log import logger
-from unilabos.utils.type_check import TypeEncoder
+from unilabos.utils.tools import normalize_json as _normalize_device
-
-try:
-    import orjson
-
-    def _normalize_device(info: dict) -> dict:
-        """Serialize via orjson to strip non-JSON types (type objects etc.)."""
-        return orjson.loads(orjson.dumps(info, default=str))
-except ImportError:
-    def _normalize_device(info: dict) -> dict:
-        return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder))
 
 
 def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:

unilabos/app/web/client.py

@@ -8,24 +8,7 @@ import json
 import os
 from typing import List, Dict, Any, Optional
 
-try:
+from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
-    import orjson as _json_fast
-
-    def _fast_dumps(obj, **kwargs) -> bytes:
-        return _json_fast.dumps(obj, option=_json_fast.OPT_NON_STR_KEYS, default=str)
-
-    def _fast_dumps_pretty(obj, **kwargs) -> bytes:
-        return _json_fast.dumps(
-            obj, option=_json_fast.OPT_NON_STR_KEYS | _json_fast.OPT_INDENT_2, default=str,
-        )
-except ImportError:
-    _json_fast = None  # type: ignore[assignment]
-
-    def _fast_dumps(obj, **kwargs) -> bytes:
-        return json.dumps(obj, ensure_ascii=False, default=str).encode("utf-8")
-
-    def _fast_dumps_pretty(obj, **kwargs) -> bytes:
-        return json.dumps(obj, indent=2, ensure_ascii=False, default=str).encode("utf-8")
 
 import requests
 from unilabos.resources.resource_tracker import ResourceTreeSet

unilabos/registry/ast_registry_scanner.py

@@ -839,24 +839,39 @@ def _extract_class_body(
         if _has_decorator(item, "not_action") and _is_registry_decorator("not_action", import_map):
             continue
 
+        # --- get_ 前缀且无额外参数（仅 self）→ status property ---
+        if method_name.startswith("get_"):
+            real_args = [a for a in item.args.args if a.arg != "self"]
+            if len(real_args) == 0:
+                prop_name = method_name[4:]
+                return_type = _get_annotation_str(item.returns, import_map)
+                if prop_name not in result["status_properties"]:
+                    result["status_properties"][prop_name] = {
+                        "name": prop_name,
+                        "return_type": return_type,
+                        "is_property": False,
+                        "topic_config": None,
+                    }
+                continue
+
         # --- Public method without @action => auto-action ---
-        # Skip lifecycle / dunder methods that should never be auto-actions
         if method_name in ("post_init", "__str__", "__repr__"):
             continue
 
-        # 'close' and 'cleanup' could be actions in some drivers -- keep them
-
         method_params = _extract_method_params(item, import_map)
         return_type = _get_annotation_str(item.returns, import_map)
         is_async = isinstance(item, ast.AsyncFunctionDef)
         method_doc = ast.get_docstring(item)
 
-        result["auto_methods"][method_name] = {
+        auto_entry: dict = {
             "params": method_params,
             "return_type": return_type,
             "is_async": is_async,
             "docstring": method_doc,
         }
+        if _has_decorator(item, "always_free") and _is_registry_decorator("always_free", import_map):
+            auto_entry["always_free"] = True
+        result["auto_methods"][method_name] = auto_entry
 
     return result
 

unilabos/registry/devices/Qone_nmr.yaml

@@ -13,21 +13,18 @@ Qone_nmr:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -71,31 +68,6 @@ Qone_nmr:
           title: monitor_folder_for_new_content参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-strings_to_txt:
         feedback: {}
         goal: {}
@@ -138,21 +110,18 @@ Qone_nmr:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -167,32 +136,31 @@ Qone_nmr:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:

unilabos/registry/devices/bioyond_cell.yaml

@@ -22,7 +22,8 @@ bioyond_cell:
               required:
               - xlsx_path
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: auto_batch_outbound_from_xlsx参数
@@ -490,7 +491,9 @@ bioyond_cell:
             goal:
               properties:
                 material_names:
-                  type: string
+                  items:
+                    type: string
+                  type: array
                 type_id:
                   default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
                   type: string
@@ -499,7 +502,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_and_inbound_materials参数
@@ -535,7 +539,8 @@ bioyond_cell:
               - type_id
               - warehouse_name
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_material参数
@@ -556,11 +561,16 @@ bioyond_cell:
             goal:
               properties:
                 mappings:
+                  additionalProperties:
+                    type: object
                   type: object
               required:
               - mappings
               type: object
-            result: {}
+            result:
+              items:
+                type: object
+              type: array
           required:
           - goal
           title: create_materials参数
@@ -592,7 +602,8 @@ bioyond_cell:
               required:
               - xlsx_path
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_orders参数
@@ -624,7 +635,8 @@ bioyond_cell:
               required:
               - xlsx_path
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_orders_v2参数
@@ -665,7 +677,8 @@ bioyond_cell:
               - bottle_type
               - location_code
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_sample参数
@@ -718,7 +731,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: order_list_v2参数
@@ -821,7 +835,8 @@ bioyond_cell:
               required:
               - material_obj
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: report_material_change参数
@@ -875,7 +890,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_continue参数
@@ -896,7 +912,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_reset参数
@@ -917,7 +934,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_start参数
@@ -1362,7 +1380,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_start_and_auto_feeding参数
@@ -1807,7 +1826,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_start_and_auto_feeding_v2参数
@@ -1828,7 +1848,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_stop参数
@@ -1850,12 +1871,15 @@ bioyond_cell:
               properties:
                 items:
                   items:
+                    additionalProperties:
+                      type: string
                     type: object
                   type: array
               required:
               - items
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: storage_batch_inbound参数
@@ -1884,7 +1908,8 @@ bioyond_cell:
               - material_id
               - location_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: storage_inbound参数
@@ -1905,7 +1930,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_1_to_2参数
@@ -1946,7 +1972,8 @@ bioyond_cell:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_3_to_2参数
@@ -1983,7 +2010,8 @@ bioyond_cell:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_3_to_2_to_1参数
@@ -2007,10 +2035,11 @@ bioyond_cell:
                 ip:
                   type: string
                 port:
-                  type: string
+                  type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: update_push_ip参数
@@ -2039,7 +2068,8 @@ bioyond_cell:
               required:
               - order_code
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_order_finish参数
@@ -2072,7 +2102,8 @@ bioyond_cell:
               required:
               - order_code
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_order_finish_polling参数
@@ -2104,7 +2135,8 @@ bioyond_cell:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: wait_for_transfer_task参数
@@ -2112,8 +2144,7 @@ bioyond_cell:
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
     status_types:
-      device_id: String
+      device_id: ''
-      material_info: dict
     type: python
   config_info: []
   description: ''
@@ -2134,11 +2165,7 @@ bioyond_cell:
       properties:
         device_id:
           type: string
-        material_info:
-          type: object
       required:
       - device_id
-      - material_info
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -24,7 +24,8 @@ bioyond_dispensing_station:
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: brief_step_parameters参数
@@ -53,7 +54,8 @@ bioyond_dispensing_station:
               - report_request
               - used_materials
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_order_finish_report参数
@@ -78,7 +80,8 @@ bioyond_dispensing_station:
               required:
               - order_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: project_order_report参数
@@ -128,7 +131,8 @@ bioyond_dispensing_station:
               required:
               - workflow_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: workflow_sample_locations参数
@@ -144,12 +148,12 @@ bioyond_dispensing_station:
           temperature: temperature
           titration: titration
         goal_default:
-          delay_time: '600'
+          delay_time: null
-          hold_m_name: ''
+          hold_m_name: null
           liquid_material_name: NMP
-          speed: '400'
+          speed: null
-          temperature: '40'
+          temperature: null
-          titration: ''
+          titration: null
         handles:
           input:
           - data_key: titration
@@ -165,20 +169,16 @@ bioyond_dispensing_station:
             handler_key: BATCH_CREATE_RESULT
             io_type: sink
             label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        result:
+        placeholder_keys: {}
-          return_info: return_info
+        result: {}
         schema:
           description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
           properties:
             feedback:
-              properties: {}
-              required: []
               title: BatchCreate9010VialFeedingTasks_Feedback
-              type: object
             goal:
               properties:
                 delay_time:
-                  default: '600'
                   description: 延迟时间(秒),默认600
                   type: string
                 hold_m_name:
@@ -189,11 +189,9 @@ bioyond_dispensing_station:
                   description: 10%物料的液体物料名称,默认为"NMP"
                   type: string
                 speed:
-                  default: '400'
                   description: 搅拌速度,默认400
                   type: string
                 temperature:
-                  default: '40'
                   description: 温度(℃),默认40
                   type: string
                 titration:
@@ -202,21 +200,14 @@ bioyond_dispensing_station:
                   type: string
               required:
               - titration
-              - hold_m_name
               title: BatchCreate9010VialFeedingTasks_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
-                  type: string
-              required:
-              - return_info
               title: BatchCreate9010VialFeedingTasks_Result
-              type: object
+              type: string
           required:
           - goal
-          title: BatchCreate9010VialFeedingTasks
+          title: batch_create_90_10_vial_feeding_tasks参数
           type: object
         type: UniLabJsonCommand
       batch_create_diamine_solution_tasks:
@@ -228,11 +219,11 @@ bioyond_dispensing_station:
           speed: speed
           temperature: temperature
         goal_default:
-          delay_time: '600'
+          delay_time: null
           liquid_material_name: NMP
-          solutions: ''
+          solutions: null
-          speed: '400'
+          speed: null
-          temperature: '20'
+          temperature: null
         handles:
           input:
           - data_key: solutions
@@ -248,20 +239,16 @@ bioyond_dispensing_station:
             handler_key: BATCH_CREATE_RESULT
             io_type: sink
             label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        result:
+        placeholder_keys: {}
-          return_info: return_info
+        result: {}
         schema:
           description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
           properties:
             feedback:
-              properties: {}
-              required: []
               title: BatchCreateDiamineSolutionTasks_Feedback
-              type: object
             goal:
               properties:
                 delay_time:
-                  default: '600'
                   description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
                   type: string
                 liquid_material_name:
@@ -275,11 +262,9 @@ bioyond_dispensing_station:
                     4.5, "solvent_volume": 18}]'
                   type: string
                 speed:
-                  default: '400'
                   description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
                   type: string
                 temperature:
-                  default: '20'
                   description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
                   type: string
               required:
@@ -287,17 +272,11 @@ bioyond_dispensing_station:
               title: BatchCreateDiamineSolutionTasks_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
-                  type: string
-              required:
-              - return_info
               title: BatchCreateDiamineSolutionTasks_Result
-              type: object
+              type: string
           required:
           - goal
-          title: BatchCreateDiamineSolutionTasks
+          title: batch_create_diamine_solution_tasks参数
           type: object
         type: UniLabJsonCommand
       compute_experiment_design:
@@ -309,7 +288,7 @@ bioyond_dispensing_station:
           wt_percent: wt_percent
         goal_default:
           m_tot: '70'
-          ratio: ''
+          ratio: null
           titration_percent: '0.03'
           wt_percent: '0.25'
         handles:
@@ -338,12 +317,8 @@ bioyond_dispensing_station:
             handler_key: feeding_order
             io_type: sink
             label: Feeding Order Data From Calculation Node
-        result:
+        placeholder_keys: {}
-          feeding_order: feeding_order
+        result: {}
-          return_info: return_info
-          solutions: solutions
-          solvents: solvents
-          titration: titration
         schema:
           description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
           properties:
@@ -356,7 +331,7 @@ bioyond_dispensing_station:
                   type: string
                 ratio:
                   description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
-                  type: string
+                  type: object
                 titration_percent:
                   default: '0.03'
                   description: 滴定比例(10%部分)
@@ -371,14 +346,23 @@ bioyond_dispensing_station:
             result:
               properties:
                 feeding_order:
+                  items: {}
+                  title: Feeding Order
                   type: array
                 return_info:
+                  title: Return Info
                   type: string
                 solutions:
+                  items: {}
+                  title: Solutions
                   type: array
                 solvents:
+                  additionalProperties: true
+                  title: Solvents
                   type: object
                 titration:
+                  additionalProperties: true
+                  title: Titration
                   type: object
               required:
               - solutions
@@ -386,11 +370,11 @@ bioyond_dispensing_station:
               - solvents
               - feeding_order
               - return_info
-              title: ComputeExperimentDesign_Result
+              title: ComputeExperimentDesignReturn
               type: object
           required:
           - goal
-          title: ComputeExperimentDesign
+          title: compute_experiment_design参数
           type: object
         type: UniLabJsonCommand
       create_90_10_vial_feeding_task:
@@ -444,17 +428,18 @@ bioyond_dispensing_station:
           speed: ''
           temperature: ''
         handles: {}
+        placeholder_keys: {}
         result:
           return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: DispenStationVialFeed_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 delay_time:
                   type: string
@@ -502,38 +487,13 @@ bioyond_dispensing_station:
                   type: string
                 temperature:
                   type: string
-              required:
-              - order_name
-              - percent_90_1_assign_material_name
-              - percent_90_1_target_weigh
-              - percent_90_2_assign_material_name
-              - percent_90_2_target_weigh
-              - percent_90_3_assign_material_name
-              - percent_90_3_target_weigh
-              - percent_10_1_assign_material_name
-              - percent_10_1_target_weigh
-              - percent_10_1_volume
-              - percent_10_1_liquid_material_name
-              - percent_10_2_assign_material_name
-              - percent_10_2_target_weigh
-              - percent_10_2_volume
-              - percent_10_2_liquid_material_name
-              - percent_10_3_assign_material_name
-              - percent_10_3_target_weigh
-              - percent_10_3_volume
-              - percent_10_3_liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
               title: DispenStationVialFeed_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: DispenStationVialFeed_Result
               type: object
           required:
@@ -564,17 +524,18 @@ bioyond_dispensing_station:
           temperature: ''
           volume: ''
         handles: {}
+        placeholder_keys: {}
         result:
           return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: DispenStationSolnPrep_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 delay_time:
                   type: string
@@ -594,24 +555,13 @@ bioyond_dispensing_station:
                   type: string
                 volume:
                   type: string
-              required:
-              - order_name
-              - material_name
-              - target_weigh
-              - volume
-              - liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
               title: DispenStationSolnPrep_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: DispenStationSolnPrep_Result
               type: object
           required:
@@ -624,8 +574,8 @@ bioyond_dispensing_station:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
+        placeholder_keys: {}
-          return_info: return_info
+        result: {}
         schema:
           description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
           properties:
@@ -635,12 +585,6 @@ bioyond_dispensing_station:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 调度器启动结果，成功返回1，失败返回0
-                  type: integer
-              required:
-              - return_info
               title: scheduler_start结果
               type: object
           required:
@@ -654,8 +598,8 @@ bioyond_dispensing_station:
           target_device_id: target_device_id
           transfer_groups: transfer_groups
         goal_default:
-          target_device_id: ''
+          target_device_id: null
-          transfer_groups: ''
+          transfer_groups: null
         handles: {}
         placeholder_keys:
           target_device_id: unilabos_devices
@@ -671,32 +615,13 @@ bioyond_dispensing_station:
                   type: string
                 transfer_groups:
                   description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
-                  items:
-                    properties:
-                      materials:
-                        description: 物料名称（手动输入，系统将通过RPC查询验证）
-                        type: string
-                      target_sites:
-                        description: 目标库位（手动输入，如"A01"）
-                        type: string
-                      target_stack:
-                        description: 目标堆栈名称（从列表选择）
-                        enum:
-                        - 堆栈1左
-                        - 堆栈1右
-                        - 站内试剂存放堆栈
-                        type: string
-                    required:
-                    - materials
-                    - target_stack
-                    - target_sites
-                    type: object
                   type: array
               required:
               - target_device_id
               - transfer_groups
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_materials_to_reaction_station参数
@@ -709,9 +634,9 @@ bioyond_dispensing_station:
           check_interval: check_interval
           timeout: timeout
         goal_default:
-          batch_create_result: ''
+          batch_create_result: null
-          check_interval: '10'
+          check_interval: 10
-          timeout: '7200'
+          timeout: 7200
         handles:
           input:
           - data_key: batch_create_result
@@ -727,47 +652,35 @@ bioyond_dispensing_station:
             handler_key: batch_reports_result
             io_type: sink
             label: Batch Order Completion Reports
-        result:
+        placeholder_keys: {}
-          return_info: return_info
+        result: {}
         schema:
           description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
           properties:
             feedback:
-              properties: {}
-              required: []
               title: WaitForMultipleOrdersAndGetReports_Feedback
-              type: object
             goal:
               properties:
                 batch_create_result:
                   description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
                   type: string
                 check_interval:
-                  default: '10'
+                  default: 10
                   description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
-                  type: string
+                  type: integer
                 timeout:
-                  default: '7200'
+                  default: 7200
                   description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
-                  type: string
+                  type: integer
-              required:
+              required: []
-              - batch_create_result
               title: WaitForMultipleOrdersAndGetReports_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
-                    error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
-                    order_id, status, completion_status, report, elapsed_time)'
-                  type: string
-              required:
-              - return_info
               title: WaitForMultipleOrdersAndGetReports_Result
               type: object
           required:
           - goal
-          title: WaitForMultipleOrdersAndGetReports
+          title: wait_for_multiple_orders_and_get_reports参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation

unilabos/registry/devices/camera.yaml

@@ -1,81 +0,0 @@
-camera:
-  category:
-  - camera
-  class:
-    action_value_mappings:
-      auto-destroy_node:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: destroy_node参数
-          type: object
-        type: UniLabJsonCommand
-      auto-timer_callback:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: timer_callback参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.ros.nodes.presets.camera:VideoPublisher
-    status_types: {}
-    type: ros2
-  config_info: []
-  description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        camera_index:
-          default: 0
-          type: string
-        device_id:
-          default: video_publisher
-          type: string
-        device_uuid:
-          default: ''
-          type: string
-        period:
-          default: 0.1
-          type: number
-        registry_name:
-          default: ''
-          type: string
-        resource_tracker:
-          type: object
-      required: []
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  version: 1.0.0

unilabos/registry/devices/cameraSII.yaml

@@ -18,7 +18,7 @@ cameracontroller_device:
             goal:
               properties:
                 config:
-                  type: string
+                  type: object
               required: []
               type: object
             result: {}
@@ -42,7 +42,8 @@ cameracontroller_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: stop参数
@@ -50,7 +51,7 @@ cameracontroller_device:
         type: UniLabJsonCommand
     module: unilabos.devices.cameraSII.cameraUSB:CameraController
     status_types:
-      status: dict
+      status: Dict[str, Any]
     type: python
   config_info: []
   description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
@@ -103,5 +104,4 @@ cameracontroller_device:
       required:
       - status
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/characterization_chromatic.yaml

@@ -141,30 +141,26 @@ hplc.agilent:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -175,7 +171,6 @@ hplc.agilent:
     module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
     status_types:
       could_run: bool
-      data_file: String
       device_status: str
       driver_init_ok: bool
       finish_status: str
@@ -199,10 +194,6 @@ hplc.agilent:
       properties:
         could_run:
           type: boolean
-        data_file:
-          items:
-            type: string
-          type: array
         device_status:
           type: string
         driver_init_ok:
@@ -216,14 +207,13 @@ hplc.agilent:
         success:
           type: boolean
       required:
-      - status_text
-      - device_status
       - could_run
+      - device_status
       - driver_init_ok
-      - is_running
-      - success
       - finish_status
-      - data_file
+      - is_running
+      - status_text
+      - success
       type: object
   version: 1.0.0
 hplc.agilent-zhida:
@@ -236,26 +226,25 @@ hplc.agilent-zhida:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -315,21 +304,18 @@ hplc.agilent-zhida:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -341,35 +327,35 @@ hplc.agilent-zhida:
         feedback: {}
         goal:
           string: string
+          text: text
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -407,7 +393,7 @@ hplc.agilent-zhida:
         status:
           type: object
       required:
-      - status
       - methods
+      - status
       type: object
   version: 1.0.0

unilabos/registry/devices/characterization_optic.yaml

@@ -120,42 +120,41 @@ raman.home_made:
           type: object
         type: UniLabJsonCommand
       raman_cmd:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/chinwe.yaml

@@ -19,7 +19,8 @@ separator.chinwe:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: connect参数
@@ -65,135 +66,145 @@ separator.chinwe:
               required:
               - command_dict
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: execute_command_from_outer参数
           type: object
         type: UniLabJsonCommand
       motor_rotate_quarter:
+        feedback: {}
         goal:
           direction: 顺时针
           motor_id: 4
           speed: 60
+        goal_default:
+          direction: 顺时针
+          motor_id: null
+          speed: 60
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 电机旋转 1/4 圈
           properties:
+            feedback: {}
             goal:
               properties:
                 direction:
                   default: 顺时针
                   description: 旋转方向
-                  enum:
-                  - 顺时针
-                  - 逆时针
                   type: string
                 motor_id:
-                  default: '4'
                   description: 选择电机 (4:搅拌, 5:旋钮)
-                  enum:
+                  type: integer
-                  - '4'
-                  - '5'
-                  type: string
                 speed:
                   default: 60
                   description: 速度 (RPM)
                   type: integer
               required:
               - motor_id
-              - speed
               type: object
+            result: {}
+          required:
+          - goal
+          title: motor_rotate_quarter参数
+          type: object
         type: UniLabJsonCommand
       motor_run_continuous:
+        feedback: {}
         goal:
           direction: 顺时针
           motor_id: 4
           speed: 60
+        goal_default:
+          direction: 顺时针
+          motor_id: null
+          speed: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 电机一直旋转 (速度模式)
           properties:
+            feedback: {}
             goal:
               properties:
                 direction:
                   default: 顺时针
                   description: 旋转方向
-                  enum:
-                  - 顺时针
-                  - 逆时针
                   type: string
                 motor_id:
-                  default: '4'
                   description: 选择电机 (4:搅拌, 5:旋钮)
-                  enum:
+                  type: integer
-                  - '4'
-                  - '5'
-                  type: string
                 speed:
-                  default: 60
                   description: 速度 (RPM)
                   type: integer
               required:
               - motor_id
               - speed
               type: object
+            result: {}
+          required:
+          - goal
+          title: motor_run_continuous参数
+          type: object
         type: UniLabJsonCommand
       motor_stop:
+        feedback: {}
         goal:
           motor_id: 4
+        goal_default:
+          motor_id: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 停止指定步进电机
           properties:
+            feedback: {}
             goal:
               properties:
                 motor_id:
-                  default: '4'
                   description: 选择电机
-                  enum:
-                  - '4'
-                  - '5'
                   title: '注: 4=搅拌, 5=旋钮'
-                  type: string
+                  type: integer
               required:
               - motor_id
               type: object
+            result: {}
+          required:
+          - goal
+          title: motor_stop参数
+          type: object
         type: UniLabJsonCommand
       pump_aspirate:
+        feedback: {}
         goal:
           pump_id: 1
           valve_port: 1
           volume: 1000
+        goal_default:
+          pump_id: null
+          valve_port: null
+          volume: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 注射泵吸液
           properties:
+            feedback: {}
             goal:
               properties:
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
+                  type: integer
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
                 valve_port:
-                  default: '1'
                   description: 阀门端口
-                  enum:
+                  type: integer
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
                 volume:
-                  default: 1000
                   description: 吸液步数
                   type: integer
               required:
@@ -201,41 +212,38 @@ separator.chinwe:
               - volume
               - valve_port
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_aspirate参数
+          type: object
         type: UniLabJsonCommand
       pump_dispense:
+        feedback: {}
         goal:
           pump_id: 1
           valve_port: 1
           volume: 1000
+        goal_default:
+          pump_id: null
+          valve_port: null
+          volume: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 注射泵排液
           properties:
+            feedback: {}
             goal:
               properties:
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
+                  type: integer
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
                 valve_port:
-                  default: '1'
                   description: 阀门端口
-                  enum:
+                  type: integer
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
                 volume:
-                  default: 1000
                   description: 排液步数
                   type: integer
               required:
@@ -243,121 +251,152 @@ separator.chinwe:
               - volume
               - valve_port
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_dispense参数
+          type: object
         type: UniLabJsonCommand
       pump_initialize:
+        feedback: {}
         goal:
           drain_port: 0
           output_port: 0
           pump_id: 1
           speed: 10
+        goal_default:
+          drain_port: 0
+          output_port: 0
+          pump_id: null
+          speed: 10
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 初始化指定注射泵
           properties:
+            feedback: {}
             goal:
               properties:
                 drain_port:
                   default: 0
                   description: 排液口索引
-                  type: integer
+                  type: string
                 output_port:
                   default: 0
                   description: 输出口索引
-                  type: integer
-                pump_id:
-                  default: '1'
-                  description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  title: '注: 1号泵, 2号泵, 3号泵'
                   type: string
+                pump_id:
+                  description: 选择泵
+                  title: '注: 1号泵, 2号泵, 3号泵'
+                  type: integer
                 speed:
                   default: 10
                   description: 运动速度
-                  type: integer
+                  type: string
               required:
               - pump_id
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_initialize参数
+          type: object
         type: UniLabJsonCommand
       pump_valve:
+        feedback: {}
         goal:
           port: 1
           pump_id: 1
+        goal_default:
+          port: null
+          pump_id: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 切换指定泵的阀门端口
           properties:
+            feedback: {}
             goal:
               properties:
                 port:
-                  default: '1'
                   description: 阀门端口号 (1-8)
-                  enum:
+                  type: integer
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
+                  type: integer
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
               required:
               - pump_id
               - port
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_valve参数
+          type: object
         type: UniLabJsonCommand
       wait_sensor_level:
+        feedback: {}
         goal:
           target_state: 有液
           timeout: 30
+        goal_default:
+          target_state: 有液
+          timeout: 30
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 等待传感器液位条件
           properties:
+            feedback: {}
             goal:
               properties:
                 target_state:
                   default: 有液
                   description: 目标液位状态
-                  enum:
-                  - 有液
-                  - 无液
                   type: string
                 timeout:
                   default: 30
                   description: 超时时间 (秒)
                   type: integer
-              required:
+              required: []
-              - target_state
               type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: wait_sensor_level参数
+          type: object
         type: UniLabJsonCommand
       wait_time:
+        feedback: {}
         goal:
           duration: 10
+        goal_default:
+          duration: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 等待指定时间
           properties:
+            feedback: {}
             goal:
               properties:
                 duration:
-                  default: 10
                   description: 等待时间 (秒)
                   type: integer
               required:
               - duration
               type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: wait_time参数
+          type: object
         type: UniLabJsonCommand
     module: unilabos.devices.separator.chinwe:ChinweDevice
     status_types:
@@ -406,8 +445,8 @@ separator.chinwe:
         sensor_rssi:
           type: integer
       required:
+      - is_connected
       - sensor_level
       - sensor_rssi
-      - is_connected
       type: object
   version: 2.1.0

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -64,7 +64,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: fun_wuliao_test参数
@@ -109,7 +110,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_allpack_cmd参数
@@ -220,7 +222,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_allpack_cmd_simp参数
@@ -309,7 +312,8 @@ coincellassemblyworkstation_device:
                   type: boolean
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_device_init_auto_start_combined参数
@@ -351,7 +355,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_device_stop参数
@@ -376,7 +381,8 @@ coincellassemblyworkstation_device:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_get_msg_cmd参数
@@ -430,7 +436,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_send_finished_cmd参数
@@ -467,7 +474,8 @@ coincellassemblyworkstation_device:
               - assembly_type
               - assembly_pressure
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_send_msg_cmd参数
@@ -611,7 +619,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_sendbottle_allpack_multi参数
@@ -663,31 +672,6 @@ coincellassemblyworkstation_device:
           title: modify_deck_name参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-qiming_coin_cell_code:
         feedback: {}
         goal: {}
@@ -735,7 +719,8 @@ coincellassemblyworkstation_device:
               required:
               - fujipian_panshu
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: qiming_coin_cell_code参数
@@ -826,25 +811,24 @@ coincellassemblyworkstation_device:
         sys_status:
           type: string
       required:
-      - sys_status
-      - sys_mode
-      - request_rec_msg_status
-      - request_send_msg_status
       - data_assembly_coin_cell_num
+      - data_assembly_pressure
       - data_assembly_time
-      - data_open_circuit_voltage
       - data_axis_x_pos
       - data_axis_y_pos
       - data_axis_z_pos
-      - data_pole_weight
-      - data_assembly_pressure
-      - data_electrolyte_volume
-      - data_coin_num
       - data_coin_cell_code
+      - data_coin_num
       - data_electrolyte_code
-      - data_glove_box_pressure
+      - data_electrolyte_volume
       - data_glove_box_o2_content
+      - data_glove_box_pressure
       - data_glove_box_water_content
+      - data_open_circuit_voltage
+      - data_pole_weight
+      - request_rec_msg_status
+      - request_send_msg_status
+      - sys_mode
+      - sys_status
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/gas_handler.yaml

@@ -50,26 +50,25 @@ gas_source.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -82,26 +81,25 @@ gas_source.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -116,32 +114,31 @@ gas_source.mock:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -232,26 +229,25 @@ vacuum_pump.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -264,26 +260,25 @@ vacuum_pump.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -298,32 +293,31 @@ vacuum_pump.mock:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:

unilabos/registry/devices/hotel.yaml

@@ -5,7 +5,7 @@ hotel.thermo_orbitor_rs2_hotel:
     action_value_mappings: {}
     module: unilabos.devices.resource_container.container:HotelContainer
     status_types:
-      rotation: String
+      rotation: ''
     type: python
   config_info: []
   description: Thermo Orbitor RS2 Hotel容器设备，用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控，主要用于存储实验样品、试剂瓶或其他实验器具，支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。

unilabos/registry/devices/laiyu_liquid_test.yaml

@@ -22,7 +22,8 @@ xyz_stepper_controller:
               required:
               - degrees
               type: object
-            result: {}
+            result:
+              type: integer
           required:
           - goal
           title: degrees_to_steps参数
@@ -47,7 +48,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: emergency_stop参数
@@ -72,7 +74,10 @@ xyz_stepper_controller:
                   type: boolean
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: enable_all_axes参数
@@ -101,7 +106,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: enable_motor参数
@@ -122,7 +128,10 @@ xyz_stepper_controller:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: home_all_axes参数
@@ -147,7 +156,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: home_axis参数
@@ -188,7 +198,8 @@ xyz_stepper_controller:
               - axis
               - position
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: move_to_position参数
@@ -229,7 +240,8 @@ xyz_stepper_controller:
               - axis
               - degrees
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: move_to_position_degrees参数
@@ -270,7 +282,8 @@ xyz_stepper_controller:
               - axis
               - revolutions
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: move_to_position_revolutions参数
@@ -301,14 +314,17 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x:
-                  type: string
+                  type: integer
                 y:
-                  type: string
+                  type: integer
                 z:
-                  type: string
+                  type: integer
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: move_xyz参数
@@ -339,14 +355,17 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x_deg:
-                  type: string
+                  type: number
                 y_deg:
-                  type: string
+                  type: number
                 z_deg:
-                  type: string
+                  type: number
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: move_xyz_degrees参数
@@ -377,14 +396,17 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x_rev:
-                  type: string
+                  type: number
                 y_rev:
-                  type: string
+                  type: number
                 z_rev:
-                  type: string
+                  type: number
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: move_xyz_revolutions参数
@@ -409,7 +431,8 @@ xyz_stepper_controller:
               required:
               - revolutions
               type: object
-            result: {}
+            result:
+              type: integer
           required:
           - goal
           title: revolutions_to_steps参数
@@ -442,7 +465,8 @@ xyz_stepper_controller:
               - axis
               - speed
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: set_speed_mode参数
@@ -467,7 +491,8 @@ xyz_stepper_controller:
               required:
               - steps
               type: object
-            result: {}
+            result:
+              type: number
           required:
           - goal
           title: steps_to_degrees参数
@@ -492,7 +517,8 @@ xyz_stepper_controller:
               required:
               - steps
               type: object
-            result: {}
+            result:
+              type: number
           required:
           - goal
           title: steps_to_revolutions参数
@@ -513,7 +539,10 @@ xyz_stepper_controller:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: stop_all_axes参数
@@ -542,7 +571,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: wait_for_completion参数
@@ -550,8 +580,7 @@ xyz_stepper_controller:
         type: UniLabJsonCommand
     module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
     status_types:
-      all_positions: dict
+      all_positions: Dict[MotorAxis, MotorPosition]
-      motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
     type: python
   config_info: []
   description: 新XYZ控制器
@@ -574,12 +603,10 @@ xyz_stepper_controller:
     data:
       properties:
         all_positions:
-          type: object
+          additionalProperties:
-        motor_status:
+            type: object
           type: object
       required:
-      - motor_status
       - all_positions
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -5,31 +5,6 @@ neware_battery_test_system:
   - battery_test
   class:
     action_value_mappings:
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-print_status_summary:
         feedback: {}
         goal: {}
@@ -66,7 +41,8 @@ neware_battery_test_system:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: test_connection参数
@@ -77,9 +53,8 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
+        placeholder_keys: {}
-          return_info: return_info
+        result: {}
-          success: success
         schema:
           description: 调试方法：显示所有资源的实际名称
           properties:
@@ -89,19 +64,10 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 资源调试信息
-                  type: string
-                success:
-                  description: 是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: debug_resource_names参数
           type: object
         type: UniLabJsonCommand
       export_status_json:
@@ -111,9 +77,8 @@ neware_battery_test_system:
         goal_default:
           filepath: bts_status.json
         handles: {}
-        result:
+        placeholder_keys: {}
-          return_info: return_info
+        result: {}
-          success: success
         schema:
           description: 导出当前状态数据到JSON文件
           properties:
@@ -127,19 +92,10 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 导出操作结果信息
-                  type: string
-                success:
-                  description: 导出是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: export_status_json参数
           type: object
         type: UniLabJsonCommand
       get_device_summary:
@@ -181,10 +137,8 @@ neware_battery_test_system:
         goal_default:
           plate_num: null
         handles: {}
-        result:
+        placeholder_keys: {}
-          plate_data: plate_data
+        result: {}
-          return_info: return_info
-          success: success
         schema:
           description: 获取指定盘或所有盘的状态信息
           properties:
@@ -193,29 +147,14 @@ neware_battery_test_system:
               properties:
                 plate_num:
                   description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
-                  maximum: 2
-                  minimum: 1
                   type: integer
               required: []
               type: object
             result:
-              properties:
-                plate_data:
-                  description: 盘状态数据（单盘或所有盘）
-                  type: object
-                return_info:
-                  description: 操作结果信息
-                  type: string
-                success:
-                  description: 查询是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
-              - plate_data
               type: object
           required:
           - goal
+          title: get_plate_status参数
           type: object
         type: UniLabJsonCommand
       print_status_summary_action:
@@ -223,9 +162,8 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
+        placeholder_keys: {}
-          return_info: return_info
+        result: {}
-          success: success
         schema:
           description: 打印通道状态摘要信息到控制台
           properties:
@@ -235,28 +173,21 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 打印操作结果信息
-                  type: string
-                success:
-                  description: 打印是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: print_status_summary_action参数
           type: object
         type: UniLabJsonCommand
       query_plate_action:
         feedback: {}
         goal:
-          string: plate_id
+          plate_id: plate_id
+          string: string
         goal_default:
           string: ''
         handles: {}
+        placeholder_keys: {}
         result:
           return_info: return_info
           success: success
@@ -264,27 +195,23 @@ neware_battery_test_system:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -298,13 +225,11 @@ neware_battery_test_system:
           csv_path: string
           output_dir: string
         goal_default:
-          csv_path: ''
+          csv_path: null
           output_dir: .
         handles: {}
-        result:
+        placeholder_keys: {}
-          return_info: return_info
+        result: {}
-          submitted_count: submitted_count
-          success: success
         schema:
           description: 从CSV文件批量提交Neware测试任务
           properties:
@@ -315,31 +240,17 @@ neware_battery_test_system:
                   description: 输入CSV文件的绝对路径
                   type: string
                 output_dir:
+                  default: .
                   description: 输出目录（用于存储XML和备份文件），默认当前目录
                   type: string
               required:
               - csv_path
               type: object
             result:
-              properties:
-                return_info:
-                  description: 执行结果详细信息
-                  type: string
-                submitted_count:
-                  description: 成功提交的任务数量
-                  type: integer
-                success:
-                  description: 是否成功
-                  type: boolean
-                total_count:
-                  description: CSV文件中的总行数
-                  type: integer
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: submit_from_csv参数
           type: object
         type: UniLabJsonCommand
       test_connection_action:
@@ -347,9 +258,8 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
+        placeholder_keys: {}
-          return_info: return_info
+        result: {}
-          success: success
         schema:
           description: 测试与电池测试系统的TCP连接
           properties:
@@ -359,19 +269,10 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 连接测试结果信息
-                  type: string
-                success:
-                  description: 连接测试是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: test_connection_action参数
           type: object
         type: UniLabJsonCommand
       upload_backup_to_oss:
@@ -392,12 +293,8 @@ neware_battery_test_system:
             handler_key: uploaded_files
             io_type: sink
             label: Uploaded Files (with standard flow info)
-        result:
+        placeholder_keys: {}
-          failed_files: failed_files
+        result: {}
-          return_info: return_info
-          success: success
-          total_count: total_count
-          uploaded_count: uploaded_count
         schema:
           description: 上传备份文件到阿里云OSS
           properties:
@@ -417,65 +314,17 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                failed_files:
-                  description: 上传失败的文件名列表
-                  items:
-                    type: string
-                  type: array
-                return_info:
-                  description: 上传操作结果信息
-                  type: string
-                success:
-                  description: 上传是否成功
-                  type: boolean
-                total_count:
-                  description: 总文件数
-                  type: integer
-                uploaded_count:
-                  description: 成功上传的文件数
-                  type: integer
-                uploaded_files:
-                  description: 成功上传的文件详情列表
-                  items:
-                    properties:
-                      Battery_Code:
-                        description: 电池编码
-                        type: string
-                      Electrolyte_Code:
-                        description: 电解液编码
-                        type: string
-                      filename:
-                        description: 文件名
-                        type: string
-                      url:
-                        description: OSS下载链接
-                        type: string
-                    required:
-                    - filename
-                    - url
-                    - Battery_Code
-                    - Electrolyte_Code
-                    type: object
-                  type: array
-              required:
-              - return_info
-              - success
-              - uploaded_count
-              - total_count
-              - failed_files
-              - uploaded_files
               type: object
           required:
           - goal
+          title: upload_backup_to_oss参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
     status_types:
-      channel_status: dict
+      channel_status: Dict[int, Dict]
-      connection_info: dict
+      connection_info: Dict[str, str]
       device_summary: dict
-      plate_status: dict
       status: str
       total_channels: int
     type: python
@@ -517,23 +366,24 @@ neware_battery_test_system:
     data:
       properties:
         channel_status:
+          additionalProperties:
+            type: object
           type: object
         connection_info:
+          additionalProperties:
+            type: string
           type: object
         device_summary:
           type: object
-        plate_status:
-          type: object
         status:
           type: string
         total_channels:
           type: integer
       required:
-      - status
       - channel_status
       - connection_info
-      - total_channels
-      - plate_status
       - device_summary
+      - status
+      - total_channels
       type: object
   version: 1.0.0

unilabos/registry/devices/opcua_example.yaml

@@ -142,8 +142,7 @@ opcua_example:
           type: object
         type: UniLabJsonCommand
     module: unilabos.device_comms.opcua_client.client:OpcUaClient
-    status_types:
+    status_types: {}
-      node_value: String
     type: python
   config_info: []
   description: null
@@ -167,10 +166,7 @@ opcua_example:
       - url
       type: object
     data:
-      properties:
+      properties: {}
-        node_value:
+      required: []
-          type: string
-      required:
-      - node_value
       type: object
   version: 1.0.0

unilabos/registry/devices/opsky_ATR30007.yaml

@@ -80,7 +80,8 @@ opsky_ATR30007:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: run_once参数

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -100,42 +100,41 @@ rotavap.one:
           type: object
         type: UniLabJsonCommand
       set_timer:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -250,9 +249,13 @@ separator.homemade:
         feedback:
           status: status
         goal:
+          event: event
           settling_time: settling_time
           stir_speed: stir_speed
-          stir_time: stir_time,
+          stir_time: stir_time
+          time: time
+          time_spec: time_spec
+          vessel: vessel
         goal_default:
           event: ''
           settling_time: ''
@@ -281,34 +284,42 @@ separator.homemade:
             sample_id: ''
             type: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          message: message
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: Stir_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 event:
                   type: string
                 settling_time:
                   type: string
                 stir_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 stir_time:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 time:
                   type: string
                 time_spec:
                   type: string
                 vessel:
+                  additionalProperties: false
                   properties:
                     category:
                       type: string
@@ -327,16 +338,26 @@ separator.homemade:
                     parent:
                       type: string
                     pose:
+                      additionalProperties: false
                       properties:
                         orientation:
+                          additionalProperties: false
                           properties:
                             w:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -346,12 +367,19 @@ separator.homemade:
                           title: orientation
                           type: object
                         position:
+                          additionalProperties: false
                           properties:
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -381,17 +409,10 @@ separator.homemade:
                   - data
                   title: vessel
                   type: object
-              required:
-              - vessel
-              - time
-              - event
-              - time_spec
-              - stir_time
-              - stir_speed
-              - settling_time
               title: Stir_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 message:
                   type: string
@@ -399,10 +420,6 @@ separator.homemade:
                   type: string
                 success:
                   type: boolean
-              required:
-              - success
-              - message
-              - return_info
               title: Stir_Result
               type: object
           required:
@@ -418,36 +435,34 @@ separator.homemade:
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/post_process_station.yaml

@@ -28,31 +28,6 @@ post_process_station:
           title: load_config参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-print_cache_stats:
         feedback: {}
         goal: {}
@@ -104,42 +79,41 @@ post_process_station:
           type: object
         type: UniLabJsonCommand
       disconnect:
-        feedback: {}
+        feedback:
+          status: status
         goal:
-          command: {}
+          command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -149,42 +123,41 @@ post_process_station:
         type: SendCmd
       read_node:
         feedback:
-          result: result
+          status: status
         goal:
-          command: node_name
+          command: command
+          node_name: node_name
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -283,17 +256,19 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: PostProcessTriggerClean_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 acetone_inner_wall_cleaning_count:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
                 acetone_inner_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -304,6 +279,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 acetone_outer_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -322,6 +299,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 acetone_stirrer_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -348,6 +327,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_inner_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -358,6 +339,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_outer_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -376,6 +359,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_stirrer_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -394,6 +379,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_inner_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 water_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -404,6 +391,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_outer_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 water_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -422,6 +411,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_stirrer_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 water_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -431,55 +422,13 @@ post_process_station:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - nmp_outer_wall_cleaning_injection
-              - nmp_outer_wall_cleaning_count
-              - nmp_outer_wall_cleaning_wait_time
-              - nmp_outer_wall_cleaning_waste_time
-              - nmp_inner_wall_cleaning_injection
-              - nmp_inner_wall_cleaning_count
-              - nmp_pump_cleaning_suction_count
-              - nmp_inner_wall_cleaning_waste_time
-              - nmp_stirrer_cleaning_injection
-              - nmp_stirrer_cleaning_count
-              - nmp_stirrer_cleaning_wait_time
-              - nmp_stirrer_cleaning_waste_time
-              - water_outer_wall_cleaning_injection
-              - water_outer_wall_cleaning_count
-              - water_outer_wall_cleaning_wait_time
-              - water_outer_wall_cleaning_waste_time
-              - water_inner_wall_cleaning_injection
-              - water_inner_wall_cleaning_count
-              - water_pump_cleaning_suction_count
-              - water_inner_wall_cleaning_waste_time
-              - water_stirrer_cleaning_injection
-              - water_stirrer_cleaning_count
-              - water_stirrer_cleaning_wait_time
-              - water_stirrer_cleaning_waste_time
-              - acetone_outer_wall_cleaning_injection
-              - acetone_outer_wall_cleaning_count
-              - acetone_outer_wall_cleaning_wait_time
-              - acetone_outer_wall_cleaning_waste_time
-              - acetone_inner_wall_cleaning_injection
-              - acetone_inner_wall_cleaning_count
-              - acetone_pump_cleaning_suction_count
-              - acetone_inner_wall_cleaning_waste_time
-              - acetone_stirrer_cleaning_injection
-              - acetone_stirrer_cleaning_count
-              - acetone_stirrer_cleaning_wait_time
-              - acetone_stirrer_cleaning_waste_time
-              - pipe_blowing_time
-              - injection_pump_forward_empty_suction_count
-              - injection_pump_reverse_empty_suction_count
-              - filtration_liquid_selection
               title: PostProcessTriggerClean_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: PostProcessTriggerClean_Result
               type: object
           required:
@@ -502,11 +451,11 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: PostProcessGrab_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 raw_tank_number:
                   maximum: 2147483647
@@ -516,17 +465,13 @@ post_process_station:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - reaction_tank_number
-              - raw_tank_number
               title: PostProcessGrab_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: PostProcessGrab_Result
               type: object
           required:
@@ -573,13 +518,15 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: PostProcessTriggerPostPro_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 atomization_fast_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 atomization_pressure_kpa:
                   maximum: 2147483647
@@ -594,8 +541,12 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 first_wash_water_amount:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 initial_water_amount:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 injection_pump_push_speed:
                   maximum: 2147483647
@@ -622,32 +573,20 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 second_wash_water_amount:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 wash_slow_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - atomization_fast_speed
-              - wash_slow_speed
-              - injection_pump_suction_speed
-              - injection_pump_push_speed
-              - raw_liquid_suction_count
-              - first_wash_water_amount
-              - second_wash_water_amount
-              - first_powder_mixing_tim
-              - second_powder_mixing_time
-              - first_powder_wash_count
-              - second_powder_wash_count
-              - initial_water_amount
-              - pre_filtration_mixing_time
-              - atomization_pressure_kpa
               title: PostProcessTriggerPostPro_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: PostProcessTriggerPostPro_Result
               type: object
           required:
@@ -669,30 +608,26 @@ post_process_station:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -702,8 +637,7 @@ post_process_station:
         type: SendCmd
     module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
     status_types:
-      cache_stats: dict
+      cache_stats: Dict[str, Any]
-      node_value: String
     type: python
   config_info: []
   description: 后处理站
@@ -718,7 +652,9 @@ post_process_station:
         config_path:
           type: string
         deck:
-          type: string
+          anyOf:
+          - type: object
+          - type: object
         password:
           type: string
         subscription_interval:
@@ -738,10 +674,7 @@ post_process_station:
       properties:
         cache_stats:
           type: object
-        node_value:
-          type: string
       required:
-      - node_value
       - cache_stats
       type: object
   version: 1.0.0

unilabos/registry/devices/pump_and_valve.yaml

@@ -136,36 +136,36 @@ solenoid_valve:
       set_valve_position:
         feedback: {}
         goal:
-          string: position
+          position: position
+          string: string
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -278,26 +278,25 @@ solenoid_valve.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -310,26 +309,25 @@ solenoid_valve.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -422,6 +420,27 @@ syringe_pump_with_valve.runze.SY03B-T06:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
+      auto-list:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: list的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: list参数
+          type: object
+        type: UniLabJsonCommand
       auto-pull_plunger:
         feedback: {}
         goal: {}
@@ -695,7 +714,10 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 position:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
+                  - type: number
               required:
               - position
               type: object
@@ -720,7 +742,9 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 velocity:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
               required:
               - velocity
               type: object
@@ -780,13 +804,13 @@ syringe_pump_with_valve.runze.SY03B-T06:
     status_types:
       max_velocity: float
       mode: int
-      plunger_position: String
+      plunger_position: ''
       position: float
       status: str
       valve_position: str
-      velocity_end: String
+      velocity_end: ''
-      velocity_grade: String
+      velocity_grade: ''
-      velocity_init: String
+      velocity_init: ''
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -885,15 +909,15 @@ syringe_pump_with_valve.runze.SY03B-T06:
         velocity_init:
           type: string
       required:
-      - status
-      - mode
       - max_velocity
+      - mode
+      - plunger_position
+      - position
+      - status
+      - valve_position
+      - velocity_end
       - velocity_grade
       - velocity_init
-      - velocity_end
-      - valve_position
-      - position
-      - plunger_position
       type: object
   version: 1.0.0
 syringe_pump_with_valve.runze.SY03B-T08:
@@ -943,6 +967,27 @@ syringe_pump_with_valve.runze.SY03B-T08:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
+      auto-list:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: list的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: list参数
+          type: object
+        type: UniLabJsonCommand
       auto-pull_plunger:
         feedback: {}
         goal: {}
@@ -1216,7 +1261,10 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 position:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
+                  - type: number
               required:
               - position
               type: object
@@ -1241,7 +1289,9 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 velocity:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
               required:
               - velocity
               type: object
@@ -1301,13 +1351,13 @@ syringe_pump_with_valve.runze.SY03B-T08:
     status_types:
       max_velocity: float
       mode: int
-      plunger_position: String
+      plunger_position: ''
       position: float
       status: str
       valve_position: str
-      velocity_end: String
+      velocity_end: ''
-      velocity_grade: String
+      velocity_grade: ''
-      velocity_init: String
+      velocity_init: ''
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -1422,14 +1472,14 @@ syringe_pump_with_valve.runze.SY03B-T08:
         velocity_init:
           type: string
       required:
-      - status
-      - mode
       - max_velocity
+      - mode
+      - plunger_position
+      - position
+      - status
+      - valve_position
+      - velocity_end
       - velocity_grade
       - velocity_init
-      - velocity_end
-      - valve_position
-      - position
-      - plunger_position
       type: object
   version: 1.0.0

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -13,12 +13,13 @@ reaction_station.bioyond:
           start_point: start_point
           start_step_key: start_step_key
         goal_default:
-          duration: 0
+          duration: null
           end_point: 0
           end_step_key: ''
           start_point: 0
           start_step_key: ''
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 添加时间约束 - 在两个工作流之间添加时间约束
@@ -30,23 +31,19 @@ reaction_station.bioyond:
                   description: 时间(秒)
                   type: integer
                 end_point:
-                  default: Start
+                  default: 0
                   description: 终点计时点 (Start=开始前, End=结束后)
-                  enum:
+                  type: integer
-                  - Start
-                  - End
-                  type: string
                 end_step_key:
+                  default: ''
                   description: 终点步骤Key (可选, 默认为空则自动选择)
                   type: string
                 start_point:
-                  default: Start
+                  default: 0
                   description: 起点计时点 (Start=开始前, End=结束后)
-                  enum:
+                  type: integer
-                  - Start
-                  - End
-                  type: string
                 start_step_key:
+                  default: ''
                   description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
                   type: string
               required:
@@ -98,7 +95,8 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_order参数
@@ -125,7 +123,8 @@ reaction_station.bioyond:
               required:
               - workflow_ids
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: hard_delete_merged_workflows参数
@@ -150,7 +149,8 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: merge_workflow_with_parameters参数
@@ -175,7 +175,8 @@ reaction_station.bioyond:
               required:
               - report_request
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_temperature_cutoff_report参数
@@ -200,7 +201,12 @@ reaction_station.bioyond:
               required:
               - web_workflow_json
               type: object
-            result: {}
+            result:
+              items:
+                additionalProperties:
+                  type: string
+                type: object
+              type: array
           required:
           - goal
           title: process_web_workflows参数
@@ -229,7 +235,8 @@ reaction_station.bioyond:
               - reactor_id
               - temperature
               type: object
-            result: {}
+            result:
+              type: string
           required:
           - goal
           title: set_reactor_temperature参数
@@ -254,7 +261,8 @@ reaction_station.bioyond:
               required:
               - preintake_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: skip_titration_steps参数
@@ -275,7 +283,8 @@ reaction_station.bioyond:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: sync_workflow_sequence_from_bioyond参数
@@ -307,7 +316,8 @@ reaction_station.bioyond:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_multiple_orders_and_get_reports参数
@@ -359,7 +369,8 @@ reaction_station.bioyond:
               required:
               - workflow_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: workflow_step_query参数
@@ -370,9 +381,8 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
+        placeholder_keys: {}
-          code: code
+        result: {}
-          message: message
         schema:
           description: 清空服务端所有非核心工作流 (保留核心流程)
           properties:
@@ -382,13 +392,6 @@ reaction_station.bioyond:
               required: []
               type: object
             result:
-              properties:
-                code:
-                  description: 操作结果代码(1表示成功)
-                  type: integer
-                message:
-                  description: 结果描述
-                  type: string
               type: object
           required:
           - goal
@@ -405,13 +408,14 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
+          assign_material_name: null
-          temperature: ''
+          temperature: 25.0
-          time: ''
+          time: '90'
-          titration_type: ''
+          titration_type: '1'
-          torque_variation: ''
+          torque_variation: 2
-          volume: ''
+          volume: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 滴回去
@@ -423,33 +427,27 @@ reaction_station.bioyond:
                   description: 物料名称（不能为空）
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '90'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
+                  default: 2
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
+                  type: integer
-                  - 'NO'
-                  - 'YES'
-                  type: string
                 volume:
                   description: 分液公式(mL)
                   type: string
               required:
-              - volume
               - assign_material_name
-              - time
+              - volume
-              - torque_variation
-              - titration_type
-              - temperature
               type: object
             result: {}
           required:
@@ -462,7 +460,7 @@ reaction_station.bioyond:
         goal:
           batch_reports_result: batch_reports_result
         goal_default:
-          batch_reports_result: ''
+          batch_reports_result: null
         handles:
           input:
           - data_key: batch_reports_result
@@ -478,8 +476,8 @@ reaction_station.bioyond:
             handler_key: ACTUALS_EXTRACTED
             io_type: sink
             label: Extracted Actuals
-        result:
+        placeholder_keys: {}
-          return_info: return_info
+        result: {}
         schema:
           description: 从批量任务完成报告中提取每个订单的实际加料量，输出extracted列表。
           properties:
@@ -493,13 +491,6 @@ reaction_station.bioyond:
               - batch_reports_result
               type: object
             result:
-              properties:
-                return_info:
-                  description: JSON字符串，包含actuals数组，每项含order_code, order_id, actualTargetWeigh,
-                    actualVolume
-                  type: string
-              required:
-              - return_info
               title: extract_actuals_from_batch_reports结果
               type: object
           required:
@@ -517,13 +508,14 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
+          assign_material_name: BAPP
-          temperature: ''
+          temperature: 25.0
-          time: ''
+          time: '0'
-          titration_type: ''
+          titration_type: '1'
-          torque_variation: ''
+          torque_variation: 1
-          volume: ''
+          volume: '350'
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料烧杯
@@ -532,36 +524,30 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
+                  default: BAPP
                   description: 物料名称
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
+                  default: 1
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
+                  type: integer
-                  - 'NO'
-                  - 'YES'
-                  type: string
                 volume:
+                  default: '350'
                   description: 分液公式(mL)
                   type: string
-              required:
+              required: []
-              - volume
-              - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
               type: object
             result: {}
           required:
@@ -580,13 +566,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
+          assign_material_name: null
-          solvents: ''
+          solvents: null
-          temperature: '25.00'
+          temperature: 25.0
           time: '360'
           titration_type: '1'
-          torque_variation: '2'
+          torque_variation: 2
-          volume: ''
+          volume: null
         handles:
           input:
           - data_key: solvents
@@ -595,6 +581,7 @@ reaction_station.bioyond:
             handler_key: solvents
             io_type: source
             label: Solvents Data From Calculation Node
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
@@ -609,27 +596,21 @@ reaction_station.bioyond:
                   description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
                   type: string
                 temperature:
-                  default: '25.00'
+                  default: 25.0
                   description: 温度设定(°C),默认25.00
-                  type: string
+                  type: number
                 time:
                   default: '360'
                   description: 观察时间(分钟),默认360
                   type: string
                 titration_type:
-                  default: 'NO'
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是),默认NO
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
-                  default: 'YES'
+                  default: 2
                   description: 是否观察 (NO=否, YES=是),默认YES
-                  enum:
+                  type: integer
-                  - 'NO'
-                  - 'YES'
-                  type: string
                 volume:
                   description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
                   type: string
@@ -655,15 +636,15 @@ reaction_station.bioyond:
           volume_formula: volume_formula
           x_value: x_value
         goal_default:
-          assign_material_name: ''
+          assign_material_name: null
-          extracted_actuals: ''
+          extracted_actuals: null
-          feeding_order_data: ''
+          feeding_order_data: null
-          temperature: '25.00'
+          temperature: 25.0
           time: '90'
           titration_type: '2'
-          torque_variation: '2'
+          torque_variation: 2
-          volume_formula: ''
+          volume_formula: null
-          x_value: ''
+          x_value: null
         handles:
           input:
           - data_key: extracted_actuals
@@ -678,6 +659,7 @@ reaction_station.bioyond:
             handler_key: feeding_order
             io_type: source
             label: Feeding Order Data From Calculation Node
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料(滴定)。支持两种模式:1)直接提供volume_formula;2)自动计算-提供x_value+feeding_order_data+extracted_actuals,系统自动生成公式"1000*(m二酐-x)*V二酐滴定/m二酐滴定"
@@ -696,27 +678,21 @@ reaction_station.bioyond:
                     {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
                   type: string
                 temperature:
-                  default: '25.00'
+                  default: 25.0
                   description: 温度设定(°C),默认25.00
-                  type: string
+                  type: number
                 time:
                   default: '90'
                   description: 观察时间(分钟),默认90
                   type: string
                 titration_type:
-                  default: 'YES'
+                  default: '2'
                   description: 是否滴定(NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
-                  default: 'YES'
+                  default: 2
                   description: 是否观察 (NO=否, YES=是),默认YES
-                  enum:
+                  type: integer
-                  - 'NO'
-                  - 'YES'
-                  type: string
                 volume_formula:
                   description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
                   type: string
@@ -742,13 +718,14 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume_formula: volume_formula
         goal_default:
-          assign_material_name: ''
+          assign_material_name: null
-          temperature: ''
+          temperature: 25.0
-          time: ''
+          time: '0'
-          titration_type: ''
+          titration_type: '1'
-          torque_variation: ''
+          torque_variation: 1
-          volume_formula: ''
+          volume_formula: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料小瓶(非滴定)
@@ -760,33 +737,27 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
+                  default: 1
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
+                  type: integer
-                  - 'NO'
-                  - 'YES'
-                  type: string
                 volume_formula:
                   description: 分液公式(mL)
                   type: string
               required:
               - volume_formula
               - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
               type: object
             result: {}
           required:
@@ -800,9 +771,10 @@ reaction_station.bioyond:
           task_name: task_name
           workflow_name: workflow_name
         goal_default:
-          task_name: ''
+          task_name: null
-          workflow_name: ''
+          workflow_name: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 处理并执行工作流
@@ -820,7 +792,8 @@ reaction_station.bioyond:
               - workflow_name
               - task_name
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_and_execute_workflow参数
@@ -833,10 +806,11 @@ reaction_station.bioyond:
           cutoff: cutoff
           temperature: temperature
         goal_default:
-          assign_material_name: ''
+          assign_material_name: null
-          cutoff: ''
+          cutoff: '900000'
-          temperature: ''
+          temperature: -10.0
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数
@@ -848,14 +822,14 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 cutoff:
+                  default: '900000'
                   description: 粘度上限
                   type: string
                 temperature:
+                  default: -10.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
               required:
-              - cutoff
-              - temperature
               - assign_material_name
               type: object
             result: {}
@@ -869,6 +843,7 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作
@@ -878,15 +853,7 @@ reaction_station.bioyond:
               properties: {}
               required: []
               type: object
-            result:
+            result: {}
-              properties:
-                code:
-                  description: 操作结果代码(1表示成功,0表示失败)
-                  type: integer
-                return_info:
-                  description: 操作结果详细信息
-                  type: string
-              type: object
           required:
           - goal
           title: reactor_taken_out参数
@@ -897,8 +864,8 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
+        placeholder_keys: {}
-          return_info: return_info
+        result: {}
         schema:
           description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
           properties:
@@ -908,12 +875,6 @@ reaction_station.bioyond:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 调度器启动结果，成功返回1，失败返回0
-                  type: integer
-              required:
-              - return_info
               title: scheduler_start结果
               type: object
           required:
@@ -930,12 +891,13 @@ reaction_station.bioyond:
           time: time
           torque_variation: torque_variation
         goal_default:
-          assign_material_name: ''
+          assign_material_name: null
-          material_id: ''
+          material_id: null
-          temperature: ''
+          temperature: 25.0
-          time: ''
+          time: '0'
-          torque_variation: ''
+          torque_variation: 1
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA)
@@ -948,29 +910,21 @@ reaction_station.bioyond:
                   type: string
                 material_id:
                   description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
-                  enum:
-                  - Salt
-                  - Flour
-                  - BTDA
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 torque_variation:
+                  default: 1
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
+                  type: integer
-                  - 'NO'
-                  - 'YES'
-                  type: string
               required:
-              - assign_material_name
               - material_id
-              - time
-              - torque_variation
-              - temperature
               type: object
             result: {}
           required:

unilabos/registry/devices/robot_agv.yaml

@@ -37,42 +37,41 @@ agv.SEER:
           type: object
         type: UniLabJsonCommand
       send_nav_task:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/robot_arm.yaml

@@ -122,31 +122,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           title: moveit_task参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: post_init的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-resource_manager:
         feedback: {}
         goal: {}
@@ -198,41 +173,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -241,41 +216,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: SendCmd
       set_position:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -284,41 +259,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: SendCmd
       set_status:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -455,42 +430,41 @@ robotic_arm.UR:
           type: object
         type: UniLabJsonCommand
       move_pos_task:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -532,8 +506,8 @@ robotic_arm.UR:
           type: string
       required:
       - arm_pose
-      - gripper_pose
       - arm_status
+      - gripper_pose
       - gripper_status
       type: object
   version: 1.0.0
@@ -726,41 +700,41 @@ robotic_arm.elite:
           type: object
         type: UniLabJsonCommand
       modbus_task_cmd:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -770,8 +744,8 @@ robotic_arm.elite:
         type: SendCmd
     module: unilabos.devices.arm.elite_robot:EliteRobot
     status_types:
-      actual_joint_positions: String
+      actual_joint_positions: ''
-      arm_pose: String
+      arm_pose: list[float]
     type: python
   config_info: []
   description: Elite robot arm
@@ -797,8 +771,8 @@ robotic_arm.elite:
             type: number
           type: array
       required:
-      - arm_pose
       - actual_joint_positions
+      - arm_pose
       type: object
   model:
     mesh: elite_robot

unilabos/registry/devices/robot_gripper.yaml

@@ -114,11 +114,12 @@ gripper.misumi_rz:
             goal:
               properties:
                 data:
-                  type: string
+                  type: object
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: modbus_crc参数
@@ -398,30 +399,26 @@ gripper.misumi_rz:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -504,71 +501,82 @@ gripper.mock:
         type: UniLabJsonCommand
       push_to:
         feedback:
-          effort: torque
+          effort: effort
           position: position
+          reached_goal: reached_goal
+          stalled: stalled
         goal:
-          command.max_effort: torque
+          command: command
-          command.position: position
+          position: position
+          torque: torque
+          velocity: velocity
         goal_default:
           command:
             max_effort: 0.0
             position: 0.0
         handles: {}
+        placeholder_keys: {}
         result:
-          effort: torque
+          effort: effort
           position: position
+          reached_goal: reached_goal
+          stalled: stalled
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 effort:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 reached_goal:
                   type: boolean
                 stalled:
                   type: boolean
-              required:
-              - position
-              - effort
-              - stalled
-              - reached_goal
               title: GripperCommand_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
+                  additionalProperties: false
                   properties:
                     max_effort:
+                      maximum: 1.7976931348623157e+308
+                      minimum: -1.7976931348623157e+308
                       type: number
                     position:
+                      maximum: 1.7976931348623157e+308
+                      minimum: -1.7976931348623157e+308
                       type: number
                   required:
                   - position
                   - max_effort
                   title: command
                   type: object
-              required:
-              - command
               title: GripperCommand_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 effort:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 reached_goal:
                   type: boolean
                 stalled:
                   type: boolean
-              required:
-              - position
-              - effort
-              - stalled
-              - reached_goal
               title: GripperCommand_Result
               type: object
           required:
@@ -604,8 +612,8 @@ gripper.mock:
           type: number
       required:
       - position
-      - velocity
-      - torque
       - status
+      - torque
+      - velocity
       type: object
   version: 1.0.0

unilabos/registry/devices/robot_linear_motion.yaml

@@ -24,6 +24,27 @@ linear_motion.grbl:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
+      auto-list:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: list的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: list参数
+          type: object
+        type: UniLabJsonCommand
       auto-set_position:
         feedback: {}
         goal: {}
@@ -93,44 +114,39 @@ linear_motion.grbl:
         type: UniLabJsonCommandAsync
       move_through_points:
         feedback:
-          current_pose.pose.position: position
+          current_pose: current_pose
-          estimated_time_remaining.sec: time_remaining
+          distance_remaining: distance_remaining
-          navigation_time.sec: time_spent
+          estimated_time_remaining: estimated_time_remaining
-          number_of_poses_remaining: pose_number_remaining
+          navigation_time: navigation_time
+          number_of_poses_remaining: number_of_poses_remaining
+          number_of_recoveries: number_of_recoveries
         goal:
-          poses[].pose.position: positions[]
+          behavior_tree: behavior_tree
+          poses: poses
+          positions: positions
         goal_default:
           behavior_tree: ''
-          poses:
+          poses: []
-          - header:
-              frame_id: ''
-              stamp:
-                nanosec: 0
-                sec: 0
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          result: result
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 current_pose:
+                  additionalProperties: false
                   properties:
                     header:
+                      additionalProperties: false
                       properties:
                         frame_id:
                           type: string
                         stamp:
+                          additionalProperties: false
                           properties:
                             nanosec:
                               maximum: 4294967295
@@ -151,16 +167,26 @@ linear_motion.grbl:
                       title: header
                       type: object
                     pose:
+                      additionalProperties: false
                       properties:
                         orientation:
+                          additionalProperties: false
                           properties:
                             w:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -170,12 +196,19 @@ linear_motion.grbl:
                           title: orientation
                           type: object
                         position:
+                          additionalProperties: false
                           properties:
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -194,8 +227,11 @@ linear_motion.grbl:
                   title: current_pose
                   type: object
                 distance_remaining:
+                  maximum: 3.4028235e+38
+                  minimum: -3.4028235e+38
                   type: number
                 estimated_time_remaining:
+                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -211,6 +247,7 @@ linear_motion.grbl:
                   title: estimated_time_remaining
                   type: object
                 navigation_time:
+                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -233,16 +270,10 @@ linear_motion.grbl:
                   maximum: 32767
                   minimum: -32768
                   type: integer
-              required:
-              - current_pose
-              - navigation_time
-              - estimated_time_remaining
-              - number_of_recoveries
-              - distance_remaining
-              - number_of_poses_remaining
               title: NavigateThroughPoses_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 behavior_tree:
                   type: string
@@ -256,12 +287,8 @@ linear_motion.grbl:
                           stamp:
                             properties:
                               nanosec:
-                                maximum: 4294967295
-                                minimum: 0
                                 type: integer
                               sec:
-                                maximum: 2147483647
-                                minimum: -2147483648
                                 type: integer
                             required:
                             - sec
@@ -314,23 +341,17 @@ linear_motion.grbl:
                     required:
                     - header
                     - pose
-                    title: poses
                     type: object
                   type: array
-              required:
-              - poses
-              - behavior_tree
               title: NavigateThroughPoses_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 result:
-                  properties: {}
+                  additionalProperties: true
-                  required: []
                   title: result
                   type: object
-              required:
-              - result
               title: NavigateThroughPoses_Result
               type: object
           required:
@@ -340,9 +361,15 @@ linear_motion.grbl:
         type: NavigateThroughPoses
       set_spindle_speed:
         feedback:
-          position: spindle_speed
+          error: error
+          header: header
+          position: position
+          velocity: velocity
         goal:
-          position: spindle_speed
+          max_velocity: max_velocity
+          min_duration: min_duration
+          position: position
+          spindle_speed: spindle_speed
         goal_default:
           max_velocity: 0.0
           min_duration:
@@ -350,19 +377,25 @@ linear_motion.grbl:
             sec: 0
           position: 0.0
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 error:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 header:
+                  additionalProperties: false
                   properties:
                     frame_id:
                       type: string
                     stamp:
+                      additionalProperties: false
                       properties:
                         nanosec:
                           maximum: 4294967295
@@ -383,21 +416,24 @@ linear_motion.grbl:
                   title: header
                   type: object
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 velocity:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - header
-              - position
-              - velocity
-              - error
               title: SingleJointPosition_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 max_velocity:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 min_duration:
+                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -413,16 +449,13 @@ linear_motion.grbl:
                   title: min_duration
                   type: object
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - position
-              - min_duration
-              - max_velocity
               title: SingleJointPosition_Goal
               type: object
             result:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: SingleJointPosition_Result
               type: object
           required:
@@ -432,7 +465,7 @@ linear_motion.grbl:
         type: SingleJointPosition
     module: unilabos.devices.cnc.grbl_sync:GrblCNC
     status_types:
-      position: unilabos.messages:Point3D
+      position: Point3D
       spindle_speed: float
       status: str
     type: python
@@ -471,9 +504,9 @@ linear_motion.grbl:
         status:
           type: string
       required:
-      - status
       - position
       - spindle_speed
+      - status
       type: object
   version: 1.0.0
 linear_motion.toyo_xyz.sim:
@@ -600,31 +633,6 @@ linear_motion.toyo_xyz.sim:
           title: moveit_task参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: post_init的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-resource_manager:
         feedback: {}
         goal: {}
@@ -676,41 +684,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -719,41 +727,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: SendCmd
       set_position:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -762,41 +770,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: SendCmd
       set_status:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -939,30 +947,26 @@ motor.iCL42:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -1000,8 +1004,8 @@ motor.iCL42:
         success:
           type: boolean
       required:
-      - motor_position
       - is_executing_run
+      - motor_position
       - success
       type: object
   version: 1.0.0

unilabos/registry/devices/solid_dispenser.yaml

@@ -14,19 +14,24 @@ solid_dispenser.laiyu:
           powder_tube_number: 0
           target_tube_position: ''
         handles: {}
+        placeholder_keys: {}
         result:
           actual_mass_mg: actual_mass_mg
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: SolidDispenseAddPowderTube_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 compound_mass:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 powder_tube_number:
                   maximum: 2147483647
@@ -34,24 +39,19 @@ solid_dispenser.laiyu:
                   type: integer
                 target_tube_position:
                   type: string
-              required:
-              - powder_tube_number
-              - target_tube_position
-              - compound_mass
               title: SolidDispenseAddPowderTube_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 actual_mass_mg:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - actual_mass_mg
-              - success
               title: SolidDispenseAddPowderTube_Result
               type: object
           required:
@@ -74,11 +74,12 @@ solid_dispenser.laiyu:
             goal:
               properties:
                 data:
-                  type: string
+                  type: object
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: calculate_crc参数
@@ -99,11 +100,12 @@ solid_dispenser.laiyu:
             goal:
               properties:
                 command:
-                  type: string
+                  type: object
               required:
               - command
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: send_command参数
@@ -112,36 +114,37 @@ solid_dispenser.laiyu:
       discharge:
         feedback: {}
         goal:
-          float_input: float_input
+          float_in: float_in
         goal_default:
           float_in: 0.0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: FloatSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 float_in:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - float_in
               title: FloatSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: FloatSingleInput_Result
               type: object
           required:
@@ -156,32 +159,31 @@ solid_dispenser.laiyu:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -200,38 +202,41 @@ solid_dispenser.laiyu:
           y: 0.0
           z: 0.0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: Point3DSeparateInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 x:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 y:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 z:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - x
-              - y
-              - z
               title: Point3DSeparateInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: Point3DSeparateInput_Result
               type: object
           required:
@@ -246,34 +251,33 @@ solid_dispenser.laiyu:
         goal_default:
           int_input: 0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: IntSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -288,34 +292,33 @@ solid_dispenser.laiyu:
         goal_default:
           int_input: 0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: IntSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -328,26 +331,25 @@ solid_dispenser.laiyu:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:

unilabos/registry/devices/temperature.yaml

@@ -34,7 +34,8 @@ chiller:
               - register_address
               - value
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: build_modbus_frame参数
@@ -63,7 +64,8 @@ chiller:
               required:
               - temperature
               type: object
-            result: {}
+            result:
+              type: integer
           required:
           - goal
           title: convert_temperature_to_modbus_value参数
@@ -84,11 +86,12 @@ chiller:
             goal:
               properties:
                 data:
-                  type: string
+                  type: object
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: modbus_crc参数
@@ -116,42 +119,41 @@ chiller:
           type: object
         type: UniLabJsonCommand
       set_temperature:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -266,9 +268,15 @@ heaterstirrer.dalong:
         feedback:
           status: status
         goal:
+          pressure: pressure
           purpose: purpose
+          reflux_solvent: reflux_solvent
+          stir: stir
+          stir_speed: stir_speed
           temp: temp
+          temp_spec: temp_spec
           time: time
+          time_spec: time_spec
           vessel: vessel
         goal_default:
           pressure: ''
@@ -301,20 +309,23 @@ heaterstirrer.dalong:
             sample_id: ''
             type: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          message: message
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: HeatChill_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 pressure:
                   type: string
@@ -325,8 +336,12 @@ heaterstirrer.dalong:
                 stir:
                   type: boolean
                 stir_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 temp:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 temp_spec:
                   type: string
@@ -335,6 +350,7 @@ heaterstirrer.dalong:
                 time_spec:
                   type: string
                 vessel:
+                  additionalProperties: false
                   properties:
                     category:
                       type: string
@@ -353,16 +369,26 @@ heaterstirrer.dalong:
                     parent:
                       type: string
                     pose:
+                      additionalProperties: false
                       properties:
                         orientation:
+                          additionalProperties: false
                           properties:
                             w:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -372,12 +398,19 @@ heaterstirrer.dalong:
                           title: orientation
                           type: object
                         position:
+                          additionalProperties: false
                           properties:
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -407,20 +440,10 @@ heaterstirrer.dalong:
                   - data
                   title: vessel
                   type: object
-              required:
-              - vessel
-              - temp
-              - time
-              - temp_spec
-              - time_spec
-              - pressure
-              - reflux_solvent
-              - stir
-              - stir_speed
-              - purpose
               title: HeatChill_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 message:
                   type: string
@@ -428,10 +451,6 @@ heaterstirrer.dalong:
                   type: string
                 success:
                   type: boolean
-              required:
-              - success
-              - message
-              - return_info
               title: HeatChill_Result
               type: object
           required:
@@ -440,42 +459,42 @@ heaterstirrer.dalong:
           type: object
         type: HeatChill
       set_temp_target:
-        feedback: {}
+        feedback:
+          status: status
         goal:
-          command: temp
+          command: command
+          temp: temp
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -484,42 +503,42 @@ heaterstirrer.dalong:
           type: object
         type: SendCmd
       set_temp_warning:
-        feedback: {}
+        feedback:
+          status: status
         goal:
-          command: temp
+          command: command
+          temp: temp
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -569,8 +588,8 @@ heaterstirrer.dalong:
       - status
       - stir_speed
       - temp
-      - temp_warning
       - temp_target
+      - temp_warning
       type: object
   version: 1.0.0
 tempsensor:
@@ -691,42 +710,41 @@ tempsensor:
           type: object
         type: UniLabJsonCommand
       set_warning:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/xrd_d7mate.yaml

@@ -45,31 +45,6 @@ xrd_d7mate:
           title: connect参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-start_from_string:
         feedback: {}
         goal: {}
@@ -85,11 +60,14 @@ xrd_d7mate:
             goal:
               properties:
                 params:
-                  type: string
+                  anyOf:
+                  - type: string
+                  - type: object
               required:
               - params
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: start_from_string参数
@@ -105,21 +83,18 @@ xrd_d7mate:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -130,38 +105,38 @@ xrd_d7mate:
       get_sample_down:
         feedback: {}
         goal:
-          sample_station: 1
+          int_input: int_input
+          sample_station: sample_station
         goal_default:
           int_input: 0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: IntSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -179,21 +154,18 @@ xrd_d7mate:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -211,21 +183,18 @@ xrd_d7mate:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -238,26 +207,25 @@ xrd_d7mate:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -274,42 +242,35 @@ xrd_d7mate:
           sample_id: ''
           start_theta: 10.0
         goal_default:
-          end_theta: 80.0
+          end_theta: null
-          exp_time: 0.5
+          exp_time: null
-          increment: 0.02
+          increment: null
-          sample_id: Sample001
+          sample_id: null
-          start_theta: 10.0
+          start_theta: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 送样完成后，发送样品信息和采集参数
           properties:
             feedback:
-              properties: {}
-              required: []
               title: SampleReadyInput_Feedback
-              type: object
             goal:
               properties:
                 end_theta:
                   description: 结束角度（≥5.5°，且必须大于start_theta）
-                  minimum: 5.5
                   type: number
                 exp_time:
                   description: 曝光时间（0.1-5.0秒）
-                  maximum: 5.0
-                  minimum: 0.1
                   type: number
                 increment:
                   description: 角度增量（≥0.005）
-                  minimum: 0.005
                   type: number
                 sample_id:
                   description: 样品标识符
                   type: string
                 start_theta:
                   description: 起始角度（≥5°）
-                  minimum: 5.0
                   type: number
               required:
               - sample_id
@@ -320,19 +281,11 @@ xrd_d7mate:
               title: SampleReadyInput_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: SampleReadyInput_Result
               type: object
           required:
           - goal
-          title: SampleReadyInput
+          title: send_sample_ready参数
           type: object
         type: UniLabJsonCommand
       set_power_off:
@@ -340,26 +293,25 @@ xrd_d7mate:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -372,26 +324,25 @@ xrd_d7mate:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -405,18 +356,16 @@ xrd_d7mate:
           current: 30.0
           voltage: 40.0
         goal_default:
-          current: 30.0
+          current: null
-          voltage: 40.0
+          voltage: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 设置高压电源电压和电流
           properties:
             feedback:
-              properties: {}
-              required: []
               title: VoltageCurrentInput_Feedback
-              type: object
             goal:
               properties:
                 current:
@@ -431,19 +380,11 @@ xrd_d7mate:
               title: VoltageCurrentInput_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: VoltageCurrentInput_Result
               type: object
           required:
           - goal
-          title: VoltageCurrentInput
+          title: set_voltage_current参数
           type: object
         type: UniLabJsonCommand
       start:
@@ -453,11 +394,12 @@ xrd_d7mate:
           end_theta: 80.0
           exp_time: 0.1
           increment: 0.05
-          sample_id: 样品名称
+          sample_id: ''
           start_theta: 10.0
           string: ''
           wait_minutes: 3.0
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 启动自动模式→上样→等待→样品准备→监控→检测下样位→执行下样流程。
@@ -466,54 +408,42 @@ xrd_d7mate:
             goal:
               properties:
                 end_theta:
+                  default: 80.0
                   description: 结束角度（≥5.5°，且必须大于start_theta）
-                  minimum: 5.5
+                  type: number
-                  type: string
                 exp_time:
+                  default: 0.1
                   description: 曝光时间（0.1-5.0秒）
-                  maximum: 5.0
+                  type: number
-                  minimum: 0.1
-                  type: string
                 increment:
+                  default: 0.05
                   description: 角度增量（≥0.005）
-                  minimum: 0.005
+                  type: number
-                  type: string
                 sample_id:
+                  default: ''
                   description: 样品标识符
                   type: string
                 start_theta:
+                  default: 10.0
                   description: 起始角度（≥5°）
-                  minimum: 5.0
+                  type: number
-                  type: string
                 string:
+                  default: ''
                   description: 字符串格式的参数输入，如果提供则优先解析使用
                   type: string
                 wait_minutes:
+                  default: 3.0
                   description: 允许上样后等待分钟数
-                  minimum: 0.0
                   type: number
-              required:
+              required: []
-              - sample_id
-              - start_theta
-              - end_theta
-              - increment
-              - exp_time
               title: StartWorkflow_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: StartWorkflow_Result
               type: object
           required:
           - goal
-          title: StartWorkflow
+          title: start参数
           type: object
         type: UniLabJsonCommand
       start_auto_mode:
@@ -521,17 +451,15 @@ xrd_d7mate:
         goal:
           status: true
         goal_default:
-          status: true
+          status: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 启动或停止自动模式
           properties:
             feedback:
-              properties: {}
-              required: []
               title: BoolSingleInput_Feedback
-              type: object
             goal:
               properties:
                 status:
@@ -542,25 +470,16 @@ xrd_d7mate:
               title: BoolSingleInput_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: BoolSingleInput_Result
               type: object
           required:
           - goal
-          title: BoolSingleInput
+          title: start_auto_mode参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.xrd_d7mate.xrd_d7mate:XRDClient
     status_types:
       current_acquire_data: dict
-      sample_down: dict
       sample_request: dict
       sample_status: dict
     type: python
@@ -586,16 +505,13 @@ xrd_d7mate:
       properties:
         current_acquire_data:
           type: object
-        sample_down:
-          type: object
         sample_request:
           type: object
         sample_status:
           type: object
       required:
-      - sample_request
       - current_acquire_data
+      - sample_request
       - sample_status
-      - sample_down
       type: object
   version: 1.0.0

unilabos/registry/devices/zhida_gcms.yaml

@@ -8,26 +8,25 @@ zhida_gcms:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -77,31 +76,6 @@ zhida_gcms:
           title: connect参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       get_methods:
         feedback: {}
         goal: {}
@@ -112,21 +86,18 @@ zhida_gcms:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -144,21 +115,18 @@ zhida_gcms:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -176,21 +144,18 @@ zhida_gcms:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -203,26 +168,25 @@ zhida_gcms:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -234,35 +198,35 @@ zhida_gcms:
         feedback: {}
         goal:
           string: string
+          text: text
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -273,36 +237,36 @@ zhida_gcms:
       start_with_csv_file:
         feedback: {}
         goal:
+          csv_file_path: csv_file_path
           string: string
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
+              additionalProperties: true
-              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -343,8 +307,8 @@ zhida_gcms:
         version:
           type: object
       required:
-      - status
       - methods
+      - status
       - version
       type: object
   version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle.yaml

@@ -9,7 +9,6 @@ YB_20ml_fenyeping:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_5ml_fenyeping:
   category:
@@ -22,7 +21,6 @@ YB_5ml_fenyeping:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_jia_yang_tou_da:
   category:
@@ -35,7 +33,6 @@ YB_jia_yang_tou_da:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_pei_ye_da_Bottle:
   category:
@@ -48,7 +45,6 @@ YB_pei_ye_da_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_pei_ye_xiao_Bottle:
   category:
@@ -61,7 +57,6 @@ YB_pei_ye_xiao_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_qiang_tou:
   category:
@@ -74,7 +69,6 @@ YB_qiang_tou:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_ye_Bottle:
   category:
@@ -88,5 +82,4 @@ YB_ye_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -9,7 +9,6 @@ YB_100ml_yeti:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_20ml_fenyepingban:
   category:
@@ -22,7 +21,6 @@ YB_20ml_fenyepingban:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_5ml_fenyepingban:
   category:
@@ -35,7 +33,6 @@ YB_5ml_fenyepingban:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_6StockCarrier:
   category:
@@ -48,7 +45,6 @@ YB_6StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_6VialCarrier:
   category:
@@ -61,7 +57,6 @@ YB_6VialCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_gao_nian_ye_Bottle:
   category:
@@ -74,7 +69,6 @@ YB_gao_nian_ye_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_gaonianye:
   category:
@@ -87,7 +81,6 @@ YB_gaonianye:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_jia_yang_tou_da_Carrier:
   category:
@@ -100,7 +93,6 @@ YB_jia_yang_tou_da_Carrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_peiyepingdaban:
   category:
@@ -113,7 +105,6 @@ YB_peiyepingdaban:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_peiyepingxiaoban:
   category:
@@ -126,7 +117,6 @@ YB_peiyepingxiaoban:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_qiang_tou_he:
   category:
@@ -139,7 +129,6 @@ YB_qiang_tou_he:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_shi_pei_qi_kuai:
   category:
@@ -152,7 +141,6 @@ YB_shi_pei_qi_kuai:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_ye:
   category:
@@ -165,7 +153,6 @@ YB_ye:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_ye_100ml_Bottle:
   category:
@@ -178,5 +165,4 @@ YB_ye_100ml_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/bioyond/bottle_carriers.yaml

@@ -8,7 +8,6 @@ BIOYOND_PolymerStation_1BottleCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerStation_1FlaskCarrier:
   category:
@@ -20,7 +19,6 @@ BIOYOND_PolymerStation_1FlaskCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerStation_6StockCarrier:
   category:
@@ -32,7 +30,6 @@ BIOYOND_PolymerStation_6StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerStation_8StockCarrier:
   category:
@@ -44,5 +41,4 @@ BIOYOND_PolymerStation_8StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/bioyond/deck.yaml

@@ -8,7 +8,6 @@ BIOYOND_PolymerPreparationStation_Deck:
   handles: []
   icon: 配液站.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerReactionStation_Deck:
   category:
@@ -20,7 +19,6 @@ BIOYOND_PolymerReactionStation_Deck:
   handles: []
   icon: 反应站.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_YB_Deck:
   category:
@@ -32,7 +30,6 @@ BIOYOND_YB_Deck:
   handles: []
   icon: 配液站.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 CoincellDeck:
   category:
@@ -44,5 +41,4 @@ CoincellDeck:
   handles: []
   icon: koudian.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/common/resource_container.yaml

@@ -1,24 +1,3 @@
-disposal:
-  category:
-  - disposal
-  - waste
-  - resource_container
-  class:
-    module: unilabos.resources.disposal:Disposal
-    type: unilabos
-  description: 废料处理位置，用于处理实验废料
-  handles:
-  - data_key: disposal_access
-    data_source: handle
-    data_type: fluid
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 hplc_plate:
   category:
   - resource_container
@@ -40,56 +19,6 @@ hplc_plate:
     - 3.1416
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
     type: resource
-  registry_type: resource
-  version: 1.0.0
-maintenance:
-  category:
-  - maintenance
-  - position
-  - resource_container
-  class:
-    module: unilabos.resources.maintenance:Maintenance
-    type: unilabos
-  description: 维护位置，用于设备维护和校准
-  handles:
-  - data_key: maintenance_access
-    data_source: handle
-    data_type: mechanical
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-plate:
-  category:
-  - plate
-  - labware
-  - resource_container
-  class:
-    module: unilabos.resources.plate:Plate
-    type: unilabos
-  description: 实验板，用于放置样品和试剂
-  handles:
-  - data_key: plate_access
-    data_source: handle
-    data_type: mechanical
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  - data_key: sample_wells
-    data_source: handle
-    data_type: fluid
-    handler_key: wells
-    io_type: target
-    label: wells
-    side: CENTER
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 plate_96:
   category:
@@ -112,7 +41,6 @@ plate_96:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 plate_96_high:
   category:
@@ -135,35 +63,6 @@ plate_96_high:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
     type: resource
-  registry_type: resource
-  version: 1.0.0
-tip_rack:
-  category:
-  - tip_rack
-  - labware
-  - resource_container
-  class:
-    module: unilabos.resources.tip_rack:TipRack
-    type: unilabos
-  description: 枪头架资源，用于存放和管理移液器枪头
-  handles:
-  - data_key: tip_access
-    data_source: handle
-    data_type: mechanical
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  - data_key: tip_pickup
-    data_source: handle
-    data_type: mechanical
-    handler_key: pickup
-    io_type: target
-    label: pickup
-    side: SOUTH
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 tiprack_96_high:
   category:
@@ -195,7 +94,6 @@ tiprack_96_high:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 tiprack_box:
   category:
@@ -227,5 +125,4 @@ tiprack_box:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/container.yaml

@@ -29,7 +29,6 @@ bottle_container:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 tube_container:
   category:
@@ -62,5 +61,4 @@ tube_container:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/deck.yaml

@@ -12,5 +12,4 @@ TransformXYZDeck:
     mesh: liquid_transform_xyz
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
     type: device
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/deck.yaml

@@ -12,7 +12,6 @@ OTDeck:
     mesh: opentrons_liquid_handler
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
     type: device
-  registry_type: resource
   version: 1.0.0
 hplc_station:
   category:
@@ -28,5 +27,4 @@ hplc_station:
     mesh: hplc_station
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
     type: device
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/plate_adapters.yaml

@@ -8,5 +8,4 @@ Opentrons_96_adapter_Vb:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/plates.yaml

@@ -8,7 +8,6 @@ appliedbiosystemsmicroamp_384_wellplate_40ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 biorad_384_wellplate_50ul:
   category:
@@ -20,7 +19,6 @@ biorad_384_wellplate_50ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 biorad_96_wellplate_200ul_pcr:
   category:
@@ -32,7 +30,6 @@ biorad_96_wellplate_200ul_pcr:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_12_wellplate_6point9ml_flat:
   category:
@@ -44,7 +41,6 @@ corning_12_wellplate_6point9ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_24_wellplate_3point4ml_flat:
   category:
@@ -56,7 +52,6 @@ corning_24_wellplate_3point4ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_384_wellplate_112ul_flat:
   category:
@@ -68,7 +63,6 @@ corning_384_wellplate_112ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_48_wellplate_1point6ml_flat:
   category:
@@ -80,7 +74,6 @@ corning_48_wellplate_1point6ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_6_wellplate_16point8ml_flat:
   category:
@@ -92,7 +85,6 @@ corning_6_wellplate_16point8ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_96_wellplate_360ul_flat:
   category:
@@ -104,7 +96,6 @@ corning_96_wellplate_360ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_100ul_pcr_full_skirt:
   category:
@@ -136,7 +127,6 @@ nest_96_wellplate_100ul_pcr_full_skirt:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_200ul_flat:
   category:
@@ -148,7 +138,6 @@ nest_96_wellplate_200ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_2ml_deep:
   category:
@@ -171,7 +160,6 @@ nest_96_wellplate_2ml_deep:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 thermoscientificnunc_96_wellplate_1300ul:
   category:
@@ -183,7 +171,6 @@ thermoscientificnunc_96_wellplate_1300ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 thermoscientificnunc_96_wellplate_2000ul:
   category:
@@ -195,7 +182,6 @@ thermoscientificnunc_96_wellplate_2000ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 usascientific_96_wellplate_2point4ml_deep:
   category:
@@ -207,5 +193,4 @@ usascientific_96_wellplate_2point4ml_deep:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/reservoirs.yaml

@@ -8,7 +8,6 @@ agilent_1_reservoir_290ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 axygen_1_reservoir_90ml:
   category:
@@ -20,7 +19,6 @@ axygen_1_reservoir_90ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_12_reservoir_15ml:
   category:
@@ -32,7 +30,6 @@ nest_12_reservoir_15ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_1_reservoir_195ml:
   category:
@@ -44,7 +41,6 @@ nest_1_reservoir_195ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_1_reservoir_290ml:
   category:
@@ -56,7 +52,6 @@ nest_1_reservoir_290ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 usascientific_12_reservoir_22ml:
   category:
@@ -68,5 +63,4 @@ usascientific_12_reservoir_22ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/tip_racks.yaml

@@ -8,7 +8,6 @@ eppendorf_96_tiprack_1000ul_eptips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 eppendorf_96_tiprack_10ul_eptips:
   category:
@@ -20,7 +19,6 @@ eppendorf_96_tiprack_10ul_eptips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 geb_96_tiprack_1000ul:
   category:
@@ -32,7 +30,6 @@ geb_96_tiprack_1000ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 geb_96_tiprack_10ul:
   category:
@@ -44,7 +41,6 @@ geb_96_tiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_1000ul:
   category:
@@ -75,7 +71,6 @@ opentrons_96_filtertiprack_1000ul:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_10ul:
   category:
@@ -87,7 +82,6 @@ opentrons_96_filtertiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_200ul:
   category:
@@ -99,7 +93,6 @@ opentrons_96_filtertiprack_200ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_20ul:
   category:
@@ -111,7 +104,6 @@ opentrons_96_filtertiprack_20ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_1000ul:
   category:
@@ -123,7 +115,6 @@ opentrons_96_tiprack_1000ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_10ul:
   category:
@@ -135,7 +126,6 @@ opentrons_96_tiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_20ul:
   category:
@@ -147,7 +137,6 @@ opentrons_96_tiprack_20ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_300ul:
   category:

unilabos/registry/resources/opentrons/tube_racks.yaml

@@ -8,7 +8,6 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
   category:
@@ -20,7 +19,6 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
   category:
@@ -32,7 +30,6 @@ opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_15_tuberack_falcon_15ml_conical:
   category:
@@ -44,7 +41,6 @@ opentrons_15_tuberack_falcon_15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_15_tuberack_nest_15ml_conical:
   category:
@@ -56,7 +52,6 @@ opentrons_15_tuberack_nest_15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_aluminumblock_generic_2ml_screwcap:
   category:
@@ -68,7 +63,6 @@ opentrons_24_aluminumblock_generic_2ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_aluminumblock_nest_1point5ml_snapcap:
   category:
@@ -80,7 +74,6 @@ opentrons_24_aluminumblock_nest_1point5ml_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
   category:
@@ -92,7 +85,6 @@ opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
   category:
@@ -104,7 +96,6 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
   category:
@@ -116,7 +107,6 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
   category:
@@ -128,7 +118,6 @@ opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_generic_2ml_screwcap:
   category:
@@ -140,7 +129,6 @@ opentrons_24_tuberack_generic_2ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_0point5ml_screwcap:
   category:
@@ -152,7 +140,6 @@ opentrons_24_tuberack_nest_0point5ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_1point5ml_screwcap:
   category:
@@ -164,7 +151,6 @@ opentrons_24_tuberack_nest_1point5ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_1point5ml_snapcap:
   category:
@@ -176,7 +162,6 @@ opentrons_24_tuberack_nest_1point5ml_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_2ml_screwcap:
   category:
@@ -188,7 +173,6 @@ opentrons_24_tuberack_nest_2ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_2ml_snapcap:
   category:
@@ -200,7 +184,6 @@ opentrons_24_tuberack_nest_2ml_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_6_tuberack_falcon_50ml_conical:
   category:
@@ -212,7 +195,6 @@ opentrons_6_tuberack_falcon_50ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_6_tuberack_nest_50ml_conical:
   category:
@@ -224,7 +206,6 @@ opentrons_6_tuberack_nest_50ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_well_aluminum_block:
   category:
@@ -236,5 +217,4 @@ opentrons_96_well_aluminum_block:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/organic/container.yaml

@@ -29,5 +29,4 @@ container:
     side: WEST
   icon: Flask.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/post_process/bottle_carriers.yaml

@@ -8,7 +8,6 @@ POST_PROCESS_Raw_1BottleCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 POST_PROCESS_Reaction_1BottleCarrier:
   category:
@@ -20,5 +19,4 @@ POST_PROCESS_Reaction_1BottleCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/post_process/deck.yaml

@@ -9,5 +9,4 @@ post_process_deck:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/plate_adapters.yaml

@@ -9,7 +9,6 @@ PRCXI_30mm_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Adapter:
   category:
@@ -22,7 +21,6 @@ PRCXI_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Deep10_Adapter:
   category:
@@ -35,7 +33,6 @@ PRCXI_Deep10_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Deep300_Adapter:
   category:
@@ -48,7 +45,6 @@ PRCXI_Deep300_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_PCR_Adapter:
   category:
@@ -61,7 +57,6 @@ PRCXI_PCR_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Reservoir_Adapter:
   category:
@@ -74,7 +69,6 @@ PRCXI_Reservoir_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Tip10_Adapter:
   category:
@@ -87,7 +81,6 @@ PRCXI_Tip10_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Tip1250_Adapter:
   category:
@@ -100,7 +93,6 @@ PRCXI_Tip1250_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Tip300_Adapter:
   category:
@@ -113,5 +105,4 @@ PRCXI_Tip300_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/plates.yaml

@@ -9,7 +9,6 @@ PRCXI_48_DeepWell:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_96_DeepWell:
   category:
@@ -22,7 +21,6 @@ PRCXI_96_DeepWell:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_AGenBio_4_troughplate:
   category:
@@ -35,7 +33,6 @@ PRCXI_AGenBio_4_troughplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_BioER_96_wellplate:
   category:
@@ -48,7 +45,6 @@ PRCXI_BioER_96_wellplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_BioRad_384_wellplate:
   category:
@@ -61,7 +57,6 @@ PRCXI_BioRad_384_wellplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_CellTreat_96_wellplate:
   category:
@@ -74,7 +69,6 @@ PRCXI_CellTreat_96_wellplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_PCR_Plate_200uL_nonskirted:
   category:
@@ -87,7 +81,6 @@ PRCXI_PCR_Plate_200uL_nonskirted:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_PCR_Plate_200uL_semiskirted:
   category:
@@ -100,7 +93,6 @@ PRCXI_PCR_Plate_200uL_semiskirted:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_PCR_Plate_200uL_skirted:
   category:
@@ -113,7 +105,6 @@ PRCXI_PCR_Plate_200uL_skirted:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_nest_12_troughplate:
   category:
@@ -126,7 +117,6 @@ PRCXI_nest_12_troughplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_nest_1_troughplate:
   category:
@@ -139,5 +129,4 @@ PRCXI_nest_1_troughplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/tip_racks.yaml

@@ -9,7 +9,6 @@ PRCXI_1000uL_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_10uL_Tips:
   category:
@@ -22,7 +21,6 @@ PRCXI_10uL_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_10ul_eTips:
   category:
@@ -35,7 +33,6 @@ PRCXI_10ul_eTips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_1250uL_Tips:
   category:
@@ -48,7 +45,6 @@ PRCXI_1250uL_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_200uL_Tips:
   category:
@@ -61,7 +57,6 @@ PRCXI_200uL_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_300ul_Tips:
   category:
@@ -74,5 +69,4 @@ PRCXI_300ul_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/trash.yaml

@@ -9,5 +9,4 @@ PRCXI_trash:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/tube_racks.yaml

@@ -9,5 +9,4 @@ PRCXI_EP_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/utils.py

@@ -599,14 +599,39 @@ def wrap_action_schema(
 
 
 def preserve_field_descriptions(new_schema: Dict[str, Any], prev_schema: Dict[str, Any]):
-    """保留之前 schema 中的 field descriptions"""
+    """递归保留之前 schema 中各字段的 description / title。
+
+    覆盖顶层以及嵌套 properties（如 goal.properties.xxx.description）。
+    """
     if not prev_schema or not new_schema:
         return
     prev_props = prev_schema.get("properties", {})
     new_props = new_schema.get("properties", {})
     for field_name, prev_field in prev_props.items():
-        if field_name in new_props and "title" in prev_field:
+        if field_name not in new_props:
-            new_props[field_name].setdefault("title", prev_field["title"])
+            continue
+        new_field = new_props[field_name]
+        if not isinstance(prev_field, dict) or not isinstance(new_field, dict):
+            continue
+        if "title" in prev_field:
+            new_field.setdefault("title", prev_field["title"])
+        if "description" in prev_field:
+            new_field.setdefault("description", prev_field["description"])
+        if "properties" in prev_field and "properties" in new_field:
+            preserve_field_descriptions(new_field, prev_field)
+
+
+def strip_ros_descriptions(schema: Any):
+    """递归清除 ROS schema 中自动生成的无意义 description（含 rosidl_parser 内存地址）。"""
+    if isinstance(schema, dict):
+        desc = schema.get("description", "")
+        if isinstance(desc, str) and "rosidl_parser" in desc:
+            del schema["description"]
+        for v in schema.values():
+            strip_ros_descriptions(v)
+    elif isinstance(schema, list):
+        for item in schema:
+            strip_ros_descriptions(item)
 
 
 # ---------------------------------------------------------------------------

unilabos/ros/msgs/message_converter.py

@@ -717,6 +717,19 @@ def ros_field_type_to_json_schema(
     # return {'type': 'object', 'description': f'未知类型: {field_type}'}
 
 
+def _strip_rosidl_descriptions(schema: Any) -> None:
+    """递归清除 rosidl_parser 自动生成的无意义 description（含内存地址）。"""
+    if isinstance(schema, dict):
+        desc = schema.get("description", "")
+        if isinstance(desc, str) and "rosidl_parser" in desc:
+            del schema["description"]
+        for v in schema.values():
+            _strip_rosidl_descriptions(v)
+    elif isinstance(schema, list):
+        for item in schema:
+            _strip_rosidl_descriptions(item)
+
+
 def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any]:
     """
     将 ROS 消息类转换为 JSON Schema
@@ -730,7 +743,8 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
     """
     schema = ROS2MessageInstance(msg_class()).get_json_schema()
     schema["title"] = field_name
-    schema.pop("description")
+    schema.pop("description", None)
+    _strip_rosidl_descriptions(schema)
     return schema
 
 
@@ -777,6 +791,8 @@ def ros_action_to_json_schema(
         "required": ["goal"],
     }
 
+    _strip_rosidl_descriptions(schema)
+
     # 保留之前 schema 中 goal/feedback/result 下一级字段的 description
     if previous_schema:
         _preserve_field_descriptions(schema, previous_schema)

unilabos/ros/nodes/base_device_node.py

@@ -1884,7 +1884,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     continue
 
                 # 处理单个 ResourceSlot
-                if arg_type == "unilabos.registry.placeholder_type:ResourceSlot":
+                _is_resource_slot = isinstance(arg_type, str) and arg_type.endswith(":ResourceSlot")
+                if _is_resource_slot:
                     resource_data = function_args[arg_name]
                     if isinstance(resource_data, dict) and "id" in resource_data:
                         try:
@@ -1898,8 +1899,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
                 # 处理 ResourceSlot 列表
                 elif isinstance(arg_type, tuple) and len(arg_type) == 2:
-                    resource_slot_type = "unilabos.registry.placeholder_type:ResourceSlot"
+                    if arg_type[0] == "list" and isinstance(arg_type[1], str) and arg_type[1].endswith(":ResourceSlot"):
-                    if arg_type[0] == "list" and arg_type[1] == resource_slot_type:
                         resource_list = function_args[arg_name]
                         if isinstance(resource_list, list):
                             try:

unilabos/utils/environment_check.py

@@ -33,7 +33,7 @@ class EnvironmentChecker:
 
         # 包版本要求（包名: 最低版本）
         self.version_requirements = {
-            "msgcenterpy": "0.1.7",  # msgcenterpy 最低版本要求
+            "msgcenterpy": "0.1.8",  # msgcenterpy 最低版本要求
         }
 
         self.missing_packages = []

unilabos/utils/import_manager.py

@@ -21,15 +21,11 @@ __all__ = [
     "get_class",
     "get_module",
     "init_from_list",
-    "get_class_info_static",
+    "get_enhanced_class_info",
-    "get_registry_class_info",
 ]
 
-from ast import Constant
-
 from unilabos.resources.resource_tracker import PARAM_SAMPLE_UUIDS
 from unilabos.utils import logger
-from unilabos.registry.decorators import is_not_action, is_always_free
 
 
 class ImportManager:
@@ -45,6 +41,7 @@ class ImportManager:
         self._modules: Dict[str, Any] = {}
         self._classes: Dict[str, Type] = {}
         self._functions: Dict[str, Callable] = {}
+        self._search_miss: set = set()
 
         if module_list:
             for module_path in module_list:
@@ -159,193 +156,113 @@ class ImportManager:
         Returns:
             找到的类对象，如果未找到则返回None
         """
-        # 如果cls_name是builtins中的关键字，则返回对应类
         if class_name in builtins.__dict__:
             return builtins.__dict__[class_name]
-        # 首先在已索引的类中查找
         if class_name in self._classes:
             return self._classes[class_name]
 
+        cache_key = class_name.lower() if search_lower else class_name
+        if cache_key in self._search_miss:
+            return None
+
         if search_lower:
             classes = {name.lower(): obj for name, obj in self._classes.items()}
             if class_name in classes:
                 return classes[class_name]
 
-        # 遍历所有已加载的模块进行搜索
         for module_path, module in self._modules.items():
             for name, obj in inspect.getmembers(module):
                 if inspect.isclass(obj) and (
                     (name.lower() == class_name.lower()) if search_lower else (name == class_name)
                 ):
-                    # 将找到的类添加到索引中
                     self._classes[name] = obj
                     self._classes[f"{module_path}:{name}"] = obj
                     return obj
 
+        self._search_miss.add(cache_key)
         return None
 
-    def get_enhanced_class_info(self, module_path: str, use_dynamic: bool = True) -> Dict[str, Any]:
+    def get_enhanced_class_info(self, module_path: str, **_kwargs) -> Dict[str, Any]:
-        """
+        """通过 AST 分析获取类的增强信息。
-        获取增强的类信息，支持动态导入和静态分析
+
+        复用 ``ast_registry_scanner`` 的 ``_collect_imports`` / ``_extract_class_body``，
+        与 AST 扫描注册表完全一致。
 
         Args:
-            module_path: 模块路径，格式为 "module.path" 或 "module.path:ClassName"
+            module_path: 格式 ``"module.path:ClassName"``
-            use_dynamic: 是否优先使用动态导入
 
         Returns:
-            包含详细类信息的字典
+            ``{"module_path", "ast_analysis_success", "import_map",
+              "init_params", "status_methods", "action_methods"}``
         """
-        result = {
+        from unilabos.registry.ast_registry_scanner import (
+            _collect_imports,
+            _extract_class_body,
+            _filepath_to_module,
+        )
+
+        result: Dict[str, Any] = {
             "module_path": module_path,
-            "dynamic_import_success": False,
+            "ast_analysis_success": False,
-            "static_analysis_success": False,
+            "import_map": {},
-            "init_params": {},
+            "init_params": [],
-            "status_methods": {},  # get_ 开头和 @property 方法
-            "action_methods": {},  # set_ 开头和其他非_开头方法
-        }
-
-        # 尝试动态导入
-        dynamic_info = None
-        static_info = None
-        if use_dynamic:
-            try:
-                dynamic_info = self._get_dynamic_class_info(module_path)
-                result["dynamic_import_success"] = True
-                logger.debug(f"[ImportManager] 动态导入类 {module_path} 成功")
-            except Exception as e:
-                logger.warning(
-                    f"[UniLab Registry] 在补充注册表时，动态导入类 "
-                    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}"
-                )
-                use_dynamic = False
-        if not use_dynamic:
-            # 尝试静态分析
-            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:
-            result.update(dynamic_info)
-        elif static_info:
-            result.update(static_info)
-
-        return result
-
-    def _get_dynamic_class_info(self, class_path: str) -> Dict[str, Any]:
-        """使用inspect模块动态获取类信息"""
-        cls = get_class(class_path)
-        class_name = cls.__name__
-
-        result = {
-            "class_name": class_name,
-            "init_params": self._analyze_method_signature(cls.__init__)["args"],
             "status_methods": {},
             "action_methods": {},
         }
-        # 分析类的所有成员
-        for name, method in cls.__dict__.items():
-            if name.startswith("_"):
-                continue
 
-            # 检查是否是property
-            if isinstance(method, property):
-                # @property 装饰的方法
-                # noinspection PyTypeChecker
-                return_type = self._get_return_type_from_method(method.fget) if method.fget else "Any"
-                prop_info = {
-                    "name": name,
-                    "return_type": return_type,
-                }
-                result["status_methods"][name] = prop_info
-
-                # 检查是否有对应的setter
-                if method.fset:
-                    setter_info = self._analyze_method_signature(method.fset)
-                    result["action_methods"][name] = setter_info
-
-            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"][actual_name] = method_info
-                elif not name.startswith("_"):
-                    # 检查是否被 @not_action 装饰器标记
-                    if is_not_action(method):
-                        continue
-                    # 其他非_开头的方法归类为action
-                    method_info = self._analyze_method_signature(method)
-                    # 检查是否被 @always_free 装饰器标记
-                    if is_always_free(method):
-                        method_info["always_free"] = True
-                    result["action_methods"][name] = method_info
-
-        return result
-
-    def _get_static_class_info(self, module_path: str) -> Dict[str, Any]:
-        """使用AST静态分析获取类信息"""
         module_name, class_name = module_path.rsplit(":", 1)
-        # 将模块路径转换为文件路径
         file_path = self._module_path_to_file_path(module_name)
         if not file_path or not os.path.exists(file_path):
-            raise FileNotFoundError(f"找不到模块文件: {module_name} -> {file_path}")
+            logger.warning(f"[ImportManager] 找不到模块文件: {module_name} -> {file_path}")
+            return result
 
-        with open(file_path, "r", encoding="utf-8") as f:
+        try:
-            source_code = f.read()
+            with open(file_path, "r", encoding="utf-8") as f:
+                tree = ast.parse(f.read(), filename=file_path)
+        except Exception as e:
+            logger.warning(f"[ImportManager] 解析文件 {file_path} 失败: {e}")
+            return result
 
-        tree = ast.parse(source_code)
+        # 推导 module dotted path → 构建 import_map
+        python_path = Path(file_path)
+        for sp in sorted(sys.path, key=len, reverse=True):
+            try:
+                Path(file_path).relative_to(sp)
+                python_path = Path(sp)
+                break
+            except ValueError:
+                continue
+        module_dotted = _filepath_to_module(Path(file_path), python_path)
+        import_map = _collect_imports(tree, module_dotted)
+        result["import_map"] = import_map
 
-        # 查找目标类
+        # 定位目标类 AST 节点
         target_class = None
         for node in ast.walk(tree):
-            if isinstance(node, ast.ClassDef):
+            if isinstance(node, ast.ClassDef) and node.name == class_name:
-                if node.name == class_name:
+                target_class = node
-                    target_class = node
+                break
-                    break
 
         if target_class is None:
-            raise AttributeError(f"在文件 {file_path} 中找不到类 {class_name}")
+            logger.warning(f"[ImportManager] 在文件 {file_path} 中找不到类 {class_name}")
+            return result
 
-        result = {
+        body = _extract_class_body(target_class, import_map)
-            "class_name": class_name,
+
-            "init_params": {},
+        # 映射到统一字段名（与 registry.py complete_registry 消费端一致）
-            "status_methods": {},
+        result["init_params"] = body.get("init_params", [])
-            "action_methods": {},
+        result["status_methods"] = body.get("status_properties", {})
+        result["action_methods"] = {
+            k: {
+                "args": v.get("params", []),
+                "return_type": v.get("return_type", ""),
+                "is_async": v.get("is_async", False),
+                "always_free": v.get("always_free", False),
+                "docstring": v.get("docstring"),
+            }
+            for k, v in body.get("auto_methods", {}).items()
         }
-
+        result["ast_analysis_success"] = True
-        # 分析类的方法
-        for node in target_class.body:
-            if isinstance(node, ast.FunctionDef):
-                method_info = self._analyze_method_node(node)
-                method_name = node.name
-                if method_name == "__init__":
-                    result["init_params"] = method_info["args"]
-                elif method_name.startswith("_"):
-                    continue
-                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:
-                    # 检查是否被 @not_action 装饰器标记
-                    if self._is_not_action_method(node):
-                        continue
-                    # 其他非_开头的方法归类为action
-                    # 检查是否被 @always_free 装饰器标记
-                    if self._is_always_free_method(node):
-                        method_info["always_free"] = True
-                    result["action_methods"][method_name] = method_info
         return result
 
     def _analyze_method_signature(self, method, skip_unilabos_params: bool = True) -> Dict[str, Any]:
@@ -401,23 +318,26 @@ class ImportManager:
             "name": method.__name__,
             "args": args,
             "return_type": self._get_type_string(signature.return_annotation),
-            "return_annotation": signature.return_annotation,  # 保留原始类型注解，用于TypedDict等特殊处理
             "is_async": inspect.iscoroutinefunction(method),
         }
 
-    def _get_return_type_from_method(self, method) -> str:
+    def _get_return_type_from_method(self, method) -> Union[str, Tuple[str, Any]]:
         """从方法中获取返回类型"""
         signature = inspect.signature(method)
         return self._get_type_string(signature.return_annotation)
 
     def _get_type_string(self, annotation) -> Union[str, Tuple[str, Any]]:
-        """将类型注解转换为Class Library中可搜索的类名"""
+        """将类型注解转换为类型字符串。
+
+        非内建类返回 ``module:ClassName`` 全路径（如
+        ``"unilabos.registry.placeholder_type:ResourceSlot"``），
+        避免短名冲突；内建类型直接返回短名（如 ``"str"``、``"int"``）。
+        """
         if annotation == inspect.Parameter.empty:
-            return "Any"  # 如果没有注解，返回Any
+            return "Any"
         if annotation is None:
-            return "None"  # 明确的None类型
+            return "None"
         if hasattr(annotation, "__origin__"):
-            # 处理typing模块的类型
             origin = annotation.__origin__
             if origin in (list, set, tuple):
                 if hasattr(annotation, "__args__") and annotation.__args__:
@@ -432,132 +352,26 @@ class ImportManager:
                 return "dict"
             elif origin is Optional:
                 return "Unknown"
-            return f"Unknown"
+            return "Unknown"
         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
+            module = getattr(annotation, "__module__", None)
-            if annotation.__module__ == "builtins":
+            if module and module != "builtins":
-                return annotation.__name__
+                return f"{module}:{annotation.__name__}"
-            else:
+            return annotation.__name__
-                # 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
         else:
             return annotation_str
 
-    def _is_property_method(self, node: ast.FunctionDef) -> bool:
-        """检查是否是@property装饰的方法"""
-        for decorator in node.decorator_list:
-            if isinstance(decorator, ast.Name) and decorator.id == "property":
-                return True
-        return False
-
-    def _is_setter_method(self, node: ast.FunctionDef) -> bool:
-        """检查是否是@xxx.setter装饰的方法"""
-        for decorator in node.decorator_list:
-            if isinstance(decorator, ast.Attribute) and decorator.attr == "setter":
-                return True
-        return False
-
-    def _is_not_action_method(self, node: ast.FunctionDef) -> bool:
-        """检查是否是@not_action装饰的方法"""
-        for decorator in node.decorator_list:
-            if isinstance(decorator, ast.Name) and decorator.id == "not_action":
-                return True
-        return False
-
-    def _is_always_free_method(self, node: ast.FunctionDef) -> bool:
-        """检查是否是@always_free装饰的方法，或 @action(always_free=True) 装饰的方法"""
-        for decorator in node.decorator_list:
-            # 检查 @action(always_free=True)
-            if isinstance(decorator, ast.Call):
-                func = decorator.func
-                if isinstance(func, ast.Name) and func.id == "action":
-                    for keyword in decorator.keywords:
-                        if keyword.arg == "always_free":
-                            if isinstance(keyword.value, Constant) and keyword.value.value is True:
-                                return True
-        return False
-
-    def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
-        """从setter装饰器中获取属性名"""
-        for decorator in node.decorator_list:
-            if isinstance(decorator, ast.Attribute) and decorator.attr == "setter":
-                if isinstance(decorator.value, ast.Name):
-                    return decorator.value.id
-        return node.name
-
-    def get_class_info_static(self, module_class_path: str) -> Dict[str, Any]:
-        """
-        静态分析获取类的方法信息，不需要实际导入模块
-
-        Args:
-            module_class_path: 格式为 "module.path:ClassName" 的字符串
-
-        Returns:
-            包含类方法信息的字典
-        """
-        try:
-            if ":" not in module_class_path:
-                raise ValueError("module_class_path必须是 'module.path:ClassName' 格式")
-
-            module_path, class_name = module_class_path.rsplit(":", 1)
-
-            # 将模块路径转换为文件路径
-            file_path = self._module_path_to_file_path(module_path)
-            if not file_path or not os.path.exists(file_path):
-                logger.warning(f"找不到模块文件: {module_path} -> {file_path}")
-                return {}
-
-            # 解析源码
-            with open(file_path, "r", encoding="utf-8") as f:
-                source_code = f.read()
-
-            tree = ast.parse(source_code)
-
-            # 查找目标类
-            class_node = None
-            for node in ast.walk(tree):
-                if isinstance(node, ast.ClassDef) and node.name == class_name:
-                    class_node = node
-                    break
-
-            if not class_node:
-                logger.warning(f"在模块 {module_path} 中找不到类 {class_name}")
-                return {}
-
-            # 分析类的方法
-            methods_info = {}
-            for node in class_node.body:
-                if isinstance(node, ast.FunctionDef):
-                    method_info = self._analyze_method_node(node)
-                    methods_info[node.name] = method_info
-
-            return {
-                "class_name": class_name,
-                "module_path": module_path,
-                "file_path": file_path,
-                "methods": methods_info,
-            }
-
-        except Exception as e:
-            logger.error(f"静态分析类 {module_class_path} 时出错: {str(e)}")
-            return {}
-
     def _module_path_to_file_path(self, module_path: str) -> Optional[str]:
         for path in sys.path:
             potential_path = Path(path) / module_path.replace(".", "/")
@@ -572,222 +386,6 @@ class ImportManager:
 
         return None
 
-    def _analyze_method_node(self, node: ast.FunctionDef) -> Dict[str, Any]:
-        """分析方法节点，提取参数和返回类型信息"""
-        method_info = {
-            "name": node.name,
-            "args": [],
-            "return_type": None,
-            "is_async": isinstance(node, ast.AsyncFunctionDef),
-        }
-        # 获取默认值列表
-        defaults = node.args.defaults
-        num_defaults = len(defaults)
-
-        # 计算必需参数数量
-        total_args = len(node.args.args)
-        num_required = total_args - num_defaults
-
-        # 提取参数信息
-        for i, arg in enumerate(node.args.args):
-            if arg.arg == "self":
-                continue
-            # 跳过 sample_uuids 参数（由系统自动注入）
-            if arg.arg == PARAM_SAMPLE_UUIDS:
-                continue
-            arg_info = {
-                "name": arg.arg,
-                "type": None,
-                "default": None,
-                "required": i < num_required,
-            }
-
-            # 提取类型注解
-            if arg.annotation:
-                arg_info["type"] = ast.unparse(arg.annotation) if hasattr(ast, "unparse") else str(arg.annotation)
-
-            # 提取默认值并推断类型
-            if i >= num_required:
-                default_index = i - num_required
-                if default_index < len(defaults):
-                    default_value: Constant = defaults[default_index]  # type: ignore
-                    assert isinstance(default_value, Constant), "暂不支持对非常量类型进行推断，可反馈开源仓库"
-                    arg_info["default"] = default_value.value
-                    # 如果没有类型注解，尝试从默认值推断类型
-                    if not arg_info["type"]:
-                        arg_info["type"] = self._get_type_string(type(arg_info["default"]))
-            method_info["args"].append(arg_info)
-
-        # 提取返回类型
-        if node.returns:
-            method_info["return_type"] = ast.unparse(node.returns) if hasattr(ast, "unparse") else str(node.returns)
-
-        return method_info
-
-    def _infer_type_from_default(self, node: ast.AST) -> Optional[str]:
-        """从默认值推断参数类型"""
-        if isinstance(node, ast.Constant):
-            value = node.value
-            if isinstance(value, bool):
-                return "bool"
-            elif isinstance(value, int):
-                return "int"
-            elif isinstance(value, float):
-                return "float"
-            elif isinstance(value, str):
-                return "str"
-            elif value is None:
-                return "Optional[Any]"
-        elif isinstance(node, ast.List):
-            return "List"
-        elif isinstance(node, ast.Dict):
-            return "Dict"
-        elif isinstance(node, ast.Tuple):
-            return "Tuple"
-        elif isinstance(node, ast.Set):
-            return "Set"
-        elif isinstance(node, ast.Name):
-            # 常见的默认值模式
-            if node.id in ["None"]:
-                return "Optional[Any]"
-            elif node.id in ["True", "False"]:
-                return "bool"
-
-        return None
-
-    def _infer_types_from_docstring(self, method_info: Dict[str, Any]) -> None:
-        """从docstring中推断参数类型"""
-        docstring = method_info.get("docstring", "")
-        if not docstring:
-            return
-
-        lines = docstring.split("\n")
-        in_args_section = False
-
-        for line in lines:
-            line = line.strip()
-
-            # 检测Args或Arguments段落
-            if line.lower().startswith(("args:", "arguments:")):
-                in_args_section = True
-                continue
-            elif line.startswith(("returns:", "return:", "yields:", "raises:")):
-                in_args_section = False
-                continue
-            elif not line or not in_args_section:
-                continue
-
-            # 解析参数行，格式通常是: param_name (type): description 或 param_name: description
-            if ":" in line:
-                parts = line.split(":", 1)
-                param_part = parts[0].strip()
-
-                # 提取参数名和类型
-                param_name = None
-                param_type = None
-
-                if "(" in param_part and ")" in param_part:
-                    # 格式: param_name (type)
-                    param_name = param_part.split("(")[0].strip()
-                    type_part = param_part.split("(")[1].split(")")[0].strip()
-                    param_type = type_part
-                else:
-                    # 格式: param_name
-                    param_name = param_part
-
-                # 更新对应参数的类型信息
-                if param_name:
-                    for arg_info in method_info["args"]:
-                        if arg_info["name"] == param_name and not arg_info["type"]:
-                            if param_type:
-                                arg_info["inferred_type"] = param_type
-                            elif not arg_info["inferred_type"]:
-                                # 从描述中推断类型
-                                description = parts[1].strip().lower()
-                                if any(word in description for word in ["path", "file", "directory", "filename"]):
-                                    arg_info["inferred_type"] = "str"
-                                elif any(
-                                    word in description for word in ["port", "number", "count", "size", "length"]
-                                ):
-                                    arg_info["inferred_type"] = "int"
-                                elif any(
-                                    word in description for word in ["rate", "ratio", "percentage", "temperature"]
-                                ):
-                                    arg_info["inferred_type"] = "float"
-                                elif any(word in description for word in ["flag", "enable", "disable", "option"]):
-                                    arg_info["inferred_type"] = "bool"
-
-    def get_registry_class_info(self, module_class_path: str) -> Dict[str, Any]:
-        """
-        获取适用于注册表的类信息，包含完整的类型推断
-
-        Args:
-            module_class_path: 格式为 "module.path:ClassName" 的字符串
-
-        Returns:
-            适用于注册表的类信息字典
-        """
-        class_info = self.get_class_info_static(module_class_path)
-        if not class_info:
-            return {}
-
-        registry_info = {
-            "class_name": class_info["class_name"],
-            "module_path": class_info["module_path"],
-            "file_path": class_info["file_path"],
-            "methods": {},
-            "properties": [],
-            "init_params": {},
-            "action_methods": {},
-        }
-
-        for method_name, method_info in class_info["methods"].items():
-            # 分类处理不同类型的方法
-            if method_info["is_property"]:
-                registry_info["properties"].append(
-                    {
-                        "name": method_name,
-                        "return_type": method_info.get("return_type"),
-                        "docstring": method_info.get("docstring"),
-                    }
-                )
-            elif method_name == "__init__":
-                # 处理初始化参数
-                init_params = {}
-                for arg in method_info["args"]:
-                    if arg["name"] != "self":
-                        param_info = {
-                            "name": arg["name"],
-                            "type": arg.get("type") or arg.get("inferred_type"),
-                            "required": arg.get("is_required", True),
-                            "default": arg.get("default"),
-                        }
-                        init_params[arg["name"]] = param_info
-                registry_info["init_params"] = init_params
-            elif not method_name.startswith("_"):
-                # 处理公共方法（可能的action方法）
-                action_info = {
-                    "name": method_name,
-                    "params": {},
-                    "return_type": method_info.get("return_type"),
-                    "docstring": method_info.get("docstring"),
-                    "num_required": method_info.get("num_required", 0) - 1,  # 减去self
-                    "num_defaults": method_info.get("num_defaults", 0),
-                }
-
-                for arg in method_info["args"]:
-                    if arg["name"] != "self":
-                        param_info = {
-                            "name": arg["name"],
-                            "type": arg.get("type") or arg.get("inferred_type"),
-                            "required": arg.get("is_required", True),
-                            "default": arg.get("default"),
-                        }
-                        action_info["params"][arg["name"]] = param_info
-
-                registry_info["action_methods"][method_name] = action_info
-
-        return registry_info
 
 
 # 全局实例，便于直接使用
@@ -815,16 +413,6 @@ def init_from_list(module_list: List[str]) -> None:
     default_manager = ImportManager(module_list)
 
 
-def get_class_info_static(module_class_path: str) -> Dict[str, Any]:
+def get_enhanced_class_info(module_path: str, **kwargs) -> Dict[str, Any]:
-    """静态分析获取类信息的便捷函数"""
-    return default_manager.get_class_info_static(module_class_path)
-
-
-def get_registry_class_info(module_class_path: str) -> Dict[str, Any]:
-    """获取适用于注册表的类信息的便捷函数"""
-    return default_manager.get_registry_class_info(module_class_path)
-
-
-def get_enhanced_class_info(module_path: str, use_dynamic: bool = True) -> Dict[str, Any]:
     """获取增强的类信息的便捷函数"""
-    return default_manager.get_enhanced_class_info(module_path, use_dynamic)
+    return default_manager.get_enhanced_class_info(module_path, **kwargs)

unilabos/utils/requirements.txt

@@ -1,7 +1,7 @@
 networkx
 typing_extensions
 websockets
-msgcenterpy>=0.1.7
+msgcenterpy>=0.1.8
 orjson>=3.11
 opentrons_shared_data
 pint

unilabos/utils/tools.py

@@ -1,4 +1,39 @@
+import json
+
+from unilabos.utils.type_check import TypeEncoder, json_default
+
+try:
+    import orjson
+
+    def fast_dumps(obj, **kwargs) -> bytes:
+        """JSON 序列化为 bytes，优先使用 orjson。"""
+        return orjson.dumps(obj, option=orjson.OPT_NON_STR_KEYS, default=json_default)
+
+    def fast_dumps_pretty(obj, **kwargs) -> bytes:
+        """JSON 序列化为 bytes（带缩进），优先使用 orjson。"""
+        return orjson.dumps(
+            obj,
+            option=orjson.OPT_NON_STR_KEYS | orjson.OPT_INDENT_2,
+            default=json_default,
+        )
+
+    def normalize_json(info: dict) -> dict:
+        """经 JSON 序列化/反序列化一轮来清理非标准类型。"""
+        return orjson.loads(orjson.dumps(info, default=json_default))
+
+except ImportError:
+
+    def fast_dumps(obj, **kwargs) -> bytes:  # type: ignore[misc]
+        return json.dumps(obj, ensure_ascii=False, cls=TypeEncoder).encode("utf-8")
+
+    def fast_dumps_pretty(obj, **kwargs) -> bytes:  # type: ignore[misc]
+        return json.dumps(obj, indent=2, ensure_ascii=False, cls=TypeEncoder).encode("utf-8")
+
+    def normalize_json(info: dict) -> dict:  # type: ignore[misc]
+        return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder))
+
+
 # 辅助函数：将UUID数组转换为字符串
 def uuid_to_str(uuid_array) -> str:
     """将UUID字节数组转换为十六进制字符串"""
-    return "".join(format(byte, "02x") for byte in uuid_array)
+    return "".join(format(byte, "02x") for byte in uuid_array)

unilabos/utils/type_check.py

@@ -15,14 +15,21 @@ def get_type_class(type_hint):
     return final_type
 
 
+def json_default(obj):
+    """将 type 对象序列化为类名，其余 fallback 到 str()。"""
+    if isinstance(obj, type):
+        return str(obj)[8:-2]
+    return str(obj)
+
+
 class TypeEncoder(json.JSONEncoder):
     """自定义JSON编码器处理特殊类型"""
 
     def default(self, obj):
-        # 优先处理类型对象
+        try:
-        if isinstance(obj, type):
+            return json_default(obj)
-            return str(obj)[8:-2]
+        except Exception:
-        return super().default(obj)
+            return super().default(obj)
 
 
 class NoAliasDumper(yaml.SafeDumper):
@@ -43,13 +50,10 @@ class ResultInfoEncoder(json.JSONEncoder):
     """专门用于处理任务执行结果信息的JSON编码器"""
 
     def default(self, obj):
-        # 优先处理类型对象
         if isinstance(obj, type):
-            return str(obj)[8:-2]
+            return json_default(obj)
 
-        # 对于无法序列化的对象，统一转换为字符串
         try:
-            # 尝试调用 __dict__ 或者其他序列化方法
             if hasattr(obj, "__dict__"):
                 return obj.__dict__
             elif hasattr(obj, "_asdict"):  # namedtuple
@@ -59,10 +63,8 @@ class ResultInfoEncoder(json.JSONEncoder):
             elif hasattr(obj, "dict"):
                 return obj.dict()
             else:
-                # 如果都不行，转换为字符串
                 return str(obj)
         except Exception:
-            # 如果转换失败，直接返回字符串表示
             return str(obj)
 
 

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.18</version>
+  <version>0.10.19</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>