v0.10.19

fast registry load

minor fix on skill & registry

stripe ros2 schema desc
add create-device-skill

new registry system backwards to yaml

remove not exist resource

new registry sys
exp. support with add device

add ai conventions

correct raise create resource error

ret info fix revert

ret info fix

fix prcxi check

add create_resource schema

re signal host ready event

add websocket connection timeout and improve reconnection logic

add open_timeout parameter to websocket connection
add TimeoutError and InvalidStatus exception handling
implement exponential backoff for reconnection attempts
simplify reconnection logic flow

add gzip

change pose extra to any

add isFlapY

.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: ../..

scripts/workflow.py

@@ -2,6 +2,7 @@ import json
 import logging
 import traceback
 import uuid
+import xml.etree.ElementTree as ET
 from typing import Any, Dict, List
 
 import networkx as nx
@@ -24,15 +25,7 @@ class SimpleGraph:
 
     def add_edge(self, source, target, **attrs):
         """添加边"""
-        # edge = {"source": source, "target": target, **attrs}
-        edge = {
-            "source": source, "target": target,
-            "source_node_uuid": source,
-            "target_node_uuid": target,
-            "source_handle_io": "source",
-            "target_handle_io": "target",
-            **attrs
-        }
+        edge = {"source": source, "target": target, **attrs}
         self.edges.append(edge)
 
     def to_dict(self):
@@ -49,7 +42,6 @@ class SimpleGraph:
             "multigraph": False,
             "graph": {},
             "nodes": nodes_list,
-            "edges": self.edges,
             "links": self.edges,
         }
 
@@ -66,8 +58,495 @@ def extract_json_from_markdown(text: str) -> str:
     return text
 
 
+def convert_to_type(val: str) -> Any:
+    """将字符串值转换为适当的数据类型"""
+    if val == "True":
+        return True
+    if val == "False":
+        return False
+    if val == "?":
+        return None
+    if val.endswith(" g"):
+        return float(val.split(" ")[0])
+    if val.endswith("mg"):
+        return float(val.split("mg")[0])
+    elif val.endswith("mmol"):
+        return float(val.split("mmol")[0]) / 1000
+    elif val.endswith("mol"):
+        return float(val.split("mol")[0])
+    elif val.endswith("ml"):
+        return float(val.split("ml")[0])
+    elif val.endswith("RPM"):
+        return float(val.split("RPM")[0])
+    elif val.endswith(" °C"):
+        return float(val.split(" ")[0])
+    elif val.endswith(" %"):
+        return float(val.split(" ")[0])
+    return val
 
 
+def refactor_data(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
+    """统一的数据重构函数，根据操作类型自动选择模板"""
+    refactored_data = []
+
+    # 定义操作映射，包含生物实验和有机化学的所有操作
+    OPERATION_MAPPING = {
+        # 生物实验操作
+        "transfer_liquid": "SynBioFactory-liquid_handler.prcxi-transfer_liquid",
+        "transfer": "SynBioFactory-liquid_handler.biomek-transfer",
+        "incubation": "SynBioFactory-liquid_handler.biomek-incubation",
+        "move_labware": "SynBioFactory-liquid_handler.biomek-move_labware",
+        "oscillation": "SynBioFactory-liquid_handler.biomek-oscillation",
+        # 有机化学操作
+        "HeatChillToTemp": "SynBioFactory-workstation-HeatChillProtocol",
+        "StopHeatChill": "SynBioFactory-workstation-HeatChillStopProtocol",
+        "StartHeatChill": "SynBioFactory-workstation-HeatChillStartProtocol",
+        "HeatChill": "SynBioFactory-workstation-HeatChillProtocol",
+        "Dissolve": "SynBioFactory-workstation-DissolveProtocol",
+        "Transfer": "SynBioFactory-workstation-TransferProtocol",
+        "Evaporate": "SynBioFactory-workstation-EvaporateProtocol",
+        "Recrystallize": "SynBioFactory-workstation-RecrystallizeProtocol",
+        "Filter": "SynBioFactory-workstation-FilterProtocol",
+        "Dry": "SynBioFactory-workstation-DryProtocol",
+        "Add": "SynBioFactory-workstation-AddProtocol",
+    }
+
+    UNSUPPORTED_OPERATIONS = ["Purge", "Wait", "Stir", "ResetHandling"]
+
+    for step in data:
+        operation = step.get("action")
+        if not operation or operation in UNSUPPORTED_OPERATIONS:
+            continue
+
+        # 处理重复操作
+        if operation == "Repeat":
+            times = step.get("times", step.get("parameters", {}).get("times", 1))
+            sub_steps = step.get("steps", step.get("parameters", {}).get("steps", []))
+            for i in range(int(times)):
+                sub_data = refactor_data(sub_steps)
+                refactored_data.extend(sub_data)
+            continue
+
+        # 获取模板名称
+        template = OPERATION_MAPPING.get(operation)
+        if not template:
+            # 自动推断模板类型
+            if operation.lower() in ["transfer", "incubation", "move_labware", "oscillation"]:
+                template = f"SynBioFactory-liquid_handler.biomek-{operation}"
+            else:
+                template = f"SynBioFactory-workstation-{operation}Protocol"
+
+        # 创建步骤数据
+        step_data = {
+            "template": template,
+            "description": step.get("description", step.get("purpose", f"{operation} operation")),
+            "lab_node_type": "Device",
+            "parameters": step.get("parameters", step.get("action_args", {})),
+        }
+        refactored_data.append(step_data)
+
+    return refactored_data
+
+
+def build_protocol_graph(
+    labware_info: List[Dict[str, Any]], protocol_steps: List[Dict[str, Any]], workstation_name: str
+) -> SimpleGraph:
+    """统一的协议图构建函数，根据设备类型自动选择构建逻辑"""
+    G = SimpleGraph()
+    resource_last_writer = {}
+    LAB_NAME = "SynBioFactory"
+
+    protocol_steps = refactor_data(protocol_steps)
+
+    # 检查协议步骤中的模板来判断协议类型
+    has_biomek_template = any(
+        ("biomek" in step.get("template", "")) or ("prcxi" in step.get("template", ""))
+        for step in protocol_steps
+    )
+
+    if has_biomek_template:
+        # 生物实验协议图构建
+        for labware_id, labware in labware_info.items():
+            node_id = str(uuid.uuid4())
+
+            labware_attrs = labware.copy()
+            labware_id = labware_attrs.pop("id", labware_attrs.get("name", f"labware_{uuid.uuid4()}"))
+            labware_attrs["description"] = labware_id
+            labware_attrs["lab_node_type"] = (
+                "Reagent" if "Plate" in str(labware_id) else "Labware" if "Rack" in str(labware_id) else "Sample"
+            )
+            labware_attrs["device_id"] = workstation_name
+
+            G.add_node(node_id, template=f"{LAB_NAME}-host_node-create_resource", **labware_attrs)
+            resource_last_writer[labware_id] = f"{node_id}:labware"
+
+        # 处理协议步骤
+        prev_node = None
+        for i, step in enumerate(protocol_steps):
+            node_id = str(uuid.uuid4())
+            G.add_node(node_id, **step)
+
+            # 添加控制流边
+            if prev_node is not None:
+                G.add_edge(prev_node, node_id, source_port="ready", target_port="ready")
+            prev_node = node_id
+
+            # 处理物料流
+            params = step.get("parameters", {})
+            if "sources" in params and params["sources"] in resource_last_writer:
+                source_node, source_port = resource_last_writer[params["sources"]].split(":")
+                G.add_edge(source_node, node_id, source_port=source_port, target_port="labware")
+
+            if "targets" in params:
+                resource_last_writer[params["targets"]] = f"{node_id}:labware"
+
+        # 添加协议结束节点
+        end_id = str(uuid.uuid4())
+        G.add_node(end_id, template=f"{LAB_NAME}-liquid_handler.biomek-run_protocol")
+        if prev_node is not None:
+            G.add_edge(prev_node, end_id, source_port="ready", target_port="ready")
+
+    else:
+        # 有机化学协议图构建
+        WORKSTATION_ID = workstation_name
+
+        # 为所有labware创建资源节点
+        for item_id, item in labware_info.items():
+            # item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
+            node_id = str(uuid.uuid4())
+
+            # 判断节点类型
+            if item.get("type") == "hardware" or "reactor" in str(item_id).lower():
+                if "reactor" not in str(item_id).lower():
+                    continue
+                lab_node_type = "Sample"
+                description = f"Prepare Reactor: {item_id}"
+                liquid_type = []
+                liquid_volume = []
+            else:
+                lab_node_type = "Reagent"
+                description = f"Add Reagent to Flask: {item_id}"
+                liquid_type = [item_id]
+                liquid_volume = [1e5]
+
+            G.add_node(
+                node_id,
+                template=f"{LAB_NAME}-host_node-create_resource",
+                description=description,
+                lab_node_type=lab_node_type,
+                res_id=item_id,
+                device_id=WORKSTATION_ID,
+                class_name="container",
+                parent=WORKSTATION_ID,
+                bind_locations={"x": 0.0, "y": 0.0, "z": 0.0},
+                liquid_input_slot=[-1],
+                liquid_type=liquid_type,
+                liquid_volume=liquid_volume,
+                slot_on_deck="",
+                role=item.get("role", ""),
+            )
+            resource_last_writer[item_id] = f"{node_id}:labware"
+
+        last_control_node_id = None
+
+        # 处理协议步骤
+        for step in protocol_steps:
+            node_id = str(uuid.uuid4())
+            G.add_node(node_id, **step)
+
+            # 控制流
+            if last_control_node_id is not None:
+                G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
+            last_control_node_id = node_id
+
+            # 物料流
+            params = step.get("parameters", {})
+            input_resources = {
+                "Vessel": params.get("vessel"),
+                "ToVessel": params.get("to_vessel"),
+                "FromVessel": params.get("from_vessel"),
+                "reagent": params.get("reagent"),
+                "solvent": params.get("solvent"),
+                "compound": params.get("compound"),
+                "sources": params.get("sources"),
+                "targets": params.get("targets"),
+            }
+
+            for target_port, resource_name in input_resources.items():
+                if resource_name and resource_name in resource_last_writer:
+                    source_node, source_port = resource_last_writer[resource_name].split(":")
+                    G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
+
+            output_resources = {
+                "VesselOut": params.get("vessel"),
+                "FromVesselOut": params.get("from_vessel"),
+                "ToVesselOut": params.get("to_vessel"),
+                "FiltrateOut": params.get("filtrate_vessel"),
+                "reagent": params.get("reagent"),
+                "solvent": params.get("solvent"),
+                "compound": params.get("compound"),
+                "sources_out": params.get("sources"),
+                "targets_out": params.get("targets"),
+            }
+
+            for source_port, resource_name in output_resources.items():
+                if resource_name:
+                    resource_last_writer[resource_name] = f"{node_id}:{source_port}"
+
+    return G
+
+
+def draw_protocol_graph(protocol_graph: SimpleGraph, output_path: str):
+    """
+    (辅助功能) 使用 networkx 和 matplotlib 绘制协议工作流图，用于可视化。
+    """
+    if not protocol_graph:
+        print("Cannot draw graph: Graph object is empty.")
+        return
+
+    G = nx.DiGraph()
+
+    for node_id, attrs in protocol_graph.nodes.items():
+        label = attrs.get("description", attrs.get("template", node_id[:8]))
+        G.add_node(node_id, label=label, **attrs)
+
+    for edge in protocol_graph.edges:
+        G.add_edge(edge["source"], edge["target"])
+
+    plt.figure(figsize=(20, 15))
+    try:
+        pos = nx.nx_agraph.graphviz_layout(G, prog="dot")
+    except Exception:
+        pos = nx.shell_layout(G)  # Fallback layout
+
+    node_labels = {node: data["label"] for node, data in G.nodes(data=True)}
+    nx.draw(
+        G,
+        pos,
+        with_labels=False,
+        node_size=2500,
+        node_color="skyblue",
+        node_shape="o",
+        edge_color="gray",
+        width=1.5,
+        arrowsize=15,
+    )
+    nx.draw_networkx_labels(G, pos, labels=node_labels, font_size=8, font_weight="bold")
+
+    plt.title("Chemical Protocol Workflow Graph", size=15)
+    plt.savefig(output_path, dpi=300, bbox_inches="tight")
+    plt.close()
+    print(f"  - Visualization saved to '{output_path}'")
+
+
+from networkx.drawing.nx_agraph import to_agraph
+import re
+
+COMPASS = {"n","e","s","w","ne","nw","se","sw","c"}
+
+def _is_compass(port: str) -> bool:
+    return isinstance(port, str) and port.lower() in COMPASS
+
+def draw_protocol_graph_with_ports(protocol_graph, output_path: str, rankdir: str = "LR"):
+    """
+    使用 Graphviz 端口语法绘制协议工作流图。
+    - 若边上的 source_port/target_port 是 compass（n/e/s/w/...），直接用 compass。
+    - 否则自动为节点创建 record 形状并定义命名端口 <portname>。
+    最终由 PyGraphviz 渲染并输出到 output_path（后缀决定格式，如 .png/.svg/.pdf）。
+    """
+    if not protocol_graph:
+        print("Cannot draw graph: Graph object is empty.")
+        return
+
+    # 1) 先用 networkx 搭建有向图，保留端口属性
+    G = nx.DiGraph()
+    for node_id, attrs in protocol_graph.nodes.items():
+        label = attrs.get("description", attrs.get("template", node_id[:8]))
+        # 保留一个干净的“中心标签”，用于放在 record 的中间槽
+        G.add_node(node_id, _core_label=str(label), **{k:v for k,v in attrs.items() if k not in ("label",)})
+
+    edges_data = []
+    in_ports_by_node  = {}  # 收集命名输入端口
+    out_ports_by_node = {}  # 收集命名输出端口
+
+    for edge in protocol_graph.edges:
+        u = edge["source"]
+        v = edge["target"]
+        sp = edge.get("source_port")
+        tp = edge.get("target_port")
+
+        # 记录到图里（保留原始端口信息）
+        G.add_edge(u, v, source_port=sp, target_port=tp)
+        edges_data.append((u, v, sp, tp))
+
+        # 如果不是 compass，就按“命名端口”先归类，等会儿给节点造 record
+        if sp and not _is_compass(sp):
+            out_ports_by_node.setdefault(u, set()).add(str(sp))
+        if tp and not _is_compass(tp):
+            in_ports_by_node.setdefault(v, set()).add(str(tp))
+
+    # 2) 转为 AGraph，使用 Graphviz 渲染
+    A = to_agraph(G)
+    A.graph_attr.update(rankdir=rankdir, splines="true", concentrate="false", fontsize="10")
+    A.node_attr.update(shape="box", style="rounded,filled", fillcolor="lightyellow", color="#999999", fontname="Helvetica")
+    A.edge_attr.update(arrowsize="0.8", color="#666666")
+
+    # 3) 为需要命名端口的节点设置 record 形状与 label
+    #    左列 = 输入端口；中间 = 核心标签；右列 = 输出端口
+    for n in A.nodes():
+        node = A.get_node(n)
+        core = G.nodes[n].get("_core_label", n)
+
+        in_ports  = sorted(in_ports_by_node.get(n, []))
+        out_ports = sorted(out_ports_by_node.get(n, []))
+
+        # 如果该节点涉及命名端口，则用 record；否则保留原 box
+        if in_ports or out_ports:
+            def port_fields(ports):
+                if not ports:
+                    return " "  # 必须留一个空槽占位
+                # 每个端口一个小格子，<p> name
+                return "|".join(f"<{re.sub(r'[^A-Za-z0-9_:.|-]', '_', p)}> {p}" for p in ports)
+
+            left  = port_fields(in_ports)
+            right = port_fields(out_ports)
+
+            # 三栏：左(入) | 中(节点名) | 右(出)
+            record_label = f"{{ {left} | {core} | {right} }}"
+            node.attr.update(shape="record", label=record_label)
+        else:
+            # 没有命名端口：普通盒子，显示核心标签
+            node.attr.update(label=str(core))
+
+    # 4) 给边设置 headport / tailport
+    #    - 若端口为 compass：直接用 compass（e.g., headport="e"）
+    #    - 若端口为命名端口：使用在 record 中定义的 <port> 名（同名即可）
+    for (u, v, sp, tp) in edges_data:
+        e = A.get_edge(u, v)
+
+        # Graphviz 属性：tail 是源，head 是目标
+        if sp:
+            if _is_compass(sp):
+                e.attr["tailport"] = sp.lower()
+            else:
+                # 与 record label 中 <port> 名一致；特殊字符已在 label 中做了清洗
+                e.attr["tailport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(sp))
+
+        if tp:
+            if _is_compass(tp):
+                e.attr["headport"] = tp.lower()
+            else:
+                e.attr["headport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(tp))
+
+        # 可选：若想让边更贴边缘，可设置 constraint/spline 等
+        # e.attr["arrowhead"] = "vee"
+
+    # 5) 输出
+    A.draw(output_path, prog="dot")
+    print(f"  - Port-aware workflow rendered to '{output_path}'")
+
+
+def flatten_xdl_procedure(procedure_elem: ET.Element) -> List[ET.Element]:
+    """展平嵌套的XDL程序结构"""
+    flattened_operations = []
+    TEMP_UNSUPPORTED_PROTOCOL = ["Purge", "Wait", "Stir", "ResetHandling"]
+
+    def extract_operations(element: ET.Element):
+        if element.tag not in ["Prep", "Reaction", "Workup", "Purification", "Procedure"]:
+            if element.tag not in TEMP_UNSUPPORTED_PROTOCOL:
+                flattened_operations.append(element)
+
+        for child in element:
+            extract_operations(child)
+
+    for child in procedure_elem:
+        extract_operations(child)
+
+    return flattened_operations
+
+
+def parse_xdl_content(xdl_content: str) -> tuple:
+    """解析XDL内容"""
+    try:
+        xdl_content_cleaned = "".join(c for c in xdl_content if c.isprintable())
+        root = ET.fromstring(xdl_content_cleaned)
+
+        synthesis_elem = root.find("Synthesis")
+        if synthesis_elem is None:
+            return None, None, None
+
+        # 解析硬件组件
+        hardware_elem = synthesis_elem.find("Hardware")
+        hardware = []
+        if hardware_elem is not None:
+            hardware = [{"id": c.get("id"), "type": c.get("type")} for c in hardware_elem.findall("Component")]
+
+        # 解析试剂
+        reagents_elem = synthesis_elem.find("Reagents")
+        reagents = []
+        if reagents_elem is not None:
+            reagents = [{"name": r.get("name"), "role": r.get("role", "")} for r in reagents_elem.findall("Reagent")]
+
+        # 解析程序
+        procedure_elem = synthesis_elem.find("Procedure")
+        if procedure_elem is None:
+            return None, None, None
+
+        flattened_operations = flatten_xdl_procedure(procedure_elem)
+        return hardware, reagents, flattened_operations
+
+    except ET.ParseError as e:
+        raise ValueError(f"Invalid XDL format: {e}")
+
+
+def convert_xdl_to_dict(xdl_content: str) -> Dict[str, Any]:
+    """
+    将XDL XML格式转换为标准的字典格式
+
+    Args:
+        xdl_content: XDL XML内容
+
+    Returns:
+        转换结果，包含步骤和器材信息
+    """
+    try:
+        hardware, reagents, flattened_operations = parse_xdl_content(xdl_content)
+        if hardware is None:
+            return {"error": "Failed to parse XDL content", "success": False}
+
+        # 将XDL元素转换为字典格式
+        steps_data = []
+        for elem in flattened_operations:
+            # 转换参数类型
+            parameters = {}
+            for key, val in elem.attrib.items():
+                converted_val = convert_to_type(val)
+                if converted_val is not None:
+                    parameters[key] = converted_val
+
+            step_dict = {
+                "operation": elem.tag,
+                "parameters": parameters,
+                "description": elem.get("purpose", f"Operation: {elem.tag}"),
+            }
+            steps_data.append(step_dict)
+
+        # 合并硬件和试剂为统一的labware_info格式
+        labware_data = []
+        labware_data.extend({"id": hw["id"], "type": "hardware", **hw} for hw in hardware)
+        labware_data.extend({"name": reagent["name"], "type": "reagent", **reagent} for reagent in reagents)
+
+        return {
+            "success": True,
+            "steps": steps_data,
+            "labware": labware_data,
+            "message": f"Successfully converted XDL to dict format. Found {len(steps_data)} steps and {len(labware_data)} labware items.",
+        }
+
+    except Exception as e:
+        error_msg = f"XDL conversion failed: {str(e)}"
+        logger.error(error_msg)
+        return {"error": error_msg, "success": False}
 
 
 def create_workflow(

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
-
-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))
+from unilabos.utils.tools import normalize_json as _normalize_device
 
 
 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:
-    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")
+from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
 
 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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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
-      material_info: dict
+      device_id: ''
     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'
-          hold_m_name: ''
+          delay_time: null
+          hold_m_name: null
           liquid_material_name: NMP
-          speed: '400'
-          temperature: '40'
-          titration: ''
+          speed: null
+          temperature: null
+          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:
-          return_info: return_info
+        placeholder_keys: {}
+        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: ''
-          speed: '400'
-          temperature: '20'
+          solutions: null
+          speed: null
+          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:
-          return_info: return_info
+        placeholder_keys: {}
+        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:
-          feeding_order: feeding_order
-          return_info: return_info
-          solutions: solutions
-          solvents: solvents
-          titration: titration
+        placeholder_keys: {}
+        result: {}
         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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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:
-          return_info: return_info
+        placeholder_keys: {}
+        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: ''
-          transfer_groups: ''
+          target_device_id: null
+          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: ''
-          check_interval: '10'
-          timeout: '7200'
+          batch_create_result: null
+          check_interval: 10
+          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:
-          return_info: return_info
+        placeholder_keys: {}
+        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
-              required:
-              - batch_create_result
+                  type: integer
+              required: []
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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:
-                  - '4'
-                  - '5'
-                  type: string
+                  type: integer
                 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:
-                  - '4'
-                  - '5'
-                  type: string
+                  type: integer
                 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:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
+                  type: integer
                 valve_port:
-                  default: '1'
                   description: 阀门端口
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
+                  type: integer
                 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:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
+                  type: integer
                 valve_port:
-                  default: '1'
                   description: 阀门端口
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
+                  type: integer
                 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:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
+                  type: integer
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
+                  type: integer
               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:
-              - target_state
+              required: []
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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
-      motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
+      all_positions: Dict[MotorAxis, MotorPosition]
     type: python
   config_info: []
   description: 新XYZ控制器
@@ -574,12 +603,10 @@ xyz_stepper_controller:
     data:
       properties:
         all_positions:
-          type: object
-        motor_status:
+          additionalProperties:
+            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:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         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:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         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:
-          plate_data: plate_data
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         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:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         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: {}
-              required: []
+              additionalProperties: true
               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:
-          return_info: return_info
-          submitted_count: submitted_count
-          success: success
+        placeholder_keys: {}
+        result: {}
         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:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         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:
-          failed_files: failed_files
-          return_info: return_info
-          success: success
-          total_count: total_count
-          uploaded_count: uploaded_count
+        placeholder_keys: {}
+        result: {}
         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
-      connection_info: dict
+      channel_status: Dict[int, 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:
-      node_value: String
+    status_types: {}
     type: python
   config_info: []
   description: null
@@ -167,10 +166,7 @@ opcua_example:
       - url
       type: object
     data:
-      properties:
-        node_value:
-          type: string
-      required:
-      - node_value
+      properties: {}
+      required: []
       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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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
-      node_value: String
+      cache_stats: Dict[str, Any]
     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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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_grade: String
-      velocity_init: String
+      velocity_end: ''
+      velocity_grade: ''
+      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_grade: String
-      velocity_init: String
+      velocity_end: ''
+      velocity_grade: ''
+      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:
-                  - Start
-                  - End
-                  type: string
+                  type: integer
                 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:
-                  - Start
-                  - End
-                  type: string
+                  type: integer
                 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:
-          code: code
-          message: message
+        placeholder_keys: {}
+        result: {}
         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: ''
-          temperature: ''
-          time: ''
-          titration_type: ''
-          torque_variation: ''
-          volume: ''
+          assign_material_name: null
+          temperature: 25.0
+          time: '90'
+          titration_type: '1'
+          torque_variation: 2
+          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:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume:
                   description: 分液公式(mL)
                   type: string
               required:
-              - volume
               - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
+              - volume
               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:
-          return_info: return_info
+        placeholder_keys: {}
+        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: ''
-          temperature: ''
-          time: ''
-          titration_type: ''
-          torque_variation: ''
-          volume: ''
+          assign_material_name: BAPP
+          temperature: 25.0
+          time: '0'
+          titration_type: '1'
+          torque_variation: 1
+          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:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume:
+                  default: '350'
                   description: 分液公式(mL)
                   type: string
-              required:
-              - volume
-              - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
+              required: []
               type: object
             result: {}
           required:
@@ -580,13 +566,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
-          solvents: ''
-          temperature: '25.00'
+          assign_material_name: null
+          solvents: null
+          temperature: 25.0
           time: '360'
           titration_type: '1'
-          torque_variation: '2'
-          volume: ''
+          torque_variation: 2
+          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:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 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: ''
-          extracted_actuals: ''
-          feeding_order_data: ''
-          temperature: '25.00'
+          assign_material_name: null
+          extracted_actuals: null
+          feeding_order_data: null
+          temperature: 25.0
           time: '90'
           titration_type: '2'
-          torque_variation: '2'
-          volume_formula: ''
-          x_value: ''
+          torque_variation: 2
+          volume_formula: null
+          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:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 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: ''
-          temperature: ''
-          time: ''
-          titration_type: ''
-          torque_variation: ''
-          volume_formula: ''
+          assign_material_name: null
+          temperature: 25.0
+          time: '0'
+          titration_type: '1'
+          torque_variation: 1
+          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:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 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: ''
-          workflow_name: ''
+          task_name: null
+          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: ''
-          cutoff: ''
-          temperature: ''
+          assign_material_name: null
+          cutoff: '900000'
+          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:
-              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
+            result: {}
           required:
           - goal
           title: reactor_taken_out参数
@@ -897,8 +864,8 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        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: ''
-          material_id: ''
-          temperature: ''
-          time: ''
-          torque_variation: ''
+          assign_material_name: null
+          material_id: null
+          temperature: 25.0
+          time: '0'
+          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:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
               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
-      arm_pose: String
+      actual_joint_positions: ''
+      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.position: position
+          command: command
+          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
-          estimated_time_remaining.sec: time_remaining
-          navigation_time.sec: time_spent
-          number_of_poses_remaining: pose_number_remaining
+          current_pose: current_pose
+          distance_remaining: distance_remaining
+          estimated_time_remaining: estimated_time_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:
-          - 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
+          poses: []
         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: {}
-                  required: []
+                  additionalProperties: true
                   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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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
-          exp_time: 0.5
-          increment: 0.02
-          sample_id: Sample001
-          start_theta: 10.0
+          end_theta: null
+          exp_time: null
+          increment: null
+          sample_id: null
+          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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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
-          voltage: 40.0
+          current: null
+          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: string
+                  type: number
                 exp_time:
+                  default: 0.1
                   description: 曝光时间（0.1-5.0秒）
-                  maximum: 5.0
-                  minimum: 0.1
-                  type: string
+                  type: number
                 increment:
+                  default: 0.05
                   description: 角度增量（≥0.005）
-                  minimum: 0.005
-                  type: string
+                  type: number
                 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: string
+                  type: number
                 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:
-              - sample_id
-              - start_theta
-              - end_theta
-              - increment
-              - exp_time
+              required: []
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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: {}
-              required: []
+              additionalProperties: true
               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:
-            new_props[field_name].setdefault("title", prev_field["title"])
+        if field_name not in new_props:
+            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/resources/graphio.py

@@ -42,7 +42,7 @@ def canonicalize_nodes_data(
     Returns:
         ResourceTreeSet: 标准化后的资源树集合
     """
-    print_status(f"{len(nodes)} Resources loaded", "info")
+    print_status(f"{len(nodes)} Resources loaded:", "info")
 
     # 第一步：基本预处理（处理graphml的label字段）
     outer_host_node_id = None

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 arg_type[1] == resource_slot_type:
+                    if arg_type[0] == "list" and isinstance(arg_type[1], str) and arg_type[1].endswith(":ResourceSlot"):
                         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_registry_class_info",
+    "get_enhanced_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]:
-        """
-        获取增强的类信息，支持动态导入和静态分析
+    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。
+
+        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"
-            use_dynamic: 是否优先使用动态导入
+            module_path: 格式 ``"module.path:ClassName"``
 
         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,
-            "static_analysis_success": False,
-            "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"],
+            "ast_analysis_success": False,
+            "import_map": {},
+            "init_params": [],
             "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:
-            source_code = f.read()
+        try:
+            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 node.name == class_name:
-                    target_class = node
-                    break
+            if isinstance(node, ast.ClassDef) and node.name == class_name:
+                target_class = node
+                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 = {
-            "class_name": class_name,
-            "init_params": {},
-            "status_methods": {},
-            "action_methods": {},
+        body = _extract_class_body(target_class, import_map)
+
+        # 映射到统一字段名（与 registry.py complete_registry 消费端一致）
+        result["init_params"] = body.get("init_params", [])
+        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()
         }
-
-        # 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
+        result["ast_analysis_success"] = True
         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
-            if annotation.__module__ == "builtins":
-                return annotation.__name__
-            else:
-                # 如果是自定义类，返回完整路径
-                return f"{annotation.__module__}:{annotation.__name__}"
-        # 如果是typing模块的类型
+            module = getattr(annotation, "__module__", None)
+            if module and module != "builtins":
+                return f"{module}:{annotation.__name__}"
+            return annotation.__name__
         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]:
-    """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]:
+def get_enhanced_class_info(module_path: str, **kwargs) -> 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
-        if isinstance(obj, type):
-            return str(obj)[8:-2]
-        return super().default(obj)
+        try:
+            return json_default(obj)
+        except Exception:
+            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/workflow/from_python_script.py

@@ -1,241 +0,0 @@
-import ast
-import json
-from typing import Dict, List, Any, Tuple, Optional
-
-from .common import WorkflowGraph, RegistryAdapter
-
-Json = Dict[str, Any]
-
-# ---------------- Converter ----------------
-
-class DeviceMethodConverter:
-    """
-    - 字段统一：resource_name（原 device_class）、template_name（原 action_key）
-    - params 单层；inputs 使用 'params.' 前缀
-    - SimpleGraph.add_workflow_node 负责变量连线与边
-    """
-    def __init__(self, device_registry: Optional[Dict[str, Any]] = None):
-        self.graph = WorkflowGraph()
-        self.variable_sources: Dict[str, Dict[str, Any]] = {}        # var -> {node_id, output_name}
-        self.instance_to_resource: Dict[str, Optional[str]] = {}     # 实例名 -> resource_name
-        self.node_id_counter: int = 0
-        self.registry = RegistryAdapter(device_registry or {})
-
-    # ---- helpers ----
-    def _new_node_id(self) -> int:
-        nid = self.node_id_counter
-        self.node_id_counter += 1
-        return nid
-
-    def _assign_targets(self, targets) -> List[str]:
-        names: List[str] = []
-        import ast
-        if isinstance(targets, ast.Tuple):
-            for elt in targets.elts:
-                if isinstance(elt, ast.Name):
-                    names.append(elt.id)
-        elif isinstance(targets, ast.Name):
-            names.append(targets.id)
-        return names
-
-    def _extract_device_instantiation(self, node) -> Optional[Tuple[str, str]]:
-        import ast
-        if not isinstance(node.value, ast.Call):
-            return None
-        callee = node.value.func
-        if isinstance(callee, ast.Name):
-            class_name = callee.id
-        elif isinstance(callee, ast.Attribute) and isinstance(callee.value, ast.Name):
-            class_name = callee.attr
-        else:
-            return None
-        if isinstance(node.targets[0], ast.Name):
-            instance = node.targets[0].id
-            return instance, class_name
-        return None
-
-    def _extract_call(self, call) -> Tuple[str, str, Dict[str, Any], str]:
-        import ast
-        owner_name, method_name, call_kind = "", "", "func"
-        if isinstance(call.func, ast.Attribute):
-            method_name = call.func.attr
-            if isinstance(call.func.value, ast.Name):
-                owner_name = call.func.value.id
-                call_kind = "instance" if owner_name in self.instance_to_resource else "class_or_module"
-            elif isinstance(call.func.value, ast.Attribute) and isinstance(call.func.value.value, ast.Name):
-                owner_name = call.func.value.attr
-                call_kind = "class_or_module"
-        elif isinstance(call.func, ast.Name):
-            method_name = call.func.id
-            call_kind = "func"
-
-        def pack(node):
-            if isinstance(node, ast.Name):
-                return {"type": "variable", "value": node.id}
-            if isinstance(node, ast.Constant):
-                return {"type": "constant", "value": node.value}
-            if isinstance(node, ast.Dict):
-                return {"type": "dict", "value": self._parse_dict(node)}
-            if isinstance(node, ast.List):
-                return {"type": "list", "value": self._parse_list(node)}
-            return {"type": "raw", "value": ast.unparse(node) if hasattr(ast, "unparse") else str(node)}
-
-        args: Dict[str, Any] = {}
-        pos: List[Any] = []
-        for a in call.args:
-            pos.append(pack(a))
-        for kw in call.keywords:
-            args[kw.arg] = pack(kw.value)
-        if pos:
-            args["_positional"] = pos
-        return owner_name, method_name, args, call_kind
-
-    def _parse_dict(self, node) -> Dict[str, Any]:
-        import ast
-        out: Dict[str, Any] = {}
-        for k, v in zip(node.keys, node.values):
-            if isinstance(k, ast.Constant):
-                key = str(k.value)
-                if isinstance(v, ast.Name):
-                    out[key] = f"var:{v.id}"
-                elif isinstance(v, ast.Constant):
-                    out[key] = v.value
-                elif isinstance(v, ast.Dict):
-                    out[key] = self._parse_dict(v)
-                elif isinstance(v, ast.List):
-                    out[key] = self._parse_list(v)
-        return out
-
-    def _parse_list(self, node) -> List[Any]:
-        import ast
-        out: List[Any] = []
-        for elt in node.elts:
-            if isinstance(elt, ast.Name):
-                out.append(f"var:{elt.id}")
-            elif isinstance(elt, ast.Constant):
-                out.append(elt.value)
-            elif isinstance(elt, ast.Dict):
-                out.append(self._parse_dict(elt))
-            elif isinstance(elt, ast.List):
-                out.append(self._parse_list(elt))
-        return out
-
-    def _normalize_var_tokens(self, x: Any) -> Any:
-        if isinstance(x, str) and x.startswith("var:"):
-            return {"__var__": x[4:]}
-        if isinstance(x, list):
-            return [self._normalize_var_tokens(i) for i in x]
-        if isinstance(x, dict):
-            return {k: self._normalize_var_tokens(v) for k, v in x.items()}
-        return x
-
-    def _make_params_payload(self, resource_name: Optional[str], template_name: str, call_args: Dict[str, Any]) -> Dict[str, Any]:
-        input_keys = self.registry.get_action_input_keys(resource_name, template_name) if resource_name else []
-        defaults = self.registry.get_action_goal_default(resource_name, template_name) if resource_name else {}
-        params: Dict[str, Any] = dict(defaults)
-
-        def unpack(p):
-            t, v = p.get("type"), p.get("value")
-            if t == "variable":
-                return {"__var__": v}
-            if t == "dict":
-                return self._normalize_var_tokens(v)
-            if t == "list":
-                return self._normalize_var_tokens(v)
-            return v
-
-        for k, p in call_args.items():
-            if k == "_positional":
-                continue
-            params[k] = unpack(p)
-
-        pos = call_args.get("_positional", [])
-        if pos:
-            if input_keys:
-                for i, p in enumerate(pos):
-                    if i >= len(input_keys):
-                        break
-                    name = input_keys[i]
-                    if name in params:
-                        continue
-                    params[name] = unpack(p)
-            else:
-                for i, p in enumerate(pos):
-                    params[f"arg_{i}"] = unpack(p)
-        return params
-
-    # ---- handlers ----
-    def _on_assign(self, stmt):
-        import ast
-        inst = self._extract_device_instantiation(stmt)
-        if inst:
-            instance, code_class = inst
-            resource_name = self.registry.resolve_resource_by_classname(code_class)
-            self.instance_to_resource[instance] = resource_name
-            return
-
-        if isinstance(stmt.value, ast.Call):
-            owner, method, call_args, kind = self._extract_call(stmt.value)
-            if kind == "instance":
-                device_key = owner
-                resource_name = self.instance_to_resource.get(owner)
-            else:
-                device_key = owner
-                resource_name = self.registry.resolve_resource_by_classname(owner)
-
-            module = self.registry.get_device_module(resource_name)
-            params = self._make_params_payload(resource_name, method, call_args)
-
-            nid = self._new_node_id()
-            self.graph.add_workflow_node(
-                nid,
-                device_key=device_key,
-                resource_name=resource_name,      # ✅
-                module=module,
-                template_name=method,             # ✅
-                params=params,
-                variable_sources=self.variable_sources,
-                add_ready_if_no_vars=True,
-                prev_node_id=(nid - 1) if nid > 0 else None,
-            )
-
-            out_vars = self._assign_targets(stmt.targets[0])
-            for var in out_vars:
-                self.variable_sources[var] = {"node_id": nid, "output_name": "result"}
-
-    def _on_expr(self, stmt):
-        import ast
-        if not isinstance(stmt.value, ast.Call):
-            return
-        owner, method, call_args, kind = self._extract_call(stmt.value)
-        if kind == "instance":
-            device_key = owner
-            resource_name = self.instance_to_resource.get(owner)
-        else:
-            device_key = owner
-            resource_name = self.registry.resolve_resource_by_classname(owner)
-
-        module = self.registry.get_device_module(resource_name)
-        params = self._make_params_payload(resource_name, method, call_args)
-
-        nid = self._new_node_id()
-        self.graph.add_workflow_node(
-            nid,
-            device_key=device_key,
-            resource_name=resource_name,      # ✅
-            module=module,
-            template_name=method,             # ✅
-            params=params,
-            variable_sources=self.variable_sources,
-            add_ready_if_no_vars=True,
-            prev_node_id=(nid - 1) if nid > 0 else None,
-        )
-
-    def convert(self, python_code: str):
-        tree = ast.parse(python_code)
-        for stmt in tree.body:
-            if isinstance(stmt, ast.Assign):
-                self._on_assign(stmt)
-            elif isinstance(stmt, ast.Expr):
-                self._on_expr(stmt)
-        return self

unilabos/workflow/from_xdl.py

@@ -1,131 +0,0 @@
-from typing import List, Any, Dict
-import xml.etree.ElementTree as ET
-
-
-def convert_to_type(val: str) -> Any:
-    """将字符串值转换为适当的数据类型"""
-    if val == "True":
-        return True
-    if val == "False":
-        return False
-    if val == "?":
-        return None
-    if val.endswith(" g"):
-        return float(val.split(" ")[0])
-    if val.endswith("mg"):
-        return float(val.split("mg")[0])
-    elif val.endswith("mmol"):
-        return float(val.split("mmol")[0]) / 1000
-    elif val.endswith("mol"):
-        return float(val.split("mol")[0])
-    elif val.endswith("ml"):
-        return float(val.split("ml")[0])
-    elif val.endswith("RPM"):
-        return float(val.split("RPM")[0])
-    elif val.endswith(" °C"):
-        return float(val.split(" ")[0])
-    elif val.endswith(" %"):
-        return float(val.split(" ")[0])
-    return val
-
-
-def flatten_xdl_procedure(procedure_elem: ET.Element) -> List[ET.Element]:
-    """展平嵌套的XDL程序结构"""
-    flattened_operations = []
-    TEMP_UNSUPPORTED_PROTOCOL = ["Purge", "Wait", "Stir", "ResetHandling"]
-
-    def extract_operations(element: ET.Element):
-        if element.tag not in ["Prep", "Reaction", "Workup", "Purification", "Procedure"]:
-            if element.tag not in TEMP_UNSUPPORTED_PROTOCOL:
-                flattened_operations.append(element)
-
-        for child in element:
-            extract_operations(child)
-
-    for child in procedure_elem:
-        extract_operations(child)
-
-    return flattened_operations
-
-
-def parse_xdl_content(xdl_content: str) -> tuple:
-    """解析XDL内容"""
-    try:
-        xdl_content_cleaned = "".join(c for c in xdl_content if c.isprintable())
-        root = ET.fromstring(xdl_content_cleaned)
-
-        synthesis_elem = root.find("Synthesis")
-        if synthesis_elem is None:
-            return None, None, None
-
-        # 解析硬件组件
-        hardware_elem = synthesis_elem.find("Hardware")
-        hardware = []
-        if hardware_elem is not None:
-            hardware = [{"id": c.get("id"), "type": c.get("type")} for c in hardware_elem.findall("Component")]
-
-        # 解析试剂
-        reagents_elem = synthesis_elem.find("Reagents")
-        reagents = []
-        if reagents_elem is not None:
-            reagents = [{"name": r.get("name"), "role": r.get("role", "")} for r in reagents_elem.findall("Reagent")]
-
-        # 解析程序
-        procedure_elem = synthesis_elem.find("Procedure")
-        if procedure_elem is None:
-            return None, None, None
-
-        flattened_operations = flatten_xdl_procedure(procedure_elem)
-        return hardware, reagents, flattened_operations
-
-    except ET.ParseError as e:
-        raise ValueError(f"Invalid XDL format: {e}")
-
-
-def convert_xdl_to_dict(xdl_content: str) -> Dict[str, Any]:
-    """
-    将XDL XML格式转换为标准的字典格式
-
-    Args:
-        xdl_content: XDL XML内容
-
-    Returns:
-        转换结果，包含步骤和器材信息
-    """
-    try:
-        hardware, reagents, flattened_operations = parse_xdl_content(xdl_content)
-        if hardware is None:
-            return {"error": "Failed to parse XDL content", "success": False}
-
-        # 将XDL元素转换为字典格式
-        steps_data = []
-        for elem in flattened_operations:
-            # 转换参数类型
-            parameters = {}
-            for key, val in elem.attrib.items():
-                converted_val = convert_to_type(val)
-                if converted_val is not None:
-                    parameters[key] = converted_val
-
-            step_dict = {
-                "operation": elem.tag,
-                "parameters": parameters,
-                "description": elem.get("purpose", f"Operation: {elem.tag}"),
-            }
-            steps_data.append(step_dict)
-
-        # 合并硬件和试剂为统一的labware_info格式
-        labware_data = []
-        labware_data.extend({"id": hw["id"], "type": "hardware", **hw} for hw in hardware)
-        labware_data.extend({"name": reagent["name"], "type": "reagent", **reagent} for reagent in reagents)
-
-        return {
-            "success": True,
-            "steps": steps_data,
-            "labware": labware_data,
-            "message": f"Successfully converted XDL to dict format. Found {len(steps_data)} steps and {len(labware_data)} labware items.",
-        }
-
-    except Exception as e:
-        error_msg = f"XDL conversion failed: {str(e)}"
-        return {"error": error_msg, "success": False}

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>