update registry with nested obj

unilabos/app/main.py

@@ -208,7 +208,6 @@ def main():
                 os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
             )
             print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-            os._exit(1)
         else:
             os._exit(1)
     # 加载配置文件

unilabos/app/ws_client.py

@@ -384,7 +384,7 @@ class MessageProcessor:
         """停止消息处理线程"""
         self.is_running = False
         if self.thread and self.thread.is_alive():
-            self.thread.join(timeout=5)
+            self.thread.join(timeout=2)
         logger.info("[MessageProcessor] Stopped")
 
     def _run(self):
@@ -832,7 +832,7 @@ class QueueProcessor:
         """停止队列处理线程"""
         self.is_running = False
         if self.thread and self.thread.is_alive():
-            self.thread.join(timeout=5)
+            self.thread.join(timeout=2)
         logger.info("[QueueProcessor] Stopped")
 
     def _run(self):

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -4,7 +4,7 @@ import contextlib
 import json
 import socket
 import time
-from typing import Any, List, Dict, Optional, TypedDict, Union, Sequence, Iterator, Literal
+from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal
 
 from pylabrobot.liquid_handling import (
     LiquidHandlerBackend,
@@ -1030,24 +1030,26 @@ class DefaultLayout:
     def add_lab_resource(self, material_info):
         self.labresource = material_info
 
-    def recommend_layout(self, needs: Dict[str, int]) -> Dict[str, Any]:
-        """根据 needs 推荐布局"""
-        for k, v in needs.items():
-            if k not in self.labresource:
-                raise ValueError(f"Material {k} not found in lab resources.")
-        
-        # 预留位置12和16不动
+    def recommend_layout(self, needs: List[Tuple[str, str, int]]) -> Dict[str, Any]:
+        layout_list = []
+        for reagent_name, material_name, count in needs:
+
+            if material_name not in self.labresource:
+                raise ValueError(f"Material {reagent_name} not found in lab resources.")
+
+            # 预留位置12和16不动
         reserved_positions = {12, 16}
         available_positions = [i for i in range(1, 17) if i not in reserved_positions]
-        
-        # 计算总需求
-        total_needed = sum(needs.values())
+            
+            # 计算总需求
+        total_needed = sum(count for _, _, count in needs)
         if total_needed > len(available_positions):
             raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
         
-        # 依次分配位置
+            # 依次分配位置
         current_pos = 0
-        for material_name, count in needs.items():
+        for reagent_name, material_name, count in needs:
+
             material_uuid = self.labresource[material_name]['uuid']
             material_enum = self.labresource[material_name]['materialEnum']
             
@@ -1061,11 +1063,10 @@ class DefaultLayout:
                     if tablet['Number'] == position:
                         tablet['Material']['uuid'] = material_uuid
                         tablet['Material']['materialEnum'] = material_enum
+                        layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position))
                         break
-                
                 current_pos += 1
-        
-        return self.default_layout
+        return self.default_layout, layout_list
 
 
 
@@ -1388,7 +1389,7 @@ if __name__ == "__main__":
                                timeout=10.0, setup=False, debug=True, 
                                matrix_id="c1d0d5dc-40f2-4f24-97ac-9cc49c68496c",
                                channel_num=1, axis="Left",simulator=True)  # Initialize the handler with the deck and host settings
-    
+
     handler.set_tiprack([plate8])  # Set the tip rack for the handler
     asyncio.run(handler.setup())  # Initialize the handler and setup the connection
     from pylabrobot.resources import set_volume_tracking
@@ -1530,17 +1531,17 @@ if __name__ == "__main__":
     
     layout = DefaultLayout("PRCXI9320")
     layout.add_lab_resource(material_info)
-    MatrixLayout_1 = layout.recommend_layout({
-        "96 细胞培养皿": 3,
-        "12道储液槽": 1,
-        "200μL Tip头": 1,
-        "10μL加长 Tip头": 1,
-    })
-    print(MatrixLayout_1)
-    MatrixLayout_2 = layout.recommend_layout({
-        "96深孔板": 4,
-        "12道储液槽": 1,
-        "200μL Tip头": 1,
-        "10μL加长 Tip头": 1,
-    })
+    MatrixLayout_1, dict_1 = layout.recommend_layout([
+        ("reagent_1", "96 细胞培养皿", 3),
+        ("reagent_2", "12道储液槽", 1),
+        ("reagent_3", "200μL Tip头", 7),
+        ("reagent_4", "10μL加长 Tip头", 1),
+    ])
+    print(dict_1)
+    MatrixLayout_2, dict_2 = layout.recommend_layout([
+        ("reagent_1", "96深孔板", 4),
+        ("reagent_2", "12道储液槽", 1),
+        ("reagent_3", "200μL Tip头", 1),
+        ("reagent_4", "10μL加长 Tip头", 1),
+    ])
 

unilabos/registry/device_comms/communication_devices.yaml

@@ -94,7 +94,7 @@ serial:
         port:
           type: string
         resource_tracker:
-          type: string
+          type: object
       required:
       - device_id
       - port

unilabos/registry/devices/camera.yaml

@@ -63,7 +63,7 @@ camera.USB:
           default: 0.1
           type: number
         resource_tracker:
-          type: string
+          type: object
       required: []
       type: object
     data:

unilabos/registry/devices/characterization_chromatic.yaml

@@ -170,7 +170,7 @@ hplc.agilent:
     module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
     status_types:
       could_run: bool
-      data_file: list
+      data_file: String
       device_status: str
       driver_init_ok: bool
       finish_status: str
@@ -195,6 +195,8 @@ hplc.agilent:
         could_run:
           type: boolean
         data_file:
+          items:
+            type: string
           type: array
         device_status:
           type: string

unilabos/registry/devices/liquid_handler.yaml

@@ -4508,14 +4508,22 @@ liquid_handler.biomek:
                 bind_parent_id:
                   type: string
                 liquid_input_slot:
+                  items:
+                    type: integer
                   type: array
                 liquid_type:
+                  items:
+                    type: string
                   type: array
                 liquid_volume:
+                  items:
+                    type: integer
                   type: array
                 resource_tracker:
-                  type: string
+                  type: object
                 resources:
+                  items:
+                    type: object
                   type: array
                 slot_on_deck:
                   type: integer
@@ -4559,10 +4567,16 @@ liquid_handler.biomek:
                 id:
                   type: string
                 liquid_input_wells:
+                  items:
+                    type: string
                   type: array
                 liquid_type:
+                  items:
+                    type: string
                   type: array
                 liquid_volume:
+                  items:
+                    type: integer
                   type: array
                 parent:
                   type: string
@@ -6039,6 +6053,8 @@ liquid_handler.prcxi:
               properties:
                 none_keys:
                   default: []
+                  items:
+                    type: string
                   type: array
                 protocol_author:
                   default: ''
@@ -6139,7 +6155,7 @@ liquid_handler.prcxi:
                   default: 0
                   type: number
                 well:
-                  type: string
+                  type: object
               required:
               - well
               type: object
@@ -8358,7 +8374,7 @@ liquid_handler.prcxi:
           default: false
           type: string
         deck:
-          type: string
+          type: object
         host:
           type: string
         matrix_id:

unilabos/registry/devices/pump_and_valve.yaml

@@ -832,7 +832,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
           default: 25.0
           type: number
         mode:
-          type: string
+          type: object
         port:
           type: string
       required:
@@ -1352,7 +1352,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
           default: 25.0
           type: number
         mode:
-          type: string
+          type: object
         port:
           type: string
       required:

unilabos/registry/devices/robot_arm.yaml

@@ -133,7 +133,7 @@ robotic_arm.SCARA_with_slider.virtual:
             goal:
               properties:
                 ros_node:
-                  type: string
+                  type: object
               required:
               - ros_node
               type: object
@@ -753,7 +753,7 @@ robotic_arm.elite:
     module: unilabos.devices.arm.elite_robot:EliteRobot
     status_types:
       actual_joint_positions: String
-      arm_pose: list
+      arm_pose: String
     type: python
   config_info: []
   description: Elite robot arm
@@ -775,6 +775,8 @@ robotic_arm.elite:
         actual_joint_positions:
           type: string
         arm_pose:
+          items:
+            type: number
           type: array
       required:
       - arm_pose

unilabos/registry/devices/robot_linear_motion.yaml

@@ -37,7 +37,7 @@ linear_motion.grbl:
             goal:
               properties:
                 position:
-                  type: string
+                  type: object
               required:
               - position
               type: object
@@ -450,6 +450,8 @@ linear_motion.grbl:
           - 0
           - -80
           - 0
+          items:
+            type: integer
           type: array
         port:
           type: string
@@ -459,7 +461,7 @@ linear_motion.grbl:
     data:
       properties:
         position:
-          type: string
+          type: object
         spindle_speed:
           type: number
         status:
@@ -605,7 +607,7 @@ linear_motion.toyo_xyz.sim:
             goal:
               properties:
                 ros_node:
-                  type: string
+                  type: object
               required:
               - ros_node
               type: object

unilabos/registry/devices/work_station.yaml

@@ -6129,7 +6129,7 @@ workstation:
         protocol_type:
           type: string
         resource_tracker:
-          type: string
+          type: object
       required:
       - device_id
       - children
@@ -6171,14 +6171,22 @@ workstation.example:
                 bind_parent_id:
                   type: string
                 liquid_input_slot:
+                  items:
+                    type: integer
                   type: array
                 liquid_type:
+                  items:
+                    type: string
                   type: array
                 liquid_volume:
+                  items:
+                    type: integer
                   type: array
                 resource_tracker:
-                  type: string
+                  type: object
                 resources:
+                  items:
+                    type: object
                   type: array
                 slot_on_deck:
                   type: integer
@@ -6213,9 +6221,9 @@ workstation.example:
             goal:
               properties:
                 base_plate:
-                  type: string
+                  type: object
                 tip_rack:
-                  type: string
+                  type: object
               required:
               - tip_rack
               - base_plate
@@ -6241,9 +6249,9 @@ workstation.example:
             goal:
               properties:
                 from_plate:
-                  type: string
+                  type: object
                 to_base_plate:
-                  type: string
+                  type: object
               required:
               - from_plate
               - to_base_plate
@@ -6271,7 +6279,7 @@ workstation.example:
         protocol_type:
           type: string
         resource_tracker:
-          type: string
+          type: object
       required:
       - device_id
       - children

unilabos/registry/registry.py

@@ -5,7 +5,7 @@ import sys
 import inspect
 import importlib
 from pathlib import Path
-from typing import Any, Dict, List
+from typing import Any, Dict, List, Union, Tuple
 
 import yaml
 
@@ -294,7 +294,7 @@ class Registry:
             logger.warning(f"[UniLab Registry] 设备 {device_id} 的 {field_name} 类型为空，跳过替换")
             return type_name
         convert_manager = {  # 将python基本对象转为ros2基本对象
-            "str": "String",
+            "builtins:str": "String",
             "bool": "Bool",
             "int": "Int64",
             "float": "Float64",
@@ -310,37 +310,73 @@ class Registry:
             logger.error(f"[UniLab Registry] 无法找到类型 '{type_name}' 用于设备 {device_id} 的 {field_name}")
             sys.exit(1)
 
+    def _get_json_schema_type(self, type_str: str) -> str:
+        """
+        根据类型字符串返回对应的JSON Schema类型
+
+        Args:
+            type_str: 类型字符串
+
+        Returns:
+            JSON Schema类型字符串
+        """
+        type_lower = type_str.lower()
+        type_mapping = {
+            ("str", "string"): "string",
+            ("int", "integer"): "integer",
+            ("float", "number"): "number",
+            ("bool", "boolean"): "boolean",
+            ("list", "array"): "array",
+            ("dict", "object"): "object",
+        }
+
+        # 遍历映射找到匹配的类型
+        for type_variants, json_type in type_mapping.items():
+            if type_lower in type_variants:
+                return json_type
+
+        # 特殊处理包含冒号的类型（如ROS消息类型）
+        if ":" in type_lower:
+            return "object"
+
+        # 默认返回字符串类型
+        return "string"
+
     def _generate_schema_from_info(
         self,
         param_name: str,
-        param_type: str,
+        param_type: Union[str, Tuple[str]],
         param_default: Any,
     ) -> Dict[str, Any]:
         """
         根据参数信息生成JSON Schema
         """
         prop_schema = {}
-        # 根据类型设置schema FIXME 不完整
-        if param_type:
-            param_type_lower = param_type.lower()
-            if param_type_lower in ["str", "string"]:
-                prop_schema["type"] = "string"
-            elif param_type_lower in ["int", "integer"]:
-                prop_schema["type"] = "integer"
-            elif param_type_lower in ["float", "number"]:
-                prop_schema["type"] = "number"
-            elif param_type_lower in ["bool", "boolean"]:
-                prop_schema["type"] = "boolean"
-            elif param_type_lower in ["list", "array"]:
-                prop_schema["type"] = "array"
-            elif param_type_lower in ["dict", "object"]:
-                prop_schema["type"] = "object"
+
+        # 处理嵌套类型（Tuple[str]）
+        if isinstance(param_type, tuple):
+            if len(param_type) == 2:
+                outer_type, inner_type = param_type
+                outer_json_type = self._get_json_schema_type(outer_type)
+                inner_json_type = self._get_json_schema_type(inner_type)
+
+                prop_schema["type"] = outer_json_type
+
+                # 根据外层类型设置内层类型信息
+                if outer_json_type == "array":
+                    prop_schema["items"] = {"type": inner_json_type}
+                elif outer_json_type == "object":
+                    prop_schema["additionalProperties"] = {"type": inner_json_type}
             else:
-                # 默认为字符串类型
+                # 不是标准的嵌套类型，默认为字符串
                 prop_schema["type"] = "string"
         else:
-            # 如果没有类型信息，默认为字符串
-            prop_schema["type"] = "string"
+            # 处理非嵌套类型
+            if param_type:
+                prop_schema["type"] = self._get_json_schema_type(param_type)
+            else:
+                # 如果没有类型信息，默认为字符串
+                prop_schema["type"] = "string"
 
         # 设置默认值
         if param_default is not None:
@@ -456,7 +492,7 @@ class Registry:
                                 {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
                             )
                         for status_name, status_type in device_config["class"]["status_types"].items():
-                            if status_type in ["Any", "None", "Unknown"]:
+                            if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
                                 status_type = "String"  # 替换成ROS的String，便于显示
                                 device_config["class"]["status_types"][status_name] = status_type
                             target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")

unilabos/ros/nodes/base_device_node.py

@@ -697,7 +697,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         else:
                             final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
                         try:
-                            action_kwargs[k] = self.resource_tracker.figure_resource(final_resource, try_mode=True)
+                            action_kwargs[k] = self.resource_tracker.figure_resource(final_resource, try_mode=False)
                         except Exception as e:
                             self.lab_logger().error(f"物料实例获取失败: {e}\n{traceback.format_exc()}")
                             error_skip = True

unilabos/ros/nodes/presets/host_node.py

@@ -199,22 +199,18 @@ class HostNode(BaseROS2DeviceNode):
                 "children": [],
             },
         )
-        resource_with_parent_name = []
+        resource_with_dirs_name = []
         resource_ids_to_instance = {i["id"]: i for i in resources_config}
-        resource_name_to_with_parent_name = {}
         for res in resources_config:
-            # if res.get("parent") and res.get("type") == "device" and res.get("class"):
-            #     parent_id = res.get("parent")
-            #     parent_res = resource_ids_to_instance[parent_id]
-            #     if parent_res.get("type") == "device" and parent_res.get("class"):
-            #         resource_with_parent_name.append(copy.deepcopy(res))
-            #         resource_name_to_with_parent_name[resource_with_parent_name[-1]["id"]] = f"{parent_res['id']}/{res['id']}"
-            #         resource_with_parent_name[-1]["id"] = f"{parent_res['id']}/{res['id']}"
-            #         continue
-            resource_with_parent_name.append(copy.deepcopy(res))
-        # for edge in self.resources_edge_config:
-        #     edge["source"] = resource_name_to_with_parent_name.get(edge.get("source"), edge.get("source"))
-        #     edge["target"] = resource_name_to_with_parent_name.get(edge.get("target"), edge.get("target"))
+            temp_res = res
+            res_paths = [res]
+            while temp_res.get("parent"):
+                temp_res = resource_ids_to_instance[temp_res.get("parent")]
+                res_paths.append(temp_res)
+            dirs = "/" + "/".join([res["id"] for res in res_paths[::-1]])
+            new_res = copy.deepcopy(res)
+            new_res["data"]["unilabos_dirs"] = dirs
+            resource_with_dirs_name.append(new_res)
         try:
             for bridge in self.bridges:
                 if hasattr(bridge, "resource_add"):
@@ -222,7 +218,12 @@ class HostNode(BaseROS2DeviceNode):
 
                     client: HTTPClient = bridge
                     resource_start_time = time.time()
-                    resource_add_res = client.resource_add(add_schema(resource_with_parent_name), False)
+                    resource_add_res = client.resource_add(add_schema(resources_config), False)
+                    # DEBUG ONLY
+                    # for i in resource_with_dirs_name:
+                    #     http_req = self.bridges[-1].resource_get(i["data"]["unilabos_dirs"], True)
+                    #     res = self._resource_get_process(http_req)
+                    #     print(res)
                     resource_end_time = time.time()
                     self.lab_logger().info(
                         f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
@@ -871,6 +872,12 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info(f"[Host Node-Resource] Add request completed, success: {success}")
         return response
 
+    def _resource_get_process(self, data: Dict[str, Any]):
+        r = data["data"]
+        self.lab_logger().debug(f"[Host Node-Resource] Retrieved from bridge: {len(r)} resources")
+        resources = [convert_to_ros_msg(Resource, resource) for resource in r]
+        return resources
+
     def _resource_get_callback(self, request: ResourceGet.Request, response: ResourceGet.Response):
         """
         获取资源回调
@@ -884,22 +891,14 @@ class HostNode(BaseROS2DeviceNode):
         Returns:
             响应对象，包含查询到的资源
         """
-        self.lab_logger().info(f"[Host Node-Resource] Get request for ID: {request.id}")
-
-        if len(self.bridges) > 0:
-            # 云上物料服务，根据 id 查询物料
-            try:
-                r = self.bridges[-1].resource_get(request.id, request.with_children)["data"]
-                self.lab_logger().debug(f"[Host Node-Resource] Retrieved from bridge: {len(r)} resources")
-            except Exception as e:
-                self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}")
-                r = [resource for resource in self.resources_config if resource.get("id") == request.id]
-                self.lab_logger().warning(f"[Host Node-Resource] Retrieved from local: {len(r)} resources")
-        else:
-            # 本地物料服务，根据 id 查询物料
-            r = [resource for resource in self.resources_config if resource.get("id") == request.id]
-            self.lab_logger().debug(f"[Host Node-Resource] Retrieved from local: {len(r)} resources")
-
+        try:
+            http_req = self.bridges[-1].resource_get(request.id, request.with_children)
+            response.resources = self._resource_get_process(http_req)
+            return response
+        except Exception as e:
+            self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}")
+        r = [resource for resource in self.resources_config if resource.get("id") == request.id]
+        self.lab_logger().debug(f"[Host Node-Resource] Retrieved from local: {len(r)} resources")
         response.resources = [convert_to_ros_msg(Resource, resource) for resource in r]
         return response
 

unilabos/utils/import_manager.py

@@ -12,8 +12,7 @@ import traceback
 import ast
 import os
 from pathlib import Path
-from typing import Dict, List, Any, Optional, Callable, Type
-
+from typing import Dict, List, Any, Optional, Callable, Type, Union, Tuple
 
 __all__ = [
     "ImportManager",
@@ -383,7 +382,7 @@ class ImportManager:
         signature = inspect.signature(method)
         return self._get_type_string(signature.return_annotation)
 
-    def _get_type_string(self, annotation) -> str:
+    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"""
         if annotation == inspect.Parameter.empty:
             return "Any"  # 如果没有注解，返回Any
@@ -400,7 +399,7 @@ class ImportManager:
                             return "Int64MultiArray"
                         elif isinstance(arg0, float):
                             return "Float64MultiArray"
-                return "list"
+                return "list", self._get_type_string(arg0)
             elif origin is dict:
                 return "dict"
             elif origin is Optional: