new registry sys

exp. support with add device

.conda/base/recipe.yaml

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

.conda/environment/recipe.yaml

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

.conda/full/recipe.yaml

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

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

@@ -1,328 +0,0 @@
----
-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

@@ -1,200 +0,0 @@
-#!/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

@@ -1,69 +0,0 @@
-#!/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: 0.10.19
+  version: 0.10.18
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

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

scripts/workflow.py

@@ -2,7 +2,6 @@ import json
 import logging
 import traceback
 import uuid
-import xml.etree.ElementTree as ET
 from typing import Any, Dict, List
 
 import networkx as nx
@@ -25,7 +24,15 @@ class SimpleGraph:
 
     def add_edge(self, source, target, **attrs):
         """添加边"""
-        edge = {"source": source, "target": target, **attrs}
+        # 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
+        }
         self.edges.append(edge)
 
     def to_dict(self):
@@ -42,6 +49,7 @@ class SimpleGraph:
             "multigraph": False,
             "graph": {},
             "nodes": nodes_list,
+            "edges": self.edges,
             "links": self.edges,
         }
 
@@ -58,495 +66,8 @@ 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='0.10.19',
+    version='0.10.18',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

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

unilabos/app/main.py

@@ -247,12 +247,6 @@ 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",
@@ -497,13 +491,11 @@ 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

@@ -1,8 +1,19 @@
+import json
 import time
 from typing import Any, Dict, Optional, Tuple
 
 from unilabos.utils.log import logger
-from unilabos.utils.tools import normalize_json as _normalize_device
+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))
 
 
 def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:

unilabos/app/web/client.py

@@ -8,7 +8,24 @@ import json
 import os
 from typing import List, Dict, Any, Optional
 
-from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
+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")
 
 import requests
 from unilabos.resources.resource_tracker import ResourceTreeSet

unilabos/registry/ast_registry_scanner.py

@@ -839,39 +839,24 @@ 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)
 
-        auto_entry: dict = {
+        result["auto_methods"][method_name] = {
             "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

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

unilabos/registry/devices/bioyond_cell.yaml

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

@@ -24,8 +24,7 @@ bioyond_dispensing_station:
               required:
               - data
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: brief_step_parameters参数
@@ -54,8 +53,7 @@ bioyond_dispensing_station:
               - report_request
               - used_materials
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: process_order_finish_report参数
@@ -80,8 +78,7 @@ bioyond_dispensing_station:
               required:
               - order_id
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: project_order_report参数
@@ -131,8 +128,7 @@ bioyond_dispensing_station:
               required:
               - workflow_id
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: workflow_sample_locations参数
@@ -148,12 +144,12 @@ bioyond_dispensing_station:
           temperature: temperature
           titration: titration
         goal_default:
-          delay_time: null
-          hold_m_name: null
+          delay_time: '600'
+          hold_m_name: ''
           liquid_material_name: NMP
-          speed: null
-          temperature: null
-          titration: null
+          speed: '400'
+          temperature: '40'
+          titration: ''
         handles:
           input:
           - data_key: titration
@@ -169,16 +165,20 @@ bioyond_dispensing_station:
             handler_key: BATCH_CREATE_RESULT
             io_type: sink
             label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
         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:
@@ -189,9 +189,11 @@ 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:
@@ -200,14 +202,21 @@ 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: string
+              type: object
           required:
           - goal
-          title: batch_create_90_10_vial_feeding_tasks参数
+          title: BatchCreate9010VialFeedingTasks
           type: object
         type: UniLabJsonCommand
       batch_create_diamine_solution_tasks:
@@ -219,11 +228,11 @@ bioyond_dispensing_station:
           speed: speed
           temperature: temperature
         goal_default:
-          delay_time: null
+          delay_time: '600'
           liquid_material_name: NMP
-          solutions: null
-          speed: null
-          temperature: null
+          solutions: ''
+          speed: '400'
+          temperature: '20'
         handles:
           input:
           - data_key: solutions
@@ -239,16 +248,20 @@ bioyond_dispensing_station:
             handler_key: BATCH_CREATE_RESULT
             io_type: sink
             label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
         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:
@@ -262,9 +275,11 @@ 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:
@@ -272,11 +287,17 @@ 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: string
+              type: object
           required:
           - goal
-          title: batch_create_diamine_solution_tasks参数
+          title: BatchCreateDiamineSolutionTasks
           type: object
         type: UniLabJsonCommand
       compute_experiment_design:
@@ -288,7 +309,7 @@ bioyond_dispensing_station:
           wt_percent: wt_percent
         goal_default:
           m_tot: '70'
-          ratio: null
+          ratio: ''
           titration_percent: '0.03'
           wt_percent: '0.25'
         handles:
@@ -317,8 +338,12 @@ bioyond_dispensing_station:
             handler_key: feeding_order
             io_type: sink
             label: Feeding Order Data From Calculation Node
-        placeholder_keys: {}
-        result: {}
+        result:
+          feeding_order: feeding_order
+          return_info: return_info
+          solutions: solutions
+          solvents: solvents
+          titration: titration
         schema:
           description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
           properties:
@@ -331,7 +356,7 @@ 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: object
+                  type: string
                 titration_percent:
                   default: '0.03'
                   description: 滴定比例(10%部分)
@@ -346,23 +371,14 @@ 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
@@ -370,11 +386,11 @@ bioyond_dispensing_station:
               - solvents
               - feeding_order
               - return_info
-              title: ComputeExperimentDesignReturn
+              title: ComputeExperimentDesign_Result
               type: object
           required:
           - goal
-          title: compute_experiment_design参数
+          title: ComputeExperimentDesign
           type: object
         type: UniLabJsonCommand
       create_90_10_vial_feeding_task:
@@ -428,18 +444,17 @@ bioyond_dispensing_station:
           speed: ''
           temperature: ''
         handles: {}
-        placeholder_keys: {}
         result:
           return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: DispenStationVialFeed_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 delay_time:
                   type: string
@@ -487,13 +502,38 @@ 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:
@@ -524,18 +564,17 @@ bioyond_dispensing_station:
           temperature: ''
           volume: ''
         handles: {}
-        placeholder_keys: {}
         result:
           return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: DispenStationSolnPrep_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 delay_time:
                   type: string
@@ -555,13 +594,24 @@ 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:
@@ -574,8 +624,8 @@ bioyond_dispensing_station:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
         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:
@@ -585,6 +635,12 @@ 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:
@@ -598,8 +654,8 @@ bioyond_dispensing_station:
           target_device_id: target_device_id
           transfer_groups: transfer_groups
         goal_default:
-          target_device_id: null
-          transfer_groups: null
+          target_device_id: ''
+          transfer_groups: ''
         handles: {}
         placeholder_keys:
           target_device_id: unilabos_devices
@@ -615,13 +671,32 @@ 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:
-              type: object
+            result: {}
           required:
           - goal
           title: transfer_materials_to_reaction_station参数
@@ -634,9 +709,9 @@ bioyond_dispensing_station:
           check_interval: check_interval
           timeout: timeout
         goal_default:
-          batch_create_result: null
-          check_interval: 10
-          timeout: 7200
+          batch_create_result: ''
+          check_interval: '10'
+          timeout: '7200'
         handles:
           input:
           - data_key: batch_create_result
@@ -652,35 +727,47 @@ bioyond_dispensing_station:
             handler_key: batch_reports_result
             io_type: sink
             label: Batch Order Completion Reports
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
         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: integer
+                  type: string
                 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: integer
-              required: []
+                  type: string
+              required:
+              - batch_create_result
               title: WaitForMultipleOrdersAndGetReports_Goal
               type: object
             result:
+              properties:
+                return_info:
+                  description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
+                    error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
+                    order_id, status, completion_status, report, elapsed_time)'
+                  type: string
+              required:
+              - return_info
               title: WaitForMultipleOrdersAndGetReports_Result
               type: object
           required:
           - goal
-          title: wait_for_multiple_orders_and_get_reports参数
+          title: WaitForMultipleOrdersAndGetReports
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation

unilabos/registry/devices/camera.yaml

@@ -0,0 +1,81 @@
+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: object
+                  type: string
               required: []
               type: object
             result: {}
@@ -42,8 +42,7 @@ cameracontroller_device:
               properties: {}
               required: []
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: stop参数
@@ -51,7 +50,7 @@ cameracontroller_device:
         type: UniLabJsonCommand
     module: unilabos.devices.cameraSII.cameraUSB:CameraController
     status_types:
-      status: Dict[str, Any]
+      status: dict
     type: python
   config_info: []
   description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
@@ -104,4 +103,5 @@ cameracontroller_device:
       required:
       - status
       type: object
+  registry_type: device
   version: 1.0.0

unilabos/registry/devices/characterization_chromatic.yaml

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

unilabos/registry/devices/characterization_optic.yaml

@@ -120,41 +120,42 @@ raman.home_made:
           type: object
         type: UniLabJsonCommand
       raman_cmd:
-        feedback:
-          status: status
+        feedback: {}
         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

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

@@ -64,8 +64,7 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result:
-              type: boolean
+            result: {}
           required:
           - goal
           title: fun_wuliao_test参数
@@ -110,8 +109,7 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: func_allpack_cmd参数
@@ -222,8 +220,7 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: func_allpack_cmd_simp参数
@@ -312,8 +309,7 @@ coincellassemblyworkstation_device:
                   type: boolean
               required: []
               type: object
-            result:
-              type: boolean
+            result: {}
           required:
           - goal
           title: func_pack_device_init_auto_start_combined参数
@@ -355,8 +351,7 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result:
-              type: boolean
+            result: {}
           required:
           - goal
           title: func_pack_device_stop参数
@@ -381,8 +376,7 @@ coincellassemblyworkstation_device:
                   type: string
               required: []
               type: object
-            result:
-              type: boolean
+            result: {}
           required:
           - goal
           title: func_pack_get_msg_cmd参数
@@ -436,8 +430,7 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result:
-              type: boolean
+            result: {}
           required:
           - goal
           title: func_pack_send_finished_cmd参数
@@ -474,8 +467,7 @@ coincellassemblyworkstation_device:
               - assembly_type
               - assembly_pressure
               type: object
-            result:
-              type: boolean
+            result: {}
           required:
           - goal
           title: func_pack_send_msg_cmd参数
@@ -619,8 +611,7 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: func_sendbottle_allpack_multi参数
@@ -672,6 +663,31 @@ 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: {}
@@ -719,8 +735,7 @@ coincellassemblyworkstation_device:
               required:
               - fujipian_panshu
               type: object
-            result:
-              type: boolean
+            result: {}
           required:
           - goal
           title: qiming_coin_cell_code参数
@@ -811,24 +826,25 @@ 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_coin_cell_code
-      - data_coin_num
-      - data_electrolyte_code
-      - 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
+      - data_assembly_pressure
+      - data_electrolyte_volume
+      - data_coin_num
+      - data_coin_cell_code
+      - data_electrolyte_code
+      - data_glove_box_pressure
+      - data_glove_box_o2_content
+      - data_glove_box_water_content
       type: object
+  registry_type: device
   version: 1.0.0

unilabos/registry/devices/gas_handler.yaml

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

unilabos/registry/devices/hotel.yaml

@@ -5,7 +5,7 @@ hotel.thermo_orbitor_rs2_hotel:
     action_value_mappings: {}
     module: unilabos.devices.resource_container.container:HotelContainer
     status_types:
-      rotation: ''
+      rotation: String
     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

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

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -5,6 +5,31 @@ 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: {}
@@ -41,8 +66,7 @@ neware_battery_test_system:
               properties: {}
               required: []
               type: object
-            result:
-              type: boolean
+            result: {}
           required:
           - goal
           title: test_connection参数
@@ -53,8 +77,9 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: 调试方法：显示所有资源的实际名称
           properties:
@@ -64,10 +89,19 @@ 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:
@@ -77,8 +111,9 @@ neware_battery_test_system:
         goal_default:
           filepath: bts_status.json
         handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: 导出当前状态数据到JSON文件
           properties:
@@ -92,10 +127,19 @@ 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:
@@ -137,8 +181,10 @@ neware_battery_test_system:
         goal_default:
           plate_num: null
         handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          plate_data: plate_data
+          return_info: return_info
+          success: success
         schema:
           description: 获取指定盘或所有盘的状态信息
           properties:
@@ -147,14 +193,29 @@ 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:
@@ -162,8 +223,9 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: 打印通道状态摘要信息到控制台
           properties:
@@ -173,21 +235,28 @@ 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:
-          plate_id: plate_id
-          string: string
+          string: plate_id
         goal_default:
           string: ''
         handles: {}
-        placeholder_keys: {}
         result:
           return_info: return_info
           success: success
@@ -195,23 +264,27 @@ neware_battery_test_system:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 string:
                   type: string
+              required:
+              - string
               title: StrSingleInput_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -225,11 +298,13 @@ neware_battery_test_system:
           csv_path: string
           output_dir: string
         goal_default:
-          csv_path: null
+          csv_path: ''
           output_dir: .
         handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
+          submitted_count: submitted_count
+          success: success
         schema:
           description: 从CSV文件批量提交Neware测试任务
           properties:
@@ -240,17 +315,31 @@ 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:
@@ -258,8 +347,9 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: 测试与电池测试系统的TCP连接
           properties:
@@ -269,10 +359,19 @@ 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:
@@ -293,8 +392,12 @@ neware_battery_test_system:
             handler_key: uploaded_files
             io_type: sink
             label: Uploaded Files (with standard flow info)
-        placeholder_keys: {}
-        result: {}
+        result:
+          failed_files: failed_files
+          return_info: return_info
+          success: success
+          total_count: total_count
+          uploaded_count: uploaded_count
         schema:
           description: 上传备份文件到阿里云OSS
           properties:
@@ -314,17 +417,65 @@ 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[int, Dict]
-      connection_info: Dict[str, str]
+      channel_status: dict
+      connection_info: dict
       device_summary: dict
+      plate_status: dict
       status: str
       total_channels: int
     type: python
@@ -366,24 +517,23 @@ 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
-      - device_summary
-      - status
       - total_channels
+      - plate_status
+      - device_summary
       type: object
   version: 1.0.0

unilabos/registry/devices/opcua_example.yaml

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

unilabos/registry/devices/opsky_ATR30007.yaml

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

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -100,41 +100,42 @@ rotavap.one:
           type: object
         type: UniLabJsonCommand
       set_timer:
-        feedback:
-          status: status
+        feedback: {}
         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:
@@ -249,13 +250,9 @@ separator.homemade:
         feedback:
           status: status
         goal:
-          event: event
           settling_time: settling_time
           stir_speed: stir_speed
-          stir_time: stir_time
-          time: time
-          time_spec: time_spec
-          vessel: vessel
+          stir_time: stir_time,
         goal_default:
           event: ''
           settling_time: ''
@@ -284,42 +281,34 @@ 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
@@ -338,26 +327,16 @@ 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
@@ -367,19 +346,12 @@ 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
@@ -409,10 +381,17 @@ 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
@@ -420,6 +399,10 @@ separator.homemade:
                   type: string
                 success:
                   type: boolean
+              required:
+              - success
+              - message
+              - return_info
               title: Stir_Result
               type: object
           required:
@@ -435,34 +418,36 @@ 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

@@ -28,6 +28,31 @@ 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: {}
@@ -79,41 +104,42 @@ post_process_station:
           type: object
         type: UniLabJsonCommand
       disconnect:
-        feedback:
-          status: status
+        feedback: {}
         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:
@@ -123,41 +149,42 @@ post_process_station:
         type: SendCmd
       read_node:
         feedback:
-          status: status
+          result: result
         goal:
-          command: command
-          node_name: node_name
+          command: 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:
@@ -256,19 +283,17 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: PostProcessTriggerClean_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 acetone_inner_wall_cleaning_count:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
                 acetone_inner_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -279,8 +304,6 @@ 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
@@ -299,8 +322,6 @@ 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
@@ -327,8 +348,6 @@ 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
@@ -339,8 +358,6 @@ 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
@@ -359,8 +376,6 @@ 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
@@ -379,8 +394,6 @@ 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
@@ -391,8 +404,6 @@ 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
@@ -411,8 +422,6 @@ 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
@@ -422,13 +431,55 @@ 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:
@@ -451,11 +502,11 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: PostProcessGrab_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 raw_tank_number:
                   maximum: 2147483647
@@ -465,13 +516,17 @@ 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:
@@ -518,15 +573,13 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: PostProcessTriggerPostPro_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 atomization_fast_speed:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 atomization_pressure_kpa:
                   maximum: 2147483647
@@ -541,12 +594,8 @@ 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
@@ -573,20 +622,32 @@ 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:
@@ -608,26 +669,30 @@ 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:
@@ -637,7 +702,8 @@ post_process_station:
         type: SendCmd
     module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
     status_types:
-      cache_stats: Dict[str, Any]
+      cache_stats: dict
+      node_value: String
     type: python
   config_info: []
   description: 后处理站
@@ -652,9 +718,7 @@ post_process_station:
         config_path:
           type: string
         deck:
-          anyOf:
-          - type: object
-          - type: object
+          type: string
         password:
           type: string
         subscription_interval:
@@ -674,7 +738,10 @@ 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:
-          position: position
-          string: string
+          string: position
         goal_default:
           string: ''
         handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 string:
                   type: string
+              required:
+              - string
               title: StrSingleInput_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -278,25 +278,26 @@ solenoid_valve.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -309,25 +310,26 @@ solenoid_valve.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -420,27 +422,6 @@ 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: {}
@@ -714,10 +695,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 position:
-                  anyOf:
-                  - type: integer
-                  - type: string
-                  - type: number
+                  type: string
               required:
               - position
               type: object
@@ -742,9 +720,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 velocity:
-                  anyOf:
-                  - type: integer
-                  - type: string
+                  type: string
               required:
               - velocity
               type: object
@@ -804,13 +780,13 @@ syringe_pump_with_valve.runze.SY03B-T06:
     status_types:
       max_velocity: float
       mode: int
-      plunger_position: ''
+      plunger_position: String
       position: float
       status: str
       valve_position: str
-      velocity_end: ''
-      velocity_grade: ''
-      velocity_init: ''
+      velocity_end: String
+      velocity_grade: String
+      velocity_init: String
     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。
@@ -909,15 +885,15 @@ syringe_pump_with_valve.runze.SY03B-T06:
         velocity_init:
           type: string
       required:
-      - max_velocity
-      - mode
-      - plunger_position
-      - position
       - status
-      - valve_position
-      - velocity_end
+      - mode
+      - max_velocity
       - velocity_grade
       - velocity_init
+      - velocity_end
+      - valve_position
+      - position
+      - plunger_position
       type: object
   version: 1.0.0
 syringe_pump_with_valve.runze.SY03B-T08:
@@ -967,27 +943,6 @@ 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: {}
@@ -1261,10 +1216,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 position:
-                  anyOf:
-                  - type: integer
-                  - type: string
-                  - type: number
+                  type: string
               required:
               - position
               type: object
@@ -1289,9 +1241,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 velocity:
-                  anyOf:
-                  - type: integer
-                  - type: string
+                  type: string
               required:
               - velocity
               type: object
@@ -1351,13 +1301,13 @@ syringe_pump_with_valve.runze.SY03B-T08:
     status_types:
       max_velocity: float
       mode: int
-      plunger_position: ''
+      plunger_position: String
       position: float
       status: str
       valve_position: str
-      velocity_end: ''
-      velocity_grade: ''
-      velocity_init: ''
+      velocity_end: String
+      velocity_grade: String
+      velocity_init: String
     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。
@@ -1472,14 +1422,14 @@ syringe_pump_with_valve.runze.SY03B-T08:
         velocity_init:
           type: string
       required:
-      - max_velocity
-      - mode
-      - plunger_position
-      - position
       - status
-      - valve_position
-      - velocity_end
+      - mode
+      - max_velocity
       - velocity_grade
       - velocity_init
+      - velocity_end
+      - valve_position
+      - position
+      - plunger_position
       type: object
   version: 1.0.0

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -13,13 +13,12 @@ reaction_station.bioyond:
           start_point: start_point
           start_step_key: start_step_key
         goal_default:
-          duration: null
+          duration: 0
           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
@@ -31,19 +30,23 @@ reaction_station.bioyond:
                   description: 时间(秒)
                   type: integer
                 end_point:
-                  default: 0
+                  default: Start
                   description: 终点计时点 (Start=开始前, End=结束后)
-                  type: integer
+                  enum:
+                  - Start
+                  - End
+                  type: string
                 end_step_key:
-                  default: ''
                   description: 终点步骤Key (可选, 默认为空则自动选择)
                   type: string
                 start_point:
-                  default: 0
+                  default: Start
                   description: 起点计时点 (Start=开始前, End=结束后)
-                  type: integer
+                  enum:
+                  - Start
+                  - End
+                  type: string
                 start_step_key:
-                  default: ''
                   description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
                   type: string
               required:
@@ -95,8 +98,7 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: create_order参数
@@ -123,8 +125,7 @@ reaction_station.bioyond:
               required:
               - workflow_ids
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: hard_delete_merged_workflows参数
@@ -149,8 +150,7 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: merge_workflow_with_parameters参数
@@ -175,8 +175,7 @@ reaction_station.bioyond:
               required:
               - report_request
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: process_temperature_cutoff_report参数
@@ -201,12 +200,7 @@ reaction_station.bioyond:
               required:
               - web_workflow_json
               type: object
-            result:
-              items:
-                additionalProperties:
-                  type: string
-                type: object
-              type: array
+            result: {}
           required:
           - goal
           title: process_web_workflows参数
@@ -235,8 +229,7 @@ reaction_station.bioyond:
               - reactor_id
               - temperature
               type: object
-            result:
-              type: string
+            result: {}
           required:
           - goal
           title: set_reactor_temperature参数
@@ -261,8 +254,7 @@ reaction_station.bioyond:
               required:
               - preintake_id
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: skip_titration_steps参数
@@ -283,8 +275,7 @@ reaction_station.bioyond:
               properties: {}
               required: []
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: sync_workflow_sequence_from_bioyond参数
@@ -316,8 +307,7 @@ reaction_station.bioyond:
                   type: integer
               required: []
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: wait_for_multiple_orders_and_get_reports参数
@@ -369,8 +359,7 @@ reaction_station.bioyond:
               required:
               - workflow_id
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: workflow_step_query参数
@@ -381,8 +370,9 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          code: code
+          message: message
         schema:
           description: 清空服务端所有非核心工作流 (保留核心流程)
           properties:
@@ -392,6 +382,13 @@ 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
@@ -408,14 +405,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: null
-          temperature: 25.0
-          time: '90'
-          titration_type: '1'
-          torque_variation: 2
-          volume: null
+          assign_material_name: ''
+          temperature: ''
+          time: ''
+          titration_type: ''
+          torque_variation: ''
+          volume: ''
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
           description: 滴回去
@@ -427,27 +423,33 @@ 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: number
+                  type: string
                 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)
-                  type: integer
+                  enum:
+                  - 'NO'
+                  - 'YES'
+                  type: string
                 volume:
                   description: 分液公式(mL)
                   type: string
               required:
-              - assign_material_name
               - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              - titration_type
+              - temperature
               type: object
             result: {}
           required:
@@ -460,7 +462,7 @@ reaction_station.bioyond:
         goal:
           batch_reports_result: batch_reports_result
         goal_default:
-          batch_reports_result: null
+          batch_reports_result: ''
         handles:
           input:
           - data_key: batch_reports_result
@@ -476,8 +478,8 @@ reaction_station.bioyond:
             handler_key: ACTUALS_EXTRACTED
             io_type: sink
             label: Extracted Actuals
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
         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:
@@ -491,6 +493,13 @@ 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:
@@ -508,14 +517,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: BAPP
-          temperature: 25.0
-          time: '0'
-          titration_type: '1'
-          torque_variation: 1
-          volume: '350'
+          assign_material_name: ''
+          temperature: ''
+          time: ''
+          titration_type: ''
+          torque_variation: ''
+          volume: ''
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料烧杯
@@ -524,30 +532,36 @@ 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: number
+                  type: string
                 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)
-                  type: integer
+                  enum:
+                  - 'NO'
+                  - 'YES'
+                  type: string
                 volume:
-                  default: '350'
                   description: 分液公式(mL)
                   type: string
-              required: []
+              required:
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              - titration_type
+              - temperature
               type: object
             result: {}
           required:
@@ -566,13 +580,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: null
-          solvents: null
-          temperature: 25.0
+          assign_material_name: ''
+          solvents: ''
+          temperature: '25.00'
           time: '360'
           titration_type: '1'
-          torque_variation: 2
-          volume: null
+          torque_variation: '2'
+          volume: ''
         handles:
           input:
           - data_key: solvents
@@ -581,7 +595,6 @@ 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。
@@ -596,21 +609,27 @@ 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: 25.0
+                  default: '25.00'
                   description: 温度设定(°C),默认25.00
-                  type: number
+                  type: string
                 time:
                   default: '360'
                   description: 观察时间(分钟),默认360
                   type: string
                 titration_type:
-                  default: '1'
+                  default: 'NO'
                   description: 是否滴定(NO=否, YES=是),默认NO
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
                 torque_variation:
-                  default: 2
+                  default: 'YES'
                   description: 是否观察 (NO=否, YES=是),默认YES
-                  type: integer
+                  enum:
+                  - 'NO'
+                  - 'YES'
+                  type: string
                 volume:
                   description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
                   type: string
@@ -636,15 +655,15 @@ reaction_station.bioyond:
           volume_formula: volume_formula
           x_value: x_value
         goal_default:
-          assign_material_name: null
-          extracted_actuals: null
-          feeding_order_data: null
-          temperature: 25.0
+          assign_material_name: ''
+          extracted_actuals: ''
+          feeding_order_data: ''
+          temperature: '25.00'
           time: '90'
           titration_type: '2'
-          torque_variation: 2
-          volume_formula: null
-          x_value: null
+          torque_variation: '2'
+          volume_formula: ''
+          x_value: ''
         handles:
           input:
           - data_key: extracted_actuals
@@ -659,7 +678,6 @@ 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"
@@ -678,21 +696,27 @@ reaction_station.bioyond:
                     {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
                   type: string
                 temperature:
-                  default: 25.0
+                  default: '25.00'
                   description: 温度设定(°C),默认25.00
-                  type: number
+                  type: string
                 time:
                   default: '90'
                   description: 观察时间(分钟),默认90
                   type: string
                 titration_type:
-                  default: '2'
+                  default: 'YES'
                   description: 是否滴定(NO=否, YES=是),默认YES
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
                 torque_variation:
-                  default: 2
+                  default: 'YES'
                   description: 是否观察 (NO=否, YES=是),默认YES
-                  type: integer
+                  enum:
+                  - 'NO'
+                  - 'YES'
+                  type: string
                 volume_formula:
                   description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
                   type: string
@@ -718,14 +742,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume_formula: volume_formula
         goal_default:
-          assign_material_name: null
-          temperature: 25.0
-          time: '0'
-          titration_type: '1'
-          torque_variation: 1
-          volume_formula: null
+          assign_material_name: ''
+          temperature: ''
+          time: ''
+          titration_type: ''
+          torque_variation: ''
+          volume_formula: ''
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料小瓶(非滴定)
@@ -737,27 +760,33 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 temperature:
-                  default: 25.0
                   description: 温度设定(°C)
-                  type: number
+                  type: string
                 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)
-                  type: integer
+                  enum:
+                  - 'NO'
+                  - 'YES'
+                  type: string
                 volume_formula:
                   description: 分液公式(mL)
                   type: string
               required:
               - volume_formula
               - assign_material_name
+              - time
+              - torque_variation
+              - titration_type
+              - temperature
               type: object
             result: {}
           required:
@@ -771,10 +800,9 @@ reaction_station.bioyond:
           task_name: task_name
           workflow_name: workflow_name
         goal_default:
-          task_name: null
-          workflow_name: null
+          task_name: ''
+          workflow_name: ''
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
           description: 处理并执行工作流
@@ -792,8 +820,7 @@ reaction_station.bioyond:
               - workflow_name
               - task_name
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: process_and_execute_workflow参数
@@ -806,11 +833,10 @@ reaction_station.bioyond:
           cutoff: cutoff
           temperature: temperature
         goal_default:
-          assign_material_name: null
-          cutoff: '900000'
-          temperature: -10.0
+          assign_material_name: ''
+          cutoff: ''
+          temperature: ''
         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
@@ -822,14 +848,14 @@ 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: number
+                  type: string
               required:
+              - cutoff
+              - temperature
               - assign_material_name
               type: object
             result: {}
@@ -843,7 +869,6 @@ 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
@@ -853,7 +878,15 @@ reaction_station.bioyond:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              properties:
+                code:
+                  description: 操作结果代码(1表示成功,0表示失败)
+                  type: integer
+                return_info:
+                  description: 操作结果详细信息
+                  type: string
+              type: object
           required:
           - goal
           title: reactor_taken_out参数
@@ -864,8 +897,8 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
         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:
@@ -875,6 +908,12 @@ 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:
@@ -891,13 +930,12 @@ reaction_station.bioyond:
           time: time
           torque_variation: torque_variation
         goal_default:
-          assign_material_name: null
-          material_id: null
-          temperature: 25.0
-          time: '0'
-          torque_variation: 1
+          assign_material_name: ''
+          material_id: ''
+          temperature: ''
+          time: ''
+          torque_variation: ''
         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)
@@ -910,21 +948,29 @@ 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: number
+                  type: string
                 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)
-                  type: integer
+                  enum:
+                  - 'NO'
+                  - 'YES'
+                  type: string
               required:
+              - assign_material_name
               - material_id
+              - time
+              - torque_variation
+              - temperature
               type: object
             result: {}
           required:

unilabos/registry/devices/robot_agv.yaml

@@ -37,41 +37,42 @@ agv.SEER:
           type: object
         type: UniLabJsonCommand
       send_nav_task:
-        feedback:
-          status: status
+        feedback: {}
         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

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

unilabos/registry/devices/robot_gripper.yaml

@@ -114,12 +114,11 @@ gripper.misumi_rz:
             goal:
               properties:
                 data:
-                  type: object
+                  type: string
               required:
               - data
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: modbus_crc参数
@@ -399,26 +398,30 @@ 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:
@@ -501,82 +504,71 @@ gripper.mock:
         type: UniLabJsonCommand
       push_to:
         feedback:
-          effort: effort
+          effort: torque
           position: position
-          reached_goal: reached_goal
-          stalled: stalled
         goal:
-          command: command
-          position: position
-          torque: torque
-          velocity: velocity
+          command.max_effort: torque
+          command.position: position
         goal_default:
           command:
             max_effort: 0.0
             position: 0.0
         handles: {}
-        placeholder_keys: {}
         result:
-          effort: effort
+          effort: torque
           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:
@@ -612,8 +604,8 @@ gripper.mock:
           type: number
       required:
       - position
-      - status
-      - torque
       - velocity
+      - torque
+      - status
       type: object
   version: 1.0.0

unilabos/registry/devices/robot_linear_motion.yaml

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

unilabos/registry/devices/solid_dispenser.yaml

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

unilabos/registry/devices/temperature.yaml

@@ -34,8 +34,7 @@ chiller:
               - register_address
               - value
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: build_modbus_frame参数
@@ -64,8 +63,7 @@ chiller:
               required:
               - temperature
               type: object
-            result:
-              type: integer
+            result: {}
           required:
           - goal
           title: convert_temperature_to_modbus_value参数
@@ -86,12 +84,11 @@ chiller:
             goal:
               properties:
                 data:
-                  type: object
+                  type: string
               required:
               - data
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: modbus_crc参数
@@ -119,41 +116,42 @@ chiller:
           type: object
         type: UniLabJsonCommand
       set_temperature:
-        feedback:
-          status: status
+        feedback: {}
         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:
@@ -268,15 +266,9 @@ 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: ''
@@ -309,23 +301,20 @@ 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
@@ -336,12 +325,8 @@ 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
@@ -350,7 +335,6 @@ heaterstirrer.dalong:
                 time_spec:
                   type: string
                 vessel:
-                  additionalProperties: false
                   properties:
                     category:
                       type: string
@@ -369,26 +353,16 @@ 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
@@ -398,19 +372,12 @@ 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
@@ -440,10 +407,20 @@ 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
@@ -451,6 +428,10 @@ heaterstirrer.dalong:
                   type: string
                 success:
                   type: boolean
+              required:
+              - success
+              - message
+              - return_info
               title: HeatChill_Result
               type: object
           required:
@@ -459,42 +440,42 @@ heaterstirrer.dalong:
           type: object
         type: HeatChill
       set_temp_target:
-        feedback:
-          status: status
+        feedback: {}
         goal:
-          command: command
-          temp: temp
+          command: 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:
@@ -503,42 +484,42 @@ heaterstirrer.dalong:
           type: object
         type: SendCmd
       set_temp_warning:
-        feedback:
-          status: status
+        feedback: {}
         goal:
-          command: command
-          temp: temp
+          command: 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:
@@ -588,8 +569,8 @@ heaterstirrer.dalong:
       - status
       - stir_speed
       - temp
-      - temp_target
       - temp_warning
+      - temp_target
       type: object
   version: 1.0.0
 tempsensor:
@@ -710,41 +691,42 @@ tempsensor:
           type: object
         type: UniLabJsonCommand
       set_warning:
-        feedback:
-          status: status
+        feedback: {}
         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

@@ -45,6 +45,31 @@ 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: {}
@@ -60,14 +85,11 @@ xrd_d7mate:
             goal:
               properties:
                 params:
-                  anyOf:
-                  - type: string
-                  - type: object
+                  type: string
               required:
               - params
               type: object
-            result:
-              type: object
+            result: {}
           required:
           - goal
           title: start_from_string参数
@@ -83,18 +105,21 @@ xrd_d7mate:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -105,38 +130,38 @@ xrd_d7mate:
       get_sample_down:
         feedback: {}
         goal:
-          int_input: int_input
-          sample_station: sample_station
+          sample_station: 1
         goal_default:
           int_input: 0
         handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: IntSingleInput_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
+              required:
+              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -154,18 +179,21 @@ xrd_d7mate:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -183,18 +211,21 @@ xrd_d7mate:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -207,25 +238,26 @@ xrd_d7mate:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -242,35 +274,42 @@ xrd_d7mate:
           sample_id: ''
           start_theta: 10.0
         goal_default:
-          end_theta: null
-          exp_time: null
-          increment: null
-          sample_id: null
-          start_theta: null
+          end_theta: 80.0
+          exp_time: 0.5
+          increment: 0.02
+          sample_id: Sample001
+          start_theta: 10.0
         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
@@ -281,11 +320,19 @@ 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: send_sample_ready参数
+          title: SampleReadyInput
           type: object
         type: UniLabJsonCommand
       set_power_off:
@@ -293,25 +340,26 @@ xrd_d7mate:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -324,25 +372,26 @@ xrd_d7mate:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -356,16 +405,18 @@ xrd_d7mate:
           current: 30.0
           voltage: 40.0
         goal_default:
-          current: null
-          voltage: null
+          current: 30.0
+          voltage: 40.0
         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:
@@ -380,11 +431,19 @@ 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: set_voltage_current参数
+          title: VoltageCurrentInput
           type: object
         type: UniLabJsonCommand
       start:
@@ -394,12 +453,11 @@ xrd_d7mate:
           end_theta: 80.0
           exp_time: 0.1
           increment: 0.05
-          sample_id: ''
+          sample_id: 样品名称
           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。
@@ -408,42 +466,54 @@ xrd_d7mate:
             goal:
               properties:
                 end_theta:
-                  default: 80.0
                   description: 结束角度（≥5.5°，且必须大于start_theta）
-                  type: number
+                  minimum: 5.5
+                  type: string
                 exp_time:
-                  default: 0.1
                   description: 曝光时间（0.1-5.0秒）
-                  type: number
+                  maximum: 5.0
+                  minimum: 0.1
+                  type: string
                 increment:
-                  default: 0.05
                   description: 角度增量（≥0.005）
-                  type: number
+                  minimum: 0.005
+                  type: string
                 sample_id:
-                  default: ''
                   description: 样品标识符
                   type: string
                 start_theta:
-                  default: 10.0
                   description: 起始角度（≥5°）
-                  type: number
+                  minimum: 5.0
+                  type: string
                 string:
-                  default: ''
                   description: 字符串格式的参数输入，如果提供则优先解析使用
                   type: string
                 wait_minutes:
-                  default: 3.0
                   description: 允许上样后等待分钟数
+                  minimum: 0.0
                   type: number
-              required: []
+              required:
+              - sample_id
+              - start_theta
+              - end_theta
+              - increment
+              - exp_time
               title: StartWorkflow_Goal
               type: object
             result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
               title: StartWorkflow_Result
               type: object
           required:
           - goal
-          title: start参数
+          title: StartWorkflow
           type: object
         type: UniLabJsonCommand
       start_auto_mode:
@@ -451,15 +521,17 @@ xrd_d7mate:
         goal:
           status: true
         goal_default:
-          status: null
+          status: true
         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:
@@ -470,16 +542,25 @@ 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: start_auto_mode参数
+          title: BoolSingleInput
           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
@@ -505,13 +586,16 @@ xrd_d7mate:
       properties:
         current_acquire_data:
           type: object
+        sample_down:
+          type: object
         sample_request:
           type: object
         sample_status:
           type: object
       required:
-      - current_acquire_data
       - sample_request
+      - current_acquire_data
       - sample_status
+      - sample_down
       type: object
   version: 1.0.0

unilabos/registry/devices/zhida_gcms.yaml

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

unilabos/registry/resources/bioyond/YB_bottle.yaml

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

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

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

unilabos/registry/resources/bioyond/bottle_carriers.yaml

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

unilabos/registry/resources/bioyond/deck.yaml

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

unilabos/registry/resources/common/resource_container.yaml

@@ -1,3 +1,24 @@
+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
@@ -19,6 +40,56 @@ 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:
@@ -41,6 +112,7 @@ 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:
@@ -63,6 +135,35 @@ 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:
@@ -94,6 +195,7 @@ 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:
@@ -125,4 +227,5 @@ 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

@@ -29,6 +29,7 @@ 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:
@@ -61,4 +62,5 @@ 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

@@ -12,4 +12,5 @@ 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

@@ -12,6 +12,7 @@ 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:
@@ -27,4 +28,5 @@ 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

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

unilabos/registry/resources/opentrons/plates.yaml

@@ -8,6 +8,7 @@ appliedbiosystemsmicroamp_384_wellplate_40ul:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 biorad_384_wellplate_50ul:
   category:
@@ -19,6 +20,7 @@ biorad_384_wellplate_50ul:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 biorad_96_wellplate_200ul_pcr:
   category:
@@ -30,6 +32,7 @@ biorad_96_wellplate_200ul_pcr:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 corning_12_wellplate_6point9ml_flat:
   category:
@@ -41,6 +44,7 @@ corning_12_wellplate_6point9ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 corning_24_wellplate_3point4ml_flat:
   category:
@@ -52,6 +56,7 @@ corning_24_wellplate_3point4ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 corning_384_wellplate_112ul_flat:
   category:
@@ -63,6 +68,7 @@ corning_384_wellplate_112ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 corning_48_wellplate_1point6ml_flat:
   category:
@@ -74,6 +80,7 @@ corning_48_wellplate_1point6ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 corning_6_wellplate_16point8ml_flat:
   category:
@@ -85,6 +92,7 @@ corning_6_wellplate_16point8ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 corning_96_wellplate_360ul_flat:
   category:
@@ -96,6 +104,7 @@ 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:
@@ -127,6 +136,7 @@ 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:
@@ -138,6 +148,7 @@ nest_96_wellplate_200ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_2ml_deep:
   category:
@@ -160,6 +171,7 @@ 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:
@@ -171,6 +183,7 @@ thermoscientificnunc_96_wellplate_1300ul:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 thermoscientificnunc_96_wellplate_2000ul:
   category:
@@ -182,6 +195,7 @@ thermoscientificnunc_96_wellplate_2000ul:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 usascientific_96_wellplate_2point4ml_deep:
   category:
@@ -193,4 +207,5 @@ usascientific_96_wellplate_2point4ml_deep:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/reservoirs.yaml

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

unilabos/registry/resources/opentrons/tip_racks.yaml

@@ -8,6 +8,7 @@ eppendorf_96_tiprack_1000ul_eptips:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 eppendorf_96_tiprack_10ul_eptips:
   category:
@@ -19,6 +20,7 @@ eppendorf_96_tiprack_10ul_eptips:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 geb_96_tiprack_1000ul:
   category:
@@ -30,6 +32,7 @@ geb_96_tiprack_1000ul:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 geb_96_tiprack_10ul:
   category:
@@ -41,6 +44,7 @@ geb_96_tiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_1000ul:
   category:
@@ -71,6 +75,7 @@ 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:
@@ -82,6 +87,7 @@ opentrons_96_filtertiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_200ul:
   category:
@@ -93,6 +99,7 @@ opentrons_96_filtertiprack_200ul:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_20ul:
   category:
@@ -104,6 +111,7 @@ opentrons_96_filtertiprack_20ul:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_1000ul:
   category:
@@ -115,6 +123,7 @@ opentrons_96_tiprack_1000ul:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_10ul:
   category:
@@ -126,6 +135,7 @@ opentrons_96_tiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_20ul:
   category:
@@ -137,6 +147,7 @@ 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

@@ -8,6 +8,7 @@ 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:
@@ -19,6 +20,7 @@ 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:
@@ -30,6 +32,7 @@ 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:
@@ -41,6 +44,7 @@ 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:
@@ -52,6 +56,7 @@ 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:
@@ -63,6 +68,7 @@ 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:
@@ -74,6 +80,7 @@ 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:
@@ -85,6 +92,7 @@ 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:
@@ -96,6 +104,7 @@ 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:
@@ -107,6 +116,7 @@ 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:
@@ -118,6 +128,7 @@ 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:
@@ -129,6 +140,7 @@ 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:
@@ -140,6 +152,7 @@ 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:
@@ -151,6 +164,7 @@ 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:
@@ -162,6 +176,7 @@ 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:
@@ -173,6 +188,7 @@ 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:
@@ -184,6 +200,7 @@ 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:
@@ -195,6 +212,7 @@ 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:
@@ -206,6 +224,7 @@ opentrons_6_tuberack_nest_50ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0
 opentrons_96_well_aluminum_block:
   category:
@@ -217,4 +236,5 @@ opentrons_96_well_aluminum_block:
   handles: []
   icon: ''
   init_param_schema: {}
+  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/organic/container.yaml

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

unilabos/registry/resources/post_process/bottle_carriers.yaml

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

unilabos/registry/resources/post_process/deck.yaml

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

unilabos/registry/resources/prcxi/plate_adapters.yaml

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

unilabos/registry/resources/prcxi/plates.yaml

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

unilabos/registry/resources/prcxi/tip_racks.yaml

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

unilabos/registry/resources/prcxi/trash.yaml

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

unilabos/registry/resources/prcxi/tube_racks.yaml

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

unilabos/registry/utils.py

@@ -599,39 +599,14 @@ def wrap_action_schema(
 
 
 def preserve_field_descriptions(new_schema: Dict[str, Any], prev_schema: Dict[str, Any]):
-    """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）。
-    """
+    """保留之前 schema 中的 field descriptions"""
     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 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)
+        if field_name in new_props and "title" in prev_field:
+            new_props[field_name].setdefault("title", prev_field["title"])
 
 
 # ---------------------------------------------------------------------------

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

@@ -717,19 +717,6 @@ 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
@@ -743,8 +730,7 @@ 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", None)
-    _strip_rosidl_descriptions(schema)
+    schema.pop("description")
     return schema
 
 
@@ -791,8 +777,6 @@ 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

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

unilabos/utils/environment_check.py

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

unilabos/utils/import_manager.py

@@ -21,11 +21,15 @@ __all__ = [
     "get_class",
     "get_module",
     "init_from_list",
-    "get_enhanced_class_info",
+    "get_class_info_static",
+    "get_registry_class_info",
 ]
 
+from ast import Constant
+
 from unilabos.resources.resource_tracker import PARAM_SAMPLE_UUIDS
 from unilabos.utils import logger
+from unilabos.registry.decorators import is_not_action, is_always_free
 
 
 class ImportManager:
@@ -41,7 +45,6 @@ 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:
@@ -156,113 +159,193 @@ 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, **_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。
+    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
 
         Args:
-            module_path: 格式 ``"module.path:ClassName"``
+            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
 
         Returns:
-            ``{"module_path", "ast_analysis_success", "import_map",
-              "init_params", "status_methods", "action_methods"}``
+            包含详细类信息的字典
         """
-        from unilabos.registry.ast_registry_scanner import (
-            _collect_imports,
-            _extract_class_body,
-            _filepath_to_module,
-        )
-
-        result: Dict[str, Any] = {
+        result = {
             "module_path": module_path,
-            "ast_analysis_success": False,
-            "import_map": {},
-            "init_params": [],
+            "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"],
+            "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}")
+
+        with open(file_path, "r", encoding="utf-8") as f:
+            source_code = f.read()
+
+        tree = ast.parse(source_code)
+
+        # 查找目标类
+        target_class = None
+        for node in ast.walk(tree):
+            if isinstance(node, ast.ClassDef):
+                if 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}")
+
+        result = {
+            "class_name": class_name,
+            "init_params": {},
             "status_methods": {},
             "action_methods": {},
         }
 
-        module_name, class_name = module_path.rsplit(":", 1)
-        file_path = self._module_path_to_file_path(module_name)
-        if not file_path or not os.path.exists(file_path):
-            logger.warning(f"[ImportManager] 找不到模块文件: {module_name} -> {file_path}")
-            return result
-
-        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
-
-        # 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
-
-        # 定位目标类 AST 节点
-        target_class = None
-        for node in ast.walk(tree):
-            if isinstance(node, ast.ClassDef) and node.name == class_name:
-                target_class = node
-                break
-
-        if target_class is None:
-            logger.warning(f"[ImportManager] 在文件 {file_path} 中找不到类 {class_name}")
-            return result
-
-        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()
-        }
-        result["ast_analysis_success"] = True
+        # 分析类的方法
+        for node in target_class.body:
+            if isinstance(node, ast.FunctionDef):
+                method_info = self._analyze_method_node(node)
+                method_name = node.name
+                if method_name == "__init__":
+                    result["init_params"] = method_info["args"]
+                elif method_name.startswith("_"):
+                    continue
+                elif self._is_property_method(node):
+                    # @property 装饰的方法
+                    result["status_methods"][method_name] = method_info
+                elif method_name.startswith("get_"):
+                    # get_ 开头的方法归类为status
+                    actual_name = method_name[4:]  # 去掉get_前缀
+                    if actual_name not in result["status_methods"]:
+                        result["status_methods"][actual_name] = method_info
+                else:
+                    # 检查是否被 @not_action 装饰器标记
+                    if self._is_not_action_method(node):
+                        continue
+                    # 其他非_开头的方法归类为action
+                    # 检查是否被 @always_free 装饰器标记
+                    if self._is_always_free_method(node):
+                        method_info["always_free"] = True
+                    result["action_methods"][method_name] = method_info
         return result
 
     def _analyze_method_signature(self, method, skip_unilabos_params: bool = True) -> Dict[str, Any]:
@@ -318,26 +401,23 @@ 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) -> Union[str, Tuple[str, Any]]:
+    def _get_return_type_from_method(self, method) -> str:
         """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"``）。
-        """
+        """将类型注解转换为Class Library中可搜索的类名"""
         if annotation == inspect.Parameter.empty:
-            return "Any"
+            return "Any"  # 如果没有注解，返回Any
         if annotation is None:
-            return "None"
+            return "None"  # 明确的None类型
         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__:
@@ -352,26 +432,132 @@ class ImportManager:
                 return "dict"
             elif origin is Optional:
                 return "Unknown"
-            return "Unknown"
+            return f"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__"):
-            module = getattr(annotation, "__module__", None)
-            if module and module != "builtins":
-                return f"{module}:{annotation.__name__}"
-            return 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
         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(".", "/")
@@ -386,6 +572,222 @@ 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
@@ -413,6 +815,16 @@ def init_from_list(module_list: List[str]) -> None:
     default_manager = ImportManager(module_list)
 
 
-def get_enhanced_class_info(module_path: str, **kwargs) -> Dict[str, Any]:
+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]:
     """获取增强的类信息的便捷函数"""
-    return default_manager.get_enhanced_class_info(module_path, **kwargs)
+    return default_manager.get_enhanced_class_info(module_path, use_dynamic)

unilabos/utils/requirements.txt

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

unilabos/utils/tools.py

@@ -1,39 +1,4 @@
-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

@@ -15,21 +15,14 @@ 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):
-        try:
-            return json_default(obj)
-        except Exception:
-            return super().default(obj)
+        # 优先处理类型对象
+        if isinstance(obj, type):
+            return str(obj)[8:-2]
+        return super().default(obj)
 
 
 class NoAliasDumper(yaml.SafeDumper):
@@ -50,10 +43,13 @@ 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 json_default(obj)
+            return str(obj)[8:-2]
 
+        # 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
@@ -63,8 +59,10 @@ 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

@@ -0,0 +1,241 @@
+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

@@ -0,0 +1,131 @@
+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>0.10.19</version>
+  <version>0.10.18</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>