嵌套节点上报云端出现ID错误

unilabos/app/web/utils/host_utils.py

@@ -42,7 +42,7 @@ def get_host_node_info() -> Dict[str, Any]:
     host_info["subscribed_topics"] = sorted(list(host_node._subscribed_topics))
     # 获取动作客户端信息
     for action_id, client in host_node._action_clients.items():
-        host_info["action_clients"] = {action_id: get_action_info(client, full_name=action_id)}
+        host_info["action_clients"][action_id] = get_action_info(client, full_name=action_id)
 
     # 获取设备状态
     host_info["device_status"] = host_node.device_status

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -12,7 +12,7 @@ separator.homemade:
         goal:
           stir_time: stir_time,
           stir_speed: stir_speed
-          settling_time": settling_time
+          settling_time: settling_time
         feedback:
           status: status
         result: 

unilabos/registry/devices/vacuum_and_purge.yaml

@@ -3,6 +3,25 @@ vacuum_pump.mock:
   class:
     module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
     type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      open:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      close:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      set_status:
+        type: StrSingleInput
+        goal:
+          string: string
+        feedback: {}
+        result: {}
 
 gas_source.mock:
   description: Mock gas source

unilabos/registry/registry.py

@@ -169,8 +169,13 @@ def load_device_types(self, path: os.PathLike):
                                     action_config["type"] = self._replace_type_with_class(
                                         action_config["type"], device_id, f"动作 {action_name}"
                                     )
-                                    action_config["goal_default"] = yaml.safe_load(io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal)))
-                                    action_config["schema"] = ros_action_to_json_schema(action_config["type"])
+                                    if action_config["type"] is not None:
+                                        action_config["goal_default"] = yaml.safe_load(io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal)))
+                                        action_config["schema"] = ros_action_to_json_schema(action_config["type"])
+                                    else:
+                                        logger.warning(
+                                            f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
+                                        )
 
                 self.device_type_registry.update(data)
 

unilabos/ros/nodes/base_device_node.py

@@ -404,6 +404,7 @@ def register_device(self):
         # 加入全局注册表
         registered_devices[self.device_id] = device_info
         from unilabos.config.config import BasicConfig
+        from unilabos.ros.nodes.presets.host_node import HostNode
         if not BasicConfig.is_host_mode:
             sclient = self.create_client(SerialCommand, "/node_info_update")
             # 启动线程执行发送任务
@@ -413,6 +414,10 @@ def register_device(self):
                 daemon=True,
                 name=f"ROSDevice{self.device_id}_send_slave_node_info"
             ).start()
+        else:
+            host_node = HostNode.get_instance(0)
+            if host_node is not None:
+                host_node.device_machine_names[self.device_id] = "本地"
 
     def send_slave_node_info(self, sclient):
         sclient.wait_for_service()

unilabos/ros/nodes/presets/host_node.py

@@ -141,12 +141,22 @@ def __init__(
             ].items():
                 controller_config["update_rate"] = update_rate
                 self.initialize_controller(controller_id, controller_config)
-
+        resource_with_parent_name = []
+        resource_ids_to_instance = {i["id"]: i for i in resources_config}
+        for res in resources_config:
+            if res.get("parent") and res.get("type") == "device" and res.get("class"):
+                parent_id = res.get("parent")
+                parent_res = resource_ids_to_instance[parent_id]
+                if parent_res.get("type") == "device" and parent_res.get("class"):
+                    resource_with_parent_name.append(copy.deepcopy(res))
+                    resource_with_parent_name[-1]["id"] = f"{parent_res['id']}/{res['id']}"
+                    continue
+            resource_with_parent_name.append(copy.deepcopy(res))
         try:
             for bridge in self.bridges:
                 if hasattr(bridge, "resource_add"):
                     self.lab_logger().info("[Host Node-Resource] Adding resources to bridge.")
-                    bridge.resource_add(add_schema(resources_config))
+                    resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name))
         except Exception as ex:
             self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
             self.lab_logger().error(traceback.format_exc())
@@ -191,7 +201,7 @@ def _discover_devices(self) -> None:
 
             # 如果是新设备，记录并创建ActionClient
             if edge_device_id not in self.devices_names:
-                self.lab_logger().info(f"[Host Node] Discovered new device: {device_key}")
+                self.lab_logger().info(f"[Host Node] Discovered new device: {edge_device_id}")
                 self.devices_names[edge_device_id] = namespace
                 self._create_action_clients_for_device(device_id, namespace)
                 self._online_devices.add(device_key)