update workbench example

update aksk desc

print res query logs

Fix skills exec error with action type

Update Skills

Update Skills addr

Change uni-lab. to leap-lab.
Support unit in pylabrobot

Support async func.

change to leap-lab backend. Support feedback interval. Reduce cocurrent lags.

fix create_resource_with_slot

update unilabos_formulation & batch-submit-exp

scale multi exec thread up to 48

update handle creation api

fit cocurrent gap

add running status debounce

allow non @topic_config support

update skill

add placeholder keys

always free

提交实验技能

disable samples

correct sample demo ret value

新增试剂reagent

update registry

新增manual_confirm

add workstation creation skill

add virtual_sample_demo 样品追踪测试设备

add external devices param
fix registry upload missing type

fast registry load

minor fix on skill & registry

stripe ros2 schema desc
add create-device-skill

new registry system backwards to yaml

remove not exist resource

new registry sys
exp. support with add device

correct raise create resource error

ret info fix revert

ret info fix

fix prcxi check

add create_resource schema

re signal host ready event

add websocket connection timeout and improve reconnection logic

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

unilabos/registry/registry.py

@@ -33,6 +33,8 @@ from unilabos.registry.decorators import (
     is_not_action,
     is_always_free,
     get_topic_config,
+    NodeType,
+    normalize_enum_value,
 )
 from unilabos.registry.utils import (
     ROSMsgNotFound,
@@ -112,7 +114,7 @@ class Registry:
     # 统一入口
     # ------------------------------------------------------------------
 
-    def setup(self, devices_dirs=None, upload_registry=False, complete_registry=False):
+    def setup(self, devices_dirs=None, upload_registry=False, complete_registry=False, external_only=False):
         """统一构建注册表入口。"""
         if self._setup_called:
             logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
@@ -123,24 +125,27 @@ class Registry:
         )
 
         # 1. AST 静态扫描 (快速, 无需 import)
-        self._run_ast_scan(devices_dirs, upload_registry=upload_registry)
+        self._run_ast_scan(devices_dirs, upload_registry=upload_registry, external_only=external_only)
 
         # 2. Host node 内置设备
         self._setup_host_node()
 
-        # 3. YAML 注册表加载 (兼容旧格式)
-        self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
-        for i, path in enumerate(self.registry_paths):
-            sys_path = path.parent
-            logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
-            sys.path.append(str(sys_path))
-            self.load_device_types(path, complete_registry=complete_registry)
-            if BasicConfig.enable_resource_load:
-                self.load_resource_types(path, upload_registry, complete_registry=complete_registry)
-            else:
-                logger.warning(
-                    "[UniLab Registry] 资源加载已禁用 (enable_resource_load=False)，跳过资源注册表加载"
-                )
+        # 3. YAML 注册表加载 (兼容旧格式) — external_only 模式下跳过
+        if external_only:
+            logger.info("[UniLab Registry] external_only 模式: 跳过 YAML 注册表加载")
+        else:
+            self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
+            for i, path in enumerate(self.registry_paths):
+                sys_path = path.parent
+                logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
+                sys.path.append(str(sys_path))
+                self.load_device_types(path, complete_registry=complete_registry)
+                if BasicConfig.enable_resource_load:
+                    self.load_resource_types(path, upload_registry, complete_registry=complete_registry)
+                else:
+                    logger.warning(
+                        "[UniLab Registry] 资源加载已禁用 (enable_resource_load=False)，跳过资源注册表加载"
+                    )
         self._startup_executor.shutdown(wait=True)
         self._startup_executor = None
         self._setup_called = True
@@ -156,9 +161,10 @@ class Registry:
         ast_entry = self.device_type_registry.get("host_node", {})
         ast_actions = ast_entry.get("class", {}).get("action_value_mappings", {})
 
-        # 取出 AST 生成的 auto-method entries, 补充特定覆写
+        # 取出 AST 生成的 action entries, 补充特定覆写
         test_latency_action = ast_actions.get("auto-test_latency", {})
         test_resource_action = ast_actions.get("auto-test_resource", {})
+        manual_confirm_action = ast_actions.get("manual_confirm", {})
         test_resource_action["handles"] = {
             "input": [
                 {
@@ -231,9 +237,12 @@ class Registry:
                             "parent": "unilabos_nodes",
                             "class_name": "unilabos_class",
                         },
+                        "always_free": True,
+                        "feedback_interval": 300.0,
                     },
                     "test_latency": test_latency_action,
                     "auto-test_resource": test_resource_action,
+                    "manual_confirm": manual_confirm_action,
                 },
                 "init_params": {},
             },
@@ -253,7 +262,7 @@ class Registry:
     # AST 静态扫描
     # ------------------------------------------------------------------
 
-    def _run_ast_scan(self, devices_dirs=None, upload_registry=False):
+    def _run_ast_scan(self, devices_dirs=None, upload_registry=False, external_only=False):
         """
         执行 AST 静态扫描，从 Python 代码中提取 @device / @resource 装饰器元数据。
         无需 import 任何驱动模块，速度极快。
@@ -298,16 +307,30 @@ class Registry:
                 extra_dirs.append(d_path)
 
         # 主扫描
-        exclude_files = {"lab_resources.py"} if not BasicConfig.extra_resource else None
-        scan_result = scan_directory(
-            scan_root, python_path=python_path, executor=self._startup_executor,
-            exclude_files=exclude_files, cache=ast_cache,
-        )
-        if exclude_files:
-            logger.info(
-                f"[UniLab Registry] 排除扫描文件: {exclude_files} "
-                f"(可通过 --extra_resource 启用加载)"
+        if external_only:
+            core_files = [
+                pkg_root / "ros" / "nodes" / "presets" / "host_node.py",
+                pkg_root / "resources" / "container.py",
+            ]
+            scan_result = scan_directory(
+                scan_root, python_path=python_path, executor=self._startup_executor,
+                cache=ast_cache, include_files=core_files,
             )
+            logger.info(
+                f"[UniLab Registry] external_only 模式: 仅扫描核心文件 "
+                f"({', '.join(f.name for f in core_files)})"
+            )
+        else:
+            exclude_files = {"lab_resources.py"} if not BasicConfig.extra_resource else None
+            scan_result = scan_directory(
+                scan_root, python_path=python_path, executor=self._startup_executor,
+                exclude_files=exclude_files, cache=ast_cache,
+            )
+            if exclude_files:
+                logger.info(
+                    f"[UniLab Registry] 排除扫描文件: {exclude_files} "
+                    f"(可通过 --extra_resource 启用加载)"
+                )
 
         # 合并缓存统计
         total_stats = scan_result.pop("_cache_stats", {"hits": 0, "misses": 0, "total": 0})
@@ -807,8 +830,9 @@ class Registry:
             raw_handles = (action_args or {}).get("handles")
             handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
 
-            # placeholder_keys: 优先用装饰器显式配置，否则从参数类型检测
-            pk = (action_args or {}).get("placeholder_keys") or detect_placeholder_keys(params)
+            # placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
+            pk = detect_placeholder_keys(params)
+            pk.update((action_args or {}).get("placeholder_keys") or {})
 
             # 从方法返回值类型生成 result schema
             result_schema = None
@@ -830,6 +854,11 @@ class Registry:
             }
             if (action_args or {}).get("always_free") or method_info.get("always_free"):
                 entry["always_free"] = True
+            _fb_iv = (action_args or {}).get("feedback_interval", method_info.get("feedback_interval", 1.0))
+            entry["feedback_interval"] = _fb_iv
+            nt = normalize_enum_value((action_args or {}).get("node_type"), NodeType)
+            if nt:
+                entry["node_type"] = nt
             return action_name, entry
 
         # 1) auto- actions
@@ -950,10 +979,15 @@ class Registry:
                 "schema": schema,
                 "goal_default": goal_default,
                 "handles": handles,
-                "placeholder_keys": action_args.get("placeholder_keys") or detect_placeholder_keys(method_params),
+                "placeholder_keys": {**detect_placeholder_keys(method_params), **(action_args.get("placeholder_keys") or {})},
             }
             if action_args.get("always_free") or method_info.get("always_free"):
                 action_entry["always_free"] = True
+            _fb_iv = action_args.get("feedback_interval", method_info.get("feedback_interval", 1.0))
+            action_entry["feedback_interval"] = _fb_iv
+            nt = normalize_enum_value(action_args.get("node_type"), NodeType)
+            if nt:
+                action_entry["node_type"] = nt
             action_value_mappings[action_name] = action_entry
 
         action_value_mappings = dict(sorted(action_value_mappings.items()))
@@ -1136,7 +1170,7 @@ class Registry:
             return Path(BasicConfig.working_dir) / "registry_cache.pkl"
         return None
 
-    _CACHE_VERSION = 3
+    _CACHE_VERSION = 4
 
     def _load_config_cache(self) -> dict:
         import pickle
@@ -1534,9 +1568,9 @@ class Registry:
                 del resource_info["config_info"]
             if "file_path" in resource_info:
                 del resource_info["file_path"]
-            complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
             resource_info["registry_type"] = "resource"
             resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
+            complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
 
         for rid in skip_ids:
             data.pop(rid, None)
@@ -1861,6 +1895,9 @@ class Registry:
                         }
                         if v.get("always_free"):
                             entry["always_free"] = True
+                        old_node_type = old_cfg.get("node_type")
+                        if old_node_type in [NodeType.ILAB.value, NodeType.MANUAL_CONFIRM.value]:
+                            entry["node_type"] = old_node_type
                         device_config["class"]["action_value_mappings"][action_key] = entry
 
                     device_config["init_param_schema"] = {}
@@ -2175,7 +2212,7 @@ class Registry:
 lab_registry = Registry()
 
 
-def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False):
+def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False, external_only=False):
     """
     构建或获取Registry单例实例
     """
@@ -2189,7 +2226,7 @@ def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False
             if path not in current_paths:
                 lab_registry.registry_paths.append(path)
 
-    lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry)
+    lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry, external_only=external_only)
 
     # 将 AST 扫描的字符串类型替换为实际 ROS2 消息类（仅查找 ROS2 类型，不 import 设备模块）
     lab_registry.resolve_all_types()