use gitee to install pylabrobot

fix virtual import

Author: Xuwznln

unilabos/app/main.py

@@ -12,6 +12,15 @@
 import networkx as nx
 import yaml
 
+# Windows 中文系统 stdout 默认 GBK，无法编码 banner / emoji 日志中的 Unicode 字符
+# 强制 stdout/stderr 用 UTF-8，避免 print 触发 UnicodeEncodeError 导致进程崩溃
+if sys.platform == "win32":
+    for _stream in (sys.stdout, sys.stderr):
+        try:
+            _stream.reconfigure(encoding="utf-8", errors="replace")  # type: ignore[attr-defined]
+        except (AttributeError, OSError):
+            pass
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
 unilabos_dir = os.path.dirname(os.path.dirname(current_dir))

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -2,6 +2,8 @@
 import logging
 from typing import Union, Dict, Optional
 
+from unilabos.registry.decorators import topic_config
+
 
 class VirtualMultiwayValve:
     """
@@ -41,13 +43,11 @@ def current_position(self) -> int:
     def target_position(self) -> int:
         return self._target_position
 
-    def get_current_position(self) -> int:
-        """获取当前阀门位置 📍"""
-        return self._current_position
-
-    def get_current_port(self) -> str:
-        """获取当前连接的端口名称 🔌"""
-        return self._current_position
+    @property
+    @topic_config()
+    def current_port(self) -> str:
+        """当前连接的端口名称 🔌"""
+        return self.port
 
     def set_position(self, command: Union[int, str]):
         """
@@ -169,12 +169,14 @@ def close(self):
         self._status = "Idle"
         self._valve_state = "Closed"
 
-        close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.get_current_port()})"
+        close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.port})"
         self.logger.info(close_msg)
         return close_msg
 
-    def get_valve_position(self) -> int:
-        """获取阀门位置 - 兼容性方法 📍"""
+    @property
+    @topic_config()
+    def valve_position(self) -> int:
+        """阀门位置 📍"""
         return self._current_position
 
     def set_valve_position(self, command: Union[int, str]):
@@ -229,19 +231,16 @@ def switch_between_pump_and_port(self, port_number: int):
             self.logger.info(f"🔄 从端口 {self._current_position} 切换到泵位置...")
             return self.set_to_pump_position()
 
-    def get_flow_path(self) -> str:
-        """获取当前流路路径描述 🌊"""
-        current_port = self.get_current_port()
+    @property
+    @topic_config()
+    def flow_path(self) -> str:
+        """当前流路路径描述 🌊"""
         if self._current_position == 0:
-            flow_path = f"🚰 转移泵已连接 (位置 {self._current_position})"
-        else:
-            flow_path = f"🔌 端口 {self._current_position} 已连接 ({current_port})"
-        
-        # 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
-        return flow_path
+            return f"🚰 转移泵已连接 (位置 {self._current_position})"
+        return f"🔌 端口 {self._current_position} 已连接 ({self.current_port})"
 
     def __str__(self):
-        current_port = self.get_current_port()
+        current_port = self.current_port
         status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
 
         return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
@@ -253,7 +252,7 @@ def __str__(self):
 
     print("🔄 === 虚拟九通阀门测试 === ✨")
     print(f"🏠 初始状态: {valve}")
-    print(f"🌊 当前流路: {valve.get_flow_path()}")
+    print(f"🌊 当前流路: {valve.flow_path}")
 
     # 切换到试剂瓶1（1号位）
     print(f"\n🔌 切换到1号位: {valve.set_position(1)}")

unilabos/devices/virtual/virtual_stirrer.py

@@ -3,6 +3,7 @@
 import time as time_module
 from typing import Dict, Any
 
+from unilabos.registry.decorators import topic_config
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 class VirtualStirrer:
@@ -314,9 +315,11 @@ def max_speed(self) -> float:
     def min_speed(self) -> float:
         return self._min_speed
 
-    def get_device_info(self) -> Dict[str, Any]:
-        """获取设备状态信息 📊"""
-        info = {
+    @property
+    @topic_config()
+    def device_info(self) -> Dict[str, Any]:
+        """设备状态快照信息 📊"""
+        return {
             "device_id": self.device_id,
             "status": self.status,
             "operation_mode": self.operation_mode,
@@ -325,12 +328,9 @@ def get_device_info(self) -> Dict[str, Any]:
             "is_stirring": self.is_stirring,
             "remaining_time": self.remaining_time,
             "max_speed": self._max_speed,
-            "min_speed": self._min_speed
+            "min_speed": self._min_speed,
         }
-        
-        # self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
-        return info
-    
+
     def __str__(self):
         status_emoji = "✅" if self.operation_mode == "Idle" else "🌪️" if self.operation_mode == "Stirring" else "🛑" if self.operation_mode == "Settling" else "❌"
         return f"🌪️ VirtualStirrer({status_emoji} {self.device_id}: {self.operation_mode}, {self.current_speed} RPM)"

unilabos/devices/virtual/virtual_transferpump.py

@@ -4,6 +4,7 @@
 from typing import Union, Optional
 import logging
 
+from unilabos.registry.decorators import topic_config
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -385,8 +386,10 @@ def get_current_volume(self) -> float:
         """获取当前体积"""
         return self._current_volume
 
-    def get_remaining_capacity(self) -> float:
-        """获取剩余容量"""
+    @property
+    @topic_config()
+    def remaining_capacity(self) -> float:
+        """剩余容量 (ml)"""
         return self.max_volume - self._current_volume
 
     def is_empty(self) -> bool:

unilabos/registry/devices/virtual_device.yaml

@@ -3960,6 +3960,14 @@ virtual_separator:
     io_type: source
     label: bottom_phase_out
     side: SOUTH
+  - data_key: top_outlet
+    data_source: executor
+    data_type: fluid
+    description: 上相（轻相）液体输出口
+    handler_key: topphaseout
+    io_type: source
+    label: top_phase_out
+    side: NORTH
   - data_key: mechanical_port
     data_source: handle
     data_type: mechanical

unilabos/utils/environment_check.py

@@ -188,7 +188,13 @@ def __init__(self):
             "crcmod": "crcmod-plus",
         }
 
-        self.special_packages = {"pylabrobot": "git+https://github.com/Xuwznln/pylabrobot.git"}
+        # 中文 locale 下走 Gitee 镜像，规避 GitHub 拉取失败
+        pylabrobot_url = (
+            "git+https://gitee.com/xuwznln/pylabrobot.git"
+            if _is_chinese_locale()
+            else "git+https://github.com/Xuwznln/pylabrobot.git"
+        )
+        self.special_packages = {"pylabrobot": pylabrobot_url}
 
         self.version_requirements = {
             "msgcenterpy": "0.1.8",