add:skill&agent

.cursor/skills/add-protocol/reference.md

@@ -0,0 +1,207 @@
+# 协议高级参考
+
+本文件是 SKILL.md 的补充，包含协议运行时数据流、测试模式、单位解析工具和复杂协议组合模式。Agent 在需要实现这些功能时按需阅读。
+
+---
+
+## 1. 协议运行时数据流
+
+从图文件到协议执行的完整链路：
+
+```
+实验图 JSON
+    ↓  graphio.read_node_link_json()
+physical_setup_graph (NetworkX DiGraph)
+    ↓  ROS2WorkstationNode._setup_protocol_names(protocol_type)
+为每个 protocol_name 创建 ActionServer
+    ↓  收到 Action Goal
+_create_protocol_execute_callback()
+    ↓  convert_from_ros_msg_with_mapping(goal, mapping)
+protocol_kwargs (Python dict)
+    ↓  向 Host 查询 Resource 类型参数的当前状态
+protocol_kwargs 更新（vessel 带上 children、data 等）
+    ↓  protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
+List[Dict] 动作序列
+    ↓  逐步 execute_single_action / 并行 create_task
+子设备 ActionClient 执行
+```
+
+### `_setup_protocol_names` 核心逻辑
+
+```python
+def _setup_protocol_names(self, protocol_type):
+    if isinstance(protocol_type, str):
+        self.protocol_names = [p.strip() for p in protocol_type.split(",")]
+    else:
+        self.protocol_names = protocol_type
+    self.protocol_action_mappings = {}
+    for protocol_name in self.protocol_names:
+        protocol_type = globals()[protocol_name]  # 从 messages 模块取 Pydantic 类
+        self.protocol_action_mappings[protocol_name] = get_action_type(protocol_type)
+```
+
+### `_create_protocol_execute_callback` 关键步骤
+
+1. `convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])` — ROS Goal → Python dict
+2. 对 `Resource` 类型字段，通过 `resource_get` Service 查询 Host 的最新资源状态
+3. `protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)` — 调用编译函数
+4. 遍历 steps：`dict` 串行执行，`list` 并行执行
+5. `execute_single_action` 通过 `_action_clients[device_id]` 向子设备发送 Action Goal
+6. 执行完毕后通过 `resource_update` Service 更新资源状态
+
+---
+
+## 2. 测试模式
+
+### 2.1 协议文件内测试函数
+
+许多协议文件末尾有 `test_*` 函数，主要测试参数解析工具：
+
+```python
+def test_dissolve_protocol():
+    """测试溶解协议的各种参数解析"""
+    volumes = ["10 mL", "?", 10.0, "1 L", "500 μL"]
+    for vol in volumes:
+        result = parse_volume_input(vol)
+        print(f"体积解析: {vol} → {result}mL")
+
+    masses = ["2.9 g", "?", 2.5, "500 mg"]
+    for mass in masses:
+        result = parse_mass_input(mass)
+        print(f"质量解析: {mass} → {result}g")
+```
+
+### 2.2 使用 mock graph 测试协议生成器
+
+推荐的端到端测试模式：
+
+```python
+import pytest
+import networkx as nx
+from unilabos.compile.stir_protocol import generate_stir_protocol
+
+
+@pytest.fixture
+def topology_graph():
+    """创建测试拓扑图"""
+    G = nx.DiGraph()
+    G.add_node("flask_1", **{"class": "flask", "type": "container"})
+    G.add_node("stirrer_1", **{"class": "virtual_stirrer", "type": "device"})
+    G.add_edge("stirrer_1", "flask_1")
+    return G
+
+
+def test_generate_stir_protocol(topology_graph):
+    """测试搅拌协议生成"""
+    actions = generate_stir_protocol(
+        G=topology_graph,
+        vessel="flask_1",
+        time="5 min",
+        stir_speed=300.0
+    )
+    assert len(actions) >= 1
+    assert actions[0]["device_id"] == "stirrer_1"
+```
+
+**要点：**
+- 用 `nx.DiGraph()` 构建最小拓扑
+- `add_node(id, **attrs)` 设置 `class`、`type`、`data` 等
+- `add_edge(src, dst)` 建立物理连接
+- 协议内的 `find_*` 函数依赖这些节点和边
+
+---
+
+## 3. 单位解析工具
+
+路径：`unilabos/compile/utils/unit_parser.py`
+
+| 函数 | 输入 | 返回 | 默认值 |
+|------|------|------|--------|
+| `parse_volume_input(input, default_unit)` | `"100 mL"`, `"2.5 L"`, `"500 μL"`, `10.0`, `"?"` | mL (float) | 50.0 |
+| `parse_mass_input(input)` | `"19.3 g"`, `"500 mg"`, `2.5`, `"?"` | g (float) | 1.0 |
+| `parse_time_input(input)` | `"30 min"`, `"1 h"`, `"300"`, `60.0`, `"?"` | 秒 (float) | 60.0 |
+
+支持的单位：
+
+- **体积**: mL, L, μL/uL, milliliter, liter, microliter
+- **质量**: g, mg, kg, gram, milligram, kilogram
+- **时间**: s/sec/second, min/minute, h/hr/hour, d/day
+
+特殊值 `"?"`、`"unknown"`、`"tbd"` 返回默认值。
+
+---
+
+## 4. 复杂协议组合模式
+
+以 `dissolve_protocol` 为例，展示如何组合多个子操作：
+
+### 整体流程
+
+```
+1. 解析参数 (parse_volume_input, parse_mass_input, parse_time_input)
+2. 设备发现 (find_connected_heatchill, find_connected_stirrer, find_solid_dispenser)
+3. 判断溶解类型 (液体 vs 固体)
+4. 组合动作序列:
+   a. heat_chill_start / start_stir  (启动加热/搅拌)
+   b. wait                           (等待温度稳定)
+   c. pump_protocol_with_rinsing     (液体转移, 通过 extend 拼接)
+      或 add_solid                   (固体加样)
+   d. heat_chill / stir / wait       (溶解等待)
+   e. heat_chill_stop                (停止加热)
+```
+
+### 关键代码模式
+
+**设备发现 → 条件组合：**
+
+```python
+heatchill_id = find_connected_heatchill(G, vessel_id)
+stirrer_id = find_connected_stirrer(G, vessel_id)
+solid_dispenser_id = find_solid_dispenser(G)
+
+actions = []
+
+# 启动阶段
+if heatchill_id and temp > 25.0:
+    actions.append({
+        "device_id": heatchill_id,
+        "action_name": "heat_chill_start",
+        "action_kwargs": {"vessel": {"id": vessel_id}, "temp": temp}
+    })
+    actions.append({"action_name": "wait", "action_kwargs": {"time": 30}})
+elif stirrer_id:
+    actions.append({
+        "device_id": stirrer_id,
+        "action_name": "start_stir",
+        "action_kwargs": {"vessel": {"id": vessel_id}, "stir_speed": stir_speed}
+    })
+
+# 转移阶段（复用已有协议）
+pump_actions = generate_pump_protocol_with_rinsing(
+    G=G, from_vessel=solvent_vessel, to_vessel=vessel_id, volume=volume
+)
+actions.extend(pump_actions)
+
+# 等待阶段
+if heatchill_id:
+    actions.append({
+        "device_id": heatchill_id,
+        "action_name": "heat_chill",
+        "action_kwargs": {"vessel": {"id": vessel_id}, "temp": temp, "time": time}
+    })
+else:
+    actions.append({"action_name": "wait", "action_kwargs": {"time": time}})
+```
+
+---
+
+## 5. 关键路径
+
+| 内容 | 路径 |
+|------|------|
+| 协议执行回调 | `unilabos/ros/nodes/presets/workstation.py` |
+| ROS 消息映射 | `unilabos/ros/msgs/message_converter.py` |
+| 物理拓扑图 | `unilabos/resources/graphio.py` (`physical_setup_graph`) |
+| 单位解析 | `unilabos/compile/utils/unit_parser.py` |
+| 容器解析 | `unilabos/compile/utils/vessel_parser.py` |
+| 溶解协议（组合示例） | `unilabos/compile/dissolve_protocol.py` |