test: 新增编译器全链路测试和资源转换测试

- test_pump_separate_full_chain: PumpTransfer和Separate全链路测试，
  验证bug修复后separate不再crash
- test_full_chain_conversion_to_compile: HeatChill/Add协议结构验证
- test_resource_conversion_path: ResourceDictInstance转换路径测试
- test_batch_transfer_protocol: AGV批量转运编译器测试
- test_agv_transport_station: AGV工作站设备测试

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

tests/compile/test_resource_conversion_path.py

@@ -0,0 +1,324 @@
+"""
+ROS Goal → Resource 转换 → 编译器路径的集成测试
+
+覆盖：
+1. Resource.msg 新字段(uuid, klass, extra)的往返转换
+2. dict → ROS Resource → dict 往返无损
+3. ResourceTreeSet → get_plr_nested_dict 保留 children 结构
+4. resource_helper 兼容 dict / ResourceDictInstance
+5. vessel_parser.get_vessel 兼容 ResourceDictInstance
+"""
+
+import json
+import pytest
+
+# 不依赖 ROS 的测试 —— 直接测试 resource 处理路径
+from unilabos.resources.resource_tracker import (
+    ResourceDict,
+    ResourceDictInstance,
+    ResourceTreeInstance,
+    ResourceTreeSet,
+)
+from unilabos.compile.utils.resource_helper import (
+    ensure_resource_instance,
+    resource_to_dict,
+    get_resource_id,
+    get_resource_data,
+    get_resource_display_info,
+    get_resource_liquid_volume,
+)
+from unilabos.compile.utils.vessel_parser import get_vessel
+
+
+# ============ 构建测试数据 ============
+
+
+def _make_resource_dict(
+    id="reactor_01",
+    uuid="uuid-reactor-01",
+    name="reactor_01",
+    klass="virtual_stirrer",
+    type_="device",
+    parent=None,
+    parent_uuid=None,
+    data=None,
+    config=None,
+    extra=None,
+):
+    return {
+        "id": id,
+        "uuid": uuid,
+        "name": name,
+        "class": klass,
+        "type": type_,
+        "parent": parent,
+        "parent_uuid": parent_uuid or "",
+        "description": "",
+        "config": config or {},
+        "data": data or {},
+        "extra": extra or {},
+        "position": {"x": 1.0, "y": 2.0, "z": 3.0},
+    }
+
+
+def _make_resource_instance(id="reactor_01", **kwargs):
+    d = _make_resource_dict(id=id, **kwargs)
+    return ResourceDictInstance.get_resource_instance_from_dict(d)
+
+
+def _make_tree_with_children():
+    """构建 StationA -> [R1, R2] 的资源树"""
+    raw_data = [
+        _make_resource_dict(
+            id="StationA",
+            uuid="uuid-station-a",
+            name="StationA",
+            klass="workstation",
+            type_="device",
+        ),
+        _make_resource_dict(
+            id="R1",
+            uuid="uuid-r1",
+            name="R1",
+            klass="",
+            type_="resource",
+            parent="StationA",
+            parent_uuid="uuid-station-a",
+            data={"liquid": [{"liquid_type": "water", "volume": 10.0}]},
+        ),
+        _make_resource_dict(
+            id="R2",
+            uuid="uuid-r2",
+            name="R2",
+            klass="",
+            type_="resource",
+            parent="StationA",
+            parent_uuid="uuid-station-a",
+            data={"liquid": [{"liquid_type": "ethanol", "volume": 5.0}]},
+        ),
+    ]
+    tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
+    return tree_set
+
+
+# ============ resource_helper 测试 ============
+
+
+class TestResourceHelper:
+    """测试 resource_helper 对 dict / ResourceDictInstance 的兼容性"""
+
+    def test_ensure_resource_instance_from_dict(self):
+        d = _make_resource_dict()
+        inst = ensure_resource_instance(d)
+        assert isinstance(inst, ResourceDictInstance)
+        assert inst.res_content.id == "reactor_01"
+        assert inst.res_content.uuid == "uuid-reactor-01"
+
+    def test_ensure_resource_instance_passthrough(self):
+        inst = _make_resource_instance()
+        result = ensure_resource_instance(inst)
+        assert result is inst  # 同一个对象，不复制
+
+    def test_ensure_resource_instance_none(self):
+        assert ensure_resource_instance(None) is None
+
+    def test_get_resource_id_from_dict(self):
+        d = _make_resource_dict(id="my_device")
+        assert get_resource_id(d) == "my_device"
+
+    def test_get_resource_id_from_instance(self):
+        inst = _make_resource_instance(id="my_device")
+        assert get_resource_id(inst) == "my_device"
+
+    def test_get_resource_id_from_string(self):
+        assert get_resource_id("my_device") == "my_device"
+
+    def test_get_resource_id_from_wrapped_dict(self):
+        """兼容 {station_id: {...}} 格式"""
+        d = {"StationA": {"id": "StationA", "name": "StationA"}}
+        assert get_resource_id(d) == "StationA"
+
+    def test_get_resource_data_from_dict(self):
+        d = _make_resource_dict(data={"temperature": 25.0})
+        assert get_resource_data(d) == {"temperature": 25.0}
+
+    def test_get_resource_data_from_instance(self):
+        inst = _make_resource_instance(data={"temperature": 25.0})
+        data = get_resource_data(inst)
+        assert data["temperature"] == 25.0
+
+    def test_get_resource_display_info_from_dict(self):
+        d = _make_resource_dict(id="reactor_01", name="Reactor #1")
+        info = get_resource_display_info(d)
+        assert "reactor_01" in info
+        assert "Reactor #1" in info
+
+    def test_get_resource_display_info_from_instance(self):
+        inst = _make_resource_instance(id="reactor_01", name="Reactor #1")
+        info = get_resource_display_info(inst)
+        assert "reactor_01" in info
+
+    def test_get_resource_display_info_from_string(self):
+        assert get_resource_display_info("reactor_01") == "reactor_01"
+
+    def test_get_resource_liquid_volume(self):
+        d = _make_resource_dict(data={"liquid": [{"liquid_type": "water", "volume": 15.5}]})
+        assert get_resource_liquid_volume(d) == pytest.approx(15.5)
+
+    def test_resource_to_dict_from_instance(self):
+        inst = _make_resource_instance(id="reactor_01", klass="virtual_stirrer")
+        d = resource_to_dict(inst)
+        assert isinstance(d, dict)
+        assert d["id"] == "reactor_01"
+        assert d["class"] == "virtual_stirrer"
+
+    def test_resource_to_dict_passthrough(self):
+        d = _make_resource_dict()
+        result = resource_to_dict(d)
+        assert result is d  # 同一个 dict
+
+
+# ============ vessel_parser 兼容性测试 ============
+
+
+class TestVesselParser:
+    """测试 vessel_parser.get_vessel 对 ResourceDictInstance 的兼容"""
+
+    def test_get_vessel_from_dict(self):
+        d = _make_resource_dict(id="reactor_01", data={"temperature": 25.0})
+        vessel_id, vessel_data = get_vessel(d)
+        assert vessel_id == "reactor_01"
+        assert vessel_data["temperature"] == 25.0
+
+    def test_get_vessel_from_string(self):
+        vessel_id, vessel_data = get_vessel("reactor_01")
+        assert vessel_id == "reactor_01"
+        assert vessel_data == {}
+
+    def test_get_vessel_from_resource_instance(self):
+        inst = _make_resource_instance(id="reactor_01", data={"temperature": 25.0})
+        vessel_id, vessel_data = get_vessel(inst)
+        assert vessel_id == "reactor_01"
+        assert vessel_data["temperature"] == 25.0
+
+    def test_get_vessel_from_wrapped_dict(self):
+        """兼容 {station_id: {id: ..., data: {...}}} 格式"""
+        d = {"StationA": {"id": "StationA", "data": {"vol": 100}}}
+        vessel_id, vessel_data = get_vessel(d)
+        assert vessel_id == "StationA"
+
+
+# ============ ResourceTreeSet → get_plr_nested_dict 测试 ============
+
+
+class TestResourceTreeRoundTrip:
+    """测试 ResourceTreeSet → get_plr_nested_dict 保留树结构和关键字段"""
+
+    def test_tree_preserves_children(self):
+        tree_set = _make_tree_with_children()
+        assert len(tree_set.trees) == 1
+        root = tree_set.trees[0].root_node
+        assert root.res_content.id == "StationA"
+        assert len(root.children) == 2
+
+    def test_plr_nested_dict_has_children(self):
+        tree_set = _make_tree_with_children()
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+        assert isinstance(nested, dict)
+        assert "children" in nested
+        assert isinstance(nested["children"], dict)
+        assert "R1" in nested["children"]
+        assert "R2" in nested["children"]
+
+    def test_plr_nested_dict_preserves_uuid(self):
+        tree_set = _make_tree_with_children()
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+        assert nested["uuid"] == "uuid-station-a"
+        assert nested["children"]["R1"]["uuid"] == "uuid-r1"
+
+    def test_plr_nested_dict_preserves_klass(self):
+        tree_set = _make_tree_with_children()
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+        assert nested["class"] == "workstation"
+
+    def test_plr_nested_dict_preserves_data(self):
+        tree_set = _make_tree_with_children()
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+        r1_data = nested["children"]["R1"]["data"]
+        assert "liquid" in r1_data
+        assert r1_data["liquid"][0]["volume"] == 10.0
+
+    def test_plr_nested_dict_usable_by_get_vessel(self):
+        """get_plr_nested_dict 的结果可以直接传给 get_vessel"""
+        tree_set = _make_tree_with_children()
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+        vessel_id, vessel_data = get_vessel(nested)
+        assert vessel_id == "StationA"
+
+    def test_dump_vs_plr_nested_dict(self):
+        """dump() 是扁平化的，get_plr_nested_dict 保留树结构"""
+        tree_set = _make_tree_with_children()
+        # dump 返回扁平列表
+        dumped = tree_set.dump()
+        assert isinstance(dumped[0], list)
+        assert len(dumped[0]) == 3  # StationA + R1 + R2，全部扁平
+
+        # get_plr_nested_dict 保留嵌套
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+        assert isinstance(nested["children"], dict)
+        assert len(nested["children"]) == 2  # 嵌套的 children
+
+
+# ============ 模拟 workstation 路径测试 ============
+
+
+class TestWorkstationPath:
+    """模拟 workstation.py 中的关键路径:
+    raw_data → ResourceTreeSet.from_raw_dict_list → get_plr_nested_dict → compiler
+    """
+
+    def test_single_resource_path(self):
+        """单个 Resource: 取第一棵树的根节点"""
+        raw_data = [
+            _make_resource_dict(id="reactor_01", uuid="uuid-r01", klass="virtual_stirrer"),
+        ]
+        tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
+        root = tree_set.trees[0].root_node
+        result = root.get_plr_nested_dict()
+        assert result["id"] == "reactor_01"
+        assert result["uuid"] == "uuid-r01"
+        assert result["class"] == "virtual_stirrer"
+
+    def test_resource_with_children_path(self):
+        """Resource 带 children: AGV/batch transfer 场景"""
+        tree_set = _make_tree_with_children()
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+
+        # 模拟编译器接收到的参数
+        from_repo = {"StationA": nested}
+        assert "A01" not in from_repo["StationA"]["children"]  # children 按 id 索引
+        assert "R1" in from_repo["StationA"]["children"]
+        assert from_repo["StationA"]["children"]["R1"]["uuid"] == "uuid-r1"
+
+    def test_multiple_resource_path(self):
+        """多个 Resource: 每棵树取根节点"""
+        raw_data1 = [_make_resource_dict(id="R1", uuid="uuid-r1")]
+        raw_data2 = [_make_resource_dict(id="R2", uuid="uuid-r2")]
+        # 模拟 host 返回多棵树
+        tree_set1 = ResourceTreeSet.from_raw_dict_list(raw_data1)
+        tree_set2 = ResourceTreeSet.from_raw_dict_list(raw_data2)
+        results = [
+            tree.root_node.get_plr_nested_dict()
+            for ts in [tree_set1, tree_set2]
+            for tree in ts.trees
+        ]
+        assert len(results) == 2
+        assert results[0]["id"] == "R1"
+        assert results[1]["id"] == "R2"