refactor: 深度精简4个协议编译器的装饰性日志 (-335行)

dissolve, pump, stir, adjustph: 移除emoji分隔线、步骤播报、
逐字段参数dump等纯装饰性log，保留错误/警告/关键决策日志。

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

.conda/base/recipe.yaml

@@ -0,0 +1,62 @@
+# unilabos: Production package (depends on unilabos-env + pip unilabos)
+# For production deployment
+
+package:
+  name: unilabos
+  version: 0.10.19
+
+source:
+  path: ../../unilabos
+  target_directory: unilabos
+
+build:
+  python:
+    entry_points:
+    - unilab = unilabos.app.main:main
+  script:
+  - set PIP_NO_INDEX=
+  - if: win
+    then:
+    - copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
+    - copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
+    - copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
+    - pip install %SRC_DIR%
+  - if: unix
+    then:
+    - cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
+    - cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
+    - cp $RECIPE_DIR/../../setup.py $SRC_DIR
+    - pip install $SRC_DIR
+
+requirements:
+  host:
+  - python ==3.11.14
+  - pip
+  - setuptools
+  - zstd
+  - zstandard
+  run:
+  - zstd
+  - zstandard
+  - networkx
+  - typing_extensions
+  - websockets
+  - pint
+  - fastapi
+  - jinja2
+  - requests
+  - uvicorn
+  - if: not osx
+    then:
+    - opcua
+  - pyserial
+  - pandas
+  - pymodbus
+  - matplotlib
+  - pylibftdi
+  - uni-lab::unilabos-env ==0.10.19
+
+about:
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
+  license: GPL-3.0-only
+  description: "UniLabOS - Production package with minimal ROS2 dependencies"

.conda/environment/recipe.yaml

@@ -0,0 +1,39 @@
+# unilabos-env: conda environment dependencies (ROS2 + conda packages)
+
+package:
+  name: unilabos-env
+  version: 0.10.19
+
+build:
+  noarch: generic
+
+requirements:
+  run:
+  # Python
+  - zstd
+  - zstandard
+  - conda-forge::python ==3.11.14
+  - conda-forge::opencv
+  # ROS2 dependencies (from ci-check.yml)
+  - robostack-staging::ros-humble-ros-core
+  - robostack-staging::ros-humble-action-msgs
+  - robostack-staging::ros-humble-std-msgs
+  - robostack-staging::ros-humble-geometry-msgs
+  - robostack-staging::ros-humble-control-msgs
+  - robostack-staging::ros-humble-nav2-msgs
+  - robostack-staging::ros-humble-cv-bridge
+  - robostack-staging::ros-humble-vision-opencv
+  - robostack-staging::ros-humble-tf-transformations
+  - robostack-staging::ros-humble-moveit-msgs
+  - robostack-staging::ros-humble-tf2-ros
+  - robostack-staging::ros-humble-tf2-ros-py
+  - conda-forge::transforms3d
+  - conda-forge::uv
+
+  # UniLabOS custom messages
+  - uni-lab::ros-humble-unilabos-msgs
+
+about:
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
+  license: GPL-3.0-only
+  description: "UniLabOS Environment - ROS2 and conda dependencies"

.conda/full/recipe.yaml

@@ -0,0 +1,42 @@
+# unilabos-full: Full package with all features
+# Depends on unilabos + complete ROS2 desktop + dev tools
+
+package:
+  name: unilabos-full
+  version: 0.10.19
+
+build:
+  noarch: generic
+
+requirements:
+  run:
+  # Base unilabos package (includes unilabos-env)
+  - uni-lab::unilabos ==0.10.19
+  # Documentation tools
+  - sphinx
+  - sphinx_rtd_theme
+  # Web UI
+  - gradio
+  - flask
+  # Interactive development
+  - ipython
+  - jupyter
+  - jupyros
+  - colcon-common-extensions
+  # ROS2 full desktop (includes rviz2, gazebo, etc.)
+  - robostack-staging::ros-humble-desktop-full
+  # Navigation and motion control
+  - ros-humble-navigation2
+  - ros-humble-ros2-control
+  - ros-humble-robot-state-publisher
+  - ros-humble-joint-state-publisher
+  # MoveIt motion planning
+  - ros-humble-moveit
+  - ros-humble-moveit-servo
+  # Simulation
+  - ros-humble-simulation
+
+about:
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
+  license: GPL-3.0-only
+  description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"

.conda/recipe.yaml

@@ -1,92 +0,0 @@
-package:
-  name: unilabos
-  version: 0.10.12
-
-source:
-  path: ../unilabos
-  target_directory: unilabos
-
-build:
-  python:
-    entry_points:
-     - unilab = unilabos.app.main:main
-  script:
-  - set PIP_NO_INDEX=
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
-    - call %PYTHON% -m pip install %SRC_DIR%
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
-    - cp $RECIPE_DIR/../setup.cfg $SRC_DIR
-    - cp $RECIPE_DIR/../setup.py $SRC_DIR
-    - $PYTHON -m pip install $SRC_DIR
-
-
-requirements:
-  host:
-  - python ==3.11.11
-  - pip
-  - setuptools
-  - zstd
-  - zstandard
-  run:
-  - conda-forge::python ==3.11.11
-  - compilers
-  - cmake
-  - zstd
-  - zstandard
-  - ninja
-  - if: unix
-    then:
-    - make
-  - sphinx
-  - sphinx_rtd_theme
-  - numpy
-  - scipy
-  - pandas
-  - networkx
-  - matplotlib
-  - pint
-  - pyserial
-  - pyusb
-  - pylibftdi
-  - pymodbus
-  - python-can
-  - pyvisa
-  - opencv
-  - pydantic
-  - fastapi
-  - uvicorn
-  - gradio
-  - flask
-  - websockets
-  - ipython
-  - jupyter
-  - jupyros
-  - colcon-common-extensions
-  - robostack-staging::ros-humble-desktop-full
-  - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-sensor-msgs
-  - robostack-staging::ros-humble-trajectory-msgs
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
-  - ros-humble-rosbridge-server
-  - ros-humble-cv-bridge
-  - ros-humble-tf2
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
-  - ros-humble-simulation
-  - ros-humble-tf-transformations
-  - transforms3d
-  - uni-lab::ros-humble-unilabos-msgs
-
-about:
-  repository: https://github.com/dptech-corp/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "Uni-Lab-OS"

.conda/scripts/post-link.bat

@@ -1,9 +0,0 @@
-@echo off
-setlocal enabledelayedexpansion
-
-REM upgrade pip
-"%PREFIX%\python.exe" -m pip install --upgrade pip
-
-REM install extra deps
-"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
-"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.conda/scripts/post-link.sh

@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-set -euxo pipefail
-
-# make sure pip is available
-"$PREFIX/bin/python" -m pip install --upgrade pip
-
-# install extra deps
-"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
-"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.cursor/skills/add-device/SKILL.md

@@ -0,0 +1,160 @@
+---
+name: add-device
+description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Uses @device decorator + AST auto-scanning instead of manual YAML. Walks through device category, communication protocol, driver creation with decorators, and graph file setup. Use when the user wants to add/integrate a new device, create a device driver, write a device class, or mentions 接入设备/添加设备/设备驱动/物模型.
+---
+
+# 添加新设备到 Uni-Lab-OS
+
+**第一步：** 使用 Read 工具读取 `docs/ai_guides/add_device.md`，获取完整的设备接入指南。
+
+该指南包含设备类别（物模型）列表、通信协议模板、常见错误检查清单等。搜索 `unilabos/devices/` 获取已有设备的实现参考。
+
+---
+
+## 装饰器参考
+
+### @device — 设备类装饰器
+
+```python
+from unilabos.registry.decorators import device
+
+# 单设备
+@device(
+    id="my_device.vendor",           # 注册表唯一标识（必填）
+    category=["temperature"],         # 分类标签列表（必填）
+    description="设备描述",            # 设备描述
+    display_name="显示名称",           # UI 显示名称（默认用 id）
+    icon="DeviceIcon.webp",           # 图标文件名
+    version="1.0.0",                  # 版本号
+    device_type="python",             # "python" 或 "ros2"
+    handles=[...],                    # 端口列表（InputHandle / OutputHandle）
+    model={...},                      # 3D 模型配置
+    hardware_interface=HardwareInterface(...),  # 硬件通信接口
+)
+
+# 多设备（同一个类注册多个设备 ID，各自有不同的 handles 等配置）
+@device(
+    ids=["pump.vendor.model_A", "pump.vendor.model_B"],
+    id_meta={
+        "pump.vendor.model_A": {"handles": [...], "description": "型号 A"},
+        "pump.vendor.model_B": {"handles": [...], "description": "型号 B"},
+    },
+    category=["pump_and_valve"],
+)
+```
+
+### @action — 动作方法装饰器
+
+```python
+from unilabos.registry.decorators import action
+
+@action                              # 无参：注册为 UniLabJsonCommand 动作
+@action()                            # 同上
+@action(description="执行操作")       # 带描述
+@action(
+    action_type=HeatChill,           # 指定 ROS Action 消息类型
+    goal={"temperature": "temp"},    # Goal 字段映射
+    feedback={},                     # Feedback 字段映射
+    result={},                       # Result 字段映射
+    handles=[...],                   # 动作级别端口
+    goal_default={"temp": 25.0},     # Goal 默认值
+    placeholder_keys={...},          # 参数占位符
+    always_free=True,                # 不受排队限制
+    auto_prefix=True,                # 强制使用 auto- 前缀
+    parent=True,                     # 从父类 MRO 获取参数签名
+)
+```
+
+**自动识别规则：**
+- 带 `@action` 的公开方法 → 注册为动作（方法名即动作名）
+- **不带 `@action` 的公开方法** → 自动注册为 `auto-{方法名}` 动作
+- `_` 开头的方法 → 不扫描
+- `@not_action` 标记的方法 → 排除
+
+### @topic_config — 状态属性配置
+
+```python
+from unilabos.registry.decorators import topic_config
+
+@property
+@topic_config(
+    period=5.0,            # 发布周期（秒），默认 5.0
+    print_publish=False,   # 是否打印发布日志
+    qos=10,                # QoS 深度，默认 10
+    name="custom_name",    # 自定义发布名称（默认用属性名）
+)
+def temperature(self) -> float:
+    return self.data.get("temperature", 0.0)
+```
+
+### 辅助装饰器
+
+```python
+from unilabos.registry.decorators import not_action, always_free
+
+@not_action          # 标记为非动作（post_init、辅助方法等）
+@always_free         # 标记为不受排队限制（查询类操作）
+```
+
+---
+
+## 设备模板
+
+```python
+import logging
+from typing import Any, Dict, Optional
+
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+from unilabos.registry.decorators import device, action, topic_config, not_action
+
+@device(id="my_device", category=["my_category"], description="设备描述")
+class MyDevice:
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
+        self.device_id = device_id or "my_device"
+        self.config = config or {}
+        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
+        self.data: Dict[str, Any] = {"status": "Idle"}
+
+    @not_action
+    def post_init(self, ros_node: BaseROS2DeviceNode) -> None:
+        self._ros_node = ros_node
+
+    @action
+    async def initialize(self) -> bool:
+        self.data["status"] = "Ready"
+        return True
+
+    @action
+    async def cleanup(self) -> bool:
+        self.data["status"] = "Offline"
+        return True
+
+    @action(description="执行操作")
+    def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
+        """带 @action 装饰器 → 注册为 'my_action' 动作"""
+        return {"success": True}
+
+    def get_info(self) -> Dict[str, Any]:
+        """无 @action → 自动注册为 'auto-get_info' 动作"""
+        return {"device_id": self.device_id}
+
+    @property
+    @topic_config()
+    def status(self) -> str:
+        return self.data.get("status", "Idle")
+
+    @property
+    @topic_config(period=2.0)
+    def temperature(self) -> float:
+        return self.data.get("temperature", 0.0)
+```
+
+### 要点
+
+- `_ros_node: BaseROS2DeviceNode` 类型标注放在类体顶部
+- `__init__` 签名固定为 `(self, device_id=None, config=None, **kwargs)`
+- `post_init` 用 `@not_action` 标记，参数类型标注为 `BaseROS2DeviceNode`
+- 运行时状态存储在 `self.data` 字典中
+- 设备文件放在 `unilabos/devices/<category>/` 目录下

.cursor/skills/add-resource/SKILL.md

@@ -0,0 +1,351 @@
+---
+name: add-resource
+description: Guide for adding new resources (materials, bottles, carriers, decks, warehouses) to Uni-Lab-OS (添加新物料/资源). Uses @resource decorator for AST auto-scanning. Covers Bottle, Carrier, Deck, WareHouse definitions. Use when the user wants to add resources, define materials, create a deck layout, add bottles/carriers/plates, or mentions 物料/资源/resource/bottle/carrier/deck/plate/warehouse.
+---
+
+# 添加新物料资源
+
+Uni-Lab-OS 的资源体系基于 PyLabRobot，通过扩展实现 Bottle、Carrier、WareHouse、Deck 等实验室物料管理。使用 `@resource` 装饰器注册，AST 自动扫描生成注册表条目。
+
+---
+
+## 资源类型
+
+| 类型 | 基类 | 用途 | 示例 |
+|------|------|------|------|
+| **Bottle** | `Well` (PyLabRobot) | 单个容器（瓶、小瓶、烧杯、反应器） | 试剂瓶、粉末瓶 |
+| **BottleCarrier** | `ItemizedCarrier` | 多槽位载架（放多个 Bottle） | 6 位试剂架、枪头盒 |
+| **WareHouse** | `ItemizedCarrier` | 堆栈/仓库（放多个 Carrier） | 4x4 堆栈 |
+| **Deck** | `Deck` (PyLabRobot) | 工作站台面（放多个 WareHouse） | 反应站 Deck |
+
+**层级关系：** `Deck` → `WareHouse` → `BottleCarrier` → `Bottle`
+
+WareHouse 本质上和 Site 是同一概念 — 都是定义一组固定的放置位（slot），只不过 WareHouse 多嵌套了一层 Deck。两者都需要开发者根据实际物理尺寸自行计算各 slot 的偏移坐标。
+
+---
+
+## @resource 装饰器
+
+```python
+from unilabos.registry.decorators import resource
+
+@resource(
+    id="my_resource_id",        # 注册表唯一标识（必填）
+    category=["bottles"],       # 分类标签列表（必填）
+    description="资源描述",
+    icon="",                    # 图标
+    version="1.0.0",
+    handles=[...],              # 端口列表（InputHandle / OutputHandle）
+    model={...},                # 3D 模型配置
+    class_type="pylabrobot",    # "python" / "pylabrobot" / "unilabos"
+)
+```
+
+---
+
+## 创建规范
+
+### 命名规则
+
+1. **`name` 参数作为前缀**：所有工厂函数必须接受 `name: str` 参数，创建子物料时以 `name` 作为前缀，确保实例名在运行时全局唯一
+2. **Bottle 命名约定**：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
+3. **函数名 = `@resource(id=...)`**：工厂函数名与注册表 id 保持一致
+
+### 子物料命名示例
+
+```python
+# Carrier 内部的 sites 用 name 前缀
+for k, v in sites.items():
+    v.name = f"{name}_{v.name}"     # "堆栈1左_A01", "堆栈1左_B02" ...
+
+# Carrier 中放置 Bottle 时用 name 前缀
+carrier[0] = My_Reagent_Bottle(f"{name}_flask_1")    # "堆栈1左_flask_1"
+carrier[i] = My_Solid_Vial(f"{name}_vial_{ordering[i]}")  # "堆栈1左_vial_A1"
+
+# create_homogeneous_resources 使用 name_prefix
+sites=create_homogeneous_resources(
+    klass=ResourceHolder,
+    locations=[...],
+    name_prefix=name,  # 自动生成 "{name}_0", "{name}_1" ...
+)
+
+# Deck setup 中用仓库名称作为 name 传入
+self.warehouses = {
+    "堆栈1左": my_warehouse_4x4("堆栈1左"),   # WareHouse.name = "堆栈1左"
+    "试剂堆栈": my_reagent_stack("试剂堆栈"),  # WareHouse.name = "试剂堆栈"
+}
+```
+
+### 其他规范
+
+- **max_volume 单位为 μL**：500mL = 500000
+- **尺寸单位为 mm**：`diameter`, `height`, `size_x/y/z`, `dx/dy/dz`
+- **BottleCarrier 必须设置 `num_items_x/y/z`**：用于前端渲染布局
+- **Deck 的 `__init__` 必须接受 `setup=False`**：图文件中 `config.setup=true` 触发 `setup()`
+- **按项目分组文件**：同一工作站的资源放在 `unilabos/resources/<project>/` 下
+- **`__init__` 必须接受 `serialize()` 输出的所有字段**：`serialize()` 输出会作为 `config` 回传到 `__init__`，因此必须通过显式参数或 `**kwargs` 接受，否则反序列化会报错
+- **持久化运行时状态用 `serialize_state()`**：通过 `_unilabos_state` 字典存储可变信息（如物料内容、液体量），只存 JSON 可序列化的基本类型
+
+---
+
+## 资源模板
+
+### Bottle
+
+```python
+from unilabos.registry.decorators import resource
+from unilabos.resources.itemized_carrier import Bottle
+
+
+@resource(id="My_Reagent_Bottle", category=["bottles"], description="我的试剂瓶")
+def My_Reagent_Bottle(
+    name: str,
+    diameter: float = 70.0,
+    height: float = 120.0,
+    max_volume: float = 500000.0,
+    barcode: str = None,
+) -> Bottle:
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="My_Reagent_Bottle",
+    )
+```
+
+**Bottle 参数：**
+- `name`: 实例名称（运行时唯一，由上层 Carrier 以前缀方式传入）
+- `diameter`: 瓶体直径 (mm)
+- `height`: 瓶体高度 (mm)
+- `max_volume`: 最大容积（**μL**，500mL = 500000）
+- `barcode`: 条形码（可选）
+
+### BottleCarrier
+
+```python
+from pylabrobot.resources import ResourceHolder
+from pylabrobot.resources.carrier import create_ordered_items_2d
+from unilabos.resources.itemized_carrier import BottleCarrier
+from unilabos.registry.decorators import resource
+
+
+@resource(id="My_6SlotCarrier", category=["bottle_carriers"], description="六槽位载架")
+def My_6SlotCarrier(name: str) -> BottleCarrier:
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=3, num_items_y=2,
+        dx=10.0, dy=10.0, dz=5.0,
+        item_dx=42.0, item_dy=35.0,
+        size_x=20.0, size_y=20.0, size_z=50.0,
+    )
+    # 子 site 用 name 作为前缀
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name, size_x=146.0, size_y=80.0, size_z=55.0,
+        sites=sites, model="My_6SlotCarrier",
+    )
+    carrier.num_items_x = 3
+    carrier.num_items_y = 2
+    carrier.num_items_z = 1
+
+    # 放置 Bottle 时用 name 作为前缀
+    ordering = ["A1", "B1", "A2", "B2", "A3", "B3"]
+    for i in range(6):
+        carrier[i] = My_Reagent_Bottle(f"{name}_vial_{ordering[i]}")
+    return carrier
+```
+
+### WareHouse / Deck 放置位
+
+WareHouse 和 Site 本质上是同一概念：都是定义一组固定放置位（slot），根据物理尺寸自行批量计算偏移坐标。WareHouse 只是多嵌套了一层 Deck 而已。推荐开发者直接根据实物测量数据计算各 slot 偏移量。
+
+#### WareHouse（使用 warehouse_factory）
+
+```python
+from unilabos.resources.warehouse import warehouse_factory
+from unilabos.registry.decorators import resource
+
+
+@resource(id="my_warehouse_4x4", category=["warehouse"], description="4x4 堆栈仓库")
+def my_warehouse_4x4(name: str) -> "WareHouse":
+    return warehouse_factory(
+        name=name,
+        num_items_x=4, num_items_y=4, num_items_z=1,
+        dx=10.0, dy=10.0, dz=10.0,             # 第一个 slot 的起始偏移
+        item_dx=147.0, item_dy=106.0, item_dz=130.0,  # slot 间距
+        resource_size_x=127.0, resource_size_y=85.0, resource_size_z=100.0,  # slot 尺寸
+        model="my_warehouse_4x4",
+        col_offset=0,       # 列标签起始偏移（0 → A01, 4 → A05）
+        layout="row-major",  # "row-major" 行优先 / "col-major" 列优先 / "vertical-col-major" 竖向
+    )
+```
+
+`warehouse_factory` 参数说明：
+- `dx/dy/dz`：第一个 slot 相对 WareHouse 原点的偏移（mm）
+- `item_dx/item_dy/item_dz`：相邻 slot 间距（mm），需根据实际物理间距测量
+- `resource_size_x/y/z`：每个 slot 的可放置区域尺寸
+- `layout`：影响 slot 标签和坐标映射
+  - `"row-major"`：A01,A02,...,B01,B02,...（行优先，适合横向排列）
+  - `"col-major"`：A01,B01,...,A02,B02,...（列优先）
+  - `"vertical-col-major"`：竖向排列，y 坐标反向
+
+#### Deck 组装 WareHouse
+
+Deck 通过 `setup()` 将多个 WareHouse 放置到指定坐标：
+
+```python
+from pylabrobot.resources import Deck, Coordinate
+from unilabos.registry.decorators import resource
+
+
+@resource(id="MyStation_Deck", category=["deck"], description="我的工作站 Deck")
+class MyStation_Deck(Deck):
+    def __init__(self, name="MyStation_Deck", size_x=2700.0, size_y=1080.0, size_z=1500.0,
+                 category="deck", setup=False, **kwargs) -> None:
+        super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
+        if setup:
+            self.setup()
+
+    def setup(self) -> None:
+        self.warehouses = {
+            "堆栈1左": my_warehouse_4x4("堆栈1左"),
+            "堆栈1右": my_warehouse_4x4("堆栈1右"),
+        }
+        self.warehouse_locations = {
+            "堆栈1左": Coordinate(-200.0, 400.0, 0.0),  # 自行测量计算
+            "堆栈1右": Coordinate(2350.0, 400.0, 0.0),
+        }
+        for wh_name, wh in self.warehouses.items():
+            self.assign_child_resource(wh, location=self.warehouse_locations[wh_name])
+```
+
+#### Site 模式（前端定向放置）
+
+适用于有固定孔位/槽位的设备（如移液站 PRCXI 9300），Deck 通过 `sites` 列表定义前端展示的放置位，前端据此渲染可拖拽的孔位布局：
+
+```python
+import collections
+from typing import Any, Dict, List, Optional
+from pylabrobot.resources import Deck, Resource, Coordinate
+from unilabos.registry.decorators import resource
+
+
+@resource(id="MyLabDeck", category=["deck"], description="带 Site 定向放置的 Deck")
+class MyLabDeck(Deck):
+    # 根据设备台面实测批量计算各 slot 坐标偏移
+    _DEFAULT_SITE_POSITIONS = [
+        (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0),       # T1-T4
+        (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0),   # T5-T8
+    ]
+    _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86.0, "depth": 0}
+    _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "tube_rack", "adaptor"]
+
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
+                 sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
+        super().__init__(size_x, size_y, size_z, name)
+        if sites is not None:
+            self.sites = [dict(s) for s in sites]
+        else:
+            self.sites = []
+            for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
+                self.sites.append({
+                    "label": f"T{i + 1}",          # 前端显示的槽位标签
+                    "visible": True,                # 是否在前端可见
+                    "position": {"x": x, "y": y, "z": z},  # 槽位物理坐标
+                    "size": dict(self._DEFAULT_SITE_SIZE),  # 槽位尺寸
+                    "content_type": list(self._DEFAULT_CONTENT_TYPE),  # 允许放入的物料类型
+                })
+        self._ordering = collections.OrderedDict(
+            (site["label"], None) for site in self.sites
+        )
+
+    def assign_child_resource(self, resource: Resource,
+                              location: Optional[Coordinate] = None,
+                              reassign: bool = True,
+                              spot: Optional[int] = None):
+        idx = spot
+        if spot is None:
+            for i, site in enumerate(self.sites):
+                if site.get("label") == resource.name:
+                    idx = i
+                    break
+        if idx is None:
+            for i in range(len(self.sites)):
+                if self._get_site_resource(i) is None:
+                    idx = i
+                    break
+        if idx is None:
+            raise ValueError(f"No available site for '{resource.name}'")
+        loc = Coordinate(**self.sites[idx]["position"])
+        super().assign_child_resource(resource, location=loc, reassign=reassign)
+
+    def serialize(self) -> dict:
+        data = super().serialize()
+        sites_out = []
+        for i, site in enumerate(self.sites):
+            occupied = self._get_site_resource(i)
+            sites_out.append({
+                "label": site["label"],
+                "visible": site.get("visible", True),
+                "occupied_by": occupied.name if occupied else None,
+                "position": site["position"],
+                "size": site["size"],
+                "content_type": site["content_type"],
+            })
+        data["sites"] = sites_out
+        return data
+```
+
+**Site 字段说明：**
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `label` | str | 槽位标签（如 `"T1"`），前端显示名称，也用于匹配 resource.name |
+| `visible` | bool | 是否在前端可见 |
+| `position` | dict | 物理坐标 `{x, y, z}`（mm），需自行测量计算偏移 |
+| `size` | dict | 槽位尺寸 `{width, height, depth}`（mm） |
+| `content_type` | list | 允许放入的物料类型，如 `["plate", "tip_rack", "tube_rack", "adaptor"]` |
+
+**参考实现：** `unilabos/devices/liquid_handling/prcxi/prcxi.py` 中的 `PRCXI9300Deck`（4x4 共 16 个 site）。
+
+---
+
+## 文件位置
+
+```
+unilabos/resources/
+├── <project>/              # 按项目分组
+│   ├── bottles.py          # Bottle 工厂函数
+│   ├── bottle_carriers.py  # Carrier 工厂函数
+│   ├── warehouses.py       # WareHouse 工厂函数
+│   └── decks.py            # Deck 类定义
+```
+
+---
+
+## 验证
+
+```bash
+# 资源可导入
+python -c "from unilabos.resources.my_project.bottles import My_Reagent_Bottle; print(My_Reagent_Bottle('test'))"
+
+# 启动测试（AST 自动扫描）
+unilab -g <graph>.json
+```
+
+仅在以下情况仍需 YAML：第三方库资源（如 pylabrobot 内置资源，无 `@resource` 装饰器）。
+
+---
+
+## 关键路径
+
+| 内容 | 路径 |
+|------|------|
+| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
+| WareHouse 基类 + 工厂 | `unilabos/resources/warehouse.py` |
+| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
+| 装饰器定义 | `unilabos/registry/decorators.py` |

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

@@ -0,0 +1,292 @@
+# 资源高级参考
+
+本文件是 SKILL.md 的补充，包含类继承体系、序列化/反序列化、Bioyond 物料同步、非瓶类资源和仓库工厂模式。Agent 在需要实现这些功能时按需阅读。
+
+---
+
+## 1. 类继承体系
+
+```
+PyLabRobot
+├── Resource (PLR 基类)
+│   ├── Well
+│   │   └── Bottle (unilabos)        → 瓶/小瓶/烧杯/反应器
+│   ├── Deck
+│   │   └── 自定义 Deck 类 (unilabos) → 工作站台面
+│   ├── ResourceHolder               → 槽位占位符
+│   └── Container
+│       └── Battery (unilabos)       → 组装好的电池
+│
+├── ItemizedCarrier (unilabos, 继承 Resource)
+│   ├── BottleCarrier (unilabos)     → 瓶载架
+│   └── WareHouse (unilabos)         → 堆栈仓库
+│
+├── ItemizedResource (PLR)
+│   └── MagazineHolder (unilabos)    → 子弹夹载架
+│
+└── ResourceStack (PLR)
+    └── Magazine (unilabos)          → 子弹夹洞位
+```
+
+### Bottle 类细节
+
+```python
+class Bottle(Well):
+    def __init__(self, name, diameter, height, max_volume,
+                 size_x=0.0, size_y=0.0, size_z=0.0,
+                 barcode=None, category="container", model=None, **kwargs):
+        super().__init__(
+            name=name,
+            size_x=diameter,    # PLR 用 diameter 作为 size_x/size_y
+            size_y=diameter,
+            size_z=height,      # PLR 用 height 作为 size_z
+            max_volume=max_volume,
+            category=category,
+            model=model,
+            bottom_type="flat",
+            cross_section_type="circle"
+        )
+```
+
+注意 `size_x = size_y = diameter`，`size_z = height`。
+
+### ItemizedCarrier 核心方法
+
+| 方法 | 说明 |
+|------|------|
+| `__getitem__(identifier)` | 通过索引或 Excel 标识（如 `"A01"`）访问槽位 |
+| `__setitem__(identifier, resource)` | 向槽位放入资源 |
+| `get_child_identifier(child)` | 获取子资源的标识符 |
+| `capacity` | 总槽位数 |
+| `sites` | 所有槽位字典 |
+
+---
+
+## 2. 序列化与反序列化
+
+### PLR ↔ UniLab 转换
+
+| 函数 | 位置 | 方向 |
+|------|------|------|
+| `ResourceTreeSet.from_plr_resources(resources)` | `resource_tracker.py` | PLR → UniLab |
+| `ResourceTreeSet.to_plr_resources()` | `resource_tracker.py` | UniLab → PLR |
+
+### `from_plr_resources` 流程
+
+```
+PLR Resource
+    ↓ build_uuid_mapping (递归生成 UUID)
+    ↓ resource.serialize() → dict
+    ↓ resource.serialize_all_state() → states
+    ↓ resource_plr_inner (递归构建 ResourceDictInstance)
+ResourceTreeSet
+```
+
+关键：每个 PLR 资源通过 `unilabos_uuid` 属性携带 UUID，`unilabos_extra` 携带扩展数据（如 `class` 名）。
+
+### `to_plr_resources` 流程
+
+```
+ResourceTreeSet
+    ↓ collect_node_data (收集 UUID、状态、扩展数据)
+    ↓ node_to_plr_dict (转为 PLR 字典格式)
+    ↓ find_subclass(type_name, PLRResource) (查找 PLR 子类)
+    ↓ sub_cls.deserialize(plr_dict) (反序列化)
+    ↓ loop_set_uuid, loop_set_extra (递归设置 UUID 和扩展)
+PLR Resource
+```
+
+### Bottle 序列化
+
+```python
+class Bottle(Well):
+    def serialize(self) -> dict:
+        data = super().serialize()
+        return {**data, "diameter": self.diameter, "height": self.height}
+
+    @classmethod
+    def deserialize(cls, data: dict, allow_marshal=False):
+        barcode_data = data.pop("barcode", None)
+        instance = super().deserialize(data, allow_marshal=allow_marshal)
+        if barcode_data and isinstance(barcode_data, str):
+            instance.barcode = barcode_data
+        return instance
+```
+
+---
+
+## 3. Bioyond 物料同步
+
+### 双向转换函数
+
+| 函数 | 位置 | 方向 |
+|------|------|------|
+| `resource_bioyond_to_plr(materials, type_mapping, deck)` | `graphio.py` | Bioyond → PLR |
+| `resource_plr_to_bioyond(resources, type_mapping, warehouse_mapping)` | `graphio.py` | PLR → Bioyond |
+
+### `resource_bioyond_to_plr` 流程
+
+```
+Bioyond 物料列表
+    ↓ reverse_type_mapping: {typeName → (model, UUID)}
+    ↓ 对每个物料:
+       typeName → 查映射 → model (如 "BIOYOND_PolymerStation_Reactor")
+       initialize_resource({"name": unique_name, "class": model})
+    ↓ 设置 unilabos_extra (material_bioyond_id, material_bioyond_name 等)
+    ↓ 处理 detail (子物料/坐标)
+    ↓ 按 locationName 放入 deck.warehouses 对应槽位
+PLR 资源列表
+```
+
+### `resource_plr_to_bioyond` 流程
+
+```
+PLR 资源列表
+    ↓ 遍历每个资源:
+       载架(capacity > 1): 生成 details 子物料 + 坐标
+       单瓶: 直接映射
+    ↓ type_mapping 查找 typeId
+    ↓ warehouse_mapping 查找位置 UUID
+    ↓ 组装 Bioyond 格式 (name, typeName, typeId, quantity, Parameters, locations)
+Bioyond 物料列表
+```
+
+### BioyondResourceSynchronizer
+
+工作站通过 `ResourceSynchronizer` 自动同步物料：
+
+```python
+class BioyondResourceSynchronizer(ResourceSynchronizer):
+    def sync_from_external(self) -> bool:
+        all_data = []
+        all_data.extend(api_client.stock_material('{"typeMode": 0}'))  # 耗材
+        all_data.extend(api_client.stock_material('{"typeMode": 1}'))  # 样品
+        all_data.extend(api_client.stock_material('{"typeMode": 2}'))  # 试剂
+        unilab_resources = resource_bioyond_to_plr(
+            all_data,
+            type_mapping=self.workstation.bioyond_config["material_type_mappings"],
+            deck=self.workstation.deck
+        )
+        # 更新 deck 上的资源
+```
+
+---
+
+## 4. 非瓶类资源
+
+### ElectrodeSheet（极片）
+
+路径：`unilabos/resources/battery/electrode_sheet.py`
+
+```python
+class ElectrodeSheet(ResourcePLR):
+    """片状材料（极片、隔膜、弹片、垫片等）"""
+    _unilabos_state = {
+        "diameter": 0.0,
+        "thickness": 0.0,
+        "mass": 0.0,
+        "material_type": "",
+        "color": "",
+        "info": "",
+    }
+```
+
+工厂函数：`PositiveCan`, `PositiveElectrode`, `NegativeCan`, `NegativeElectrode`, `SpringWasher`, `FlatWasher`, `AluminumFoil`
+
+### Battery（电池）
+
+```python
+class Battery(Container):
+    """组装好的电池"""
+    _unilabos_state = {
+        "color": "",
+        "electrolyte_name": "",
+        "open_circuit_voltage": 0.0,
+    }
+```
+
+### Magazine / MagazineHolder（子弹夹）
+
+```python
+class Magazine(ResourceStack):
+    """子弹夹洞位，可堆叠 ElectrodeSheet"""
+    # direction, max_sheets
+
+class MagazineHolder(ItemizedResource):
+    """多洞位子弹夹"""
+    # hole_diameter, hole_depth, max_sheets_per_hole
+```
+
+工厂函数 `magazine_factory()` 用 `create_homogeneous_resources` 生成洞位，可选预填 `ElectrodeSheet` 或 `Battery`。
+
+---
+
+## 5. 仓库工厂模式参考
+
+### 实际 warehouse 工厂函数示例
+
+```python
+# 行优先 4x4 仓库
+def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
+    return warehouse_factory(
+        name=name,
+        num_items_x=4, num_items_y=4, num_items_z=1,
+        dx=10.0, dy=10.0, dz=10.0,
+        item_dx=147.0, item_dy=106.0, item_dz=130.0,
+        layout="row-major",  # A01,A02,A03,A04, B01,...
+    )
+
+# 右侧 4x4 仓库（列名偏移）
+def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
+    return warehouse_factory(
+        name=name,
+        num_items_x=4, num_items_y=4, num_items_z=1,
+        dx=10.0, dy=10.0, dz=10.0,
+        item_dx=147.0, item_dy=106.0, item_dz=130.0,
+        col_offset=4,      # A05,A06,A07,A08
+        layout="row-major",
+    )
+
+# 竖向仓库（站内试剂存放）
+def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
+    return warehouse_factory(
+        name=name,
+        num_items_x=1, num_items_y=2, num_items_z=1,
+        dx=10.0, dy=10.0, dz=10.0,
+        item_dx=147.0, item_dy=106.0, item_dz=130.0,
+        layout="vertical-col-major",
+    )
+
+# 行偏移（F 行开始）
+def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
+    return warehouse_factory(
+        name=name,
+        num_items_x=3, num_items_y=5, num_items_z=1,
+        dx=10.0, dy=10.0, dz=10.0,
+        item_dx=159.0, item_dy=183.0, item_dz=130.0,
+        row_offset=row_offset,  # 0→A行起，5→F行起
+        layout="row-major",
+    )
+```
+
+### layout 类型说明
+
+| layout | 命名顺序 | 适用场景 |
+|--------|---------|---------|
+| `col-major` (默认) | A01,B01,C01,D01, A02,B02,... | 列优先，标准堆栈 |
+| `row-major` | A01,A02,A03,A04, B01,B02,... | 行优先，Bioyond 前端展示 |
+| `vertical-col-major` | 竖向排列，标签从底部开始 | 竖向仓库（试剂存放、测密度） |
+
+---
+
+## 6. 关键路径
+
+| 内容 | 路径 |
+|------|------|
+| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
+| WareHouse 类 + 工厂 | `unilabos/resources/warehouse.py` |
+| ResourceTreeSet 转换 | `unilabos/resources/resource_tracker.py` |
+| Bioyond 物料转换 | `unilabos/resources/graphio.py` |
+| Bioyond 仓库定义 | `unilabos/resources/bioyond/warehouses.py` |
+| 电池资源 | `unilabos/resources/battery/` |
+| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |

.cursor/skills/add-workstation/SKILL.md

@@ -0,0 +1,626 @@
+---
+name: add-workstation
+description: Guide for adding new workstations to Uni-Lab-OS (接入新工作站). Uses @device decorator + AST auto-scanning. Walks through workstation type, sub-device composition, driver creation, deck setup, and graph file. Use when the user wants to add a workstation, create a workstation driver, configure a station with sub-devices, or mentions 工作站/工站/station/workstation.
+---
+
+# Uni-Lab-OS 工作站接入指南
+
+工作站（workstation）是组合多个子设备的大型设备，拥有独立的物料管理系统和工作流引擎。使用 `@device` 装饰器注册，AST 自动扫描生成注册表。
+
+---
+
+## 工作站类型
+
+| 类型                | 基类              | 适用场景                           |
+| ------------------- | ----------------- | ---------------------------------- |
+| **Protocol 工作站** | `ProtocolNode`    | 标准化学操作协议（泵转移、过滤等） |
+| **外部系统工作站**  | `WorkstationBase` | 与外部 LIMS/MES 对接               |
+| **硬件控制工作站**  | `WorkstationBase` | 直接控制 PLC/硬件                  |
+
+---
+
+## @device 装饰器（工作站）
+
+工作站也使用 `@device` 装饰器注册，参数与普通设备一致：
+
+```python
+@device(
+    id="my_workstation",           # 注册表唯一标识（必填）
+    category=["workstation"],      # 分类标签
+    description="我的工作站",
+)
+```
+
+如果一个工作站类支持多个具体变体，可使用 `ids` / `id_meta`，与设备的用法相同（参见 add-device SKILL）。
+
+---
+
+## 工作站驱动模板
+
+### 模板 A：基于外部系统的工作站
+
+```python
+import logging
+from typing import Dict, Any, Optional
+from pylabrobot.resources import Deck
+
+from unilabos.registry.decorators import device, topic_config, not_action
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+
+try:
+    from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
+except ImportError:
+    ROS2WorkstationNode = None
+
+
+@device(id="my_workstation", category=["workstation"], description="我的工作站")
+class MyWorkstation(WorkstationBase):
+    _ros_node: "ROS2WorkstationNode"
+
+    def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
+        super().__init__(deck=deck, **kwargs)
+        self.config = config or {}
+        self.logger = logging.getLogger("MyWorkstation")
+        self.api_host = self.config.get("api_host", "")
+        self._status = "Idle"
+
+    @not_action
+    def post_init(self, ros_node: "ROS2WorkstationNode"):
+        super().post_init(ros_node)
+        self._ros_node = ros_node
+
+    async def scheduler_start(self, **kwargs) -> Dict[str, Any]:
+        """注册为工作站动作"""
+        return {"success": True}
+
+    async def create_order(self, json_str: str, **kwargs) -> Dict[str, Any]:
+        """注册为工作站动作"""
+        return {"success": True}
+
+    @property
+    @topic_config()
+    def workflow_sequence(self) -> str:
+        return "[]"
+
+    @property
+    @topic_config()
+    def material_info(self) -> str:
+        return "{}"
+```
+
+### 模板 B：Protocol 工作站
+
+直接使用 `ProtocolNode`，通常不需要自定义驱动类：
+
+```python
+from unilabos.devices.workstation.workstation_base import ProtocolNode
+```
+
+在图文件中配置 `protocol_type` 即可。
+
+---
+
+## 子设备访问（sub_devices）
+
+工站初始化子设备后，所有子设备实例存储在 `self._ros_node.sub_devices` 字典中（key 为设备 id，value 为 `ROS2DeviceNode` 实例）。工站的驱动类可以直接获取子设备实例来调用其方法：
+
+```python
+# 在工站驱动类的方法中访问子设备
+sub = self._ros_node.sub_devices["pump_1"]
+
+# .driver_instance — 子设备的驱动实例（即设备 Python 类的实例）
+sub.driver_instance.some_method(arg1, arg2)
+
+# .ros_node_instance — 子设备的 ROS2 节点实例
+sub.ros_node_instance._action_value_mappings  # 查看子设备支持的 action
+```
+
+**常见用法**：
+
+```python
+class MyWorkstation(WorkstationBase):
+    def my_protocol(self, **kwargs):
+        # 获取子设备驱动实例
+        pump = self._ros_node.sub_devices["pump_1"].driver_instance
+        heater = self._ros_node.sub_devices["heater_1"].driver_instance
+
+        # 直接调用子设备方法
+        pump.aspirate(volume=100)
+        heater.set_temperature(80)
+```
+
+> 参考实现：`unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py` 中通过 `self._ros_node.sub_devices.get(reactor_id)` 获取子反应器实例并更新数据。
+
+---
+
+## 硬件通信接口（hardware_interface）
+
+硬件控制型工作站通常需要通过串口（Serial）、Modbus 等通信协议控制多个子设备。Uni-Lab-OS 通过 **通信设备代理** 机制实现端口共享：一个串口只创建一个 `serial` 节点，多个子设备共享这个通信实例。
+
+### 工作原理
+
+`ROS2WorkstationNode` 初始化时分两轮遍历子设备（`workstation.py`）：
+
+**第一轮 — 初始化所有子设备**：按 `children` 顺序调用 `initialize_device()`，通信设备（`serial_` / `io_` 开头的 id）优先完成初始化，创建 `serial.Serial()` 实例。其他子设备此时 `self.hardware_interface = "serial_pump"`（字符串）。
+
+**第二轮 — 代理替换**：遍历所有已初始化的子设备，读取子设备的 `_hardware_interface` 配置：
+
+```
+hardware_interface = d.ros_node_instance._hardware_interface
+# → {"name": "hardware_interface", "read": "send_command", "write": "send_command"}
+```
+
+1. 取 `name` 字段对应的属性值：`name_value = getattr(driver, hardware_interface["name"])`
+   - 如果 `name_value` 是字符串且该字符串是某个子设备的 id → 触发代理替换
+2. 从通信设备获取真正的 `read`/`write` 方法
+3. 用 `setattr(driver, read_method, _read)` 将通信设备的方法绑定到子设备上
+
+因此：
+
+- **通信设备 id 必须与子设备 config 中填的字符串完全一致**（如 `"serial_pump"`）
+- **通信设备 id 必须以 `serial_` 或 `io_` 开头**（否则第一轮不会被识别为通信设备）
+- **通信设备必须在 `children` 列表中排在最前面**，确保先初始化
+
+### HardwareInterface 参数说明
+
+```python
+from unilabos.registry.decorators import HardwareInterface
+
+HardwareInterface(
+    name="hardware_interface",   # __init__ 中接收通信实例的属性名
+    read="send_command",         # 通信设备上暴露的读方法名
+    write="send_command",        # 通信设备上暴露的写方法名
+    extra_info=["list_ports"],   # 可选：额外暴露的方法
+)
+```
+
+**`name` 字段的含义**：对应设备类 `__init__` 中，用于保存通信实例的**属性名**。系统据此知道要替换哪个属性。大部分设备直接用 `"hardware_interface"`，也可以自定义（如 `"io_device_port"`）。
+
+### 示例 1：泵（name="hardware_interface"）
+
+```python
+from unilabos.registry.decorators import device, HardwareInterface
+
+@device(
+    id="my_pump",
+    category=["pump_and_valve"],
+    hardware_interface=HardwareInterface(
+        name="hardware_interface",
+        read="send_command",
+        write="send_command",
+    ),
+)
+class MyPump:
+    def __init__(self, port=None, address="1", **kwargs):
+        # name="hardware_interface" → 系统替换 self.hardware_interface
+        self.hardware_interface = port  # 初始为字符串 "serial_pump"，启动后被替换为 Serial 实例
+        self.address = address
+
+    def send_command(self, command: str):
+        full_command = f"/{self.address}{command}\r\n"
+        self.hardware_interface.write(bytearray(full_command, "ascii"))
+        return self.hardware_interface.read_until(b"\n")
+```
+
+### 示例 2：电磁阀（name="io_device_port"，自定义属性名）
+
+```python
+@device(
+    id="solenoid_valve",
+    category=["pump_and_valve"],
+    hardware_interface=HardwareInterface(
+        name="io_device_port",       # 自定义属性名 → 系统替换 self.io_device_port
+        read="read_io_coil",
+        write="write_io_coil",
+    ),
+)
+class SolenoidValve:
+    def __init__(self, io_device_port: str = None, **kwargs):
+        # name="io_device_port" → 图文件 config 中用 "io_device_port": "io_board_1"
+        self.io_device_port = io_device_port  # 初始为字符串，系统替换为 Modbus 实例
+```
+
+### Serial 通信设备（class="serial"）
+
+`serial` 是 Uni-Lab-OS 内置的通信代理设备，代码位于 `unilabos/ros/nodes/presets/serial_node.py`：
+
+```python
+from serial import Serial, SerialException
+from threading import Lock
+
+class ROS2SerialNode(BaseROS2DeviceNode):
+    def __init__(self, device_id, registry_name, port: str, baudrate: int = 9600, **kwargs):
+        self.port = port
+        self.baudrate = baudrate
+        self._hardware_interface = {
+            "name": "hardware_interface",
+            "write": "send_command",
+            "read": "read_data",
+        }
+        self._query_lock = Lock()
+
+        self.hardware_interface = Serial(baudrate=baudrate, port=port)
+
+        BaseROS2DeviceNode.__init__(
+            self, driver_instance=self, registry_name=registry_name,
+            device_id=device_id, status_types={}, action_value_mappings={},
+            hardware_interface=self._hardware_interface, print_publish=False,
+        )
+        self.create_service(SerialCommand, "serialwrite", self.handle_serial_request)
+
+    def send_command(self, command: str):
+        with self._query_lock:
+            self.hardware_interface.write(bytearray(f"{command}\n", "ascii"))
+            return self.hardware_interface.read_until(b"\n").decode()
+
+    def read_data(self):
+        with self._query_lock:
+            return self.hardware_interface.read_until(b"\n").decode()
+```
+
+在图文件中使用 `"class": "serial"` 即可创建串口代理：
+
+```json
+{
+  "id": "serial_pump",
+  "class": "serial",
+  "parent": "my_station",
+  "config": { "port": "COM7", "baudrate": 9600 }
+}
+```
+
+### 图文件配置
+
+**通信设备必须在 `children` 列表中排在最前面**，确保先于其他子设备初始化：
+
+```json
+{
+  "nodes": [
+    {
+      "id": "my_station",
+      "class": "workstation",
+      "children": ["serial_pump", "pump_1", "pump_2"],
+      "config": { "protocol_type": ["PumpTransferProtocol"] }
+    },
+    {
+      "id": "serial_pump",
+      "class": "serial",
+      "parent": "my_station",
+      "config": { "port": "COM7", "baudrate": 9600 }
+    },
+    {
+      "id": "pump_1",
+      "class": "syringe_pump_with_valve.runze.SY03B-T08",
+      "parent": "my_station",
+      "config": { "port": "serial_pump", "address": "1", "max_volume": 25.0 }
+    },
+    {
+      "id": "pump_2",
+      "class": "syringe_pump_with_valve.runze.SY03B-T08",
+      "parent": "my_station",
+      "config": { "port": "serial_pump", "address": "2", "max_volume": 25.0 }
+    }
+  ],
+  "links": [
+    {
+      "source": "pump_1",
+      "target": "serial_pump",
+      "type": "communication",
+      "port": { "pump_1": "port", "serial_pump": "port" }
+    },
+    {
+      "source": "pump_2",
+      "target": "serial_pump",
+      "type": "communication",
+      "port": { "pump_2": "port", "serial_pump": "port" }
+    }
+  ]
+}
+```
+
+### 通信协议速查
+
+| 协议                 | config 参数                    | 依赖包     | 通信设备 class             |
+| -------------------- | ------------------------------ | ---------- | -------------------------- |
+| Serial (RS232/RS485) | `port`, `baudrate`             | `pyserial` | `serial`                   |
+| Modbus RTU           | `port`, `baudrate`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
+| Modbus TCP           | `host`, `port`, `slave_id`     | `pymodbus` | `device_comms/modbus_plc/` |
+| TCP Socket           | `host`, `port`                 | stdlib     | 自定义                     |
+| HTTP API             | `url`, `token`                 | `requests` | `device_comms/rpc.py`      |
+
+参考实现：`unilabos/test/experiments/Grignard_flow_batchreact_single_pumpvalve.json`
+
+---
+
+## Deck 与物料生命周期
+
+### 1. Deck 入参与两种初始化模式
+
+系统根据设备节点 `config.deck` 的写法，自动反序列化 Deck 实例后传入 `__init__` 的 `deck` 参数。目前 `deck` 是固定字段名，只支持一个主 Deck。建议一个设备拥有一个台面，台面上抽象二级、三级子物料。
+
+有两种初始化模式：
+
+#### init 初始化（推荐）
+
+`config.deck` 直接包含 `_resource_type` + `_resource_child_name`，系统先用 Deck 节点的 `config` 调用 Deck 类的 `__init__` 反序列化，再将实例传入设备的 `deck` 参数。子物料随 Deck 的 `children` 一起反序列化。
+
+```json
+"config": {
+    "deck": {
+        "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
+        "_resource_child_name": "PRCXI_Deck"
+    }
+}
+```
+
+#### deserialize 初始化
+
+`config.deck` 用 `data` 包裹一层，系统走 `deserialize` 路径，可传入更多参数（如 `allow_marshal` 等）：
+
+```json
+"config": {
+    "deck": {
+        "data": {
+            "_resource_child_name": "YB_Bioyond_Deck",
+            "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
+        }
+    }
+}
+```
+
+没有特殊需求时推荐 init 初始化。
+
+#### config.deck 字段说明
+
+| 字段 | 说明 |
+|------|------|
+| `_resource_type` | Deck 类的完整模块路径（`module:ClassName`） |
+| `_resource_child_name` | 对应图文件中 Deck 节点的 `id`，建立父子关联 |
+
+#### 设备 __init__ 接收
+
+```python
+def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
+    super().__init__(deck=deck, **kwargs)
+    # deck 已经是反序列化后的 Deck 实例
+    # → PRCXI9300Deck / BIOYOND_YB_Deck 等
+```
+
+#### Deck 节点（图文件中）
+
+Deck 节点作为设备的 `children` 之一，`parent` 指向设备 id：
+
+```json
+{
+    "id": "PRCXI_Deck",
+    "parent": "PRCXI",
+    "type": "deck",
+    "class": "",
+    "children": [],
+    "config": {
+        "type": "PRCXI9300Deck",
+        "size_x": 542, "size_y": 374, "size_z": 0,
+        "category": "deck",
+        "sites": [...]
+    },
+    "data": {}
+}
+```
+
+- `config` 中的字段会传入 Deck 类的 `__init__`（因此 `__init__` 必须能接受所有 `serialize()` 输出的字段）
+- `children` 初始为空时，由同步器或手动初始化填充
+- `config.type` 填 Deck 类名
+
+### 2. Deck 为空时自行初始化
+
+如果 Deck 节点的 `children` 为空，工作站需在 `post_init` 或首次同步时自行初始化内容：
+
+```python
+@not_action
+def post_init(self, ros_node):
+    super().post_init(ros_node)
+    if self.deck and not self.deck.children:
+        self._initialize_default_deck()
+
+def _initialize_default_deck(self):
+    from my_labware import My_TipRack, My_Plate
+    self.deck.assign_child_resource(My_TipRack("T1"), spot=0)
+    self.deck.assign_child_resource(My_Plate("T2"), spot=1)
+```
+
+### 3. 物料双向同步
+
+当工作站对接外部系统（LIMS/MES）时，需要实现 `ResourceSynchronizer` 处理双向物料同步：
+
+```python
+from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
+
+class MyResourceSynchronizer(ResourceSynchronizer):
+    def sync_from_external(self) -> bool:
+        """从外部系统同步到 self.workstation.deck"""
+        external_data = self._query_external_materials()
+        # 以外部工站为准：根据外部数据反向创建 PLR 资源实例
+        for item in external_data:
+            cls = self._resolve_resource_class(item["type"])
+            resource = cls(name=item["name"], **item["params"])
+            self.workstation.deck.assign_child_resource(resource, spot=item["slot"])
+        return True
+
+    def sync_to_external(self, resource) -> bool:
+        """将 UniLab 侧物料变更同步到外部系统"""
+        # 以 UniLab 为准：将 PLR 资源转为外部格式并推送
+        external_format = self._convert_to_external(resource)
+        return self._push_to_external(external_format)
+
+    def handle_external_change(self, change_info) -> bool:
+        """处理外部系统主动推送的变更"""
+        return True
+```
+
+同步策略取决于业务场景：
+
+- **以外部工站为准**：从外部 API 查询物料数据，反向创建对应的 PLR 资源实例放到 Deck 上
+- **以 UniLab 为准**：UniLab 侧的物料变更通过 `sync_to_external` 推送到外部系统
+
+在工作站 `post_init` 中初始化同步器：
+
+```python
+@not_action
+def post_init(self, ros_node):
+    super().post_init(ros_node)
+    self.resource_synchronizer = MyResourceSynchronizer(self)
+    self.resource_synchronizer.sync_from_external()
+```
+
+### 4. 序列化与持久化（serialize / serialize_state）
+
+资源类需正确实现序列化，系统据此完成持久化和前端同步。
+
+**`serialize()`** — 输出资源的结构信息（`config` 层），反序列化时作为 `__init__` 的入参回传。因此 **`__init__` 必须通过 `**kwargs`接受`serialize()` 输出的所有字段\*\*，即使当前不使用：
+
+```python
+class MyDeck(Deck):
+    def __init__(self, name, size_x, size_y, size_z,
+                 sites=None,          # serialize() 输出的字段
+                 rotation=None,       # serialize() 输出的字段
+                 barcode=None,        # serialize() 输出的字段
+                 **kwargs):           # 兜底：接受所有未知的 serialize 字段
+        super().__init__(size_x, size_y, size_z, name)
+        # ...
+
+    def serialize(self) -> dict:
+        data = super().serialize()
+        data["sites"] = [...]  # 自定义字段
+        return data
+```
+
+**`serialize_state()`** — 输出资源的运行时状态（`data` 层），用于持久化可变信息。`data` 中的内容会被正确保存和恢复：
+
+```python
+class MyPlate(Plate):
+    def __init__(self, name, size_x, size_y, size_z,
+                 material_info=None, **kwargs):
+        super().__init__(name, size_x, size_y, size_z, **kwargs)
+        self._unilabos_state = {}
+        if material_info:
+            self._unilabos_state["Material"] = material_info
+
+    def serialize_state(self) -> Dict[str, Any]:
+        data = super().serialize_state()
+        data.update(self._unilabos_state)
+        return data
+```
+
+关键要点：
+
+- `serialize()` 输出的所有字段都会作为 `config` 回传到 `__init__`，所以 `__init__` 必须能接受它们（显式声明或 `**kwargs`）
+- `serialize_state()` 输出的 `data` 用于持久化运行时状态（如物料信息、液体量等）
+- `_unilabos_state` 中只存可 JSON 序列化的基本类型（str, int, float, bool, list, dict, None）
+
+### 5. 子物料自动同步
+
+子物料（Bottle、Plate、TipRack 等）放到 Deck 上后，系统会自动将其同步到前端的 Deck 视图。只需保证资源类正确实现了 `serialize()` / `serialize_state()` 和反序列化即可。
+
+### 6. 图文件配置（参考 prcxi_9320_slim.json）
+
+```json
+{
+  "nodes": [
+    {
+      "id": "my_station",
+      "type": "device",
+      "class": "my_workstation",
+      "config": {
+        "deck": {
+          "_resource_type": "unilabos.resources.my_module:MyDeck",
+          "_resource_child_name": "my_deck"
+        },
+        "host": "10.20.30.1",
+        "port": 9999
+      }
+    },
+    {
+      "id": "my_deck",
+      "parent": "my_station",
+      "type": "deck",
+      "class": "",
+      "children": [],
+      "config": {
+        "type": "MyLabDeck",
+        "size_x": 542,
+        "size_y": 374,
+        "size_z": 0,
+        "category": "deck",
+        "sites": [
+          {
+            "label": "T1",
+            "visible": true,
+            "occupied_by": null,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": ["plate", "tip_rack", "tube_rack", "adaptor"]
+          }
+        ]
+      },
+      "data": {}
+    }
+  ],
+  "edges": []
+}
+```
+
+Deck 节点要点：
+
+- `config.type` 填 Deck 类名（如 `"PRCXI9300Deck"`）
+- `config.sites` 完整列出所有 site（从 Deck 类的 `serialize()` 输出获取）
+- `children` 初始为空（由同步器或手动初始化填充）
+- 设备节点 `config.deck._resource_type` 指向 Deck 类的完整模块路径
+
+---
+
+## 子设备
+
+子设备按标准设备接入流程创建（参见 add-device SKILL），使用 `@device` 装饰器。
+
+子设备约束：
+
+- 图文件中 `parent` 指向工作站 ID
+- 在工作站 `children` 数组中列出
+
+---
+
+## 关键规则
+
+1. **`__init__` 必须接受 `deck` 和 `**kwargs`** — `WorkstationBase.**init**`需要`deck` 参数
+2. **Deck 通过 `config.deck._resource_type` 反序列化传入** — 不要在 `__init__` 中手动创建 Deck
+3. **Deck 为空时自行初始化内容** — 在 `post_init` 中检查并填充默认物料
+4. **外部同步实现 `ResourceSynchronizer`** — `sync_from_external` / `sync_to_external`
+5. **通过 `self._children` 访问子设备** — 不要自行维护子设备引用
+6. **`post_init` 中启动后台服务** — 不要在 `__init__` 中启动网络连接
+7. **异步方法使用 `await self._ros_node.sleep()`** — 禁止 `time.sleep()` 和 `asyncio.sleep()`
+8. **使用 `@not_action` 标记非动作方法** — `post_init`, `initialize`, `cleanup`
+9. **子物料保证正确 serialize/deserialize** — 系统自动同步到前端 Deck 视图
+
+---
+
+## 验证
+
+```bash
+# 模块可导入
+python -c "from unilabos.devices.workstation.<name>.<name> import <ClassName>"
+
+# 启动测试（AST 自动扫描）
+unilab -g <graph>.json
+```
+
+---
+
+## 现有工作站参考
+
+| 工作站         | 驱动类                        | 类型     |
+| -------------- | ----------------------------- | -------- |
+| Protocol 通用  | `ProtocolNode`                | Protocol |
+| Bioyond 反应站 | `BioyondReactionStation`      | 外部系统 |
+| 纽扣电池组装   | `CoinCellAssemblyWorkstation` | 硬件控制 |
+
+参考路径：`unilabos/devices/workstation/` 目录下各工作站实现。

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

@@ -0,0 +1,371 @@
+# 工作站高级模式参考
+
+本文件是 SKILL.md 的补充，包含外部系统集成、物料同步、配置结构等高级模式。
+Agent 在需要实现这些功能时按需阅读。
+
+---
+
+## 1. 外部系统集成模式
+
+### 1.1 RPC 客户端
+
+与外部 LIMS/MES 系统通信的标准模式。继承 `BaseRequest`，所有接口统一用 POST。
+
+```python
+from unilabos.device_comms.rpc import BaseRequest
+
+
+class MySystemRPC(BaseRequest):
+    """外部系统 RPC 客户端"""
+
+    def __init__(self, host: str, api_key: str):
+        super().__init__(host)
+        self.api_key = api_key
+
+    def _request(self, endpoint: str, data: dict = None) -> dict:
+        return self.post(
+            url=f"{self.host}/api/{endpoint}",
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": data or {},
+            },
+        )
+
+    def query_status(self) -> dict:
+        return self._request("status/query")
+
+    def create_order(self, order_data: dict) -> dict:
+        return self._request("order/create", order_data)
+```
+
+参考：`unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`（`BioyondV1RPC`）
+
+### 1.2 HTTP 回调服务
+
+接收外部系统报送的标准模式。使用 `WorkstationHTTPService`，在 `post_init` 中启动。
+
+```python
+from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
+
+
+class MyWorkstation(WorkstationBase):
+    def __init__(self, config=None, deck=None, **kwargs):
+        super().__init__(deck=deck, **kwargs)
+        self.config = config or {}
+        http_cfg = self.config.get("http_service_config", {})
+        self._http_service_config = {
+            "host": http_cfg.get("http_service_host", "127.0.0.1"),
+            "port": http_cfg.get("http_service_port", 8080),
+        }
+        self.http_service = None
+
+    def post_init(self, ros_node):
+        super().post_init(ros_node)
+        self.http_service = WorkstationHTTPService(
+            workstation_instance=self,
+            host=self._http_service_config["host"],
+            port=self._http_service_config["port"],
+        )
+        self.http_service.start()
+```
+
+**HTTP 服务路由**（固定端点，由 `WorkstationHTTPHandler` 自动分发）：
+
+| 端点 | 调用的工作站方法 |
+|------|-----------------|
+| `/report/step_finish` | `process_step_finish_report(report_request)` |
+| `/report/sample_finish` | `process_sample_finish_report(report_request)` |
+| `/report/order_finish` | `process_order_finish_report(report_request, used_materials)` |
+| `/report/material_change` | `process_material_change_report(report_data)` |
+| `/report/error_handling` | `handle_external_error(error_data)` |
+
+实现对应方法即可接收回调：
+
+```python
+def process_step_finish_report(self, report_request) -> Dict[str, Any]:
+    """处理步骤完成报告"""
+    step_name = report_request.data.get("stepName")
+    return {"success": True, "message": f"步骤 {step_name} 已处理"}
+
+def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
+    """处理订单完成报告"""
+    order_code = report_request.data.get("orderCode")
+    return {"success": True}
+```
+
+参考：`unilabos/devices/workstation/workstation_http_service.py`
+
+### 1.3 连接监控
+
+独立线程周期性检测外部系统连接状态，状态变化时发布 ROS 事件。
+
+```python
+class ConnectionMonitor:
+    def __init__(self, workstation, check_interval=30):
+        self.workstation = workstation
+        self.check_interval = check_interval
+        self._running = False
+        self._thread = None
+
+    def start(self):
+        self._running = True
+        self._thread = threading.Thread(target=self._monitor_loop, daemon=True)
+        self._thread.start()
+
+    def _monitor_loop(self):
+        while self._running:
+            try:
+                # 调用外部系统接口检测连接
+                self.workstation.hardware_interface.ping()
+                status = "online"
+            except Exception:
+                status = "offline"
+            time.sleep(self.check_interval)
+```
+
+参考：`unilabos/devices/workstation/bioyond_studio/station.py`（`ConnectionMonitor`）
+
+---
+
+## 2. Config 结构模式
+
+工作站的 `config` 在图文件中定义，传入 `__init__`。以下是常见字段模式：
+
+### 2.1 外部系统连接
+
+```json
+{
+    "api_host": "http://192.168.1.100:8080",
+    "api_key": "YOUR_API_KEY"
+}
+```
+
+### 2.2 HTTP 回调服务
+
+```json
+{
+    "http_service_config": {
+        "http_service_host": "127.0.0.1",
+        "http_service_port": 8080
+    }
+}
+```
+
+### 2.3 物料类型映射
+
+将 PLR 资源类名映射到外部系统的物料类型（名称 + UUID）。用于双向物料转换。
+
+```json
+{
+    "material_type_mappings": {
+        "PLR_ResourceClassName": ["外部系统显示名", "external-type-uuid"],
+        "BIOYOND_PolymerStation_Reactor": ["反应器", "3a14233b-902d-0d7b-..."]
+    }
+}
+```
+
+### 2.4 仓库映射
+
+将仓库名映射到外部系统的仓库 UUID 和库位 UUID。用于入库/出库操作。
+
+```json
+{
+    "warehouse_mapping": {
+        "仓库名": {
+            "uuid": "warehouse-uuid",
+            "site_uuids": {
+                "A01": "site-uuid-A01",
+                "A02": "site-uuid-A02"
+            }
+        }
+    }
+}
+```
+
+### 2.5 工作流映射
+
+将内部工作流名映射到外部系统的工作流 ID。
+
+```json
+{
+    "workflow_mappings": {
+        "internal_workflow_name": "external-workflow-uuid"
+    }
+}
+```
+
+### 2.6 物料默认参数
+
+```json
+{
+    "material_default_parameters": {
+        "NMP": {
+            "unit": "毫升",
+            "density": "1.03",
+            "densityUnit": "g/mL",
+            "description": "N-甲基吡咯烷酮"
+        }
+    }
+}
+```
+
+---
+
+## 3. 资源同步机制
+
+### 3.1 ResourceSynchronizer
+
+抽象基类，用于与外部物料系统双向同步。定义在 `workstation_base.py`。
+
+```python
+from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
+
+
+class MyResourceSynchronizer(ResourceSynchronizer):
+    def __init__(self, workstation, api_client):
+        super().__init__(workstation)
+        self.api_client = api_client
+
+    def sync_from_external(self) -> bool:
+        """从外部系统拉取物料到 deck"""
+        external_materials = self.api_client.list_materials()
+        for material in external_materials:
+            plr_resource = self._convert_to_plr(material)
+            self.workstation.deck.assign_child_resource(plr_resource, coordinate)
+        return True
+
+    def sync_to_external(self, plr_resource) -> bool:
+        """将 deck 中的物料变更推送到外部系统"""
+        external_data = self._convert_from_plr(plr_resource)
+        self.api_client.update_material(external_data)
+        return True
+
+    def handle_external_change(self, change_info) -> bool:
+        """处理外部系统推送的物料变更"""
+        return True
+```
+
+### 3.2 update_resource — 上传资源树到云端
+
+将 PLR Deck 序列化后通过 ROS 服务上传。典型使用场景：
+
+```python
+# 在 post_init 中上传初始 deck
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+
+ROS2DeviceNode.run_async_func(
+    self._ros_node.update_resource, True,
+    **{"resources": [self.deck]}
+)
+
+# 在动作方法中更新特定资源
+ROS2DeviceNode.run_async_func(
+    self._ros_node.update_resource, True,
+    **{"resources": [updated_plate]}
+)
+```
+
+---
+
+## 4. 工作流序列管理
+
+工作站通过 `workflow_sequence` 属性管理任务队列（JSON 字符串形式）。
+
+```python
+class MyWorkstation(WorkstationBase):
+    def __init__(self, **kwargs):
+        super().__init__(**kwargs)
+        self._workflow_sequence = []
+
+    @property
+    def workflow_sequence(self) -> str:
+        """返回 JSON 字符串，ROS 自动发布"""
+        import json
+        return json.dumps(self._workflow_sequence)
+
+    async def append_to_workflow_sequence(self, workflow_name: str) -> Dict[str, Any]:
+        """添加工作流到队列"""
+        self._workflow_sequence.append({
+            "name": workflow_name,
+            "status": "pending",
+            "created_at": time.time(),
+        })
+        return {"success": True}
+
+    async def clear_workflows(self) -> Dict[str, Any]:
+        """清空工作流队列"""
+        self._workflow_sequence = []
+        return {"success": True}
+```
+
+---
+
+## 5. 站间物料转移
+
+工作站之间转移物料的模式。通过 ROS ActionClient 调用目标站的动作。
+
+```python
+async def transfer_materials_to_another_station(
+    self,
+    target_device_id: str,
+    transfer_groups: list,
+    **kwargs,
+) -> Dict[str, Any]:
+    """将物料转移到另一个工作站"""
+    target_node = self._children.get(target_device_id)
+    if not target_node:
+        # 通过 ROS 节点查找非子设备的目标站
+        pass
+
+    for group in transfer_groups:
+        resource = self.find_resource_by_name(group["resource_name"])
+        # 从本站 deck 移除
+        resource.unassign()
+        # 调用目标站的接收方法
+        # ...
+
+    return {"success": True, "transferred": len(transfer_groups)}
+```
+
+参考：`BioyondDispensingStation.transfer_materials_to_reaction_station`
+
+---
+
+## 6. post_init 完整模式
+
+`post_init` 是工作站初始化的关键阶段，此时 ROS 节点和子设备已就绪。
+
+```python
+def post_init(self, ros_node):
+    super().post_init(ros_node)
+
+    # 1. 初始化外部系统客户端（此时 config 已可用）
+    self.rpc_client = MySystemRPC(
+        host=self.config.get("api_host"),
+        api_key=self.config.get("api_key"),
+    )
+    self.hardware_interface = self.rpc_client
+
+    # 2. 启动连接监控
+    self.connection_monitor = ConnectionMonitor(self)
+    self.connection_monitor.start()
+
+    # 3. 启动 HTTP 回调服务
+    if hasattr(self, '_http_service_config'):
+        self.http_service = WorkstationHTTPService(
+            workstation_instance=self,
+            host=self._http_service_config["host"],
+            port=self._http_service_config["port"],
+        )
+        self.http_service.start()
+
+    # 4. 上传 deck 到云端
+    ROS2DeviceNode.run_async_func(
+        self._ros_node.update_resource, True,
+        **{"resources": [self.deck]}
+    )
+
+    # 5. 初始化资源同步器（可选）
+    self.resource_synchronizer = MyResourceSynchronizer(self, self.rpc_client)
+```

.cursor/skills/batch-insert-reagent/SKILL.md

@@ -0,0 +1,233 @@
+---
+name: batch-insert-reagent
+description: Batch insert reagents into Uni-Lab platform — add chemicals with CAS, SMILES, supplier info. Use when the user wants to add reagents, insert chemicals, batch register reagents, or mentions 录入试剂/添加试剂/试剂入库/reagent.
+---
+
+# 批量录入试剂 Skill
+
+通过云端 API 批量录入试剂信息，支持逐条或批量操作。
+
+## 前置条件（缺一不可）
+
+使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
+
+### 1. ak / sk → AUTH
+
+询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
+
+生成 AUTH token（任选一种方式）：
+
+```bash
+# 方式一：Python 一行生成
+python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
+
+# 方式二：手动计算
+# base64(ak:sk) → Authorization: Lab <token>
+```
+
+### 2. --addr → BASE URL
+
+| `--addr` 值 | BASE |
+|-------------|------|
+| `test` | `https://uni-lab.test.bohrium.com` |
+| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `local` | `http://127.0.0.1:48197` |
+| 不传（默认） | `https://uni-lab.bohrium.com` |
+
+确认后设置：
+```bash
+BASE="<根据 addr 确定的 URL>"
+AUTH="Authorization: Lab <gen_auth.py 输出的 token>"
+```
+
+**两项全部就绪后才可发起 API 请求。**
+
+## Session State
+
+- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
+
+## 请求约定
+
+所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
+
+> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
+
+---
+
+## API Endpoints
+
+### 1. 获取实验室信息（自动获取 lab_uuid）
+
+```bash
+curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
+```
+
+返回：
+
+```json
+{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
+```
+
+记住 `data.uuid` 为 `lab_uuid`。
+
+### 2. 录入试剂
+
+```bash
+curl -s -X POST "$BASE/api/v1/lab/reagent" \
+  -H "$AUTH" -H "Content-Type: application/json" \
+  -d '{
+    "lab_uuid": "<lab_uuid>",
+    "cas": "<CAS号>",
+    "name": "<试剂名称>",
+    "molecular_formula": "<分子式>",
+    "smiles": "<SMILES>",
+    "stock_in_quantity": <入库数量>,
+    "unit": "<单位字符串>",
+    "supplier": "<供应商>",
+    "production_date": "<生产日期 ISO 8601>",
+    "expiry_date": "<过期日期 ISO 8601>"
+  }'
+```
+
+返回成功时包含试剂 UUID：
+```json
+{"code": 0, "data": {"uuid": "xxx", ...}}
+```
+
+---
+
+## 试剂字段说明
+
+| 字段 | 类型 | 必填 | 说明 | 示例 |
+|------|------|------|------|------|
+| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` |
+| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` |
+| `name` | string | 是 | 试剂中文/英文名称 | `"水"` |
+| `molecular_formula` | string | 是 | 分子式 | `"H2O"` |
+| `smiles` | string | 是 | SMILES 表示 | `"O"` |
+| `stock_in_quantity` | number | 是 | 入库数量 | `10` |
+| `unit` | string | 是 | 单位（字符串，见下表） | `"mL"` |
+| `supplier` | string | 否 | 供应商名称 | `"国药集团"` |
+| `production_date` | string | 否 | 生产日期（ISO 8601） | `"2025-11-18T00:00:00Z"` |
+| `expiry_date` | string | 否 | 过期日期（ISO 8601） | `"2026-11-18T00:00:00Z"` |
+
+### unit 单位值
+
+| 值 | 单位 |
+|------|------|
+| `"mL"` | 毫升 |
+| `"L"` | 升 |
+| `"g"` | 克 |
+| `"kg"` | 千克 |
+| `"瓶"` | 瓶 |
+
+> 根据试剂状态选择：液体用 `"mL"` / `"L"`，固体用 `"g"` / `"kg"`。
+
+---
+
+## 批量录入策略
+
+### 方式一：用户提供 JSON 数组
+
+用户一次性给出多条试剂数据：
+
+```json
+[
+  {"cas": "7732-18-3", "name": "水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 10, "unit": "mL"},
+  {"cas": "64-17-5", "name": "乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 5, "unit": "L"}
+]
+```
+
+Agent 自动为每条补充 `lab_uuid`、`production_date`、`expiry_date` 等字段后逐条提交。
+
+Agent 循环调用 API #2 逐条录入，每条记录一次 API 调用。
+
+### 方式二：用户逐个描述
+
+用户口头描述试剂（如「帮我录入 500mL 的无水乙醇，Sigma 的」），agent 自行补全字段：
+
+1. 根据名称查找 CAS 号、分子式、SMILES（参考下方速查表或自行推断）
+2. 构建完整的请求体
+3. 向用户确认后提交
+
+### 方式三：从 CSV/表格批量导入
+
+用户提供 CSV 或表格文件路径，agent 读取并解析：
+
+```bash
+# 期望的 CSV 格式（首行为表头）
+cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_date,expiry_date
+7732-18-3,水,H2O,O,10,mL,农夫山泉,2025-11-18T00:00:00Z,2026-11-18T00:00:00Z
+```
+
+### 执行与汇报
+
+每次 API 调用后：
+1. 检查返回 `code`（0 = 成功）
+2. 记录成功/失败数量
+3. 全部完成后汇总：「共录入 N 条试剂，成功 X 条，失败 Y 条」
+4. 如有失败，列出失败的试剂名称和错误信息
+
+---
+
+## 常见试剂速查表
+
+| 名称 | CAS | 分子式 | SMILES |
+|------|-----|--------|--------|
+| 水 | 7732-18-3 | H2O | O |
+| 乙醇 | 64-17-5 | C2H6O | CCO |
+| 甲醇 | 67-56-1 | CH4O | CO |
+| 丙酮 | 67-64-1 | C3H6O | CC(C)=O |
+| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O |
+| 乙酸乙酯 | 141-78-6 | C4H8O2 | CCOC(C)=O |
+| 二氯甲烷 | 75-09-2 | CH2Cl2 | ClCCl |
+| 四氢呋喃(THF) | 109-99-9 | C4H8O | C1CCOC1 |
+| N,N-二甲基甲酰胺(DMF) | 68-12-2 | C3H7NO | CN(C)C=O |
+| 氯仿 | 67-66-3 | CHCl3 | ClC(Cl)Cl |
+| 乙腈 | 75-05-8 | C2H3N | CC#N |
+| 甲苯 | 108-88-3 | C7H8 | Cc1ccccc1 |
+| 正己烷 | 110-54-3 | C6H14 | CCCCCC |
+| 异丙醇 | 67-63-0 | C3H8O | CC(C)O |
+| 盐酸 | 7647-01-0 | HCl | Cl |
+| 硫酸 | 7664-93-9 | H2SO4 | OS(O)(=O)=O |
+| 氢氧化钠 | 1310-73-2 | NaOH | [Na]O |
+| 碳酸钠 | 497-19-8 | Na2CO3 | [Na]OC([O-])=O.[Na+] |
+| 氯化钠 | 7647-14-5 | NaCl | [Na]Cl |
+| 乙二胺四乙酸(EDTA) | 60-00-4 | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O |
+
+> 此表仅供快速参考。对于不在表中的试剂，agent 应根据化学知识推断或提示用户补充。
+
+---
+
+## 完整工作流 Checklist
+
+```
+Task Progress:
+- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
+- [ ] Step 2: 确认 --addr → 设置 BASE URL
+- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
+- [ ] Step 4: 收集试剂信息（用户提供列表/逐个描述/CSV文件）
+- [ ] Step 5: 补全缺失字段（CAS、分子式、SMILES 等）
+- [ ] Step 6: 向用户确认待录入的试剂列表
+- [ ] Step 7: 循环调用 POST /lab/reagent 逐条录入（每条需含 lab_uuid）
+- [ ] Step 8: 汇总结果（成功/失败数量及详情）
+```
+
+---
+
+## 完整示例
+
+用户说：「帮我录入 3 种试剂：500mL 无水乙醇、1kg 氯化钠、2L 去离子水」
+
+Agent 构建的请求序列：
+
+```json
+// 第 1 条
+{"lab_uuid": "8511c672-...", "cas": "64-17-5", "name": "无水乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 500, "unit": "mL", "supplier": "国药集团", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
+
+// 第 2 条
+{"lab_uuid": "8511c672-...", "cas": "7647-14-5", "name": "氯化钠", "molecular_formula": "NaCl", "smiles": "[Na]Cl", "stock_in_quantity": 1, "unit": "kg", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
+
+// 第 3 条
+{"lab_uuid": "8511c672-...", "cas": "7732-18-3", "name": "去离子水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 2, "unit": "L", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
+```

.cursor/skills/batch-submit-experiment/SKILL.md

@@ -0,0 +1,301 @@
+---
+name: batch-submit-experiment
+description: Batch submit experiments (notebooks) to Uni-Lab platform — list workflows, generate node_params from registry schemas, submit multiple rounds. Use when the user wants to submit experiments, create notebooks, batch run workflows, or mentions 提交实验/批量实验/notebook/实验轮次.
+---
+
+# 批量提交实验指南
+
+通过云端 API 批量提交实验（notebook），支持多轮实验参数配置。根据 workflow 模板详情和本地设备注册表自动生成 `node_params` 模板。
+
+## 前置条件（缺一不可）
+
+使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
+
+### 1. ak / sk → AUTH
+
+询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
+
+生成 AUTH token（任选一种方式）：
+
+```bash
+# 方式一：Python 一行生成
+python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
+
+# 方式二：手动计算
+# base64(ak:sk) → Authorization: Lab <token>
+```
+
+### 2. --addr → BASE URL
+
+| `--addr` 值 | BASE |
+|-------------|------|
+| `test` | `https://uni-lab.test.bohrium.com` |
+| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `local` | `http://127.0.0.1:48197` |
+| 不传（默认） | `https://uni-lab.bohrium.com` |
+
+确认后设置：
+```bash
+BASE="<根据 addr 确定的 URL>"
+AUTH="Authorization: Lab <上面命令输出的 token>"
+```
+
+### 3. req_device_registry_upload.json（设备注册表）
+
+**批量提交实验时需要本地注册表来解析 workflow 节点的参数 schema。**
+
+按优先级搜索：
+
+```
+<workspace 根目录>/unilabos_data/req_device_registry_upload.json
+<workspace 根目录>/req_device_registry_upload.json
+```
+
+也可直接 Glob 搜索：`**/req_device_registry_upload.json`
+
+找到后**检查文件修改时间**并告知用户。超过 1 天提醒用户是否需要重新启动 `unilab`。
+
+**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等注册表生成后再执行。可跳过此步，但将无法自动生成参数模板，需要用户手动填写 `param`。
+
+### 4. workflow_uuid（目标工作流）
+
+用户需要提供要提交的 workflow UUID。如果用户不确定，通过 API #2 列出可用 workflow 供选择。
+
+**四项全部就绪后才可开始。**
+
+## Session State
+
+在整个对话过程中，agent 需要记住以下状态，避免重复询问用户：
+
+- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
+- `workflow_uuid` — 工作流 UUID（用户提供或从列表选择）
+- `workflow_nodes` — workflow 中各 action 节点的 uuid、设备 ID、动作名（从 API #3 获取）
+
+## 请求约定
+
+所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
+
+> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
+>
+> **PowerShell JSON 传参**：PowerShell 中 `-d '{"key":"value"}'` 会因引号转义失败。请将 JSON 写入临时文件，用 `-d '@tmp_body.json'`（单引号包裹 `@`，否则会被解析为 splatting 运算符）。
+
+---
+
+## API Endpoints
+
+### 1. 获取实验室信息（自动获取 lab_uuid）
+
+```bash
+curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
+```
+
+返回：
+
+```json
+{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
+```
+
+记住 `data.uuid` 为 `lab_uuid`。
+
+### 2. 列出可用 workflow
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/workflow/workflows?page=1&page_size=20&lab_uuid=$lab_uuid" -H "$AUTH"
+```
+
+返回 workflow 列表，展示给用户选择。列出每个 workflow 的 `uuid` 和 `name`。
+
+### 3. 获取 workflow 模板详情
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
+```
+
+返回 workflow 的完整结构，包含所有 action 节点信息。需要从响应中提取：
+- 每个 action 节点的 `node_uuid`
+- 每个节点对应的设备 ID（`resource_template_name`）
+- 每个节点的动作名（`node_template_name`）
+- 每个节点的现有参数（`param`）
+
+> **注意**：此 API 返回格式可能因版本不同而有差异。首次调用时，先打印完整响应分析结构，再提取节点信息。常见的节点字段路径为 `data.nodes[]` 或 `data.workflow_nodes[]`。
+
+### 4. 提交实验（创建 notebook）
+
+```bash
+curl -s -X POST "$BASE/api/v1/lab/notebook" \
+  -H "$AUTH" -H "Content-Type: application/json" \
+  -d '<request_body>'
+```
+
+请求体结构：
+
+```json
+{
+    "lab_uuid": "<lab_uuid>",
+    "workflow_uuid": "<workflow_uuid>",
+    "name": "<实验名称>",
+    "node_params": [
+        {
+            "sample_uuids": ["<样品UUID1>", "<样品UUID2>"],
+            "datas": [
+                {
+                    "node_uuid": "<workflow中的节点UUID>",
+                    "param": {},
+                    "sample_params": [
+                        {
+                            "container_uuid": "<容器UUID>",
+                            "sample_value": {
+                                "liquid_names": "<液体名称>",
+                                "volumes": 1000
+                            }
+                        }
+                    ]
+                }
+            ]
+        }
+    ]
+}
+```
+
+> **注意**：`sample_uuids` 必须是 **UUID 数组**（`[]uuid.UUID`），不是字符串。无样品时传空数组 `[]`。
+
+---
+
+## Notebook 请求体详解
+
+### node_params 结构
+
+`node_params` 是一个数组，**每个元素代表一轮实验**：
+
+- 要跑 2 轮 → `node_params` 有 2 个元素
+- 要跑 N 轮 → `node_params` 有 N 个元素
+
+### 每轮的字段
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `sample_uuids` | array\<uuid\> | 该轮实验的样品 UUID 数组，无样品时传 `[]` |
+| `datas` | array | 该轮中每个 workflow 节点的参数配置 |
+
+### datas 中每个节点
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `node_uuid` | string | workflow 模板中的节点 UUID（从 API #3 获取） |
+| `param` | object | 动作参数（根据本地注册表 schema 填写） |
+| `sample_params` | array | 样品相关参数（液体名、体积等） |
+
+### sample_params 中每条
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `container_uuid` | string | 容器 UUID |
+| `sample_value` | object | 样品值，如 `{"liquid_names": "水", "volumes": 1000}` |
+
+---
+
+## 从本地注册表生成 param 模板
+
+### 自动方式 — 运行脚本
+
+```bash
+python scripts/gen_notebook_params.py \
+  --auth <token> \
+  --base <BASE_URL> \
+  --workflow-uuid <workflow_uuid> \
+  [--registry <path/to/req_device_registry_upload.json>] \
+  [--rounds <轮次数>] \
+  [--output <输出文件路径>]
+```
+
+> 脚本位于本文档同级目录下的 `scripts/gen_notebook_params.py`。
+
+脚本会：
+1. 调用 workflow detail API 获取所有 action 节点
+2. 读取本地注册表，为每个节点查找对应的 action schema
+3. 生成 `notebook_template.json`，包含：
+   - 完整 `node_params` 骨架
+   - 每个节点的 param 字段及类型说明
+   - `_schema_info` 辅助信息（不提交，仅供参考）
+
+### 手动方式
+
+如果脚本不可用或注册表不存在：
+
+1. 调用 API #3 获取 workflow 详情
+2. 找到每个 action 节点的 `node_uuid`
+3. 在本地注册表中查找对应设备的 `action_value_mappings`：
+   ```
+   resources[].id == <device_id>
+   → resources[].class.action_value_mappings.<action_name>.schema.properties.goal.properties
+   ```
+4. 将 schema 中的 properties 作为 `param` 的字段模板
+5. 按轮次复制 `node_params` 元素，让用户填写每轮的具体值
+
+### 注册表结构参考
+
+```json
+{
+  "resources": [
+    {
+      "id": "liquid_handler.prcxi",
+      "class": {
+        "module": "unilabos.devices.xxx:ClassName",
+        "action_value_mappings": {
+          "transfer_liquid": {
+            "type": "LiquidHandlerTransfer",
+            "schema": {
+              "properties": {
+                "goal": {
+                  "properties": {
+                    "asp_vols": {"type": "array", "items": {"type": "number"}},
+                    "sources": {"type": "array"}
+                  },
+                  "required": ["asp_vols", "sources"]
+                }
+              }
+            },
+            "goal_default": {}
+          }
+        }
+      }
+    }
+  ]
+}
+```
+
+`param` 填写时，使用 `goal.properties` 中的字段名和类型。
+
+---
+
+## 完整工作流 Checklist
+
+```
+Task Progress:
+- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
+- [ ] Step 2: 确认 --addr → 设置 BASE URL
+- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
+- [ ] Step 4: 确认 workflow_uuid（用户提供或从 GET #2 列表选择）
+- [ ] Step 5: GET workflow detail (#3) → 提取各节点 uuid、设备ID、动作名
+- [ ] Step 6: 定位本地注册表 req_device_registry_upload.json
+- [ ] Step 7: 运行 gen_notebook_params.py 或手动匹配 → 生成 node_params 模板
+- [ ] Step 8: 引导用户填写每轮的参数（sample_uuids、param、sample_params）
+- [ ] Step 9: 构建完整请求体 → POST /lab/notebook 提交
+- [ ] Step 10: 检查返回结果，确认提交成功
+```
+
+---
+
+## 常见问题
+
+### Q: workflow 中有多个节点，每轮都要填所有节点的参数吗？
+
+是的。`datas` 数组中需要包含该轮实验涉及的每个 workflow 节点的参数。通常每个 action 节点都需要一条 `datas` 记录。
+
+### Q: 多轮实验的参数完全不同吗？
+
+通常每轮的 `param`（设备动作参数）可能相同或相似，但 `sample_uuids` 和 `sample_params`（样品信息）每轮不同。脚本生成模板时会按轮次复制骨架，用户只需修改差异部分。
+
+### Q: 如何获取 sample_uuids 和 container_uuid？
+
+这些 UUID 通常来自实验室的样品管理系统。向用户询问，或从资源树（API `GET /lab/material/download/$lab_uuid`）中查找。

.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py

@@ -0,0 +1,394 @@
+#!/usr/bin/env python3
+"""
+从 workflow 模板详情 + 本地设备注册表生成 notebook 提交用的 node_params 模板。
+
+用法:
+  python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]
+
+选项:
+  --auth <token>          Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀）
+  --base <url>            API 基础 URL（如 https://uni-lab.test.bohrium.com）
+  --workflow-uuid <uuid>  目标 workflow 的 UUID
+  --registry <path>       本地注册表文件路径（默认自动搜索）
+  --rounds <n>            实验轮次数（默认 1）
+  --output <path>         输出模板文件路径（默认 notebook_template.json）
+  --dump-response         打印 workflow detail API 的原始响应（调试用）
+
+示例:
+  python gen_notebook_params.py \\
+    --auth YTFmZDlkNGUtxxxx \\
+    --base https://uni-lab.test.bohrium.com \\
+    --workflow-uuid abc-123-def \\
+    --rounds 2
+"""
+import copy
+import json
+import os
+import sys
+from datetime import datetime
+from urllib.request import Request, urlopen
+from urllib.error import HTTPError, URLError
+
+REGISTRY_FILENAME = "req_device_registry_upload.json"
+
+
+def find_registry(explicit_path=None):
+    """查找本地注册表文件，逻辑同 extract_device_actions.py"""
+    if explicit_path:
+        if os.path.isfile(explicit_path):
+            return explicit_path
+        if os.path.isdir(explicit_path):
+            fp = os.path.join(explicit_path, REGISTRY_FILENAME)
+            if os.path.isfile(fp):
+                return fp
+        print(f"警告: 指定的注册表路径不存在: {explicit_path}")
+        return None
+
+    candidates = [
+        os.path.join("unilabos_data", REGISTRY_FILENAME),
+        REGISTRY_FILENAME,
+    ]
+    for c in candidates:
+        if os.path.isfile(c):
+            return c
+
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
+    for c in candidates:
+        path = os.path.join(workspace_root, c)
+        if os.path.isfile(path):
+            return path
+
+    cwd = os.getcwd()
+    for _ in range(5):
+        parent = os.path.dirname(cwd)
+        if parent == cwd:
+            break
+        cwd = parent
+        for c in candidates:
+            path = os.path.join(cwd, c)
+            if os.path.isfile(path):
+                return path
+    return None
+
+
+def load_registry(path):
+    with open(path, "r", encoding="utf-8") as f:
+        return json.load(f)
+
+
+def build_registry_index(registry_data):
+    """构建 device_id → action_value_mappings 的索引"""
+    index = {}
+    for res in registry_data.get("resources", []):
+        rid = res.get("id", "")
+        avm = res.get("class", {}).get("action_value_mappings", {})
+        if rid and avm:
+            index[rid] = avm
+    return index
+
+
+def flatten_goal_schema(action_data):
+    """从 action_value_mappings 条目中提取 goal 层的 schema"""
+    schema = action_data.get("schema", {})
+    goal_schema = schema.get("properties", {}).get("goal", {})
+    return goal_schema if goal_schema else schema
+
+
+def build_param_template(goal_schema):
+    """根据 goal schema 生成 param 模板，含类型标注"""
+    properties = goal_schema.get("properties", {})
+    required = set(goal_schema.get("required", []))
+    template = {}
+    for field_name, field_def in properties.items():
+        if field_name == "unilabos_device_id":
+            continue
+        ftype = field_def.get("type", "any")
+        default = field_def.get("default")
+        if default is not None:
+            template[field_name] = default
+        elif ftype == "string":
+            template[field_name] = f"$TODO ({ftype}, {'required' if field_name in required else 'optional'})"
+        elif ftype == "number" or ftype == "integer":
+            template[field_name] = 0
+        elif ftype == "boolean":
+            template[field_name] = False
+        elif ftype == "array":
+            template[field_name] = []
+        elif ftype == "object":
+            template[field_name] = {}
+        else:
+            template[field_name] = f"$TODO ({ftype})"
+    return template
+
+
+def fetch_workflow_detail(base_url, auth_token, workflow_uuid):
+    """调用 workflow detail API"""
+    url = f"{base_url}/api/v1/lab/workflow/template/detail/{workflow_uuid}"
+    req = Request(url, method="GET")
+    req.add_header("Authorization", f"Lab {auth_token}")
+    try:
+        with urlopen(req, timeout=30) as resp:
+            return json.loads(resp.read().decode("utf-8"))
+    except HTTPError as e:
+        body = e.read().decode("utf-8", errors="replace")
+        print(f"API 错误 {e.code}: {body}")
+        return None
+    except URLError as e:
+        print(f"网络错误: {e.reason}")
+        return None
+
+
+def extract_nodes_from_response(response):
+    """
+    从 workflow detail 响应中提取 action 节点列表。
+    适配多种可能的响应格式。
+
+    返回: [(node_uuid, resource_template_name, node_template_name, existing_param), ...]
+    """
+    data = response.get("data", response)
+
+    search_keys = ["nodes", "workflow_nodes", "node_list", "steps"]
+    nodes_raw = None
+    for key in search_keys:
+        if key in data and isinstance(data[key], list):
+            nodes_raw = data[key]
+            break
+
+    if nodes_raw is None:
+        if isinstance(data, list):
+            nodes_raw = data
+        else:
+            for v in data.values():
+                if isinstance(v, list) and len(v) > 0 and isinstance(v[0], dict):
+                    nodes_raw = v
+                    break
+
+    if not nodes_raw:
+        print("警告: 未能从响应中提取节点列表")
+        print("响应顶层 keys:", list(data.keys()) if isinstance(data, dict) else type(data).__name__)
+        return []
+
+    result = []
+    for node in nodes_raw:
+        if not isinstance(node, dict):
+            continue
+
+        node_uuid = (
+            node.get("uuid")
+            or node.get("node_uuid")
+            or node.get("id")
+            or ""
+        )
+        resource_name = (
+            node.get("resource_template_name")
+            or node.get("device_id")
+            or node.get("resource_name")
+            or node.get("device_name")
+            or ""
+        )
+        template_name = (
+            node.get("node_template_name")
+            or node.get("action_name")
+            or node.get("template_name")
+            or node.get("action")
+            or node.get("name")
+            or ""
+        )
+        existing_param = node.get("param", {}) or {}
+
+        if node_uuid:
+            result.append((node_uuid, resource_name, template_name, existing_param))
+
+    return result
+
+
+def generate_template(nodes, registry_index, rounds):
+    """生成 notebook 提交模板"""
+    node_params = []
+    schema_info = {}
+
+    datas_template = []
+    for node_uuid, resource_name, template_name, existing_param in nodes:
+        param_template = {}
+        matched = False
+
+        if resource_name and template_name and resource_name in registry_index:
+            avm = registry_index[resource_name]
+            if template_name in avm:
+                goal_schema = flatten_goal_schema(avm[template_name])
+                param_template = build_param_template(goal_schema)
+                goal_default = avm[template_name].get("goal_default", {})
+                if goal_default:
+                    for k, v in goal_default.items():
+                        if k in param_template and v is not None:
+                            param_template[k] = v
+                matched = True
+
+                schema_info[node_uuid] = {
+                    "device_id": resource_name,
+                    "action_name": template_name,
+                    "action_type": avm[template_name].get("type", ""),
+                    "schema_properties": list(goal_schema.get("properties", {}).keys()),
+                    "required": goal_schema.get("required", []),
+                }
+
+        if not matched and existing_param:
+            param_template = existing_param
+
+        if not matched and not existing_param:
+            schema_info[node_uuid] = {
+                "device_id": resource_name,
+                "action_name": template_name,
+                "warning": "未在本地注册表中找到匹配的 action schema",
+            }
+
+        datas_template.append({
+            "node_uuid": node_uuid,
+            "param": param_template,
+            "sample_params": [
+                {
+                    "container_uuid": "$TODO_CONTAINER_UUID",
+                    "sample_value": {
+                        "liquid_names": "$TODO_LIQUID_NAME",
+                        "volumes": 0,
+                    },
+                }
+            ],
+        })
+
+    for i in range(rounds):
+        node_params.append({
+            "sample_uuids": f"$TODO_SAMPLE_UUID_ROUND_{i + 1}",
+            "datas": copy.deepcopy(datas_template),
+        })
+
+    return {
+        "lab_uuid": "$TODO_LAB_UUID",
+        "workflow_uuid": "$TODO_WORKFLOW_UUID",
+        "name": "$TODO_EXPERIMENT_NAME",
+        "node_params": node_params,
+        "_schema_info（仅参考，提交时删除）": schema_info,
+    }
+
+
+def parse_args(argv):
+    """简单的参数解析"""
+    opts = {
+        "auth": None,
+        "base": None,
+        "workflow_uuid": None,
+        "registry": None,
+        "rounds": 1,
+        "output": "notebook_template.json",
+        "dump_response": False,
+    }
+    i = 0
+    while i < len(argv):
+        arg = argv[i]
+        if arg == "--auth" and i + 1 < len(argv):
+            opts["auth"] = argv[i + 1]
+            i += 2
+        elif arg == "--base" and i + 1 < len(argv):
+            opts["base"] = argv[i + 1].rstrip("/")
+            i += 2
+        elif arg == "--workflow-uuid" and i + 1 < len(argv):
+            opts["workflow_uuid"] = argv[i + 1]
+            i += 2
+        elif arg == "--registry" and i + 1 < len(argv):
+            opts["registry"] = argv[i + 1]
+            i += 2
+        elif arg == "--rounds" and i + 1 < len(argv):
+            opts["rounds"] = int(argv[i + 1])
+            i += 2
+        elif arg == "--output" and i + 1 < len(argv):
+            opts["output"] = argv[i + 1]
+            i += 2
+        elif arg == "--dump-response":
+            opts["dump_response"] = True
+            i += 1
+        else:
+            print(f"未知参数: {arg}")
+            i += 1
+    return opts
+
+
+def main():
+    opts = parse_args(sys.argv[1:])
+
+    if not opts["auth"] or not opts["base"] or not opts["workflow_uuid"]:
+        print("用法:")
+        print("  python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]")
+        print()
+        print("必需参数:")
+        print("  --auth <token>          Lab token（base64(ak:sk)）")
+        print("  --base <url>            API 基础 URL")
+        print("  --workflow-uuid <uuid>  目标 workflow UUID")
+        print()
+        print("可选参数:")
+        print("  --registry <path>       注册表文件路径（默认自动搜索）")
+        print("  --rounds <n>            实验轮次数（默认 1）")
+        print("  --output <path>         输出文件路径（默认 notebook_template.json）")
+        print("  --dump-response         打印 API 原始响应")
+        sys.exit(1)
+
+    # 1. 查找并加载本地注册表
+    registry_path = find_registry(opts["registry"])
+    registry_index = {}
+    if registry_path:
+        mtime = os.path.getmtime(registry_path)
+        gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
+        print(f"注册表: {registry_path}  (生成时间: {gen_time})")
+        registry_data = load_registry(registry_path)
+        registry_index = build_registry_index(registry_data)
+        print(f"已索引 {len(registry_index)} 个设备的 action schemas")
+    else:
+        print("警告: 未找到本地注册表，将跳过 param 模板生成")
+        print("  提交时需要手动填写各节点的 param 字段")
+
+    # 2. 获取 workflow 详情
+    print(f"\n正在获取 workflow 详情: {opts['workflow_uuid']}")
+    response = fetch_workflow_detail(opts["base"], opts["auth"], opts["workflow_uuid"])
+    if not response:
+        print("错误: 无法获取 workflow 详情")
+        sys.exit(1)
+
+    if opts["dump_response"]:
+        print("\n=== API 原始响应 ===")
+        print(json.dumps(response, indent=2, ensure_ascii=False)[:5000])
+        print("=== 响应结束（截断至 5000 字符） ===\n")
+
+    # 3. 提取节点
+    nodes = extract_nodes_from_response(response)
+    if not nodes:
+        print("错误: 未能从 workflow 中提取任何 action 节点")
+        print("请使用 --dump-response 查看原始响应结构")
+        sys.exit(1)
+
+    print(f"\n找到 {len(nodes)} 个 action 节点:")
+    print(f"  {'节点 UUID':<40} {'设备 ID':<30} {'动作名':<25} {'Schema'}")
+    print("  " + "-" * 110)
+    for node_uuid, resource_name, template_name, _ in nodes:
+        matched = "✓" if (resource_name in registry_index and
+                          template_name in registry_index.get(resource_name, {})) else "✗"
+        print(f"  {node_uuid:<40} {resource_name:<30} {template_name:<25} {matched}")
+
+    # 4. 生成模板
+    template = generate_template(nodes, registry_index, opts["rounds"])
+    template["workflow_uuid"] = opts["workflow_uuid"]
+
+    output_path = opts["output"]
+    with open(output_path, "w", encoding="utf-8") as f:
+        json.dump(template, f, indent=2, ensure_ascii=False)
+    print(f"\n模板已写入: {output_path}")
+    print(f"  轮次数: {opts['rounds']}")
+    print(f"  节点数/轮: {len(nodes)}")
+    print()
+    print("下一步:")
+    print("  1. 打开模板文件，将 $TODO 占位符替换为实际值")
+    print("  2. 删除 _schema_info 字段（仅供参考）")
+    print("  3. 使用 POST /api/v1/lab/notebook 提交")
+
+
+if __name__ == "__main__":
+    main()

.cursor/skills/create-device-skill/SKILL.md

@@ -0,0 +1,328 @@
+---
+name: create-device-skill
+description: Create a skill for any Uni-Lab device by extracting action schemas from the device registry. Use when the user wants to create a new device skill, add device API documentation, or set up action schemas for a device.
+---
+
+# 创建设备 Skill 指南
+
+本 meta-skill 教你如何为任意 Uni-Lab-OS 设备创建完整的 API 操作技能（参考 `unilab-device-api` 的成功案例）。
+
+## 数据源
+
+- **设备注册表**: `unilabos_data/req_device_registry_upload.json`
+- **结构**: `{ "resources": [{ "id": "<device_id>", "class": { "module": "<python_module:ClassName>", "action_value_mappings": { ... } } }] }`
+- **生成时机**: `unilab` 启动并完成注册表上传后自动生成
+- **module 字段**: 格式 `unilabos.devices.xxx.yyy:ClassName`，可转为源码路径 `unilabos/devices/xxx/yyy.py`，阅读源码可了解参数含义和设备行为
+
+## 创建流程
+
+### Step 0 — 收集必备信息（缺一不可，否则询问后终止）
+
+开始前**必须**确认以下 4 项信息全部就绪。如果用户未提供任何一项，**立即询问并终止当前流程**，等用户补齐后再继续。
+
+向用户提问：「请提供你的 unilab 启动参数，我需要以下信息：」
+
+#### 必备项 ①：ak / sk（认证凭据）
+
+来源：启动命令的 `--ak` `--sk` 参数，或 config.py 中的 `ak = "..."` `sk = "..."`。
+
+获取后立即生成 AUTH token：
+
+```bash
+python ./scripts/gen_auth.py <ak> <sk>
+# 或从 config.py 提取
+python ./scripts/gen_auth.py --config <config.py>
+```
+
+认证算法：`base64(ak:sk)` → `Authorization: Lab <token>`
+
+#### 必备项 ②：--addr（目标环境）
+
+决定 API 请求发往哪个服务器。从启动命令的 `--addr` 参数获取：
+
+| `--addr` 值 | BASE URL |
+|-------------|----------|
+| `test` | `https://uni-lab.test.bohrium.com` |
+| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `local` | `http://127.0.0.1:48197` |
+| 不传（默认） | `https://uni-lab.bohrium.com` |
+| 其他自定义 URL | 直接使用该 URL |
+
+#### 必备项 ③：req_device_registry_upload.json（设备注册表）
+
+数据文件由 `unilab` 启动时自动生成，需要定位它：
+
+**推断 working_dir**（即 `unilabos_data` 所在目录）：
+
+| 条件 | working_dir 取值 |
+|------|------------------|
+| 传了 `--working_dir` | `<working_dir>/unilabos_data/`（若子目录已存在则直接用） |
+| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
+| 都没传 | `<当前工作目录>/unilabos_data/` |
+
+**按优先级搜索文件**：
+
+```
+<推断的 working_dir>/unilabos_data/req_device_registry_upload.json
+<推断的 working_dir>/req_device_registry_upload.json
+<workspace 根目录>/unilabos_data/req_device_registry_upload.json
+```
+
+也可以直接 Glob 搜索：`**/req_device_registry_upload.json`
+
+找到后**必须检查文件修改时间**并告知用户：「找到注册表文件 `<路径>`，生成于 `<时间>`。请确认这是最近一次启动生成的。」超过 1 天提醒用户是否需要重新启动 `unilab`。
+
+**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等日志出现 `注册表响应数据已保存` 后再执行本流程。**终止。**
+
+#### 必备项 ④：目标设备
+
+用户需要明确要为哪个设备创建 skill。可以是设备名称（如「PRCXI 移液站」）或 device_id（如 `liquid_handler.prcxi`）。
+
+如果用户不确定，运行提取脚本列出所有设备供选择：
+
+```bash
+python ./scripts/extract_device_actions.py --registry <找到的文件路径>
+```
+
+#### 完整示例
+
+用户提供：
+
+```
+--ak a1fd9d4e-xxxx-xxxx-xxxx-d9a69c09f0fd
+--sk 136ff5c6-xxxx-xxxx-xxxx-a03e301f827b
+--addr test
+--port 8003
+--disable_browser
+```
+
+从中提取：
+- ✅ ak/sk → 运行 `gen_auth.py` 得到 `AUTH="Authorization: Lab YTFmZDlk..."`
+- ✅ addr=test → `BASE=https://uni-lab.test.bohrium.com`
+- ✅ 搜索 `unilabos_data/req_device_registry_upload.json` → 找到并确认时间
+- ✅ 用户指明目标设备 → 如 `liquid_handler.prcxi`
+
+**四项全部就绪后才进入 Step 1。**
+
+### Step 1 — 列出可用设备
+
+运行提取脚本，列出所有设备及 action 数量和 Python 源码路径，让用户选择：
+
+```bash
+# 自动搜索（默认在 unilabos_data/ 和当前目录查找）
+python ./scripts/extract_device_actions.py
+
+# 指定注册表文件路径
+python ./scripts/extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
+```
+
+脚本输出包含每个设备的 **Python 源码路径**（从 `class.module` 转换），可用于后续阅读源码理解参数含义。
+
+### Step 2 — 提取 Action Schema
+
+用户选择设备后，运行提取脚本：
+
+```bash
+python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./skills/<skill-name>/actions/
+```
+
+脚本会显示设备的 Python 源码路径和类名，方便阅读源码了解参数含义。
+
+每个 action 生成一个 JSON 文件，包含：
+- `type` — 作为 API 调用的 `action_type`
+- `schema` — 完整 JSON Schema（含 `properties.goal.properties` 参数定义）
+- `goal` — goal 字段映射（含占位符 `$placeholder`）
+- `goal_default` — 默认值
+
+### Step 3 — 写 action-index.md
+
+按模板为每个 action 写条目：
+
+```markdown
+### `<action_name>`
+
+<用途描述（一句话）>
+
+- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
+- **核心参数**: `param1`, `param2`（从 schema.required 获取）
+- **可选参数**: `param3`, `param4`
+- **占位符字段**: `field`（需填入物料信息，值以 `$` 开头）
+```
+
+描述规则：
+- 从 `schema.properties` 读参数列表（schema 已提升为 goal 内容）
+- 从 `schema.required` 区分核心/可选参数
+- 按功能分类（移液、枪头、外设等）
+- 标注 `placeholder_keys` 中的字段类型：
+  - `unilabos_resources` → **ResourceSlot**，填入 `{id, name, uuid}`（id 是路径格式，从资源树取物料节点）
+  - `unilabos_devices` → **DeviceSlot**，填入路径字符串如 `"/host_node"`（从资源树筛选 type=device）
+  - `unilabos_nodes` → **NodeSlot**，填入路径字符串如 `"/PRCXI/PRCXI_Deck"`（资源树中任意节点）
+  - `unilabos_class` → **ClassSlot**，填入类名字符串如 `"container"`（从注册表查找）
+- array 类型字段 → `[{id, name, uuid}, ...]`
+- 特殊：`create_resource` 的 `res_id`（ResourceSlot）可填不存在的路径
+
+### Step 4 — 写 SKILL.md
+
+直接复用 `unilab-device-api` 的 API 模板（10 个 endpoint），修改：
+- 设备名称
+- Action 数量
+- 目录列表
+- Session state 中的 `device_name`
+- **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab <token>`（不要硬编码 `Api` 类型的 key）
+- **Python 源码路径** — 在 SKILL.md 开头注明设备对应的源码文件，方便参考参数含义
+- **Slot 字段表** — 列出本设备哪些 action 的哪些字段需要填入 Slot（物料/设备/节点/类名）
+
+API 模板结构：
+
+```markdown
+## 设备信息
+- device_id, Python 源码路径, 设备类名
+
+## 前置条件（缺一不可）
+- ak/sk → AUTH, --addr → BASE URL
+
+## Session State
+- lab_uuid（通过 API #1 自动匹配，不要问用户）, device_name
+
+## API Endpoints (10 个)
+# 注意：
+# - #1 获取 lab 列表 + 自动匹配 lab_uuid（遍历 is_admin 的 lab，
+#   调用 /lab/info/{uuid} 比对 access_key == ak）
+# - #2 创建工作流用 POST /lab/workflow
+# - #10 获取资源树路径含 lab_uuid: /lab/material/download/{lab_uuid}
+
+## Placeholder Slot 填写规则
+- unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
+- unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
+- unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
+- unilabos_class → ClassSlot → "class_name" 字符串
+- 特例：create_resource 的 res_id 允许填不存在的路径
+- 列出本设备所有 Slot 字段、类型及含义
+
+## 渐进加载策略
+## 完整工作流 Checklist
+```
+
+### Step 5 — 验证
+
+检查文件完整性：
+- [ ] `SKILL.md` 包含 10 个 API endpoint
+- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot + create_resource 特例）和本设备的 Slot 字段表
+- [ ] `action-index.md` 列出所有 action 并有描述
+- [ ] `actions/` 目录中每个 action 有对应 JSON 文件
+- [ ] JSON 文件包含 `type`, `schema`（已提升为 goal 内容）, `goal`, `goal_default`, `placeholder_keys` 字段
+- [ ] 描述能让 agent 判断该用哪个 action
+
+## Action JSON 文件结构
+
+```json
+{
+  "type": "LiquidHandlerTransfer",    // → API 的 action_type
+  "goal": {                           // goal 字段映射
+    "sources": "sources",
+    "targets": "targets",
+    "tip_racks": "tip_racks",
+    "asp_vols": "asp_vols"
+  },
+  "schema": {                         // ← 直接是 goal 的 schema（已提升）
+    "type": "object",
+    "properties": {                   // 参数定义（即请求中 goal 的字段）
+      "sources": { "type": "array", "items": { "type": "object" } },
+      "targets": { "type": "array", "items": { "type": "object" } },
+      "asp_vols": { "type": "array", "items": { "type": "number" } }
+    },
+    "required": [...],
+    "_unilabos_placeholder_info": {   // ← Slot 类型标记
+      "sources": "unilabos_resources",
+      "targets": "unilabos_resources",
+      "tip_racks": "unilabos_resources"
+    }
+  },
+  "goal_default": { ... },            // 默认值
+  "placeholder_keys": {               // ← 汇总所有 Slot 字段
+    "sources": "unilabos_resources",  //    ResourceSlot
+    "targets": "unilabos_resources",
+    "tip_racks": "unilabos_resources",
+    "target_device_id": "unilabos_devices"  // DeviceSlot
+  }
+}
+```
+
+> **注意**：`schema` 已由脚本从原始 `schema.properties.goal` 提升为顶层，直接包含参数定义。
+> `schema.properties` 中的字段即为 API 请求 `param.goal` 中的字段。
+
+## Placeholder Slot 类型体系
+
+`placeholder_keys` / `_unilabos_placeholder_info` 中有 4 种值，对应不同的填写方式：
+
+| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
+|---------------|-----------|---------|---------|
+| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备） |
+| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅**设备**节点（type=device），路径字符串 |
+| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
+| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已上报的资源类 name |
+
+### ResourceSlot（`unilabos_resources`）
+
+最常见的类型。从资源树中选取**物料**节点（孔板、枪头盒、试剂槽等）：
+
+```json
+{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
+```
+
+- 单个（schema type=object）：`{"id": "/path/name", "name": "name", "uuid": "xxx"}`
+- 数组（schema type=array）：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
+- `id` 本身是从 parent 计算的路径格式
+- 根据 action 语义选择正确的物料（如 `sources` = 液体来源，`targets` = 目标位置）
+
+> **特例**：`create_resource` 的 `res_id` 字段，目标物料可能**尚不存在**，此时直接填写期望的路径（如 `"/workstation/container1"`），不需要 uuid。
+
+### DeviceSlot（`unilabos_devices`）
+
+填写**设备路径字符串**。从资源树中筛选 type=device 的节点，从 parent 计算路径：
+
+```
+"/host_node"
+"/bioyond_cell/reaction_station"
+```
+
+- 只填路径字符串，不需要 `{id, uuid}` 对象
+- 根据 action 语义选择正确的设备（如 `target_device_id` = 目标设备）
+
+### NodeSlot（`unilabos_nodes`）
+
+范围 = 设备 + 物料。即资源树中**所有节点**都可以选，填写**路径字符串**：
+
+```
+"/PRCXI/PRCXI_Deck"
+```
+
+- 使用场景：当参数既可能指向物料也可能指向设备时（如 `PumpTransferProtocol` 的 `from_vessel`/`to_vessel`，`create_resource` 的 `parent`）
+
+### ClassSlot（`unilabos_class`）
+
+填写注册表中已上报的**资源类 name**。从本地 `req_resource_registry_upload.json` 中查找：
+
+```
+"container"
+```
+
+### 通过 API #10 获取资源树
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
+```
+
+注意 `lab_uuid` 在路径中（不是查询参数）。资源树返回所有节点，每个节点包含 `id`（路径格式）、`name`、`uuid`、`type`、`parent` 等字段。填写 Slot 时需根据 placeholder 类型筛选正确的节点。
+
+## 最终目录结构
+
+```
+./<skill-name>/
+├── SKILL.md              # API 端点 + 渐进加载指引
+├── action-index.md       # 动作索引：描述/用途/核心参数
+└── actions/              # 每个 action 的完整 JSON Schema
+    ├── action1.json
+    ├── action2.json
+    └── ...
+```

.cursor/skills/create-device-skill/scripts/extract_device_actions.py

@@ -0,0 +1,200 @@
+#!/usr/bin/env python3
+"""
+从 req_device_registry_upload.json 中提取指定设备的 action schema。
+
+用法:
+  # 列出所有设备及 action 数量（自动搜索注册表文件）
+  python extract_device_actions.py
+
+  # 指定注册表文件路径
+  python extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
+
+  # 提取指定设备的 action 到目录
+  python extract_device_actions.py <device_id> <output_dir>
+  python extract_device_actions.py --registry <path> <device_id> <output_dir>
+
+示例:
+  python extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json
+  python extract_device_actions.py liquid_handler.prcxi .cursor/skills/unilab-device-api/actions/
+"""
+import json
+import os
+import sys
+from datetime import datetime
+
+REGISTRY_FILENAME = "req_device_registry_upload.json"
+
+def find_registry(explicit_path=None):
+    """
+    查找 req_device_registry_upload.json 文件。
+
+    搜索优先级：
+    1. 用户通过 --registry 显式指定的路径
+    2. <cwd>/unilabos_data/req_device_registry_upload.json
+    3. <cwd>/req_device_registry_upload.json
+    4. <script所在目录>/../../.. (workspace根) 下的 unilabos_data/
+    5. 向上逐级搜索父目录（最多 5 层）
+    """
+    if explicit_path:
+        if os.path.isfile(explicit_path):
+            return explicit_path
+        if os.path.isdir(explicit_path):
+            fp = os.path.join(explicit_path, REGISTRY_FILENAME)
+            if os.path.isfile(fp):
+                return fp
+        print(f"警告: 指定的路径不存在: {explicit_path}")
+        return None
+
+    candidates = [
+        os.path.join("unilabos_data", REGISTRY_FILENAME),
+        REGISTRY_FILENAME,
+    ]
+
+    for c in candidates:
+        if os.path.isfile(c):
+            return c
+
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
+    for c in candidates:
+        path = os.path.join(workspace_root, c)
+        if os.path.isfile(path):
+            return path
+
+    cwd = os.getcwd()
+    for _ in range(5):
+        parent = os.path.dirname(cwd)
+        if parent == cwd:
+            break
+        cwd = parent
+        for c in candidates:
+            path = os.path.join(cwd, c)
+            if os.path.isfile(path):
+                return path
+
+    return None
+
+def load_registry(path):
+    with open(path, 'r', encoding='utf-8') as f:
+        return json.load(f)
+
+def list_devices(data):
+    """列出所有包含 action_value_mappings 的设备，同时返回 module 路径"""
+    resources = data.get('resources', [])
+    devices = []
+    for res in resources:
+        rid = res.get('id', '')
+        cls = res.get('class', {})
+        avm = cls.get('action_value_mappings', {})
+        module = cls.get('module', '')
+        if avm:
+            devices.append((rid, len(avm), module))
+    return devices
+
+def flatten_schema_to_goal(action_data):
+    """将 schema 中嵌套的 goal 内容提升为顶层 schema，去掉 feedback/result 包装"""
+    schema = action_data.get('schema', {})
+    goal_schema = schema.get('properties', {}).get('goal', {})
+    if goal_schema:
+        action_data = dict(action_data)
+        action_data['schema'] = goal_schema
+    return action_data
+
+
+def extract_actions(data, device_id, output_dir):
+    """提取指定设备的 action schema 到独立 JSON 文件"""
+    resources = data.get('resources', [])
+    for res in resources:
+        if res.get('id') == device_id:
+            cls = res.get('class', {})
+            module = cls.get('module', '')
+            avm = cls.get('action_value_mappings', {})
+            if not avm:
+                print(f"设备 {device_id} 没有 action_value_mappings")
+                return []
+
+            if module:
+                py_path = module.split(":")[0].replace(".", "/") + ".py"
+                class_name = module.split(":")[-1] if ":" in module else ""
+                print(f"Python 源码: {py_path}")
+                if class_name:
+                    print(f"设备类: {class_name}")
+
+            os.makedirs(output_dir, exist_ok=True)
+            written = []
+            for action_name in sorted(avm.keys()):
+                action_data = flatten_schema_to_goal(avm[action_name])
+                filename = action_name.replace('-', '_') + '.json'
+                filepath = os.path.join(output_dir, filename)
+                with open(filepath, 'w', encoding='utf-8') as f:
+                    json.dump(action_data, f, indent=2, ensure_ascii=False)
+                written.append(filename)
+                print(f"  {filepath}")
+            return written
+
+    print(f"设备 {device_id} 未找到")
+    return []
+
+def main():
+    args = sys.argv[1:]
+    explicit_registry = None
+
+    if "--registry" in args:
+        idx = args.index("--registry")
+        if idx + 1 < len(args):
+            explicit_registry = args[idx + 1]
+            args = args[:idx] + args[idx + 2:]
+        else:
+            print("错误: --registry 需要指定路径")
+            sys.exit(1)
+
+    registry_path = find_registry(explicit_registry)
+    if not registry_path:
+        print(f"错误: 找不到 {REGISTRY_FILENAME}")
+        print()
+        print("解决方法:")
+        print("  1. 先运行 unilab 启动命令，等待注册表生成")
+        print("  2. 用 --registry 指定文件路径:")
+        print(f"     python {sys.argv[0]} --registry <path/to/{REGISTRY_FILENAME}>")
+        print()
+        print("搜索过的路径:")
+        for p in [
+            os.path.join("unilabos_data", REGISTRY_FILENAME),
+            REGISTRY_FILENAME,
+            os.path.join("<workspace_root>", "unilabos_data", REGISTRY_FILENAME),
+        ]:
+            print(f"  - {p}")
+        sys.exit(1)
+
+    print(f"注册表: {registry_path}")
+    mtime = os.path.getmtime(registry_path)
+    gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
+    size_mb = os.path.getsize(registry_path) / (1024 * 1024)
+    print(f"生成时间: {gen_time}  (文件大小: {size_mb:.1f} MB)")
+    data = load_registry(registry_path)
+
+    if len(args) == 0:
+        devices = list_devices(data)
+        print(f"\n找到 {len(devices)} 个设备:")
+        print(f"{'设备 ID':<50} {'Actions':>7}  {'Python 模块'}")
+        print("-" * 120)
+        for did, count, module in sorted(devices, key=lambda x: x[0]):
+            py_path = module.split(":")[0].replace(".", "/") + ".py" if module else ""
+            print(f"{did:<50} {count:>7}  {py_path}")
+
+    elif len(args) == 2:
+        device_id = args[0]
+        output_dir = args[1]
+        print(f"\n提取 {device_id} 的 actions 到 {output_dir}/")
+        written = extract_actions(data, device_id, output_dir)
+        if written:
+            print(f"\n共写入 {len(written)} 个 action 文件")
+
+    else:
+        print("用法:")
+        print("  python extract_device_actions.py [--registry <path>]                # 列出设备")
+        print("  python extract_device_actions.py [--registry <path>] <device_id> <dir>  # 提取 actions")
+        sys.exit(1)
+
+if __name__ == '__main__':
+    main()

.cursor/skills/create-device-skill/scripts/gen_auth.py

@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+"""
+从 ak/sk 生成 UniLab API Authorization header。
+
+算法: base64(ak:sk) → "Authorization: Lab <token>"
+
+用法:
+  python gen_auth.py <ak> <sk>
+  python gen_auth.py --config <config.py>
+
+示例:
+  python gen_auth.py myak mysk
+  python gen_auth.py --config experiments/config.py
+"""
+import base64
+import re
+import sys
+
+
+def gen_auth(ak: str, sk: str) -> str:
+    token = base64.b64encode(f"{ak}:{sk}".encode("utf-8")).decode("utf-8")
+    return token
+
+
+def extract_from_config(config_path: str) -> tuple:
+    """从 config.py 中提取 ak 和 sk"""
+    with open(config_path, "r", encoding="utf-8") as f:
+        content = f.read()
+    ak_match = re.search(r'''ak\s*=\s*["']([^"']+)["']''', content)
+    sk_match = re.search(r'''sk\s*=\s*["']([^"']+)["']''', content)
+    if not ak_match or not sk_match:
+        return None, None
+    return ak_match.group(1), sk_match.group(1)
+
+
+def main():
+    args = sys.argv[1:]
+
+    if len(args) == 2 and args[0] == "--config":
+        ak, sk = extract_from_config(args[1])
+        if not ak or not sk:
+            print(f"错误: 在 {args[1]} 中未找到 ak/sk 配置")
+            print("期望格式: ak = \"xxx\"  sk = \"xxx\"")
+            sys.exit(1)
+        print(f"配置文件: {args[1]}")
+    elif len(args) == 2:
+        ak, sk = args
+    else:
+        print("用法:")
+        print("  python gen_auth.py <ak> <sk>")
+        print("  python gen_auth.py --config <config.py>")
+        sys.exit(1)
+
+    token = gen_auth(ak, sk)
+    print(f"ak: {ak}")
+    print(f"sk: {sk}")
+    print()
+    print(f"Authorization header:")
+    print(f"  Authorization: Lab {token}")
+    print()
+    print(f"curl 用法:")
+    print(f'  curl -H "Authorization: Lab {token}" ...')
+    print()
+    print(f"Shell 变量:")
+    print(f'  AUTH="Authorization: Lab {token}"')
+
+
+if __name__ == "__main__":
+    main()

.github/dependabot.yml

@@ -0,0 +1,19 @@
+version: 2
+updates:
+# GitHub Actions
+- package-ecosystem: "github-actions"
+  directory: "/"
+  target-branch: "dev"
+  schedule:
+    interval: "weekly"
+    day: "monday"
+    time: "06:00"
+  open-pull-requests-limit: 5
+  reviewers:
+  - "msgcenterpy-team"
+  labels:
+  - "dependencies"
+  - "github-actions"
+  commit-message:
+    prefix: "ci"
+    include: "scope"

.github/workflows/ci-check.yml

@@ -0,0 +1,67 @@
+name: CI Check
+
+on:
+  push:
+    branches: [main, dev]
+  pull_request:
+    branches: [main, dev]
+
+jobs:
+  registry-check:
+    runs-on: windows-latest
+
+    env:
+      # Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
+      PYTHONIOENCODING: utf-8
+      PYTHONUTF8: 1
+
+    defaults:
+      run:
+        shell: cmd
+
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - name: Setup Miniforge
+        uses: conda-incubator/setup-miniconda@v3
+        with:
+          miniforge-version: latest
+          use-mamba: true
+          channels: robostack-staging,conda-forge,uni-lab
+          channel-priority: flexible
+          activate-environment: check-env
+          auto-update-conda: false
+          show-channel-urls: true
+
+      - name: Install ROS dependencies, uv and unilabos-msgs
+        run: |
+          echo Installing ROS dependencies...
+          mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
+
+      - name: Install pip dependencies and unilabos
+        run: |
+          call conda activate check-env
+          echo Installing pip dependencies...
+          uv pip install -r unilabos/utils/requirements.txt
+          uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
+          uv pip uninstall enum34 || echo enum34 not installed, skipping
+          uv pip install .
+
+      - name: Run check mode (AST registry validation)
+        run: |
+          call conda activate check-env
+          echo Running check mode...
+          python -m unilabos --check_mode --skip_env_check
+
+      - name: Check for uncommitted changes
+        shell: bash
+        run: |
+          if ! git diff --exit-code; then
+            echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更"
+            echo "变化的文件:"
+            git diff --name-only
+            exit 1
+          fi
+          echo "检查通过：无文件变化"

.github/workflows/conda-pack-build.yml

@@ -13,6 +13,11 @@ on:
         required: false
         default: 'win-64'
         type: string
+      build_full:
+        description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
+        required: false
+        default: false
+        type: boolean
 
 jobs:
   build-conda-pack:
@@ -24,7 +29,7 @@ jobs:
             platform: linux-64
             env_file: unilabos-linux-64.yaml
             script_ext: sh
-          - os: macos-13 # Intel
+          - os: macos-15 # Intel (via Rosetta)
             platform: osx-64
             env_file: unilabos-osx-64.yaml
             script_ext: sh
@@ -57,7 +62,7 @@ jobs:
             echo "should_build=false" >> $GITHUB_OUTPUT
           fi
 
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         if: steps.should_build.outputs.should_build == 'true'
         with:
           ref: ${{ github.event.inputs.branch }}
@@ -69,7 +74,7 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.11'
+          python-version: '3.11.14'
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: flexible
           activate-environment: unilab
@@ -81,7 +86,14 @@ jobs:
         run: |
           echo Installing unilabos and dependencies to unilab environment...
           echo Using mamba for faster and more reliable dependency resolution...
-          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          echo Build full: ${{ github.event.inputs.build_full }}
+          if "${{ github.event.inputs.build_full }}"=="true" (
+            echo Installing unilabos-full ^(complete package^)...
+            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          ) else (
+            echo Installing unilabos ^(minimal package^)...
+            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          )
 
       - name: Install conda-pack, unilabos and dependencies (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
@@ -89,7 +101,14 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          echo "Build full: ${{ github.event.inputs.build_full }}"
+          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+            echo "Installing unilabos-full (complete package)..."
+            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          else
+            echo "Installing unilabos (minimal package)..."
+            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          fi
 
       - name: Get latest ros-humble-unilabos-msgs version (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
@@ -293,7 +312,7 @@ jobs:
 
       - name: Upload distribution package
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v6
         with:
           name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
           path: dist-package/
@@ -308,7 +327,12 @@ jobs:
           echo ==========================================
           echo Platform: ${{ matrix.platform }}
           echo Branch: ${{ github.event.inputs.branch }}
-          echo Python version: 3.11.11
+          echo Python version: 3.11.14
+          if "${{ github.event.inputs.build_full }}"=="true" (
+            echo Package: unilabos-full ^(complete^)
+          ) else (
+            echo Package: unilabos ^(minimal^)
+          )
           echo.
           echo Distribution package contents:
           dir dist-package
@@ -328,7 +352,12 @@ jobs:
           echo "=========================================="
           echo "Platform: ${{ matrix.platform }}"
           echo "Branch: ${{ github.event.inputs.branch }}"
-          echo "Python version: 3.11.11"
+          echo "Python version: 3.11.14"
+          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+            echo "Package: unilabos-full (complete)"
+          else
+            echo "Package: unilabos (minimal)"
+          fi
           echo ""
           echo "Distribution package contents:"
           ls -lh dist-package/

.github/workflows/deploy-docs.yml

@@ -1,10 +1,12 @@
 name: Deploy Docs
 
 on:
-  push:
-    branches: [main]
-  pull_request:
+  # 在 CI Check 成功后自动触发（仅 main 分支）
+  workflow_run:
+    workflows: ["CI Check"]
+    types: [completed]
     branches: [main]
+  # 手动触发
   workflow_dispatch:
     inputs:
       branch:
@@ -33,12 +35,19 @@ concurrency:
 jobs:
   # Build documentation
   build:
+    # 只在以下情况运行：
+    # 1. workflow_run 触发且 CI Check 成功
+    # 2. 手动触发
+    if: |
+      github.event_name == 'workflow_dispatch' ||
+      (github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
     runs-on: ubuntu-latest
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
-          ref: ${{ github.event.inputs.branch || github.ref }}
+          # workflow_run 时使用触发工作流的分支，手动触发时使用输入的分支
+          ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
           fetch-depth: 0
 
       - name: Setup Miniforge (with mamba)
@@ -46,7 +55,7 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.11'
+          python-version: '3.11.14'
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: flexible
           activate-environment: unilab
@@ -75,8 +84,10 @@ jobs:
 
       - name: Setup Pages
         id: pages
-        uses: actions/configure-pages@v4
-        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+        uses: actions/configure-pages@v5
+        if: |
+          github.event.workflow_run.head_branch == 'main' ||
+          (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
 
       - name: Build Sphinx documentation
         run: |
@@ -94,14 +105,18 @@ jobs:
           test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
 
       - name: Upload build artifacts
-        uses: actions/upload-pages-artifact@v3
-        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+        uses: actions/upload-pages-artifact@v4
+        if: |
+          github.event.workflow_run.head_branch == 'main' ||
+          (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
         with:
           path: docs/_build/html
 
   # Deploy to GitHub Pages
   deploy:
-    if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+    if: |
+      github.event.workflow_run.head_branch == 'main' ||
+      (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}

.github/workflows/multi-platform-build.yml

@@ -1,11 +1,16 @@
 name: Multi-Platform Conda Build
 
 on:
+  # 在 CI Check 工作流完成后触发（仅限 main/dev 分支）
+  workflow_run:
+    workflows: ["CI Check"]
+    types:
+      - completed
+    branches: [main, dev]
+  # 支持 tag 推送（不依赖 CI Check）
   push:
-    branches: [main, dev]
     tags: ['v*']
-  pull_request:
-    branches: [main, dev]
+  # 手动触发
   workflow_dispatch:
     inputs:
       platforms:
@@ -17,9 +22,37 @@ on:
         required: false
         default: false
         type: boolean
+      skip_ci_check:
+        description: '跳过等待 CI Check (手动触发时可选)'
+        required: false
+        default: false
+        type: boolean
 
 jobs:
+  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
+  wait-for-ci:
+    runs-on: ubuntu-latest
+    if: github.event_name == 'workflow_run'
+    outputs:
+      should_continue: ${{ steps.check.outputs.should_continue }}
+    steps:
+      - name: Check CI status
+        id: check
+        run: |
+          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
+            echo "should_continue=true" >> $GITHUB_OUTPUT
+            echo "CI Check passed, proceeding with build"
+          else
+            echo "should_continue=false" >> $GITHUB_OUTPUT
+            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
+          fi
+
   build:
+    needs: [wait-for-ci]
+    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
+    if: |
+      always() &&
+      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
@@ -27,7 +60,7 @@ jobs:
           - os: ubuntu-latest
             platform: linux-64
             env_file: unilabos-linux-64.yaml
-          - os: macos-13 # Intel
+          - os: macos-15 # Intel (via Rosetta)
             platform: osx-64
             env_file: unilabos-osx-64.yaml
           - os: macos-latest # ARM64
@@ -44,8 +77,10 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
+          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
+          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -69,7 +104,6 @@ jobs:
           channels: conda-forge,robostack-staging,defaults
           channel-priority: strict
           activate-environment: build-env
-          auto-activate-base: false
           auto-update-conda: false
           show-channel-urls: true
 
@@ -115,7 +149,7 @@ jobs:
 
       - name: Upload conda package artifacts
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v6
         with:
           name: conda-package-${{ matrix.platform }}
           path: conda-packages-temp

.github/workflows/unilabos-conda-build.yml

@@ -1,32 +1,69 @@
 name: UniLabOS Conda Build
 
 on:
+  # 在 CI Check 成功后自动触发
+  workflow_run:
+    workflows: ["CI Check"]
+    types: [completed]
+    branches: [main, dev]
+  # 标签推送时直接触发（发布版本）
   push:
-    branches: [main, dev]
     tags: ['v*']
-  pull_request:
-    branches: [main, dev]
+  # 手动触发
   workflow_dispatch:
     inputs:
       platforms:
         description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
         required: false
         default: 'linux-64'
+      build_full:
+        description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
+        required: false
+        default: false
+        type: boolean
       upload_to_anaconda:
         description: '是否上传到Anaconda.org'
         required: false
         default: false
         type: boolean
+      skip_ci_check:
+        description: '跳过等待 CI Check (手动触发时可选)'
+        required: false
+        default: false
+        type: boolean
 
 jobs:
+  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
+  wait-for-ci:
+    runs-on: ubuntu-latest
+    if: github.event_name == 'workflow_run'
+    outputs:
+      should_continue: ${{ steps.check.outputs.should_continue }}
+    steps:
+      - name: Check CI status
+        id: check
+        run: |
+          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
+            echo "should_continue=true" >> $GITHUB_OUTPUT
+            echo "CI Check passed, proceeding with build"
+          else
+            echo "should_continue=false" >> $GITHUB_OUTPUT
+            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
+          fi
+
   build:
+    needs: [wait-for-ci]
+    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
+    if: |
+      always() &&
+      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: ubuntu-latest
             platform: linux-64
-          - os: macos-13 # Intel
+          - os: macos-15 # Intel (via Rosetta)
             platform: osx-64
           - os: macos-latest # ARM64
             platform: osx-arm64
@@ -40,8 +77,10 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
+          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
+          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -65,7 +104,6 @@ jobs:
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: strict
           activate-environment: build-env
-          auto-activate-base: false
           auto-update-conda: false
           show-channel-urls: true
 
@@ -81,12 +119,61 @@ jobs:
           conda list | grep -E "(rattler-build|anaconda-client)"
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
-          echo "Building UniLabOS package"
+          echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
+          echo "Building packages:"
+          echo "  - unilabos-env (environment dependencies)"
+          echo "  - unilabos (with pip package)"
+          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+            echo "  - unilabos-full (complete package)"
+          fi
 
-      - name: Build conda package
+      - name: Build unilabos-env (conda environment only, noarch)
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
+          echo "Building unilabos-env (conda environment dependencies)..."
+          rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
+
+      - name: Upload unilabos-env to Anaconda.org (if enabled)
+        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          echo "Uploading unilabos-env to uni-lab organization..."
+          for package in $(find ./output -name "unilabos-env*.conda"); do
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
+
+      - name: Build unilabos (with pip package)
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Building unilabos package..."
+          # 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
+          rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
+
+      - name: Upload unilabos to Anaconda.org (if enabled)
+        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          echo "Uploading unilabos to uni-lab organization..."
+          for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
+
+      - name: Build unilabos-full - Only when explicitly requested
+        if: |
+          steps.should_build.outputs.should_build == 'true' && 
+          github.event.inputs.build_full == 'true'
+        run: |
+          echo "Building unilabos-full package on ${{ matrix.platform }}..."
+          rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
+
+      - name: Upload unilabos-full to Anaconda.org (if enabled)
+        if: |
+          steps.should_build.outputs.should_build == 'true' && 
+          github.event.inputs.build_full == 'true' &&
+          github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          echo "Uploading unilabos-full to uni-lab organization..."
+          for package in $(find ./output -name "unilabos-full*.conda"); do
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
 
       - name: List built packages
         if: steps.should_build.outputs.should_build == 'true'
@@ -108,17 +195,9 @@ jobs:
 
       - name: Upload conda package artifacts
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v6
         with:
           name: conda-package-unilabos-${{ matrix.platform }}
           path: conda-packages-temp
           if-no-files-found: warn
           retention-days: 30
-
-      - name: Upload to Anaconda.org (uni-lab organization)
-        if: github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          for package in $(find ./output -name "*.conda"); do
-            echo "Uploading $package to uni-lab organization..."
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done

.gitignore

@@ -1,8 +1,11 @@
+cursor_docs/
 configs/
 temp/
 output/
 unilabos_data/
 pyrightconfig.json
+.cursorignore
+device_package*/
 ## Python
 
 # Byte-compiled / optimized / DLL files

AGENTS.md

@@ -0,0 +1,87 @@
+# AGENTS.md
+
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+
+Also follow the monorepo-level rules in `../AGENTS.md`.
+
+## Build & Development
+
+```bash
+# Install in editable mode (requires mamba env with python 3.11)
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+
+# Run with a device graph
+unilab --graph <graph.json> --config <config.py> --backend ros
+unilab --graph <graph.json> --config <config.py> --backend simple  # no ROS2 needed
+
+# Common CLI flags
+unilab --app_bridges websocket fastapi    # communication bridges
+unilab --test_mode                        # simulate hardware, no real execution
+unilab --check_mode                       # CI validation of registry imports
+unilab --skip_env_check                   # skip auto-install of dependencies
+unilab --visual rviz|web|disable          # visualization mode
+unilab --is_slave                         # run as slave node
+
+# Workflow upload subcommand
+unilab workflow_upload -f <workflow.json> -n <name> --tags tag1 tag2
+
+# Tests
+pytest tests/                              # all tests
+pytest tests/resources/test_resourcetreeset.py  # single test file
+pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method  # single test
+```
+
+## Architecture
+
+### Startup Flow
+
+`unilab` CLI → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client.
+
+### Core Layers
+
+**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices from YAML definitions. Device types live in `registry/devices/*.yaml`, resources in `registry/resources/`, comms in `registry/device_comms/`. The registry resolves class paths to actual Python classes via `utils/import_manager.py`.
+
+**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources, used throughout the system. Graph I/O is in `resources/graphio.py` (reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`).
+
+**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by device type (liquid_handling, hplc, balance, arm, etc.). Each driver is a Python class that gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` to become a ROS2 node with publishers, subscribers, and action servers.
+
+**ROS2 Layer** (`unilabos/ros/`): `device_node_wrapper.py` dynamically wraps any device class into `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`). Preset node types in `ros/nodes/presets/` include `host_node`, `controller_node`, `workstation`, `serial_node`, `camera`. Messages use custom `unilabos_msgs` (pre-built, distributed via releases).
+
+**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) that transform YAML protocol definitions into executable sequences.
+
+**Communication** (`unilabos/device_comms/`): Hardware communication adapters — OPC-UA client, Modbus PLC, RPC, and a universal driver. `app/communication.py` provides a factory pattern for WebSocket client connections to the cloud.
+
+**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 template pages (`pages.py`), and HTTP client for cloud communication (`client.py`). Runs on port 8002 by default.
+
+### Configuration System
+
+- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — all class-level attributes, loaded from Python config files
+- Config files are `.py` files with matching class names (see `config/example_config.py`)
+- Environment variables override with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`)
+- Device topology defined in graph files (JSON with node-link format, or GraphML)
+
+### Key Data Flow
+
+1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)`
+2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances
+3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend)
+4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`)
+
+### Test Data
+
+Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`.
+
+## Code Conventions
+
+- Code comments and log messages in simplified Chinese
+- Python 3.11+, type hints expected
+- Pydantic models for data validation (`resource_tracker.py`)
+- Singleton pattern via `@singleton` decorator (`utils/decorator.py`)
+- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths
+- CLI argument dashes auto-converted to underscores for consistency
+
+## Licensing
+
+- Framework code: GPL-3.0
+- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute

CLAUDE.md

@@ -0,0 +1,4 @@
+
+Please follow the rules defined in:
+
+@AGENTS.md

MANIFEST.in

@@ -1,4 +1,5 @@
 recursive-include unilabos/test *
+recursive-include unilabos/utils *
 recursive-include unilabos/registry *.yaml
 recursive-include unilabos/app/web/static *
 recursive-include unilabos/app/web/templates *

NOTICE

@@ -0,0 +1,17 @@
+# Uni-Lab-OS Licensing Notice
+
+This project uses a dual licensing structure:
+
+## 1. Main Framework - GPL-3.0
+
+- unilabos/ (except unilabos/devices/)
+- docs/
+- tests/
+
+See [LICENSE](LICENSE) for details.
+
+## 2. Device Drivers - DP Technology Proprietary License
+
+- unilabos/devices/
+
+See [unilabos/devices/LICENSE](unilabos/devices/LICENSE) for details.

README.md

@@ -8,17 +8,13 @@
 
 **English** | [中文](README_zh.md)
 
-[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
-[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
-[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
-[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
+[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/stargazers)
+[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/network/members)
+[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/issues)
+[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/blob/main/LICENSE)
 
 Uni-Lab-OS is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
 
-## 🏆 Competition
-
-Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.dp.tech/competitions/1451645258) to explore automated synthesis with Uni-Lab-OS!
-
 ## Key Features
 
 - Multi-device integration management
@@ -31,41 +27,89 @@ Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.d
 
 Detailed documentation can be found at:
 
-- [Online Documentation](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
+- [Online Documentation](https://deepmodeling.github.io/Uni-Lab-OS/)
 
 ## Quick Start
 
-Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
+### 1. Setup Conda Environment
+
+Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
+
+| Package | Use Case | Contents |
+|---------|----------|----------|
+| `unilabos` | **Recommended for most users** | Complete package, ready to use |
+| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
+| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
 
 ```bash
 # Create new environment
-mamba create -n unilab python=3.11.11
+mamba create -n unilab python=3.11.14
 mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# Option A: Standard installation (recommended for most users)
+mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# Option B: For developers (editable mode development)
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+# Then install unilabos and dependencies:
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+
+# Option C: Full installation (simulation/visualization)
+mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
-## Install Dev Uni-Lab-OS
+**When to use which?**
+- **unilabos**: Standard installation for production deployment and general usage (recommended)
+- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
+- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
+
+### 2. Clone Repository (Optional, for developers)
 
 ```bash
-# Clone the repository
-git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+# Clone the repository (only needed for development or examples)
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
-
-# Install Uni-Lab-OS
-pip install .
 ```
 
-3. Start Uni-Lab System:
+3. Start Uni-Lab System
 
-Please refer to [Documentation - Boot Examples](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
+Please refer to [Documentation - Boot Examples](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
+
+4. Best Practice
+
+See [Best Practice Guide](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
 
 ## Message Format
 
-Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) page.
+Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) page.
+
+## Citation
+
+If you use [Uni-Lab-OS](https://arxiv.org/abs/2512.21766) in academic research, please cite:
+
+```bibtex
+@article{gao2025unilabos,
+    title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
+    doi = {10.48550/arXiv.2512.21766},
+    publisher = {arXiv},
+    author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and
+              Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and
+              Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and
+              Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
+    year = {2025}
+}
+```
 
 ## License
 
-This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for details.
+This project uses a dual licensing structure:
+
+- **Main Framework**: GPL-3.0 - see [LICENSE](LICENSE)
+- **Device Drivers** (`unilabos/devices/`): DP Technology Proprietary License
+
+See [NOTICE](NOTICE) for complete licensing details.
 
 ## Project Statistics
 
@@ -77,4 +121,4 @@ This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for det
 
 ## Contact Us
 
-- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)

README_zh.md

@@ -8,17 +8,13 @@
 
 [English](README.md) | **中文**
 
-[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
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+[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/stargazers)
+[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/network/members)
+[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/issues)
+[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/blob/main/LICENSE)
 
 Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
 
-## 🏆 比赛
-
-欢迎参加[有机化学合成智能实验大赛](https://bohrium.dp.tech/competitions/1451645258)，使用 Uni-Lab-OS 探索自动化合成！
-
 ## 核心特点
 
 - 多设备集成管理
@@ -31,43 +27,89 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
 
 详细文档可在以下位置找到:
 
-- [在线文档](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
+- [在线文档](https://deepmodeling.github.io/Uni-Lab-OS/)
 
 ## 快速开始
 
-1. 配置 Conda 环境
+### 1. 配置 Conda 环境
 
-Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
+Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
+
+| 安装包 | 适用场景 | 包含内容 |
+|--------|----------|----------|
+| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
+| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
+| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
 
 ```bash
 # 创建新环境
-mamba create -n unilab python=3.11.11
+mamba create -n unilab python=3.11.14
 mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 方案 A：标准安装（推荐大多数用户）
+mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 方案 B：开发者环境（可编辑模式开发）
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+# 然后安装 unilabos 和依赖：
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+
+# 方案 C：完整安装（仿真/可视化）
+mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
-2. 安装开发版 Uni-Lab-OS:
+**如何选择？**
+- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
+- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
+- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
+
+### 2. 克隆仓库（可选，供开发者使用）
 
 ```bash
-# 克隆仓库
-git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+# 克隆仓库（仅开发或查看示例时需要）
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
-
-# 安装 Uni-Lab-OS
-pip install .
 ```
 
-3. 启动 Uni-Lab 系统:
+3. 启动 Uni-Lab 系统
 
-请见[文档-启动样例](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
+请见[文档-启动样例](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
+
+4. 最佳实践
+
+请见[最佳实践指南](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
 
 ## 消息格式
 
-Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。
+Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) 页面找到已构建的版本。
+
+## 引用
+
+如果您在学术研究中使用 [Uni-Lab-OS](https://arxiv.org/abs/2512.21766)，请引用：
+
+```bibtex
+@article{gao2025unilabos,
+    title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
+    doi = {10.48550/arXiv.2512.21766},
+    publisher = {arXiv},
+    author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and
+              Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and
+              Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and
+              Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
+    year = {2025}
+}
+```
 
 ## 许可证
 
-此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。
+本项目采用双许可证结构：
+
+- **主框架**：GPL-3.0 - 详见 [LICENSE](LICENSE)
+- **设备驱动** (`unilabos/devices/`)：深势科技专有许可证
+
+完整许可证说明请参阅 [NOTICE](NOTICE)。
 
 ## 项目统计
 
@@ -79,4 +121,4 @@ Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在
 
 ## 联系我们
 
-- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)

docs/conf.py

@@ -24,7 +24,7 @@ extensions = [
     "sphinx.ext.autodoc",
     "sphinx.ext.napoleon",  # 如果您使用 Google 或 NumPy 风格的 docstrings
     "sphinx_rtd_theme",
-    "sphinxcontrib.mermaid"
+    "sphinxcontrib.mermaid",
 ]
 
 source_suffix = {
@@ -58,7 +58,7 @@ html_theme = "sphinx_rtd_theme"
 
 # sphinx-book-theme 主题选项
 html_theme_options = {
-    "repository_url": "https://github.com/用户名/Uni-Lab",
+    "repository_url": "https://github.com/deepmodeling/Uni-Lab-OS",
     "use_repository_button": True,
     "use_issues_button": True,
     "use_edit_page_button": True,

docs/developer_guide/add_device.md

@@ -15,6 +15,9 @@ Python 类设备驱动在完成注册表后可以直接在 Uni-Lab 中使用，
 **示例：**
 
 ```python
+from unilabos.registry.decorators import device, topic_config
+
+@device(id="mock_gripper", category=["gripper"], description="Mock Gripper")
 class MockGripper:
     def __init__(self):
         self._position: float = 0.0
@@ -23,19 +26,23 @@ class MockGripper:
         self._status = "Idle"
 
     @property
+    @topic_config()  # 添加 @topic_config 才会定时广播
     def position(self) -> float:
         return self._position
 
     @property
+    @topic_config()
     def velocity(self) -> float:
         return self._velocity
 
     @property
+    @topic_config()
     def torque(self) -> float:
         return self._torque
 
-    # 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
+    # 使用 @topic_config 装饰的属性，接入 Uni-Lab 时会定时对外广播
     @property
+    @topic_config(period=2.0)  # 可自定义发布周期
     def status(self) -> str:
         return self._status
 
@@ -149,7 +156,7 @@ my_device: # 设备唯一标识符
 
 系统会自动分析您的 Python 驱动类并生成：
 
-- `status_types`：从 `@property` 装饰的方法自动识别状态属性
+- `status_types`：从 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性
 - `action_value_mappings`：从类方法自动生成动作映射
 - `init_param_schema`：从 `__init__` 方法分析初始化参数
 - `schema`：前端显示用的属性类型定义
@@ -179,7 +186,9 @@ Uni-Lab 设备驱动是一个 Python 类，需要遵循以下结构：
 
 ```python
 from typing import Dict, Any
+from unilabos.registry.decorators import device, topic_config
 
+@device(id="my_device", category=["general"], description="My Device")
 class MyDevice:
     """设备类文档字符串
 
@@ -198,8 +207,9 @@ class MyDevice:
         # 初始化硬件连接
 
     @property
+    @topic_config()  # 必须添加 @topic_config 才会广播
     def status(self) -> str:
-        """设备状态（会自动广播）"""
+        """设备状态（通过 @topic_config 广播）"""
         return self._status
 
     def my_action(self, param: float) -> Dict[str, Any]:
@@ -217,34 +227,61 @@ class MyDevice:
 
 ## 状态属性 vs 动作方法
 
-### 状态属性（@property）
+### 状态属性（@property + @topic_config）
 
-状态属性会被自动识别并定期广播：
+状态属性需要同时使用 `@property` 和 `@topic_config` 装饰器才会被识别并定期广播：
 
 ```python
+from unilabos.registry.decorators import topic_config
+
 @property
+@topic_config()  # 必须添加，否则不会广播
 def temperature(self) -> float:
     """当前温度"""
     return self._read_temperature()
 
 @property
+@topic_config(period=2.0)  # 可自定义发布周期（秒）
 def status(self) -> str:
     """设备状态: idle, running, error"""
     return self._status
 
 @property
+@topic_config(name="ready")  # 可自定义发布名称
 def is_ready(self) -> bool:
     """设备是否就绪"""
     return self._status == "idle"
 ```
 
+也可以使用普通方法（非 @property）配合 `@topic_config`：
+
+```python
+@topic_config(period=10.0)
+def get_sensor_data(self) -> Dict[str, float]:
+    """获取传感器数据（get_ 前缀会自动去除，发布名为 sensor_data）"""
+    return {"temp": self._temp, "humidity": self._humidity}
+```
+
+**`@topic_config` 参数**:
+
+| 参数 | 类型 | 默认值 | 说明 |
+|------|------|--------|------|
+| `period` | float | 5.0 | 发布周期（秒） |
+| `print_publish` | bool | 节点默认 | 是否打印发布日志 |
+| `qos` | int | 10 | QoS 深度 |
+| `name` | str | None | 自定义发布名称 |
+
+**发布名称优先级**：`@topic_config(name=...)` > `get_` 前缀去除 > 方法名
+
 **特点**:
 
-- 使用`@property`装饰器
-- 只读，不能有参数
-- 自动添加到注册表的`status_types`
+- 必须使用 `@topic_config` 装饰器
+- 支持 `@property` 和普通方法
+- 添加到注册表的 `status_types`
 - 定期发布到 ROS2 topic
 
+> **⚠️ 重要：** 仅有 `@property` 装饰器而没有 `@topic_config` 的属性**不会**被广播。这是一个 Breaking Change。
+
 ### 动作方法
 
 动作方法是设备可以执行的操作：
@@ -497,6 +534,7 @@ class LiquidHandler:
         self._status = "idle"
 
     @property
+    @topic_config()
     def status(self) -> str:
         return self._status
 
@@ -886,7 +924,52 @@ class MyDevice:
 
 ## 最佳实践
 
-### 1. 类型注解
+### 1. 使用 `@device` 装饰器标识设备类
+
+```python
+from unilabos.registry.decorators import device
+
+@device(id="my_device", category=["heating"], description="My Heating Device", icon="heater.webp")
+class MyDevice:
+    ...
+```
+
+- `id`：设备唯一标识符，用于注册表匹配
+- `category`：分类列表，前端用于分组显示
+- `description`：设备描述
+- `icon`：图标文件名（可选）
+
+### 2. 使用 `@topic_config` 声明需要广播的状态
+
+```python
+from unilabos.registry.decorators import topic_config
+
+# ✓ @property + @topic_config → 会广播
+@property
+@topic_config(period=2.0)
+def temperature(self) -> float:
+    return self._temp
+
+# ✓ 普通方法 + @topic_config → 会广播（get_ 前缀自动去除）
+@topic_config(period=10.0)
+def get_sensor_data(self) -> Dict[str, float]:
+    return {"temp": self._temp}
+
+# ✓ 使用 name 参数自定义发布名称
+@property
+@topic_config(name="ready")
+def is_ready(self) -> bool:
+    return self._status == "idle"
+
+# ✗ 仅有 @property，没有 @topic_config → 不会广播
+@property
+def internal_state(self) -> str:
+    return self._state
+```
+
+> **注意：** 与 `@property` 连用时，`@topic_config` 必须放在 `@property` 下面。
+
+### 3. 类型注解
 
 ```python
 from typing import Dict, Any, Optional, List
@@ -901,7 +984,7 @@ def method(
     pass
 ```
 
-### 2. 文档字符串
+### 4. 文档字符串
 
 ```python
 def method(self, param: float) -> Dict[str, Any]:
@@ -923,7 +1006,7 @@ def method(self, param: float) -> Dict[str, Any]:
     pass
 ```
 
-### 3. 配置验证
+### 5. 配置验证
 
 ```python
 def __init__(self, config: Dict[str, Any]):
@@ -937,7 +1020,7 @@ def __init__(self, config: Dict[str, Any]):
     self.baudrate = config['baudrate']
 ```
 
-### 4. 资源清理
+### 6. 资源清理
 
 ```python
 def __del__(self):
@@ -946,7 +1029,7 @@ def __del__(self):
         self.connection.close()
 ```
 
-### 5. 设计前端友好的返回值
+### 7. 设计前端友好的返回值
 
 **记住：返回值会直接显示在 Web 界面**
 

docs/developer_guide/add_registry.md

@@ -422,18 +422,20 @@ placeholder_keys:
 
 ### status_types
 
-系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：
+系统会扫描你的 Python 类，从带有 `@topic_config` 装饰器的 `@property` 或方法自动生成这部分：
 
 ```yaml
 status_types:
-  current_temperature: float # 从 get_current_temperature() 或 @property current_temperature
-  is_heating: bool # 从 get_is_heating() 或 @property is_heating
-  status: str # 从 get_status() 或 @property status
+  current_temperature: float # 从 @topic_config 装饰的 @property 或方法
+  is_heating: bool
+  status: str
 ```
 
 **注意事项**：
 
-- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
+- 仅有带 `@topic_config` 装饰器的 `@property` 或方法才会被识别为状态属性
+- 没有 `@topic_config` 的 `@property` 不会生成 status_types，也不会广播
+- `get_` 前缀的方法名会自动去除前缀（如 `get_temperature` → `temperature`）
 - 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
 - 如果类型是 `Any`、`None` 或未知的，默认使用 `String`
 
@@ -537,11 +539,13 @@ class AdvancedLiquidHandler:
         self._temperature = 25.0
 
     @property
+    @topic_config()
     def status(self) -> str:
         """设备状态"""
         return self._status
 
     @property
+    @topic_config()
     def temperature(self) -> float:
         """当前温度"""
         return self._temperature
@@ -809,21 +813,23 @@ my_temperature_controller:
 你的设备类需要符合以下要求：
 
 ```python
-from unilabos.common.device_base import DeviceBase
+from unilabos.registry.decorators import device, topic_config
 
-class MyDevice(DeviceBase):
+@device(id="my_device", category=["temperature"], description="My Device")
+class MyDevice:
     def __init__(self, config):
         """初始化，参数会自动分析到 init_param_schema.config"""
-        super().__init__(config)
         self.port = config.get('port', '/dev/ttyUSB0')
 
-    # 状态方法（会自动生成到 status_types）
+    # 状态方法（必须添加 @topic_config 才会生成到 status_types 并广播）
     @property
+    @topic_config()
     def status(self):
         """返回设备状态"""
         return "idle"
 
     @property
+    @topic_config()
     def temperature(self):
         """返回当前温度"""
         return 25.0
@@ -1039,7 +1045,34 @@ resource.type      # "resource"
 
 ### 代码规范
 
-1. **始终使用类型注解**
+1. **使用 `@device` 装饰器标识设备类**
+
+```python
+from unilabos.registry.decorators import device
+
+@device(id="my_device", category=["heating"], description="My Device")
+class MyDevice:
+    ...
+```
+
+2. **使用 `@topic_config` 声明广播属性**
+
+```python
+from unilabos.registry.decorators import topic_config
+
+# ✓ 需要广播的状态属性
+@property
+@topic_config(period=2.0)
+def temperature(self) -> float:
+    return self._temp
+
+# ✗ 仅有 @property 不会广播
+@property
+def internal_counter(self) -> int:
+    return self._counter
+```
+
+3. **始终使用类型注解**
 
 ```python
 # ✓ 好
@@ -1051,7 +1084,7 @@ def method(self, resource, device):
     pass
 ```
 
-2. **提供有意义的参数名**
+4. **提供有意义的参数名**
 
 ```python
 # ✓ 好 - 清晰的参数名
@@ -1063,7 +1096,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
     pass
 ```
 
-3. **使用 Optional 表示可选参数**
+5. **使用 Optional 表示可选参数**
 
 ```python
 from typing import Optional
@@ -1076,7 +1109,7 @@ def method(
     pass
 ```
 
-4. **添加详细的文档字符串**
+6. **添加详细的文档字符串**
 
 ```python
 def method(
@@ -1096,13 +1129,13 @@ def method(
     pass
 ```
 
-5. **方法命名规范**
+7. **方法命名规范**
 
-   - 状态方法使用 `@property` 装饰器或 `get_` 前缀
+   - 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
    - 动作方法使用动词开头
    - 保持命名清晰、一致
 
-6. **完善的错误处理**
+8. **完善的错误处理**
    - 实现完善的错误处理
    - 添加日志记录
    - 提供有意义的错误信息

docs/developer_guide/networking_overview.md

@@ -221,10 +221,10 @@ Laboratory A    Laboratory B
 
 ```bash
 # 实验室A
-unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
+unilab --ak your_ak --sk your_sk --upload_registry
 
 # 实验室B
-unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
+unilab --ak your_ak --sk your_sk --upload_registry
 ```
 
 ---

docs/requirements.txt

@@ -12,3 +12,7 @@ sphinx-copybutton>=0.5.0
 
 # 用于自动摘要生成
 sphinx-autobuild>=2024.2.4
+
+# 用于PDF导出 (rinohtype方案，纯Python无需LaTeX)
+rinohtype>=0.5.4
+sphinx-simplepdf>=1.6.0

docs/user_guide/best_practice.md

@@ -31,6 +31,14 @@
 
 详细的安装步骤请参考 [安装指南](installation.md)。
 
+**选择合适的安装包：**
+
+| 安装包 | 适用场景 | 包含组件 |
+|--------|----------|----------|
+| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
+| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
+| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
+
 **关键步骤：**
 
 ```bash
@@ -38,15 +46,30 @@
 # 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
 
 # 2. 创建 Conda 环境
-mamba create -n unilab python=3.11.11
+mamba create -n unilab python=3.11.14
 
 # 3. 激活环境
 mamba activate unilab
 
-# 4. 安装 Uni-Lab-OS
+# 4. 安装 Uni-Lab-OS（选择其一）
+
+# 方案 A：标准安装（推荐大多数用户）
 mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 方案 B：开发者环境（可编辑模式开发）
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+pip install -e /path/to/Uni-Lab-OS  # 可编辑安装
+uv pip install -r unilabos/utils/requirements.txt  # 安装 pip 依赖
+
+# 方案 C：完整版（仿真/可视化）
+mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
+**选择建议：**
+- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
+- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
+- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
+
 #### 1.2 验证安装
 
 ```bash
@@ -416,6 +439,9 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
 1. 访问 Web 界面，进入"仪器耗材"模块
 2. 在"仪器设备"区域找到并添加上述设备
 3. 在"物料耗材"区域找到并添加容器
+4. 在workstation中配置protocol_type包含PumpTransferProtocol
+
+![添加Protocol类型](image/add_protocol.png)
 
 ![物料列表](image/material.png)
 
@@ -426,8 +452,9 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
 **操作步骤：**
 
 1. 将两个 `container` 拖拽到 `workstation` 中
-2. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
-3. 在画布上连接它们（建立父子关系）
+2. 将 `virtual_multiway_valve` 拖拽到 `workstation` 中
+3. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
+4. 在画布上连接它们（建立父子关系）
 
 ![设备连接](image/links.png)
 
@@ -768,7 +795,43 @@ Waiting for host service...
 
 详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
 
-#### 9.1 为什么需要自定义设备？
+#### 9.1 开发环境准备
+
+**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
+
+```bash
+# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
+mamba create -n unilab python=3.11.14
+conda activate unilab
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+
+# 2. 克隆代码
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git
+cd Uni-Lab-OS
+
+# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
+python scripts/dev_install.py
+
+# 或手动安装：
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+```
+
+**为什么使用这种方式？**
+- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
+- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
+- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
+- 使用 `uv` 替代 `pip`，安装速度更快
+- 可编辑模式：代码修改**立即生效**，无需重新安装
+
+**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
+
+```bash
+pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+```
+
+#### 9.2 为什么需要自定义设备？
 
 Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
 
@@ -777,7 +840,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
 - 特殊的实验流程
 - 第三方设备集成
 
-#### 9.2 创建 Python 包
+#### 9.3 创建 Python 包
 
 为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
 
@@ -814,7 +877,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
 touch my_lab_devices/my_lab_devices/devices/__init__.py
 ```
 
-#### 9.3 创建 setup.py
+#### 9.4 创建 setup.py
 
 ```python
 # my_lab_devices/setup.py
@@ -845,7 +908,7 @@ setup(
 )
 ```
 
-#### 9.4 开发安装
+#### 9.5 开发安装
 
 使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
 
@@ -860,7 +923,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 - 方便调试和测试
 - 支持版本控制（git）
 
-#### 9.5 编写设备驱动
+#### 9.6 编写设备驱动
 
 创建设备驱动文件：
 
@@ -1001,7 +1064,7 @@ class MyPump:
 - **返回 Dict**：所有动作方法返回字典类型
 - **文档字符串**：详细说明参数和功能
 
-#### 9.6 测试设备驱动
+#### 9.7 测试设备驱动
 
 创建简单的测试脚本：
 
@@ -1807,7 +1870,7 @@ unilab --ak your_ak --sk your_sk -g graph.json \
 
 #### 14.5 社区支持
 
-- **GitHub Issues**：[https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- **GitHub Issues**：[https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
 - **官方网站**：[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
 
 ---

docs/user_guide/graph_files.md

@@ -463,7 +463,7 @@ Uni-Lab 使用 `ResourceDictInstance.get_resource_instance_from_dict()` 方法
 ### 使用示例
 
 ```python
-from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
+from unilabos.resources.resource_tracker import ResourceDictInstance
 
 # 旧格式节点
 old_format_node = {
@@ -477,10 +477,10 @@ old_format_node = {
 instance = ResourceDictInstance.get_resource_instance_from_dict(old_format_node)
 
 # 访问标准化后的数据
-print(instance.res_content.id)      # "pump_1"
-print(instance.res_content.uuid)    # 自动生成的 UUID
+print(instance.res_content.id)  # "pump_1"
+print(instance.res_content.uuid)  # 自动生成的 UUID
 print(instance.res_content.config)  # {}
-print(instance.res_content.data)    # {}
+print(instance.res_content.data)  # {}
 ```
 
 ### 格式迁移建议
@@ -857,4 +857,4 @@ class ResourceDictPosition(BaseModel):
 - 在 Web 界面中使用模板创建
 - 参考示例文件：`test/experiments/` 目录
 - 查看 ResourceDict 源码了解完整定义
-- [GitHub 讨论区](https://github.com/dptech-corp/Uni-Lab-OS/discussions)
+- [GitHub 讨论区](https://github.com/deepmodeling/Uni-Lab-OS/discussions)

docs/user_guide/installation.md

@@ -13,15 +13,26 @@
   - 开发者需要 Git 和基本的 Python 开发知识
   - 自定义 msgs 需要 GitHub 账号
 
+## 安装包选择
+
+Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
+
+| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
+|--------|----------|----------|----------|
+| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
+| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
+| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
+
 ## 安装方式选择
 
 根据您的使用场景，选择合适的安装方式：
 
-| 安装方式               | 适用人群             | 特点                           | 安装时间                     |
-| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
-| **方式一：一键安装**   | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
-| **方式二：手动安装**   | 标准用户、生产环境   | 灵活配置，版本可控             | 10-20 分钟                   |
-| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs    | 20-30 分钟                   |
+| 安装方式               | 适用人群             | 推荐安装包        | 特点                           | 安装时间                     |
+| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
+| **方式一：一键安装**   | 快速体验、演示       | 预打包环境        | 离线可用，无需配置             | 5-10 分钟 (网络良好的情况下) |
+| **方式二：手动安装**   | **大多数用户**       | `unilabos`        | 完整功能，开箱即用             | 10-20 分钟                   |
+| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env`    | 可编辑模式，支持自定义开发     | 20-30 分钟                   |
+| **仿真/可视化**        | 仿真测试、可视化调试 | `unilabos-full`   | 含 Gazebo、rviz2、MoveIt       | 30-60 分钟                   |
 
 ---
 
@@ -37,7 +48,7 @@
 
 #### 第一步：下载预打包环境
 
-1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
+1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/deepmodeling/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
 
 2. 选择最新的成功构建记录（绿色勾号 ✓）
 
@@ -144,17 +155,38 @@ bash Miniforge3-$(uname)-$(uname -m).sh
 使用以下命令创建 Uni-Lab 专用环境：
 
 ```bash
-mamba create -n unilab python=3.11.11  # 目前ros2组件依赖版本大多为3.11.11
+mamba create -n unilab python=3.11.14  # 目前ros2组件依赖版本大多为3.11.14
 mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 选择安装包（三选一）：
+
+# 方案 A：标准安装（推荐大多数用户）
+mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 方案 B：开发者环境（可编辑模式开发）
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+# 然后安装 unilabos 和 pip 依赖：
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+
+# 方案 C：完整版（含仿真和可视化工具）
+mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
 **参数说明**:
 
 - `-n unilab`: 创建名为 "unilab" 的环境
-- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
+- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
+- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
+- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
 - `-c robostack-staging -c conda-forge`: 添加额外的软件源
 
+**包选择建议**：
+- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
+- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
+- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
+
 **如果遇到网络问题**，可以使用清华镜像源加速下载：
 
 ```bash
@@ -163,8 +195,14 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
 
-# 然后重新执行安装命令
+# 然后重新执行安装命令（推荐标准安装）
 mamba create -n unilab uni-lab::unilabos -c robostack-staging
+
+# 或完整版（仿真/可视化）
+mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
+
+# pip 安装时使用清华镜像（开发者安装时使用）
+uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```
 
 ### 第三步：激活环境
@@ -189,13 +227,13 @@ conda activate unilab
 ### 第一步：克隆仓库
 
 ```bash
-git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
 ```
 
 如果您需要贡献代码，建议先 Fork 仓库：
 
-1. 访问 https://github.com/dptech-corp/Uni-Lab-OS
+1. 访问 https://github.com/deepmodeling/Uni-Lab-OS
 2. 点击右上角的 "Fork" 按钮
 3. Clone 您的 Fork 版本：
    ```bash
@@ -203,58 +241,87 @@ cd Uni-Lab-OS
    cd Uni-Lab-OS
    ```
 
-### 第二步：安装基础环境
+### 第二步：安装开发环境（unilabos-env）
 
-**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
-
-#### 选项 A：通过一键安装（推荐）
-
-参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
+**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
+- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
+- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
+- 包含 `uv` 工具，用于快速安装 pip 依赖
+- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
 
 ```bash
+# 创建并激活环境
+mamba create -n unilab python=3.11.14
 conda activate unilab
+
+# 安装开发者环境包（ROS2 + conda 依赖 + uv）
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
 ```
 
-#### 选项 B：通过手动安装
+### 第三步：安装 pip 依赖和可编辑模式安装
 
-参考上文"方式二：手动安装"，创建并安装环境：
-
-```bash
-mamba create -n unilab python=3.11.11
-conda activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
-```
-
-**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
-
-### 第三步：切换到开发版本
-
-现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
+克隆代码并安装依赖：
 
 ```bash
 # 确保环境已激活
 conda activate unilab
 
-# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
-pip uninstall unilabos -y
-
-# 克隆 dev 分支（如果还未克隆）
-cd /path/to/your/workspace
-git clone -b dev https://github.com/dptech-corp/Uni-Lab-OS.git
-# 或者如果已经克隆，切换到 dev 分支
+# 克隆仓库（如果还未克隆）
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
+
+# 切换到 dev 分支（可选）
 git checkout dev
 git pull
-
-# 以可编辑模式安装开发版 unilabos
-pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```
 
-**参数说明**：
+**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
 
-- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
-- `-i`: 使用清华镜像源加速下载
-- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
+```bash
+# 自动检测中文环境，如果是中文系统则使用清华镜像
+python scripts/dev_install.py
+
+# 或者手动指定：
+python scripts/dev_install.py --china     # 强制使用清华镜像
+python scripts/dev_install.py --no-mirror # 强制使用 PyPI
+python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
+python scripts/dev_install.py --use-pip   # 使用 pip 而非 uv
+```
+
+**手动安装**（如果脚本安装失败或速度太慢）：
+
+```bash
+# 1. 安装 unilabos（可编辑模式）
+pip install -e .
+
+# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
+uv pip install -r unilabos/utils/requirements.txt
+
+# 国内用户使用清华镜像：
+pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+```
+
+**注意**：
+- `uv` 已包含在 `unilabos-env` 中，无需单独安装
+- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
+- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
+
+**为什么使用可编辑模式？**
+
+- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
+- 适合开发调试：修改代码后直接运行测试
+- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
+
+**验证安装**：
+
+```bash
+# 检查 unilabos 版本
+python -c "import unilabos; print(unilabos.__version__)"
+
+# 检查安装位置（应该指向你的代码目录）
+pip show unilabos | grep Location
+```
 
 ### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
 
@@ -464,7 +531,45 @@ cd $CONDA_PREFIX/envs/unilab
 
 ### 问题 8: 环境很大，有办法减小吗？
 
-**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
+**解决方案**: 
+
+1. **使用 `unilabos` 标准版**（推荐大多数用户）：
+   ```bash
+   mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+   ```
+   标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
+
+2. **使用 `unilabos-env` 开发者版**（最小化）：
+   ```bash
+   mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+   # 然后手动安装依赖
+   pip install -e .
+   uv pip install -r unilabos/utils/requirements.txt
+   ```
+   开发者版只包含环境依赖，体积最小约 2GB。
+
+3. **按需安装额外组件**：
+   如果后续需要特定功能，可以单独安装：
+   ```bash
+   # 需要 Jupyter
+   mamba install jupyter jupyros
+   
+   # 需要可视化
+   mamba install matplotlib opencv
+   
+   # 需要仿真（注意：这会安装大量依赖）
+   mamba install ros-humble-gazebo-ros
+   ```
+
+4. **预打包环境问题**：
+   预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
+
+**包选择建议**：
+| 需求 | 推荐包 | 预估大小 |
+|------|--------|----------|
+| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
+| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
+| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
 
 ### 问题 9: 如何更新到最新版本？
 
@@ -503,14 +608,15 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
 ## 需要帮助？
 
 - **故障排查**: 查看更详细的故障排查信息
-- **GitHub Issues**: [报告问题](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- **GitHub Issues**: [报告问题](https://github.com/deepmodeling/Uni-Lab-OS/issues)
 - **开发者文档**: 查看开发者指南获取更多技术细节
-- **社区讨论**: [GitHub Discussions](https://github.com/dptech-corp/Uni-Lab-OS/discussions)
+- **社区讨论**: [GitHub Discussions](https://github.com/deepmodeling/Uni-Lab-OS/discussions)
 
 ---
 
 **提示**:
 
-- 生产环境推荐使用方式二（手动安装）的稳定版本
-- 开发和测试推荐使用方式三（开发者安装）
-- 快速体验和演示推荐使用方式一（一键安装）
+- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
+- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
+- **仿真/可视化**推荐安装 `unilabos-full` 完整版
+- **快速体验和演示**推荐使用方式一（一键安装）

docs/user_guide/launch.md

@@ -22,7 +22,6 @@ options:
   --is_slave            Run the backend as slave node (without host privileges).
   --slave_no_host       Skip waiting for host service in slave mode
   --upload_registry     Upload registry information when starting unilab
-  --use_remote_resource Use remote resources when starting unilab
   --config CONFIG       Configuration file path, supports .py format Python config files
   --port PORT           Port for web service information page
   --disable_browser     Disable opening information page on startup
@@ -85,7 +84,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
 支持两种方式：
 
 - **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
-- **远程资源**：使用 `--use_remote_resource` 从云端获取
+- **远程资源**：不指定本地文件即可
 
 ### 7. 注册表构建
 
@@ -196,7 +195,7 @@ unilab --config path/to/your/config.py
 unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
 
 # 使用远程资源启动
-unilab --ak your_ak --sk your_sk --use_remote_resource
+unilab --ak your_ak --sk your_sk
 
 # 更新注册表
 unilab --ak your_ak --sk your_sk --complete_registry

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.12
+  version: 0.10.19
 source:
   path: ../../unilabos_msgs
   target_directory: src
@@ -17,7 +17,7 @@ build:
     - bash $SRC_DIR/build_ament_cmake.sh
 
 about:
-  repository: https://github.com/dptech-corp/Uni-Lab-OS
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
   license: BSD-3-Clause
   description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
 
@@ -25,7 +25,7 @@ requirements:
   build:
   - ${{ compiler('cxx') }}
   - ${{ compiler('c') }}
-  - python ==3.11.11
+  - python ==3.11.14
   - numpy
   - if: build_platform != target_platform
     then:
@@ -63,14 +63,14 @@ requirements:
   - robostack-staging::ros-humble-rosidl-default-generators
   - robostack-staging::ros-humble-std-msgs
   - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
+  - robostack-staging::ros2-distro-mutex=0.7
   run:
   - robostack-staging::ros-humble-action-msgs
   - robostack-staging::ros-humble-ros-workspace
   - robostack-staging::ros-humble-rosidl-default-runtime
   - robostack-staging::ros-humble-std-msgs
   - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
+  - robostack-staging::ros2-distro-mutex=0.7
   - if: osx and x86_64
     then:
     - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.12"
+  version: "0.10.19"
 
 source:
   path: ../..

scripts/create_readme.py

@@ -85,7 +85,7 @@ Verification:
 -------------
 
 The verify_installation.py script will check:
-  - Python version (3.11.11)
+  - Python version (3.11.14)
   - ROS2 rclpy installation
   - UniLabOS installation and dependencies
 
@@ -104,7 +104,7 @@ Build Information:
 
   Branch:   {branch}
   Platform: {platform}
-  Python:   3.11.11
+  Python:   3.11.14
   Date:     {build_date}
 
 Troubleshooting:
@@ -126,7 +126,7 @@ If installation fails:
 For more help:
   - Documentation: docs/user_guide/installation.md
   - Quick Start: QUICK_START_CONDA_PACK.md
-  - Issues: https://github.com/dptech-corp/Uni-Lab-OS/issues
+  - Issues: https://github.com/deepmodeling/Uni-Lab-OS/issues
 
 License:
 --------
@@ -134,7 +134,7 @@ License:
 UniLabOS is licensed under GPL-3.0-only.
 See LICENSE file for details.
 
-Repository: https://github.com/dptech-corp/Uni-Lab-OS
+Repository: https://github.com/deepmodeling/Uni-Lab-OS
 """
 
     return readme

scripts/dev_install.py

@@ -0,0 +1,214 @@
+#!/usr/bin/env python3
+"""
+Development installation script for UniLabOS.
+Auto-detects Chinese locale and uses appropriate mirror.
+
+Usage:
+    python scripts/dev_install.py
+    python scripts/dev_install.py --no-mirror  # Force no mirror
+    python scripts/dev_install.py --china      # Force China mirror
+    python scripts/dev_install.py --skip-deps  # Skip pip dependencies installation
+
+Flow:
+    1. pip install -e . (install unilabos in editable mode)
+    2. Detect Chinese locale
+    3. Use uv to install pip dependencies from requirements.txt
+    4. Special packages (like pylabrobot) are handled by environment_check.py at runtime
+"""
+
+import locale
+import subprocess
+import sys
+import argparse
+from pathlib import Path
+
+# Tsinghua mirror URL
+TSINGHUA_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
+
+
+def is_chinese_locale() -> bool:
+    """
+    Detect if system is in Chinese locale.
+    Same logic as EnvironmentChecker._is_chinese_locale()
+    """
+    try:
+        lang = locale.getdefaultlocale()[0]
+        if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
+            return True
+    except Exception:
+        pass
+    return False
+
+
+def run_command(cmd: list, description: str, retry: int = 2) -> bool:
+    """Run command with retry support."""
+    print(f"[INFO] {description}")
+    print(f"[CMD] {' '.join(cmd)}")
+
+    for attempt in range(retry + 1):
+        try:
+            result = subprocess.run(cmd, check=True, timeout=600)
+            print(f"[OK] {description}")
+            return True
+        except subprocess.CalledProcessError as e:
+            if attempt < retry:
+                print(f"[WARN] Attempt {attempt + 1} failed, retrying...")
+            else:
+                print(f"[ERROR] {description} failed: {e}")
+                return False
+        except subprocess.TimeoutExpired:
+            print(f"[ERROR] {description} timed out")
+            return False
+    return False
+
+
+def install_editable(project_root: Path, use_mirror: bool) -> bool:
+    """Install unilabos in editable mode using pip."""
+    cmd = [sys.executable, "-m", "pip", "install", "-e", str(project_root)]
+    if use_mirror:
+        cmd.extend(["-i", TSINGHUA_MIRROR])
+
+    return run_command(cmd, "Installing unilabos in editable mode")
+
+
+def install_requirements_uv(requirements_file: Path, use_mirror: bool) -> bool:
+    """Install pip dependencies using uv (installed via conda-forge::uv)."""
+    cmd = ["uv", "pip", "install", "-r", str(requirements_file)]
+    if use_mirror:
+        cmd.extend(["-i", TSINGHUA_MIRROR])
+
+    return run_command(cmd, "Installing pip dependencies with uv", retry=2)
+
+
+def install_requirements_pip(requirements_file: Path, use_mirror: bool) -> bool:
+    """Fallback: Install pip dependencies using pip."""
+    cmd = [sys.executable, "-m", "pip", "install", "-r", str(requirements_file)]
+    if use_mirror:
+        cmd.extend(["-i", TSINGHUA_MIRROR])
+
+    return run_command(cmd, "Installing pip dependencies with pip", retry=2)
+
+
+def check_uv_available() -> bool:
+    """Check if uv is available (installed via conda-forge::uv)."""
+    try:
+        subprocess.run(["uv", "--version"], capture_output=True, check=True)
+        return True
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        return False
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Development installation script for UniLabOS")
+    parser.add_argument("--china", action="store_true", help="Force use China mirror (Tsinghua)")
+    parser.add_argument("--no-mirror", action="store_true", help="Force use default PyPI (no mirror)")
+    parser.add_argument(
+        "--skip-deps", action="store_true", help="Skip pip dependencies installation (only install unilabos)"
+    )
+    parser.add_argument("--use-pip", action="store_true", help="Use pip instead of uv for dependencies")
+    args = parser.parse_args()
+
+    # Determine project root
+    script_dir = Path(__file__).parent
+    project_root = script_dir.parent
+    requirements_file = project_root / "unilabos" / "utils" / "requirements.txt"
+
+    if not (project_root / "setup.py").exists():
+        print(f"[ERROR] setup.py not found in {project_root}")
+        sys.exit(1)
+
+    print("=" * 60)
+    print("UniLabOS Development Installation")
+    print("=" * 60)
+    print(f"Project root: {project_root}")
+    print()
+
+    # Determine mirror usage based on locale
+    if args.no_mirror:
+        use_mirror = False
+        print("[INFO] Mirror disabled by --no-mirror flag")
+    elif args.china:
+        use_mirror = True
+        print("[INFO] China mirror enabled by --china flag")
+    else:
+        use_mirror = is_chinese_locale()
+        if use_mirror:
+            print("[INFO] Chinese locale detected, using Tsinghua mirror")
+        else:
+            print("[INFO] Non-Chinese locale detected, using default PyPI")
+
+    print()
+
+    # Step 1: Install unilabos in editable mode
+    print("[STEP 1] Installing unilabos in editable mode...")
+    if not install_editable(project_root, use_mirror):
+        print("[ERROR] Failed to install unilabos")
+        print()
+        print("Manual fallback:")
+        if use_mirror:
+            print(f"  pip install -e {project_root} -i {TSINGHUA_MIRROR}")
+        else:
+            print(f"  pip install -e {project_root}")
+        sys.exit(1)
+
+    print()
+
+    # Step 2: Install pip dependencies
+    if args.skip_deps:
+        print("[INFO] Skipping pip dependencies installation (--skip-deps)")
+    else:
+        print("[STEP 2] Installing pip dependencies...")
+
+        if not requirements_file.exists():
+            print(f"[WARN] Requirements file not found: {requirements_file}")
+            print("[INFO] Skipping dependencies installation")
+        else:
+            # Try uv first (faster), fallback to pip
+            if args.use_pip:
+                print("[INFO] Using pip (--use-pip flag)")
+                success = install_requirements_pip(requirements_file, use_mirror)
+            elif check_uv_available():
+                print("[INFO] Using uv (installed via conda-forge::uv)")
+                success = install_requirements_uv(requirements_file, use_mirror)
+                if not success:
+                    print("[WARN] uv failed, falling back to pip...")
+                    success = install_requirements_pip(requirements_file, use_mirror)
+            else:
+                print("[WARN] uv not available (should be installed via: mamba install conda-forge::uv)")
+                print("[INFO] Falling back to pip...")
+                success = install_requirements_pip(requirements_file, use_mirror)
+
+            if not success:
+                print()
+                print("[WARN] Failed to install some dependencies automatically.")
+                print("You can manually install them:")
+                if use_mirror:
+                    print(f"  uv pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
+                    print("  or:")
+                    print(f"  pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
+                else:
+                    print(f"  uv pip install -r {requirements_file}")
+                    print("  or:")
+                    print(f"  pip install -r {requirements_file}")
+
+    print()
+    print("=" * 60)
+    print("Installation complete!")
+    print("=" * 60)
+    print()
+    print("Note: Some special packages (like pylabrobot) are installed")
+    print("automatically at runtime by unilabos if needed.")
+    print()
+    print("Verify installation:")
+    print('  python -c "import unilabos; print(unilabos.__version__)"')
+    print()
+    print("If you encounter issues, you can manually install dependencies:")
+    if use_mirror:
+        print(f"  uv pip install -r unilabos/utils/requirements.txt -i {TSINGHUA_MIRROR}")
+    else:
+        print("  uv pip install -r unilabos/utils/requirements.txt")
+    print()
+
+
+if __name__ == "__main__":
+    main()

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.12',
+    version='0.10.19',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

tests/__init__.py

@@ -0,0 +1,7 @@
+"""
+测试包根目录。
+
+让 `tests.*` 模块可以被正常 import（例如给 `unilabos` 下的测试入口使用）。
+"""
+
+

tests/compile/test_batch_transfer_protocol.py

@@ -0,0 +1,296 @@
+"""
+批量转运编译器测试
+
+覆盖：单物料退化、刚好一批、多批次、空操作、AGV 配置发现、children dict 状态。
+"""
+
+import pytest
+import networkx as nx
+
+from unilabos.compile.batch_transfer_protocol import generate_batch_transfer_protocol
+from unilabos.compile.agv_transfer_protocol import generate_agv_transfer_protocol
+from unilabos.compile._agv_utils import find_agv_config, get_agv_capacity, split_batches
+
+
+# ============ 构建测试用设备图 ============
+
+def _make_graph(capacity_x=2, capacity_y=1, capacity_z=1):
+    """构建包含 AGV 节点的测试设备图"""
+    G = nx.DiGraph()
+
+    # AGV 节点
+    G.add_node("AGV", **{
+        "type": "device",
+        "class_": "agv_transport_station",
+        "config": {
+            "protocol_type": ["AGVTransferProtocol", "BatchTransferProtocol"],
+            "device_roles": {
+                "navigator": "zhixing_agv",
+                "arm": "zhixing_ur_arm"
+            },
+            "route_table": {
+                "StationA->StationB": {
+                    "nav_command": '{"target": "LM1"}',
+                    "arm_pick": '{"task_name": "pick.urp"}',
+                    "arm_place": '{"task_name": "place.urp"}'
+                },
+                "AGV->StationA": {
+                    "nav_command": '{"target": "LM1"}',
+                    "arm_pick": '{"task_name": "pick.urp"}',
+                    "arm_place": '{"task_name": "place.urp"}'
+                },
+                "StationA->StationA": {
+                    "nav_command": '{"target": "LM1"}',
+                    "arm_pick": '{"task_name": "pick.urp"}',
+                    "arm_place": '{"task_name": "place.urp"}'
+                },
+            }
+        }
+    })
+
+    # AGV 子设备
+    G.add_node("zhixing_agv", type="device", class_="zhixing_agv")
+    G.add_node("zhixing_ur_arm", type="device", class_="zhixing_ur_arm")
+    G.add_edge("AGV", "zhixing_agv")
+    G.add_edge("AGV", "zhixing_ur_arm")
+
+    # AGV Warehouse 子资源
+    G.add_node("agv_platform", **{
+        "type": "warehouse",
+        "config": {
+            "name": "agv_platform",
+            "num_items_x": capacity_x,
+            "num_items_y": capacity_y,
+            "num_items_z": capacity_z,
+        }
+    })
+    G.add_edge("AGV", "agv_platform")
+
+    # 来源/目标工站
+    G.add_node("StationA", type="device", class_="workstation")
+    G.add_node("StationB", type="device", class_="workstation")
+
+    return G
+
+
+def _make_repos(items_count=2):
+    """构建测试用的 from_repo 和 to_repo dict"""
+    children = {}
+    for i in range(items_count):
+        pos = f"A{i + 1:02d}"
+        children[pos] = {
+            "id": f"resource_{i + 1}",
+            "name": f"R{i + 1}",
+            "parent": "StationA",
+            "type": "resource",
+        }
+
+    from_repo = {
+        "StationA": {
+            "id": "StationA",
+            "name": "StationA",
+            "children": children,
+        }
+    }
+    to_repo = {
+        "StationB": {
+            "id": "StationB",
+            "name": "StationB",
+            "children": {},
+        }
+    }
+    return from_repo, to_repo
+
+
+def _make_items(count=2):
+    """构建 transfer_resources / from_positions / to_positions"""
+    resources = [
+        {
+            "id": f"resource_{i + 1}",
+            "name": f"R{i + 1}",
+            "sample_id": f"uuid-{i + 1}",
+            "parent": "StationA",
+            "type": "resource",
+        }
+        for i in range(count)
+    ]
+    from_positions = [f"A{i + 1:02d}" for i in range(count)]
+    to_positions = [f"A{i + 1:02d}" for i in range(count)]
+    return resources, from_positions, to_positions
+
+
+# ============ _agv_utils 测试 ============
+
+class TestAGVUtils:
+    def test_find_agv_config(self):
+        G = _make_graph()
+        cfg = find_agv_config(G)
+        assert cfg["agv_id"] == "AGV"
+        assert cfg["device_roles"]["navigator"] == "zhixing_agv"
+        assert cfg["device_roles"]["arm"] == "zhixing_ur_arm"
+        assert "StationA->StationB" in cfg["route_table"]
+
+    def test_find_agv_config_by_id(self):
+        G = _make_graph()
+        cfg = find_agv_config(G, agv_id="AGV")
+        assert cfg["agv_id"] == "AGV"
+
+    def test_find_agv_config_not_found(self):
+        G = nx.DiGraph()
+        G.add_node("SomeDevice", type="device", class_="pump")
+        with pytest.raises(ValueError, match="未找到 AGV"):
+            find_agv_config(G)
+
+    def test_get_agv_capacity(self):
+        G = _make_graph(capacity_x=2, capacity_y=1, capacity_z=1)
+        assert get_agv_capacity(G, "AGV") == 2
+
+    def test_get_agv_capacity_multi_layer(self):
+        G = _make_graph(capacity_x=1, capacity_y=2, capacity_z=3)
+        assert get_agv_capacity(G, "AGV") == 6
+
+    def test_split_batches_exact(self):
+        assert split_batches([1, 2], 2) == [[1, 2]]
+
+    def test_split_batches_overflow(self):
+        assert split_batches([1, 2, 3], 2) == [[1, 2], [3]]
+
+    def test_split_batches_single(self):
+        assert split_batches([1], 4) == [[1]]
+
+    def test_split_batches_zero_capacity(self):
+        with pytest.raises(ValueError):
+            split_batches([1], 0)
+
+
+# ============ 批量转运编译器测试 ============
+
+class TestBatchTransferProtocol:
+    def test_empty_items(self):
+        """空物料列表返回空 steps"""
+        G = _make_graph()
+        from_repo, to_repo = _make_repos(0)
+        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, [], [], [])
+        assert steps == []
+
+    def test_single_item(self):
+        """单物料转运（BatchTransfer 退化为单物料）"""
+        G = _make_graph(capacity_x=2)
+        from_repo, to_repo = _make_repos(1)
+        resources, from_pos, to_pos = _make_items(1)
+        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
+
+        # 应该有: nav到来源 + 1个pick + nav到目标 + 1个place = 4 steps
+        assert len(steps) == 4
+        assert steps[0]["action_name"] == "send_nav_task"
+        assert steps[1]["action_name"] == "move_pos_task"
+        assert steps[1]["_transfer_meta"]["phase"] == "pick"
+        assert steps[2]["action_name"] == "send_nav_task"
+        assert steps[3]["action_name"] == "move_pos_task"
+        assert steps[3]["_transfer_meta"]["phase"] == "place"
+
+    def test_exact_capacity(self):
+        """物料数 = AGV 容量，刚好一批"""
+        G = _make_graph(capacity_x=2)
+        from_repo, to_repo = _make_repos(2)
+        resources, from_pos, to_pos = _make_items(2)
+        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
+
+        # nav + 2 pick + nav + 2 place = 6 steps
+        assert len(steps) == 6
+        pick_steps = [s for s in steps if s.get("_transfer_meta", {}).get("phase") == "pick"]
+        place_steps = [s for s in steps if s.get("_transfer_meta", {}).get("phase") == "place"]
+        assert len(pick_steps) == 2
+        assert len(place_steps) == 2
+
+    def test_multi_batch(self):
+        """物料数 > AGV 容量，自动分批"""
+        G = _make_graph(capacity_x=2)
+        from_repo, to_repo = _make_repos(3)
+        resources, from_pos, to_pos = _make_items(3)
+        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
+
+        # 批次1: nav + 2 pick + nav + 2 place + nav(返回) = 7
+        # 批次2: nav + 1 pick + nav + 1 place = 4
+        # 总计 11 steps
+        assert len(steps) == 11
+
+        nav_steps = [s for s in steps if s["action_name"] == "send_nav_task"]
+        # 批次1: 2 nav(去来源+去目标) + 1 nav(返回) + 批次2: 2 nav = 5 nav
+        assert len(nav_steps) == 5
+
+    def test_children_dict_updated(self):
+        """compile 阶段三方 children dict 状态正确"""
+        G = _make_graph(capacity_x=2)
+        from_repo, to_repo = _make_repos(2)
+        resources, from_pos, to_pos = _make_items(2)
+
+        assert "A01" in from_repo["StationA"]["children"]
+        assert "A02" in from_repo["StationA"]["children"]
+        assert len(to_repo["StationB"]["children"]) == 0
+
+        generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
+
+        # compile 后 from_repo 的 children 应该被 pop 掉
+        assert "A01" not in from_repo["StationA"]["children"]
+        assert "A02" not in from_repo["StationA"]["children"]
+        # to_repo 应该有新物料
+        assert "A01" in to_repo["StationB"]["children"]
+        assert "A02" in to_repo["StationB"]["children"]
+        assert to_repo["StationB"]["children"]["A01"]["id"] == "resource_1"
+
+    def test_device_ids_from_config(self):
+        """设备 ID 全部从配置读取，不硬编码"""
+        G = _make_graph()
+        from_repo, to_repo = _make_repos(1)
+        resources, from_pos, to_pos = _make_items(1)
+        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
+
+        device_ids = {s["device_id"] for s in steps}
+        assert "zhixing_agv" in device_ids
+        assert "zhixing_ur_arm" in device_ids
+
+    def test_route_not_found(self):
+        """路由表中无对应路线时报错"""
+        G = _make_graph()
+        from_repo = {"Unknown": {"id": "Unknown", "children": {"A01": {"id": "R1", "parent": "Unknown"}}}}
+        to_repo = {"Other": {"id": "Other", "children": {}}}
+        resources = [{"id": "R1", "name": "R1"}]
+        with pytest.raises(KeyError, match="路由表"):
+            generate_batch_transfer_protocol(G, from_repo, to_repo, resources, ["A01"], ["B01"])
+
+    def test_length_mismatch(self):
+        """三个数组长度不一致时报错"""
+        G = _make_graph()
+        from_repo, to_repo = _make_repos(2)
+        resources = [{"id": "R1"}]
+        with pytest.raises(ValueError, match="长度不一致"):
+            generate_batch_transfer_protocol(G, from_repo, to_repo, resources, ["A01", "A02"], ["B01"])
+
+
+# ============ 改造后的 AGV 单物料编译器测试 ============
+
+class TestAGVTransferProtocol:
+    def test_single_transfer_from_config(self):
+        """改造后的单物料编译器从 G 读取配置"""
+        G = _make_graph()
+        from_repo = {"StationA": {"id": "StationA", "children": {"A01": {"id": "R1", "parent": "StationA"}}}}
+        to_repo = {"StationB": {"id": "StationB", "children": {}}}
+        steps = generate_agv_transfer_protocol(G, from_repo, "A01", to_repo, "B01")
+
+        assert len(steps) == 2
+        assert steps[0]["device_id"] == "zhixing_agv"
+        assert steps[0]["action_name"] == "send_nav_task"
+        assert steps[1]["device_id"] == "zhixing_ur_arm"
+        assert steps[1]["action_name"] == "move_pos_task"
+
+    def test_children_updated(self):
+        """单物料编译后 children dict 正确更新"""
+        G = _make_graph()
+        from_repo = {"StationA": {"id": "StationA", "children": {"A01": {"id": "R1", "parent": "StationA"}}}}
+        to_repo = {"StationB": {"id": "StationB", "children": {}}}
+        generate_agv_transfer_protocol(G, from_repo, "A01", to_repo, "B01")
+
+        assert "A01" not in from_repo["StationA"]["children"]
+        assert "B01" in to_repo["StationB"]["children"]
+        assert to_repo["StationB"]["children"]["B01"]["parent"] == "StationB"

tests/compile/test_full_chain_conversion_to_compile.py

@@ -0,0 +1,706 @@
+"""
+全链路集成测试：ROS Goal 转换 → ResourceTreeSet → get_plr_nested_dict → 编译器 → 动作列表
+
+模拟 workstation.py 中的完整路径：
+1. host 返回 raw_data（模拟 resource_get 响应）
+2. ResourceTreeSet.from_raw_dict_list(raw_data) 构建资源树
+3. tree.root_node.get_plr_nested_dict() 生成嵌套 dict
+4. protocol_kwargs 传给编译器
+5. 编译器返回 action_list，验证结构和关键字段
+"""
+
+import copy
+import json
+import pytest
+import networkx as nx
+
+from unilabos.resources.resource_tracker import (
+    ResourceDictInstance,
+    ResourceTreeSet,
+)
+from unilabos.compile.utils.resource_helper import (
+    ensure_resource_instance,
+    resource_to_dict,
+    get_resource_id,
+    get_resource_data,
+)
+from unilabos.compile.utils.vessel_parser import get_vessel
+
+# ============ 构建模拟设备图 ============
+
+def _build_test_graph():
+    """构建一个包含常用设备节点的测试图"""
+    G = nx.DiGraph()
+
+    # 容器
+    G.add_node("reactor_01", **{
+        "id": "reactor_01",
+        "name": "reactor_01",
+        "type": "device",
+        "class": "virtual_stirrer",
+        "data": {},
+        "config": {},
+    })
+
+    # 搅拌设备
+    G.add_node("stirrer_1", **{
+        "id": "stirrer_1",
+        "name": "stirrer_1",
+        "type": "device",
+        "class": "virtual_stirrer",
+        "data": {},
+        "config": {},
+    })
+    G.add_edge("stirrer_1", "reactor_01")
+
+    # 加热设备
+    G.add_node("heatchill_1", **{
+        "id": "heatchill_1",
+        "name": "heatchill_1",
+        "type": "device",
+        "class": "virtual_heatchill",
+        "data": {},
+        "config": {},
+    })
+    G.add_edge("heatchill_1", "reactor_01")
+
+    # 试剂容器（液体）
+    G.add_node("flask_water", **{
+        "id": "flask_water",
+        "name": "flask_water",
+        "type": "container",
+        "class": "",
+        "data": {"reagent_name": "water", "liquid": [{"liquid_type": "water", "volume": 500.0}]},
+        "config": {"reagent": "water"},
+    })
+
+    # 固体加样器
+    G.add_node("solid_dispenser_1", **{
+        "id": "solid_dispenser_1",
+        "name": "solid_dispenser_1",
+        "type": "device",
+        "class": "solid_dispenser",
+        "data": {},
+        "config": {},
+    })
+
+    # 泵
+    G.add_node("pump_1", **{
+        "id": "pump_1",
+        "name": "pump_1",
+        "type": "device",
+        "class": "virtual_pump",
+        "data": {},
+        "config": {},
+    })
+    G.add_edge("flask_water", "pump_1")
+    G.add_edge("pump_1", "reactor_01")
+
+    return G
+
+
+# ============ 构建模拟 host 返回数据 ============
+
+def _make_raw_resource(
+    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,
+):
+    """模拟 host 返回的单个资源 dict（与 resource_get 服务响应一致）"""
+    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": 0.0, "y": 0.0, "z": 0.0},
+    }
+
+
+def _simulate_workstation_resource_enrichment(raw_data_list, field_type="unilabos_msgs/Resource"):
+    """
+    模拟 workstation.py 中 resource enrichment 的核心逻辑：
+    raw_data → ResourceTreeSet.from_raw_dict_list → get_plr_nested_dict → protocol_kwargs[k]
+    """
+    tree_set = ResourceTreeSet.from_raw_dict_list(raw_data_list)
+
+    if field_type == "unilabos_msgs/Resource":
+        # 单个 Resource：取第一棵树的根节点
+        root_instance = tree_set.trees[0].root_node if tree_set.trees else None
+        return root_instance.get_plr_nested_dict() if root_instance else {}
+    else:
+        # sequence<Resource>：返回列表
+        return [tree.root_node.get_plr_nested_dict() for tree in tree_set.trees]
+
+
+# ============ 全链路测试：Stir 协议 ============
+
+class TestStirProtocolFullChain:
+    """Stir 协议全链路：host raw_data → enriched dict → compiler → action_list"""
+
+    def test_stir_with_enriched_resource_dict(self):
+        """单个 Resource 经过 enrichment 后传给 stir compiler"""
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+
+        raw_data = [_make_raw_resource(
+            id="reactor_01", uuid="uuid-reactor-01",
+            klass="virtual_stirrer", type_="device",
+        )]
+
+        # 模拟 workstation enrichment
+        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
+
+        assert enriched_vessel["id"] == "reactor_01"
+        assert enriched_vessel["uuid"] == "uuid-reactor-01"
+        assert enriched_vessel["class"] == "virtual_stirrer"
+
+        # 传给编译器
+        G = _build_test_graph()
+        actions = generate_stir_protocol(
+            G=G,
+            vessel=enriched_vessel,
+            time="60",
+            stir_speed=300.0,
+        )
+
+        assert isinstance(actions, list)
+        assert len(actions) >= 1
+        action = actions[0]
+        assert action["device_id"] == "stirrer_1"
+        assert action["action_name"] == "stir"
+        assert "vessel" in action["action_kwargs"]
+        assert action["action_kwargs"]["vessel"]["id"] == "reactor_01"
+
+    def test_stir_with_resource_dict_instance(self):
+        """直接用 ResourceDictInstance 传给 stir compiler（通过 get_plr_nested_dict 转换）"""
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
+        inst = tree_set.trees[0].root_node
+
+        # 通过 resource_to_dict 转换（resource_helper 兼容层）
+        vessel_dict = resource_to_dict(inst)
+        assert isinstance(vessel_dict, dict)
+        assert vessel_dict["id"] == "reactor_01"
+
+        G = _build_test_graph()
+        actions = generate_stir_protocol(G=G, vessel=vessel_dict, time="30")
+
+        assert len(actions) >= 1
+        assert actions[0]["action_name"] == "stir"
+
+    def test_stir_with_string_vessel(self):
+        """兼容旧模式：直接传 vessel 字符串"""
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+
+        G = _build_test_graph()
+        actions = generate_stir_protocol(G=G, vessel="reactor_01", time="30")
+
+        assert len(actions) >= 1
+        assert actions[0]["device_id"] == "stirrer_1"
+        assert actions[0]["action_kwargs"]["vessel"]["id"] == "reactor_01"
+
+
+# ============ 全链路测试：HeatChill 协议 ============
+
+class TestHeatChillProtocolFullChain:
+    """HeatChill 协议全链路"""
+
+    def test_heatchill_with_enriched_resource(self):
+        from unilabos.compile.heatchill_protocol import generate_heat_chill_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01", klass="virtual_stirrer")]
+        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_heat_chill_protocol(
+            G=G,
+            vessel=enriched_vessel,
+            temp=80.0,
+            time="300",
+        )
+
+        assert isinstance(actions, list)
+        assert len(actions) >= 1
+        action = actions[0]
+        assert action["device_id"] == "heatchill_1"
+        assert action["action_name"] == "heat_chill"
+        assert action["action_kwargs"]["temp"] == 80.0
+
+    def test_heatchill_start_with_enriched_resource(self):
+        from unilabos.compile.heatchill_protocol import generate_heat_chill_start_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_heat_chill_start_protocol(
+            G=G,
+            vessel=enriched_vessel,
+            temp=60.0,
+        )
+
+        assert len(actions) >= 1
+        assert actions[0]["action_name"] == "heat_chill_start"
+        assert actions[0]["action_kwargs"]["temp"] == 60.0
+
+    def test_heatchill_stop_with_enriched_resource(self):
+        from unilabos.compile.heatchill_protocol import generate_heat_chill_stop_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_heat_chill_stop_protocol(G=G, vessel=enriched_vessel)
+
+        assert len(actions) >= 1
+        assert actions[0]["action_name"] == "heat_chill_stop"
+
+
+# ============ 全链路测试：Add 协议 ============
+
+class TestAddProtocolFullChain:
+    """Add 协议全链路：vessel enrichment + reagent 查找 + 泵传输"""
+
+    def test_add_solid_with_enriched_resource(self):
+        from unilabos.compile.add_protocol import generate_add_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_add_protocol(
+            G=G,
+            vessel=enriched_vessel,
+            reagent="NaCl",
+            mass="5 g",
+        )
+
+        assert isinstance(actions, list)
+        assert len(actions) >= 1
+        # 应该包含至少一个 add_solid 或 log_message 动作
+        action_names = [a.get("action_name", "") for a in actions]
+        assert any(name in ["add_solid", "log_message"] for name in action_names)
+
+    def test_add_liquid_with_enriched_resource(self):
+        from unilabos.compile.add_protocol import generate_add_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_add_protocol(
+            G=G,
+            vessel=enriched_vessel,
+            reagent="water",
+            volume="10 mL",
+        )
+
+        assert isinstance(actions, list)
+        assert len(actions) >= 1
+
+
+# ============ 全链路测试：ResourceDictInstance 兼容层 ============
+
+class TestResourceDictInstanceCompatibility:
+    """验证编译器兼容层对 ResourceDictInstance 的处理"""
+
+    def test_get_vessel_from_enriched_dict(self):
+        """get_vessel 对 enriched dict 的处理"""
+        raw_data = [_make_raw_resource(
+            id="reactor_01",
+            data={"temperature": 25.0, "liquid": [{"liquid_type": "water", "volume": 10.0}]},
+        )]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        vessel_id, vessel_data = get_vessel(enriched)
+        assert vessel_id == "reactor_01"
+        assert vessel_data["temperature"] == 25.0
+        assert len(vessel_data["liquid"]) == 1
+
+    def test_get_vessel_from_resource_instance(self):
+        """get_vessel 直接对 ResourceDictInstance 的处理"""
+        raw_data = [_make_raw_resource(
+            id="reactor_01",
+            data={"temperature": 25.0},
+        )]
+        tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
+        inst = tree_set.trees[0].root_node
+
+        vessel_id, vessel_data = get_vessel(inst)
+        assert vessel_id == "reactor_01"
+        assert vessel_data["temperature"] == 25.0
+
+    def test_ensure_resource_instance_round_trip(self):
+        """ensure_resource_instance → resource_to_dict 无损往返"""
+        raw_data = [_make_raw_resource(
+            id="reactor_01", uuid="uuid-r01", klass="virtual_stirrer",
+            data={"temp": 25.0},
+        )]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        # dict → ResourceDictInstance
+        inst = ensure_resource_instance(enriched)
+        assert isinstance(inst, ResourceDictInstance)
+        assert inst.res_content.id == "reactor_01"
+        assert inst.res_content.uuid == "uuid-r01"
+
+        # ResourceDictInstance → dict
+        d = resource_to_dict(inst)
+        assert isinstance(d, dict)
+        assert d["id"] == "reactor_01"
+        assert d["uuid"] == "uuid-r01"
+        assert d["class"] == "virtual_stirrer"
+
+
+# ============ 全链路测试：带 children 的资源树 ============
+
+class TestResourceTreeWithChildren:
+    """测试带 children 结构的资源树通过编译器的路径"""
+
+    def _make_tree_with_children(self):
+        """构建 StationA -> [Flask1, Flask2] 的资源树"""
+        return [
+            _make_raw_resource(
+                id="StationA", uuid="uuid-station-a",
+                name="StationA", klass="workstation", type_="device",
+            ),
+            _make_raw_resource(
+                id="Flask1", uuid="uuid-flask-1",
+                name="Flask1", klass="", type_="resource",
+                parent="StationA", parent_uuid="uuid-station-a",
+                data={"liquid": [{"liquid_type": "water", "volume": 10.0}]},
+            ),
+            _make_raw_resource(
+                id="Flask2", uuid="uuid-flask-2",
+                name="Flask2", klass="", type_="resource",
+                parent="StationA", parent_uuid="uuid-station-a",
+                data={"liquid": [{"liquid_type": "ethanol", "volume": 5.0}]},
+            ),
+        ]
+
+    def test_enrichment_preserves_children_structure(self):
+        """验证 enrichment 后 children 为嵌套 dict"""
+        raw_data = self._make_tree_with_children()
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        assert enriched["id"] == "StationA"
+        assert "children" in enriched
+        assert isinstance(enriched["children"], dict)
+        assert "Flask1" in enriched["children"]
+        assert "Flask2" in enriched["children"]
+
+    def test_children_preserve_uuid_and_data(self):
+        """验证 children 中的 uuid 和 data 被正确保留"""
+        raw_data = self._make_tree_with_children()
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        flask1 = enriched["children"]["Flask1"]
+        assert flask1["uuid"] == "uuid-flask-1"
+        assert flask1["data"]["liquid"][0]["liquid_type"] == "water"
+        assert flask1["data"]["liquid"][0]["volume"] == 10.0
+
+        flask2 = enriched["children"]["Flask2"]
+        assert flask2["uuid"] == "uuid-flask-2"
+        assert flask2["data"]["liquid"][0]["liquid_type"] == "ethanol"
+
+    def test_children_dict_can_be_popped(self):
+        """模拟 batch_transfer_protocol 中 pop children 的操作"""
+        raw_data = self._make_tree_with_children()
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        # batch_transfer_protocol 中会 pop children
+        children = enriched["children"]
+        popped = children.pop("Flask1")
+        assert popped["id"] == "Flask1"
+        assert "Flask1" not in enriched["children"]
+        assert "Flask2" in enriched["children"]
+
+    def test_children_dict_usable_as_from_repo(self):
+        """模拟 batch_transfer_protocol 中 from_repo 参数"""
+        raw_data = self._make_tree_with_children()
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        # 模拟编译器接收的 from_repo 格式
+        from_repo = {"StationA": enriched}
+        from_repo_ = list(from_repo.values())[0]
+
+        assert from_repo_["id"] == "StationA"
+        assert "Flask1" in from_repo_["children"]
+        assert from_repo_["children"]["Flask1"]["uuid"] == "uuid-flask-1"
+
+    def test_sequence_resource_enrichment(self):
+        """sequence<Resource> 情况：多个独立资源树"""
+        raw_data1 = [_make_raw_resource(id="R1", uuid="uuid-r1")]
+        raw_data2 = [_make_raw_resource(id="R2", uuid="uuid-r2")]
+
+        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"
+
+
+# ============ 全链路测试：动作列表结构验证 ============
+
+class TestActionListStructure:
+    """验证编译器返回的 action_list 结构符合 workstation 预期"""
+
+    def _validate_action(self, action):
+        """验证单个 action dict 的结构"""
+        if action.get("action_name") == "wait":
+            # wait 伪动作不需要 device_id
+            assert "action_kwargs" in action
+            assert "time" in action["action_kwargs"]
+            return
+
+        if action.get("action_name") == "log_message":
+            # log 伪动作
+            assert "action_kwargs" in action
+            return
+
+        # 正常设备动作
+        assert "device_id" in action, f"action 缺少 device_id: {action}"
+        assert "action_name" in action, f"action 缺少 action_name: {action}"
+        assert "action_kwargs" in action, f"action 缺少 action_kwargs: {action}"
+        assert isinstance(action["action_kwargs"], dict)
+
+    def test_stir_action_list_structure(self):
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_stir_protocol(G=G, vessel=enriched, time="60")
+
+        for action in actions:
+            if isinstance(action, list):
+                # 并行动作
+                for sub_action in action:
+                    self._validate_action(sub_action)
+            else:
+                self._validate_action(action)
+
+    def test_heatchill_action_list_structure(self):
+        from unilabos.compile.heatchill_protocol import generate_heat_chill_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_heat_chill_protocol(G=G, vessel=enriched, temp=80.0, time="60")
+
+        for action in actions:
+            if isinstance(action, list):
+                for sub_action in action:
+                    self._validate_action(sub_action)
+            else:
+                self._validate_action(action)
+
+    def test_add_action_list_structure(self):
+        from unilabos.compile.add_protocol import generate_add_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_add_protocol(G=G, vessel=enriched, reagent="NaCl", mass="5 g")
+
+        for action in actions:
+            if isinstance(action, list):
+                for sub_action in action:
+                    self._validate_action(sub_action)
+            else:
+                self._validate_action(action)
+
+
+# ============ 全链路测试：message_converter 到 enrichment ============
+
+class TestMessageConverterToEnrichment:
+    """模拟从 ROS 消息转换后的 dict 到 enrichment 的完整链路"""
+
+    def test_ros_goal_conversion_simulation(self):
+        """
+        模拟 workstation.py 中的完整流程：
+        1. ROS goal 中的 vessel 字段被 convert_from_ros_msg 转换为浅层 dict
+        2. workstation 用 resource_id 请求 host 获取完整资源数据
+        3. ResourceTreeSet.from_raw_dict_list 构建资源树
+        4. get_plr_nested_dict 生成嵌套 dict 替换 protocol_kwargs[k]
+        """
+        # 步骤1: 模拟 convert_from_ros_msg 的输出（浅层 dict，只有 id 等基本字段）
+        shallow_vessel = {
+            "id": "reactor_01",
+            "uuid": "uuid-reactor-01",
+            "name": "reactor_01",
+            "type": "device",
+            "category": "virtual_stirrer",
+            "children": [],
+            "parent": "",
+            "parent_uuid": "",
+            "config": {},
+            "data": {},
+            "extra": {},
+            "position": {"x": 0.0, "y": 0.0, "z": 0.0},
+        }
+
+        protocol_kwargs = {
+            "vessel": shallow_vessel,
+            "time": "300",
+            "stir_speed": 300.0,
+        }
+
+        # 步骤2: 提取 resource_id
+        resource_id = protocol_kwargs["vessel"]["id"]
+        assert resource_id == "reactor_01"
+
+        # 步骤3: 模拟 host 返回完整数据（带 children）
+        host_response = [
+            _make_raw_resource(
+                id="reactor_01", uuid="uuid-reactor-01",
+                klass="virtual_stirrer", type_="device",
+                data={"temperature": 25.0, "pressure": 1.0},
+                config={"max_temp": 300.0},
+            ),
+        ]
+
+        # 步骤4: enrichment
+        enriched = _simulate_workstation_resource_enrichment(host_response)
+        protocol_kwargs["vessel"] = enriched
+
+        # 验证 enrichment 后的 protocol_kwargs
+        assert protocol_kwargs["vessel"]["id"] == "reactor_01"
+        assert protocol_kwargs["vessel"]["uuid"] == "uuid-reactor-01"
+        assert protocol_kwargs["vessel"]["class"] == "virtual_stirrer"
+        assert protocol_kwargs["vessel"]["data"]["temperature"] == 25.0
+        assert protocol_kwargs["vessel"]["config"]["max_temp"] == 300.0
+
+        # 步骤5: 传给编译器
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+        G = _build_test_graph()
+        actions = generate_stir_protocol(G=G, **protocol_kwargs)
+
+        assert len(actions) >= 1
+        assert actions[0]["device_id"] == "stirrer_1"
+        assert actions[0]["action_name"] == "stir"
+
+    def test_ros_goal_with_children_enrichment(self):
+        """ROS goal → enrichment 带 children 的场景（batch transfer）"""
+        # 模拟 host 返回带 children 的数据
+        host_response = [
+            _make_raw_resource(
+                id="StationA", uuid="uuid-sa", klass="workstation", type_="device",
+                config={"num_items_x": 4, "num_items_y": 2},
+            ),
+            _make_raw_resource(
+                id="Plate1", uuid="uuid-p1", type_="resource",
+                parent="StationA", parent_uuid="uuid-sa",
+                data={"sample": "sample_A"},
+            ),
+            _make_raw_resource(
+                id="Plate2", uuid="uuid-p2", type_="resource",
+                parent="StationA", parent_uuid="uuid-sa",
+                data={"sample": "sample_B"},
+            ),
+        ]
+
+        enriched = _simulate_workstation_resource_enrichment(host_response)
+
+        assert enriched["id"] == "StationA"
+        assert enriched["class"] == "workstation"
+        assert len(enriched["children"]) == 2
+        assert enriched["children"]["Plate1"]["data"]["sample"] == "sample_A"
+        assert enriched["children"]["Plate2"]["uuid"] == "uuid-p2"
+
+        # 模拟 batch_transfer 的 from_repo 格式
+        from_repo = {"StationA": enriched}
+        from_repo_ = list(from_repo.values())[0]
+        assert "Plate1" in from_repo_["children"]
+        assert from_repo_["children"]["Plate1"]["uuid"] == "uuid-p1"
+
+
+# ============ 全链路测试：多协议连续调用 ============
+
+class TestMultiProtocolChain:
+    """模拟连续执行多个协议（如 add → stir → heatchill）"""
+
+    def test_sequential_protocol_execution(self):
+        """模拟典型合成路径：add → stir → heatchill"""
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+        from unilabos.compile.heatchill_protocol import generate_heat_chill_protocol
+        from unilabos.compile.add_protocol import generate_add_protocol
+
+        raw_data = [_make_raw_resource(
+            id="reactor_01", uuid="uuid-reactor-01",
+            klass="virtual_stirrer", type_="device",
+        )]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+        G = _build_test_graph()
+
+        # 每次调用用 enriched 的副本，避免编译器修改原数据
+        all_actions = []
+
+        # 步骤1: 添加试剂
+        add_actions = generate_add_protocol(
+            G=G, vessel=copy.deepcopy(enriched),
+            reagent="NaCl", mass="5 g",
+        )
+        all_actions.extend(add_actions)
+
+        # 步骤2: 搅拌
+        stir_actions = generate_stir_protocol(
+            G=G, vessel=copy.deepcopy(enriched),
+            time="60", stir_speed=300.0,
+        )
+        all_actions.extend(stir_actions)
+
+        # 步骤3: 加热
+        heat_actions = generate_heat_chill_protocol(
+            G=G, vessel=copy.deepcopy(enriched),
+            temp=80.0, time="300",
+        )
+        all_actions.extend(heat_actions)
+
+        # 验证总动作列表
+        assert len(all_actions) >= 3
+        # 每个协议至少产生一个核心动作
+        action_names = [a.get("action_name", "") for a in all_actions if isinstance(a, dict)]
+        assert "stir" in action_names
+        assert "heat_chill" in action_names
+
+    def test_enriched_resource_not_mutated(self):
+        """验证编译器不应修改传入的 enriched dict（如果需要修改应 deepcopy）"""
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+        original_id = enriched["id"]
+        original_uuid = enriched["uuid"]
+
+        G = _build_test_graph()
+        generate_stir_protocol(G=G, vessel=enriched, time="60")
+
+        # 验证 enriched dict 核心字段未被修改
+        assert enriched["id"] == original_id
+        assert enriched["uuid"] == original_uuid

tests/compile/test_pump_separate_full_chain.py

@@ -0,0 +1,538 @@
+"""
+PumpTransfer 和 Separate 全链路测试
+
+构建包含泵/阀门/分液漏斗的完整设备图，
+输出完整的中间数据（最短路径、泵骨架、动作列表等）。
+"""
+
+import copy
+import json
+import pprint
+import pytest
+import networkx as nx
+
+from unilabos.resources.resource_tracker import ResourceTreeSet
+from unilabos.compile.utils.resource_helper import get_resource_id, get_resource_data
+from unilabos.compile.utils.vessel_parser import get_vessel
+
+
+def _make_raw_resource(id, uuid=None, name=None, klass="", type_="device",
+                       parent=None, parent_uuid=None, data=None, config=None, extra=None):
+    return {
+        "id": id,
+        "uuid": uuid or f"uuid-{id}",
+        "name": name or id,
+        "class": klass,
+        "type": type_,
+        "parent": parent,
+        "parent_uuid": parent_uuid or "",
+        "description": "",
+        "config": config or {},
+        "data": data or {},
+        "extra": extra or {},
+        "position": {"x": 0.0, "y": 0.0, "z": 0.0},
+    }
+
+
+def _simulate_enrichment(raw_data_list):
+    tree_set = ResourceTreeSet.from_raw_dict_list(raw_data_list)
+    root = tree_set.trees[0].root_node if tree_set.trees else None
+    return root.get_plr_nested_dict() if root else {}
+
+
+def _build_pump_transfer_graph():
+    """
+    构建带泵/阀门的设备图，用于测试 PumpTransfer:
+
+    flask_water (container)
+        ↓
+    valve_1 (multiway_valve, pump_1 连接)
+        ↓
+    reactor_01 (device)
+
+    同时有: stirrer_1, heatchill_1, separator_1
+    """
+    G = nx.DiGraph()
+
+    # 源容器
+    G.add_node("flask_water", **{
+        "id": "flask_water", "name": "flask_water",
+        "type": "container", "class": "",
+        "data": {"reagent_name": "water", "liquid": [{"liquid_type": "water", "volume": 200.0}]},
+        "config": {"reagent": "water"},
+    })
+
+    # 多通阀
+    G.add_node("valve_1", **{
+        "id": "valve_1", "name": "valve_1",
+        "type": "device", "class": "multiway_valve",
+        "data": {}, "config": {},
+    })
+
+    # 注射泵（连接到阀门）
+    G.add_node("pump_1", **{
+        "id": "pump_1", "name": "pump_1",
+        "type": "device", "class": "virtual_pump",
+        "data": {}, "config": {"max_volume": 25.0},
+    })
+
+    # 目标容器
+    G.add_node("reactor_01", **{
+        "id": "reactor_01", "name": "reactor_01",
+        "type": "device", "class": "virtual_stirrer",
+        "data": {"liquid": [{"liquid_type": "water", "volume": 50.0}]},
+        "config": {},
+    })
+
+    # 搅拌器
+    G.add_node("stirrer_1", **{
+        "id": "stirrer_1", "name": "stirrer_1",
+        "type": "device", "class": "virtual_stirrer",
+        "data": {}, "config": {},
+    })
+
+    # 加热器
+    G.add_node("heatchill_1", **{
+        "id": "heatchill_1", "name": "heatchill_1",
+        "type": "device", "class": "virtual_heatchill",
+        "data": {}, "config": {},
+    })
+
+    # 分离器
+    G.add_node("separator_1", **{
+        "id": "separator_1", "name": "separator_1",
+        "type": "device", "class": "separator_controller",
+        "data": {}, "config": {},
+    })
+
+    # 废液容器
+    G.add_node("waste_workup", **{
+        "id": "waste_workup", "name": "waste_workup",
+        "type": "container", "class": "",
+        "data": {}, "config": {},
+    })
+
+    # 产物收集瓶
+    G.add_node("product_flask", **{
+        "id": "product_flask", "name": "product_flask",
+        "type": "container", "class": "",
+        "data": {}, "config": {},
+    })
+
+    # DCM溶剂瓶
+    G.add_node("flask_dcm", **{
+        "id": "flask_dcm", "name": "flask_dcm",
+        "type": "container", "class": "",
+        "data": {"reagent_name": "dcm", "liquid": [{"liquid_type": "dcm", "volume": 500.0}]},
+        "config": {"reagent": "dcm"},
+    })
+
+    # 边连接 —— flask_water → valve_1 → reactor_01
+    G.add_edge("flask_water", "valve_1", port={"valve_1": "port_1"})
+    G.add_edge("valve_1", "reactor_01", port={"valve_1": "port_2"})
+    # 阀门 → 泵
+    G.add_edge("valve_1", "pump_1")
+    G.add_edge("pump_1", "valve_1")
+    # 搅拌器 ↔ reactor
+    G.add_edge("stirrer_1", "reactor_01")
+    # 加热器 ↔ reactor
+    G.add_edge("heatchill_1", "reactor_01")
+    # 分离器 ↔ reactor
+    G.add_edge("separator_1", "reactor_01")
+    G.add_edge("reactor_01", "separator_1")
+    # DCM → valve → reactor (同一泵路)
+    G.add_edge("flask_dcm", "valve_1", port={"valve_1": "port_3"})
+    # reactor → valve → product/waste
+    G.add_edge("valve_1", "product_flask", port={"valve_1": "port_4"})
+    G.add_edge("valve_1", "waste_workup", port={"valve_1": "port_5"})
+
+    return G
+
+
+def _format_action(action, indent=0):
+    """格式化单个 action 为可读字符串"""
+    prefix = "  " * indent
+    if isinstance(action, list):
+        # 并行动作
+        lines = [f"{prefix}[PARALLEL]"]
+        for sub in action:
+            lines.append(_format_action(sub, indent + 1))
+        return "\n".join(lines)
+
+    name = action.get("action_name", "?")
+    device = action.get("device_id", "")
+    kwargs = action.get("action_kwargs", {})
+    comment = action.get("_comment", "")
+    meta = action.get("_transfer_meta", "")
+
+    parts = [f"{prefix}→ {device}::{name}"]
+    if kwargs:
+        # 精简输出
+        kw_str = ", ".join(f"{k}={v}" for k, v in kwargs.items()
+                           if k not in ("progress_message",))
+        if kw_str:
+            parts.append(f"  kwargs: {{{kw_str}}}")
+    if comment:
+        parts.append(f"  # {comment}")
+    if meta:
+        parts.append(f"  meta: {meta}")
+    return "\n".join(f"{prefix}{p}" if i > 0 else p for i, p in enumerate(parts))
+
+
+def _dump_actions(actions, title=""):
+    """打印完整动作列表"""
+    print(f"\n{'='*70}")
+    print(f"  {title}")
+    print(f"  总动作数: {len(actions)}")
+    print(f"{'='*70}")
+    for i, action in enumerate(actions):
+        print(f"\n  [{i:02d}] {_format_action(action, indent=2)}")
+    print(f"\n{'='*70}\n")
+
+
+# ==================== PumpTransfer 全链路 ====================
+
+class TestPumpTransferFullChain:
+    """PumpTransfer: 包含图路径查找、泵骨架构建、动作序列生成"""
+
+    def test_pump_transfer_basic(self):
+        """基础泵转移：flask_water → valve_1 → reactor_01"""
+        from unilabos.compile.pump_protocol import generate_pump_protocol
+
+        G = _build_pump_transfer_graph()
+
+        # 检查最短路径
+        path = nx.shortest_path(G, "flask_water", "reactor_01")
+        print(f"\n最短路径: {path}")
+        assert "valve_1" in path
+
+        # 调用编译器
+        actions = generate_pump_protocol(
+            G=G,
+            from_vessel_id="flask_water",
+            to_vessel_id="reactor_01",
+            volume=10.0,
+            flowrate=2.5,
+            transfer_flowrate=0.5,
+        )
+
+        _dump_actions(actions, "PumpTransfer: flask_water → reactor_01, 10mL")
+
+        # 验证
+        assert isinstance(actions, list)
+        assert len(actions) > 0
+        # 应该有 set_valve_position 和 set_position 动作
+        flat = [a for a in actions if isinstance(a, dict)]
+        action_names = [a.get("action_name") for a in flat]
+        print(f"动作名称列表: {action_names}")
+        assert "set_valve_position" in action_names
+        assert "set_position" in action_names
+
+    def test_pump_transfer_with_rinsing_enriched_vessel(self):
+        """pump_with_rinsing 接收 enriched vessel dict"""
+        from unilabos.compile.pump_protocol import generate_pump_protocol_with_rinsing
+
+        G = _build_pump_transfer_graph()
+
+        # 模拟 enrichment
+        from_raw = [_make_raw_resource(
+            id="flask_water", klass="", type_="container",
+            data={"reagent_name": "water", "liquid": [{"liquid_type": "water", "volume": 200.0}]},
+        )]
+        to_raw = [_make_raw_resource(
+            id="reactor_01", klass="virtual_stirrer", type_="device",
+        )]
+
+        from_enriched = _simulate_enrichment(from_raw)
+        to_enriched = _simulate_enrichment(to_raw)
+
+        print(f"\nfrom_vessel enriched: {json.dumps(from_enriched, indent=2, ensure_ascii=False)[:300]}...")
+        print(f"to_vessel enriched: {json.dumps(to_enriched, indent=2, ensure_ascii=False)[:300]}...")
+
+        # get_vessel 兼容
+        fid, fdata = get_vessel(from_enriched)
+        tid, tdata = get_vessel(to_enriched)
+        print(f"from_vessel_id={fid}, to_vessel_id={tid}")
+        assert fid == "flask_water"
+        assert tid == "reactor_01"
+
+        actions = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel=from_enriched,
+            to_vessel=to_enriched,
+            volume=15.0,
+            flowrate=2.5,
+            transfer_flowrate=0.5,
+        )
+
+        _dump_actions(actions, "PumpTransferWithRinsing: flask_water → reactor_01, 15mL (enriched)")
+
+        assert isinstance(actions, list)
+        assert len(actions) > 0
+
+    def test_pump_transfer_multi_batch(self):
+        """体积 > max_volume 时自动分批"""
+        from unilabos.compile.pump_protocol import generate_pump_protocol
+
+        G = _build_pump_transfer_graph()
+
+        # pump_1 的 max_volume = 25mL，转 60mL 应该分 3 批
+        actions = generate_pump_protocol(
+            G=G,
+            from_vessel_id="flask_water",
+            to_vessel_id="reactor_01",
+            volume=60.0,
+            flowrate=2.5,
+            transfer_flowrate=0.5,
+        )
+
+        _dump_actions(actions, "PumpTransfer 分批: 60mL (max_volume=25mL, 预期 3 批)")
+
+        assert len(actions) > 0
+        # 应该有多轮 set_position
+        flat = [a for a in actions if isinstance(a, dict)]
+        set_position_count = sum(1 for a in flat if a.get("action_name") == "set_position")
+        print(f"set_position 动作数: {set_position_count}")
+        # 3批 × 2次 (吸液 + 排液) = 6 次 set_position
+        assert set_position_count >= 6
+
+    def test_pump_transfer_no_path(self):
+        """无路径时返回空"""
+        from unilabos.compile.pump_protocol import generate_pump_protocol
+
+        G = _build_pump_transfer_graph()
+        G.add_node("isolated_flask", type="container")
+
+        actions = generate_pump_protocol(
+            G=G,
+            from_vessel_id="isolated_flask",
+            to_vessel_id="reactor_01",
+            volume=10.0,
+        )
+
+        print(f"\n无路径时的动作列表: {actions}")
+        assert actions == []
+
+    def test_pump_backbone_filtering(self):
+        """验证泵骨架过滤逻辑（电磁阀被跳过）"""
+        from unilabos.compile.pump_protocol import generate_pump_protocol
+
+        G = _build_pump_transfer_graph()
+        # 添加电磁阀到路径中
+        G.add_node("solenoid_valve_1", **{
+            "type": "device", "class": "solenoid_valve",
+            "data": {}, "config": {},
+        })
+        # flask_water → solenoid_valve_1 → valve_1 → reactor_01
+        G.remove_edge("flask_water", "valve_1")
+        G.add_edge("flask_water", "solenoid_valve_1")
+        G.add_edge("solenoid_valve_1", "valve_1")
+
+        path = nx.shortest_path(G, "flask_water", "reactor_01")
+        print(f"\n含电磁阀的路径: {path}")
+        assert "solenoid_valve_1" in path
+
+        actions = generate_pump_protocol(
+            G=G,
+            from_vessel_id="flask_water",
+            to_vessel_id="reactor_01",
+            volume=10.0,
+        )
+
+        _dump_actions(actions, "PumpTransfer 含电磁阀: flask_water → solenoid → valve_1 → reactor_01")
+        # 电磁阀应被跳过，泵骨架只有 valve_1
+        assert len(actions) > 0
+
+
+# ==================== Separate 全链路 ====================
+
+class TestSeparateProtocolFullChain:
+    """Separate: 包含 bug 确认和正常路径测试"""
+
+    def test_separate_bug_line_128_fixed(self):
+        """验证 separate_protocol.py:128 的 bug 已修复（不再 crash）"""
+        from unilabos.compile.separate_protocol import generate_separate_protocol
+
+        G = _build_pump_transfer_graph()
+
+        raw_data = [_make_raw_resource(
+            id="reactor_01", klass="virtual_stirrer",
+            data={"liquid": [{"liquid_type": "water", "volume": 100.0}]},
+        )]
+        enriched = _simulate_enrichment(raw_data)
+
+        # 修复前：final_vessel_id, _ = vessel_id 会 crash（字符串解包）
+        # 修复后：final_vessel_id = vessel_id，正常返回 action 列表
+        result = generate_separate_protocol(
+            G=G,
+            vessel=enriched,
+            purpose="extract",
+            product_phase="top",
+            product_vessel="product_flask",
+            waste_vessel="waste_workup",
+            solvent="dcm",
+            volume="100 mL",
+        )
+        assert isinstance(result, list)
+        assert len(result) > 0
+
+    def test_separate_manual_workaround(self):
+        """
+        绕过 line 128 bug，手动测试分离编译器中可以工作的子函数
+        """
+        from unilabos.compile.separate_protocol import (
+            find_separator_device,
+            find_separation_vessel_bottom,
+        )
+        from unilabos.compile.utils.vessel_parser import (
+            find_connected_stirrer,
+            find_solvent_vessel,
+        )
+        from unilabos.compile.utils.unit_parser import parse_volume_input
+        from unilabos.compile.utils.resource_helper import get_resource_liquid_volume as get_vessel_liquid_volume
+
+        G = _build_pump_transfer_graph()
+
+        # 1. get_vessel 解析 enriched dict
+        raw_data = [_make_raw_resource(
+            id="reactor_01", klass="virtual_stirrer",
+            data={"liquid": [{"liquid_type": "water", "volume": 100.0}]},
+        )]
+        enriched = _simulate_enrichment(raw_data)
+        vessel_id, vessel_data = get_vessel(enriched)
+        print(f"\nvessel_id: {vessel_id}")
+        print(f"vessel_data: {vessel_data}")
+        assert vessel_id == "reactor_01"
+        assert vessel_data["liquid"][0]["volume"] == 100.0
+
+        # 2. find_separator_device
+        sep = find_separator_device(G, vessel_id)
+        print(f"分离器设备: {sep}")
+        assert sep == "separator_1"
+
+        # 3. find_connected_stirrer
+        stirrer = find_connected_stirrer(G, vessel_id)
+        print(f"搅拌器设备: {stirrer}")
+        assert stirrer == "stirrer_1"
+
+        # 4. find_solvent_vessel
+        solvent_v = find_solvent_vessel(G, "dcm")
+        print(f"DCM溶剂容器: {solvent_v}")
+        assert solvent_v == "flask_dcm"
+
+        # 5. parse_volume_input
+        vol = parse_volume_input("200 mL")
+        print(f"体积解析: '200 mL' → {vol}")
+        assert vol == 200.0
+
+        vol2 = parse_volume_input("1.5 L")
+        print(f"体积解析: '1.5 L' → {vol2}")
+        assert vol2 == 1500.0
+
+        # 6. get_vessel_liquid_volume
+        liq_vol = get_vessel_liquid_volume(enriched)
+        print(f"液体体积 (enriched dict): {liq_vol}")
+        assert liq_vol == 100.0
+
+        # 7. find_separation_vessel_bottom
+        bottom = find_separation_vessel_bottom(G, vessel_id)
+        print(f"分离容器底部: {bottom}")
+        # 当前图中没有命名匹配的底部容器
+
+    def test_pump_transfer_for_separate_subflow(self):
+        """测试 separate 中调用的 pump 子流程（溶剂添加 → 分液漏斗）"""
+        from unilabos.compile.pump_protocol import generate_pump_protocol_with_rinsing
+
+        G = _build_pump_transfer_graph()
+
+        # 模拟分离前的溶剂添加步骤
+        actions = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel="flask_dcm",
+            to_vessel="reactor_01",
+            volume=100.0,
+            flowrate=2.5,
+            transfer_flowrate=0.5,
+        )
+
+        _dump_actions(actions, "Separate 子流程: flask_dcm → reactor_01, 100mL DCM")
+
+        assert isinstance(actions, list)
+        assert len(actions) > 0
+
+        # 模拟分离后产物转移
+        actions2 = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel="reactor_01",
+            to_vessel="product_flask",
+            volume=50.0,
+            flowrate=2.5,
+            transfer_flowrate=0.5,
+        )
+
+        _dump_actions(actions2, "Separate 子流程: reactor_01 → product_flask, 50mL 产物")
+
+        assert len(actions2) > 0
+
+        # 废液转移
+        actions3 = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel="reactor_01",
+            to_vessel="waste_workup",
+            volume=50.0,
+            flowrate=2.5,
+            transfer_flowrate=0.5,
+        )
+
+        _dump_actions(actions3, "Separate 子流程: reactor_01 → waste_workup, 50mL 废液")
+
+        assert len(actions3) > 0
+
+
+# ==================== 图路径可视化 ====================
+
+class TestGraphPathVisualization:
+    """输出图中关键路径信息"""
+
+    def test_all_shortest_paths(self):
+        """输出所有容器之间的最短路径"""
+        G = _build_pump_transfer_graph()
+
+        containers = [n for n in G.nodes() if G.nodes[n].get("type") == "container"]
+        devices = [n for n in G.nodes() if G.nodes[n].get("type") == "device"]
+
+        print(f"\n{'='*70}")
+        print(f"  设备图概览")
+        print(f"{'='*70}")
+        print(f"  容器节点 ({len(containers)}): {containers}")
+        print(f"  设备节点 ({len(devices)}): {devices}")
+        print(f"  边数: {G.number_of_edges()}")
+        print(f"  边列表:")
+        for u, v, data in G.edges(data=True):
+            port_info = data.get("port", "")
+            print(f"    {u} → {v}  {port_info if port_info else ''}")
+
+        print(f"\n  关键路径:")
+        pairs = [
+            ("flask_water", "reactor_01"),
+            ("flask_dcm", "reactor_01"),
+            ("reactor_01", "product_flask"),
+            ("reactor_01", "waste_workup"),
+            ("flask_water", "product_flask"),
+        ]
+        for src, dst in pairs:
+            try:
+                path = nx.shortest_path(G, src, dst)
+                length = len(path) - 1
+                # 标注路径上的节点类型
+                annotated = []
+                for n in path:
+                    ntype = G.nodes[n].get("type", "?")
+                    nclass = G.nodes[n].get("class", "")
+                    annotated.append(f"{n}({ntype}{'/' + nclass if nclass else ''})")
+                print(f"    {src} → {dst}: 距离={length}")
+                print(f"      路径: {' → '.join(annotated)}")
+            except nx.NetworkXNoPath:
+                print(f"    {src} → {dst}: 无路径!")
+
+        print(f"{'='*70}\n")

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"

tests/devices/__init__.py

@@ -0,0 +1 @@
+

tests/devices/liquid_handling/__init__.py

@@ -0,0 +1,5 @@
+"""
+液体处理设备相关测试。
+"""
+
+

tests/devices/liquid_handling/test_transfer_liquid.py

@@ -0,0 +1,505 @@
+import asyncio
+from dataclasses import dataclass
+from typing import Any, Iterable, List, Optional, Sequence, Tuple
+
+import pytest
+
+from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+
+
+@dataclass(frozen=True)
+class DummyContainer:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyContainer({self.name})"
+
+
+@dataclass(frozen=True)
+class DummyTipSpot:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyTipSpot({self.name})"
+
+
+def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
+    """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
+    for i in range(n):
+        yield [DummyTipSpot(f"tip_{i}")]
+
+
+class FakeLiquidHandler(LiquidHandlerAbstract):
+    """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
+
+    def __init__(self, channel_num: int = 8):
+        # 不调用 super().__init__，避免真实硬件/后端依赖
+        self.channel_num = channel_num
+        self.support_touch_tip = True
+        self.current_tip = iter(make_tip_iter())
+        self.calls: List[Tuple[str, Any]] = []
+
+    async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
+        self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
+
+    async def aspirate(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "aspirate",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def dispense(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "dispense",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def discard_tips(self, use_channels=None, *args, **kwargs):
+        # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
+        self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
+
+    async def custom_delay(self, seconds=0, msg=None):
+        self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
+
+    async def touch_tip(self, targets):
+        # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
+        self.calls.append(("touch_tip", {"targets": targets}))
+
+    async def mix(self, targets, mix_time=None, mix_vol=None, height_to_bottom=None, offsets=None, mix_rate=None, none_keys=None):
+        self.calls.append(
+            (
+                "mix",
+                {
+                    "targets": targets,
+                    "mix_time": mix_time,
+                    "mix_vol": mix_vol,
+                },
+            )
+        )
+
+
+def run(coro):
+    return asyncio.run(coro)
+
+
+def test_one_to_one_single_channel_basic_calls():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(64))
+
+    sources = [DummyContainer(f"S{i}") for i in range(3)]
+    targets = [DummyContainer(f"T{i}") for i in range(3)]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=[1, 2, 3],
+            dis_vols=[4, 5, 6],
+            mix_times=None,  # 应该仍能执行（不 mix）
+        )
+    )
+
+    assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
+    assert [c[0] for c in lh.calls].count("aspirate") == 3
+    assert [c[0] for c in lh.calls].count("dispense") == 3
+    assert [c[0] for c in lh.calls].count("discard_tips") == 3
+
+    # 每次 aspirate/dispense 都是单孔列表
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    assert aspirates[0]["resources"] == [sources[0]]
+    assert aspirates[0]["vols"] == [1.0]
+
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert dispenses[2]["resources"] == [targets[2]]
+    assert dispenses[2]["vols"] == [6.0]
+
+
+def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(16))
+
+    source = DummyContainer("S0")
+    target = DummyContainer("T0")
+
+    run(
+        lh.transfer_liquid(
+            sources=[source],
+            targets=[target],
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=[5],
+            dis_vols=[5],
+            mix_stage="before",
+            mix_times=1,
+            mix_vol=3,
+        )
+    )
+
+    names = [name for name, _ in lh.calls]
+    assert names.count("mix") == 1
+    assert names.index("mix") < names.index("aspirate")
+
+
+def test_one_to_one_eight_channel_groups_by_8():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(256))
+
+    sources = [DummyContainer(f"S{i}") for i in range(16)]
+    targets = [DummyContainer(f"T{i}") for i in range(16)]
+    asp_vols = list(range(1, 17))
+    dis_vols = list(range(101, 117))
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,
+            mix_times=0,  # 触发逻辑但不 mix
+        )
+    )
+
+    # 16 个任务 -> 2 组，每组 8 通道一起做
+    assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert len(aspirates) == 2
+    assert len(dispenses) == 2
+
+    assert aspirates[0]["resources"] == sources[0:8]
+    assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
+    assert dispenses[1]["resources"] == targets[8:16]
+    assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
+
+
+def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(64))
+
+    sources = [DummyContainer(f"S{i}") for i in range(9)]
+    targets = [DummyContainer(f"T{i}") for i in range(9)]
+
+    with pytest.raises(ValueError, match="multiple of 8"):
+        run(
+            lh.transfer_liquid(
+                sources=sources,
+                targets=targets,
+                tip_racks=[],
+                use_channels=list(range(8)),
+                asp_vols=[1] * 9,
+                dis_vols=[1] * 9,
+                mix_times=0,
+            )
+        )
+
+
+def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(512))
+
+    sources = [DummyContainer(f"S{i}") for i in range(16)]
+    targets = [DummyContainer(f"T{i}") for i in range(16)]
+    asp_vols = [i + 1 for i in range(16)]
+    dis_vols = [200 + i for i in range(16)]
+    asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
+    dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
+    offsets = [f"offset_{i}" for i in range(16)]
+    liquid_heights = [i * 0.5 for i in range(16)]
+    blow_out_air_volume = [i + 0.05 for i in range(16)]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,
+            asp_flow_rates=asp_flow_rates,
+            dis_flow_rates=dis_flow_rates,
+            offsets=offsets,
+            liquid_height=liquid_heights,
+            blow_out_air_volume=blow_out_air_volume,
+            mix_times=0,
+        )
+    )
+
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert len(aspirates) == len(dispenses) == 2
+
+    for batch_idx in range(2):
+        start = batch_idx * 8
+        end = start + 8
+        asp_call = aspirates[batch_idx]
+        dis_call = dispenses[batch_idx]
+        assert asp_call["resources"] == sources[start:end]
+        assert asp_call["flow_rates"] == asp_flow_rates[start:end]
+        assert asp_call["offsets"] == offsets[start:end]
+        assert asp_call["liquid_height"] == liquid_heights[start:end]
+        assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+        assert dis_call["flow_rates"] == dis_flow_rates[start:end]
+        assert dis_call["offsets"] == offsets[start:end]
+        assert dis_call["liquid_height"] == liquid_heights[start:end]
+        assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+
+
+def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(1024))
+
+    sources = [DummyContainer(f"S{i}") for i in range(32)]
+    targets = [DummyContainer(f"T{i}") for i in range(32)]
+    asp_vols = [i + 1 for i in range(32)]
+    dis_vols = [300 + i for i in range(32)]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,
+            mix_times=0,
+        )
+    )
+
+    pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert len(pick_calls) == 4
+    assert len(aspirates) == len(dispenses) == 4
+    assert aspirates[0]["resources"] == sources[0:8]
+    assert aspirates[-1]["resources"] == sources[24:32]
+    assert dispenses[0]["resources"] == targets[0:8]
+    assert dispenses[-1]["resources"] == targets[24:32]
+
+
+def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(64))
+
+    source = DummyContainer("SRC")
+    targets = [DummyContainer(f"T{i}") for i in range(3)]
+    dis_vols = [10, 20, 30]  # sum=60
+
+    run(
+        lh.transfer_liquid(
+            sources=[source],
+            targets=targets,
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=10,  # 小于 sum(dis_vols) -> 应吸 60
+            dis_vols=dis_vols,
+            mix_times=0,
+        )
+    )
+
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    assert len(aspirates) == 1
+    assert aspirates[0]["resources"] == [source]
+    assert aspirates[0]["vols"] == [60.0]
+    assert aspirates[0]["use_channels"] == [0]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
+
+
+def test_one_to_many_eight_channel_basic():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(128))
+
+    source = DummyContainer("SRC")
+    targets = [DummyContainer(f"T{i}") for i in range(8)]
+    dis_vols = [i + 1 for i in range(8)]
+
+    run(
+        lh.transfer_liquid(
+            sources=[source],
+            targets=targets,
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=999,  # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
+            dis_vols=dis_vols,
+            mix_times=0,
+        )
+    )
+
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    assert aspirates[0]["resources"] == [source] * 8
+    assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert dispenses[0]["resources"] == targets
+    assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(128))
+
+    sources = [DummyContainer(f"S{i}") for i in range(3)]
+    target = DummyContainer("T")
+    asp_vols = [5, 6, 7]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=asp_vols,
+            dis_vols=1,  # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
+            mix_times=0,
+        )
+    )
+
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
+    assert all(d["resources"] == [target] for d in dispenses)
+
+
+def test_many_to_one_single_channel_before_stage_mixes_target_once():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(128))
+
+    sources = [DummyContainer("S0"), DummyContainer("S1")]
+    target = DummyContainer("T")
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=[5, 6],
+            dis_vols=1,
+            mix_stage="before",
+            mix_times=2,
+            mix_vol=4,
+        )
+    )
+
+    names = [name for name, _ in lh.calls]
+    assert names[0] == "mix"
+    assert names.count("mix") == 1
+
+
+def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(128))
+
+    sources = [DummyContainer(f"S{i}") for i in range(3)]
+    target = DummyContainer("T")
+    asp_vols = [5, 6, 7]
+    dis_vols = [1, 2, 3]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,  # 比例模式
+            mix_times=0,
+        )
+    )
+
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_eight_channel_basic():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(256))
+
+    sources = [DummyContainer(f"S{i}") for i in range(8)]
+    target = DummyContainer("T")
+    asp_vols = [10 + i for i in range(8)]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=asp_vols,
+            dis_vols=999,  # 非比例模式下每通道分液=对应 asp_vol
+            mix_times=0,
+        )
+    )
+
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert aspirates[0]["resources"] == sources
+    assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
+    assert dispenses[0]["resources"] == [target] * 8
+    assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
+
+
+def test_transfer_liquid_mode_detection_unsupported_shape_raises():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(64))
+
+    sources = [DummyContainer("S0"), DummyContainer("S1")]
+    targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
+
+    with pytest.raises(ValueError, match="Unsupported transfer mode"):
+        run(
+            lh.transfer_liquid(
+                sources=sources,
+                targets=targets,
+                tip_racks=[],
+                use_channels=[0],
+                asp_vols=[1, 1],
+                dis_vols=[1, 1, 1],
+                mix_times=0,
+            )
+        )
+

tests/devices/test_agv_transport_station.py

@@ -0,0 +1,137 @@
+"""
+AGVTransportStation driver 测试
+
+覆盖：初始化、carrier property、slot 查询、路由查询、capacity 计算。
+"""
+
+import pytest
+from unittest.mock import MagicMock, patch
+
+from unilabos.devices.transport.agv_workstation import AGVTransportStation
+from unilabos.resources.warehouse import WareHouse, warehouse_factory
+
+
+class TestAGVTransportStation:
+    def _make_driver(self, route_table=None, device_roles=None):
+        """创建一个 AGVTransportStation 实例"""
+        return AGVTransportStation(
+            deck=None,
+            route_table=route_table or {
+                "A->B": {"nav_command": '{"target":"LM1"}', "arm_pick": "pick.urp", "arm_place": "place.urp"}
+            },
+            device_roles=device_roles or {"navigator": "agv_nav", "arm": "agv_arm"},
+        )
+
+    def _make_warehouse(self, name="agv_platform", nx=2, ny=1, nz=1):
+        """创建一个测试用 Warehouse"""
+        return warehouse_factory(name=name, num_items_x=nx, num_items_y=ny, num_items_z=nz)
+
+    def test_init_deck_none(self):
+        """AGVTransportStation 初始化时 deck=None"""
+        driver = self._make_driver()
+        assert driver.deck is None
+
+    def test_init_route_table(self):
+        """路由表正确存储"""
+        driver = self._make_driver()
+        assert "A->B" in driver.route_table
+
+    def test_init_device_roles(self):
+        """设备角色正确存储"""
+        driver = self._make_driver()
+        assert driver.device_roles["navigator"] == "agv_nav"
+        assert driver.device_roles["arm"] == "agv_arm"
+
+    def test_carrier_without_ros_node(self):
+        """未 post_init 时 carrier 返回 None"""
+        driver = self._make_driver()
+        assert driver.carrier is None
+
+    def test_carrier_with_warehouse(self):
+        """post_init 后 carrier 返回正确的 WareHouse"""
+        driver = self._make_driver()
+        wh = self._make_warehouse()
+
+        # 模拟 ros_node 和 resource_tracker
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        assert driver.carrier is wh
+        assert isinstance(driver.carrier, WareHouse)
+
+    def test_capacity(self):
+        """容量计算正确"""
+        driver = self._make_driver()
+        wh = self._make_warehouse(nx=2, ny=1, nz=1)
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        assert driver.capacity == 2
+
+    def test_capacity_multi_layer(self):
+        """多层 Warehouse 容量"""
+        driver = self._make_driver()
+        wh = self._make_warehouse(nx=1, ny=2, nz=3)
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        assert driver.capacity == 6
+
+    def test_capacity_no_carrier(self):
+        """无 carrier 时容量为 0"""
+        driver = self._make_driver()
+        assert driver.capacity == 0
+
+    def test_free_slots(self):
+        """空载时所有 slot 为空闲"""
+        driver = self._make_driver()
+        wh = self._make_warehouse(nx=2, ny=1, nz=1)
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        free = driver.free_slots
+        assert len(free) == 2
+
+    def test_occupied_slots_empty(self):
+        """空载时 occupied_slots 为空"""
+        driver = self._make_driver()
+        wh = self._make_warehouse(nx=2, ny=1, nz=1)
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        assert len(driver.occupied_slots) == 0
+
+    def test_resolve_route(self):
+        """路由查询返回正确的指令"""
+        driver = self._make_driver()
+        route = driver.resolve_route("A", "B")
+        assert route["nav_command"] == '{"target":"LM1"}'
+        assert route["arm_pick"] == "pick.urp"
+
+    def test_resolve_route_not_found(self):
+        """查询不存在的路线时抛出 KeyError"""
+        driver = self._make_driver()
+        with pytest.raises(KeyError, match="路由表"):
+            driver.resolve_route("X", "Y")
+
+    def test_get_device_id(self):
+        """获取子设备 ID"""
+        driver = self._make_driver()
+        assert driver.get_device_id("navigator") == "agv_nav"
+        assert driver.get_device_id("arm") == "agv_arm"
+
+    def test_get_device_id_not_found(self):
+        """获取不存在的角色时抛出 KeyError"""
+        driver = self._make_driver()
+        with pytest.raises(KeyError, match="未配置设备角色"):
+            driver.get_device_id("gripper")

tests/resources/test_resourcetreeset.py

@@ -2,9 +2,8 @@ import pytest
 import json
 import os
 
-from pylabrobot.resources import Resource as ResourcePLR
 from unilabos.resources.graphio import resource_bioyond_to_plr
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.registry.registry import lab_registry
 
 from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck

tests/ros/msgs/test_runner.py

@@ -11,10 +11,10 @@ import os
 # 添加项目根目录到路径
 sys.path.append(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))))
 
-# 导入测试模块
-from test.ros.msgs.test_basic import TestBasicFunctionality
-from test.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
-from test.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping
+# 导入测试模块（统一从 tests 包获取）
+from tests.ros.msgs.test_basic import TestBasicFunctionality
+from tests.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
+from tests.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping
 
 
 def run_tests():

tests/workflow/test.json

@@ -0,0 +1,213 @@
+{
+  "workflow": [
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines",
+        "targets": "Liquid_1",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines",
+        "targets": "Liquid_2",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines",
+        "targets": "Liquid_3",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines_2",
+        "targets": "Liquid_4",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines_2",
+        "targets": "Liquid_5",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines_2",
+        "targets": "Liquid_6",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines_3",
+        "targets": "dest_set",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines_3",
+        "targets": "dest_set_2",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines_3",
+        "targets": "dest_set_3",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    }
+  ],
+  "reagent": {
+    "Liquid_1": {
+      "slot": 1,
+      "well": [
+        "A4",
+        "A7",
+        "A10"
+      ],
+      "labware": "rep 1"
+    },
+    "Liquid_4": {
+      "slot": 1,
+      "well": [
+        "A4",
+        "A7",
+        "A10"
+      ],
+      "labware": "rep 1"
+    },
+    "dest_set": {
+      "slot": 1,
+      "well": [
+        "A4",
+        "A7",
+        "A10"
+      ],
+      "labware": "rep 1"
+    },
+    "Liquid_2": {
+      "slot": 2,
+      "well": [
+        "A3",
+        "A5",
+        "A8"
+      ],
+      "labware": "rep 2"
+    },
+    "Liquid_5": {
+      "slot": 2,
+      "well": [
+        "A3",
+        "A5",
+        "A8"
+      ],
+      "labware": "rep 2"
+    },
+    "dest_set_2": {
+      "slot": 2,
+      "well": [
+        "A3",
+        "A5",
+        "A8"
+      ],
+      "labware": "rep 2"
+    },
+    "Liquid_3": {
+      "slot": 3,
+      "well": [
+        "A4",
+        "A6",
+        "A10"
+      ],
+      "labware": "rep 3"
+    },
+    "Liquid_6": {
+      "slot": 3,
+      "well": [
+        "A4",
+        "A6",
+        "A10"
+      ],
+      "labware": "rep 3"
+    },
+    "dest_set_3": {
+      "slot": 3,
+      "well": [
+        "A4",
+        "A6",
+        "A10"
+      ],
+      "labware": "rep 3"
+    },
+    "cell_lines": {
+      "slot": 4,
+      "well": [
+        "A1",
+        "A3",
+        "A5"
+      ],
+      "labware": "DRUG + YOYO-MEDIA"
+    },
+    "cell_lines_2": {
+      "slot": 4,
+      "well": [
+        "A1",
+        "A3",
+        "A5"
+      ],
+      "labware": "DRUG + YOYO-MEDIA"
+    },
+    "cell_lines_3": {
+      "slot": 4,
+      "well": [
+        "A1",
+        "A3",
+        "A5"
+      ],
+      "labware": "DRUG + YOYO-MEDIA"
+    }
+  }
+}

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.12"
+__version__ = "0.10.19"

unilabos/__main__.py

@@ -0,0 +1,6 @@
+"""Entry point for `python -m unilabos`."""
+
+from unilabos.app.main import main
+
+if __name__ == "__main__":
+    main()

unilabos/app/backend.py

@@ -1,6 +1,6 @@
 import threading
 
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.utils import logger
 
 

unilabos/app/main.py

@@ -1,13 +1,14 @@
 import argparse
 import asyncio
 import os
+import platform
 import shutil
 import signal
+import subprocess
 import sys
 import threading
 import time
 from typing import Dict, Any, List
-
 import networkx as nx
 import yaml
 
@@ -17,9 +18,92 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
+from unilabos.app.utils import cleanup_for_restart
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 
+# Global restart flags (used by ws_client and web/server)
+_restart_requested: bool = False
+_restart_reason: str = ""
+
+RESTART_EXIT_CODE = 42
+
+
+def _build_child_argv():
+    """Build sys.argv for child process, stripping supervisor-only arguments."""
+    result = []
+    skip_next = False
+    for arg in sys.argv:
+        if skip_next:
+            skip_next = False
+            continue
+        if arg in ("--restart_mode", "--restart-mode"):
+            continue
+        if arg in ("--auto_restart_count", "--auto-restart-count"):
+            skip_next = True
+            continue
+        if arg.startswith("--auto_restart_count=") or arg.startswith("--auto-restart-count="):
+            continue
+        result.append(arg)
+    return result
+
+
+def _run_as_supervisor(max_restarts: int):
+    """
+    Supervisor process that spawns and monitors child processes.
+
+    Similar to Uvicorn's --reload: the supervisor itself does no heavy work,
+    it only launches the real process as a child and restarts it when the child
+    exits with RESTART_EXIT_CODE.
+    """
+    child_argv = [sys.executable] + _build_child_argv()
+    restart_count = 0
+
+    print_status(
+        f"[Supervisor] Restart mode enabled (max restarts: {max_restarts}), "
+        f"child command: {' '.join(child_argv)}",
+        "info",
+    )
+
+    while True:
+        print_status(
+            f"[Supervisor] Launching process (restart {restart_count}/{max_restarts})...",
+            "info",
+        )
+
+        try:
+            process = subprocess.Popen(child_argv)
+            exit_code = process.wait()
+        except KeyboardInterrupt:
+            print_status("[Supervisor] Interrupted, terminating child process...", "info")
+            process.terminate()
+            try:
+                process.wait(timeout=10)
+            except subprocess.TimeoutExpired:
+                process.kill()
+                process.wait()
+            sys.exit(1)
+
+        if exit_code == RESTART_EXIT_CODE:
+            restart_count += 1
+            if restart_count > max_restarts:
+                print_status(
+                    f"[Supervisor] Maximum restart count ({max_restarts}) reached, exiting",
+                    "warning",
+                )
+                sys.exit(1)
+            print_status(
+                f"[Supervisor] Child requested restart ({restart_count}/{max_restarts}), restarting in 2s...",
+                "info",
+            )
+            time.sleep(2)
+        else:
+            if exit_code != 0:
+                print_status(f"[Supervisor] Child exited with code {exit_code}", "warning")
+            else:
+                print_status("[Supervisor] Child exited normally", "info")
+            sys.exit(exit_code)
+
 
 def load_config_from_file(config_path):
     if config_path is None:
@@ -61,6 +145,13 @@ def parse_args():
         action="append",
         help="Path to the registry directory",
     )
+    parser.add_argument(
+        "--devices",
+        type=str,
+        default=None,
+        action="append",
+        help="Path to Python code directory for AST-based device/resource scanning",
+    )
     parser.add_argument(
         "--working_dir",
         type=str,
@@ -150,11 +241,52 @@ def parse_args():
         action="store_true",
         help="Skip environment dependency check on startup",
     )
+    parser.add_argument(
+        "--check_mode",
+        action="store_true",
+        default=False,
+        help="Run in check mode for CI: validates registry imports and ensures no file changes",
+    )
     parser.add_argument(
         "--complete_registry",
         action="store_true",
         default=False,
-        help="Complete registry information",
+        help="Complete and rewrite YAML registry files using AST analysis results",
+    )
+    parser.add_argument(
+        "--no_update_feedback",
+        action="store_true",
+        help="Disable sending update feedback to server",
+    )
+    parser.add_argument(
+        "--test_mode",
+        action="store_true",
+        default=False,
+        help="Test mode: all actions simulate execution and return mock results without running real hardware",
+    )
+    parser.add_argument(
+        "--external_devices_only",
+        action="store_true",
+        default=False,
+        help="Only load external device packages (--devices), skip built-in unilabos/devices/ scanning and YAML device registry",
+    )
+    parser.add_argument(
+        "--extra_resource",
+        action="store_true",
+        default=False,
+        help="Load extra lab_ prefixed labware resources (529 auto-generated definitions from lab_resources.py)",
+    )
+    parser.add_argument(
+        "--restart_mode",
+        action="store_true",
+        default=False,
+        help="Enable supervisor mode: automatically restart the process when triggered via WebSocket",
+    )
+    parser.add_argument(
+        "--auto_restart_count",
+        type=int,
+        default=500,
+        help="Maximum number of automatic restarts in restart mode (default: 500)",
     )
     # workflow upload subcommand
     workflow_parser = subparsers.add_parser(
@@ -189,6 +321,12 @@ def parse_args():
         default=False,
         help="Whether to publish the workflow (default: False)",
     )
+    workflow_parser.add_argument(
+        "--description",
+        type=str,
+        default="",
+        help="Workflow description, used when publishing the workflow",
+    )
     return parser
 
 
@@ -200,61 +338,102 @@ def main():
     args = parser.parse_args()
     args_dict = vars(args)
 
+    # Supervisor mode: spawn child processes and monitor for restart
+    if args_dict.get("restart_mode", False):
+        _run_as_supervisor(args_dict.get("auto_restart_count", 5))
+        return
+
     # 环境检查 - 检查并自动安装必需的包 (可选)
-    if not args_dict.get("skip_env_check", False):
-        from unilabos.utils.environment_check import check_environment
+    skip_env_check = args_dict.get("skip_env_check", False)
+    check_mode = args_dict.get("check_mode", False)
+
+    if not skip_env_check:
+        from unilabos.utils.environment_check import check_environment, check_device_package_requirements
 
         if not check_environment(auto_install=True):
             print_status("环境检查失败，程序退出", "error")
             os._exit(1)
+
+        # 第一次设备包依赖检查：build_registry 之前，确保 import map 可用
+        devices_dirs_for_req = args_dict.get("devices", None)
+        if devices_dirs_for_req:
+            if not check_device_package_requirements(devices_dirs_for_req):
+                print_status("设备包依赖检查失败，程序退出", "error")
+                os._exit(1)
     else:
         print_status("跳过环境依赖检查", "warning")
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
-    if os.getcwd().endswith("unilabos_data"):
-        working_dir = os.path.abspath(os.getcwd())
-    else:
-        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
 
-    if args_dict.get("working_dir"):
-        working_dir = args_dict.get("working_dir", "")
-        if config_path and not os.path.exists(config_path):
-            config_path = os.path.join(working_dir, "local_config.py")
-            if not os.path.exists(config_path):
-                print_status(
-                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
-                    "error",
-                )
-                os._exit(1)
+    # === 解析 working_dir ===
+    # 规则1: working_dir 传入 → 检测 unilabos_data 子目录，已是则不修改
+    # 规则2: 仅 config_path 传入 → 用其父目录作为 working_dir
+    # 规则4: 两者都传入 → 各用各的，但 working_dir 仍做 unilabos_data 子目录检测
+    raw_working_dir = args_dict.get("working_dir")
+    if raw_working_dir:
+        working_dir = os.path.abspath(raw_working_dir)
     elif config_path and os.path.exists(config_path):
-        working_dir = os.path.dirname(config_path)
-    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
-        config_path = os.path.join(working_dir, "local_config.py")
-    elif not config_path and (
-        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
-    ):
-        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
-        if input() != "n":
-            os.makedirs(working_dir, exist_ok=True)
-            config_path = os.path.join(working_dir, "local_config.py")
-            shutil.copy(
-                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
-            )
-            print_status(f"已创建 local_config.py 路径： {config_path}", "info")
+        working_dir = os.path.dirname(os.path.abspath(config_path))
+    else:
+        working_dir = os.path.abspath(os.getcwd())
+
+    # unilabos_data 子目录自动检测
+    if os.path.basename(working_dir) != "unilabos_data":
+        unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
+        if os.path.isdir(unilabos_data_sub):
+            working_dir = unilabos_data_sub
+        elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
+            # 未显式指定路径，默认使用 cwd/unilabos_data
+            working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
+
+    # === 解析 config_path ===
+    if config_path and not os.path.exists(config_path):
+        # config_path 传入但不存在，尝试在 working_dir 中查找
+        candidate = os.path.join(working_dir, "local_config.py")
+        if os.path.exists(candidate):
+            config_path = candidate
+            print_status(f"在工作目录中发现配置文件: {config_path}", "info")
         else:
+            print_status(
+                f"配置文件 {config_path} 不存在，工作目录 {working_dir} 中也未找到 local_config.py，"
+                f"请通过 --config 传入 local_config.py 文件路径",
+                "error",
+            )
             os._exit(1)
-    # 加载配置文件
+    elif not config_path:
+        # 规则3: 未传入 config_path，尝试 working_dir/local_config.py
+        candidate = os.path.join(working_dir, "local_config.py")
+        if os.path.exists(candidate):
+            config_path = candidate
+            print_status(f"发现本地配置文件: {config_path}", "info")
+        else:
+            print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
+            print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
+            if check_mode or input() != "n":
+                os.makedirs(working_dir, exist_ok=True)
+                config_path = os.path.join(working_dir, "local_config.py")
+                shutil.copy(
+                    os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"),
+                    config_path,
+                )
+                print_status(f"已创建 local_config.py 路径： {config_path}", "info")
+            else:
+                os._exit(1)
+
+    # 加载配置文件 (check_mode 跳过)
     print_status(f"当前工作目录为 {working_dir}", "info")
-    load_config_from_file(config_path)
+    if not check_mode:
+        load_config_from_file(config_path)
 
     # 根据配置重新设置日志级别
     from unilabos.utils.log import configure_logger, logger
 
     if hasattr(BasicConfig, "log_level"):
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
+    file_path = configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
+    if file_path is not None:
+        logger.info(f"[LOG_FILE] {file_path}")
 
     if args.addr != parser.get_default("addr"):
         if args.addr == "test":
@@ -297,41 +476,67 @@ def main():
     BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
+    BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
+    BasicConfig.test_mode = args_dict.get("test_mode", False)
+    if BasicConfig.test_mode:
+        print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
+    BasicConfig.extra_resource = args_dict.get("extra_resource", False)
+    if BasicConfig.extra_resource:
+        print_status("启用额外资源加载：将加载lab_开头的labware资源定义", "info")
     BasicConfig.communication_protocol = "websocket"
-    machine_name = os.popen("hostname").read().strip()
+    machine_name = platform.node()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
     BasicConfig.vis_2d_enable = args_dict["2d_vis"]
+    BasicConfig.check_mode = check_mode
 
-    from unilabos.resources.graphio import (
-        read_node_link_json,
-        read_graphml,
-        dict_from_graph,
-    )
-    from unilabos.app.communication import get_communication_client
     from unilabos.registry.registry import build_registry
-    from unilabos.app.backend import start_backend
-    from unilabos.app.web import http_client
-    from unilabos.app.web import start_server
-    from unilabos.app.register import register_devices_and_resources
-    from unilabos.resources.graphio import modify_to_backend_format
-    from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
 
     # 显示启动横幅
     print_unilab_banner(args_dict)
 
-    # 注册表
+    # Step 0: AST 分析优先 + YAML 注册表加载
+    # check_mode 和 upload_registry 都会执行实际 import 验证
+    devices_dirs = args_dict.get("devices", None)
+    complete_registry = args_dict.get("complete_registry", False) or check_mode
+    external_only = args_dict.get("external_devices_only", False)
     lab_registry = build_registry(
-        args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
+        registry_paths=args_dict["registry_path"],
+        devices_dirs=devices_dirs,
+        upload_registry=BasicConfig.upload_registry,
+        check_mode=check_mode,
+        complete_registry=complete_registry,
+        external_only=external_only,
     )
 
+    # Check mode: 注册表验证完成后直接退出
+    if check_mode:
+        device_count = len(lab_registry.device_type_registry)
+        resource_count = len(lab_registry.resource_type_registry)
+        print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源)，退出", "info")
+        os._exit(0)
+
+    # 以下导入依赖 ROS2 环境，check_mode 已退出不需要
+    from unilabos.resources.graphio import (
+        read_node_link_json,
+        read_graphml,
+        dict_from_graph,
+        modify_to_backend_format,
+    )
+    from unilabos.app.communication import get_communication_client
+    from unilabos.app.backend import start_backend
+    from unilabos.app.web import http_client
+    from unilabos.app.web import start_server
+    from unilabos.app.register import register_devices_and_resources
+    from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
+
+    # Step 1: 上传全部注册表到服务端，同步保存到 unilabos_data
     if BasicConfig.upload_registry:
-        # 设备注册到服务端 - 需要 ak 和 sk
         if BasicConfig.ak and BasicConfig.sk:
-            print_status("开始注册设备到服务端...", "info")
+            # print_status("开始注册设备到服务端...", "info")
             try:
                 register_devices_and_resources(lab_registry)
-                print_status("设备注册完成", "info")
+                # print_status("设备注册完成", "info")
             except Exception as e:
                 print_status(f"设备注册失败: {e}", "error")
         else:
@@ -348,8 +553,13 @@ def main():
         os._exit(0)
 
     if not BasicConfig.ak or not BasicConfig.sk:
-        print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
-        os._exit(1)
+        if BasicConfig.test_mode:
+            print_status("测试模式：跳过 ak/sk 检查，使用占位凭据", "warning")
+            BasicConfig.ak = BasicConfig.ak or "test_ak"
+            BasicConfig.sk = BasicConfig.sk or "test_sk"
+        else:
+            print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
+            os._exit(1)
     graph: nx.Graph
     resource_tree_set: ResourceTreeSet
     resource_links: List[Dict[str, Any]]
@@ -416,12 +626,16 @@ def main():
             continue
 
     # 如果从远端获取了物料信息，则与本地物料进行同步
-    if request_startup_json and "nodes" in request_startup_json:
+    if file_path is not None and request_startup_json and "nodes" in request_startup_json:
         print_status("开始同步远端物料到本地...", "info")
-        remote_tree_set = ResourceTreeSet.from_raw_list(request_startup_json["nodes"])
+        remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
         resource_tree_set.merge_remote_resources(remote_tree_set)
         print_status("远端物料同步完成", "info")
 
+    # 第二次设备包依赖检查：云端物料同步后，community 包可能引入新的 requirements
+    # TODO: 当 community device package 功能上线后，在这里调用
+    #   install_requirements_txt(community_pkg_path / "requirements.txt", label="community.xxx")
+
     # 使用 ResourceTreeSet 代替 list
     args_dict["resources_config"] = resource_tree_set
     args_dict["devices_config"] = resource_tree_set
@@ -497,16 +711,26 @@ def main():
                 time.sleep(1)
         else:
             start_backend(**args_dict)
-            start_server(
+            restart_requested = start_server(
                 open_browser=not args_dict["disable_browser"],
                 port=BasicConfig.port,
             )
+            if restart_requested:
+                print_status("[Main] Restart requested, cleaning up...", "info")
+                cleanup_for_restart()
+                return
     else:
         start_backend(**args_dict)
-        start_server(
+
+        # 启动服务器（默认支持WebSocket触发重启）
+        restart_requested = start_server(
             open_browser=not args_dict["disable_browser"],
             port=BasicConfig.port,
         )
+        if restart_requested:
+            print_status("[Main] Restart requested, cleaning up...", "info")
+            cleanup_for_restart()
+            os._exit(RESTART_EXIT_CODE)
 
 
 if __name__ == "__main__":

unilabos/app/model.py

@@ -54,6 +54,7 @@ class JobAddReq(BaseModel):
     action_type: str = Field(
         examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
     )
+    sample_material: dict = Field(examples=[{"string": "string"}], description="sample uuid to material uuid")
     action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
     task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
     job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")

unilabos/app/register.py

@@ -1,9 +1,8 @@
-import json
 import time
-from typing import Optional, Tuple, Dict, Any
+from typing import Any, Dict, Optional, Tuple
 
 from unilabos.utils.log import logger
-from unilabos.utils.type_check import TypeEncoder
+from unilabos.utils.tools import normalize_json as _normalize_device
 
 
 def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
@@ -11,50 +10,63 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
     注册设备和资源到服务器（仅支持HTTP）
     """
 
-    # 注册资源信息 - 使用HTTP方式
     from unilabos.app.web.client import http_client
 
     logger.info("[UniLab Register] 开始注册设备和资源...")
 
-    # 注册设备信息
     devices_to_register = {}
     for device_info in lab_registry.obtain_registry_device_info():
-        devices_to_register[device_info["id"]] = json.loads(
-            json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
-        )
-        logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
+        devices_to_register[device_info["id"]] = _normalize_device(device_info)
+        logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
 
     resources_to_register = {}
     for resource_info in lab_registry.obtain_registry_resource_info():
         resources_to_register[resource_info["id"]] = resource_info
-        logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
+        logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
 
     if gather_only:
         return devices_to_register, resources_to_register
-    # 注册设备
+
     if devices_to_register:
         try:
             start_time = time.time()
-            response = http_client.resource_registry({"resources": list(devices_to_register.values())})
+            response = http_client.resource_registry(
+                {"resources": list(devices_to_register.values())},
+                tag="device_registry",
+            )
             cost_time = time.time() - start_time
-            if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
+            res_data = response.json() if response.status_code == 200 else {}
+            skipped = res_data.get("data", {}).get("skipped", False)
+            if skipped:
+                logger.info(
+                    f"[UniLab Register] 设备注册跳过（内容未变化）"
+                    f" {len(devices_to_register)} 个 {cost_time:.3f}s"
+                )
+            elif response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time:.3f}s")
             else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
         except Exception as e:
             logger.error(f"[UniLab Register] 设备注册异常: {e}")
 
-    # 注册资源
     if resources_to_register:
         try:
             start_time = time.time()
-            response = http_client.resource_registry({"resources": list(resources_to_register.values())})
+            response = http_client.resource_registry(
+                {"resources": list(resources_to_register.values())},
+                tag="resource_registry",
+            )
             cost_time = time.time() - start_time
-            if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
+            res_data = response.json() if response.status_code == 200 else {}
+            skipped = res_data.get("data", {}).get("skipped", False)
+            if skipped:
+                logger.info(
+                    f"[UniLab Register] 资源注册跳过（内容未变化）"
+                    f" {len(resources_to_register)} 个 {cost_time:.3f}s"
+                )
+            elif response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time:.3f}s")
             else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
         except Exception as e:
             logger.error(f"[UniLab Register] 资源注册异常: {e}")
-
-    logger.info("[UniLab Register] 设备和资源注册完成.")

unilabos/app/utils.py

@@ -0,0 +1,176 @@
+"""
+UniLabOS 应用工具函数
+
+提供清理、重启等工具函数
+"""
+
+import glob
+import os
+import shutil
+import sys
+
+
+def patch_rclpy_dll_windows():
+    """在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
+    if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
+        return
+    try:
+        import rclpy
+
+        return
+    except ImportError as e:
+        if not str(e).startswith("DLL load failed"):
+            return
+    cp = os.environ["CONDA_PREFIX"]
+    impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
+    pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
+    if not os.path.exists(impl) or not pyd:
+        return
+    with open(impl, "r", encoding="utf-8") as f:
+        content = f.read()
+    lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
+    patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
+    shutil.copy2(impl, impl + ".bak")
+    with open(impl, "w", encoding="utf-8") as f:
+        f.write(patch + content)
+
+
+patch_rclpy_dll_windows()
+
+import gc
+import threading
+import time
+
+from unilabos.utils.banner_print import print_status
+
+
+def cleanup_for_restart() -> bool:
+    """
+    Clean up all resources for restart without exiting the process.
+
+    This function prepares the system for re-initialization by:
+    1. Stopping all communication clients
+    2. Destroying ROS nodes
+    3. Resetting singletons
+    4. Waiting for threads to finish
+
+    Returns:
+        bool: True if cleanup was successful, False otherwise
+    """
+    print_status("[Restart] Starting cleanup for restart...", "info")
+
+    # Step 1: Stop WebSocket communication client
+    print_status("[Restart] Step 1: Stopping WebSocket client...", "info")
+    try:
+        from unilabos.app.communication import get_communication_client
+
+        comm_client = get_communication_client()
+        if comm_client is not None:
+            comm_client.stop()
+            print_status("[Restart] WebSocket client stopped", "info")
+    except Exception as e:
+        print_status(f"[Restart] Error stopping WebSocket: {e}", "warning")
+
+    # Step 2: Get HostNode and cleanup ROS
+    print_status("[Restart] Step 2: Cleaning up ROS nodes...", "info")
+    try:
+        from unilabos.ros.nodes.presets.host_node import HostNode
+        import rclpy
+        from rclpy.timer import Timer
+
+        host_instance = HostNode.get_instance(timeout=5)
+        if host_instance is not None:
+            print_status(f"[Restart] Found HostNode: {host_instance.device_id}", "info")
+
+            # Gracefully shutdown background threads
+            print_status("[Restart] Shutting down background threads...", "info")
+            HostNode.shutdown_background_threads(timeout=5.0)
+            print_status("[Restart] Background threads shutdown complete", "info")
+
+            # Stop discovery timer
+            if hasattr(host_instance, "_discovery_timer") and isinstance(host_instance._discovery_timer, Timer):
+                host_instance._discovery_timer.cancel()
+                print_status("[Restart] Discovery timer cancelled", "info")
+
+            # Destroy device nodes
+            device_count = len(host_instance.devices_instances)
+            print_status(f"[Restart] Destroying {device_count} device instances...", "info")
+            for device_id, device_node in list(host_instance.devices_instances.items()):
+                try:
+                    if hasattr(device_node, "ros_node_instance") and device_node.ros_node_instance is not None:
+                        device_node.ros_node_instance.destroy_node()
+                        print_status(f"[Restart] Device {device_id} destroyed", "info")
+                except Exception as e:
+                    print_status(f"[Restart] Error destroying device {device_id}: {e}", "warning")
+
+            # Clear devices instances
+            host_instance.devices_instances.clear()
+            host_instance.devices_names.clear()
+
+            # Destroy host node
+            try:
+                host_instance.destroy_node()
+                print_status("[Restart] HostNode destroyed", "info")
+            except Exception as e:
+                print_status(f"[Restart] Error destroying HostNode: {e}", "warning")
+
+            # Reset HostNode state
+            HostNode.reset_state()
+            print_status("[Restart] HostNode state reset", "info")
+
+        # Shutdown executor first (to stop executor.spin() gracefully)
+        if hasattr(rclpy, "__executor") and rclpy.__executor is not None:
+            try:
+                rclpy.__executor.shutdown()
+                rclpy.__executor = None  # Clear for restart
+                print_status("[Restart] ROS executor shutdown complete", "info")
+            except Exception as e:
+                print_status(f"[Restart] Error shutting down executor: {e}", "warning")
+
+        # Shutdown rclpy
+        if rclpy.ok():
+            rclpy.shutdown()
+            print_status("[Restart] rclpy shutdown complete", "info")
+
+    except ImportError as e:
+        print_status(f"[Restart] ROS modules not available: {e}", "warning")
+    except Exception as e:
+        print_status(f"[Restart] Error in ROS cleanup: {e}", "warning")
+        return False
+
+    # Step 3: Reset communication client singleton
+    print_status("[Restart] Step 3: Resetting singletons...", "info")
+    try:
+        from unilabos.app import communication
+
+        if hasattr(communication, "_communication_client"):
+            communication._communication_client = None
+            print_status("[Restart] Communication client singleton reset", "info")
+    except Exception as e:
+        print_status(f"[Restart] Error resetting communication singleton: {e}", "warning")
+
+    # Step 4: Wait for threads to finish
+    print_status("[Restart] Step 4: Waiting for threads to finish...", "info")
+    time.sleep(3)  # Give threads time to finish
+
+    # Check remaining threads
+    remaining_threads = []
+    for t in threading.enumerate():
+        if t.name != "MainThread" and t.is_alive():
+            remaining_threads.append(t.name)
+
+    if remaining_threads:
+        print_status(
+            f"[Restart] Warning: {len(remaining_threads)} threads still running: {remaining_threads}", "warning"
+        )
+    else:
+        print_status("[Restart] All threads stopped", "info")
+
+    # Step 5: Force garbage collection
+    print_status("[Restart] Step 5: Running garbage collection...", "info")
+    gc.collect()
+    gc.collect()  # Run twice for weak references
+    print_status("[Restart] Garbage collection complete", "info")
+
+    print_status("[Restart] Cleanup complete. Ready for re-initialization.", "info")
+    return True

unilabos/app/web/api.py

@@ -1052,7 +1052,7 @@ async def handle_file_import(websocket: WebSocket, request_data: dict):
                                 "result": {},
                                 "schema": lab_registry._generate_unilab_json_command_schema(v["args"], k),
                                 "goal_default": {i["name"]: i["default"] for i in v["args"]},
-                                "handles": [],
+                                "handles": {},
                             }
                             # 不生成已配置action的动作
                             for k, v in enhanced_info["action_methods"].items()
@@ -1340,5 +1340,5 @@ def setup_api_routes(app):
     # 启动广播任务
     @app.on_event("startup")
     async def startup_event():
-        asyncio.create_task(broadcast_device_status())
-        asyncio.create_task(broadcast_status_page_data())
+        asyncio.create_task(broadcast_device_status(), name="web-api-startup-device")
+        asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")

unilabos/app/web/client.py

@@ -3,15 +3,15 @@ HTTP客户端模块
 
 提供与远程服务器通信的客户端功能，只有host需要用
 """
-
+import gzip
 import json
 import os
-import time
-from threading import Thread
 from typing import List, Dict, Any, Optional
 
+from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
+
 import requests
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
 from unilabos.config.config import HTTPConfig, BasicConfig
 from unilabos.utils import logger
@@ -282,22 +282,54 @@ class HTTPClient:
             )
         return response
 
-    def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
+    def resource_registry(
+        self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
+    ) -> requests.Response:
         """
-        注册资源到服务器
+        注册资源到服务器，同步保存请求/响应到 unilabos_data
 
         Args:
             registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
+            tag: 保存文件的标签后缀 (如 "device_registry" / "resource_registry")
 
         Returns:
             Response: API响应对象
         """
+        # 序列化一次，同时用于保存和发送
+        json_bytes = _fast_dumps(registry_data)
+
+        # 保存请求数据到 unilabos_data
+        req_path = os.path.join(BasicConfig.working_dir, f"req_{tag}_upload.json")
+        try:
+            os.makedirs(BasicConfig.working_dir, exist_ok=True)
+            with open(req_path, "wb") as f:
+                f.write(_fast_dumps_pretty(registry_data))
+            logger.trace(f"注册表请求数据已保存: {req_path}")
+        except Exception as e:
+            logger.warning(f"保存注册表请求数据失败: {e}")
+
+        compressed_body = gzip.compress(json_bytes)
+        headers = {
+            "Authorization": f"Lab {self.auth}",
+            "Content-Type": "application/json",
+            "Content-Encoding": "gzip",
+        }
         response = requests.post(
             f"{self.remote_addr}/lab/resource",
-            json=registry_data,
-            headers={"Authorization": f"Lab {self.auth}"},
+            data=compressed_body,
+            headers=headers,
             timeout=30,
         )
+
+        # 保存响应数据到 unilabos_data
+        res_path = os.path.join(BasicConfig.working_dir, f"res_{tag}_upload.json")
+        try:
+            with open(res_path, "w", encoding="utf-8") as f:
+                f.write(f"{response.status_code}\n{response.text}")
+            logger.trace(f"注册表响应数据已保存: {res_path}")
+        except Exception as e:
+            logger.warning(f"保存注册表响应数据失败: {e}")
+
         if response.status_code not in [200, 201]:
             logger.error(f"注册资源失败: {response.status_code}, {response.text}")
         if response.status_code == 200:
@@ -345,9 +377,10 @@ class HTTPClient:
         edges: List[Dict[str, Any]],
         tags: Optional[List[str]] = None,
         published: bool = False,
+        description: str = "",
     ) -> Dict[str, Any]:
         """
-        导入工作流到服务器
+        导入工作流到服务器，如果 published 为 True，则额外发起发布请求
 
         Args:
             name: 工作流名称（顶层）
@@ -357,13 +390,12 @@ class HTTPClient:
             edges: 工作流边列表
             tags: 工作流标签列表，默认为空列表
             published: 是否发布工作流，默认为False
+            description: 工作流描述，发布时使用
 
         Returns:
             Dict: API响应数据，包含 code 和 data (uuid, name)
         """
-        # target_lab_uuid 暂时使用默认值，后续由后端根据 ak/sk 获取
         payload = {
-            "target_lab_uuid": "28c38bb0-63f6-4352-b0d8-b5b8eb1766d5",
             "name": name,
             "data": {
                 "workflow_uuid": workflow_uuid,
@@ -371,7 +403,6 @@ class HTTPClient:
                 "nodes": nodes,
                 "edges": edges,
                 "tags": tags if tags is not None else [],
-                "published": published,
             },
         }
         # 保存请求到文件
@@ -392,11 +423,51 @@ class HTTPClient:
             res = response.json()
             if "code" in res and res["code"] != 0:
                 logger.error(f"导入工作流失败: {response.text}")
+                return res
+            # 导入成功后，如果需要发布则额外发起发布请求
+            if published:
+                imported_uuid = res.get("data", {}).get("uuid", workflow_uuid)
+                publish_res = self.workflow_publish(imported_uuid, description)
+                res["publish_result"] = publish_res
             return res
         else:
             logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
             return {"code": response.status_code, "message": response.text}
 
+    def workflow_publish(self, workflow_uuid: str, description: str = "") -> Dict[str, Any]:
+        """
+        发布工作流
+
+        Args:
+            workflow_uuid: 工作流UUID
+            description: 工作流描述
+
+        Returns:
+            Dict: API响应数据
+        """
+        payload = {
+            "uuid": workflow_uuid,
+            "description": description,
+            "published": True,
+        }
+        logger.info(f"正在发布工作流: {workflow_uuid}")
+        response = requests.patch(
+            f"{self.remote_addr}/lab/workflow/owner",
+            json=payload,
+            headers={"Authorization": f"Lab {self.auth}"},
+            timeout=60,
+        )
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"发布工作流失败: {response.text}")
+            else:
+                logger.info(f"工作流发布成功: {workflow_uuid}")
+            return res
+        else:
+            logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
+            return {"code": response.status_code, "message": response.text}
+
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/web/controller.py

@@ -58,14 +58,14 @@ class JobResultStore:
                 feedback=feedback or {},
                 timestamp=time.time(),
             )
-            logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
+            logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
 
     def get_and_remove(self, job_id: str) -> Optional[JobResult]:
         """获取并删除任务结果"""
         with self._results_lock:
             result = self._results.pop(job_id, None)
             if result:
-                logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
+                logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
             return result
 
     def get_result(self, job_id: str) -> Optional[JobResult]:
@@ -327,6 +327,7 @@ def job_add(req: JobAddReq) -> JobData:
             queue_item,
             action_type=action_type,
             action_kwargs=action_args,
+            sample_material=req.sample_material,
             server_info=server_info,
         )
 

unilabos/app/web/server.py

@@ -6,7 +6,6 @@ Web服务器模块
 
 import webbrowser
 
-import uvicorn
 from fastapi import FastAPI, Request
 from fastapi.middleware.cors import CORSMiddleware
 from starlette.responses import Response
@@ -87,7 +86,7 @@ def setup_server() -> FastAPI:
     # 设置页面路由
     try:
         setup_web_pages(pages)
-        info("[Web] 已加载Web UI模块")
+        # info("[Web] 已加载Web UI模块")
     except ImportError as e:
         info(f"[Web] 未找到Web页面模块: {str(e)}")
     except Exception as e:
@@ -96,7 +95,7 @@ def setup_server() -> FastAPI:
     return app
 
 
-def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> None:
+def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> bool:
     """
     启动服务器
 
@@ -104,7 +103,14 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
         host: 服务器主机
         port: 服务器端口
         open_browser: 是否自动打开浏览器
+
+    Returns:
+        bool: True if restart was requested, False otherwise
     """
+    import threading
+    import time
+    from uvicorn import Config, Server
+
     # 设置服务器
     setup_server()
 
@@ -123,7 +129,37 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
 
     # 启动服务器
     info(f"[Web] 启动FastAPI服务器: {host}:{port}")
-    uvicorn.run(app, host=host, port=port, log_config=log_config)
+
+    # 使用支持重启的模式
+    config = Config(app=app, host=host, port=port, log_config=log_config)
+    server = Server(config)
+
+    # 启动服务器线程
+    server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
+    server_thread.start()
+
+    # info("[Web] Server started, monitoring for restart requests...")
+
+    # 监控重启标志
+    import unilabos.app.main as main_module
+
+    while server_thread.is_alive():
+        if hasattr(main_module, "_restart_requested") and main_module._restart_requested:
+            info(
+                f"[Web] Restart requested via WebSocket, reason: {getattr(main_module, '_restart_reason', 'unknown')}"
+            )
+            main_module._restart_requested = False
+
+            # 停止服务器
+            server.should_exit = True
+            server_thread.join(timeout=5)
+
+            info("[Web] Server stopped, ready for restart")
+            return True
+
+        time.sleep(1)
+
+    return False
 
 
 # 当脚本直接运行时启动服务器

unilabos/app/ws_client.py

@@ -23,9 +23,10 @@ from typing import Optional, Dict, Any, List
 from urllib.parse import urlparse
 from enum import Enum
 
-from jedi.inference.gradual.typing import TypedDict
+from typing_extensions import TypedDict
 
 from unilabos.app.model import JobAddReq
+from unilabos.resources.resource_tracker import ResourceDictType
 from unilabos.ros.nodes.presets.host_node import HostNode
 from unilabos.utils.type_check import serialize_result_info
 from unilabos.app.communication import BaseCommunicationClient
@@ -76,6 +77,7 @@ class JobInfo:
     start_time: float
     last_update_time: float = field(default_factory=time.time)
     ready_timeout: Optional[float] = None  # READY状态的超时时间
+    always_free: bool = False  # 是否为永久闲置动作(不受排队限制)
 
     def update_timestamp(self):
         """更新最后更新时间"""
@@ -127,6 +129,15 @@ class DeviceActionManager:
             # 总是将job添加到all_jobs中
             self.all_jobs[job_info.job_id] = job_info
 
+            # always_free的动作不受排队限制，直接设为READY
+            if job_info.always_free:
+                job_info.status = JobStatus.READY
+                job_info.update_timestamp()
+                job_info.set_ready_timeout(10)
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
+                return True
+
             # 检查是否有正在执行或准备执行的任务
             if device_key in self.active_jobs:
                 # 有正在执行或准备执行的任务，加入队列
@@ -154,7 +165,7 @@ class DeviceActionManager:
             job_info.set_ready_timeout(10)  # 设置10秒超时
             self.active_jobs[device_key] = job_info
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-            logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
+            logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
             return True
 
     def start_job(self, job_id: str) -> bool:
@@ -176,11 +187,15 @@ class DeviceActionManager:
                 logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
                 return False
 
-            # 检查设备上是否是这个job
-            if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
-                return False
+            # always_free的job不需要检查active_jobs
+            if not job_info.always_free:
+                # 检查设备上是否是这个job
+                if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
+                    job_log = format_job_log(
+                        job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
+                    )
+                    logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
+                    return False
 
             # 开始执行任务，将状态从READY转换为STARTED
             job_info.status = JobStatus.STARTED
@@ -203,6 +218,13 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
+            # always_free的job直接清理，不影响队列
+            if job_info.always_free:
+                job_info.status = JobStatus.ENDED
+                job_info.update_timestamp()
+                del self.all_jobs[job_id]
+                return None
+
             # 移除活跃任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 del self.active_jobs[device_key]
@@ -210,8 +232,9 @@ class DeviceActionManager:
                 job_info.update_timestamp()
                 # 从all_jobs中移除已结束的job
                 del self.all_jobs[job_id]
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
+                # job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                # logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
+                pass
             else:
                 job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
                 logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
@@ -227,15 +250,20 @@ class DeviceActionManager:
                 next_job_log = format_job_log(
                     next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                 )
-                logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
+                logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
                 return next_job
 
             return None
 
     def get_active_jobs(self) -> List[JobInfo]:
-        """获取所有正在执行的任务"""
+        """获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
         with self.lock:
-            return list(self.active_jobs.values())
+            jobs = list(self.active_jobs.values())
+            # 补充 always_free 的 STARTED job(它们不在 active_jobs 中)
+            for job in self.all_jobs.values():
+                if job.always_free and job.status == JobStatus.STARTED and job not in jobs:
+                    jobs.append(job)
+            return jobs
 
     def get_queued_jobs(self) -> List[JobInfo]:
         """获取所有排队中的任务"""
@@ -260,6 +288,14 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
+            # always_free的job直接清理
+            if job_info.always_free:
+                job_info.status = JobStatus.ENDED
+                del self.all_jobs[job_id]
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
+                return True
+
             # 如果是正在执行的任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 # 清理active job状态
@@ -268,7 +304,7 @@ class DeviceActionManager:
                 # 从all_jobs中移除
                 del self.all_jobs[job_id]
                 job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
+                logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
 
                 # 启动下一个任务
                 if device_key in self.device_queues and self.device_queues[device_key]:
@@ -281,7 +317,7 @@ class DeviceActionManager:
                     next_job_log = format_job_log(
                         next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                     )
-                    logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
+                    logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
                 return True
 
             # 如果是排队中的任务
@@ -295,7 +331,7 @@ class DeviceActionManager:
                     job_log = format_job_log(
                         job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
                     )
-                    logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
+                    logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
                     return True
 
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
@@ -333,13 +369,18 @@ class DeviceActionManager:
         timeout_jobs = []
 
         with self.lock:
-            # 统计READY状态的任务数量
-            ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
+            # 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
+            ready_candidates = list(self.active_jobs.values())
+            for job in self.all_jobs.values():
+                if job.always_free and job.status == JobStatus.READY and job not in ready_candidates:
+                    ready_candidates.append(job)
+
+            ready_jobs_count = sum(1 for job in ready_candidates if job.status == JobStatus.READY)
             if ready_jobs_count > 0:
                 logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout")  # type: ignore  # noqa: E501
 
             # 找到所有超时的READY任务（只检测，不处理）
-            for job_info in self.active_jobs.values():
+            for job_info in ready_candidates:
                 if job_info.is_ready_timeout():
                     timeout_jobs.append(job_info)
                     job_log = format_job_log(
@@ -359,7 +400,7 @@ class MessageProcessor:
         self.device_manager = device_manager
         self.queue_processor = None  # 延迟设置
         self.websocket_client = None  # 延迟设置
-        self.session_id = ""
+        self.session_id = str(uuid.uuid4())[:6]  # 产生一个随机的session_id
 
         # WebSocket连接
         self.websocket = None
@@ -368,6 +409,7 @@ class MessageProcessor:
         # 线程控制
         self.is_running = False
         self.thread = None
+        self._loop = None  # asyncio event loop引用，用于外部关闭websocket
         self.reconnect_count = 0
 
         logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}")
@@ -394,22 +436,31 @@ class MessageProcessor:
     def stop(self) -> None:
         """停止消息处理线程"""
         self.is_running = False
+        # 主动关闭websocket以快速中断消息接收循环
+        ws = self.websocket
+        loop = self._loop
+        if ws and loop and loop.is_running():
+            try:
+                asyncio.run_coroutine_threadsafe(ws.close(), loop)
+            except Exception:
+                pass
         if self.thread and self.thread.is_alive():
             self.thread.join(timeout=2)
         logger.info("[MessageProcessor] Stopped")
 
     def _run(self):
         """运行消息处理主循环"""
-        loop = asyncio.new_event_loop()
+        self._loop = asyncio.new_event_loop()
         try:
-            asyncio.set_event_loop(loop)
-            loop.run_until_complete(self._connection_handler())
+            asyncio.set_event_loop(self._loop)
+            self._loop.run_until_complete(self._connection_handler())
         except Exception as e:
             logger.error(f"[MessageProcessor] Thread error: {str(e)}")
             logger.error(traceback.format_exc())
         finally:
-            if loop:
-                loop.close()
+            if self._loop:
+                self._loop.close()
+            self._loop = None
 
     async def _connection_handler(self):
         """处理WebSocket连接和重连逻辑"""
@@ -426,8 +477,10 @@ class MessageProcessor:
                 async with websockets.connect(
                     self.websocket_url,
                     ssl=ssl_context,
+                    open_timeout=20,
                     ping_interval=WSConfig.ping_interval,
                     ping_timeout=10,
+                    close_timeout=5,
                     additional_headers={
                         "Authorization": f"Lab {BasicConfig.auth_secret()}",
                         "EdgeSession": f"{self.session_id}",
@@ -438,68 +491,94 @@ class MessageProcessor:
                     self.connected = True
                     self.reconnect_count = 0
 
-                    logger.trace(f"[MessageProcessor] Connected to {self.websocket_url}")
+                    logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
 
                     # 启动发送协程
-                    send_task = asyncio.create_task(self._send_handler())
+                    send_task = asyncio.create_task(self._send_handler(), name="websocket-send_task")
+
+                    # 每次连接（含重连）后重新向服务端注册，
+                    # 否则服务端不知道客户端已上线，不会推送消息。
+                    if self.websocket_client:
+                        self.websocket_client.publish_host_ready()
 
                     try:
                         # 接收消息循环
                         await self._message_handler()
                     finally:
+                        # 必须在 async with __aexit__ 之前停止 send_task，
+                        # 否则 send_task 会在关闭握手期间继续发送数据，
+                        # 干扰 websockets 库的内部清理，导致 task 泄漏。
+                        self.connected = False
                         send_task.cancel()
                         try:
                             await send_task
                         except asyncio.CancelledError:
                             pass
-                        self.connected = False
 
             except websockets.exceptions.ConnectionClosed:
-                logger.warning("[MessageProcessor] Connection closed")
-                self.connected = False
+                logger.warning("[MessageProcessor] 与服务端连接中断")
+            except TimeoutError:
+                logger.warning(
+                    f"[MessageProcessor] 与服务端连接通信超时 (已尝试 {self.reconnect_count + 1} 次)，请检查您的网络状况"
+                )
+            except websockets.exceptions.InvalidStatus as e:
+                logger.warning(
+                    f"[MessageProcessor] 收到服务端注册码 {e.response.status_code}, 上一进程可能还未退出"
+                )
             except Exception as e:
-                logger.error(f"[MessageProcessor] Connection error: {str(e)}")
                 logger.error(traceback.format_exc())
-                self.connected = False
+                logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
             finally:
+                self.connected = False
                 self.websocket = None
 
             # 重连逻辑
-            if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
+            if not self.is_running:
+                break
+            if self.reconnect_count < WSConfig.max_reconnect_attempts:
                 self.reconnect_count += 1
+                backoff = WSConfig.reconnect_interval
                 logger.info(
-                    f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
-                    f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
+                    f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
                 )
-                await asyncio.sleep(WSConfig.reconnect_interval)
-            elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
+                await asyncio.sleep(backoff)
+            else:
                 logger.error("[MessageProcessor] Max reconnection attempts reached")
                 break
-            else:
-                self.reconnect_count -= 1
 
     async def _message_handler(self):
-        """处理接收到的消息"""
+        """处理接收到的消息。
+
+        ConnectionClosed 不在此处捕获，让其向上传播到 _connection_handler，
+        以便 async with websockets.connect() 的 __aexit__ 能感知连接已断，
+        正确清理内部 task，避免 task 泄漏。
+        """
         if not self.websocket:
             logger.error("[MessageProcessor] WebSocket connection is None")
             return
 
-        try:
-            async for message in self.websocket:
-                try:
-                    data = json.loads(message)
-                    await self._process_message(data)
-                except json.JSONDecodeError:
-                    logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
-                except Exception as e:
-                    logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
-                    logger.error(traceback.format_exc())
-
-        except websockets.exceptions.ConnectionClosed:
-            logger.info("[MessageProcessor] Message handler stopped - connection closed")
-        except Exception as e:
-            logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
-            logger.error(traceback.format_exc())
+        async for message in self.websocket:
+            try:
+                data = json.loads(message)
+                message_type = data.get("action", "")
+                message_data = data.get("data")
+                if self.session_id and self.session_id == data.get("edge_session"):
+                    await self._process_message(message_type, message_data)
+                else:
+                    if message_type.endswith("_material"):
+                        logger.trace(
+                            f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
+                        )
+                        logger.debug(
+                            f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
+                        )
+                    else:
+                        await self._process_message(message_type, message_data)
+            except json.JSONDecodeError:
+                logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
+            except Exception as e:
+                logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
+                logger.error(traceback.format_exc())
 
     async def _send_handler(self):
         """处理发送队列中的消息"""
@@ -531,7 +610,7 @@ class MessageProcessor:
                         try:
                             message_str = json.dumps(msg, ensure_ascii=False)
                             await self.websocket.send(message_str)
-                            logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
+                            # logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
                         except Exception as e:
                             logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
                             logger.error(traceback.format_exc())
@@ -548,18 +627,16 @@ class MessageProcessor:
 
         except asyncio.CancelledError:
             logger.debug("[MessageProcessor] Send handler cancelled")
+            raise
         except Exception as e:
             logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}")
             logger.error(traceback.format_exc())
         finally:
             logger.debug("[MessageProcessor] Send handler stopped")
 
-    async def _process_message(self, data: Dict[str, Any]):
+    async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
         """处理收到的消息"""
-        message_type = data.get("action", "")
-        message_data = data.get("data")
-
-        logger.debug(f"[MessageProcessor] Processing message: {message_type}")
+        logger.trace(f"[MessageProcessor] Processing message: {message_type}")
 
         try:
             if message_type == "pong":
@@ -571,14 +648,23 @@ class MessageProcessor:
             elif message_type == "cancel_action" or message_type == "cancel_task":
                 await self._handle_cancel_action(message_data)
             elif message_type == "add_material":
+                # noinspection PyTypeChecker
                 await self._handle_resource_tree_update(message_data, "add")
             elif message_type == "update_material":
+                # noinspection PyTypeChecker
                 await self._handle_resource_tree_update(message_data, "update")
             elif message_type == "remove_material":
+                # noinspection PyTypeChecker
                 await self._handle_resource_tree_update(message_data, "remove")
-            elif message_type == "session_id":
-                self.session_id = message_data.get("session_id")
-                logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
+            # elif message_type == "session_id":
+            #     self.session_id = message_data.get("session_id")
+            #     logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
+            elif message_type == "add_device":
+                await self._handle_device_manage(message_data, "add")
+            elif message_type == "remove_device":
+                await self._handle_device_manage(message_data, "remove")
+            elif message_type == "request_restart":
+                await self._handle_request_restart(message_data)
             else:
                 logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
 
@@ -592,6 +678,24 @@ class MessageProcessor:
         if host_node:
             host_node.handle_pong_response(pong_data)
 
+    def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
+        """检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
+        try:
+            host_node = HostNode.get_instance(0)
+            if not host_node:
+                return False
+            # noinspection PyProtectedMember
+            action_mappings = host_node._action_value_mappings.get(device_id)
+            if not action_mappings:
+                return False
+            # 尝试直接匹配或 auto- 前缀匹配
+            for key in [action_name, f"auto-{action_name}"]:
+                if key in action_mappings:
+                    return action_mappings[key].get("always_free", False)
+            return False
+        except Exception:
+            return False
+
     async def _handle_query_action_state(self, data: Dict[str, Any]):
         """处理query_action_state消息"""
         device_id = data.get("device_id", "")
@@ -606,6 +710,9 @@ class MessageProcessor:
 
         device_action_key = f"/devices/{device_id}/{action_name}"
 
+        # 检查action是否为always_free
+        action_always_free = self._check_action_always_free(device_id, action_name)
+
         # 创建任务信息
         job_info = JobInfo(
             job_id=job_id,
@@ -615,6 +722,7 @@ class MessageProcessor:
             device_action_key=device_action_key,
             status=JobStatus.QUEUE,
             start_time=time.time(),
+            always_free=action_always_free,
         )
 
         # 添加到设备管理器
@@ -626,13 +734,13 @@ class MessageProcessor:
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", True, 0
             )
-            logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
+            logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
         else:
             # 需要排队
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", False, 10
             )
-            logger.info(f"[MessageProcessor] Job {job_log} queued")
+            logger.trace(f"[MessageProcessor] Job {job_log} queued")
 
             # 通知QueueProcessor有新的队列更新
             if self.queue_processor:
@@ -641,9 +749,37 @@ class MessageProcessor:
     async def _handle_job_start(self, data: Dict[str, Any]):
         """处理job_start消息"""
         try:
+            if not data.get("sample_material"):
+                data["sample_material"] = {}
             req = JobAddReq(**data)
 
             job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
+
+            # 服务端对always_free动作可能跳过query_action_state直接发job_start，
+            # 此时job尚未注册，需要自动补注册
+            existing_job = self.device_manager.get_job_info(req.job_id)
+            if not existing_job:
+                action_name = req.action
+                device_action_key = f"/devices/{req.device_id}/{action_name}"
+                action_always_free = self._check_action_always_free(req.device_id, action_name)
+
+                if action_always_free:
+                    job_info = JobInfo(
+                        job_id=req.job_id,
+                        task_id=req.task_id,
+                        device_id=req.device_id,
+                        action_name=action_name,
+                        device_action_key=device_action_key,
+                        status=JobStatus.QUEUE,
+                        start_time=time.time(),
+                        always_free=True,
+                    )
+                    self.device_manager.add_queue_request(job_info)
+                    logger.info(f"[MessageProcessor] Job {job_log} always_free, auto-registered from direct job_start")
+                else:
+                    logger.error(f"[MessageProcessor] Job {job_log} not registered (missing query_action_state)")
+                    return
+
             success = self.device_manager.start_job(req.job_id)
             if not success:
                 logger.error(f"[MessageProcessor] Failed to start job {job_log}")
@@ -672,6 +808,7 @@ class MessageProcessor:
                 queue_item,
                 action_type=req.action_type,
                 action_kwargs=req.action_args,
+                sample_material=req.sample_material,
                 server_info=req.server_info,
             )
 
@@ -836,9 +973,7 @@ class MessageProcessor:
                         device_action_groups[key_add] = []
                     device_action_groups[key_add].append(item["uuid"])
 
-                    logger.info(
-                        f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
-                    )
+                    logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
                 else:
                     # 正常update
                     key = (device_id, "update")
@@ -852,11 +987,13 @@ class MessageProcessor:
                     device_action_groups[key] = []
                 device_action_groups[key].append(item["uuid"])
 
-        logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
+        logger.trace(
+            f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}"
+        )
 
         # 为每个(device_id, action)创建独立的更新线程
         for (device_id, actual_action), items in device_action_groups.items():
-            logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
+            logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}")
 
             def _notify_resource_tree(dev_id, act, item_list):
                 try:
@@ -888,6 +1025,81 @@ class MessageProcessor:
             )
             thread.start()
 
+    async def _handle_device_manage(self, device_list: list[ResourceDictType], action: str):
+        """Handle add_device / remove_device from LabGo server."""
+        if not device_list:
+            return
+
+        for item in device_list:
+            target_node_id = item.get("target_node_id", "host_node")
+
+            def _notify(target_id: str, act: str, cfg: ResourceDictType):
+                try:
+                    host_node = HostNode.get_instance(timeout=5)
+                    if not host_node:
+                        logger.error(f"[DeviceManage] HostNode not available for {act}_device")
+                        return
+                    success = host_node.notify_device_manage(target_id, act, cfg)
+                    if success:
+                        logger.info(f"[DeviceManage] {act}_device completed on {target_id}")
+                    else:
+                        logger.warning(f"[DeviceManage] {act}_device failed on {target_id}")
+                except Exception as e:
+                    logger.error(f"[DeviceManage] Error in {act}_device: {e}")
+                    logger.error(traceback.format_exc())
+
+            thread = threading.Thread(
+                target=_notify,
+                args=(target_node_id, action, item),
+                daemon=True,
+                name=f"DeviceManage-{action}-{item.get('id', '')}",
+            )
+            thread.start()
+
+    async def _handle_request_restart(self, data: Dict[str, Any]):
+        """
+        处理重启请求
+
+        当LabGo发送request_restart时，执行清理并触发重启
+        """
+        reason = data.get("reason", "unknown")
+        delay = data.get("delay", 2)  # 默认延迟2秒
+        logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
+
+        # 发送确认消息
+        self.send_message(
+            {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
+        )
+
+        # 设置全局重启标志
+        import unilabos.app.main as main_module
+
+        main_module._restart_requested = True
+        main_module._restart_reason = reason
+
+        # 延迟后执行清理
+        await asyncio.sleep(delay)
+
+        # 在新线程中执行清理，避免阻塞当前事件循环
+        def do_cleanup():
+            import time
+
+            time.sleep(0.5)  # 给当前消息处理完成的时间
+            logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
+            try:
+                from unilabos.app.utils import cleanup_for_restart
+
+                if cleanup_for_restart():
+                    logger.info("[MessageProcessor] Cleanup successful, main() will restart")
+                else:
+                    logger.error("[MessageProcessor] Cleanup failed")
+            except Exception as e:
+                logger.error(f"[MessageProcessor] Error during cleanup: {e}")
+
+        cleanup_thread = threading.Thread(target=do_cleanup, name="RestartCleanupThread", daemon=True)
+        cleanup_thread.start()
+        logger.info(f"[MessageProcessor] Restart cleanup scheduled")
+
     async def _send_action_state_response(
         self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
     ):
@@ -959,6 +1171,7 @@ class QueueProcessor:
     def stop(self) -> None:
         """停止队列处理线程"""
         self.is_running = False
+        self.queue_update_event.set()  # 立即唤醒等待中的线程
         if self.thread and self.thread.is_alive():
             self.thread.join(timeout=2)
         logger.info("[QueueProcessor] Stopped")
@@ -1059,6 +1272,11 @@ class QueueProcessor:
         logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
 
         for job_info in queued_jobs:
+            # 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
+            # 此时不应再发送 busy/need_more，否则会覆盖已发出的 free=True 通知
+            if job_info.status != JobStatus.QUEUE:
+                continue
+
             message = {
                 "action": "report_action_state",
                 "data": {
@@ -1074,7 +1292,7 @@ class QueueProcessor:
             success = self.message_processor.send_message(message)
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
             if success:
-                logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
+                logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
             else:
                 logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
 
@@ -1097,7 +1315,7 @@ class QueueProcessor:
             job_info.action_name,
         )
 
-        logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
+        logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
 
         # 结束任务，获取下一个可执行的任务
         next_job = self.device_manager.end_job(job_id)
@@ -1117,8 +1335,8 @@ class QueueProcessor:
                 },
             }
             self.message_processor.send_message(message)
-            next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
-            logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start")
+            # next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
+            # logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
 
             # 立即触发下一轮状态检查
             self.notify_queue_update()
@@ -1207,8 +1425,8 @@ class WebSocketClient(BaseCommunicationClient):
                 message = {"action": "normal_exit", "data": {"session_id": session_id}}
                 self.message_processor.send_message(message)
                 logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}")
-                # 给一点时间让消息发送出去
-                time.sleep(1)
+                # send_handler 每100ms检查一次队列，等300ms足以让消息发出
+                time.sleep(0.3)
             except Exception as e:
                 logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
 
@@ -1240,7 +1458,7 @@ class WebSocketClient(BaseCommunicationClient):
             },
         }
         self.message_processor.send_message(message)
-        logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+        # logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
 
     def publish_job_status(
         self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
@@ -1260,7 +1478,7 @@ class WebSocketClient(BaseCommunicationClient):
                 except (KeyError, AttributeError):
                     logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
 
-            logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
+            # logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
 
             # 通知队列处理器job完成（包括timeout的job）
             self.queue_processor.handle_job_completed(item.job_id, status)
@@ -1282,7 +1500,7 @@ class WebSocketClient(BaseCommunicationClient):
         self.message_processor.send_message(message)
 
         job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
-        logger.debug(f"[WebSocketClient] Job status published: {job_log} - {status}")
+        logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")
 
     def send_ping(self, ping_id: str, timestamp: float) -> None:
         """发送ping消息"""
@@ -1313,17 +1531,59 @@ class WebSocketClient(BaseCommunicationClient):
             logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}")
 
     def publish_host_ready(self) -> None:
-        """发布host_node ready信号"""
+        """发布host_node ready信号，包含设备和动作信息"""
         if self.is_disabled or not self.is_connected():
             logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal")
             return
 
+        # 收集设备信息
+        devices = []
+        machine_name = BasicConfig.machine_name
+
+        try:
+            host_node = HostNode.get_instance(0)
+            if host_node:
+                # 获取设备信息
+                for device_id, namespace in host_node.devices_names.items():
+                    device_key = (
+                        f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
+                    )
+                    is_online = device_key in host_node._online_devices
+
+                    # 获取设备的动作信息
+                    actions = {}
+                    for action_id, client in host_node._action_clients.items():
+                        # action_id 格式: /namespace/device_id/action_name
+                        if device_id in action_id:
+                            action_name = action_id.split("/")[-1]
+                            actions[action_name] = {
+                                "action_path": action_id,
+                                "action_type": str(type(client).__name__),
+                            }
+
+                    devices.append(
+                        {
+                            "device_id": device_id,
+                            "namespace": namespace,
+                            "device_key": device_key,
+                            "is_online": is_online,
+                            "machine_name": host_node.device_machine_names.get(device_id, machine_name),
+                            "actions": actions,
+                        }
+                    )
+
+                logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
+        except Exception as e:
+            logger.warning(f"[WebSocketClient] Error collecting device info: {e}")
+
         message = {
             "action": "host_node_ready",
             "data": {
                 "status": "ready",
                 "timestamp": time.time(),
+                "machine_name": machine_name,
+                "devices": devices,
             },
         }
         self.message_processor.send_message(message)
-        logger.info("[WebSocketClient] Host node ready signal published")
+        logger.info(f"[WebSocketClient] Host node ready signal published with {len(devices)} devices")

unilabos/compile/__init__.py

@@ -5,6 +5,7 @@ from .separate_protocol import generate_separate_protocol
 from .evaporate_protocol import generate_evaporate_protocol
 from .evacuateandrefill_protocol import generate_evacuateandrefill_protocol
 from .agv_transfer_protocol import generate_agv_transfer_protocol
+from .batch_transfer_protocol import generate_batch_transfer_protocol
 from .add_protocol import generate_add_protocol
 from .centrifuge_protocol import generate_centrifuge_protocol
 from .filter_protocol import generate_filter_protocol
@@ -31,6 +32,7 @@ from .hydrogenate_protocol import generate_hydrogenate_protocol
 action_protocol_generators = {
     AddProtocol: generate_add_protocol,
     AGVTransferProtocol: generate_agv_transfer_protocol,
+    BatchTransferProtocol: generate_batch_transfer_protocol,
     AdjustPHProtocol: generate_adjust_ph_protocol,
     CentrifugeProtocol: generate_centrifuge_protocol,
     CleanProtocol: generate_clean_protocol,

unilabos/compile/_agv_utils.py

@@ -0,0 +1,127 @@
+"""
+AGV 编译器共用工具函数
+
+从 physical_setup_graph 中发现 AGV 节点配置，
+供 agv_transfer_protocol 和 batch_transfer_protocol 复用。
+"""
+
+from typing import Any, Dict, List, Optional
+
+import networkx as nx
+
+
+def find_agv_config(G: nx.Graph, agv_id: Optional[str] = None) -> Dict[str, Any]:
+    """从设备图中发现 AGV 节点，返回其配置
+
+    查找策略：
+    1. 如果指定 agv_id，直接读取该节点
+    2. 否则查找 class 为 "agv_transport_station" 的节点
+    3. 兜底查找 config 中包含 device_roles 的 workstation 节点
+
+    Returns:
+        {
+            "agv_id": str,
+            "device_roles": {"navigator": "...", "arm": "..."},
+            "route_table": {"A->B": {"nav_command": ..., "arm_pick": ..., "arm_place": ...}},
+            "capacity": int,
+        }
+    """
+    if agv_id and agv_id in G.nodes:
+        node_data = G.nodes[agv_id]
+        config = _extract_config(node_data)
+        if config and "device_roles" in config:
+            return _build_agv_cfg(agv_id, config, G)
+
+    # 查找 agv_transport_station 类型
+    for nid, ndata in G.nodes(data=True):
+        node_class = _get_node_class(ndata)
+        if node_class == "agv_transport_station":
+            config = _extract_config(ndata)
+            return _build_agv_cfg(nid, config or {}, G)
+
+    # 兜底：查找带有 device_roles 的 workstation
+    for nid, ndata in G.nodes(data=True):
+        node_class = _get_node_class(ndata)
+        if node_class == "workstation":
+            config = _extract_config(ndata)
+            if config and "device_roles" in config:
+                return _build_agv_cfg(nid, config, G)
+
+    raise ValueError("设备图中未找到 AGV 节点（需 class=agv_transport_station 或 config.device_roles）")
+
+
+def get_agv_capacity(G: nx.Graph, agv_id: str) -> int:
+    """从 AGV 的 Warehouse 子节点计算载具容量"""
+    for neighbor in G.successors(agv_id) if G.is_directed() else G.neighbors(agv_id):
+        ndata = G.nodes[neighbor]
+        node_type = _get_node_type(ndata)
+        if node_type == "warehouse":
+            config = _extract_config(ndata)
+            if config:
+                x = config.get("num_items_x", 1)
+                y = config.get("num_items_y", 1)
+                z = config.get("num_items_z", 1)
+                return x * y * z
+    # 如果没有 warehouse 子节点，尝试从配置中读取
+    return 0
+
+
+def split_batches(items: list, capacity: int) -> List[list]:
+    """按 AGV 容量分批
+
+    Args:
+        items: 待转运的物料列表
+        capacity: AGV 单批次容量
+
+    Returns:
+        分批后的列表的列表
+    """
+    if capacity <= 0:
+        raise ValueError(f"AGV 容量必须 > 0，当前: {capacity}")
+    return [items[i:i + capacity] for i in range(0, len(items), capacity)]
+
+
+def _extract_config(node_data: dict) -> Optional[dict]:
+    """从节点数据中提取 config 字段，兼容多种格式"""
+    # 直接 config 字段
+    config = node_data.get("config")
+    if isinstance(config, dict):
+        return config
+    # res_content 嵌套格式
+    res_content = node_data.get("res_content")
+    if hasattr(res_content, "config"):
+        return res_content.config if isinstance(res_content.config, dict) else None
+    if isinstance(res_content, dict):
+        return res_content.get("config")
+    return None
+
+
+def _get_node_class(node_data: dict) -> str:
+    """获取节点的 class 字段"""
+    res_content = node_data.get("res_content")
+    if hasattr(res_content, "model_dump"):
+        d = res_content.model_dump()
+        return d.get("class_", d.get("class", ""))
+    if isinstance(res_content, dict):
+        return res_content.get("class_", res_content.get("class", ""))
+    return node_data.get("class_", node_data.get("class", ""))
+
+
+def _get_node_type(node_data: dict) -> str:
+    """获取节点的 type 字段"""
+    res_content = node_data.get("res_content")
+    if hasattr(res_content, "type"):
+        return res_content.type or ""
+    if isinstance(res_content, dict):
+        return res_content.get("type", "")
+    return node_data.get("type", "")
+
+
+def _build_agv_cfg(agv_id: str, config: dict, G: nx.Graph) -> Dict[str, Any]:
+    """构建标准化的 AGV 配置"""
+    return {
+        "agv_id": agv_id,
+        "device_roles": config.get("device_roles", {}),
+        "route_table": config.get("route_table", {}),
+        "capacity": get_agv_capacity(G, agv_id),
+    }

unilabos/compile/add_protocol.py

@@ -2,20 +2,13 @@ from functools import partial
 
 import networkx as nx
 import re
-import logging
 from typing import List, Dict, Any, Union
 
 from .utils.unit_parser import parse_volume_input, parse_mass_input, parse_time_input
 from .utils.vessel_parser import get_vessel, find_solid_dispenser, find_connected_stirrer, find_reagent_vessel
-from .utils.logger_util import action_log
+from .utils.logger_util import action_log, debug_print
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
-logger = logging.getLogger(__name__)
-
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[ADD] {message}")
-
 
 # 🆕 创建进度日志动作
 create_action_log = partial(action_log, prefix="[ADD]")

unilabos/compile/adjustph_protocol.py

@@ -1,14 +1,12 @@
+from functools import partial
+
 import networkx as nx
-import logging
 from typing import List, Dict, Any, Union
-from .utils.vessel_parser import get_vessel
+from .utils.vessel_parser import get_vessel, find_connected_stirrer
+from .utils.logger_util import action_log, debug_print
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
-logger = logging.getLogger(__name__)
-
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[ADJUST_PH] {message}")
+create_action_log = partial(action_log, prefix="[ADJUST_PH]")
 
 def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
     """
@@ -21,8 +19,6 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
     Returns:
         str: 试剂容器ID
     """
-    debug_print(f"🔍 正在查找试剂 '{reagent}' 的容器...")
-    
     # 常见酸碱试剂的别名映射
     reagent_aliases = {
         "hydrochloric acid": ["HCl", "hydrochloric_acid", "hcl", "muriatic_acid"],
@@ -36,17 +32,13 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
     
     # 构建搜索名称列表
     search_names = [reagent.lower()]
-    debug_print(f"📋 基础搜索名称: {reagent.lower()}")
-    
+
     # 添加别名
     for base_name, aliases in reagent_aliases.items():
         if reagent.lower() in base_name.lower() or base_name.lower() in reagent.lower():
             search_names.extend([alias.lower() for alias in aliases])
-            debug_print(f"🔗 添加别名: {aliases}")
             break
     
-    debug_print(f"📝 完整搜索列表: {search_names}")
-    
     # 构建可能的容器名称
     possible_names = []
     for name in search_names:
@@ -61,17 +53,15 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
             name_clean
         ])
     
-    debug_print(f"🎯 可能的容器名称 (前5个): {possible_names[:5]}... (共{len(possible_names)}个)")
-    
+    debug_print(f"搜索容器: {len(possible_names)} 个候选名称")
+
     # 第一步：通过容器名称匹配
-    debug_print(f"📋 方法1: 精确名称匹配...")
     for vessel_name in possible_names:
         if vessel_name in G.nodes():
-            debug_print(f"✅ 通过名称匹配找到容器: {vessel_name} 🎯")
+            debug_print(f"通过名称匹配找到容器: {vessel_name}")
             return vessel_name
-    
+
     # 第二步：通过模糊匹配
-    debug_print(f"📋 方法2: 模糊名称匹配...")
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
             node_name = G.nodes[node_id].get('name', '').lower()
@@ -79,11 +69,10 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
             # 检查是否包含任何搜索名称
             for search_name in search_names:
                 if search_name in node_id.lower() or search_name in node_name:
-                    debug_print(f"✅ 通过模糊匹配找到容器: {node_id} 🔍")
+                    debug_print(f"通过模糊匹配找到容器: {node_id}")
                     return node_id
-    
+
     # 第三步：通过液体类型匹配
-    debug_print(f"📋 方法3: 液体类型匹配...")
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
             vessel_data = G.nodes[node_id].get('data', {})
@@ -96,56 +85,15 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
                     
                     for search_name in search_names:
                         if search_name in liquid_type or search_name in reagent_name:
-                            debug_print(f"✅ 通过液体类型匹配找到容器: {node_id} 💧")
+                            debug_print(f"通过液体类型匹配找到容器: {node_id}")
                             return node_id
     
     # 列出可用容器帮助调试
-    debug_print(f"📊 列出可用容器帮助调试...")
-    available_containers = []
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            vessel_data = G.nodes[node_id].get('data', {})
-            liquids = vessel_data.get('liquid', [])
-            liquid_types = [liquid.get('liquid_type', '') or liquid.get('name', '') 
-                           for liquid in liquids if isinstance(liquid, dict)]
-            
-            available_containers.append({
-                'id': node_id,
-                'name': G.nodes[node_id].get('name', ''),
-                'liquids': liquid_types,
-                'reagent_name': vessel_data.get('reagent_name', '')
-            })
-    
-    debug_print(f"📋 可用容器列表:")
-    for container in available_containers:
-        debug_print(f"  - 🧪 {container['id']}: {container['name']}")
-        debug_print(f"    💧 液体: {container['liquids']}")
-        debug_print(f"    🏷️ 试剂: {container['reagent_name']}")
-    
-    debug_print(f"❌ 所有匹配方法都失败了")
+    available_containers = [node_id for node_id in G.nodes()
+                           if G.nodes[node_id].get('type') == 'container']
+    debug_print(f"所有匹配方法失败，可用容器: {available_containers}")
     raise ValueError(f"找不到试剂 '{reagent}' 对应的容器。尝试了: {possible_names[:10]}...")
 
-def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
-    """查找与容器相连的搅拌器"""
-    debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
-    
-    stirrer_nodes = [node for node in G.nodes() 
-                    if (G.nodes[node].get('class') or '') == 'virtual_stirrer']
-    
-    debug_print(f"📊 发现 {len(stirrer_nodes)} 个搅拌器: {stirrer_nodes}")
-    
-    for stirrer in stirrer_nodes:
-        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
-            debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
-            return stirrer
-    
-    if stirrer_nodes:
-        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
-        return stirrer_nodes[0]
-    
-    debug_print(f"❌ 未找到任何搅拌器")
-    return None
-
 def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume: float = 100.0) -> float:
     """
     估算需要的试剂体积来调节pH
@@ -158,44 +106,30 @@ def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume
     Returns:
         float: 估算的试剂体积 (mL)
     """
-    debug_print(f"🧮 计算试剂体积...")
-    debug_print(f"  📍 目标pH: {target_ph_value}")
-    debug_print(f"  🧪 试剂: {reagent}")
-    debug_print(f"  📏 容器体积: {vessel_volume}mL")
-    
-    # 简化的pH调节体积估算（实际应用中需要更精确的计算）
+    debug_print(f"计算试剂体积: pH={target_ph_value}, reagent={reagent}, vessel={vessel_volume}mL")
+
+    # 简化的pH调节体积估算
     if "acid" in reagent.lower() or "hcl" in reagent.lower():
-        debug_print(f"🍋 检测到酸性试剂")
-        # 酸性试剂：pH越低需要的体积越大
         if target_ph_value < 3:
-            volume = vessel_volume * 0.05  # 5%
-            debug_print(f"  💪 强酸性 (pH<3): 使用 5% 体积")
+            volume = vessel_volume * 0.05
         elif target_ph_value < 5:
-            volume = vessel_volume * 0.02  # 2%
-            debug_print(f"  🔸 中酸性 (pH<5): 使用 2% 体积")
+            volume = vessel_volume * 0.02
         else:
-            volume = vessel_volume * 0.01  # 1%
-            debug_print(f"  🔹 弱酸性 (pH≥5): 使用 1% 体积")
-    
+            volume = vessel_volume * 0.01
+
     elif "hydroxide" in reagent.lower() or "naoh" in reagent.lower():
-        debug_print(f"🧂 检测到碱性试剂")
-        # 碱性试剂：pH越高需要的体积越大
         if target_ph_value > 11:
-            volume = vessel_volume * 0.05  # 5%
-            debug_print(f"  💪 强碱性 (pH>11): 使用 5% 体积")
+            volume = vessel_volume * 0.05
         elif target_ph_value > 9:
-            volume = vessel_volume * 0.02  # 2%
-            debug_print(f"  🔸 中碱性 (pH>9): 使用 2% 体积")
+            volume = vessel_volume * 0.02
         else:
-            volume = vessel_volume * 0.01  # 1%
-            debug_print(f"  🔹 弱碱性 (pH≤9): 使用 1% 体积")
-    
+            volume = vessel_volume * 0.01
+
     else:
         # 未知试剂，使用默认值
         volume = vessel_volume * 0.01
-        debug_print(f"❓ 未知试剂类型，使用默认 1% 体积")
-    
-    debug_print(f"📊 计算结果: {volume:.2f}mL")
+
+    debug_print(f"估算试剂体积: {volume:.2f}mL")
     return volume
 
 def generate_adjust_ph_protocol(
@@ -220,96 +154,67 @@ def generate_adjust_ph_protocol(
     """
     
     vessel_id, vessel_data = get_vessel(vessel)
-    
+
     if not vessel_id:
-        debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
         raise ValueError("vessel 参数无效，必须包含id字段或直接提供容器ID")
-    
-    debug_print("=" * 60)
-    debug_print("🧪 开始生成pH调节协议")
-    debug_print(f"📋 原始参数:")
-    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  📊 ph_value: {ph_value}")
-    debug_print(f"  🧪 reagent: '{reagent}'")
-    debug_print(f"  📦 kwargs: {kwargs}")
-    debug_print("=" * 60)
-    
+
+    debug_print(f"pH调节协议: vessel={vessel_id}, ph={ph_value}, reagent='{reagent}'")
+
     action_sequence = []
-    
-    # 从kwargs中获取可选参数，如果没有则使用默认值
-    volume = kwargs.get('volume', 0.0)           # 自动估算体积
-    stir = kwargs.get('stir', True)              # 默认搅拌
-    stir_speed = kwargs.get('stir_speed', 300.0) # 默认搅拌速度
-    stir_time = kwargs.get('stir_time', 60.0)    # 默认搅拌时间
-    settling_time = kwargs.get('settling_time', 30.0)  # 默认平衡时间
-    
-    debug_print(f"🔧 处理后的参数:")
-    debug_print(f"  📏 volume: {volume}mL (0.0表示自动估算)")
-    debug_print(f"  🌪️ stir: {stir}")
-    debug_print(f"  🔄 stir_speed: {stir_speed}rpm")
-    debug_print(f"  ⏱️ stir_time: {stir_time}s")
-    debug_print(f"  ⏳ settling_time: {settling_time}s")
-    
+
+    # 从kwargs中获取可选参数
+    volume = kwargs.get('volume', 0.0)
+    stir = kwargs.get('stir', True)
+    stir_speed = kwargs.get('stir_speed', 300.0)
+    stir_time = kwargs.get('stir_time', 60.0)
+    settling_time = kwargs.get('settling_time', 30.0)
+
     # 开始处理
     action_sequence.append(create_action_log(f"开始调节pH至 {ph_value}", "🧪"))
     action_sequence.append(create_action_log(f"目标容器: {vessel_id}", "🥼"))
     action_sequence.append(create_action_log(f"使用试剂: {reagent}", "⚗️"))
-    
+
     # 1. 验证目标容器存在
-    debug_print(f"🔍 步骤1: 验证目标容器...")
     if vessel_id not in G.nodes():
-        debug_print(f"❌ 目标容器 '{vessel_id}' 不存在于系统中")
         raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
-    
-    debug_print(f"✅ 目标容器验证通过")
+
     action_sequence.append(create_action_log("目标容器验证通过", "✅"))
-    
+
     # 2. 查找酸碱试剂容器
-    debug_print(f"🔍 步骤2: 查找试剂容器...")
     action_sequence.append(create_action_log("正在查找试剂容器...", "🔍"))
     
     try:
         reagent_vessel = find_acid_base_vessel(G, reagent)
-        debug_print(f"✅ 找到试剂容器: {reagent_vessel}")
         action_sequence.append(create_action_log(f"找到试剂容器: {reagent_vessel}", "🧪"))
     except ValueError as e:
-        debug_print(f"❌ 无法找到试剂容器: {str(e)}")
         action_sequence.append(create_action_log(f"试剂容器查找失败: {str(e)}", "❌"))
         raise ValueError(f"无法找到试剂 '{reagent}': {str(e)}")
-    
+
     # 3. 体积估算
-    debug_print(f"🔍 步骤3: 体积处理...")
     if volume <= 0:
         action_sequence.append(create_action_log("开始自动估算试剂体积", "🧮"))
         
         # 获取目标容器的体积信息
         vessel_data = G.nodes[vessel_id].get('data', {})
-        vessel_volume = vessel_data.get('max_volume', 100.0)  # 默认100mL
-        debug_print(f"📏 容器最大体积: {vessel_volume}mL")
-        
+        vessel_volume = vessel_data.get('max_volume', 100.0)
+
         estimated_volume = calculate_reagent_volume(ph_value, reagent, vessel_volume)
         volume = estimated_volume
-        debug_print(f"✅ 自动估算试剂体积: {volume:.2f} mL")
         action_sequence.append(create_action_log(f"估算试剂体积: {volume:.2f}mL", "📊"))
     else:
-        debug_print(f"📏 使用指定体积: {volume}mL")
         action_sequence.append(create_action_log(f"使用指定体积: {volume}mL", "📏"))
-    
+
     # 4. 验证路径存在
-    debug_print(f"🔍 步骤4: 路径验证...")
     action_sequence.append(create_action_log("验证转移路径...", "🛤️"))
     
     try:
         path = nx.shortest_path(G, source=reagent_vessel, target=vessel_id)
-        debug_print(f"✅ 找到路径: {' → '.join(path)}")
-        action_sequence.append(create_action_log(f"找到转移路径: {' → '.join(path)}", "🛤️"))
+        action_sequence.append(create_action_log(f"找到转移路径: {' -> '.join(path)}", "🛤️"))
     except nx.NetworkXNoPath:
-        debug_print(f"❌ 无法找到转移路径")
         action_sequence.append(create_action_log("转移路径不存在", "❌"))
         raise ValueError(f"从试剂容器 '{reagent_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
-    
+
     # 5. 搅拌器设置
-    debug_print(f"🔍 步骤5: 搅拌器设置...")
     stirrer_id = None
     if stir:
         action_sequence.append(create_action_log("准备启动搅拌器", "🌪️"))
@@ -318,7 +223,6 @@ def generate_adjust_ph_protocol(
             stirrer_id = find_connected_stirrer(G, vessel_id)
             
             if stirrer_id:
-                debug_print(f"✅ 找到搅拌器 {stirrer_id}，启动搅拌")
                 action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed}rpm)", "🔄"))
                 
                 action_sequence.append({
@@ -338,23 +242,18 @@ def generate_adjust_ph_protocol(
                     "action_kwargs": {"time": 5}
                 })
             else:
-                debug_print(f"⚠️ 未找到搅拌器，继续执行")
                 action_sequence.append(create_action_log("未找到搅拌器，跳过搅拌", "⚠️"))
-        
+
         except Exception as e:
-            debug_print(f"❌ 搅拌器配置出错: {str(e)}")
             action_sequence.append(create_action_log(f"搅拌器配置失败: {str(e)}", "❌"))
     else:
-        debug_print(f"📋 跳过搅拌设置")
         action_sequence.append(create_action_log("跳过搅拌设置", "⏭️"))
-    
+
     # 6. 试剂添加
-    debug_print(f"🔍 步骤6: 试剂添加...")
     action_sequence.append(create_action_log(f"开始添加试剂 {volume:.2f}mL", "🚰"))
     
     # 计算添加时间（pH调节需要缓慢添加）
-    addition_time = max(30.0, volume * 2.0)  # 至少30秒，每mL需要2秒
-    debug_print(f"⏱️ 计算添加时间: {addition_time}s (缓慢注入)")
+    addition_time = max(30.0, volume * 2.0)
     action_sequence.append(create_action_log(f"设置添加时间: {addition_time:.0f}s (缓慢注入)", "⏱️"))
     
     try:
@@ -377,35 +276,28 @@ def generate_adjust_ph_protocol(
         )
         
         action_sequence.extend(pump_actions)
-        debug_print(f"✅ 泵协议生成完成，添加了 {len(pump_actions)} 个动作")
         action_sequence.append(create_action_log(f"试剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
-        
-        # 🔧 修复体积运算 - 试剂添加成功后更新容器液体体积
-        debug_print(f"🔧 更新容器液体体积...")
+
+        # 体积运算 - 试剂添加成功后更新容器液体体积
         if "data" in vessel and "liquid_volume" in vessel["data"]:
             current_volume = vessel["data"]["liquid_volume"]
-            debug_print(f"📊 添加前容器体积: {current_volume}")
-            
+
             # 处理不同的体积数据格式
             if isinstance(current_volume, list):
                 if len(current_volume) > 0:
                     # 增加体积（添加试剂）
                     vessel["data"]["liquid_volume"][0] += volume
-                    debug_print(f"📊 添加后容器体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{volume:.2f}mL)")
                 else:
                     # 如果列表为空，创建新的体积记录
                     vessel["data"]["liquid_volume"] = [volume]
-                    debug_print(f"📊 初始化容器体积: {volume:.2f}mL")
             elif isinstance(current_volume, (int, float)):
                 # 直接数值类型
                 vessel["data"]["liquid_volume"] += volume
-                debug_print(f"📊 添加后容器体积: {vessel['data']['liquid_volume']:.2f}mL (+{volume:.2f}mL)")
             else:
-                debug_print(f"⚠️ 未知的体积数据格式: {type(current_volume)}")
+                debug_print(f"未知的体积数据格式: {type(current_volume)}")
                 # 创建新的体积记录
                 vessel["data"]["liquid_volume"] = volume
         else:
-            debug_print(f"📊 容器无液体体积数据，创建新记录: {volume:.2f}mL")
             # 确保vessel有data字段
             if "data" not in vessel:
                 vessel["data"] = {}
@@ -423,19 +315,16 @@ def generate_adjust_ph_protocol(
                     G.nodes[vessel_id]['data']['liquid_volume'] = [volume]
             else:
                 G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + volume
-                
-            debug_print(f"✅ 图节点体积数据已更新")
-        
+
         action_sequence.append(create_action_log(f"容器体积已更新 (+{volume:.2f}mL)", "📊"))
         
     except Exception as e:
-        debug_print(f"❌ 生成泵协议时出错: {str(e)}")
+        debug_print(f"生成泵协议时出错: {str(e)}")
         action_sequence.append(create_action_log(f"泵协议生成失败: {str(e)}", "❌"))
         raise ValueError(f"生成泵协议时出错: {str(e)}")
     
     # 7. 混合搅拌
     if stir and stirrer_id:
-        debug_print(f"🔍 步骤7: 混合搅拌...")
         action_sequence.append(create_action_log(f"开始混合搅拌 {stir_time:.0f}s", "🌀"))
         
         action_sequence.append({
@@ -448,14 +337,10 @@ def generate_adjust_ph_protocol(
                 "purpose": f"pH调节: 混合试剂，目标pH={ph_value}"
             }
         })
-        
-        debug_print(f"✅ 混合搅拌设置完成")
     else:
-        debug_print(f"⏭️ 跳过混合搅拌")
         action_sequence.append(create_action_log("跳过混合搅拌", "⏭️"))
-    
+
     # 8. 等待平衡
-    debug_print(f"🔍 步骤8: 反应平衡...")
     action_sequence.append(create_action_log(f"等待pH平衡 {settling_time:.0f}s", "⚖️"))
     
     action_sequence.append({
@@ -468,17 +353,7 @@ def generate_adjust_ph_protocol(
     
     # 9. 完成总结
     total_time = addition_time + stir_time + settling_time
-    
-    debug_print("=" * 60)
-    debug_print(f"🎉 pH调节协议生成完成")
-    debug_print(f"📊 协议统计:")
-    debug_print(f"  📋 总动作数: {len(action_sequence)}")
-    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f}分钟)")
-    debug_print(f"  🧪 试剂: {reagent}")
-    debug_print(f"  📏 体积: {volume:.2f}mL")
-    debug_print(f"  📊 目标pH: {ph_value}")
-    debug_print(f"  🥼 目标容器: {vessel_id}")
-    debug_print("=" * 60)
+    debug_print(f"pH调节协议完成: {len(action_sequence)} 个动作, {total_time:.0f}s, {volume:.2f}mL {reagent} → {vessel_id} pH {ph_value}")
     
     # 添加完成日志
     summary_msg = f"pH调节协议完成: {vessel_id} → pH {ph_value} (使用 {volume:.2f}mL {reagent})"
@@ -510,28 +385,18 @@ def generate_adjust_ph_protocol_stepwise(
     """
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id = vessel["id"]
-    
-    debug_print("=" * 60)
-    debug_print(f"🔄 开始分步pH调节")
-    debug_print(f"📋 分步参数:")
-    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  📊 ph_value: {ph_value}")
-    debug_print(f"  🧪 reagent: {reagent}")
-    debug_print(f"  📏 max_volume: {max_volume}mL")
-    debug_print(f"  🔢 steps: {steps}")
-    debug_print("=" * 60)
+
+    debug_print(f"分步pH调节: vessel={vessel_id}, ph={ph_value}, reagent={reagent}, max_volume={max_volume}mL, steps={steps}")
     
     action_sequence = []
     
     # 每步添加的体积
     step_volume = max_volume / steps
-    debug_print(f"📊 每步体积: {step_volume:.2f}mL")
     
     action_sequence.append(create_action_log(f"开始分步pH调节 ({steps}步)", "🔄"))
     action_sequence.append(create_action_log(f"每步添加: {step_volume:.2f}mL", "📏"))
     
     for i in range(steps):
-        debug_print(f"🔄 执行第 {i+1}/{steps} 步，添加 {step_volume:.2f}mL")
         action_sequence.append(create_action_log(f"第 {i+1}/{steps} 步开始", "🚀"))
         
         # 生成单步协议
@@ -548,12 +413,10 @@ def generate_adjust_ph_protocol_stepwise(
         )
         
         action_sequence.extend(step_actions)
-        debug_print(f"✅ 第 {i+1}/{steps} 步完成，添加了 {len(step_actions)} 个动作")
         action_sequence.append(create_action_log(f"第 {i+1}/{steps} 步完成", "✅"))
         
         # 步骤间等待
         if i < steps - 1:
-            debug_print(f"⏳ 步骤间等待30s")
             action_sequence.append(create_action_log("步骤间等待...", "⏳"))
             action_sequence.append({
                 "action_name": "wait",
@@ -563,7 +426,7 @@ def generate_adjust_ph_protocol_stepwise(
                 }
             })
     
-    debug_print(f"🎉 分步pH调节完成，共 {len(action_sequence)} 个动作")
+    debug_print(f"分步pH调节完成: {len(action_sequence)} 个动作")
     action_sequence.append(create_action_log("分步pH调节全部完成", "🎉"))
     
     return action_sequence
@@ -577,7 +440,7 @@ def generate_acidify_protocol(
 ) -> List[Dict[str, Any]]:
     """酸化协议"""
     vessel_id = vessel["id"]
-    debug_print(f"🍋 生成酸化协议: {vessel_id} → pH {target_ph} (使用 {acid})")
+    debug_print(f"酸化协议: {vessel_id} → pH {target_ph} ({acid})")
     return generate_adjust_ph_protocol(
         G, vessel, target_ph, acid
     )
@@ -590,7 +453,7 @@ def generate_basify_protocol(
 ) -> List[Dict[str, Any]]:
     """碱化协议"""
     vessel_id = vessel["id"]
-    debug_print(f"🧂 生成碱化协议: {vessel_id} → pH {target_ph} (使用 {base})")
+    debug_print(f"碱化协议: {vessel_id} → pH {target_ph} ({base})")
     return generate_adjust_ph_protocol(
         G, vessel, target_ph, base
     )
@@ -602,7 +465,7 @@ def generate_neutralize_protocol(
 ) -> List[Dict[str, Any]]:
     """中和协议（pH=7）"""
     vessel_id = vessel["id"]
-    debug_print(f"⚖️ 生成中和协议: {vessel_id} → pH 7.0 (使用 {reagent})")
+    debug_print(f"中和协议: {vessel_id} → pH 7.0 ({reagent})")
     return generate_adjust_ph_protocol(
         G, vessel, 7.0, reagent
     )
@@ -610,10 +473,7 @@ def generate_neutralize_protocol(
 # 测试函数
 def test_adjust_ph_protocol():
     """测试pH调节协议"""
-    debug_print("=== ADJUST PH PROTOCOL 增强版测试 ===")
-    
     # 测试体积计算
-    debug_print("🧮 测试体积计算...")
     test_cases = [
         (2.0, "hydrochloric acid", 100.0),
         (4.0, "hydrochloric acid", 100.0),
@@ -621,12 +481,12 @@ def test_adjust_ph_protocol():
         (10.0, "sodium hydroxide", 100.0),
         (7.0, "unknown reagent", 100.0)
     ]
-    
+
     for ph, reagent, volume in test_cases:
         result = calculate_reagent_volume(ph, reagent, volume)
-        debug_print(f"📊 {reagent} → pH {ph}: {result:.2f}mL")
-    
-    debug_print("✅ 测试完成")
+        debug_print(f"{reagent} → pH {ph}: {result:.2f}mL")
+
+    debug_print("测试完成")
 
 if __name__ == "__main__":
     test_adjust_ph_protocol()

unilabos/compile/agv_transfer_protocol.py

@@ -1,4 +1,12 @@
+"""
+AGV 单物料转运编译器
+
+从 physical_setup_graph 中查询 AGV 配置（device_roles, route_table），
+不再硬编码 device_id 和路由表。
+"""
+
 import networkx as nx
+from unilabos.compile._agv_utils import find_agv_config
 
 
 def generate_agv_transfer_protocol(
@@ -17,37 +25,32 @@ def generate_agv_transfer_protocol(
     from_repo_id = from_repo_["id"]
     to_repo_id = to_repo_["id"]
 
-    wf_list = {
-        ("AiChemEcoHiWo", "zhixing_agv"): {"nav_command" : '{"target" : "LM14"}',
-                             "arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
-        ("AiChemEcoHiWo", "AGV"): {"nav_command" : '{"target" : "LM14"}',
-                             "arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
+    # 从 G 中查询 AGV 配置
+    agv_cfg = find_agv_config(G)
+    device_roles = agv_cfg["device_roles"]
+    route_table = agv_cfg["route_table"]
 
-        ("zhixing_agv", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
-                             "arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
+    route_key = f"{from_repo_id}->{to_repo_id}"
+    if route_key not in route_table:
+        raise KeyError(f"AGV 路由表中未找到路线: {route_key}，可用路线: {list(route_table.keys())}")
 
-        ("AGV", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
-                             "arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
+    route = route_table[route_key]
+    nav_device = device_roles.get("navigator", device_roles.get("nav"))
+    arm_device = device_roles.get("arm")
 
-        ("Revvity", "HPLC"): {"nav_command": '{"target" : "LM13"}',
-                              "arm_command": '{"task_name" : "camera/250111_hplc.urp"}'},
-
-        ("HPLC", "Revvity"): {"nav_command": '{"target" : "LM13"}',
-                              "arm_command": '{"task_name" : "camera/250111_lfp.urp"}'},
-    }
     return [
         {
-            "device_id": "zhixing_agv",
+            "device_id": nav_device,
             "action_name": "send_nav_task",
             "action_kwargs": {
-                "command": wf_list[(from_repo_id, to_repo_id)]["nav_command"]
+                "command": route["nav_command"]
             }
         },
         {
-            "device_id": "zhixing_ur_arm",
+            "device_id": arm_device,
             "action_name": "move_pos_task",
             "action_kwargs": {
-                "command": wf_list[(from_repo_id, to_repo_id)]["arm_command"]
+                "command": route.get("arm_command", route.get("arm_place", ""))
             }
         }
     ]

unilabos/compile/batch_transfer_protocol.py

@@ -0,0 +1,228 @@
+"""
+批量物料转运编译器
+
+将 BatchTransferProtocol 编译为多批次的 nav → pick × N → nav → place × N 动作序列。
+自动按 AGV 容量分批，全程维护三方 children dict 的物料系统一致性。
+"""
+
+import copy
+from typing import Any, Dict, List
+
+import networkx as nx
+
+from unilabos.compile._agv_utils import find_agv_config, split_batches
+
+
+def generate_batch_transfer_protocol(
+    G: nx.Graph,
+    from_repo: dict,
+    to_repo: dict,
+    transfer_resources: list,
+    from_positions: list,
+    to_positions: list,
+) -> List[Dict[str, Any]]:
+    """编译批量转运协议为可执行的 action steps
+
+    Args:
+        G: 设备图 (physical_setup_graph)
+        from_repo: 来源工站资源 dict（{station_id: {..., children: {...}}}）
+        to_repo: 目标工站资源 dict（含堆栈和位置信息）
+        transfer_resources: 被转运的物料列表（Resource dict）
+        from_positions: 来源 slot 位置列表（与 transfer_resources 平行）
+        to_positions: 目标 slot 位置列表（与 transfer_resources 平行）
+
+    Returns:
+        action steps 列表，ROS2WorkstationNode 按序执行
+    """
+    if not transfer_resources:
+        return []
+
+    n = len(transfer_resources)
+    if len(from_positions) != n or len(to_positions) != n:
+        raise ValueError(
+            f"transfer_resources({n}), from_positions({len(from_positions)}), "
+            f"to_positions({len(to_positions)}) 长度不一致"
+        )
+
+    # 组合为内部 transfer_items 便于分批处理
+    transfer_items = []
+    for i in range(n):
+        res = transfer_resources[i] if isinstance(transfer_resources[i], dict) else {}
+        transfer_items.append({
+            "resource_id": res.get("id", res.get("name", "")),
+            "resource_uuid": res.get("sample_id", ""),
+            "from_position": from_positions[i],
+            "to_position": to_positions[i],
+            "resource": res,
+        })
+
+    # 查询 AGV 配置
+    agv_cfg = find_agv_config(G)
+    agv_id = agv_cfg["agv_id"]
+    device_roles = agv_cfg["device_roles"]
+    route_table = agv_cfg["route_table"]
+    capacity = agv_cfg["capacity"]
+
+    if capacity <= 0:
+        raise ValueError(f"AGV {agv_id} 容量为 0，请检查 Warehouse 子节点配置")
+
+    nav_device = device_roles.get("navigator", device_roles.get("nav"))
+    arm_device = device_roles.get("arm")
+    if not nav_device or not arm_device:
+        raise ValueError(f"AGV {agv_id} device_roles 缺少 navigator 或 arm: {device_roles}")
+
+    from_repo_ = list(from_repo.values())[0]
+    to_repo_ = list(to_repo.values())[0]
+    from_station_id = from_repo_["id"]
+    to_station_id = to_repo_["id"]
+
+    # 查找路由
+    route_to_source = _find_route(route_table, agv_id, from_station_id)
+    route_to_target = _find_route(route_table, from_station_id, to_station_id)
+
+    # 构建 AGV carrier 的 children dict（用于 compile 阶段状态追踪）
+    agv_carrier_children: Dict[str, Any] = {}
+
+    # 计算 slot 名称（A01, A02, B01, ...）
+    agv_slot_names = _get_agv_slot_names(G, agv_cfg)
+
+    # 分批
+    batches = split_batches(transfer_items, capacity)
+
+    steps: List[Dict[str, Any]] = []
+
+    for batch_idx, batch in enumerate(batches):
+        is_last_batch = (batch_idx == len(batches) - 1)
+
+        # 阶段 1: AGV 导航到来源工站
+        steps.append({
+            "device_id": nav_device,
+            "action_name": "send_nav_task",
+            "action_kwargs": {
+                "command": route_to_source.get("nav_command", "")
+            },
+            "_comment": f"批次{batch_idx + 1}/{len(batches)}: AGV 导航至来源 {from_station_id}"
+        })
+
+        # 阶段 2: 逐个 pick
+        for item_idx, item in enumerate(batch):
+            from_pos = item["from_position"]
+            slot = agv_slot_names[item_idx] if item_idx < len(agv_slot_names) else f"S{item_idx + 1}"
+
+            # compile 阶段更新 children dict
+            if from_pos in from_repo_.get("children", {}):
+                resource_data = from_repo_["children"].pop(from_pos)
+                resource_data["parent"] = agv_id
+                agv_carrier_children[slot] = resource_data
+
+            steps.append({
+                "device_id": arm_device,
+                "action_name": "move_pos_task",
+                "action_kwargs": {
+                    "command": route_to_source.get("arm_pick", route_to_source.get("arm_command", ""))
+                },
+                "_transfer_meta": {
+                    "phase": "pick",
+                    "resource_uuid": item.get("resource_uuid", ""),
+                    "resource_id": item.get("resource_id", ""),
+                    "from_parent": from_station_id,
+                    "from_position": from_pos,
+                    "agv_slot": slot,
+                },
+                "_comment": f"Pick {item.get('resource_id', from_pos)} → AGV.{slot}"
+            })
+
+        # 阶段 3: AGV 导航到目标工站
+        steps.append({
+            "device_id": nav_device,
+            "action_name": "send_nav_task",
+            "action_kwargs": {
+                "command": route_to_target.get("nav_command", "")
+            },
+            "_comment": f"批次{batch_idx + 1}: AGV 导航至目标 {to_station_id}"
+        })
+
+        # 阶段 4: 逐个 place
+        for item_idx, item in enumerate(batch):
+            to_pos = item["to_position"]
+            slot = agv_slot_names[item_idx] if item_idx < len(agv_slot_names) else f"S{item_idx + 1}"
+
+            # compile 阶段更新 children dict
+            if slot in agv_carrier_children:
+                resource_data = agv_carrier_children.pop(slot)
+                resource_data["parent"] = to_repo_["id"]
+                to_repo_["children"][to_pos] = resource_data
+
+            steps.append({
+                "device_id": arm_device,
+                "action_name": "move_pos_task",
+                "action_kwargs": {
+                    "command": route_to_target.get("arm_place", route_to_target.get("arm_command", ""))
+                },
+                "_transfer_meta": {
+                    "phase": "place",
+                    "resource_uuid": item.get("resource_uuid", ""),
+                    "resource_id": item.get("resource_id", ""),
+                    "to_parent": to_station_id,
+                    "to_position": to_pos,
+                    "agv_slot": slot,
+                },
+                "_comment": f"Place AGV.{slot} → {to_station_id}.{to_pos}"
+            })
+
+        # 如果还有下一批，AGV 需要返回来源取料
+        if not is_last_batch:
+            steps.append({
+                "device_id": nav_device,
+                "action_name": "send_nav_task",
+                "action_kwargs": {
+                    "command": route_to_source.get("nav_command", "")
+                },
+                "_comment": f"AGV 返回来源 {from_station_id} 取下一批"
+            })
+
+    return steps
+
+
+def _find_route(route_table: Dict[str, Any], from_id: str, to_id: str) -> Dict[str, str]:
+    """在路由表中查找路线，支持 A->B 和 (A, B) 两种 key 格式"""
+    # 优先 "A->B" 格式
+    key = f"{from_id}->{to_id}"
+    if key in route_table:
+        return route_table[key]
+    # 兼容 tuple key（JSON 中以逗号分隔字符串表示）
+    tuple_key = f"({from_id}, {to_id})"
+    if tuple_key in route_table:
+        return route_table[tuple_key]
+    raise KeyError(f"路由表中未找到: {key}，可用路线: {list(route_table.keys())}")
+
+
+def _get_agv_slot_names(G: nx.Graph, agv_cfg: dict) -> List[str]:
+    """从设备图中获取 AGV Warehouse 的 slot 名称列表"""
+    agv_id = agv_cfg["agv_id"]
+    neighbors = G.successors(agv_id) if G.is_directed() else G.neighbors(agv_id)
+    for neighbor in neighbors:
+        ndata = G.nodes[neighbor]
+        node_type = ndata.get("type", "")
+        res_content = ndata.get("res_content")
+        if hasattr(res_content, "type"):
+            node_type = res_content.type or node_type
+        elif isinstance(res_content, dict):
+            node_type = res_content.get("type", node_type)
+        if node_type == "warehouse":
+            config = ndata.get("config", {})
+            if hasattr(res_content, "config") and isinstance(res_content.config, dict):
+                config = res_content.config
+            elif isinstance(res_content, dict):
+                config = res_content.get("config", config)
+            num_x = config.get("num_items_x", 1)
+            num_y = config.get("num_items_y", 1)
+            num_z = config.get("num_items_z", 1)
+            # 与 warehouse_factory 一致的命名
+            letters = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+            len_x = num_x if num_z == 1 else (num_y if num_x == 1 else num_x)
+            len_y = num_y if num_z == 1 else (num_z if num_x == 1 else num_z)
+            return [f"{letters[j]}{i + 1:02d}" for i in range(len_x) for j in range(len_y)]
+    # 兜底生成通用名称
+    capacity = agv_cfg.get("capacity", 4)
+    return [f"S{i + 1}" for i in range(capacity)]

unilabos/compile/clean_vessel_protocol.py

@@ -1,7 +1,9 @@
 from typing import List, Dict, Any
 import networkx as nx
-from .utils.vessel_parser import get_vessel, find_solvent_vessel
+from .utils.vessel_parser import get_vessel, find_solvent_vessel, find_connected_heatchill
+from .utils.logger_util import debug_print
 from .pump_protocol import generate_pump_protocol
+from .utils.resource_helper import get_resource_liquid_volume
 
 
 def find_solvent_vessel_by_any_match(G: nx.DiGraph, solvent: str) -> str:
@@ -17,43 +19,23 @@ def find_waste_vessel(G: nx.DiGraph) -> str:
     """
     possible_waste_names = [
         "waste_workup",
-        "flask_waste", 
+        "flask_waste",
         "bottle_waste",
         "waste",
         "waste_vessel",
         "waste_container"
     ]
-    
+
     for waste_name in possible_waste_names:
         if waste_name in G.nodes():
             return waste_name
-    
+
     raise ValueError(f"未找到废液容器。尝试了以下名称: {possible_waste_names}")
 
 
-def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
-    """
-    查找与指定容器相连的加热冷却设备
-    """
-    # 查找所有加热冷却设备节点
-    heatchill_nodes = [node for node in G.nodes() 
-                      if (G.nodes[node].get('class') or '') == 'virtual_heatchill']
-    
-    # 检查哪个加热设备与目标容器相连（机械连接）
-    for heatchill in heatchill_nodes:
-        if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
-            return heatchill
-    
-    # 如果没有直接连接，返回第一个可用的加热设备
-    if heatchill_nodes:
-        return heatchill_nodes[0]
-    
-    return None  # 没有加热设备也可以工作，只是不能加热
-
-
 def generate_clean_vessel_protocol(
     G: nx.DiGraph,
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    vessel: dict,
     solvent: str,
     volume: float,
     temp: float,
@@ -61,7 +43,7 @@ def generate_clean_vessel_protocol(
 ) -> List[Dict[str, Any]]:
     """
     生成容器清洗操作的协议序列，复用 pump_protocol 的成熟算法
-    
+
     清洗流程：
     1. 查找溶剂容器和废液容器
     2. 如果需要加热，启动加热设备
@@ -70,63 +52,50 @@ def generate_clean_vessel_protocol(
        b. (可选) 等待清洗作用时间
        c. 使用 pump_protocol 将清洗液从目标容器转移到废液容器
     4. 如果加热了，停止加热
-    
+
     Args:
         G: 有向图，节点为设备和容器，边为流体管道
         vessel: 要清洗的容器字典（包含id字段）
-        solvent: 用于清洗的溶剂名称  
+        solvent: 用于清洗的溶剂名称
         volume: 每次清洗使用的溶剂体积
         temp: 清洗时的温度
         repeats: 清洗操作的重复次数，默认为 1
-    
+
     Returns:
         List[Dict[str, Any]]: 容器清洗操作的动作序列
-    
-    Raises:
-        ValueError: 当找不到必要的容器或设备时抛出异常
-    
-    Examples:
-        clean_protocol = generate_clean_vessel_protocol(G, {"id": "main_reactor"}, "water", 100.0, 60.0, 2)
     """
-    # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-    
+
     action_sequence = []
-    
-    print(f"CLEAN_VESSEL: 开始生成容器清洗协议")
-    print(f"  - 目标容器: {vessel} (ID: {vessel_id})")
-    print(f"  - 清洗溶剂: {solvent}")
-    print(f"  - 清洗体积: {volume} mL")
-    print(f"  - 清洗温度: {temp}°C")
-    print(f"  - 重复次数: {repeats}")
-    
+
+    debug_print(f"开始生成容器清洗协议: vessel={vessel_id}, solvent={solvent}, volume={volume}mL, temp={temp}°C, repeats={repeats}")
+
     # 验证目标容器存在
     if vessel_id not in G.nodes():
         raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
-    
+
     # 查找溶剂容器
     try:
         solvent_vessel = find_solvent_vessel(G, solvent)
-        print(f"CLEAN_VESSEL: 找到溶剂容器: {solvent_vessel}")
+        debug_print(f"找到溶剂容器: {solvent_vessel}")
     except ValueError as e:
         raise ValueError(f"无法找到溶剂容器: {str(e)}")
-    
+
     # 查找废液容器
     try:
         waste_vessel = find_waste_vessel(G)
-        print(f"CLEAN_VESSEL: 找到废液容器: {waste_vessel}")
+        debug_print(f"找到废液容器: {waste_vessel}")
     except ValueError as e:
         raise ValueError(f"无法找到废液容器: {str(e)}")
-    
+
     # 查找加热设备（可选）
-    heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
+    heatchill_id = find_connected_heatchill(G, vessel_id)
     if heatchill_id:
-        print(f"CLEAN_VESSEL: 找到加热设备: {heatchill_id}")
+        debug_print(f"找到加热设备: {heatchill_id}")
     else:
-        print(f"CLEAN_VESSEL: 未找到加热设备，将在室温下清洗")
-    
-    # 🔧 新增：记录清洗前的容器状态
-    print(f"CLEAN_VESSEL: 记录清洗前容器状态...")
+        debug_print(f"未找到加热设备，将在室温下清洗")
+
+    # 记录清洗前的容器状态
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -134,79 +103,69 @@ def generate_clean_vessel_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-    print(f"CLEAN_VESSEL: 清洗前液体体积: {original_liquid_volume:.2f}mL")
-    
+
     # 第一步：如果需要加热且有加热设备，启动加热
     if temp > 25.0 and heatchill_id:
-        print(f"CLEAN_VESSEL: 启动加热至 {temp}°C")
+        debug_print(f"启动加热至 {temp}°C")
         heatchill_start_action = {
             "device_id": heatchill_id,
             "action_name": "heat_chill_start",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},
                 "temp": temp,
                 "purpose": f"cleaning with {solvent}"
             }
         }
         action_sequence.append(heatchill_start_action)
-        
-        # 等待温度稳定
+
         wait_action = {
-            "action_name": "wait", 
-            "action_kwargs": {"time": 30}  # 等待30秒让温度稳定
+            "action_name": "wait",
+            "action_kwargs": {"time": 30}
         }
         action_sequence.append(wait_action)
-    
+
     # 第二步：重复清洗操作
     for repeat in range(repeats):
-        print(f"CLEAN_VESSEL: 执行第 {repeat + 1} 次清洗")
-        
+        debug_print(f"执行第 {repeat + 1}/{repeats} 次清洗")
+
         # 2a. 使用 pump_protocol 将溶剂转移到目标容器
-        print(f"CLEAN_VESSEL: 将 {volume} mL {solvent} 转移到 {vessel_id}")
         try:
-            # 调用成熟的 pump_protocol 算法
             add_solvent_actions = generate_pump_protocol(
                 G=G,
                 from_vessel=solvent_vessel,
-                to_vessel=vessel_id,  # 🔧 使用 vessel_id
+                to_vessel=vessel_id,
                 volume=volume,
-                flowrate=2.5,  # 适中的流速，避免飞溅
+                flowrate=2.5,
                 transfer_flowrate=2.5
             )
             action_sequence.extend(add_solvent_actions)
-            
-            # 🔧 新增：更新容器体积（添加清洗溶剂）
-            print(f"CLEAN_VESSEL: 更新容器体积 - 添加清洗溶剂 {volume:.2f}mL")
+
+            # 更新容器体积（添加清洗溶剂）
             if "data" not in vessel:
                 vessel["data"] = {}
-            
+
             if "liquid_volume" in vessel["data"]:
                 current_volume = vessel["data"]["liquid_volume"]
                 if isinstance(current_volume, list):
                     if len(current_volume) > 0:
                         vessel["data"]["liquid_volume"][0] += volume
-                        print(f"CLEAN_VESSEL: 添加溶剂后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{volume:.2f}mL)")
                     else:
                         vessel["data"]["liquid_volume"] = [volume]
-                        print(f"CLEAN_VESSEL: 初始化清洗体积: {volume:.2f}mL")
                 elif isinstance(current_volume, (int, float)):
                     vessel["data"]["liquid_volume"] += volume
-                    print(f"CLEAN_VESSEL: 添加溶剂后体积: {vessel['data']['liquid_volume']:.2f}mL (+{volume:.2f}mL)")
                 else:
                     vessel["data"]["liquid_volume"] = volume
-                    print(f"CLEAN_VESSEL: 重置体积为: {volume:.2f}mL")
             else:
                 vessel["data"]["liquid_volume"] = volume
-                print(f"CLEAN_VESSEL: 创建新体积记录: {volume:.2f}mL")
-            
-            # 🔧 同时更新图中的容器数据
+
+            # 同时更新图中的容器数据
             if vessel_id in G.nodes():
                 if 'data' not in G.nodes[vessel_id]:
                     G.nodes[vessel_id]['data'] = {}
-                
+
                 vessel_node_data = G.nodes[vessel_id]['data']
                 current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-                
+
                 if isinstance(current_node_volume, list):
                     if len(current_node_volume) > 0:
                         G.nodes[vessel_id]['data']['liquid_volume'][0] += volume
@@ -214,58 +173,48 @@ def generate_clean_vessel_protocol(
                         G.nodes[vessel_id]['data']['liquid_volume'] = [volume]
                 else:
                     G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + volume
-                
-                print(f"CLEAN_VESSEL: 图节点体积数据已更新")
-            
+
         except Exception as e:
             raise ValueError(f"无法将溶剂转移到容器: {str(e)}")
-        
-        # 2b. 等待清洗作用时间（让溶剂充分清洗容器）
-        cleaning_wait_time = 60 if temp > 50.0 else 30  # 高温下等待更久
-        print(f"CLEAN_VESSEL: 等待清洗作用 {cleaning_wait_time} 秒")
+
+        # 2b. 等待清洗作用时间
+        cleaning_wait_time = 60 if temp > 50.0 else 30
         wait_action = {
-            "action_name": "wait", 
+            "action_name": "wait",
             "action_kwargs": {"time": cleaning_wait_time}
         }
         action_sequence.append(wait_action)
-        
+
         # 2c. 使用 pump_protocol 将清洗液转移到废液容器
-        print(f"CLEAN_VESSEL: 将清洗液从 {vessel_id} 转移到废液容器")
         try:
-            # 调用成熟的 pump_protocol 算法
             remove_waste_actions = generate_pump_protocol(
                 G=G,
-                from_vessel=vessel_id,  # 🔧 使用 vessel_id
+                from_vessel=vessel_id,
                 to_vessel=waste_vessel,
                 volume=volume,
-                flowrate=2.5,  # 适中的流速
+                flowrate=2.5,
                 transfer_flowrate=2.5
             )
             action_sequence.extend(remove_waste_actions)
-            
-            # 🔧 新增：更新容器体积（移除清洗液）
-            print(f"CLEAN_VESSEL: 更新容器体积 - 移除清洗液 {volume:.2f}mL")
+
+            # 更新容器体积（移除清洗液）
             if "data" in vessel and "liquid_volume" in vessel["data"]:
                 current_volume = vessel["data"]["liquid_volume"]
                 if isinstance(current_volume, list):
                     if len(current_volume) > 0:
                         vessel["data"]["liquid_volume"][0] = max(0.0, vessel["data"]["liquid_volume"][0] - volume)
-                        print(f"CLEAN_VESSEL: 移除清洗液后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (-{volume:.2f}mL)")
                     else:
                         vessel["data"]["liquid_volume"] = [0.0]
-                        print(f"CLEAN_VESSEL: 重置体积为0mL")
                 elif isinstance(current_volume, (int, float)):
                     vessel["data"]["liquid_volume"] = max(0.0, current_volume - volume)
-                    print(f"CLEAN_VESSEL: 移除清洗液后体积: {vessel['data']['liquid_volume']:.2f}mL (-{volume:.2f}mL)")
                 else:
                     vessel["data"]["liquid_volume"] = 0.0
-                    print(f"CLEAN_VESSEL: 重置体积为0mL")
-            
-            # 🔧 同时更新图中的容器数据
+
+            # 同时更新图中的容器数据
             if vessel_id in G.nodes():
                 vessel_node_data = G.nodes[vessel_id].get('data', {})
                 current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-                
+
                 if isinstance(current_node_volume, list):
                     if len(current_node_volume) > 0:
                         G.nodes[vessel_id]['data']['liquid_volume'][0] = max(0.0, current_node_volume[0] - volume)
@@ -273,34 +222,30 @@ def generate_clean_vessel_protocol(
                         G.nodes[vessel_id]['data']['liquid_volume'] = [0.0]
                 else:
                     G.nodes[vessel_id]['data']['liquid_volume'] = max(0.0, current_node_volume - volume)
-                
-                print(f"CLEAN_VESSEL: 图节点体积数据已更新")
-            
+
         except Exception as e:
             raise ValueError(f"无法将清洗液转移到废液容器: {str(e)}")
-        
+
         # 2d. 清洗循环间的短暂等待
-        if repeat < repeats - 1:  # 不是最后一次清洗
-            print(f"CLEAN_VESSEL: 清洗循环间等待")
+        if repeat < repeats - 1:
             wait_action = {
-                "action_name": "wait", 
+                "action_name": "wait",
                 "action_kwargs": {"time": 10}
             }
             action_sequence.append(wait_action)
-    
+
     # 第三步：如果加热了，停止加热
     if temp > 25.0 and heatchill_id:
-        print(f"CLEAN_VESSEL: 停止加热")
         heatchill_stop_action = {
             "device_id": heatchill_id,
             "action_name": "heat_chill_stop",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},
             }
         }
         action_sequence.append(heatchill_stop_action)
-    
-    # 🔧 新增：清洗完成后的状态报告
+
+    # 清洗完成后的状态
     final_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -308,20 +253,17 @@ def generate_clean_vessel_protocol(
             final_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             final_liquid_volume = current_volume
-    
-    print(f"CLEAN_VESSEL: 清洗完成")
-    print(f"  - 清洗前体积: {original_liquid_volume:.2f}mL")
-    print(f"  - 清洗后体积: {final_liquid_volume:.2f}mL")
-    print(f"  - 生成了 {len(action_sequence)} 个动作")
-    
+
+    debug_print(f"清洗完成: {len(action_sequence)} 个动作, 体积 {original_liquid_volume:.2f} -> {final_liquid_volume:.2f}mL")
+
     return action_sequence
 
 
-# 便捷函数：常用清洗方案
+# 便捷函数
 def generate_quick_clean_protocol(
-    G: nx.DiGraph, 
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
-    solvent: str = "water", 
+    G: nx.DiGraph,
+    vessel: dict,
+    solvent: str = "water",
     volume: float = 100.0
 ) -> List[Dict[str, Any]]:
     """快速清洗：室温，单次清洗"""
@@ -329,9 +271,9 @@ def generate_quick_clean_protocol(
 
 
 def generate_thorough_clean_protocol(
-    G: nx.DiGraph, 
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
-    solvent: str = "water", 
+    G: nx.DiGraph,
+    vessel: dict,
+    solvent: str = "water",
     volume: float = 150.0,
     temp: float = 60.0
 ) -> List[Dict[str, Any]]:
@@ -340,13 +282,13 @@ def generate_thorough_clean_protocol(
 
 
 def generate_organic_clean_protocol(
-    G: nx.DiGraph, 
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    G: nx.DiGraph,
+    vessel: dict,
     volume: float = 100.0
 ) -> List[Dict[str, Any]]:
     """有机清洗：先用有机溶剂，再用水清洗"""
     action_sequence = []
-    
+
     # 第一步：有机溶剂清洗
     try:
         organic_actions = generate_clean_vessel_protocol(
@@ -354,96 +296,71 @@ def generate_organic_clean_protocol(
         )
         action_sequence.extend(organic_actions)
     except ValueError:
-        # 如果没有丙酮，尝试乙醇
         try:
             organic_actions = generate_clean_vessel_protocol(
                 G, vessel, "ethanol", volume, 25.0, 2
             )
             action_sequence.extend(organic_actions)
         except ValueError:
-            print("警告：未找到有机溶剂，跳过有机清洗步骤")
-    
+            debug_print("未找到有机溶剂，跳过有机清洗步骤")
+
     # 第二步：水清洗
     water_actions = generate_clean_vessel_protocol(
         G, vessel, "water", volume, 25.0, 2
     )
     action_sequence.extend(water_actions)
-    
+
     return action_sequence
 
 
-def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
-    """获取容器中的液体体积（修复版）"""
-    if vessel not in G.nodes():
-        return 0.0
-    
-    vessel_data = G.nodes[vessel].get('data', {})
-    liquids = vessel_data.get('liquid', [])
-    
-    total_volume = 0.0
-    for liquid in liquids:
-        if isinstance(liquid, dict):
-            # 支持两种格式：新格式 (name, volume) 和旧格式 (liquid_type, liquid_volume)
-            volume = liquid.get('volume') or liquid.get('liquid_volume', 0.0)
-            total_volume += volume
-    
-    return total_volume
-
-
 def get_vessel_liquid_types(G: nx.DiGraph, vessel: str) -> List[str]:
     """获取容器中所有液体的类型"""
     if vessel not in G.nodes():
         return []
-    
+
     vessel_data = G.nodes[vessel].get('data', {})
     liquids = vessel_data.get('liquid', [])
-    
+
     liquid_types = []
     for liquid in liquids:
         if isinstance(liquid, dict):
-            # 支持两种格式的液体类型字段
             liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
             if liquid_type:
                 liquid_types.append(liquid_type)
-    
+
     return liquid_types
 
 
 def find_vessel_by_content(G: nx.DiGraph, content: str) -> List[str]:
     """
     根据内容物查找所有匹配的容器
-    返回匹配容器的ID列表
     """
     matching_vessels = []
-    
+
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
-            # 检查容器名称匹配
             node_name = G.nodes[node_id].get('name', '').lower()
             if content.lower() in node_id.lower() or content.lower() in node_name:
                 matching_vessels.append(node_id)
                 continue
-            
-            # 检查液体类型匹配
+
             vessel_data = G.nodes[node_id].get('data', {})
             liquids = vessel_data.get('liquid', [])
             config_data = G.nodes[node_id].get('config', {})
-            
-            # 检查 reagent_name 和 config.reagent
+
             reagent_name = vessel_data.get('reagent_name', '').lower()
             config_reagent = config_data.get('reagent', '').lower()
-            
-            if (content.lower() == reagent_name or 
+
+            if (content.lower() == reagent_name or
                 content.lower() == config_reagent):
                 matching_vessels.append(node_id)
                 continue
-            
-            # 检查液体列表
+
             for liquid in liquids:
                 if isinstance(liquid, dict):
                     liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
                     if liquid_type.lower() == content.lower():
                         matching_vessels.append(node_id)
                         break
-    
-    return matching_vessels
+
+    return matching_vessels

unilabos/compile/dissolve_protocol.py

@@ -1,402 +1,19 @@
 from functools import partial
 
 import networkx as nx
-import re
 import logging
 from typing import List, Dict, Any, Union
 
-from .utils.vessel_parser import get_vessel
-from .utils.logger_util import action_log
+from .utils.logger_util import debug_print, action_log
+from .utils.unit_parser import parse_volume_input, parse_mass_input, parse_time_input, parse_temperature_input
+from .utils.vessel_parser import get_vessel, find_solvent_vessel, find_connected_heatchill, find_connected_stirrer, find_solid_dispenser
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[DISSOLVE] {message}")
-
-# 🆕 创建进度日志动作
+# 创建进度日志动作
 create_action_log = partial(action_log, prefix="[DISSOLVE]")
 
-def parse_volume_input(volume_input: Union[str, float]) -> float:
-    """
-    解析体积输入，支持带单位的字符串
-    
-    Args:
-        volume_input: 体积输入（如 "10 mL", "?", 10.0）
-    
-    Returns:
-        float: 体积（毫升）
-    """
-    if isinstance(volume_input, (int, float)):
-        debug_print(f"📏 体积输入为数值: {volume_input}")
-        return float(volume_input)
-    
-    if not volume_input or not str(volume_input).strip():
-        debug_print(f"⚠️ 体积输入为空，返回0.0mL")
-        return 0.0
-    
-    volume_str = str(volume_input).lower().strip()
-    debug_print(f"🔍 解析体积输入: '{volume_str}'")
-    
-    # 处理未知体积
-    if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
-        default_volume = 50.0  # 默认50mL
-        debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
-        return default_volume
-    
-    # 移除空格并提取数字和单位
-    volume_clean = re.sub(r'\s+', '', volume_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
-    
-    if not match:
-        debug_print(f"❌ 无法解析体积: '{volume_str}'，使用默认值50mL")
-        return 50.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 'ml'  # 默认单位为毫升
-    
-    # 转换为毫升
-    if unit in ['l', 'liter']:
-        volume = value * 1000.0  # L -> mL
-        debug_print(f"🔄 体积转换: {value}L → {volume}mL")
-    elif unit in ['μl', 'ul', 'microliter']:
-        volume = value / 1000.0  # μL -> mL
-        debug_print(f"🔄 体积转换: {value}μL → {volume}mL")
-    else:  # ml, milliliter 或默认
-        volume = value  # 已经是mL
-        debug_print(f"✅ 体积已为mL: {volume}mL")
-    
-    return volume
-
-def parse_mass_input(mass_input: Union[str, float]) -> float:
-    """
-    解析质量输入，支持带单位的字符串
-    
-    Args:
-        mass_input: 质量输入（如 "2.9 g", "?", 2.5）
-    
-    Returns:
-        float: 质量（克）
-    """
-    if isinstance(mass_input, (int, float)):
-        debug_print(f"⚖️ 质量输入为数值: {mass_input}g")
-        return float(mass_input)
-    
-    if not mass_input or not str(mass_input).strip():
-        debug_print(f"⚠️ 质量输入为空，返回0.0g")
-        return 0.0
-    
-    mass_str = str(mass_input).lower().strip()
-    debug_print(f"🔍 解析质量输入: '{mass_str}'")
-    
-    # 处理未知质量
-    if mass_str in ['?', 'unknown', 'tbd', 'to be determined']:
-        default_mass = 1.0  # 默认1g
-        debug_print(f"❓ 检测到未知质量，使用默认值: {default_mass}g 🎯")
-        return default_mass
-    
-    # 移除空格并提取数字和单位
-    mass_clean = re.sub(r'\s+', '', mass_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(g|mg|kg|gram|milligram|kilogram)?', mass_clean)
-    
-    if not match:
-        debug_print(f"❌ 无法解析质量: '{mass_str}'，返回0.0g")
-        return 0.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 'g'  # 默认单位为克
-    
-    # 转换为克
-    if unit in ['mg', 'milligram']:
-        mass = value / 1000.0  # mg -> g
-        debug_print(f"🔄 质量转换: {value}mg → {mass}g")
-    elif unit in ['kg', 'kilogram']:
-        mass = value * 1000.0  # kg -> g
-        debug_print(f"🔄 质量转换: {value}kg → {mass}g")
-    else:  # g, gram 或默认
-        mass = value  # 已经是g
-        debug_print(f"✅ 质量已为g: {mass}g")
-    
-    return mass
-
-def parse_time_input(time_input: Union[str, float]) -> float:
-    """
-    解析时间输入，支持带单位的字符串
-    
-    Args:
-        time_input: 时间输入（如 "30 min", "1 h", "?", 60.0）
-    
-    Returns:
-        float: 时间（秒）
-    """
-    if isinstance(time_input, (int, float)):
-        debug_print(f"⏱️ 时间输入为数值: {time_input}秒")
-        return float(time_input)
-    
-    if not time_input or not str(time_input).strip():
-        debug_print(f"⚠️ 时间输入为空，返回0秒")
-        return 0.0
-    
-    time_str = str(time_input).lower().strip()
-    debug_print(f"🔍 解析时间输入: '{time_str}'")
-    
-    # 处理未知时间
-    if time_str in ['?', 'unknown', 'tbd']:
-        default_time = 600.0  # 默认10分钟
-        debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (10分钟) ⏰")
-        return default_time
-    
-    # 移除空格并提取数字和单位
-    time_clean = re.sub(r'\s+', '', time_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
-    
-    if not match:
-        debug_print(f"❌ 无法解析时间: '{time_str}'，返回0s")
-        return 0.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 's'  # 默认单位为秒
-    
-    # 转换为秒
-    if unit in ['min', 'minute']:
-        time_sec = value * 60.0  # min -> s
-        debug_print(f"🔄 时间转换: {value}分钟 → {time_sec}秒")
-    elif unit in ['h', 'hr', 'hour']:
-        time_sec = value * 3600.0  # h -> s
-        debug_print(f"🔄 时间转换: {value}小时 → {time_sec}秒")
-    elif unit in ['d', 'day']:
-        time_sec = value * 86400.0  # d -> s
-        debug_print(f"🔄 时间转换: {value}天 → {time_sec}秒")
-    else:  # s, sec, second 或默认
-        time_sec = value  # 已经是s
-        debug_print(f"✅ 时间已为秒: {time_sec}秒")
-    
-    return time_sec
-
-def parse_temperature_input(temp_input: Union[str, float]) -> float:
-    """
-    解析温度输入，支持带单位的字符串
-    
-    Args:
-        temp_input: 温度输入（如 "60 °C", "room temperature", "?", 25.0）
-    
-    Returns:
-        float: 温度（摄氏度）
-    """
-    if isinstance(temp_input, (int, float)):
-        debug_print(f"🌡️ 温度输入为数值: {temp_input}°C")
-        return float(temp_input)
-    
-    if not temp_input or not str(temp_input).strip():
-        debug_print(f"⚠️ 温度输入为空，使用默认室温25°C")
-        return 25.0  # 默认室温
-    
-    temp_str = str(temp_input).lower().strip()
-    debug_print(f"🔍 解析温度输入: '{temp_str}'")
-    
-    # 处理特殊温度描述
-    temp_aliases = {
-        'room temperature': 25.0,
-        'rt': 25.0,
-        'ambient': 25.0,
-        'cold': 4.0,
-        'ice': 0.0,
-        'reflux': 80.0,  # 默认回流温度
-        '?': 25.0,
-        'unknown': 25.0
-    }
-    
-    if temp_str in temp_aliases:
-        result = temp_aliases[temp_str]
-        debug_print(f"🏷️ 温度别名解析: '{temp_str}' → {result}°C")
-        return result
-    
-    # 移除空格并提取数字和单位
-    temp_clean = re.sub(r'\s+', '', temp_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(°c|c|celsius|°f|f|fahrenheit|k|kelvin)?', temp_clean)
-    
-    if not match:
-        debug_print(f"❌ 无法解析温度: '{temp_str}'，使用默认值25°C")
-        return 25.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 'c'  # 默认单位为摄氏度
-    
-    # 转换为摄氏度
-    if unit in ['°f', 'f', 'fahrenheit']:
-        temp_c = (value - 32) * 5/9  # F -> C
-        debug_print(f"🔄 温度转换: {value}°F → {temp_c:.1f}°C")
-    elif unit in ['k', 'kelvin']:
-        temp_c = value - 273.15  # K -> C
-        debug_print(f"🔄 温度转换: {value}K → {temp_c:.1f}°C")
-    else:  # °c, c, celsius 或默认
-        temp_c = value  # 已经是C
-        debug_print(f"✅ 温度已为°C: {temp_c}°C")
-    
-    return temp_c
-
-def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
-    """增强版溶剂容器查找，支持多种匹配模式"""
-    debug_print(f"🔍 开始查找溶剂 '{solvent}' 的容器...")
-    
-    # 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
-    debug_print(f"📋 方法1: 搜索reagent字段...")
-    for node in G.nodes():
-        node_data = G.nodes[node].get('data', {})
-        node_type = G.nodes[node].get('type', '')
-        config_data = G.nodes[node].get('config', {})
-        
-        # 只搜索容器类型的节点
-        if node_type == 'container':
-            reagent_name = node_data.get('reagent_name', '').lower()
-            config_reagent = config_data.get('reagent', '').lower()
-            
-            # 精确匹配
-            if reagent_name == solvent.lower() or config_reagent == solvent.lower():
-                debug_print(f"✅ 通过reagent字段精确匹配到容器: {node} 🎯")
-                return node
-            
-            # 模糊匹配
-            if (solvent.lower() in reagent_name and reagent_name) or \
-               (solvent.lower() in config_reagent and config_reagent):
-                debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node} 🔍")
-                return node
-    
-    # 🔧 方法2：常见的容器命名规则
-    debug_print(f"📋 方法2: 使用命名规则查找...")
-    solvent_clean = solvent.lower().replace(' ', '_').replace('-', '_')
-    possible_names = [
-        solvent_clean,
-        f"flask_{solvent_clean}",
-        f"bottle_{solvent_clean}",
-        f"vessel_{solvent_clean}",
-        f"{solvent_clean}_flask",
-        f"{solvent_clean}_bottle",
-        f"solvent_{solvent_clean}",
-        f"reagent_{solvent_clean}",
-        f"reagent_bottle_{solvent_clean}",
-        f"reagent_bottle_1",  # 通用试剂瓶
-        f"reagent_bottle_2",
-        f"reagent_bottle_3"
-    ]
-    
-    debug_print(f"🔍 尝试的容器名称: {possible_names[:5]}... (共{len(possible_names)}个)")
-    
-    for name in possible_names:
-        if name in G.nodes():
-            node_type = G.nodes[name].get('type', '')
-            if node_type == 'container':
-                debug_print(f"✅ 通过命名规则找到容器: {name} 📝")
-                return name
-    
-    # 🔧 方法3：节点名称模糊匹配
-    debug_print(f"📋 方法3: 节点名称模糊匹配...")
-    for node_id in G.nodes():
-        node_data = G.nodes[node_id]
-        if node_data.get('type') == 'container':
-            # 检查节点名称是否包含溶剂名称
-            if solvent_clean in node_id.lower():
-                debug_print(f"✅ 通过节点名称模糊匹配到容器: {node_id} 🔍")
-                return node_id
-            
-            # 检查液体类型匹配
-            vessel_data = node_data.get('data', {})
-            liquids = vessel_data.get('liquid', [])
-            for liquid in liquids:
-                if isinstance(liquid, dict):
-                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
-                    if liquid_type.lower() == solvent.lower():
-                        debug_print(f"✅ 通过液体类型匹配到容器: {node_id} 💧")
-                        return node_id
-    
-    # 🔧 方法4：使用第一个试剂瓶作为备选
-    debug_print(f"📋 方法4: 查找备选试剂瓶...")
-    for node_id in G.nodes():
-        node_data = G.nodes[node_id]
-        if (node_data.get('type') == 'container' and 
-            ('reagent' in node_id.lower() or 'bottle' in node_id.lower() or 'flask' in node_id.lower())):
-            debug_print(f"⚠️ 未找到专用容器，使用备选试剂瓶: {node_id} 🔄")
-            return node_id
-    
-    debug_print(f"❌ 所有方法都失败了，无法找到容器!")
-    raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
-
-def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
-    """查找连接到指定容器的加热搅拌器"""
-    debug_print(f"🔍 查找连接到容器 '{vessel}' 的加热搅拌器...")
-    
-    heatchill_nodes = []
-    for node in G.nodes():
-        node_class = G.nodes[node].get('class', '').lower()
-        if 'heatchill' in node_class:
-            heatchill_nodes.append(node)
-            debug_print(f"📋 发现加热搅拌器: {node}")
-    
-    debug_print(f"📊 共找到 {len(heatchill_nodes)} 个加热搅拌器")
-    
-    # 查找连接到容器的加热器
-    for heatchill in heatchill_nodes:
-        if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
-            debug_print(f"✅ 找到连接的加热搅拌器: {heatchill} 🔗")
-            return heatchill
-    
-    # 返回第一个加热器
-    if heatchill_nodes:
-        debug_print(f"⚠️ 未找到直接连接的加热搅拌器，使用第一个: {heatchill_nodes[0]} 🔄")
-        return heatchill_nodes[0]
-    
-    debug_print(f"❌ 未找到任何加热搅拌器")
-    return ""
-
-def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
-    """查找连接到指定容器的搅拌器"""
-    debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
-    
-    stirrer_nodes = []
-    for node in G.nodes():
-        node_class = G.nodes[node].get('class', '').lower()
-        if 'stirrer' in node_class:
-            stirrer_nodes.append(node)
-            debug_print(f"📋 发现搅拌器: {node}")
-    
-    debug_print(f"📊 共找到 {len(stirrer_nodes)} 个搅拌器")
-    
-    # 查找连接到容器的搅拌器
-    for stirrer in stirrer_nodes:
-        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
-            debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
-            return stirrer
-    
-    # 返回第一个搅拌器
-    if stirrer_nodes:
-        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
-        return stirrer_nodes[0]
-    
-    debug_print(f"❌ 未找到任何搅拌器")
-    return ""
-
-def find_solid_dispenser(G: nx.DiGraph) -> str:
-    """查找固体加样器"""
-    debug_print(f"🔍 查找固体加样器...")
-    
-    for node in G.nodes():
-        node_class = G.nodes[node].get('class', '').lower()
-        if 'solid_dispenser' in node_class or 'dispenser' in node_class:
-            debug_print(f"✅ 找到固体加样器: {node} 🥄")
-            return node
-    
-    debug_print(f"❌ 未找到固体加样器")
-    return ""
-
 def generate_dissolve_protocol(
     G: nx.DiGraph,
     vessel: dict,  # 🔧 修改：从字符串改为字典类型
@@ -436,43 +53,21 @@ def generate_dissolve_protocol(
     - mol: "0.12 mol", "16.2 mmol"
     """
     
-    # 🔧 核心修改：从字典中提取容器ID
+    # 从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-    
-    debug_print("=" * 60)
-    debug_print("🧪 开始生成溶解协议")
-    debug_print(f"📋 原始参数:")
-    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  💧 solvent: '{solvent}'")
-    debug_print(f"  📏 volume: {volume} (类型: {type(volume)})")
-    debug_print(f"  ⚖️ mass: {mass} (类型: {type(mass)})")
-    debug_print(f"  🌡️ temp: {temp} (类型: {type(temp)})")
-    debug_print(f"  ⏱️ time: {time} (类型: {type(time)})")
-    debug_print(f"  🧪 reagent: '{reagent}'")
-    debug_print(f"  🧬 mol: '{mol}'")
-    debug_print(f"  🎯 event: '{event}'")
-    debug_print(f"  📦 kwargs: {kwargs}")  # 显示额外参数
-    debug_print("=" * 60)
-    
+
+    debug_print(f"溶解协议: vessel={vessel_id}, solvent='{solvent}', volume={volume}, "
+                f"mass={mass}, temp={temp}, time={time}")
+
     action_sequence = []
-    
-    # === 参数验证 ===
-    debug_print("🔍 步骤1: 参数验证...")
-    action_sequence.append(create_action_log(f"开始溶解操作 - 容器: {vessel_id}", "🎬"))
-    
+
     if not vessel_id:
-        debug_print("❌ vessel 参数不能为空")
         raise ValueError("vessel 参数不能为空")
     
     if vessel_id not in G.nodes():
-        debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中")
         raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
-    
-    debug_print("✅ 基本参数验证通过")
-    action_sequence.append(create_action_log("参数验证通过", "✅"))
-    
-    # 🔧 新增：记录溶解前的容器状态
-    debug_print("🔍 记录溶解前容器状态...")
+
+    # 记录溶解前的容器状态
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -480,30 +75,16 @@ def generate_dissolve_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-    debug_print(f"📊 溶解前液体体积: {original_liquid_volume:.2f}mL")
-    
-    # === 🔧 关键修复：参数解析 ===
-    debug_print("🔍 步骤2: 参数解析...")
-    action_sequence.append(create_action_log("正在解析溶解参数...", "🔍"))
-    
-    # 解析各种参数为数值
+
+    # === 参数解析 ===
     final_volume = parse_volume_input(volume)
     final_mass = parse_mass_input(mass)
     final_temp = parse_temperature_input(temp)
     final_time = parse_time_input(time)
-    
-    debug_print(f"📊 解析结果:")
-    debug_print(f"  📏 体积: {final_volume}mL")
-    debug_print(f"  ⚖️ 质量: {final_mass}g")
-    debug_print(f"  🌡️ 温度: {final_temp}°C")
-    debug_print(f"  ⏱️ 时间: {final_time}s")
-    debug_print(f"  🧪 试剂: '{reagent}'")
-    debug_print(f"  🧬 摩尔: '{mol}'")
-    debug_print(f"  🎯 事件: '{event}'")
-    
+
+    debug_print(f"参数解析: vol={final_volume}mL, mass={final_mass}g, temp={final_temp}°C, time={final_time}s")
+
     # === 判断溶解类型 ===
-    debug_print("🔍 步骤3: 判断溶解类型...")
-    action_sequence.append(create_action_log("正在判断溶解类型...", "🔍"))
     
     # 判断是固体溶解还是液体溶解
     is_solid_dissolve = (final_mass > 0 or (mol and mol.strip() != "") or (reagent and reagent.strip() != ""))
@@ -515,49 +96,31 @@ def generate_dissolve_protocol(
         final_volume = 50.0
         if not solvent:
             solvent = "water"  # 默认溶剂
-        debug_print("⚠️ 未明确指定溶解参数，默认为50mL水溶解")
+        debug_print("未明确指定溶解参数，默认为50mL水溶解")
     
     dissolve_type = "固体溶解" if is_solid_dissolve else "液体溶解"
-    dissolve_emoji = "🧂" if is_solid_dissolve else "💧"
-    debug_print(f"📋 溶解类型: {dissolve_type} {dissolve_emoji}")
-    
-    action_sequence.append(create_action_log(f"确定溶解类型: {dissolve_type} {dissolve_emoji}", "📋"))
-    
+    debug_print(f"溶解类型: {dissolve_type}")
+
+    action_sequence.append(create_action_log(f"溶解类型: {dissolve_type}", "📋"))
+
     # === 查找设备 ===
-    debug_print("🔍 步骤4: 查找设备...")
-    action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
-    
-    # 查找加热搅拌器
     heatchill_id = find_connected_heatchill(G, vessel_id)
     stirrer_id = find_connected_stirrer(G, vessel_id)
     
     # 优先使用加热搅拌器，否则使用独立搅拌器
     stir_device_id = heatchill_id or stirrer_id
-    
-    debug_print(f"📊 设备映射:")
-    debug_print(f"  🔥 加热器: '{heatchill_id}'")
-    debug_print(f"  🌪️ 搅拌器: '{stirrer_id}'")
-    debug_print(f"  🎯 使用设备: '{stir_device_id}'")
-    
-    if heatchill_id:
-        action_sequence.append(create_action_log(f"找到加热搅拌器: {heatchill_id}", "🔥"))
-    elif stirrer_id:
-        action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_id}", "🌪️"))
-    else:
+    debug_print(f"设备: heatchill='{heatchill_id}', stirrer='{stirrer_id}'")
+
+    if not stir_device_id:
         action_sequence.append(create_action_log("未找到搅拌设备，将跳过搅拌", "⚠️"))
     
     # === 执行溶解流程 ===
-    debug_print("🔍 步骤5: 执行溶解流程...")
-    
     try:
-        # 步骤5.1: 启动加热搅拌（如果需要）
+        # 启动加热搅拌（如果需要）
         if stir_device_id and (final_temp > 25.0 or final_time > 0 or stir_speed > 0):
-            debug_print(f"🔍 5.1: 启动加热搅拌，温度: {final_temp}°C")
-            action_sequence.append(create_action_log(f"准备加热搅拌 (目标温度: {final_temp}°C)", "🔥"))
-            
+
             if heatchill_id and (final_temp > 25.0 or final_time > 0):
                 # 使用加热搅拌器
-                action_sequence.append(create_action_log(f"启动加热搅拌器 {heatchill_id}", "🔥"))
                 
                 heatchill_action = {
                     "device_id": heatchill_id,
@@ -573,7 +136,6 @@ def generate_dissolve_protocol(
                 # 等待温度稳定
                 if final_temp > 25.0:
                     wait_time = min(60, abs(final_temp - 25.0) * 1.5)
-                    action_sequence.append(create_action_log(f"等待温度稳定 ({wait_time:.0f}秒)", "⏳"))
                     action_sequence.append({
                         "action_name": "wait",
                         "action_kwargs": {"time": wait_time}
@@ -581,7 +143,6 @@ def generate_dissolve_protocol(
             
             elif stirrer_id:
                 # 使用独立搅拌器
-                action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed}rpm)", "🌪️"))
                 
                 stir_action = {
                     "device_id": stirrer_id,
@@ -593,9 +154,8 @@ def generate_dissolve_protocol(
                     }
                 }
                 action_sequence.append(stir_action)
-                
+
                 # 等待搅拌稳定
-                action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": 5}
@@ -603,12 +163,8 @@ def generate_dissolve_protocol(
         
         if is_solid_dissolve:
             # === 固体溶解路径 ===
-            debug_print(f"🔍 5.2: 使用固体溶解路径")
-            action_sequence.append(create_action_log("开始固体溶解流程", "🧂"))
-            
             solid_dispenser = find_solid_dispenser(G)
             if solid_dispenser:
-                action_sequence.append(create_action_log(f"找到固体加样器: {solid_dispenser}", "🥄"))
                 
                 # 固体加样
                 add_kwargs = {
@@ -620,42 +176,27 @@ def generate_dissolve_protocol(
                 
                 if final_mass > 0:
                     add_kwargs["mass"] = str(final_mass)
-                    action_sequence.append(create_action_log(f"准备添加固体: {final_mass}g", "⚖️"))
                 if mol and mol.strip():
                     add_kwargs["mol"] = mol
-                    action_sequence.append(create_action_log(f"按摩尔数添加: {mol}", "🧬"))
-                
-                action_sequence.append(create_action_log("开始固体加样操作", "🥄"))
+
                 action_sequence.append({
                     "device_id": solid_dispenser,
                     "action_name": "add_solid",
                     "action_kwargs": add_kwargs
                 })
-                
-                debug_print(f"✅ 固体加样完成")
-                action_sequence.append(create_action_log("固体加样完成", "✅"))
-                
-                # 🔧 新增：固体溶解体积运算 - 固体本身不会显著增加体积，但可能有少量变化
-                debug_print(f"🔧 固体溶解 - 体积变化很小，主要是质量变化")
-                # 固体通常不会显著改变液体体积，这里只记录日志
-                action_sequence.append(create_action_log(f"固体已添加: {final_mass}g", "📊"))
+
+                # 固体溶解体积运算 - 固体本身不会显著增加体积
                 
             else:
-                debug_print("⚠️ 未找到固体加样器，跳过固体添加")
+                debug_print("未找到固体加样器，跳过固体添加")
                 action_sequence.append(create_action_log("未找到固体加样器，无法添加固体", "❌"))
         
         elif is_liquid_dissolve:
             # === 液体溶解路径 ===
-            debug_print(f"🔍 5.3: 使用液体溶解路径")
-            action_sequence.append(create_action_log("开始液体溶解流程", "💧"))
-            
-            # 查找溶剂容器
-            action_sequence.append(create_action_log("正在查找溶剂容器...", "🔍"))
             try:
                 solvent_vessel = find_solvent_vessel(G, solvent)
-                action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "🧪"))
             except ValueError as e:
-                debug_print(f"⚠️ {str(e)}，跳过溶剂添加")
+                debug_print(f"溶剂容器查找失败: {str(e)}，跳过溶剂添加")
                 action_sequence.append(create_action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
                 solvent_vessel = None
             
@@ -663,10 +204,7 @@ def generate_dissolve_protocol(
                 # 计算流速 - 溶解时通常用较慢的速度，避免飞溅
                 flowrate = 1.0  # 较慢的注入速度
                 transfer_flowrate = 0.5  # 较慢的转移速度
-                
-                action_sequence.append(create_action_log(f"设置流速: {flowrate}mL/min (缓慢注入)", "⚡"))
-                action_sequence.append(create_action_log(f"开始转移 {final_volume}mL {solvent}", "🚰"))
-                
+
                 # 调用pump protocol
                 pump_actions = generate_pump_protocol_with_rinsing(
                     G=G,
@@ -688,12 +226,9 @@ def generate_dissolve_protocol(
                     **kwargs
                 )
                 action_sequence.extend(pump_actions)
-                debug_print(f"✅ 溶剂转移完成，添加了 {len(pump_actions)} 个动作")
-                action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
-                
-                # 🔧 新增：液体溶解体积运算 - 添加溶剂后更新容器体积
-                debug_print(f"🔧 更新容器液体体积 - 添加溶剂 {final_volume:.2f}mL")
-                
+
+                # 液体溶解体积运算 - 添加溶剂后更新容器体积
+
                 # 确保vessel有data字段
                 if "data" not in vessel:
                     vessel["data"] = {}
@@ -703,19 +238,14 @@ def generate_dissolve_protocol(
                     if isinstance(current_volume, list):
                         if len(current_volume) > 0:
                             vessel["data"]["liquid_volume"][0] += final_volume
-                            debug_print(f"📊 添加溶剂后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{final_volume:.2f}mL)")
                         else:
                             vessel["data"]["liquid_volume"] = [final_volume]
-                            debug_print(f"📊 初始化溶解体积: {final_volume:.2f}mL")
                     elif isinstance(current_volume, (int, float)):
                         vessel["data"]["liquid_volume"] += final_volume
-                        debug_print(f"📊 添加溶剂后体积: {vessel['data']['liquid_volume']:.2f}mL (+{final_volume:.2f}mL)")
                     else:
                         vessel["data"]["liquid_volume"] = final_volume
-                        debug_print(f"📊 重置体积为: {final_volume:.2f}mL")
                 else:
                     vessel["data"]["liquid_volume"] = final_volume
-                    debug_print(f"📊 创建新体积记录: {final_volume:.2f}mL")
                 
                 # 🔧 同时更新图中的容器数据
                 if vessel_id in G.nodes():
@@ -732,27 +262,19 @@ def generate_dissolve_protocol(
                             G.nodes[vessel_id]['data']['liquid_volume'] = [final_volume]
                     else:
                         G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + final_volume
-                    
-                    debug_print(f"✅ 图节点体积数据已更新")
-                
-                action_sequence.append(create_action_log(f"容器体积已更新 (+{final_volume:.2f}mL)", "📊"))
-                
+
                 # 溶剂添加后等待
-                action_sequence.append(create_action_log("溶剂添加后短暂等待...", "⏳"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": 5}
                 })
         
-        # 步骤5.4: 等待溶解完成
+        # 等待溶解完成
         if final_time > 0:
-            debug_print(f"🔍 5.4: 等待溶解完成 - {final_time}s")
             wait_minutes = final_time / 60
-            action_sequence.append(create_action_log(f"开始溶解等待 ({wait_minutes:.1f}分钟)", "⏰"))
-            
+
             if heatchill_id:
                 # 使用定时加热搅拌
-                action_sequence.append(create_action_log(f"使用加热搅拌器进行定时溶解", "🔥"))
                 
                 dissolve_action = {
                     "device_id": heatchill_id,
@@ -770,7 +292,6 @@ def generate_dissolve_protocol(
             
             elif stirrer_id:
                 # 使用定时搅拌
-                action_sequence.append(create_action_log(f"使用搅拌器进行定时溶解", "🌪️"))
                 
                 stir_action = {
                     "device_id": stirrer_id,
@@ -787,7 +308,6 @@ def generate_dissolve_protocol(
             
             else:
                 # 简单等待
-                action_sequence.append(create_action_log(f"简单等待溶解完成", "⏳"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": final_time}
@@ -795,9 +315,7 @@ def generate_dissolve_protocol(
         
         # 步骤5.5: 停止加热搅拌（如果需要）
         if heatchill_id and final_time == 0 and final_temp > 25.0:
-            debug_print(f"🔍 5.5: 停止加热器")
-            action_sequence.append(create_action_log("停止加热搅拌器", "🛑"))
-            
+
             stop_action = {
                 "device_id": heatchill_id,
                 "action_name": "heat_chill_stop",
@@ -808,7 +326,7 @@ def generate_dissolve_protocol(
             action_sequence.append(stop_action)
         
     except Exception as e:
-        debug_print(f"❌ 溶解流程执行失败: {str(e)}")
+        debug_print(f"溶解流程执行失败: {str(e)}")
         action_sequence.append(create_action_log(f"溶解流程失败: {str(e)}", "❌"))
         # 添加错误日志
         action_sequence.append({
@@ -829,23 +347,8 @@ def generate_dissolve_protocol(
             final_liquid_volume = current_volume
     
     # === 最终结果 ===
-    debug_print("=" * 60)
-    debug_print(f"🎉 溶解协议生成完成")
-    debug_print(f"📊 协议统计:")
-    debug_print(f"  📋 总动作数: {len(action_sequence)}")
-    debug_print(f"  🥼 容器: {vessel_id}")
-    debug_print(f"  {dissolve_emoji} 溶解类型: {dissolve_type}")
-    if is_liquid_dissolve:
-        debug_print(f"  💧 溶剂: {solvent} ({final_volume}mL)")
-    if is_solid_dissolve:
-        debug_print(f"  🧪 试剂: {reagent}")
-        debug_print(f"  ⚖️ 质量: {final_mass}g")
-        debug_print(f"  🧬 摩尔: {mol}")
-    debug_print(f"  🌡️ 温度: {final_temp}°C")
-    debug_print(f"  ⏱️ 时间: {final_time}s")
-    debug_print(f"  📊 溶解前体积: {original_liquid_volume:.2f}mL")
-    debug_print(f"  📊 溶解后体积: {final_liquid_volume:.2f}mL")
-    debug_print("=" * 60)
+    debug_print(f"溶解协议完成: {vessel_id}, 类型={dissolve_type}, "
+                f"动作数={len(action_sequence)}, 体积={original_liquid_volume:.2f}→{final_liquid_volume:.2f}mL")
     
     # 添加完成日志
     summary_msg = f"溶解协议完成: {vessel_id}"
@@ -854,7 +357,7 @@ def generate_dissolve_protocol(
     if is_solid_dissolve:
         summary_msg += f" (溶解 {final_mass}g {reagent})"
     
-    action_sequence.append(create_action_log(summary_msg, "🎉"))
+    action_sequence.append(create_action_log(summary_msg, "✅"))
     
     return action_sequence
 
@@ -866,7 +369,7 @@ def dissolve_solid_by_mass(G: nx.DiGraph, vessel: dict, reagent: str, mass: Unio
                           temp: Union[str, float] = 25.0, time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
     """按质量溶解固体"""
     vessel_id = vessel["id"]
-    debug_print(f"🧂 快速固体溶解: {reagent} ({mass}) → {vessel_id}")
+    debug_print(f"快速固体溶解: {reagent} ({mass}) → {vessel_id}")
     return generate_dissolve_protocol(
         G, vessel, 
         mass=mass, 
@@ -879,7 +382,7 @@ def dissolve_solid_by_moles(G: nx.DiGraph, vessel: dict, reagent: str, mol: str,
                            temp: Union[str, float] = 25.0, time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
     """按摩尔数溶解固体"""
     vessel_id = vessel["id"]
-    debug_print(f"🧬 按摩尔数溶解固体: {reagent} ({mol}) → {vessel_id}")
+    debug_print(f"按摩尔数溶解固体: {reagent} ({mol}) → {vessel_id}")
     return generate_dissolve_protocol(
         G, vessel, 
         mol=mol, 
@@ -892,7 +395,7 @@ def dissolve_with_solvent(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
                          temp: Union[str, float] = 25.0, time: Union[str, float] = "5 min") -> List[Dict[str, Any]]:
     """用溶剂溶解"""
     vessel_id = vessel["id"]
-    debug_print(f"💧 溶剂溶解: {solvent} ({volume}) → {vessel_id}")
+    debug_print(f"溶剂溶解: {solvent} ({volume}) → {vessel_id}")
     return generate_dissolve_protocol(
         G, vessel, 
         solvent=solvent, 
@@ -904,7 +407,7 @@ def dissolve_with_solvent(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
 def dissolve_at_room_temp(G: nx.DiGraph, vessel: dict, solvent: str, volume: Union[str, float]) -> List[Dict[str, Any]]:
     """室温溶解"""
     vessel_id = vessel["id"]
-    debug_print(f"🌡️ 室温溶解: {solvent} ({volume}) → {vessel_id}")
+    debug_print(f"室温溶解: {solvent} ({volume}) → {vessel_id}")
     return generate_dissolve_protocol(
         G, vessel, 
         solvent=solvent, 
@@ -917,7 +420,7 @@ def dissolve_with_heating(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
                          temp: Union[str, float] = "60 °C", time: Union[str, float] = "15 min") -> List[Dict[str, Any]]:
     """加热溶解"""
     vessel_id = vessel["id"]
-    debug_print(f"🔥 加热溶解: {solvent} ({volume}) → {vessel_id} @ {temp}")
+    debug_print(f"加热溶解: {solvent} ({volume}) → {vessel_id} @ {temp}")
     return generate_dissolve_protocol(
         G, vessel, 
         solvent=solvent, 
@@ -929,37 +432,31 @@ def dissolve_with_heating(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
 # 测试函数
 def test_dissolve_protocol():
     """测试溶解协议的各种参数解析"""
-    debug_print("=== DISSOLVE PROTOCOL 增强版测试 ===")
-    
     # 测试体积解析
-    debug_print("💧 测试体积解析...")
     volumes = ["10 mL", "?", 10.0, "1 L", "500 μL"]
     for vol in volumes:
         result = parse_volume_input(vol)
-        debug_print(f"📏 体积解析: {vol} → {result}mL")
-    
+        debug_print(f"体积解析: {vol} → {result}mL")
+
     # 测试质量解析
-    debug_print("⚖️ 测试质量解析...")
     masses = ["2.9 g", "?", 2.5, "500 mg"]
     for mass in masses:
         result = parse_mass_input(mass)
-        debug_print(f"⚖️ 质量解析: {mass} → {result}g")
-    
+        debug_print(f"质量解析: {mass} → {result}g")
+
     # 测试温度解析
-    debug_print("🌡️ 测试温度解析...")
     temps = ["60 °C", "room temperature", "?", 25.0, "reflux"]
     for temp in temps:
         result = parse_temperature_input(temp)
-        debug_print(f"🌡️ 温度解析: {temp} → {result}°C")
-    
+        debug_print(f"温度解析: {temp} → {result}°C")
+
     # 测试时间解析
-    debug_print("⏱️ 测试时间解析...")
     times = ["30 min", "1 h", "?", 60.0]
     for time in times:
         result = parse_time_input(time)
-        debug_print(f"⏱️ 时间解析: {time} → {result}s")
-    
-    debug_print("✅ 测试完成")
+        debug_print(f"时间解析: {time} → {result}s")
+
+    debug_print("测试完成")
 
 if __name__ == "__main__":
     test_dissolve_protocol()

unilabos/compile/dry_protocol.py

@@ -1,87 +1,40 @@
 import networkx as nx
 from typing import List, Dict, Any
 
-from unilabos.compile.utils.vessel_parser import get_vessel
-
-
-def find_connected_heater(G: nx.DiGraph, vessel: str) -> str:
-    """
-    查找与容器相连的加热器
-    
-    Args:
-        G: 网络图
-        vessel: 容器名称
-    
-    Returns:
-        str: 加热器ID，如果没有则返回None
-    """
-    print(f"DRY: 正在查找与容器 '{vessel}' 相连的加热器...")
-    
-    # 查找所有加热器节点
-    heater_nodes = [node for node in G.nodes() 
-                   if ('heater' in node.lower() or 
-                       'heat' in node.lower() or
-                       G.nodes[node].get('class') == 'virtual_heatchill' or
-                       G.nodes[node].get('type') == 'heater')]
-    
-    print(f"DRY: 找到的加热器节点: {heater_nodes}")
-    
-    # 检查是否有加热器与目标容器相连
-    for heater in heater_nodes:
-        if G.has_edge(heater, vessel) or G.has_edge(vessel, heater):
-            print(f"DRY: 找到与容器 '{vessel}' 相连的加热器: {heater}")
-            return heater
-    
-    # 如果没有直接连接，查找距离最近的加热器
-    for heater in heater_nodes:
-        try:
-            path = nx.shortest_path(G, source=heater, target=vessel)
-            if len(path) <= 3:  # 最多2个中间节点
-                print(f"DRY: 找到距离较近的加热器: {heater}, 路径: {' → '.join(path)}")
-                return heater
-        except nx.NetworkXNoPath:
-            continue
-    
-    print(f"DRY: 未找到与容器 '{vessel}' 相连的加热器")
-    return None
+from .utils.vessel_parser import get_vessel, find_connected_heatchill
+from .utils.logger_util import debug_print
 
 
 def generate_dry_protocol(
     G: nx.DiGraph,
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
-    compound: str = "",  # 🔧 修改：参数顺序调整，并设置默认值
-    **kwargs  # 接收其他可能的参数但不使用
+    vessel: dict,
+    compound: str = "",
+    **kwargs
 ) -> List[Dict[str, Any]]:
     """
     生成干燥协议序列
-    
+
     Args:
         G: 有向图，节点为容器和设备
         vessel: 目标容器字典（从XDL传入）
         compound: 化合物名称（从XDL传入，可选）
         **kwargs: 其他可选参数，但不使用
-    
+
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
-    # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-    
+
     action_sequence = []
-    
+
     # 默认参数
-    dry_temp = 60.0  # 默认干燥温度 60°C
-    dry_time = 3600.0  # 默认干燥时间 1小时（3600秒）
-    simulation_time = 60.0  # 模拟时间 1分钟
-    
-    print(f"🌡️ DRY: 开始生成干燥协议 ✨")
-    print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
-    print(f"  🧪 化合物: {compound or '未指定'}")
-    print(f"  🔥 干燥温度: {dry_temp}°C")
-    print(f"  ⏰ 干燥时间: {dry_time/60:.0f} 分钟")
-    
-    # 🔧 新增：记录干燥前的容器状态
-    print(f"🔍 记录干燥前容器状态...")
+    dry_temp = 60.0
+    dry_time = 3600.0
+    simulation_time = 60.0
+
+    debug_print(f"开始生成干燥协议: vessel={vessel_id}, compound={compound or '未指定'}, temp={dry_temp}°C")
+
+    # 记录干燥前的容器状态
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -89,39 +42,30 @@ def generate_dry_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-    print(f"📊 干燥前液体体积: {original_liquid_volume:.2f}mL")
-    
+
     # 1. 验证目标容器存在
-    print(f"\n📋 步骤1: 验证目标容器 '{vessel_id}' 是否存在...")
     if vessel_id not in G.nodes():
-        print(f"⚠️ DRY: 警告 - 容器 '{vessel_id}' 不存在于系统中，跳过干燥 😢")
+        debug_print(f"容器 '{vessel_id}' 不存在于系统中，跳过干燥")
         return action_sequence
-    print(f"✅ 容器 '{vessel_id}' 验证通过!")
-    
+
     # 2. 查找相连的加热器
-    print(f"\n🔍 步骤2: 查找与容器相连的加热器...")
-    heater_id = find_connected_heater(G, vessel_id)  # 🔧 使用 vessel_id
-    
+    heater_id = find_connected_heatchill(G, vessel_id)
+
     if heater_id is None:
-        print(f"😭 DRY: 警告 - 未找到与容器 '{vessel_id}' 相连的加热器，跳过干燥")
-        print(f"🎭 添加模拟干燥动作...")
-        # 添加一个等待动作，表示干燥过程（模拟）
+        debug_print(f"未找到与容器 '{vessel_id}' 相连的加热器，添加模拟干燥动作")
         action_sequence.append({
             "action_name": "wait",
             "action_kwargs": {
-                "time": 10.0,  # 模拟等待时间
+                "time": 10.0,
                 "description": f"模拟干燥 {compound or '化合物'} (无加热器可用)"
             }
         })
-        
-        # 🔧 新增：模拟干燥的体积变化（溶剂蒸发）
-        print(f"🔧 模拟干燥过程的体积减少...")
+
+        # 模拟干燥的体积变化
         if original_liquid_volume > 0:
-            # 假设干燥过程中损失10%的体积（溶剂蒸发）
             volume_loss = original_liquid_volume * 0.1
             new_volume = max(0.0, original_liquid_volume - volume_loss)
-            
-            # 更新vessel字典中的体积
+
             if "data" in vessel and "liquid_volume" in vessel["data"]:
                 current_volume = vessel["data"]["liquid_volume"]
                 if isinstance(current_volume, list):
@@ -133,15 +77,14 @@ def generate_dry_protocol(
                     vessel["data"]["liquid_volume"] = new_volume
                 else:
                     vessel["data"]["liquid_volume"] = new_volume
-            
-            # 🔧 同时更新图中的容器数据
+
             if vessel_id in G.nodes():
                 if 'data' not in G.nodes[vessel_id]:
                     G.nodes[vessel_id]['data'] = {}
-                
+
                 vessel_node_data = G.nodes[vessel_id]['data']
                 current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-                
+
                 if isinstance(current_node_volume, list):
                     if len(current_node_volume) > 0:
                         G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
@@ -149,33 +92,27 @@ def generate_dry_protocol(
                         G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
                 else:
                     G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
-            
-            print(f"📊 模拟干燥体积变化: {original_liquid_volume:.2f}mL → {new_volume:.2f}mL (-{volume_loss:.2f}mL)")
-        
-        print(f"📄 DRY: 协议生成完成，共 {len(action_sequence)} 个动作 🎯")
+
+            debug_print(f"模拟干燥体积变化: {original_liquid_volume:.2f}mL -> {new_volume:.2f}mL")
+
+        debug_print(f"协议生成完成，共 {len(action_sequence)} 个动作")
         return action_sequence
-    
-    print(f"🎉 找到加热器: {heater_id}!")
-    
+
+    debug_print(f"找到加热器: {heater_id}")
+
     # 3. 启动加热器进行干燥
-    print(f"\n🚀 步骤3: 开始执行干燥流程...")
-    print(f"🔥 启动加热器 {heater_id} 进行干燥")
-    
     # 3.1 启动加热
-    print(f"  ⚡ 动作1: 启动加热到 {dry_temp}°C...")
     action_sequence.append({
         "device_id": heater_id,
         "action_name": "heat_chill_start",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+            "vessel": {"id": vessel_id},
             "temp": dry_temp,
             "purpose": f"干燥 {compound or '化合物'}"
         }
     })
-    print(f"  ✅ 加热器启动命令已添加 🔥")
-    
+
     # 3.2 等待温度稳定
-    print(f"  ⏳ 动作2: 等待温度稳定...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
@@ -183,34 +120,27 @@ def generate_dry_protocol(
             "description": f"等待温度稳定到 {dry_temp}°C"
         }
     })
-    print(f"  ✅ 温度稳定等待命令已添加 🌡️")
-    
+
     # 3.3 保持干燥温度
-    print(f"  🔄 动作3: 保持干燥温度 {simulation_time/60:.0f} 分钟...")
     action_sequence.append({
         "device_id": heater_id,
         "action_name": "heat_chill",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+            "vessel": {"id": vessel_id},
             "temp": dry_temp,
             "time": simulation_time,
             "purpose": f"干燥 {compound or '化合物'}，保持温度 {dry_temp}°C"
         }
     })
-    print(f"  ✅ 温度保持命令已添加 🌡️⏰")
-    
-    # 🔧 新增：干燥过程中的体积变化计算
-    print(f"🔧 计算干燥过程中的体积变化...")
+
+    # 干燥过程中的体积变化计算
     if original_liquid_volume > 0:
-        # 干燥过程中，溶剂会蒸发，固体保留
-        # 根据温度和时间估算蒸发量
-        evaporation_rate = 0.001 * dry_temp  # 每秒每°C蒸发0.001mL
-        total_evaporation = min(original_liquid_volume * 0.8, 
-                               evaporation_rate * simulation_time)  # 最多蒸发80%
-        
+        evaporation_rate = 0.001 * dry_temp
+        total_evaporation = min(original_liquid_volume * 0.8,
+                               evaporation_rate * simulation_time)
+
         new_volume = max(0.0, original_liquid_volume - total_evaporation)
-        
-        # 更新vessel字典中的体积
+
         if "data" in vessel and "liquid_volume" in vessel["data"]:
             current_volume = vessel["data"]["liquid_volume"]
             if isinstance(current_volume, list):
@@ -222,15 +152,14 @@ def generate_dry_protocol(
                 vessel["data"]["liquid_volume"] = new_volume
             else:
                 vessel["data"]["liquid_volume"] = new_volume
-        
-        # 🔧 同时更新图中的容器数据
+
         if vessel_id in G.nodes():
             if 'data' not in G.nodes[vessel_id]:
                 G.nodes[vessel_id]['data'] = {}
-            
+
             vessel_node_data = G.nodes[vessel_id]['data']
             current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-            
+
             if isinstance(current_node_volume, list):
                 if len(current_node_volume) > 0:
                     G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
@@ -238,37 +167,29 @@ def generate_dry_protocol(
                     G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
             else:
                 G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
-        
-        print(f"📊 干燥体积变化计算:")
-        print(f"  - 初始体积: {original_liquid_volume:.2f}mL")
-        print(f"  - 蒸发量: {total_evaporation:.2f}mL")
-        print(f"  - 剩余体积: {new_volume:.2f}mL")
-        print(f"  - 蒸发率: {(total_evaporation/original_liquid_volume*100):.1f}%")
-    
+
+        debug_print(f"干燥体积变化: {original_liquid_volume:.2f}mL -> {new_volume:.2f}mL (-{total_evaporation:.2f}mL)")
+
     # 3.4 停止加热
-    print(f"  ⏹️ 动作4: 停止加热...")
     action_sequence.append({
         "device_id": heater_id,
         "action_name": "heat_chill_stop",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+            "vessel": {"id": vessel_id},
             "purpose": f"干燥完成，停止加热"
         }
     })
-    print(f"  ✅ 停止加热命令已添加 🛑")
-    
+
     # 3.5 等待冷却
-    print(f"  ❄️ 动作5: 等待冷却...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
-            "time": 10.0,  # 等待10秒冷却
+            "time": 10.0,
             "description": f"等待 {compound or '化合物'} 冷却"
         }
     })
-    print(f"  ✅ 冷却等待命令已添加 🧊")
-    
-    # 🔧 新增：干燥完成后的状态报告
+
+    # 最终状态
     final_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -276,60 +197,37 @@ def generate_dry_protocol(
             final_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             final_liquid_volume = current_volume
-    
-    print(f"\n🎊 DRY: 协议生成完成，共 {len(action_sequence)} 个动作 🎯")
-    print(f"⏱️ DRY: 预计总时间: {(simulation_time + 30)/60:.0f} 分钟 ⌛")
-    print(f"📊 干燥结果:")
-    print(f"  - 容器: {vessel_id}")
-    print(f"  - 化合物: {compound or '未指定'}")
-    print(f"  - 干燥前体积: {original_liquid_volume:.2f}mL")
-    print(f"  - 干燥后体积: {final_liquid_volume:.2f}mL")
-    print(f"  - 蒸发体积: {(original_liquid_volume - final_liquid_volume):.2f}mL")
-    print(f"🏁 所有动作序列准备就绪! ✨")
-    
+
+    debug_print(f"干燥协议生成完成: {len(action_sequence)} 个动作, 体积 {original_liquid_volume:.2f} -> {final_liquid_volume:.2f}mL")
+
     return action_sequence
 
 
-# 🔧 新增：便捷函数
-def generate_quick_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "", 
+# 便捷函数
+def generate_quick_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
                                temp: float = 40.0, time: float = 30.0) -> List[Dict[str, Any]]:
     """快速干燥：低温短时间"""
-    vessel_id = vessel["id"]
-    print(f"🌡️ 快速干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
-    
-    # 临时修改默认参数
-    import types
-    temp_func = types.FunctionType(
-        generate_dry_protocol.__code__, 
-        generate_dry_protocol.__globals__
-    )
-    
-    # 直接调用原函数，但修改内部参数
     return generate_dry_protocol(G, vessel, compound)
 
 
-def generate_thorough_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "", 
+def generate_thorough_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
                                   temp: float = 80.0, time: float = 120.0) -> List[Dict[str, Any]]:
     """深度干燥：高温长时间"""
-    vessel_id = vessel["id"]
-    print(f"🔥 深度干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
     return generate_dry_protocol(G, vessel, compound)
 
 
-def generate_gentle_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "", 
+def generate_gentle_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
                                 temp: float = 30.0, time: float = 180.0) -> List[Dict[str, Any]]:
     """温和干燥：低温长时间"""
-    vessel_id = vessel["id"]
-    print(f"🌡️ 温和干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
     return generate_dry_protocol(G, vessel, compound)
 
 
 # 测试函数
 def test_dry_protocol():
     """测试干燥协议"""
-    print("=== DRY PROTOCOL 测试 ===")
-    print("测试完成")
+    debug_print("=== DRY PROTOCOL 测试 ===")
+    debug_print("测试完成")
 
 
 if __name__ == "__main__":
-    test_dry_protocol()
+    test_dry_protocol()