P1 Edge: 关节桥接重构 — 直接订阅 /joint_states + 资源跟随 + 吞吐优化

- HostNode 直接订阅 /joint_states (JointStateMsg)，绕过 JointRepublisher 中间人
- 新增 resource_pose 订阅，实现资源夹取跟随 (gripper attach/detach)
- 吞吐优化：死区过滤 (1e-4 rad)、抑频 (~20Hz)、增量 resource_poses
- JointRepublisher 修复 str→json.dumps (E1)
- communication.py 新增 publish_joint_state 抽象方法
- ws_client.py 实现 push_joint_state action 发送
- 57 项测试覆盖：关节分组、资源跟随、同类型多设备、优化行为

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

.conda/base/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos
-  version: 0.10.17
+  version: 0.10.19
 
 source:
   path: ../../unilabos
@@ -46,13 +46,15 @@ requirements:
   - jinja2
   - requests
   - uvicorn
-  - opcua
+  - if: not osx
+    then:
+    - opcua
   - pyserial
   - pandas
   - pymodbus
   - matplotlib
   - pylibftdi
-  - uni-lab::unilabos-env ==0.10.17
+  - uni-lab::unilabos-env ==0.10.19
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS

.conda/environment/recipe.yaml

@@ -2,7 +2,7 @@
 
 package:
   name: unilabos-env
-  version: 0.10.17
+  version: 0.10.19
 
 build:
   noarch: generic

.conda/full/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos-full
-  version: 0.10.17
+  version: 0.10.19
 
 build:
   noarch: generic
@@ -11,7 +11,7 @@ build:
 requirements:
   run:
   # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.17
+  - uni-lab::unilabos ==0.10.19
   # Documentation tools
   - sphinx
   - sphinx_rtd_theme

.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/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/workflows/ci-check.yml

@@ -49,7 +49,7 @@ jobs:
           uv pip uninstall enum34 || echo enum34 not installed, skipping
           uv pip install .
 
-      - name: Run check mode (complete_registry)
+      - name: Run check mode (AST registry validation)
         run: |
           call conda activate check-env
           echo Running check mode...

.gitignore

@@ -5,6 +5,7 @@ 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

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/user_guide/best_practice.md

@@ -452,8 +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)
 

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: 0.10.17
+  version: 0.10.19
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.17"
+  version: "0.10.19"
 
 source:
   path: ../..

scripts/workflow.py

@@ -2,7 +2,6 @@ import json
 import logging
 import traceback
 import uuid
-import xml.etree.ElementTree as ET
 from typing import Any, Dict, List
 
 import networkx as nx
@@ -25,7 +24,15 @@ class SimpleGraph:
 
     def add_edge(self, source, target, **attrs):
         """添加边"""
-        edge = {"source": source, "target": target, **attrs}
+        # edge = {"source": source, "target": target, **attrs}
+        edge = {
+            "source": source, "target": target,
+            "source_node_uuid": source,
+            "target_node_uuid": target,
+            "source_handle_io": "source",
+            "target_handle_io": "target",
+            **attrs
+        }
         self.edges.append(edge)
 
     def to_dict(self):
@@ -42,6 +49,7 @@ class SimpleGraph:
             "multigraph": False,
             "graph": {},
             "nodes": nodes_list,
+            "edges": self.edges,
             "links": self.edges,
         }
 
@@ -58,495 +66,8 @@ def extract_json_from_markdown(text: str) -> str:
     return text
 
 
-def convert_to_type(val: str) -> Any:
-    """将字符串值转换为适当的数据类型"""
-    if val == "True":
-        return True
-    if val == "False":
-        return False
-    if val == "?":
-        return None
-    if val.endswith(" g"):
-        return float(val.split(" ")[0])
-    if val.endswith("mg"):
-        return float(val.split("mg")[0])
-    elif val.endswith("mmol"):
-        return float(val.split("mmol")[0]) / 1000
-    elif val.endswith("mol"):
-        return float(val.split("mol")[0])
-    elif val.endswith("ml"):
-        return float(val.split("ml")[0])
-    elif val.endswith("RPM"):
-        return float(val.split("RPM")[0])
-    elif val.endswith(" °C"):
-        return float(val.split(" ")[0])
-    elif val.endswith(" %"):
-        return float(val.split(" ")[0])
-    return val
 
 
-def refactor_data(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
-    """统一的数据重构函数，根据操作类型自动选择模板"""
-    refactored_data = []
-
-    # 定义操作映射，包含生物实验和有机化学的所有操作
-    OPERATION_MAPPING = {
-        # 生物实验操作
-        "transfer_liquid": "SynBioFactory-liquid_handler.prcxi-transfer_liquid",
-        "transfer": "SynBioFactory-liquid_handler.biomek-transfer",
-        "incubation": "SynBioFactory-liquid_handler.biomek-incubation",
-        "move_labware": "SynBioFactory-liquid_handler.biomek-move_labware",
-        "oscillation": "SynBioFactory-liquid_handler.biomek-oscillation",
-        # 有机化学操作
-        "HeatChillToTemp": "SynBioFactory-workstation-HeatChillProtocol",
-        "StopHeatChill": "SynBioFactory-workstation-HeatChillStopProtocol",
-        "StartHeatChill": "SynBioFactory-workstation-HeatChillStartProtocol",
-        "HeatChill": "SynBioFactory-workstation-HeatChillProtocol",
-        "Dissolve": "SynBioFactory-workstation-DissolveProtocol",
-        "Transfer": "SynBioFactory-workstation-TransferProtocol",
-        "Evaporate": "SynBioFactory-workstation-EvaporateProtocol",
-        "Recrystallize": "SynBioFactory-workstation-RecrystallizeProtocol",
-        "Filter": "SynBioFactory-workstation-FilterProtocol",
-        "Dry": "SynBioFactory-workstation-DryProtocol",
-        "Add": "SynBioFactory-workstation-AddProtocol",
-    }
-
-    UNSUPPORTED_OPERATIONS = ["Purge", "Wait", "Stir", "ResetHandling"]
-
-    for step in data:
-        operation = step.get("action")
-        if not operation or operation in UNSUPPORTED_OPERATIONS:
-            continue
-
-        # 处理重复操作
-        if operation == "Repeat":
-            times = step.get("times", step.get("parameters", {}).get("times", 1))
-            sub_steps = step.get("steps", step.get("parameters", {}).get("steps", []))
-            for i in range(int(times)):
-                sub_data = refactor_data(sub_steps)
-                refactored_data.extend(sub_data)
-            continue
-
-        # 获取模板名称
-        template = OPERATION_MAPPING.get(operation)
-        if not template:
-            # 自动推断模板类型
-            if operation.lower() in ["transfer", "incubation", "move_labware", "oscillation"]:
-                template = f"SynBioFactory-liquid_handler.biomek-{operation}"
-            else:
-                template = f"SynBioFactory-workstation-{operation}Protocol"
-
-        # 创建步骤数据
-        step_data = {
-            "template": template,
-            "description": step.get("description", step.get("purpose", f"{operation} operation")),
-            "lab_node_type": "Device",
-            "parameters": step.get("parameters", step.get("action_args", {})),
-        }
-        refactored_data.append(step_data)
-
-    return refactored_data
-
-
-def build_protocol_graph(
-    labware_info: List[Dict[str, Any]], protocol_steps: List[Dict[str, Any]], workstation_name: str
-) -> SimpleGraph:
-    """统一的协议图构建函数，根据设备类型自动选择构建逻辑"""
-    G = SimpleGraph()
-    resource_last_writer = {}
-    LAB_NAME = "SynBioFactory"
-
-    protocol_steps = refactor_data(protocol_steps)
-
-    # 检查协议步骤中的模板来判断协议类型
-    has_biomek_template = any(
-        ("biomek" in step.get("template", "")) or ("prcxi" in step.get("template", ""))
-        for step in protocol_steps
-    )
-
-    if has_biomek_template:
-        # 生物实验协议图构建
-        for labware_id, labware in labware_info.items():
-            node_id = str(uuid.uuid4())
-
-            labware_attrs = labware.copy()
-            labware_id = labware_attrs.pop("id", labware_attrs.get("name", f"labware_{uuid.uuid4()}"))
-            labware_attrs["description"] = labware_id
-            labware_attrs["lab_node_type"] = (
-                "Reagent" if "Plate" in str(labware_id) else "Labware" if "Rack" in str(labware_id) else "Sample"
-            )
-            labware_attrs["device_id"] = workstation_name
-
-            G.add_node(node_id, template=f"{LAB_NAME}-host_node-create_resource", **labware_attrs)
-            resource_last_writer[labware_id] = f"{node_id}:labware"
-
-        # 处理协议步骤
-        prev_node = None
-        for i, step in enumerate(protocol_steps):
-            node_id = str(uuid.uuid4())
-            G.add_node(node_id, **step)
-
-            # 添加控制流边
-            if prev_node is not None:
-                G.add_edge(prev_node, node_id, source_port="ready", target_port="ready")
-            prev_node = node_id
-
-            # 处理物料流
-            params = step.get("parameters", {})
-            if "sources" in params and params["sources"] in resource_last_writer:
-                source_node, source_port = resource_last_writer[params["sources"]].split(":")
-                G.add_edge(source_node, node_id, source_port=source_port, target_port="labware")
-
-            if "targets" in params:
-                resource_last_writer[params["targets"]] = f"{node_id}:labware"
-
-        # 添加协议结束节点
-        end_id = str(uuid.uuid4())
-        G.add_node(end_id, template=f"{LAB_NAME}-liquid_handler.biomek-run_protocol")
-        if prev_node is not None:
-            G.add_edge(prev_node, end_id, source_port="ready", target_port="ready")
-
-    else:
-        # 有机化学协议图构建
-        WORKSTATION_ID = workstation_name
-
-        # 为所有labware创建资源节点
-        for item_id, item in labware_info.items():
-            # item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
-            node_id = str(uuid.uuid4())
-
-            # 判断节点类型
-            if item.get("type") == "hardware" or "reactor" in str(item_id).lower():
-                if "reactor" not in str(item_id).lower():
-                    continue
-                lab_node_type = "Sample"
-                description = f"Prepare Reactor: {item_id}"
-                liquid_type = []
-                liquid_volume = []
-            else:
-                lab_node_type = "Reagent"
-                description = f"Add Reagent to Flask: {item_id}"
-                liquid_type = [item_id]
-                liquid_volume = [1e5]
-
-            G.add_node(
-                node_id,
-                template=f"{LAB_NAME}-host_node-create_resource",
-                description=description,
-                lab_node_type=lab_node_type,
-                res_id=item_id,
-                device_id=WORKSTATION_ID,
-                class_name="container",
-                parent=WORKSTATION_ID,
-                bind_locations={"x": 0.0, "y": 0.0, "z": 0.0},
-                liquid_input_slot=[-1],
-                liquid_type=liquid_type,
-                liquid_volume=liquid_volume,
-                slot_on_deck="",
-                role=item.get("role", ""),
-            )
-            resource_last_writer[item_id] = f"{node_id}:labware"
-
-        last_control_node_id = None
-
-        # 处理协议步骤
-        for step in protocol_steps:
-            node_id = str(uuid.uuid4())
-            G.add_node(node_id, **step)
-
-            # 控制流
-            if last_control_node_id is not None:
-                G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
-            last_control_node_id = node_id
-
-            # 物料流
-            params = step.get("parameters", {})
-            input_resources = {
-                "Vessel": params.get("vessel"),
-                "ToVessel": params.get("to_vessel"),
-                "FromVessel": params.get("from_vessel"),
-                "reagent": params.get("reagent"),
-                "solvent": params.get("solvent"),
-                "compound": params.get("compound"),
-                "sources": params.get("sources"),
-                "targets": params.get("targets"),
-            }
-
-            for target_port, resource_name in input_resources.items():
-                if resource_name and resource_name in resource_last_writer:
-                    source_node, source_port = resource_last_writer[resource_name].split(":")
-                    G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
-
-            output_resources = {
-                "VesselOut": params.get("vessel"),
-                "FromVesselOut": params.get("from_vessel"),
-                "ToVesselOut": params.get("to_vessel"),
-                "FiltrateOut": params.get("filtrate_vessel"),
-                "reagent": params.get("reagent"),
-                "solvent": params.get("solvent"),
-                "compound": params.get("compound"),
-                "sources_out": params.get("sources"),
-                "targets_out": params.get("targets"),
-            }
-
-            for source_port, resource_name in output_resources.items():
-                if resource_name:
-                    resource_last_writer[resource_name] = f"{node_id}:{source_port}"
-
-    return G
-
-
-def draw_protocol_graph(protocol_graph: SimpleGraph, output_path: str):
-    """
-    (辅助功能) 使用 networkx 和 matplotlib 绘制协议工作流图，用于可视化。
-    """
-    if not protocol_graph:
-        print("Cannot draw graph: Graph object is empty.")
-        return
-
-    G = nx.DiGraph()
-
-    for node_id, attrs in protocol_graph.nodes.items():
-        label = attrs.get("description", attrs.get("template", node_id[:8]))
-        G.add_node(node_id, label=label, **attrs)
-
-    for edge in protocol_graph.edges:
-        G.add_edge(edge["source"], edge["target"])
-
-    plt.figure(figsize=(20, 15))
-    try:
-        pos = nx.nx_agraph.graphviz_layout(G, prog="dot")
-    except Exception:
-        pos = nx.shell_layout(G)  # Fallback layout
-
-    node_labels = {node: data["label"] for node, data in G.nodes(data=True)}
-    nx.draw(
-        G,
-        pos,
-        with_labels=False,
-        node_size=2500,
-        node_color="skyblue",
-        node_shape="o",
-        edge_color="gray",
-        width=1.5,
-        arrowsize=15,
-    )
-    nx.draw_networkx_labels(G, pos, labels=node_labels, font_size=8, font_weight="bold")
-
-    plt.title("Chemical Protocol Workflow Graph", size=15)
-    plt.savefig(output_path, dpi=300, bbox_inches="tight")
-    plt.close()
-    print(f"  - Visualization saved to '{output_path}'")
-
-
-from networkx.drawing.nx_agraph import to_agraph
-import re
-
-COMPASS = {"n","e","s","w","ne","nw","se","sw","c"}
-
-def _is_compass(port: str) -> bool:
-    return isinstance(port, str) and port.lower() in COMPASS
-
-def draw_protocol_graph_with_ports(protocol_graph, output_path: str, rankdir: str = "LR"):
-    """
-    使用 Graphviz 端口语法绘制协议工作流图。
-    - 若边上的 source_port/target_port 是 compass（n/e/s/w/...），直接用 compass。
-    - 否则自动为节点创建 record 形状并定义命名端口 <portname>。
-    最终由 PyGraphviz 渲染并输出到 output_path（后缀决定格式，如 .png/.svg/.pdf）。
-    """
-    if not protocol_graph:
-        print("Cannot draw graph: Graph object is empty.")
-        return
-
-    # 1) 先用 networkx 搭建有向图，保留端口属性
-    G = nx.DiGraph()
-    for node_id, attrs in protocol_graph.nodes.items():
-        label = attrs.get("description", attrs.get("template", node_id[:8]))
-        # 保留一个干净的“中心标签”，用于放在 record 的中间槽
-        G.add_node(node_id, _core_label=str(label), **{k:v for k,v in attrs.items() if k not in ("label",)})
-
-    edges_data = []
-    in_ports_by_node  = {}  # 收集命名输入端口
-    out_ports_by_node = {}  # 收集命名输出端口
-
-    for edge in protocol_graph.edges:
-        u = edge["source"]
-        v = edge["target"]
-        sp = edge.get("source_port")
-        tp = edge.get("target_port")
-
-        # 记录到图里（保留原始端口信息）
-        G.add_edge(u, v, source_port=sp, target_port=tp)
-        edges_data.append((u, v, sp, tp))
-
-        # 如果不是 compass，就按“命名端口”先归类，等会儿给节点造 record
-        if sp and not _is_compass(sp):
-            out_ports_by_node.setdefault(u, set()).add(str(sp))
-        if tp and not _is_compass(tp):
-            in_ports_by_node.setdefault(v, set()).add(str(tp))
-
-    # 2) 转为 AGraph，使用 Graphviz 渲染
-    A = to_agraph(G)
-    A.graph_attr.update(rankdir=rankdir, splines="true", concentrate="false", fontsize="10")
-    A.node_attr.update(shape="box", style="rounded,filled", fillcolor="lightyellow", color="#999999", fontname="Helvetica")
-    A.edge_attr.update(arrowsize="0.8", color="#666666")
-
-    # 3) 为需要命名端口的节点设置 record 形状与 label
-    #    左列 = 输入端口；中间 = 核心标签；右列 = 输出端口
-    for n in A.nodes():
-        node = A.get_node(n)
-        core = G.nodes[n].get("_core_label", n)
-
-        in_ports  = sorted(in_ports_by_node.get(n, []))
-        out_ports = sorted(out_ports_by_node.get(n, []))
-
-        # 如果该节点涉及命名端口，则用 record；否则保留原 box
-        if in_ports or out_ports:
-            def port_fields(ports):
-                if not ports:
-                    return " "  # 必须留一个空槽占位
-                # 每个端口一个小格子，<p> name
-                return "|".join(f"<{re.sub(r'[^A-Za-z0-9_:.|-]', '_', p)}> {p}" for p in ports)
-
-            left  = port_fields(in_ports)
-            right = port_fields(out_ports)
-
-            # 三栏：左(入) | 中(节点名) | 右(出)
-            record_label = f"{{ {left} | {core} | {right} }}"
-            node.attr.update(shape="record", label=record_label)
-        else:
-            # 没有命名端口：普通盒子，显示核心标签
-            node.attr.update(label=str(core))
-
-    # 4) 给边设置 headport / tailport
-    #    - 若端口为 compass：直接用 compass（e.g., headport="e"）
-    #    - 若端口为命名端口：使用在 record 中定义的 <port> 名（同名即可）
-    for (u, v, sp, tp) in edges_data:
-        e = A.get_edge(u, v)
-
-        # Graphviz 属性：tail 是源，head 是目标
-        if sp:
-            if _is_compass(sp):
-                e.attr["tailport"] = sp.lower()
-            else:
-                # 与 record label 中 <port> 名一致；特殊字符已在 label 中做了清洗
-                e.attr["tailport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(sp))
-
-        if tp:
-            if _is_compass(tp):
-                e.attr["headport"] = tp.lower()
-            else:
-                e.attr["headport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(tp))
-
-        # 可选：若想让边更贴边缘，可设置 constraint/spline 等
-        # e.attr["arrowhead"] = "vee"
-
-    # 5) 输出
-    A.draw(output_path, prog="dot")
-    print(f"  - Port-aware workflow rendered to '{output_path}'")
-
-
-def flatten_xdl_procedure(procedure_elem: ET.Element) -> List[ET.Element]:
-    """展平嵌套的XDL程序结构"""
-    flattened_operations = []
-    TEMP_UNSUPPORTED_PROTOCOL = ["Purge", "Wait", "Stir", "ResetHandling"]
-
-    def extract_operations(element: ET.Element):
-        if element.tag not in ["Prep", "Reaction", "Workup", "Purification", "Procedure"]:
-            if element.tag not in TEMP_UNSUPPORTED_PROTOCOL:
-                flattened_operations.append(element)
-
-        for child in element:
-            extract_operations(child)
-
-    for child in procedure_elem:
-        extract_operations(child)
-
-    return flattened_operations
-
-
-def parse_xdl_content(xdl_content: str) -> tuple:
-    """解析XDL内容"""
-    try:
-        xdl_content_cleaned = "".join(c for c in xdl_content if c.isprintable())
-        root = ET.fromstring(xdl_content_cleaned)
-
-        synthesis_elem = root.find("Synthesis")
-        if synthesis_elem is None:
-            return None, None, None
-
-        # 解析硬件组件
-        hardware_elem = synthesis_elem.find("Hardware")
-        hardware = []
-        if hardware_elem is not None:
-            hardware = [{"id": c.get("id"), "type": c.get("type")} for c in hardware_elem.findall("Component")]
-
-        # 解析试剂
-        reagents_elem = synthesis_elem.find("Reagents")
-        reagents = []
-        if reagents_elem is not None:
-            reagents = [{"name": r.get("name"), "role": r.get("role", "")} for r in reagents_elem.findall("Reagent")]
-
-        # 解析程序
-        procedure_elem = synthesis_elem.find("Procedure")
-        if procedure_elem is None:
-            return None, None, None
-
-        flattened_operations = flatten_xdl_procedure(procedure_elem)
-        return hardware, reagents, flattened_operations
-
-    except ET.ParseError as e:
-        raise ValueError(f"Invalid XDL format: {e}")
-
-
-def convert_xdl_to_dict(xdl_content: str) -> Dict[str, Any]:
-    """
-    将XDL XML格式转换为标准的字典格式
-
-    Args:
-        xdl_content: XDL XML内容
-
-    Returns:
-        转换结果，包含步骤和器材信息
-    """
-    try:
-        hardware, reagents, flattened_operations = parse_xdl_content(xdl_content)
-        if hardware is None:
-            return {"error": "Failed to parse XDL content", "success": False}
-
-        # 将XDL元素转换为字典格式
-        steps_data = []
-        for elem in flattened_operations:
-            # 转换参数类型
-            parameters = {}
-            for key, val in elem.attrib.items():
-                converted_val = convert_to_type(val)
-                if converted_val is not None:
-                    parameters[key] = converted_val
-
-            step_dict = {
-                "operation": elem.tag,
-                "parameters": parameters,
-                "description": elem.get("purpose", f"Operation: {elem.tag}"),
-            }
-            steps_data.append(step_dict)
-
-        # 合并硬件和试剂为统一的labware_info格式
-        labware_data = []
-        labware_data.extend({"id": hw["id"], "type": "hardware", **hw} for hw in hardware)
-        labware_data.extend({"name": reagent["name"], "type": "reagent", **reagent} for reagent in reagents)
-
-        return {
-            "success": True,
-            "steps": steps_data,
-            "labware": labware_data,
-            "message": f"Successfully converted XDL to dict format. Found {len(steps_data)} steps and {len(labware_data)} labware items.",
-        }
-
-    except Exception as e:
-        error_msg = f"XDL conversion failed: {str(e)}"
-        logger.error(error_msg)
-        return {"error": error_msg, "success": False}
 
 
 def create_workflow(

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.17',
+    version='0.10.19',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

tests/ros/test_joint_state_bridge.py

@@ -0,0 +1,939 @@
+"""
+P1 关节数据 & 资源跟随桥接测试 — 全面覆盖 HostNode 关节回调 + resource_pose 回调的边缘 case。
+
+不依赖 ROS2 运行时，通过 mock 模拟 msg 和 bridge。
+
+测试分组:
+  E1: JointRepublisher JSON 输出格式 (已修复 str→json.dumps)
+  E2: 关节状态回调 — 从 /joint_states (JointState msg) 直接读取 name/position
+  E3: 资源跟随 (resource_pose) — 夹爪抓取/释放/多资源
+  E4: 联合流程 — 关节 + 资源一并通过 bridge 发送
+  E5: Bridge 调用验证
+  E6: 同类型设备多实例 — 重复关节名场景
+  E7: 吞吐优化 — 死区过滤、抑频、增量 resource_poses
+"""
+
+import json
+import time
+import pytest
+from unittest.mock import MagicMock
+from types import SimpleNamespace
+from typing import Dict, Optional
+
+
+# ==================== 辅助: 模拟 JointState msg ====================
+
+
+def _make_joint_state_msg(names: list, positions: list, velocities=None, efforts=None):
+    """构造模拟的 sensor_msgs/JointState 消息（不依赖 ROS2）"""
+    msg = SimpleNamespace()
+    msg.name = names
+    msg.position = positions
+    msg.velocity = velocities or [0.0] * len(names)
+    msg.effort = efforts or [0.0] * len(names)
+    return msg
+
+
+def _make_string_msg(data: str):
+    """构造模拟的 std_msgs/String 消息"""
+    msg = SimpleNamespace()
+    msg.data = data
+    return msg
+
+
+# ==================== 辅助: 提取 HostNode 核心逻辑用于隔离测试 ====================
+
+
+class JointBridgeSimulator:
+    """
+    模拟 HostNode 的关节桥接核心逻辑（提取自 host_node.py），
+    不依赖 ROS2 Node、subscription 等基础设施。
+
+    包含吞吐优化逻辑:
+    - 死区过滤 (dead band): 关节变化 < 阈值时不发送
+    - 抑频 (throttle): 限制最大发送频率
+    - 增量 resource_poses: 仅在变化时附带
+    """
+
+    JOINT_DEAD_BAND: float = 1e-4
+    JOINT_MIN_INTERVAL: float = 0.05  # 秒
+
+    def __init__(self, device_uuid_map: Dict[str, str],
+                 dead_band: Optional[float] = None,
+                 min_interval: Optional[float] = None):
+        self.device_uuid_map = device_uuid_map
+        self._device_ids_sorted = sorted(device_uuid_map.keys(), key=len, reverse=True)
+        self._resource_poses: Dict[str, str] = {}
+        self._resource_poses_dirty: bool = False
+        self._last_joint_values: Dict[str, float] = {}
+        self._last_send_time: float = -float("inf")  # 确保首条消息总是通过
+        # 允许测试覆盖优化参数
+        if dead_band is not None:
+            self.JOINT_DEAD_BAND = dead_band
+        if min_interval is not None:
+            self.JOINT_MIN_INTERVAL = min_interval
+
+    def resource_pose_callback(self, msg) -> None:
+        """模拟 HostNode._resource_pose_callback（含变化检测）"""
+        try:
+            data = json.loads(msg.data)
+        except (json.JSONDecodeError, ValueError):
+            return
+        if not isinstance(data, dict) or not data:
+            return
+        has_change = False
+        for k, v in data.items():
+            if self._resource_poses.get(k) != v:
+                has_change = True
+                break
+        if has_change:
+            self._resource_poses.update(data)
+            self._resource_poses_dirty = True
+
+    def joint_state_callback(self, msg, now: Optional[float] = None) -> dict:
+        """
+        模拟 HostNode._joint_state_callback 核心逻辑（含优化）。
+        now 参数允许测试控制时间。
+        返回 {device_id: {"node_uuid": ..., "joint_states": {...}, "resource_poses": {...}}}。
+        返回 {} 表示被优化过滤。
+        """
+        names = list(msg.name)
+        positions = list(msg.position)
+        if not names or len(names) != len(positions):
+            return {}
+
+        if now is None:
+            now = time.time()
+        resource_dirty = self._resource_poses_dirty
+
+        # 抑频检查
+        if not resource_dirty and (now - self._last_send_time) < self.JOINT_MIN_INTERVAL:
+            return {}
+
+        # 死区过滤
+        has_significant_change = False
+        for name, pos in zip(names, positions):
+            last_val = self._last_joint_values.get(name)
+            if last_val is None or abs(float(pos) - last_val) >= self.JOINT_DEAD_BAND:
+                has_significant_change = True
+                break
+
+        if not has_significant_change and not resource_dirty:
+            return {}
+
+        # 更新状态
+        for name, pos in zip(names, positions):
+            self._last_joint_values[name] = float(pos)
+        self._last_send_time = now
+
+        # 按设备 ID 分组关节数据
+        device_joints: Dict[str, Dict[str, float]] = {}
+        for name, pos in zip(names, positions):
+            matched_device = None
+            for device_id in self._device_ids_sorted:
+                if name.startswith(device_id + "_"):
+                    matched_device = device_id
+                    break
+            if matched_device:
+                if matched_device not in device_joints:
+                    device_joints[matched_device] = {}
+                device_joints[matched_device][name] = float(pos)
+            elif len(self.device_uuid_map) == 1:
+                fallback_id = self._device_ids_sorted[0]
+                if fallback_id not in device_joints:
+                    device_joints[fallback_id] = {}
+                device_joints[fallback_id][name] = float(pos)
+
+        # 构建设备级 resource_poses（仅 dirty 时附带）
+        device_resource_poses: Dict[str, Dict[str, str]] = {}
+        if resource_dirty:
+            for resource_id, link_name in self._resource_poses.items():
+                matched_device = None
+                for device_id in self._device_ids_sorted:
+                    if link_name.startswith(device_id + "_"):
+                        matched_device = device_id
+                        break
+                if matched_device:
+                    if matched_device not in device_resource_poses:
+                        device_resource_poses[matched_device] = {}
+                    device_resource_poses[matched_device][resource_id] = link_name
+                elif len(self.device_uuid_map) == 1:
+                    fallback_id = self._device_ids_sorted[0]
+                    if fallback_id not in device_resource_poses:
+                        device_resource_poses[fallback_id] = {}
+                    device_resource_poses[fallback_id][resource_id] = link_name
+            self._resource_poses_dirty = False
+
+        result = {}
+        for device_id, joint_states in device_joints.items():
+            node_uuid = self.device_uuid_map.get(device_id)
+            if not node_uuid:
+                continue
+            result[device_id] = {
+                "node_uuid": node_uuid,
+                "joint_states": joint_states,
+                "resource_poses": device_resource_poses.get(device_id, {}),
+            }
+        return result
+
+
+# 功能测试中禁用优化（dead_band=0, min_interval=0），确保逻辑正确性
+def _make_sim(device_uuid_map: Dict[str, str]) -> JointBridgeSimulator:
+    """创建禁用吞吐优化的模拟器（用于功能正确性测试）"""
+    return JointBridgeSimulator(device_uuid_map, dead_band=0.0, min_interval=0.0)
+
+
+# ==================== E1: JointRepublisher JSON 输出 ====================
+
+
+class TestJointRepublisherFormat:
+    """验证 JointRepublisher 输出标准 JSON（双引号）而非 Python repr（单引号）"""
+
+    def test_output_is_valid_json(self):
+        """str() 产生单引号，json.dumps() 产生双引号"""
+        joint_dict = {
+            "name": ["joint1", "joint2"],
+            "position": [0.1, 0.2],
+            "velocity": [0.0, 0.0],
+            "effort": [0.0, 0.0],
+        }
+        result = json.dumps(joint_dict)
+        parsed = json.loads(result)
+        assert parsed["name"] == ["joint1", "joint2"]
+        assert parsed["position"] == [0.1, 0.2]
+        assert "'" not in result
+
+    def test_str_produces_invalid_json(self):
+        """对比: str() 不是合法 JSON"""
+        joint_dict = {"name": ["joint1"], "position": [0.1]}
+        result = str(joint_dict)
+        with pytest.raises(json.JSONDecodeError):
+            json.loads(result)
+
+
+# ==================== E2: 关节状态回调（JointState msg 直接读取）====================
+
+
+class TestJointStateCallback:
+    """测试从 JointState msg 直接读取 name/position 的分组逻辑"""
+
+    def test_single_device_simple(self):
+        """单设备，关节名有设备前缀"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        msg = _make_joint_state_msg(
+            ["panda_joint1", "panda_joint2"], [0.5, 1.0]
+        )
+        result = sim.joint_state_callback(msg)
+        assert "panda" in result
+        assert result["panda"]["joint_states"]["panda_joint1"] == 0.5
+        assert result["panda"]["joint_states"]["panda_joint2"] == 1.0
+
+    def test_single_device_no_prefix_fallback(self):
+        """单设备，关节名无设备前缀 → 应归入唯一设备"""
+        sim = _make_sim({"robot1": "uuid-r1"})
+        msg = _make_joint_state_msg(["joint_a", "joint_b"], [1.0, 2.0])
+        result = sim.joint_state_callback(msg)
+        assert "robot1" in result
+        assert result["robot1"]["joint_states"]["joint_a"] == 1.0
+        assert result["robot1"]["joint_states"]["joint_b"] == 2.0
+
+    def test_multi_device_distinct_prefixes(self):
+        """多设备，不同前缀，正确分组"""
+        sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
+        msg = _make_joint_state_msg(
+            ["arm1_j1", "arm1_j2", "arm2_j1", "arm2_j2"],
+            [0.1, 0.2, 0.3, 0.4],
+        )
+        result = sim.joint_state_callback(msg)
+        assert result["arm1"]["joint_states"]["arm1_j1"] == 0.1
+        assert result["arm1"]["joint_states"]["arm1_j2"] == 0.2
+        assert result["arm2"]["joint_states"]["arm2_j1"] == 0.3
+        assert result["arm2"]["joint_states"]["arm2_j2"] == 0.4
+
+    def test_ambiguous_prefix_longest_wins(self):
+        """前缀歧义: arm 和 arm_left — 最长前缀优先"""
+        sim = _make_sim({"arm": "uuid-arm", "arm_left": "uuid-arm-left"})
+        msg = _make_joint_state_msg(
+            ["arm_j1", "arm_left_j1", "arm_left_j2"],
+            [0.1, 0.2, 0.3],
+        )
+        result = sim.joint_state_callback(msg)
+        assert result["arm"]["joint_states"]["arm_j1"] == 0.1
+        assert result["arm_left"]["joint_states"]["arm_left_j1"] == 0.2
+        assert result["arm_left"]["joint_states"]["arm_left_j2"] == 0.3
+
+    def test_multi_device_unmatched_joints_dropped(self):
+        """多设备时，无法匹配前缀的关节应被丢弃（不 fallback）"""
+        sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
+        msg = _make_joint_state_msg(
+            ["arm1_j1", "unknown_j1"],
+            [0.1, 0.9],
+        )
+        result = sim.joint_state_callback(msg)
+        assert result["arm1"]["joint_states"]["arm1_j1"] == 0.1
+        for device_id, data in result.items():
+            assert "unknown_j1" not in data["joint_states"]
+
+    def test_empty_names(self):
+        """空 name 列表"""
+        sim = _make_sim({"dev": "uuid-dev"})
+        msg = _make_joint_state_msg([], [])
+        result = sim.joint_state_callback(msg)
+        assert result == {}
+
+    def test_mismatched_lengths(self):
+        """name 和 position 长度不一致"""
+        sim = _make_sim({"dev": "uuid-dev"})
+        msg = _make_joint_state_msg(["j1", "j2"], [0.1])
+        result = sim.joint_state_callback(msg)
+        assert result == {}
+
+    def test_no_devices(self):
+        """无设备 UUID 映射"""
+        sim = _make_sim({})
+        msg = _make_joint_state_msg(["j1"], [0.1])
+        result = sim.joint_state_callback(msg)
+        assert result == {}
+
+    def test_numeric_prefix_device_ids(self):
+        """数字化设备 ID (如 deck1, deck12) — deck12_slot1 不应匹配 deck1"""
+        sim = _make_sim({"deck1": "uuid-d1", "deck12": "uuid-d12"})
+        msg = _make_joint_state_msg(
+            ["deck1_slot1", "deck12_slot1"],
+            [1.0, 2.0],
+        )
+        result = sim.joint_state_callback(msg)
+        assert result["deck1"]["joint_states"]["deck1_slot1"] == 1.0
+        assert result["deck12"]["joint_states"]["deck12_slot1"] == 2.0
+
+    def test_position_float_conversion(self):
+        """position 值应强制转为 float（即使输入为 int）"""
+        sim = _make_sim({"arm": "uuid-arm"})
+        msg = _make_joint_state_msg(["arm_j1"], [1])
+        result = sim.joint_state_callback(msg)
+        assert result["arm"]["joint_states"]["arm_j1"] == 1.0
+        assert isinstance(result["arm"]["joint_states"]["arm_j1"], float)
+
+    def test_node_uuid_in_result(self):
+        """结果中应携带正确的 node_uuid"""
+        sim = _make_sim({"panda": "uuid-panda-123"})
+        msg = _make_joint_state_msg(["panda_j1"], [0.5])
+        result = sim.joint_state_callback(msg)
+        assert result["panda"]["node_uuid"] == "uuid-panda-123"
+
+    def test_device_with_no_uuid_skipped(self):
+        """device_uuid_map 中存在映射但值为空 → 跳过"""
+        sim = _make_sim({"arm": ""})
+        msg = _make_joint_state_msg(["arm_j1"], [0.5])
+        result = sim.joint_state_callback(msg)
+        assert result == {}
+
+    def test_many_joints_single_device(self):
+        """单设备大量关节（如 7-DOF arm）"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        names = [f"panda_joint{i}" for i in range(1, 8)]
+        positions = [float(i) * 0.1 for i in range(1, 8)]
+        msg = _make_joint_state_msg(names, positions)
+        result = sim.joint_state_callback(msg)
+        assert len(result["panda"]["joint_states"]) == 7
+        assert result["panda"]["joint_states"]["panda_joint7"] == pytest.approx(0.7)
+
+    def test_duplicate_joint_names_last_wins(self):
+        """同类型设备多个实例时，如果关节名完全重复（bug 场景），后出现的值覆盖前者"""
+        sim = _make_sim({"dev": "uuid-dev"})
+        msg = _make_joint_state_msg(["dev_j1", "dev_j1"], [1.0, 2.0])
+        result = sim.joint_state_callback(msg)
+        assert result["dev"]["joint_states"]["dev_j1"] == 2.0
+
+    def test_negative_positions(self):
+        """关节角度为负数"""
+        sim = _make_sim({"arm": "uuid-arm"})
+        msg = _make_joint_state_msg(["arm_j1", "arm_j2"], [-1.57, -3.14])
+        result = sim.joint_state_callback(msg)
+        assert result["arm"]["joint_states"]["arm_j1"] == pytest.approx(-1.57)
+        assert result["arm"]["joint_states"]["arm_j2"] == pytest.approx(-3.14)
+
+
+# ==================== E3: 资源跟随 (resource_pose) ====================
+
+
+class TestResourcePoseCallback:
+    """测试 resource_pose 回调 — 夹爪抓取/释放/多资源"""
+
+    def test_single_resource_attach(self):
+        """单个资源挂载到夹爪 link"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        msg = _make_string_msg(json.dumps({"plate_1": "panda_gripper_link"}))
+        sim.resource_pose_callback(msg)
+        assert sim._resource_poses == {"plate_1": "panda_gripper_link"}
+        assert sim._resource_poses_dirty is True
+
+    def test_multiple_resource_attach(self):
+        """多个资源同时挂载到不同 link"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        msg = _make_string_msg(json.dumps({
+            "plate_1": "panda_gripper_link",
+            "tip_rack": "panda_deck_link",
+        }))
+        sim.resource_pose_callback(msg)
+        assert sim._resource_poses["plate_1"] == "panda_gripper_link"
+        assert sim._resource_poses["tip_rack"] == "panda_deck_link"
+
+    def test_incremental_update(self):
+        """增量更新：新消息合并到已有状态"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_deck_link"})))
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_2": "panda_gripper_link"})))
+        assert len(sim._resource_poses) == 2
+        assert sim._resource_poses["plate_1"] == "panda_deck_link"
+        assert sim._resource_poses["plate_2"] == "panda_gripper_link"
+
+    def test_resource_reattach(self):
+        """资源从 deck 移动到 gripper（抓取操作）"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_deck_link"})))
+        assert sim._resource_poses["plate_1"] == "panda_deck_link"
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_gripper_link"})))
+        assert sim._resource_poses["plate_1"] == "panda_gripper_link"
+
+    def test_resource_release_back_to_world(self):
+        """释放资源回到 world"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_gripper_link"})))
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "world"})))
+        assert sim._resource_poses["plate_1"] == "world"
+
+    def test_empty_dict_heartbeat_no_dirty(self):
+        """空 dict（心跳包）不标记 dirty"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
+        sim._resource_poses_dirty = False  # 重置
+        sim.resource_pose_callback(_make_string_msg(json.dumps({})))
+        assert sim._resource_poses_dirty is False  # 空 dict 不应标记 dirty
+
+    def test_same_value_no_dirty(self):
+        """重复发送相同值不应标记 dirty"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
+        sim._resource_poses_dirty = False
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
+        assert sim._resource_poses_dirty is False
+
+    def test_invalid_json_ignored(self):
+        """非法 JSON 消息不影响状态"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
+        sim.resource_pose_callback(_make_string_msg("not valid json {{{"))
+        assert sim._resource_poses["plate_1"] == "panda_link"
+
+    def test_non_dict_json_ignored(self):
+        """JSON 但不是 dict（如 list）应被忽略"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps(["not", "a", "dict"])))
+        assert sim._resource_poses == {}
+
+    def test_python_repr_ignored(self):
+        """Python repr 格式（单引号）应被忽略"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg("{'plate_1': 'panda_link'}"))
+        assert sim._resource_poses == {}
+
+    def test_multi_device_resource_attach(self):
+        """多设备场景：不同设备的 link 挂载不同资源"""
+        sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({
+            "plate_A": "arm1_gripper_link",
+            "plate_B": "arm2_gripper_link",
+        })))
+        assert sim._resource_poses["plate_A"] == "arm1_gripper_link"
+        assert sim._resource_poses["plate_B"] == "arm2_gripper_link"
+
+
+# ==================== E4: 联合流程 — 关节 + 资源一并通过 bridge ====================
+
+
+class TestJointWithResourcePoses:
+    """测试关节状态回调时，resource_poses 被正确按设备分组并包含在结果中"""
+
+    def test_single_device_joint_with_resource(self):
+        """单设备：关节更新时携带已挂载的资源"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({
+            "plate_1": "panda_gripper_link",
+        })))
+        msg = _make_joint_state_msg(["panda_j1", "panda_j2"], [0.5, 1.0])
+        result = sim.joint_state_callback(msg)
+        assert result["panda"]["resource_poses"] == {"plate_1": "panda_gripper_link"}
+
+    def test_single_device_no_resource(self):
+        """单设备：无资源挂载时 resource_poses 为空 dict"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        msg = _make_joint_state_msg(["panda_j1"], [0.5])
+        result = sim.joint_state_callback(msg)
+        assert result["panda"]["resource_poses"] == {}
+
+    def test_multi_device_resource_routing(self):
+        """多设备：资源按 link 前缀路由到正确设备"""
+        sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({
+            "plate_A": "arm1_gripper_link",
+            "plate_B": "arm2_gripper_link",
+            "tube_1": "arm1_tool_link",
+        })))
+        msg = _make_joint_state_msg(
+            ["arm1_j1", "arm2_j1"],
+            [0.1, 0.2],
+        )
+        result = sim.joint_state_callback(msg)
+        assert result["arm1"]["resource_poses"] == {
+            "plate_A": "arm1_gripper_link",
+            "tube_1": "arm1_tool_link",
+        }
+        assert result["arm2"]["resource_poses"] == {"plate_B": "arm2_gripper_link"}
+
+    def test_resource_on_world_frame_not_routed(self):
+        """资源挂在 world frame（已释放）— 多设备时无法匹配任何设备前缀"""
+        sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({
+            "plate_A": "world",
+        })))
+        msg = _make_joint_state_msg(["arm1_j1"], [0.1])
+        result = sim.joint_state_callback(msg)
+        assert result["arm1"]["resource_poses"] == {}
+
+    def test_resource_world_frame_single_device_fallback(self):
+        """单设备时 world frame 的资源走 fallback"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({
+            "plate_A": "world",
+        })))
+        msg = _make_joint_state_msg(["panda_j1"], [0.1])
+        result = sim.joint_state_callback(msg)
+        assert result["panda"]["resource_poses"] == {"plate_A": "world"}
+
+    def test_grab_and_move_sequence(self):
+        """完整夹取序列: 资源在 deck → gripper 抓取 → arm 移动 → 放下"""
+        sim = _make_sim({"panda": "uuid-panda"})
+
+        # 初始: plate 在 deck
+        sim.resource_pose_callback(_make_string_msg(json.dumps({
+            "plate_1": "panda_deck_third_link",
+        })))
+
+        msg = _make_joint_state_msg(
+            ["panda_j1", "panda_j2", "panda_j3"],
+            [0.0, -0.5, 1.0],
+        )
+        result = sim.joint_state_callback(msg)
+        assert result["panda"]["resource_poses"]["plate_1"] == "panda_deck_third_link"
+
+        # 抓取: plate 从 deck → gripper
+        sim.resource_pose_callback(_make_string_msg(json.dumps({
+            "plate_1": "panda_gripper_link",
+        })))
+
+        msg = _make_joint_state_msg(
+            ["panda_j1", "panda_j2", "panda_j3"],
+            [1.57, 0.0, -0.5],
+        )
+        result = sim.joint_state_callback(msg)
+        assert result["panda"]["resource_poses"]["plate_1"] == "panda_gripper_link"
+        assert result["panda"]["joint_states"]["panda_j1"] == pytest.approx(1.57)
+
+        # 放下: plate 从 gripper → 目标 deck
+        sim.resource_pose_callback(_make_string_msg(json.dumps({
+            "plate_1": "panda_deck_first_link",
+        })))
+
+        msg = _make_joint_state_msg(
+            ["panda_j1", "panda_j2", "panda_j3"],
+            [0.0, 0.0, 0.0],
+        )
+        result = sim.joint_state_callback(msg)
+        assert result["panda"]["resource_poses"]["plate_1"] == "panda_deck_first_link"
+
+    def test_simultaneous_grab_multiple_resources(self):
+        """同时持有多个资源（如双夹爪）"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({
+            "plate_1": "panda_left_gripper",
+            "plate_2": "panda_right_gripper",
+            "tip_rack": "panda_deck_link",
+        })))
+        msg = _make_joint_state_msg(["panda_j1"], [0.5])
+        result = sim.joint_state_callback(msg)
+        assert len(result["panda"]["resource_poses"]) == 3
+
+    def test_resource_with_ambiguous_link_prefix(self):
+        """link 前缀歧义: arm_left_gripper 应匹配 arm_left 而非 arm"""
+        sim = _make_sim({"arm": "uuid-arm", "arm_left": "uuid-arm-left"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({
+            "plate_A": "arm_gripper_link",
+            "plate_B": "arm_left_gripper_link",
+        })))
+        msg = _make_joint_state_msg(
+            ["arm_j1", "arm_left_j1"],
+            [0.1, 0.2],
+        )
+        result = sim.joint_state_callback(msg)
+        assert result["arm"]["resource_poses"] == {"plate_A": "arm_gripper_link"}
+        assert result["arm_left"]["resource_poses"] == {"plate_B": "arm_left_gripper_link"}
+
+
+# ==================== E5: Bridge 调用验证 ====================
+
+
+class TestBridgeCalls:
+    """验证完整桥接流: callback → bridge.publish_joint_state 调用"""
+
+    def test_bridge_called_per_device(self):
+        """每个设备调用一次 publish_joint_state"""
+        device_uuid_map = {"arm1": "uuid-111", "arm2": "uuid-222"}
+        sim = _make_sim(device_uuid_map)
+        bridge = MagicMock()
+        bridge.publish_joint_state = MagicMock()
+
+        msg = _make_joint_state_msg(
+            ["arm1_j1", "arm2_j1"],
+            [1.0, 2.0],
+        )
+        result = sim.joint_state_callback(msg)
+
+        for device_id, data in result.items():
+            bridge.publish_joint_state(
+                data["node_uuid"], data["joint_states"], data["resource_poses"]
+            )
+
+        assert bridge.publish_joint_state.call_count == 2
+        call_uuids = {c[0][0] for c in bridge.publish_joint_state.call_args_list}
+        assert call_uuids == {"uuid-111", "uuid-222"}
+
+    def test_bridge_called_with_resource_poses(self):
+        """bridge 调用时携带 resource_poses"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({
+            "plate_1": "panda_gripper_link",
+        })))
+
+        bridge = MagicMock()
+        msg = _make_joint_state_msg(["panda_j1"], [0.5])
+        result = sim.joint_state_callback(msg)
+
+        for device_id, data in result.items():
+            bridge.publish_joint_state(
+                data["node_uuid"], data["joint_states"], data["resource_poses"]
+            )
+
+        bridge.publish_joint_state.assert_called_once_with(
+            "uuid-panda",
+            {"panda_j1": 0.5},
+            {"plate_1": "panda_gripper_link"},
+        )
+
+    def test_bridge_no_call_for_empty_joints(self):
+        """无关节数据时不调用 bridge"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        bridge = MagicMock()
+
+        msg = _make_joint_state_msg([], [])
+        result = sim.joint_state_callback(msg)
+
+        for device_id, data in result.items():
+            bridge.publish_joint_state(
+                data["node_uuid"], data["joint_states"], data["resource_poses"]
+            )
+
+        bridge.publish_joint_state.assert_not_called()
+
+    def test_bridge_resource_poses_empty_when_no_resources(self):
+        """无资源挂载时，resource_poses 参数为空 dict"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        bridge = MagicMock()
+
+        msg = _make_joint_state_msg(["panda_j1"], [0.5])
+        result = sim.joint_state_callback(msg)
+
+        for device_id, data in result.items():
+            bridge.publish_joint_state(
+                data["node_uuid"], data["joint_states"], data["resource_poses"]
+            )
+
+        bridge.publish_joint_state.assert_called_once_with(
+            "uuid-panda",
+            {"panda_j1": 0.5},
+            {},
+        )
+
+    def test_multi_bridge_all_called(self):
+        """多个 bridge 都应被调用"""
+        sim = _make_sim({"arm": "uuid-arm"})
+        bridges = [MagicMock(), MagicMock()]
+
+        msg = _make_joint_state_msg(["arm_j1"], [0.5])
+        result = sim.joint_state_callback(msg)
+
+        for device_id, data in result.items():
+            for bridge in bridges:
+                bridge.publish_joint_state(
+                    data["node_uuid"], data["joint_states"], data["resource_poses"]
+                )
+
+        for bridge in bridges:
+            bridge.publish_joint_state.assert_called_once()
+
+
+# ==================== E6: 同类型设备多个实例 — 重复关节名场景 ====================
+
+
+class TestDuplicateDeviceTypes:
+    """
+    多个同类型设备（如 2 个 OT-2 移液器），关节名格式为 {device_id}_{joint_name}。
+    设备 ID 不同（如 ot2_left, ot2_right），但底层关节名相同（如 pipette_j1）。
+    """
+
+    def test_same_type_different_id(self):
+        """同类型设备不同 ID"""
+        sim = _make_sim({
+            "ot2_left": "uuid-ot2-left",
+            "ot2_right": "uuid-ot2-right",
+        })
+        msg = _make_joint_state_msg(
+            ["ot2_left_pipette_j1", "ot2_left_pipette_j2",
+             "ot2_right_pipette_j1", "ot2_right_pipette_j2"],
+            [0.1, 0.2, 0.3, 0.4],
+        )
+        result = sim.joint_state_callback(msg)
+        assert result["ot2_left"]["joint_states"]["ot2_left_pipette_j1"] == 0.1
+        assert result["ot2_left"]["joint_states"]["ot2_left_pipette_j2"] == 0.2
+        assert result["ot2_right"]["joint_states"]["ot2_right_pipette_j1"] == 0.3
+        assert result["ot2_right"]["joint_states"]["ot2_right_pipette_j2"] == 0.4
+
+    def test_same_type_with_resources_routed_correctly(self):
+        """同类型设备各自抓取资源，按 link 前缀正确路由"""
+        sim = _make_sim({
+            "ot2_left": "uuid-ot2-left",
+            "ot2_right": "uuid-ot2-right",
+        })
+        sim.resource_pose_callback(_make_string_msg(json.dumps({
+            "plate_A": "ot2_left_gripper",
+            "plate_B": "ot2_right_gripper",
+        })))
+        msg = _make_joint_state_msg(
+            ["ot2_left_j1", "ot2_right_j1"],
+            [0.5, 0.6],
+        )
+        result = sim.joint_state_callback(msg)
+        assert result["ot2_left"]["resource_poses"] == {"plate_A": "ot2_left_gripper"}
+        assert result["ot2_right"]["resource_poses"] == {"plate_B": "ot2_right_gripper"}
+
+    def test_numbered_devices_no_confusion(self):
+        """编号设备: robot1 不应匹配 robot10 的关节"""
+        sim = _make_sim({
+            "robot1": "uuid-r1",
+            "robot10": "uuid-r10",
+        })
+        msg = _make_joint_state_msg(
+            ["robot1_j1", "robot10_j1"],
+            [1.0, 10.0],
+        )
+        result = sim.joint_state_callback(msg)
+        assert result["robot1"]["joint_states"]["robot1_j1"] == 1.0
+        assert result["robot10"]["joint_states"]["robot10_j1"] == 10.0
+
+    def test_three_same_type_devices(self):
+        """三个同类型设备"""
+        sim = _make_sim({
+            "pump_a": "uuid-pa",
+            "pump_b": "uuid-pb",
+            "pump_c": "uuid-pc",
+        })
+        msg = _make_joint_state_msg(
+            ["pump_a_flow", "pump_b_flow", "pump_c_flow",
+             "pump_a_pressure", "pump_b_pressure"],
+            [1.0, 2.0, 3.0, 0.1, 0.2],
+        )
+        result = sim.joint_state_callback(msg)
+        assert len(result["pump_a"]["joint_states"]) == 2
+        assert len(result["pump_b"]["joint_states"]) == 2
+        assert len(result["pump_c"]["joint_states"]) == 1
+
+
+# ==================== E7: 吞吐优化测试 ====================
+
+
+class TestThroughputOptimizations:
+    """测试死区过滤、抑频、增量 resource_poses 等优化行为"""
+
+    # --- 死区过滤 (Dead Band) ---
+
+    def test_dead_band_filters_tiny_change(self):
+        """关节变化小于死区阈值 → 被过滤"""
+        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
+        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
+        result1 = sim.joint_state_callback(msg1, now=0.0)
+        assert "arm" in result1
+
+        # 微小变化 (0.001 < 0.01 死区)
+        msg2 = _make_joint_state_msg(["arm_j1"], [1.001])
+        result2 = sim.joint_state_callback(msg2, now=1.0)
+        assert result2 == {}
+
+    def test_dead_band_passes_significant_change(self):
+        """关节变化大于死区阈值 → 通过"""
+        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
+        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
+        sim.joint_state_callback(msg1, now=0.0)
+
+        msg2 = _make_joint_state_msg(["arm_j1"], [1.05])
+        result2 = sim.joint_state_callback(msg2, now=1.0)
+        assert "arm" in result2
+        assert result2["arm"]["joint_states"]["arm_j1"] == pytest.approx(1.05)
+
+    def test_dead_band_first_message_always_passes(self):
+        """首次消息总是通过（无历史值）"""
+        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=1000.0, min_interval=0.0)
+        msg = _make_joint_state_msg(["arm_j1"], [0.001])
+        result = sim.joint_state_callback(msg, now=0.0)
+        assert "arm" in result
+
+    def test_dead_band_any_joint_change_triggers(self):
+        """多关节中只要有一个超过死区就全部发送"""
+        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
+        msg1 = _make_joint_state_msg(["arm_j1", "arm_j2"], [1.0, 2.0])
+        sim.joint_state_callback(msg1, now=0.0)
+
+        # j1 微变化，j2 大变化
+        msg2 = _make_joint_state_msg(["arm_j1", "arm_j2"], [1.001, 2.5])
+        result2 = sim.joint_state_callback(msg2, now=1.0)
+        assert "arm" in result2
+        # 两个关节的值都应包含在结果中
+        assert result2["arm"]["joint_states"]["arm_j1"] == pytest.approx(1.001)
+        assert result2["arm"]["joint_states"]["arm_j2"] == pytest.approx(2.5)
+
+    # --- 抑频 (Throttle) ---
+
+    def test_throttle_filters_rapid_messages(self):
+        """发送间隔内的消息被过滤"""
+        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=0.1)
+        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
+        result1 = sim.joint_state_callback(msg1, now=0.0)
+        assert "arm" in result1
+
+        # 0.05s < 0.1s 间隔
+        msg2 = _make_joint_state_msg(["arm_j1"], [2.0])
+        result2 = sim.joint_state_callback(msg2, now=0.05)
+        assert result2 == {}
+
+    def test_throttle_passes_after_interval(self):
+        """超过发送间隔后消息通过"""
+        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=0.1)
+        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
+        sim.joint_state_callback(msg1, now=0.0)
+
+        msg2 = _make_joint_state_msg(["arm_j1"], [2.0])
+        result2 = sim.joint_state_callback(msg2, now=0.15)
+        assert "arm" in result2
+
+    def test_throttle_bypassed_by_resource_change(self):
+        """resource_pose 变化时忽略抑频限制"""
+        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=1.0)
+        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
+        sim.joint_state_callback(msg1, now=0.0)
+
+        # 资源变化 → 强制发送
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "arm_gripper"})))
+        msg2 = _make_joint_state_msg(["arm_j1"], [1.0])
+        result2 = sim.joint_state_callback(msg2, now=0.01)  # 远小于 1.0 间隔
+        assert "arm" in result2
+        assert result2["arm"]["resource_poses"] == {"plate": "arm_gripper"}
+
+    # --- 增量 resource_poses ---
+
+    def test_resource_poses_only_sent_when_dirty(self):
+        """resource_poses 仅在 dirty 时附带，否则为空"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_gripper"})))
+
+        # 第一次发送：dirty → 携带 resource_poses
+        msg1 = _make_joint_state_msg(["panda_j1"], [0.5])
+        result1 = sim.joint_state_callback(msg1)
+        assert result1["panda"]["resource_poses"] == {"plate": "panda_gripper"}
+
+        # dirty 已清除
+        assert sim._resource_poses_dirty is False
+
+        # 第二次发送：not dirty → resource_poses 为空
+        msg2 = _make_joint_state_msg(["panda_j1"], [1.0])
+        result2 = sim.joint_state_callback(msg2)
+        assert result2["panda"]["resource_poses"] == {}
+
+    def test_resource_change_resets_dirty_after_send(self):
+        """dirty 在发送后被重置，再次 resource_pose 变化后重新标记"""
+        sim = _make_sim({"panda": "uuid-panda"})
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_deck"})))
+
+        msg = _make_joint_state_msg(["panda_j1"], [0.5])
+        sim.joint_state_callback(msg)
+        assert sim._resource_poses_dirty is False
+
+        # 再次资源变化
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_gripper"})))
+        assert sim._resource_poses_dirty is True
+
+        msg2 = _make_joint_state_msg(["panda_j1"], [1.0])
+        result2 = sim.joint_state_callback(msg2)
+        assert result2["panda"]["resource_poses"] == {"plate": "panda_gripper"}
+
+    # --- 组合场景 ---
+
+    def test_dead_band_bypassed_by_resource_dirty(self):
+        """关节无变化但 resource_pose 有变化 → 仍然发送"""
+        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
+        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
+        sim.joint_state_callback(msg1, now=0.0)
+
+        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "arm_gripper"})))
+        # 关节值完全不变
+        msg2 = _make_joint_state_msg(["arm_j1"], [1.0])
+        result2 = sim.joint_state_callback(msg2, now=1.0)
+        assert "arm" in result2
+        assert result2["arm"]["resource_poses"] == {"plate": "arm_gripper"}
+
+    def test_high_frequency_stream_only_significant_pass(self):
+        """模拟高频流: 只有显著变化的消息通过"""
+        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
+        t = 0.0
+        passed_count = 0
+
+        # 100 条消息，每条微小递增 0.001
+        for i in range(100):
+            t += 0.1
+            val = 1.0 + i * 0.001
+            msg = _make_joint_state_msg(["arm_j1"], [val])
+            result = sim.joint_state_callback(msg, now=t)
+            if result:
+                passed_count += 1
+
+        # 首次总通过 + 每 10 条左右（累计 0.01 变化）通过一次
+        assert passed_count < 20  # 远少于 100
+        assert passed_count >= 5  # 但不应为 0
+
+    def test_throttle_and_dead_band_combined(self):
+        """同时受抑频和死区影响"""
+        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.5)
+
+        # 首条通过
+        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
+        assert sim.joint_state_callback(msg1, now=0.0) != {}
+
+        # 时间不够 + 变化不够 → 过滤
+        msg2 = _make_joint_state_msg(["arm_j1"], [1.001])
+        assert sim.joint_state_callback(msg2, now=0.1) == {}
+
+        # 时间够但变化不够 → 过滤
+        msg3 = _make_joint_state_msg(["arm_j1"], [1.002])
+        assert sim.joint_state_callback(msg3, now=1.0) == {}
+
+        # 时间够且变化够 → 通过
+        msg4 = _make_joint_state_msg(["arm_j1"], [1.05])
+        assert sim.joint_state_callback(msg4, now=1.5) != {}

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.17"
+__version__ = "0.10.19"

unilabos/app/communication.py

@@ -50,6 +50,17 @@ class BaseCommunicationClient(ABC):
         """
         pass
 
+    def publish_joint_state(self, node_uuid: str, joint_states: dict, resource_poses: dict = None) -> None:
+        """
+        发布高频关节状态数据（push_joint_state action，不写 DB）
+
+        Args:
+            node_uuid: 设备节点的云端 UUID
+            joint_states: 关节名 → 角度/位置 的映射
+            resource_poses: 物料附着映射（可选）
+        """
+        pass
+
     @abstractmethod
     def publish_job_status(
         self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None

unilabos/app/main.py

@@ -1,8 +1,10 @@
 import argparse
 import asyncio
 import os
+import platform
 import shutil
 import signal
+import subprocess
 import sys
 import threading
 import time
@@ -24,6 +26,84 @@ from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 _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:
@@ -65,6 +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,
@@ -154,23 +241,53 @@ def parse_args():
         action="store_true",
         help="Skip environment dependency check on startup",
     )
-    parser.add_argument(
-        "--complete_registry",
-        action="store_true",
-        default=False,
-        help="Complete registry information",
-    )
     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 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(
         "workflow_upload",
@@ -204,6 +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
 
 
@@ -215,68 +338,88 @@ 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)
     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
+        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 check_mode:
-        args_dict["working_dir"] = os.path.abspath(os.getcwd())
-    # 当 skip_env_check 时，默认使用当前目录作为 working_dir
-    if skip_env_check and not args_dict.get("working_dir") and not config_path:
+    # === 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(os.path.abspath(config_path))
+    else:
         working_dir = os.path.abspath(os.getcwd())
-        print_status(f"跳过环境检查模式：使用当前目录作为工作目录 {working_dir}", "info")
-        # 检查当前目录是否有 local_config.py
-        local_config_in_cwd = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(local_config_in_cwd):
-            config_path = local_config_in_cwd
+
+    # 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)
+    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")
-    elif 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",
+            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)
-    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 skip_env_check and 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")
-        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")
@@ -288,7 +431,9 @@ def main():
 
     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":
@@ -332,46 +477,66 @@ def main():
     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.resources.resource_tracker import ResourceTreeSet, ResourceDict
 
     # 显示启动横幅
     print_unilab_banner(args_dict)
 
-    # 注册表 - check_mode 时强制启用 complete_registry
+    # 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
-    lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
+    external_only = args_dict.get("external_devices_only", False)
+    lab_registry = build_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: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
+    # Check mode: 注册表验证完成后直接退出
     if check_mode:
-        print_status("Check mode: complete_registry 完成，退出", "info")
+        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:
@@ -456,12 +621,16 @@ 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_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
@@ -553,6 +722,10 @@ def main():
             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/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

@@ -3,11 +3,13 @@ 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
 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.resources.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
@@ -280,22 +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:
@@ -343,9 +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）
@@ -355,6 +390,7 @@ 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)
@@ -367,7 +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
@@ -388,11 +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

@@ -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

@@ -86,7 +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:
@@ -138,7 +138,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
     server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
     server_thread.start()
 
-    info("[Web] Server started, monitoring for restart requests...")
+    # info("[Web] Server started, monitoring for restart requests...")
 
     # 监控重启标志
     import unilabos.app.main as main_module

unilabos/app/ws_client.py

@@ -26,6 +26,7 @@ from enum import Enum
 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
@@ -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]
@@ -234,9 +256,14 @@ class DeviceActionManager:
             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"""
@@ -261,6 +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
@@ -334,13 +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(
@@ -369,6 +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}")
@@ -395,22 +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"""
@@ -427,8 +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}",
@@ -439,85 +491,98 @@ class MessageProcessor:
                     self.connected = True
                     self.reconnect_count = 0
 
-                    logger.info(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)
-                    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)
+        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:
-                        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())
-
-        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())
+                        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"""
-        logger.debug("[MessageProcessor] Send handler started")
+        logger.trace("[MessageProcessor] Send handler started")
 
         try:
             while self.connected and self.websocket:
@@ -545,7 +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())
@@ -562,6 +627,7 @@ 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())
@@ -593,6 +659,10 @@ class MessageProcessor:
             # 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:
@@ -608,6 +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", "")
@@ -622,6 +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,
@@ -631,6 +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
@@ -657,6 +749,8 @@ 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)
@@ -688,6 +782,7 @@ class MessageProcessor:
                 queue_item,
                 action_type=req.action_type,
                 action_kwargs=req.action_args,
+                sample_material=req.sample_material,
                 server_info=req.server_info,
             )
 
@@ -904,6 +999,37 @@ 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
@@ -915,10 +1041,9 @@ class MessageProcessor:
         logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
 
         # 发送确认消息
-        if self.websocket_client:
-            await self.websocket_client.send_message(
-                {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
-            )
+        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
@@ -1020,13 +1145,14 @@ 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")
 
     def _run(self):
         """运行队列处理主循环"""
-        logger.debug("[QueueProcessor] Queue processor started")
+        logger.trace("[QueueProcessor] Queue processor started")
 
         while self.is_running:
             try:
@@ -1120,6 +1246,11 @@ 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": {
@@ -1236,7 +1367,6 @@ class WebSocketClient(BaseCommunicationClient):
         else:
             url = f"{scheme}://{parsed.netloc}/api/v1/ws/schedule"
 
-        logger.debug(f"[WebSocketClient] URL: {url}")
         return url
 
     def start(self) -> None:
@@ -1249,13 +1379,11 @@ class WebSocketClient(BaseCommunicationClient):
             logger.error("[WebSocketClient] WebSocket URL not configured")
             return
 
-        logger.info(f"[WebSocketClient] Starting connection to {self.websocket_url}")
-
         # 启动两个核心线程
         self.message_processor.start()
         self.queue_processor.start()
 
-        logger.info("[WebSocketClient] All threads started")
+        logger.trace("[WebSocketClient] All threads started")
 
     def stop(self) -> None:
         """停止WebSocket客户端"""
@@ -1271,8 +1399,8 @@ 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)}")
 
@@ -1304,7 +1432,22 @@ class WebSocketClient(BaseCommunicationClient):
             },
         }
         self.message_processor.send_message(message)
-        logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+        # logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+
+    def publish_joint_state(self, node_uuid: str, joint_states: dict, resource_poses: dict = None) -> None:
+        """发布高频关节状态（push_joint_state，不写 DB）"""
+        if self.is_disabled or not self.is_connected():
+            return
+
+        message = {
+            "action": "push_joint_state",
+            "data": {
+                "node_uuid": node_uuid,
+                "joint_states": joint_states or {},
+                "resource_poses": resource_poses or {},
+            },
+        }
+        self.message_processor.send_message(message)
 
     def publish_job_status(
         self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None

unilabos/compile/pump_protocol.py

@@ -95,8 +95,29 @@ def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
     return total_volume
 
 
-def is_integrated_pump(node_name):
-    return "pump" in node_name and "valve" in node_name
+def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
+    """
+    判断是否为泵阀一体设备
+    """
+    class_lower = (node_class or "").lower()
+    name_lower = (node_name or "").lower()
+
+    if "pump" not in class_lower and "pump" not in name_lower:
+        return False
+
+    integrated_markers = [
+        "valve",
+        "pump_valve",
+        "pumpvalve",
+        "integrated",
+        "transfer_pump",
+    ]
+
+    for marker in integrated_markers:
+        if marker in class_lower or marker in name_lower:
+            return True
+
+    return False
 
 
 def find_connected_pump(G, valve_node):
@@ -186,7 +207,9 @@ def build_pump_valve_maps(G, pump_backbone):
     debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
 
     for node in filtered_backbone:
-        if is_integrated_pump(G.nodes[node]["class"]):
+        node_data = G.nodes.get(node, {})
+        node_class = node_data.get("class", "") or ""
+        if is_integrated_pump(node_class, node):
             pumps_from_node[node] = node
             valve_from_node[node] = node
             debug_print(f"  - 集成泵-阀: {node}")

unilabos/config/config.py

@@ -23,6 +23,8 @@ class BasicConfig:
     disable_browser = False  # 禁止浏览器自动打开
     port = 8002  # 本地HTTP服务
     check_mode = False  # CI 检查模式，用于验证 registry 导入和文件一致性
+    test_mode = False  # 测试模式，所有动作不实际执行，返回模拟结果
+    extra_resource = False  # 是否加载lab_开头的额外资源
     # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
     log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
 
@@ -39,7 +41,7 @@ class BasicConfig:
 class WSConfig:
     reconnect_interval = 5  # 重连间隔（秒）
     max_reconnect_attempts = 999  # 最大重连次数
-    ping_interval = 30  # ping间隔（秒）
+    ping_interval = 20  # ping间隔（秒）
 
 
 # HTTP配置
@@ -145,5 +147,5 @@ def load_config(config_path=None):
             traceback.print_exc()
             exit(1)
     else:
-        config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
+        config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
         load_config(config_path)

unilabos/device_comms/universal_driver.py

@@ -1,4 +1,3 @@
-
 from abc import abstractmethod
 from functools import wraps
 import inspect

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -1,15 +1,11 @@
 from __future__ import annotations
 
-import asyncio
 import time
 import traceback
 from collections import Counter
 from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
 
-from typing_extensions import TypedDict
 from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
-from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
-from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
 from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
 from pylabrobot.liquid_handling.standard import GripDirection
 from pylabrobot.resources import (
@@ -25,28 +21,40 @@ from pylabrobot.resources import (
     ResourceHolder,
     Lid,
     Trash,
-    Tip,
+    Tip, TubeRack,
 )
+from typing_extensions import TypedDict
 
+from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
 from unilabos.registry.placeholder_type import ResourceSlot
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.resources.resource_tracker import ResourceTreeSet
+from unilabos.resources.resource_tracker import (
+    ResourceTreeSet,
+    ResourceDict,
+    EXTRA_SAMPLE_UUID,
+    EXTRA_UNILABOS_SAMPLE_UUID,
+)
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
 
 
 class SimpleReturn(TypedDict):
-    samples: list
-    volumes: list
+    samples: List[List[ResourceDict]]
+    volumes: List[float]
 
 
 class SetLiquidReturn(TypedDict):
-    wells: list
-    volumes: list
+    wells: List[List[ResourceDict]]
+    volumes: List[float]
 
 
 class SetLiquidFromPlateReturn(TypedDict):
-    plate: list
-    wells: list
-    volumes: list
+    plate: List[List[ResourceDict]]
+    wells: List[List[ResourceDict]]
+    volumes: List[float]
+
+
+class TransferLiquidReturn(TypedDict):
+    sources: List[List[ResourceDict]]
+    targets: List[List[ResourceDict]]
 
 
 class LiquidHandlerMiddleware(LiquidHandler):
@@ -228,12 +236,11 @@ class LiquidHandlerMiddleware(LiquidHandler):
         res_samples = []
         res_volumes = []
         for resource, volume, channel in zip(resources, vols, use_channels):
-            res_samples.append(
-                {"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)}
-            )
+            sample_uuid_value = resource.unilabos_extra.get(EXTRA_SAMPLE_UUID, None)
+            res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: sample_uuid_value})
             res_volumes.append(volume)
             self.pending_liquids_dict[channel] = {
-                "sample_uuid": resource.unilabos_extra.get("sample_uuid", None),
+                EXTRA_SAMPLE_UUID: sample_uuid_value,
                 "volume": volume,
             }
         return SimpleReturn(samples=res_samples, volumes=res_volumes)
@@ -275,10 +282,10 @@ class LiquidHandlerMiddleware(LiquidHandler):
         res_samples = []
         res_volumes = []
         for resource, volume, channel in zip(resources, vols, use_channels):
-            res_uuid = self.pending_liquids_dict[channel]["sample_uuid"]
+            res_uuid = self.pending_liquids_dict[channel][EXTRA_SAMPLE_UUID]
             self.pending_liquids_dict[channel]["volume"] -= volume
-            resource.unilabos_extra["sample_uuid"] = res_uuid
-            res_samples.append({"name": resource.name, "sample_uuid": res_uuid})
+            resource.unilabos_extra[EXTRA_SAMPLE_UUID] = res_uuid
+            res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: res_uuid})
             res_volumes.append(volume)
 
         return SimpleReturn(samples=res_samples, volumes=res_volumes)
@@ -682,16 +689,20 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes  # type: ignore
         )
 
-    @classmethod
     def set_liquid_from_plate(
-        cls, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
+        self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
     ) -> SetLiquidFromPlateReturn:
         """Set the liquid in wells of a plate by well names (e.g., A1, A2, B3).
 
         如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
         """
+        assert issubclass(plate.__class__, Plate) or issubclass(plate.__class__, TubeRack) , f"plate must be a Plate, now: {type(plate)}"
+        plate: Union[Plate, TubeRack]
         # 根据 well_names 获取对应的 Well 对象
-        wells = [plate.get_well(name) for name in well_names]
+        if issubclass(plate.__class__, Plate):
+            wells = [plate.get_well(name) for name in well_names]
+        elif issubclass(plate.__class__, TubeRack):
+            wells = [plate.get_tube(name) for name in well_names]
         res_volumes = []
 
         # 如果 liquid_names 和 volumes 都为空，直接返回
@@ -706,6 +717,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             well.set_liquids([(liquid_name, volume)])  # type: ignore
             res_volumes.append(volume)
 
+        task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": wells})
+        submit_time = time.time()
+        while not task.done():
+            if time.time() - submit_time > 10:
+                self._ros_node.lab_logger().info(f"set_liquid_from_plate {plate} 超时")
+                break
+            time.sleep(0.01)
+
         return SetLiquidFromPlateReturn(
             plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(),  # type: ignore
             wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(),  # type: ignore
@@ -1111,7 +1130,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
-    ):
+    ) -> TransferLiquidReturn:
         """Transfer liquid with automatic mode detection.
 
         Supports three transfer modes:
@@ -1251,6 +1270,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 "Supported modes: 1->N, N->1, or N->N."
             )
 
+        return TransferLiquidReturn(
+            sources=ResourceTreeSet.from_plr_resources(list(sources), known_newly_created=False).dump(),  # type: ignore
+            targets=ResourceTreeSet.from_plr_resources(list(targets), known_newly_created=False).dump(),  # type: ignore
+        )
+
     async def _transfer_one_to_one(
         self,
         sources: Sequence[Container],

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -52,8 +52,10 @@ from unilabos.devices.liquid_handling.liquid_handler_abstract import (
     SimpleReturn,
     SetLiquidReturn,
     SetLiquidFromPlateReturn,
+    TransferLiquidReturn,
 )
 from unilabos.registry.placeholder_type import ResourceSlot
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -89,20 +91,103 @@ class PRCXI9300Deck(Deck):
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """
 
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
-        super().__init__(name, size_x, size_y, size_z)
-        self.slots = [None] * 16  # PRCXI 9300/9320 最大有 16 个槽位
-        self.slot_locations = [Coordinate(0, 0, 0)] * 16
+    # T1-T16 默认位置 (4列×4行)
+    _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
+        (0, 192, 0), (138, 192, 0), (276, 192, 0), (414, 192, 0), # T9-T12
+        (0, 288, 0), (138, 288, 0), (276, 288, 0), (414, 288, 0), # T13-T16
+    ]
+    _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86, "depth": 0}
+    _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "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: List[Dict[str, Any]] = [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}",
+                    "visible": True,
+                    "position": {"x": x, "y": y, "z": z},
+                    "size": dict(self._DEFAULT_SITE_SIZE),
+                    "content_type": list(self._DEFAULT_CONTENT_TYPE),
+                })
+        # _ordering: label -> None, 用于外部通过 list(keys()).index(site) 将 Tn 转换为 spot index
+        self._ordering = collections.OrderedDict(
+            (site["label"], None) for site in self.sites
+        )
+
+    def _get_site_location(self, idx: int) -> Coordinate:
+        pos = self.sites[idx]["position"]
+        return Coordinate(pos["x"], pos["y"], pos["z"])
+
+    def _get_site_resource(self, idx: int) -> Optional[Resource]:
+        site_loc = self._get_site_location(idx)
+        for child in self.children:
+            if child.location == site_loc:
+                return child
+        return None
+
+    def assign_child_resource(
+        self,
+        resource: Resource,
+        location: Optional[Coordinate] = None,
+        reassign: bool = True,
+        spot: Optional[int] = None,
+    ):
+        idx = spot
+        if spot is not None:
+            idx = spot
+        else:
+            for i, site in enumerate(self.sites):
+                site_loc = self._get_site_location(i)
+                if site.get("label") == resource.name:
+                    idx = i
+                    break
+                if location is not None and site_loc == location:
+                    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 on deck '{self.name}' for resource '{resource.name}'")
+
+        if not reassign and self._get_site_resource(idx) is not None:
+            raise ValueError(f"Site {idx} ('{self.sites[idx]['label']}') is already occupied")
+
+        loc = self._get_site_location(idx)
+        super().assign_child_resource(resource, location=loc, reassign=reassign)
 
     def assign_child_at_slot(self, resource: Resource, slot: int, reassign: bool = False) -> None:
-        if self.slots[slot - 1] is not None and not reassign:
-            raise ValueError(f"Spot {slot} is already occupied")
+        self.assign_child_resource(resource, spot=slot - 1, reassign=reassign)
 
-        self.slots[slot - 1] = resource
-        super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
+    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 is not None else None,
+                "position": site["position"],
+                "size": site["size"],
+                "content_type": site["content_type"],
+            })
+        data["sites"] = sites_out
+        return data
 
 
-class PRCXI9300Container(Plate):
+class PRCXI9300Container(Container):
     """PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
 
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
@@ -115,11 +200,10 @@ class PRCXI9300Container(Plate):
         size_y: float,
         size_z: float,
         category: str,
-        ordering: collections.OrderedDict,
         model: Optional[str] = None,
         **kwargs,
     ):
-        super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
+        super().__init__(name, size_x, size_y, size_z, category=category, model=model)
         self._unilabos_state = {}
 
     def load_state(self, state: Dict[str, Any]) -> None:
@@ -154,25 +238,29 @@ class PRCXI9300Plate(Plate):
         **kwargs,
     ):
         # 如果 ordered_items 不为 None，直接使用
+        items = None
+        ordering_param = None
         if ordered_items is not None:
             items = ordered_items
         elif ordering is not None:
             # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
             # 如果是字符串，说明这是位置名称，需要让 Plate 自己创建 Well 对象
             # 我们只传递位置信息（键），不传递值，使用 ordering 参数
-            if ordering and isinstance(next(iter(ordering.values()), None), str):
-                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
-                # 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
-                items = None
-                # 使用 ordering 参数，只包含位置信息（键）
-                ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+            if ordering:
+                values = list(ordering.values())
+                value = values[0]
+                if isinstance(value, str):
+                    # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
+                    # 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
+                    items = None
+                    # 使用 ordering 参数，只包含位置信息（键）
+                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+                elif value is None:
+                    ordering_param = ordering
             else:
                 # ordering 的值已经是对象，可以直接使用
                 items = ordering
                 ordering_param = None
-        else:
-            items = None
-            ordering_param = None
 
         # 根据情况传递不同的参数
         if items is not None:
@@ -243,14 +331,15 @@ class PRCXI9300TipRack(TipRack):
         if ordered_items is not None:
             items = ordered_items
         elif ordering is not None:
-            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
-            # 如果是字符串，说明这是位置名称，需要让 TipRack 自己创建 Tip 对象
-            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
-            if ordering and isinstance(next(iter(ordering.values()), None), str):
-                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
+            # 检查 ordering 中的值类型来决定如何处理：
+            # - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
+            # - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
+            # - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
+            first_val = next(iter(ordering.values()), None) if ordering else None
+            if not ordering or first_val is None or isinstance(first_val, str):
+                # ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
                 # 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象
                 items = None
-                # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
                 # ordering 的值已经是对象，可以直接使用
@@ -392,14 +481,15 @@ class PRCXI9300TubeRack(TubeRack):
             items_to_pass = ordered_items
             ordering_param = None
         elif ordering is not None:
-            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
-            # 如果是字符串，说明这是位置名称，需要让 TubeRack 自己创建 Tube 对象
-            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
-            if ordering and isinstance(next(iter(ordering.values()), None), str):
-                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
+            # 检查 ordering 中的值类型来决定如何处理：
+            # - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
+            # - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
+            # - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
+            first_val = next(iter(ordering.values()), None) if ordering else None
+            if not ordering or first_val is None or isinstance(first_val, str):
+                # ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
                 # 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象
                 items_to_pass = None
-                # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
                 # ordering 的值已经是对象，可以直接使用
@@ -544,7 +634,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
 
     def __init__(
         self,
-        deck: Deck,
+        deck: PRCXI9300Deck,
         host: str,
         port: int,
         timeout: float,
@@ -558,16 +648,16 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         is_9320=False,
     ):
         tablets_info = []
-        count = 0
-        for child in deck.children:
-            if child.children:
-                if "Material" in child.children[0]._unilabos_state:
-                    number = int(child.name.replace("T", ""))
-                    tablets_info.append(
-                        WorkTablets(
-                            Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"]
-                        )
+        for site_id in range(len(deck.sites)):
+            child = deck._get_site_resource(site_id)
+            # 如果放其他类型的物料，是不可以的
+            if hasattr(child, "_unilabos_state") and "Material" in child._unilabos_state:
+                number = site_id + 1
+                tablets_info.append(
+                    WorkTablets(
+                        Number=number, Code=f"T{number}", Material=child._unilabos_state["Material"]
                     )
+                )
         if is_9320:
             print("当前设备是9320")
         # 始终初始化 step_mode 属性
@@ -713,7 +803,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
-    ):
+    ) -> TransferLiquidReturn:
         return await super().transfer_liquid(
             sources,
             targets,

unilabos/devices/ros_dev/liquid_handler_joint_publisher.py

@@ -19,10 +19,11 @@ from rclpy.node import Node
 import re
 
 class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
-    def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", **kwargs):
+    def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", registry_name: str = "lh_joint_publisher", **kwargs):
         super().__init__(
             driver_instance=self,
             device_id=device_id,
+            registry_name=registry_name,
             status_types={},
             action_value_mappings={},
             hardware_interface={},

unilabos/devices/virtual/virtual_sample_demo.py

@@ -0,0 +1,88 @@
+"""虚拟样品演示设备 — 用于前端 sample tracking 功能的极简 demo"""
+
+import asyncio
+import logging
+import random
+import time
+from typing import Any, Dict, List, Optional
+
+
+class VirtualSampleDemo:
+    """虚拟样品追踪演示设备，提供两种典型返回模式：
+    - measure_samples: 等长输入输出 (前端按 index 自动对齐)
+    - split_and_measure: 输出比输入长，附带 samples 列标注归属
+    """
+
+    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
+        if device_id is None and "id" in kwargs:
+            device_id = kwargs.pop("id")
+        if config is None and "config" in kwargs:
+            config = kwargs.pop("config")
+
+        self.device_id = device_id or "unknown_sample_demo"
+        self.config = config or {}
+        self.logger = logging.getLogger(f"VirtualSampleDemo.{self.device_id}")
+        self.data: Dict[str, Any] = {"status": "Idle"}
+
+    # ------------------------------------------------------------------
+    # Action 1: 等长输入输出，无 samples 列
+    # ------------------------------------------------------------------
+    async def measure_samples(self, concentrations: List[float]) -> Dict[str, Any]:
+        """模拟光度测量。absorbance = concentration * 0.05 + noise
+
+        入参和出参 list 长度相等，前端按 index 自动对齐。
+        """
+        self.logger.info(f"measure_samples: concentrations={concentrations}")
+        absorbance = [round(c * 0.05 + random.gauss(0, 0.005), 4) for c in concentrations]
+        return {"concentrations": concentrations, "absorbance": absorbance}
+
+    # ------------------------------------------------------------------
+    # Action 2: 输出比输入长，带 samples 列
+    # ------------------------------------------------------------------
+    async def split_and_measure(self, volumes: List[float], split_count: int = 3) -> Dict[str, Any]:
+        """将每个样品均分为 split_count 份后逐份测量。
+
+        返回的 list 长度 = len(volumes) * split_count，
+        附带 samples 列标注每行属于第几个输入样品 (0-based index)。
+        """
+        self.logger.info(f"split_and_measure: volumes={volumes}, split_count={split_count}")
+        out_volumes: List[float] = []
+        readings: List[float] = []
+        samples: List[int] = []
+
+        for idx, vol in enumerate(volumes):
+            split_vol = round(vol / split_count, 2)
+            for _ in range(split_count):
+                out_volumes.append(split_vol)
+                readings.append(round(random.uniform(0.1, 1.0), 4))
+                samples.append(idx)
+
+        return {"volumes": out_volumes, "readings": readings, "samples": samples}
+
+    # ------------------------------------------------------------------
+    # Action 3: 入参和出参都带 samples 列（不等长）
+    # ------------------------------------------------------------------
+    async def analyze_readings(self, readings: List[float], samples: List[int]) -> Dict[str, Any]:
+        """对 split_and_measure 的输出做二次分析。
+
+        入参 readings/samples 长度相同但 > 原始样品数，
+        出参同样带 samples 列，长度与入参一致。
+        """
+        self.logger.info(f"analyze_readings: readings={readings}, samples={samples}")
+        scores: List[float] = []
+        passed: List[bool] = []
+        threshold = 0.4
+
+        for r in readings:
+            score = round(r * 100 + random.gauss(0, 2), 2)
+            scores.append(score)
+            passed.append(r >= threshold)
+
+        return {"scores": scores, "passed": passed, "samples": samples}
+
+    # ------------------------------------------------------------------
+    # 状态属性
+    # ------------------------------------------------------------------
+    @property
+    def status(self) -> str:
+        return self.data.get("status", "Idle")

unilabos/devices/virtual/virtual_transferpump.py

@@ -15,35 +15,35 @@ class VirtualPumpMode(Enum):
 
 class VirtualTransferPump:
     """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
-    
+
     _ros_node: BaseROS2DeviceNode
-    
+
     def __init__(self, device_id: str = None, config: dict = None, **kwargs):
         """
         初始化虚拟转移泵
-        
+
         Args:
             device_id: 设备ID
             config: 配置字典，包含max_volume, port等参数
             **kwargs: 其他参数，确保兼容性
         """
         self.device_id = device_id or "virtual_transfer_pump"
-        
+
         # 从config或kwargs中获取参数，确保类型正确
         if config:
-            self.max_volume = float(config.get('max_volume', 25.0))
-            self.port = config.get('port', 'VIRTUAL')
+            self.max_volume = float(config.get("max_volume", 25.0))
+            self.port = config.get("port", "VIRTUAL")
         else:
-            self.max_volume = float(kwargs.get('max_volume', 25.0))
-            self.port = kwargs.get('port', 'VIRTUAL')
-        
-        self._transfer_rate = float(kwargs.get('transfer_rate', 0))
-        self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
-        
+            self.max_volume = float(kwargs.get("max_volume", 25.0))
+            self.port = kwargs.get("port", "VIRTUAL")
+
+        self._transfer_rate = float(kwargs.get("transfer_rate", 0))
+        self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
+
         # 状态变量 - 确保都是正确类型
         self._status = "Idle"
         self._position = 0.0  # float
-        self._max_velocity = 5.0  # float 
+        self._max_velocity = 5.0  # float
         self._current_volume = 0.0  # float
 
         # 🚀 新增：快速模式设置 - 大幅缩短执行时间
@@ -52,14 +52,16 @@ class VirtualTransferPump:
         self._fast_dispense_time = 1.0  # 快速喷射时间（秒）
 
         self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
-        
+
         print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
-        print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
+        print(
+            f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s"
+        )
         print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
-    
+
     def post_init(self, ros_node: BaseROS2DeviceNode):
         self._ros_node = ros_node
-    
+
     async def initialize(self) -> bool:
         """初始化虚拟泵 🚀"""
         self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -68,33 +70,33 @@ class VirtualTransferPump:
         self._current_volume = 0.0
         self.logger.info(f"✅ 转移泵 {self.device_id} 初始化完成 🚰")
         return True
-    
+
     async def cleanup(self) -> bool:
         """清理虚拟泵 🧹"""
         self.logger.info(f"🧹 清理虚拟转移泵 {self.device_id} 🔚")
         self._status = "Idle"
         self.logger.info(f"✅ 转移泵 {self.device_id} 清理完成 💤")
         return True
-    
+
     # 基本属性
     @property
     def status(self) -> str:
         return self._status
-    
+
     @property
     def position(self) -> float:
         """当前柱塞位置 (ml) 📍"""
         return self._position
-    
+
     @property
     def current_volume(self) -> float:
         """当前注射器中的体积 (ml) 💧"""
         return self._current_volume
-    
+
     @property
     def max_velocity(self) -> float:
         return self._max_velocity
-    
+
     @property
     def transfer_rate(self) -> float:
         return self._transfer_rate
@@ -103,17 +105,17 @@ class VirtualTransferPump:
         """设置最大速度 (ml/s) 🌊"""
         self._max_velocity = max(0.1, min(50.0, velocity))  # 限制在合理范围内
         self.logger.info(f"🌊 设置最大速度为 {self._max_velocity} mL/s")
-    
+
     def get_status(self) -> str:
         """获取泵状态 📋"""
         return self._status
-    
+
     async def _simulate_operation(self, duration: float):
         """模拟操作延时 ⏱️"""
         self._status = "Busy"
         await self._ros_node.sleep(duration)
         self._status = "Idle"
-    
+
     def _calculate_duration(self, volume: float, velocity: float = None) -> float:
         """
         计算操作持续时间 ⏰
@@ -121,10 +123,10 @@ class VirtualTransferPump:
         """
         if velocity is None:
             velocity = self._max_velocity
-        
+
         # 📊 计算理论时间（用于日志显示）
         theoretical_duration = abs(volume) / velocity
-        
+
         # 🚀 如果启用快速模式，使用固定的快速时间
         if self._fast_mode:
             # 根据操作类型选择快速时间
@@ -132,13 +134,13 @@ class VirtualTransferPump:
                 actual_duration = self._fast_move_time
             else:  # 很小的操作
                 actual_duration = 0.5
-            
+
             self.logger.debug(f"⚡ 快速模式: 理论时间 {theoretical_duration:.2f}s → 实际时间 {actual_duration:.2f}s")
             return actual_duration
         else:
             # 正常模式使用理论时间
             return theoretical_duration
-    
+
     def _calculate_display_duration(self, volume: float, velocity: float = None) -> float:
         """
         计算显示用的持续时间（用于日志） 📊
@@ -147,16 +149,16 @@ class VirtualTransferPump:
         if velocity is None:
             velocity = self._max_velocity
         return abs(volume) / velocity
-    
+
     # 新的set_position方法 - 专门用于SetPumpPosition动作
     async def set_position(self, position: float, max_velocity: float = None):
         """
         移动到绝对位置 - 专门用于SetPumpPosition动作 🎯
-        
+
         Args:
             position (float): 目标位置 (ml)
             max_velocity (float): 移动速度 (ml/s)
-        
+
         Returns:
             dict: 符合SetPumpPosition.action定义的结果
         """
@@ -164,19 +166,19 @@ class VirtualTransferPump:
             # 验证并转换参数
             target_position = float(position)
             velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
-            
+
             # 限制位置在有效范围内
             target_position = max(0.0, min(float(self.max_volume), target_position))
-            
+
             # 计算移动距离
             volume_to_move = abs(target_position - self._position)
-            
+
             # 📊 计算显示用的时间（用于日志）
             display_duration = self._calculate_display_duration(volume_to_move, velocity)
-            
+
             # ⚡ 计算实际执行时间（快速模式）
             actual_duration = self._calculate_duration(volume_to_move, velocity)
-            
+
             # 🎯 确定操作类型和emoji
             if target_position > self._position:
                 operation_type = "吸液"
@@ -187,28 +189,34 @@ class VirtualTransferPump:
             else:
                 operation_type = "保持"
                 operation_emoji = "📍"
-            
+
             self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
-            self.logger.info(f"  📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
+            self.logger.info(
+                f"  📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)"
+            )
             self.logger.info(f"  🌊 速度: {velocity:.2f} mL/s")
             self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-            
+
             if self._fast_mode:
                 self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-            
+
             # 🚀 模拟移动过程
             if volume_to_move > 0.01:  # 只有当移动距离足够大时才显示进度
                 start_position = self._position
                 steps = 5 if actual_duration > 0.5 else 2  # 根据实际时间调整步数
                 step_duration = actual_duration / steps
-                
+
                 self.logger.info(f"🚀 开始{operation_type}... {operation_emoji}")
-                
+
                 for i in range(steps + 1):
                     # 计算当前位置和进度
                     progress = (i / steps) * 100 if steps > 0 else 100
-                    current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
-                    
+                    current_pos = (
+                        start_position + (target_position - start_position) * (i / steps)
+                        if steps > 0
+                        else target_position
+                    )
+
                     # 更新状态
                     if i < steps:
                         self._status = f"{operation_type}中"
@@ -216,10 +224,10 @@ class VirtualTransferPump:
                     else:
                         self._status = "Idle"
                         status_emoji = "✅"
-                    
+
                     self._position = current_pos
                     self._current_volume = current_pos
-                    
+
                     # 显示进度（每25%或最后一步）
                     if i == 0:
                         self.logger.debug(f"  🔄 {operation_type}开始: {progress:.0f}%")
@@ -227,7 +235,7 @@ class VirtualTransferPump:
                         self.logger.debug(f"  🔄 {operation_type}进度: {progress:.0f}%")
                     elif i == steps:
                         self.logger.info(f"  ✅ {operation_type}完成: {progress:.0f}% | 当前位置: {current_pos:.2f}mL")
-                    
+
                     # 等待一小步时间
                     if i < steps and step_duration > 0:
                         await self._ros_node.sleep(step_duration)
@@ -236,25 +244,27 @@ class VirtualTransferPump:
                 self._position = target_position
                 self._current_volume = target_position
                 self.logger.info(f"  📍 微调完成: {target_position:.2f}mL")
-        
+
             # 确保最终位置准确
             self._position = target_position
             self._current_volume = target_position
             self._status = "Idle"
-            
+
             # 📊 最终状态日志
             if volume_to_move > 0.01:
-                self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
-            
+                self.logger.info(
+                    f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL"
+                )
+
             # 返回符合action定义的结果
             return {
                 "success": True,
                 "message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
                 "final_position": self._position,
                 "final_volume": self._current_volume,
-                "operation_type": operation_type
+                "operation_type": operation_type,
             }
-            
+
         except Exception as e:
             error_msg = f"❌ 设置位置失败: {str(e)}"
             self.logger.error(error_msg)
@@ -262,134 +272,136 @@ class VirtualTransferPump:
                 "success": False,
                 "message": error_msg,
                 "final_position": self._position,
-                "final_volume": self._current_volume
+                "final_volume": self._current_volume,
             }
-    
+
     # 其他泵操作方法
     async def pull_plunger(self, volume: float, velocity: float = None):
         """
         拉取柱塞（吸液） 📥
-        
+
         Args:
             volume (float): 要拉取的体积 (ml)
             velocity (float): 拉取速度 (ml/s)
         """
         new_position = min(self.max_volume, self._position + volume)
         actual_volume = new_position - self._position
-        
+
         if actual_volume <= 0:
             self.logger.warning("⚠️ 无法吸液 - 已达到最大容量")
             return
-        
+
         display_duration = self._calculate_display_duration(actual_volume, velocity)
         actual_duration = self._calculate_duration(actual_volume, velocity)
-        
+
         self.logger.info(f"📥 开始吸液: {actual_volume:.2f}mL")
         self.logger.info(f"  📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
         self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-        
+
         if self._fast_mode:
             self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-        
+
         await self._simulate_operation(actual_duration)
-        
+
         self._position = new_position
         self._current_volume = new_position
-        
+
         self.logger.info(f"✅ 吸液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
 
     async def push_plunger(self, volume: float, velocity: float = None):
         """
         推出柱塞（排液） 📤
-        
+
         Args:
             volume (float): 要推出的体积 (ml)
             velocity (float): 推出速度 (ml/s)
         """
         new_position = max(0, self._position - volume)
         actual_volume = self._position - new_position
-        
+
         if actual_volume <= 0:
             self.logger.warning("⚠️ 无法排液 - 已达到最小容量")
             return
-        
+
         display_duration = self._calculate_display_duration(actual_volume, velocity)
         actual_duration = self._calculate_duration(actual_volume, velocity)
-        
+
         self.logger.info(f"📤 开始排液: {actual_volume:.2f}mL")
         self.logger.info(f"  📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
         self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-        
+
         if self._fast_mode:
             self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-        
+
         await self._simulate_operation(actual_duration)
-        
+
         self._position = new_position
         self._current_volume = new_position
-        
+
         self.logger.info(f"✅ 排液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
 
     # 便捷操作方法
     async def aspirate(self, volume: float, velocity: float = None):
         """吸液操作 📥"""
         await self.pull_plunger(volume, velocity)
-    
+
     async def dispense(self, volume: float, velocity: float = None):
         """排液操作 📤"""
         await self.push_plunger(volume, velocity)
-    
+
     async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
         """转移操作（先吸后排） 🔄"""
         self.logger.info(f"🔄 开始转移操作: {volume:.2f}mL")
-        
+
         # 吸液
         await self.aspirate(volume, aspirate_velocity)
-        
+
         # 短暂停顿
         self.logger.debug("⏸️ 短暂停顿...")
         await self._ros_node.sleep(0.1)
-        
+
         # 排液
         await self.dispense(volume, dispense_velocity)
-    
+
     async def empty_syringe(self, velocity: float = None):
         """清空注射器"""
         await self.set_position(0, velocity)
-    
+
     async def fill_syringe(self, velocity: float = None):
         """充满注射器"""
         await self.set_position(self.max_volume, velocity)
-    
+
     async def stop_operation(self):
         """停止当前操作"""
         self._status = "Idle"
         self.logger.info("Operation stopped")
-    
+
     # 状态查询方法
     def get_position(self) -> float:
         """获取当前位置"""
         return self._position
-    
+
     def get_current_volume(self) -> float:
         """获取当前体积"""
         return self._current_volume
-    
+
     def get_remaining_capacity(self) -> float:
         """获取剩余容量"""
         return self.max_volume - self._current_volume
-    
+
     def is_empty(self) -> bool:
         """检查是否为空"""
         return self._current_volume <= 0.01  # 允许小量误差
-    
+
     def is_full(self) -> bool:
         """检查是否已满"""
         return self._current_volume >= (self.max_volume - 0.01)  # 允许小量误差
-    
+
     def __str__(self):
-        return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
-    
+        return (
+            f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
+        )
+
     def __repr__(self):
         return self.__str__()
 
@@ -398,20 +410,20 @@ class VirtualTransferPump:
 async def demo():
     """虚拟泵使用示例"""
     pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
-    
+
     await pump.initialize()
-    
+
     print(f"Initial state: {pump}")
-    
+
     # 测试set_position方法
     result = await pump.set_position(10.0, max_velocity=2.0)
     print(f"Set position result: {result}")
     print(f"After setting position to 10ml: {pump}")
-    
+
     # 吸液测试
     await pump.aspirate(5.0, velocity=2.0)
     print(f"After aspirating 5ml: {pump}")
-    
+
     # 清空测试
     result = await pump.set_position(0.0)
     print(f"Empty result: {result}")

unilabos/devices/virtual/workbench.py

@@ -1,58 +1,72 @@
 """
 Virtual Workbench Device - 模拟工作台设备
-包含：
+包含:
 - 1个机械臂 (每次操作3s, 独占锁)
 - 3个加热台 (每次加热10s, 可并行)
 
-工作流程：
-1. A1-A5 物料同时启动，竞争机械臂
+工作流程:
+1. A1-A5 物料同时启动, 竞争机械臂
 2. 机械臂将物料移动到空闲加热台
-3. 加热完成后，机械臂将物料移动到C1-C5
+3. 加热完成后, 机械臂将物料移动到C1-C5
 
-注意：调用来自线程池，使用 threading.Lock 进行同步
+注意: 调用来自线程池, 使用 threading.Lock 进行同步
 """
+
 import logging
 import time
-from typing import Dict, Any, Optional
+from typing import Dict, Any, Optional, List
 from dataclasses import dataclass
 from enum import Enum
 from threading import Lock, RLock
 
 from typing_extensions import TypedDict
 
+from unilabos.registry.decorators import (
+    device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
+)
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.utils.decorator import not_action
+from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
 
 
 # ============ TypedDict 返回类型定义 ============
 
+
 class MoveToHeatingStationResult(TypedDict):
     """move_to_heating_station 返回类型"""
+
     success: bool
     station_id: int
     material_id: str
     material_number: int
     message: str
+    unilabos_samples: List[LabSample]
 
 
 class StartHeatingResult(TypedDict):
     """start_heating 返回类型"""
+
     success: bool
     station_id: int
     material_id: str
     material_number: int
     message: str
+    unilabos_samples: List[LabSample]
 
 
 class MoveToOutputResult(TypedDict):
     """move_to_output 返回类型"""
+
     success: bool
     station_id: int
     material_id: str
+    output_position: str
+    message: str
+    unilabos_samples: List[LabSample]
 
 
 class PrepareMaterialsResult(TypedDict):
     """prepare_materials 返回类型 - 批量准备物料"""
+
     success: bool
     count: int
     material_1: int  # 物料编号1
@@ -61,20 +75,24 @@ class PrepareMaterialsResult(TypedDict):
     material_4: int  # 物料编号4
     material_5: int  # 物料编号5
     message: str
+    unilabos_samples: List[LabSample]
 
 
 # ============ 状态枚举 ============
 
+
 class HeatingStationState(Enum):
     """加热台状态枚举"""
+
     IDLE = "idle"  # 空闲
-    OCCUPIED = "occupied"  # 已放置物料，等待加热
+    OCCUPIED = "occupied"  # 已放置物料, 等待加热
     HEATING = "heating"  # 加热中
-    COMPLETED = "completed"  # 加热完成，等待取走
+    COMPLETED = "completed"  # 加热完成, 等待取走
 
 
 class ArmState(Enum):
     """机械臂状态枚举"""
+
     IDLE = "idle"  # 空闲
     BUSY = "busy"  # 工作中
 
@@ -82,6 +100,7 @@ class ArmState(Enum):
 @dataclass
 class HeatingStation:
     """加热台数据结构"""
+
     station_id: int
     state: HeatingStationState = HeatingStationState.IDLE
     current_material: Optional[str] = None  # 当前物料 (如 "A1", "A2")
@@ -90,26 +109,31 @@ class HeatingStation:
     heating_progress: float = 0.0
 
 
+@device(
+    id="virtual_workbench",
+    category=["virtual_device"],
+    description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
+)
 class VirtualWorkbench:
     """
     Virtual Workbench Device - 虚拟工作台设备
 
     模拟一个包含1个机械臂和3个加热台的工作站
-    - 机械臂操作耗时3秒，同一时间只能执行一个操作
-    - 加热台加热耗时10秒，3个加热台可并行工作
+    - 机械臂操作耗时3秒, 同一时间只能执行一个操作
+    - 加热台加热耗时10秒, 3个加热台可并行工作
 
     工作流:
-    1. 物料A1-A5并发启动（线程池），竞争机械臂使用权
-    2. 获取机械臂后，查找空闲加热台
-    3. 机械臂将物料放入加热台，开始加热
-    4. 加热完成后，机械臂将物料移动到目标位置Cn
+    1. 物料A1-A5并发启动(线程池), 竞争机械臂使用权
+    2. 获取机械臂后, 查找空闲加热台
+    3. 机械臂将物料放入加热台, 开始加热
+    4. 加热完成后, 机械臂将物料移动到目标位置Cn
     """
 
     _ros_node: BaseROS2DeviceNode
 
     # 配置常量
-    ARM_OPERATION_TIME: float = 3.0  # 机械臂操作时间(秒)
-    HEATING_TIME: float = 10.0  # 加热时间(秒)
+    ARM_OPERATION_TIME: float = 2  # 机械臂操作时间(秒)
+    HEATING_TIME: float = 60.0  # 加热时间(秒)
     NUM_HEATING_STATIONS: int = 3  # 加热台数量
 
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
@@ -126,24 +150,23 @@ class VirtualWorkbench:
         self.data: Dict[str, Any] = {}
 
         # 从config中获取可配置参数
-        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", 3.0))
-        self.HEATING_TIME = float(self.config.get("heating_time", 10.0))
-        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", 3))
+        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
+        self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
+        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
 
-        # 机械臂状态和锁 (使用threading.Lock)
+        # 机械臂状态和锁
         self._arm_lock = Lock()
         self._arm_state = ArmState.IDLE
         self._arm_current_task: Optional[str] = None
 
-        # 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
+        # 加热台状态
         self._heating_stations: Dict[int, HeatingStation] = {
-            i: HeatingStation(station_id=i)
-            for i in range(1, self.NUM_HEATING_STATIONS + 1)
+            i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
         }
-        self._stations_lock = RLock()  # 可重入锁，保护加热台状态
+        self._stations_lock = RLock()
 
         # 任务追踪
-        self._active_tasks: Dict[str, Dict[str, Any]] = {}  # material_id -> task_info
+        self._active_tasks: Dict[str, Dict[str, Any]] = {}
         self._tasks_lock = Lock()
 
         # 处理其他kwargs参数
@@ -169,7 +192,6 @@ class VirtualWorkbench:
         """初始化虚拟工作台"""
         self.logger.info(f"初始化虚拟工作台 {self.device_id}")
 
-        # 重置加热台状态 (已在__init__中创建，这里重置为初始状态)
         with self._stations_lock:
             for station in self._heating_stations.values():
                 station.state = HeatingStationState.IDLE
@@ -177,15 +199,16 @@ class VirtualWorkbench:
                 station.material_number = None
                 station.heating_progress = 0.0
 
-        # 初始化状态
-        self.data.update({
-            "status": "Ready",
-            "arm_state": ArmState.IDLE.value,
-            "arm_current_task": None,
-            "heating_stations": self._get_stations_status(),
-            "active_tasks_count": 0,
-            "message": "工作台就绪",
-        })
+        self.data.update(
+            {
+                "status": "Ready",
+                "arm_state": ArmState.IDLE.value,
+                "arm_current_task": None,
+                "heating_stations": self._get_stations_status(),
+                "active_tasks_count": 0,
+                "message": "工作台就绪",
+            }
+        )
 
         self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
         return True
@@ -204,12 +227,14 @@ class VirtualWorkbench:
         with self._tasks_lock:
             self._active_tasks.clear()
 
-        self.data.update({
-            "status": "Offline",
-            "arm_state": ArmState.IDLE.value,
-            "heating_stations": {},
-            "message": "工作台已关闭",
-        })
+        self.data.update(
+            {
+                "status": "Offline",
+                "arm_state": ArmState.IDLE.value,
+                "heating_stations": {},
+                "message": "工作台已关闭",
+            }
+        )
         return True
 
     def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
@@ -227,21 +252,19 @@ class VirtualWorkbench:
 
     def _update_data_status(self, message: Optional[str] = None):
         """更新状态数据"""
-        self.data.update({
-            "arm_state": self._arm_state.value,
-            "arm_current_task": self._arm_current_task,
-            "heating_stations": self._get_stations_status(),
-            "active_tasks_count": len(self._active_tasks),
-        })
+        self.data.update(
+            {
+                "arm_state": self._arm_state.value,
+                "arm_current_task": self._arm_current_task,
+                "heating_stations": self._get_stations_status(),
+                "active_tasks_count": len(self._active_tasks),
+            }
+        )
         if message:
             self.data["message"] = message
 
     def _find_available_heating_station(self) -> Optional[int]:
-        """查找空闲的加热台
-
-        Returns:
-            空闲加热台ID，如果没有则返回None
-        """
+        """查找空闲的加热台"""
         with self._stations_lock:
             for station_id, station in self._heating_stations.items():
                 if station.state == HeatingStationState.IDLE:
@@ -249,23 +272,12 @@ class VirtualWorkbench:
         return None
 
     def _acquire_arm(self, task_description: str) -> bool:
-        """获取机械臂使用权（阻塞直到获取）
-
-        Args:
-            task_description: 任务描述，用于日志
-
-        Returns:
-            是否成功获取
-        """
+        """获取机械臂使用权(阻塞直到获取)"""
         self.logger.info(f"[{task_description}] 等待获取机械臂...")
-
-        # 阻塞等待获取锁
         self._arm_lock.acquire()
-
         self._arm_state = ArmState.BUSY
         self._arm_current_task = task_description
         self._update_data_status(f"机械臂执行: {task_description}")
-
         self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
         return True
 
@@ -278,28 +290,37 @@ class VirtualWorkbench:
         self._update_data_status(f"机械臂已释放 (完成: {task})")
         self.logger.info(f"机械臂已释放 (完成: {task})")
 
+    @action(
+        auto_prefix=True,
+        description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
+        handles=[
+            ActionOutputHandle(key="channel_1", data_type="workbench_material",
+                         label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_2", data_type="workbench_material",
+                         label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_3", data_type="workbench_material",
+                         label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_4", data_type="workbench_material",
+                         label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_5", data_type="workbench_material",
+                         label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
+        ],
+    )
     def prepare_materials(
         self,
+        sample_uuids: SampleUUIDsType,
         count: int = 5,
     ) -> PrepareMaterialsResult:
         """
         批量准备物料 - 虚拟起始节点
 
-        作为工作流的起始节点，生成指定数量的物料编号供后续节点使用。
-        输出5个handle (material_1 ~ material_5)，分别对应实验1~5。
-
-        Args:
-            count: 待生成的物料数量，默认5 (生成 A1-A5)
-
-        Returns:
-            PrepareMaterialsResult: 包含 material_1 ~ material_5 用于传递给 move_to_heating_station
+        作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
+        输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
         """
-        # 生成物料列表 A1 - A{count}
         materials = [i for i in range(1, count + 1)]
 
         self.logger.info(
-            f"[准备物料] 生成 {count} 个物料: "
-            f"A1-A{count} -> material_1~material_{count}"
+            f"[准备物料] 生成 {count} 个物料: A1-A{count} -> material_1~material_{count}"
         )
 
         return {
@@ -311,29 +332,42 @@ class VirtualWorkbench:
             "material_4": materials[3] if len(materials) > 3 else 0,
             "material_5": materials[4] if len(materials) > 4 else 0,
             "message": f"已准备 {count} 个物料: A1-A{count}",
+            "unilabos_samples": [
+                LabSample(
+                    sample_uuid=sample_uuid,
+                    oss_path="",
+                    extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
+                )
+                for sample_uuid, content in sample_uuids.items()
+            ],
         }
 
+    @action(
+        auto_prefix=True,
+        description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
+        handles=[
+            ActionInputHandle(key="material_input", data_type="workbench_material",
+                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
+            ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
+                         label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="material_number_output", data_type="workbench_material",
+                         label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
+        ],
+    )
     def move_to_heating_station(
         self,
+        sample_uuids: SampleUUIDsType,
         material_number: int,
     ) -> MoveToHeatingStationResult:
         """
         将物料从An位置移动到加热台
 
-        多线程并发调用时，会竞争机械臂使用权，并自动查找空闲加热台
-
-        Args:
-            material_number: 物料编号 (1-5)
-
-        Returns:
-            MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
+        多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
         """
-        # 根据物料编号生成物料ID
         material_id = f"A{material_number}"
         task_desc = f"移动{material_id}到加热台"
         self.logger.info(f"[任务] {task_desc} - 开始执行")
 
-        # 记录任务
         with self._tasks_lock:
             self._active_tasks[material_id] = {
                 "status": "waiting_for_arm",
@@ -341,33 +375,27 @@ class VirtualWorkbench:
             }
 
         try:
-            # 步骤1: 等待获取机械臂使用权(竞争)
             with self._tasks_lock:
                 self._active_tasks[material_id]["status"] = "waiting_for_arm"
             self._acquire_arm(task_desc)
 
-            # 步骤2: 查找空闲加热台
             with self._tasks_lock:
                 self._active_tasks[material_id]["status"] = "finding_station"
             station_id = None
 
-            # 循环等待直到找到空闲加热台
             while station_id is None:
                 station_id = self._find_available_heating_station()
                 if station_id is None:
-                    self.logger.info(f"[{material_id}] 没有空闲加热台，等待中...")
-                    # 释放机械臂，等待后重试
+                    self.logger.info(f"[{material_id}] 没有空闲加热台, 等待中...")
                     self._release_arm()
                     time.sleep(0.5)
                     self._acquire_arm(task_desc)
 
-            # 步骤3: 占用加热台 - 立即标记为OCCUPIED，防止其他任务选择同一加热台
             with self._stations_lock:
                 self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
                 self._heating_stations[station_id].current_material = material_id
                 self._heating_stations[station_id].material_number = material_number
 
-            # 步骤4: 模拟机械臂移动操作 (3秒)
             with self._tasks_lock:
                 self._active_tasks[material_id]["status"] = "arm_moving"
                 self._active_tasks[material_id]["assigned_station"] = station_id
@@ -375,11 +403,11 @@ class VirtualWorkbench:
 
             time.sleep(self.ARM_OPERATION_TIME)
 
-            # 步骤5: 放入加热台完成
             self._update_data_status(f"{material_id}已放入加热台{station_id}")
-            self.logger.info(f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)")
+            self.logger.info(
+                f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)"
+            )
 
-            # 释放机械臂
             self._release_arm()
 
             with self._tasks_lock:
@@ -391,6 +419,17 @@ class VirtualWorkbench:
                 "material_id": material_id,
                 "material_number": material_number,
                 "message": f"{material_id}已成功移动到加热台{station_id}",
+                "unilabos_samples": [
+                    LabSample(
+                        sample_uuid=sample_uuid,
+                        oss_path="",
+                        extra=(
+                            {"material_uuid": content}
+                            if isinstance(content, str) else (content.serialize() if content else {})
+                        ),
+                    )
+                    for sample_uuid, content in sample_uuids.items()
+                ],
             }
 
         except Exception as e:
@@ -403,22 +442,42 @@ class VirtualWorkbench:
                 "material_id": material_id,
                 "material_number": material_number,
                 "message": f"移动失败: {str(e)}",
+                "unilabos_samples": [
+                    LabSample(
+                        sample_uuid=sample_uuid,
+                        oss_path="",
+                        extra=(
+                            {"material_uuid": content}
+                            if isinstance(content, str) else (content.serialize() if content else {})
+                        ),
+                    )
+                    for sample_uuid, content in sample_uuids.items()
+                ],
             }
 
+    @action(
+        auto_prefix=True,
+        always_free=True,
+        description="启动指定加热台的加热程序",
+        handles=[
+            ActionInputHandle(key="station_id_input", data_type="workbench_station",
+                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="material_number_input", data_type="workbench_material",
+                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
+            ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
+                         label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
+                         label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
+        ],
+    )
     def start_heating(
         self,
+        sample_uuids: SampleUUIDsType,
         station_id: int,
         material_number: int,
     ) -> StartHeatingResult:
         """
         启动指定加热台的加热程序
-
-        Args:
-            station_id: 加热台ID (1-3)，从 move_to_heating_station 的 handle 传入
-            material_number: 物料编号，从 move_to_heating_station 的 handle 传入
-
-        Returns:
-            StartHeatingResult: 包含 station_id, material_number 等用于传递给下一个节点
         """
         self.logger.info(f"[加热台{station_id}] 开始加热")
 
@@ -429,6 +488,17 @@ class VirtualWorkbench:
                 "material_id": "",
                 "material_number": material_number,
                 "message": f"无效的加热台ID: {station_id}",
+                "unilabos_samples": [
+                    LabSample(
+                        sample_uuid=sample_uuid,
+                        oss_path="",
+                        extra=(
+                            {"material_uuid": content}
+                            if isinstance(content, str) else (content.serialize() if content else {})
+                        ),
+                    )
+                    for sample_uuid, content in sample_uuids.items()
+                ],
             }
 
         with self._stations_lock:
@@ -441,6 +511,17 @@ class VirtualWorkbench:
                     "material_id": "",
                     "material_number": material_number,
                     "message": f"加热台{station_id}上没有物料",
+                    "unilabos_samples": [
+                        LabSample(
+                            sample_uuid=sample_uuid,
+                            oss_path="",
+                            extra=(
+                                {"material_uuid": content}
+                                if isinstance(content, str) else (content.serialize() if content else {})
+                            ),
+                        )
+                        for sample_uuid, content in sample_uuids.items()
+                    ],
                 }
 
             if station.state == HeatingStationState.HEATING:
@@ -450,11 +531,21 @@ class VirtualWorkbench:
                     "material_id": station.current_material,
                     "material_number": material_number,
                     "message": f"加热台{station_id}已经在加热中",
+                    "unilabos_samples": [
+                        LabSample(
+                            sample_uuid=sample_uuid,
+                            oss_path="",
+                            extra=(
+                                {"material_uuid": content}
+                                if isinstance(content, str) else (content.serialize() if content else {})
+                            ),
+                        )
+                        for sample_uuid, content in sample_uuids.items()
+                    ],
                 }
 
             material_id = station.current_material
 
-            # 开始加热
             station.state = HeatingStationState.HEATING
             station.heating_start_time = time.time()
             station.heating_progress = 0.0
@@ -465,10 +556,19 @@ class VirtualWorkbench:
 
         self._update_data_status(f"加热台{station_id}开始加热{material_id}")
 
-        # 模拟加热过程 (10秒)
+        with self._stations_lock:
+            heating_list = [
+                f"加热台{sid}:{s.current_material}"
+                for sid, s in self._heating_stations.items()
+                if s.state == HeatingStationState.HEATING and s.current_material
+            ]
+        self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
+
         start_time = time.time()
+        last_countdown_log = start_time
         while True:
             elapsed = time.time() - start_time
+            remaining = max(0.0, self.HEATING_TIME - elapsed)
             progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
 
             with self._stations_lock:
@@ -476,12 +576,15 @@ class VirtualWorkbench:
 
             self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
 
+            if time.time() - last_countdown_log >= 5.0:
+                self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
+                last_countdown_log = time.time()
+
             if elapsed >= self.HEATING_TIME:
                 break
 
             time.sleep(1.0)
 
-        # 加热完成
         with self._stations_lock:
             self._heating_stations[station_id].state = HeatingStationState.COMPLETED
             self._heating_stations[station_id].heating_progress = 100.0
@@ -499,24 +602,39 @@ class VirtualWorkbench:
             "material_id": material_id,
             "material_number": material_number,
             "message": f"加热台{station_id}加热完成",
+            "unilabos_samples": [
+                LabSample(
+                    sample_uuid=sample_uuid,
+                    oss_path="",
+                    extra=(
+                        {"material_uuid": content}
+                        if isinstance(content, str) else (content.serialize() if content else {})
+                    ),
+                )
+                for sample_uuid, content in sample_uuids.items()
+            ],
         }
 
+    @action(
+        auto_prefix=True,
+        description="将物料从加热台移动到输出位置Cn",
+        handles=[
+            ActionInputHandle(key="output_station_input", data_type="workbench_station",
+                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="output_material_input", data_type="workbench_material",
+                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
+        ],
+    )
     def move_to_output(
         self,
+        sample_uuids: SampleUUIDsType,
         station_id: int,
         material_number: int,
     ) -> MoveToOutputResult:
         """
         将物料从加热台移动到输出位置Cn
-
-        Args:
-            station_id: 加热台ID (1-3)，从 start_heating 的 handle 传入
-            material_number: 物料编号，从 start_heating 的 handle 传入，用于确定输出位置 Cn
-
-        Returns:
-            MoveToOutputResult: 包含执行结果
         """
-        output_number = material_number  # 物料编号决定输出位置
+        output_number = material_number
 
         if station_id not in self._heating_stations:
             return {
@@ -525,6 +643,17 @@ class VirtualWorkbench:
                 "material_id": "",
                 "output_position": f"C{output_number}",
                 "message": f"无效的加热台ID: {station_id}",
+                "unilabos_samples": [
+                    LabSample(
+                        sample_uuid=sample_uuid,
+                        oss_path="",
+                        extra=(
+                            {"material_uuid": content}
+                            if isinstance(content, str) else (content.serialize() if content else {})
+                        ),
+                    )
+                    for sample_uuid, content in sample_uuids.items()
+                ],
             }
 
         with self._stations_lock:
@@ -538,6 +667,17 @@ class VirtualWorkbench:
                     "material_id": "",
                     "output_position": f"C{output_number}",
                     "message": f"加热台{station_id}上没有物料",
+                    "unilabos_samples": [
+                        LabSample(
+                            sample_uuid=sample_uuid,
+                            oss_path="",
+                            extra=(
+                                {"material_uuid": content}
+                                if isinstance(content, str) else (content.serialize() if content else {})
+                            ),
+                        )
+                        for sample_uuid, content in sample_uuids.items()
+                    ],
                 }
 
             if station.state != HeatingStationState.COMPLETED:
@@ -547,6 +687,17 @@ class VirtualWorkbench:
                     "material_id": material_id,
                     "output_position": f"C{output_number}",
                     "message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
+                    "unilabos_samples": [
+                        LabSample(
+                            sample_uuid=sample_uuid,
+                            oss_path="",
+                            extra=(
+                                {"material_uuid": content}
+                                if isinstance(content, str) else (content.serialize() if content else {})
+                            ),
+                        )
+                        for sample_uuid, content in sample_uuids.items()
+                    ],
                 }
 
         output_position = f"C{output_number}"
@@ -558,18 +709,17 @@ class VirtualWorkbench:
                 if material_id in self._active_tasks:
                     self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
 
-            # 获取机械臂
             self._acquire_arm(task_desc)
 
             with self._tasks_lock:
                 if material_id in self._active_tasks:
                     self._active_tasks[material_id]["status"] = "arm_moving_to_output"
 
-            # 模拟机械臂操作 (3秒)
-            self.logger.info(f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}...")
+            self.logger.info(
+                f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}..."
+            )
             time.sleep(self.ARM_OPERATION_TIME)
 
-            # 清空加热台
             with self._stations_lock:
                 self._heating_stations[station_id].state = HeatingStationState.IDLE
                 self._heating_stations[station_id].current_material = None
@@ -577,17 +727,17 @@ class VirtualWorkbench:
                 self._heating_stations[station_id].heating_progress = 0.0
                 self._heating_stations[station_id].heating_start_time = None
 
-            # 释放机械臂
             self._release_arm()
 
-            # 任务完成
             with self._tasks_lock:
                 if material_id in self._active_tasks:
                     self._active_tasks[material_id]["status"] = "completed"
                     self._active_tasks[material_id]["end_time"] = time.time()
 
             self._update_data_status(f"{material_id}已移动到{output_position}")
-            self.logger.info(f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)")
+            self.logger.info(
+                f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)"
+            )
 
             return {
                 "success": True,
@@ -595,6 +745,18 @@ class VirtualWorkbench:
                 "material_id": material_id,
                 "output_position": output_position,
                 "message": f"{material_id}已成功移动到{output_position}",
+                "unilabos_samples": [
+                    LabSample(
+                        sample_uuid=sample_uuid,
+                        oss_path="",
+                        extra=(
+                            {"material_uuid": content}
+                            if isinstance(content, str)
+                            else (content.serialize() if content is not None else {})
+                        ),
+                    )
+                    for sample_uuid, content in sample_uuids.items()
+                ],
             }
 
         except Exception as e:
@@ -607,81 +769,106 @@ class VirtualWorkbench:
                 "material_id": "",
                 "output_position": output_position,
                 "message": f"移动失败: {str(e)}",
+                "unilabos_samples": [
+                    LabSample(
+                        sample_uuid=sample_uuid,
+                        oss_path="",
+                        extra=(
+                            {"material_uuid": content}
+                            if isinstance(content, str) else (content.serialize() if content else {})
+                        ),
+                    )
+                    for sample_uuid, content in sample_uuids.items()
+                ],
             }
 
     # ============ 状态属性 ============
 
     @property
+    @topic_config()
     def status(self) -> str:
         return self.data.get("status", "Unknown")
 
     @property
+    @topic_config()
     def arm_state(self) -> str:
         return self._arm_state.value
 
     @property
+    @topic_config()
     def arm_current_task(self) -> str:
         return self._arm_current_task or ""
 
     @property
+    @topic_config()
     def heating_station_1_state(self) -> str:
         with self._stations_lock:
             station = self._heating_stations.get(1)
             return station.state.value if station else "unknown"
 
     @property
+    @topic_config()
     def heating_station_1_material(self) -> str:
         with self._stations_lock:
             station = self._heating_stations.get(1)
             return station.current_material or "" if station else ""
 
     @property
+    @topic_config()
     def heating_station_1_progress(self) -> float:
         with self._stations_lock:
             station = self._heating_stations.get(1)
             return station.heating_progress if station else 0.0
 
     @property
+    @topic_config()
     def heating_station_2_state(self) -> str:
         with self._stations_lock:
             station = self._heating_stations.get(2)
             return station.state.value if station else "unknown"
 
     @property
+    @topic_config()
     def heating_station_2_material(self) -> str:
         with self._stations_lock:
             station = self._heating_stations.get(2)
             return station.current_material or "" if station else ""
 
     @property
+    @topic_config()
     def heating_station_2_progress(self) -> float:
         with self._stations_lock:
             station = self._heating_stations.get(2)
             return station.heating_progress if station else 0.0
 
     @property
+    @topic_config()
     def heating_station_3_state(self) -> str:
         with self._stations_lock:
             station = self._heating_stations.get(3)
             return station.state.value if station else "unknown"
 
     @property
+    @topic_config()
     def heating_station_3_material(self) -> str:
         with self._stations_lock:
             station = self._heating_stations.get(3)
             return station.current_material or "" if station else ""
 
     @property
+    @topic_config()
     def heating_station_3_progress(self) -> float:
         with self._stations_lock:
             station = self._heating_stations.get(3)
             return station.heating_progress if station else 0.0
 
     @property
+    @topic_config()
     def active_tasks_count(self) -> int:
         with self._tasks_lock:
             return len(self._active_tasks)
 
     @property
+    @topic_config()
     def message(self) -> str:
         return self.data.get("message", "")

unilabos/registry/decorators.py

@@ -0,0 +1,614 @@
+"""
+装饰器注册表系统
+
+通过 @device, @action, @resource 装饰器替代 YAML 配置文件来定义设备/动作/资源注册表信息。
+
+Usage:
+    from unilabos.registry.decorators import (
+        device, action, resource,
+        InputHandle, OutputHandle,
+        ActionInputHandle, ActionOutputHandle,
+        HardwareInterface, Side, DataSource,
+    )
+
+    @device(
+        id="solenoid_valve.mock",
+        category=["pump_and_valve"],
+        description="模拟电磁阀设备",
+        handles=[
+            InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH),
+            OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH),
+        ],
+        hardware_interface=HardwareInterface(
+            name="hardware_interface",
+            read="send_command",
+            write="send_command",
+        ),
+    )
+    class SolenoidValveMock:
+        @action(action_type=EmptyIn)
+        def close(self):
+            ...
+
+        @action(
+            handles=[
+                ActionInputHandle(key="in", data_type="fluid", label="in"),
+                ActionOutputHandle(key="out", data_type="fluid", label="out"),
+            ],
+        )
+        def set_valve_position(self, position):
+            ...
+
+        # 无 @action 装饰器 => auto- 前缀动作
+        def is_open(self):
+            ...
+"""
+
+from enum import Enum
+from functools import wraps
+from typing import Any, Callable, Dict, List, Optional, TypeVar
+
+from pydantic import BaseModel, ConfigDict, Field
+
+F = TypeVar("F", bound=Callable[..., Any])
+
+# ---------------------------------------------------------------------------
+# 枚举
+# ---------------------------------------------------------------------------
+
+
+class Side(str, Enum):
+    """UI 上 Handle 的显示位置"""
+
+    NORTH = "NORTH"
+    SOUTH = "SOUTH"
+    EAST = "EAST"
+    WEST = "WEST"
+
+
+class DataSource(str, Enum):
+    """Handle 的数据来源"""
+
+    HANDLE = "handle"  # 从上游 handle 获取数据 (用于 InputHandle)
+    EXECUTOR = "executor"  # 从执行器输出数据 (用于 OutputHandle)
+
+
+# ---------------------------------------------------------------------------
+# Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type)
+# ---------------------------------------------------------------------------
+
+
+class _DeviceHandleBase(BaseModel):
+    """设备/资源端口基类 (内部使用)"""
+
+    model_config = ConfigDict(populate_by_name=True)
+
+    key: str = Field(serialization_alias="handler_key")
+    data_type: str
+    label: str
+    side: Optional[Side] = None
+    data_key: Optional[str] = None
+    data_source: Optional[str] = None
+    description: Optional[str] = None
+
+    # 子类覆盖
+    io_type: str = ""
+
+    def to_registry_dict(self) -> Dict[str, Any]:
+        return self.model_dump(by_alias=True, exclude_none=True)
+
+
+class InputHandle(_DeviceHandleBase):
+    """
+    输入端口 (io_type="target"), 用于 @device / @resource handles
+
+    Example:
+        InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH)
+    """
+
+    io_type: str = "target"
+
+
+class OutputHandle(_DeviceHandleBase):
+    """
+    输出端口 (io_type="source"), 用于 @device / @resource handles
+
+    Example:
+        OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH)
+    """
+
+    io_type: str = "source"
+
+
+# ---------------------------------------------------------------------------
+# Action Handle (动作级别端口, 序列化时不含 io_type, 按类型自动分组)
+# ---------------------------------------------------------------------------
+
+
+class _ActionHandleBase(BaseModel):
+    """动作端口基类 (内部使用)"""
+
+    model_config = ConfigDict(populate_by_name=True)
+
+    key: str = Field(serialization_alias="handler_key")
+    data_type: str
+    label: str
+    side: Optional[Side] = None
+    data_key: Optional[str] = None
+    data_source: Optional[str] = None
+    description: Optional[str] = None
+    io_type: Optional[str] = None  # source/sink (dataflow) or target/source (device-style)
+
+    def to_registry_dict(self) -> Dict[str, Any]:
+        return self.model_dump(by_alias=True, exclude_none=True)
+
+
+class ActionInputHandle(_ActionHandleBase):
+    """
+    动作输入端口, 用于 @action handles, 序列化后归入 "input" 组
+
+    Example:
+        ActionInputHandle(
+            key="material_input", data_type="workbench_material",
+            label="物料编号", data_key="material_number", data_source="handle",
+        )
+    """
+
+    pass
+
+
+class ActionOutputHandle(_ActionHandleBase):
+    """
+    动作输出端口, 用于 @action handles, 序列化后归入 "output" 组
+
+    Example:
+        ActionOutputHandle(
+            key="station_output", data_type="workbench_station",
+            label="加热台ID", data_key="station_id", data_source="executor",
+        )
+    """
+
+    pass
+
+
+# ---------------------------------------------------------------------------
+# HardwareInterface
+# ---------------------------------------------------------------------------
+
+
+class HardwareInterface(BaseModel):
+    """
+    硬件通信接口定义
+
+    描述设备与底层硬件通信的方式 (串口、Modbus 等)。
+
+    Example:
+        HardwareInterface(name="hardware_interface", read="send_command", write="send_command")
+    """
+
+    name: str
+    read: Optional[str] = None
+    write: Optional[str] = None
+    extra_info: Optional[List[str]] = None
+
+
+# ---------------------------------------------------------------------------
+# 全局注册表 -- 记录所有被装饰器标记的类/函数
+# ---------------------------------------------------------------------------
+_registered_devices: Dict[str, type] = {}  # device_id -> class
+_registered_resources: Dict[str, Any] = {}  # resource_id -> class or function
+
+
+def _device_handles_to_list(
+    handles: Optional[List[_DeviceHandleBase]],
+) -> List[Dict[str, Any]]:
+    """将设备/资源 Handle 列表序列化为字典列表 (含 io_type)"""
+    if handles is None:
+        return []
+    return [h.to_registry_dict() for h in handles]
+
+
+def _action_handles_to_dict(
+    handles: Optional[List[_ActionHandleBase]],
+) -> Dict[str, Any]:
+    """
+    将动作 Handle 列表序列化为 {"input": [...], "output": [...]} 格式。
+
+    ActionInputHandle => "input", ActionOutputHandle => "output"
+    """
+    if handles is None:
+        return {}
+    input_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionInputHandle)]
+    output_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionOutputHandle)]
+    result: Dict[str, Any] = {}
+    if input_list:
+        result["input"] = input_list
+    if output_list:
+        result["output"] = output_list
+    return result
+
+
+# ---------------------------------------------------------------------------
+# @device 类装饰器
+# ---------------------------------------------------------------------------
+
+
+# noinspection PyShadowingBuiltins
+def device(
+    id: Optional[str] = None,
+    ids: Optional[List[str]] = None,
+    id_meta: Optional[Dict[str, Dict[str, Any]]] = None,
+    category: Optional[List[str]] = None,
+    description: str = "",
+    display_name: str = "",
+    icon: str = "",
+    version: str = "1.0.0",
+    handles: Optional[List[_DeviceHandleBase]] = None,
+    model: Optional[Dict[str, Any]] = None,
+    device_type: str = "python",
+    hardware_interface: Optional[HardwareInterface] = None,
+):
+    """
+    设备类装饰器
+
+    将类标记为一个 UniLab-OS 设备，并附加注册表元数据。
+
+    支持两种模式:
+      1. 单设备: id="xxx", category=[...]
+      2. 多设备: ids=["id1","id2"], id_meta={"id1":{handles:[...]}, "id2":{...}}
+
+    Args:
+        id: 单设备时的注册表唯一标识
+        ids: 多设备时的 id 列表，与 id_meta 配合使用
+        id_meta: 每个 device_id 的覆盖元数据 (handles/description/icon/model)
+        category: 设备分类标签列表 (必填)
+        description: 设备描述
+        display_name: 人类可读的设备显示名称，缺失时默认使用 id
+        icon: 图标路径
+        version: 版本号
+        handles: 设备端口列表 (单设备或 id_meta 未覆盖时使用)
+        model: 可选的 3D 模型配置
+        device_type: 设备实现类型 ("python" / "ros2")
+        hardware_interface: 硬件通信接口 (HardwareInterface)
+    """
+    # Resolve device ids
+    if ids is not None:
+        device_ids = list(ids)
+        if not device_ids:
+            raise ValueError("@device ids 不能为空")
+        id_meta = id_meta or {}
+    elif id is not None:
+        device_ids = [id]
+        id_meta = {}
+    else:
+        raise ValueError("@device 必须提供 id 或 ids")
+
+    if category is None:
+        raise ValueError("@device category 必填")
+
+    base_meta = {
+        "category": category,
+        "description": description,
+        "display_name": display_name,
+        "icon": icon,
+        "version": version,
+        "handles": _device_handles_to_list(handles),
+        "model": model,
+        "device_type": device_type,
+        "hardware_interface": (hardware_interface.model_dump(exclude_none=True) if hardware_interface else None),
+    }
+
+    def decorator(cls):
+        cls._device_registry_meta = base_meta
+        cls._device_registry_id_meta = id_meta
+        cls._device_registry_ids = device_ids
+
+        for did in device_ids:
+            if did in _registered_devices:
+                raise ValueError(f"@device id 重复: '{did}' 已被 {_registered_devices[did]} 注册")
+            _registered_devices[did] = cls
+
+        return cls
+
+    return decorator
+
+
+# ---------------------------------------------------------------------------
+# @action 方法装饰器
+# ---------------------------------------------------------------------------
+
+# 区分 "用户没传 action_type" 和 "用户传了 None"
+_ACTION_TYPE_UNSET = object()
+
+
+# noinspection PyShadowingNames
+def action(
+    action_type: Any = _ACTION_TYPE_UNSET,
+    goal: Optional[Dict[str, str]] = None,
+    feedback: Optional[Dict[str, str]] = None,
+    result: Optional[Dict[str, str]] = None,
+    handles: Optional[List[_ActionHandleBase]] = None,
+    goal_default: Optional[Dict[str, Any]] = None,
+    placeholder_keys: Optional[Dict[str, str]] = None,
+    always_free: bool = False,
+    is_protocol: bool = False,
+    description: str = "",
+    auto_prefix: bool = False,
+    parent: bool = False,
+):
+    """
+    动作方法装饰器
+
+    标记方法为注册表动作。有三种用法:
+      1. @action(action_type=EmptyIn, ...)  -- 非 auto, 使用指定 ROS Action 类型
+      2. @action()                          -- 非 auto, UniLabJsonCommand (从方法签名生成 schema)
+      3. 不加 @action                       -- auto- 前缀, UniLabJsonCommand
+
+    Protocol 用法:
+      @action(action_type=Add, is_protocol=True)
+      def AddProtocol(self): ...
+      标记该动作为高级协议 (protocol)，运行时通过 ROS Action 路由到
+      protocol generator 执行。action_type 指向 unilabos_msgs 的 Action 类型。
+
+    Args:
+        action_type: ROS Action 消息类型 (如 EmptyIn, SendCmd, HeatChill).
+                     不传/默认 = UniLabJsonCommand (非 auto).
+        goal: Goal 字段映射 (ROS字段名 -> 设备参数名).
+              protocol 模式下可留空，系统自动生成 identity 映射.
+        feedback: Feedback 字段映射
+        result: Result 字段映射
+        handles: 动作端口列表 (ActionInputHandle / ActionOutputHandle)
+        goal_default: Goal 字段默认值映射 (字段名 -> 默认值), 与自动生成的 goal_default 合并
+        placeholder_keys: 参数占位符配置
+        always_free: 是否为永久闲置动作 (不受排队限制)
+        is_protocol: 是否为工作站协议 (protocol)。True 时运行时走 protocol generator 路径。
+        description: 动作描述
+        auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致）
+        parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数
+    """
+
+    def decorator(func: F) -> F:
+        @wraps(func)
+        def wrapper(*args, **kwargs):
+            return func(*args, **kwargs)
+
+        # action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
+        resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
+
+        meta = {
+            "action_type": resolved_type,
+            "goal": goal or {},
+            "feedback": feedback or {},
+            "result": result or {},
+            "handles": _action_handles_to_dict(handles),
+            "goal_default": goal_default or {},
+            "placeholder_keys": placeholder_keys or {},
+            "always_free": always_free,
+            "is_protocol": is_protocol,
+            "description": description,
+            "auto_prefix": auto_prefix,
+            "parent": parent,
+        }
+        wrapper._action_registry_meta = meta  # type: ignore[attr-defined]
+
+        # 设置 _is_always_free 保持与旧 @always_free 装饰器兼容
+        if always_free:
+            wrapper._is_always_free = True  # type: ignore[attr-defined]
+
+        return wrapper  # type: ignore[return-value]
+
+    return decorator
+
+
+def get_action_meta(func) -> Optional[Dict[str, Any]]:
+    """获取方法上的 @action 装饰器元数据"""
+    return getattr(func, "_action_registry_meta", None)
+
+
+def has_action_decorator(func) -> bool:
+    """检查函数是否带有 @action 装饰器"""
+    return hasattr(func, "_action_registry_meta")
+
+
+# ---------------------------------------------------------------------------
+# @resource 类/函数装饰器
+# ---------------------------------------------------------------------------
+
+
+def resource(
+    id: str,
+    category: List[str],
+    description: str = "",
+    icon: str = "",
+    version: str = "1.0.0",
+    handles: Optional[List[_DeviceHandleBase]] = None,
+    model: Optional[Dict[str, Any]] = None,
+    class_type: str = "pylabrobot",
+):
+    """
+    资源类/函数装饰器
+
+    将类或工厂函数标记为一个 UniLab-OS 资源，附加注册表元数据。
+
+    Args:
+        id: 注册表唯一标识 (必填, 不可重复)
+        category: 资源分类标签列表 (必填)
+        description: 资源描述
+        icon: 图标路径
+        version: 版本号
+        handles: 端口列表 (InputHandle / OutputHandle)
+        model: 可选的 3D 模型配置
+        class_type: 资源实现类型 ("python" / "pylabrobot" / "unilabos")
+    """
+
+    def decorator(obj):
+        meta = {
+            "resource_id": id,
+            "category": category,
+            "description": description,
+            "icon": icon,
+            "version": version,
+            "handles": _device_handles_to_list(handles),
+            "model": model,
+            "class_type": class_type,
+        }
+        obj._resource_registry_meta = meta
+
+        if id in _registered_resources:
+            raise ValueError(f"@resource id 重复: '{id}' 已被 {_registered_resources[id]} 注册")
+        _registered_resources[id] = obj
+
+        return obj
+
+    return decorator
+
+
+def get_device_meta(cls, device_id: Optional[str] = None) -> Optional[Dict[str, Any]]:
+    """
+    获取类上的 @device 装饰器元数据。
+
+    当 device_id 存在且类使用 ids+id_meta 时，返回合并后的 meta
+    (base_meta 与 id_meta[device_id] 深度合并)。
+    """
+    base = getattr(cls, "_device_registry_meta", None)
+    if base is None:
+        return None
+    id_meta = getattr(cls, "_device_registry_id_meta", None) or {}
+    if device_id is None or device_id not in id_meta:
+        result = dict(base)
+        ids = getattr(cls, "_device_registry_ids", None)
+        result["device_id"] = device_id if device_id is not None else (ids[0] if ids else None)
+        return result
+
+    overrides = id_meta[device_id]
+    result = dict(base)
+    result["device_id"] = device_id
+    for key in ["handles", "description", "icon", "model"]:
+        if key in overrides:
+            val = overrides[key]
+            if key == "handles" and isinstance(val, list):
+                # handles 必须是 Handle 对象列表
+                result[key] = [h.to_registry_dict() for h in val]
+            else:
+                result[key] = val
+    return result
+
+
+def get_resource_meta(obj) -> Optional[Dict[str, Any]]:
+    """获取对象上的 @resource 装饰器元数据"""
+    return getattr(obj, "_resource_registry_meta", None)
+
+
+def get_all_registered_devices() -> Dict[str, type]:
+    """获取所有已注册的设备类"""
+    return _registered_devices.copy()
+
+
+def get_all_registered_resources() -> Dict[str, Any]:
+    """获取所有已注册的资源"""
+    return _registered_resources.copy()
+
+
+def clear_registry():
+    """清空全局注册表 (用于测试)"""
+    _registered_devices.clear()
+    _registered_resources.clear()
+
+
+# ---------------------------------------------------------------------------
+# topic_config / not_action / always_free 装饰器
+# ---------------------------------------------------------------------------
+
+
+def topic_config(
+    period: Optional[float] = None,
+    print_publish: Optional[bool] = None,
+    qos: Optional[int] = None,
+    name: Optional[str] = None,
+) -> Callable[[F], F]:
+    """
+    Topic发布配置装饰器
+
+    用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
+
+    Args:
+        period: 发布周期（秒）。None 表示使用默认值 5.0
+        print_publish: 是否打印发布日志。None 表示使用节点默认配置
+        qos: QoS深度配置。None 表示使用默认值 10
+        name: 自定义发布名称。None 表示使用方法名（去掉 get_ 前缀）
+
+    Note:
+        与 @property 连用时，@topic_config 必须放在 @property 下面，
+        这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
+    """
+
+    def decorator(func: F) -> F:
+        @wraps(func)
+        def wrapper(*args, **kwargs):
+            return func(*args, **kwargs)
+
+        wrapper._topic_period = period  # type: ignore[attr-defined]
+        wrapper._topic_print_publish = print_publish  # type: ignore[attr-defined]
+        wrapper._topic_qos = qos  # type: ignore[attr-defined]
+        wrapper._topic_name = name  # type: ignore[attr-defined]
+        wrapper._has_topic_config = True  # type: ignore[attr-defined]
+
+        return wrapper  # type: ignore[return-value]
+
+    return decorator
+
+
+def get_topic_config(func) -> dict:
+    """获取函数上的 topic 配置 (period, print_publish, qos, name)"""
+    if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
+        return {
+            "period": getattr(func, "_topic_period", None),
+            "print_publish": getattr(func, "_topic_print_publish", None),
+            "qos": getattr(func, "_topic_qos", None),
+            "name": getattr(func, "_topic_name", None),
+        }
+    return {}
+
+
+def always_free(func: F) -> F:
+    """
+    标记动作为永久闲置(不受busy队列限制)的装饰器
+
+    被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
+    任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        return func(*args, **kwargs)
+
+    wrapper._is_always_free = True  # type: ignore[attr-defined]
+
+    return wrapper  # type: ignore[return-value]
+
+
+def is_always_free(func) -> bool:
+    """检查函数是否被标记为永久闲置"""
+    return getattr(func, "_is_always_free", False)
+
+
+def not_action(func: F) -> F:
+    """
+    标记方法为非动作的装饰器
+
+    用于装饰 driver 类中的方法，使其在注册表扫描时不被识别为动作。
+    适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        return func(*args, **kwargs)
+
+    wrapper._is_not_action = True  # type: ignore[attr-defined]
+
+    return wrapper  # type: ignore[return-value]
+
+
+def is_not_action(func) -> bool:
+    """检查函数是否被标记为非动作"""
+    return getattr(func, "_is_not_action", False)

unilabos/registry/device_comms/communication_devices.yaml

@@ -96,10 +96,13 @@ serial:
           type: string
         port:
           type: string
+        registry_name:
+          type: string
         resource_tracker:
           type: object
       required:
       - device_id
+      - registry_name
       - port
       type: object
     data:

unilabos/registry/devices/Qone_nmr.yaml

@@ -13,21 +13,18 @@ Qone_nmr:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -71,31 +68,6 @@ Qone_nmr:
           title: monitor_folder_for_new_content参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-strings_to_txt:
         feedback: {}
         goal: {}
@@ -138,21 +110,18 @@ Qone_nmr:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -167,32 +136,31 @@ Qone_nmr:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:

unilabos/registry/devices/bioyond_cell.yaml

@@ -22,7 +22,8 @@ bioyond_cell:
               required:
               - xlsx_path
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: auto_batch_outbound_from_xlsx参数
@@ -490,7 +491,9 @@ bioyond_cell:
             goal:
               properties:
                 material_names:
-                  type: string
+                  items:
+                    type: string
+                  type: array
                 type_id:
                   default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
                   type: string
@@ -499,7 +502,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_and_inbound_materials参数
@@ -535,7 +539,8 @@ bioyond_cell:
               - type_id
               - warehouse_name
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_material参数
@@ -556,11 +561,16 @@ bioyond_cell:
             goal:
               properties:
                 mappings:
+                  additionalProperties:
+                    type: object
                   type: object
               required:
               - mappings
               type: object
-            result: {}
+            result:
+              items:
+                type: object
+              type: array
           required:
           - goal
           title: create_materials参数
@@ -592,7 +602,8 @@ bioyond_cell:
               required:
               - xlsx_path
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_orders参数
@@ -624,7 +635,8 @@ bioyond_cell:
               required:
               - xlsx_path
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_orders_v2参数
@@ -665,7 +677,8 @@ bioyond_cell:
               - bottle_type
               - location_code
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_sample参数
@@ -718,7 +731,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: order_list_v2参数
@@ -821,7 +835,8 @@ bioyond_cell:
               required:
               - material_obj
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: report_material_change参数
@@ -875,7 +890,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_continue参数
@@ -896,7 +912,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_reset参数
@@ -917,7 +934,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_start参数
@@ -1362,7 +1380,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_start_and_auto_feeding参数
@@ -1807,7 +1826,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_start_and_auto_feeding_v2参数
@@ -1828,7 +1848,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_stop参数
@@ -1850,12 +1871,15 @@ bioyond_cell:
               properties:
                 items:
                   items:
+                    additionalProperties:
+                      type: string
                     type: object
                   type: array
               required:
               - items
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: storage_batch_inbound参数
@@ -1884,7 +1908,8 @@ bioyond_cell:
               - material_id
               - location_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: storage_inbound参数
@@ -1905,7 +1930,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_1_to_2参数
@@ -1946,7 +1972,8 @@ bioyond_cell:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_3_to_2参数
@@ -1983,7 +2010,8 @@ bioyond_cell:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_3_to_2_to_1参数
@@ -2007,10 +2035,11 @@ bioyond_cell:
                 ip:
                   type: string
                 port:
-                  type: string
+                  type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: update_push_ip参数
@@ -2039,7 +2068,8 @@ bioyond_cell:
               required:
               - order_code
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_order_finish参数
@@ -2072,7 +2102,8 @@ bioyond_cell:
               required:
               - order_code
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_order_finish_polling参数
@@ -2104,7 +2135,8 @@ bioyond_cell:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: wait_for_transfer_task参数
@@ -2112,8 +2144,7 @@ bioyond_cell:
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
     status_types:
-      device_id: String
-      material_info: dict
+      device_id: ''
     type: python
   config_info: []
   description: ''
@@ -2134,11 +2165,7 @@ bioyond_cell:
       properties:
         device_id:
           type: string
-        material_info:
-          type: object
       required:
       - device_id
-      - material_info
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -24,7 +24,8 @@ bioyond_dispensing_station:
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: brief_step_parameters参数
@@ -53,7 +54,8 @@ bioyond_dispensing_station:
               - report_request
               - used_materials
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_order_finish_report参数
@@ -78,7 +80,8 @@ bioyond_dispensing_station:
               required:
               - order_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: project_order_report参数
@@ -128,7 +131,8 @@ bioyond_dispensing_station:
               required:
               - workflow_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: workflow_sample_locations参数
@@ -144,12 +148,12 @@ bioyond_dispensing_station:
           temperature: temperature
           titration: titration
         goal_default:
-          delay_time: '600'
-          hold_m_name: ''
+          delay_time: null
+          hold_m_name: null
           liquid_material_name: NMP
-          speed: '400'
-          temperature: '40'
-          titration: ''
+          speed: null
+          temperature: null
+          titration: null
         handles:
           input:
           - data_key: titration
@@ -165,20 +169,16 @@ bioyond_dispensing_station:
             handler_key: BATCH_CREATE_RESULT
             io_type: sink
             label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
           properties:
             feedback:
-              properties: {}
-              required: []
               title: BatchCreate9010VialFeedingTasks_Feedback
-              type: object
             goal:
               properties:
                 delay_time:
-                  default: '600'
                   description: 延迟时间(秒),默认600
                   type: string
                 hold_m_name:
@@ -189,11 +189,9 @@ bioyond_dispensing_station:
                   description: 10%物料的液体物料名称,默认为"NMP"
                   type: string
                 speed:
-                  default: '400'
                   description: 搅拌速度,默认400
                   type: string
                 temperature:
-                  default: '40'
                   description: 温度(℃),默认40
                   type: string
                 titration:
@@ -202,21 +200,14 @@ bioyond_dispensing_station:
                   type: string
               required:
               - titration
-              - hold_m_name
               title: BatchCreate9010VialFeedingTasks_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
-                  type: string
-              required:
-              - return_info
               title: BatchCreate9010VialFeedingTasks_Result
-              type: object
+              type: string
           required:
           - goal
-          title: BatchCreate9010VialFeedingTasks
+          title: batch_create_90_10_vial_feeding_tasks参数
           type: object
         type: UniLabJsonCommand
       batch_create_diamine_solution_tasks:
@@ -228,11 +219,11 @@ bioyond_dispensing_station:
           speed: speed
           temperature: temperature
         goal_default:
-          delay_time: '600'
+          delay_time: null
           liquid_material_name: NMP
-          solutions: ''
-          speed: '400'
-          temperature: '20'
+          solutions: null
+          speed: null
+          temperature: null
         handles:
           input:
           - data_key: solutions
@@ -248,20 +239,16 @@ bioyond_dispensing_station:
             handler_key: BATCH_CREATE_RESULT
             io_type: sink
             label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
           properties:
             feedback:
-              properties: {}
-              required: []
               title: BatchCreateDiamineSolutionTasks_Feedback
-              type: object
             goal:
               properties:
                 delay_time:
-                  default: '600'
                   description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
                   type: string
                 liquid_material_name:
@@ -275,11 +262,9 @@ bioyond_dispensing_station:
                     4.5, "solvent_volume": 18}]'
                   type: string
                 speed:
-                  default: '400'
                   description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
                   type: string
                 temperature:
-                  default: '20'
                   description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
                   type: string
               required:
@@ -287,17 +272,11 @@ bioyond_dispensing_station:
               title: BatchCreateDiamineSolutionTasks_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
-                  type: string
-              required:
-              - return_info
               title: BatchCreateDiamineSolutionTasks_Result
-              type: object
+              type: string
           required:
           - goal
-          title: BatchCreateDiamineSolutionTasks
+          title: batch_create_diamine_solution_tasks参数
           type: object
         type: UniLabJsonCommand
       compute_experiment_design:
@@ -309,7 +288,7 @@ bioyond_dispensing_station:
           wt_percent: wt_percent
         goal_default:
           m_tot: '70'
-          ratio: ''
+          ratio: null
           titration_percent: '0.03'
           wt_percent: '0.25'
         handles:
@@ -338,12 +317,8 @@ bioyond_dispensing_station:
             handler_key: feeding_order
             io_type: sink
             label: Feeding Order Data From Calculation Node
-        result:
-          feeding_order: feeding_order
-          return_info: return_info
-          solutions: solutions
-          solvents: solvents
-          titration: titration
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
           properties:
@@ -356,7 +331,7 @@ bioyond_dispensing_station:
                   type: string
                 ratio:
                   description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
-                  type: string
+                  type: object
                 titration_percent:
                   default: '0.03'
                   description: 滴定比例(10%部分)
@@ -371,14 +346,23 @@ bioyond_dispensing_station:
             result:
               properties:
                 feeding_order:
+                  items: {}
+                  title: Feeding Order
                   type: array
                 return_info:
+                  title: Return Info
                   type: string
                 solutions:
+                  items: {}
+                  title: Solutions
                   type: array
                 solvents:
+                  additionalProperties: true
+                  title: Solvents
                   type: object
                 titration:
+                  additionalProperties: true
+                  title: Titration
                   type: object
               required:
               - solutions
@@ -386,11 +370,11 @@ bioyond_dispensing_station:
               - solvents
               - feeding_order
               - return_info
-              title: ComputeExperimentDesign_Result
+              title: ComputeExperimentDesignReturn
               type: object
           required:
           - goal
-          title: ComputeExperimentDesign
+          title: compute_experiment_design参数
           type: object
         type: UniLabJsonCommand
       create_90_10_vial_feeding_task:
@@ -444,17 +428,18 @@ bioyond_dispensing_station:
           speed: ''
           temperature: ''
         handles: {}
+        placeholder_keys: {}
         result:
           return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: DispenStationVialFeed_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 delay_time:
                   type: string
@@ -502,38 +487,13 @@ bioyond_dispensing_station:
                   type: string
                 temperature:
                   type: string
-              required:
-              - order_name
-              - percent_90_1_assign_material_name
-              - percent_90_1_target_weigh
-              - percent_90_2_assign_material_name
-              - percent_90_2_target_weigh
-              - percent_90_3_assign_material_name
-              - percent_90_3_target_weigh
-              - percent_10_1_assign_material_name
-              - percent_10_1_target_weigh
-              - percent_10_1_volume
-              - percent_10_1_liquid_material_name
-              - percent_10_2_assign_material_name
-              - percent_10_2_target_weigh
-              - percent_10_2_volume
-              - percent_10_2_liquid_material_name
-              - percent_10_3_assign_material_name
-              - percent_10_3_target_weigh
-              - percent_10_3_volume
-              - percent_10_3_liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
               title: DispenStationVialFeed_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: DispenStationVialFeed_Result
               type: object
           required:
@@ -564,17 +524,18 @@ bioyond_dispensing_station:
           temperature: ''
           volume: ''
         handles: {}
+        placeholder_keys: {}
         result:
           return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: DispenStationSolnPrep_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 delay_time:
                   type: string
@@ -594,24 +555,13 @@ bioyond_dispensing_station:
                   type: string
                 volume:
                   type: string
-              required:
-              - order_name
-              - material_name
-              - target_weigh
-              - volume
-              - liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
               title: DispenStationSolnPrep_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: DispenStationSolnPrep_Result
               type: object
           required:
@@ -624,8 +574,8 @@ bioyond_dispensing_station:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
           properties:
@@ -635,12 +585,6 @@ bioyond_dispensing_station:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 调度器启动结果，成功返回1，失败返回0
-                  type: integer
-              required:
-              - return_info
               title: scheduler_start结果
               type: object
           required:
@@ -654,8 +598,8 @@ bioyond_dispensing_station:
           target_device_id: target_device_id
           transfer_groups: transfer_groups
         goal_default:
-          target_device_id: ''
-          transfer_groups: ''
+          target_device_id: null
+          transfer_groups: null
         handles: {}
         placeholder_keys:
           target_device_id: unilabos_devices
@@ -671,32 +615,13 @@ bioyond_dispensing_station:
                   type: string
                 transfer_groups:
                   description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
-                  items:
-                    properties:
-                      materials:
-                        description: 物料名称（手动输入，系统将通过RPC查询验证）
-                        type: string
-                      target_sites:
-                        description: 目标库位（手动输入，如"A01"）
-                        type: string
-                      target_stack:
-                        description: 目标堆栈名称（从列表选择）
-                        enum:
-                        - 堆栈1左
-                        - 堆栈1右
-                        - 站内试剂存放堆栈
-                        type: string
-                    required:
-                    - materials
-                    - target_stack
-                    - target_sites
-                    type: object
                   type: array
               required:
               - target_device_id
               - transfer_groups
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_materials_to_reaction_station参数
@@ -709,9 +634,9 @@ bioyond_dispensing_station:
           check_interval: check_interval
           timeout: timeout
         goal_default:
-          batch_create_result: ''
-          check_interval: '10'
-          timeout: '7200'
+          batch_create_result: null
+          check_interval: 10
+          timeout: 7200
         handles:
           input:
           - data_key: batch_create_result
@@ -727,47 +652,35 @@ bioyond_dispensing_station:
             handler_key: batch_reports_result
             io_type: sink
             label: Batch Order Completion Reports
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
           properties:
             feedback:
-              properties: {}
-              required: []
               title: WaitForMultipleOrdersAndGetReports_Feedback
-              type: object
             goal:
               properties:
                 batch_create_result:
                   description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
                   type: string
                 check_interval:
-                  default: '10'
+                  default: 10
                   description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
-                  type: string
+                  type: integer
                 timeout:
-                  default: '7200'
+                  default: 7200
                   description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
-                  type: string
-              required:
-              - batch_create_result
+                  type: integer
+              required: []
               title: WaitForMultipleOrdersAndGetReports_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
-                    error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
-                    order_id, status, completion_status, report, elapsed_time)'
-                  type: string
-              required:
-              - return_info
               title: WaitForMultipleOrdersAndGetReports_Result
               type: object
           required:
           - goal
-          title: WaitForMultipleOrdersAndGetReports
+          title: wait_for_multiple_orders_and_get_reports参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation

unilabos/registry/devices/camera.yaml

@@ -1,78 +0,0 @@
-camera:
-  category:
-  - camera
-  class:
-    action_value_mappings:
-      auto-destroy_node:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: destroy_node参数
-          type: object
-        type: UniLabJsonCommand
-      auto-timer_callback:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: timer_callback参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.ros.nodes.presets.camera:VideoPublisher
-    status_types: {}
-    type: ros2
-  config_info: []
-  description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        camera_index:
-          default: 0
-          type: string
-        device_id:
-          default: video_publisher
-          type: string
-        device_uuid:
-          default: ''
-          type: string
-        period:
-          default: 0.1
-          type: number
-        resource_tracker:
-          type: object
-      required: []
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  version: 1.0.0

unilabos/registry/devices/cameraSII.yaml

@@ -18,7 +18,7 @@ cameracontroller_device:
             goal:
               properties:
                 config:
-                  type: string
+                  type: object
               required: []
               type: object
             result: {}
@@ -42,7 +42,8 @@ cameracontroller_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: stop参数
@@ -50,7 +51,7 @@ cameracontroller_device:
         type: UniLabJsonCommand
     module: unilabos.devices.cameraSII.cameraUSB:CameraController
     status_types:
-      status: dict
+      status: Dict[str, Any]
     type: python
   config_info: []
   description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
@@ -103,5 +104,4 @@ cameracontroller_device:
       required:
       - status
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/characterization_chromatic.yaml

@@ -141,30 +141,26 @@ hplc.agilent:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -175,7 +171,6 @@ hplc.agilent:
     module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
     status_types:
       could_run: bool
-      data_file: String
       device_status: str
       driver_init_ok: bool
       finish_status: str
@@ -199,10 +194,6 @@ hplc.agilent:
       properties:
         could_run:
           type: boolean
-        data_file:
-          items:
-            type: string
-          type: array
         device_status:
           type: string
         driver_init_ok:
@@ -216,14 +207,13 @@ hplc.agilent:
         success:
           type: boolean
       required:
-      - status_text
-      - device_status
       - could_run
+      - device_status
       - driver_init_ok
-      - is_running
-      - success
       - finish_status
-      - data_file
+      - is_running
+      - status_text
+      - success
       type: object
   version: 1.0.0
 hplc.agilent-zhida:
@@ -236,26 +226,25 @@ hplc.agilent-zhida:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -315,21 +304,18 @@ hplc.agilent-zhida:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -341,35 +327,35 @@ hplc.agilent-zhida:
         feedback: {}
         goal:
           string: string
+          text: text
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -407,7 +393,7 @@ hplc.agilent-zhida:
         status:
           type: object
       required:
-      - status
       - methods
+      - status
       type: object
   version: 1.0.0

unilabos/registry/devices/characterization_optic.yaml

@@ -120,42 +120,41 @@ raman.home_made:
           type: object
         type: UniLabJsonCommand
       raman_cmd:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/chinwe.yaml

@@ -19,7 +19,8 @@ separator.chinwe:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: connect参数
@@ -65,135 +66,145 @@ separator.chinwe:
               required:
               - command_dict
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: execute_command_from_outer参数
           type: object
         type: UniLabJsonCommand
       motor_rotate_quarter:
+        feedback: {}
         goal:
           direction: 顺时针
           motor_id: 4
           speed: 60
+        goal_default:
+          direction: 顺时针
+          motor_id: null
+          speed: 60
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 电机旋转 1/4 圈
           properties:
+            feedback: {}
             goal:
               properties:
                 direction:
                   default: 顺时针
                   description: 旋转方向
-                  enum:
-                  - 顺时针
-                  - 逆时针
                   type: string
                 motor_id:
-                  default: '4'
                   description: 选择电机 (4:搅拌, 5:旋钮)
-                  enum:
-                  - '4'
-                  - '5'
-                  type: string
+                  type: integer
                 speed:
                   default: 60
                   description: 速度 (RPM)
                   type: integer
               required:
               - motor_id
-              - speed
               type: object
+            result: {}
+          required:
+          - goal
+          title: motor_rotate_quarter参数
+          type: object
         type: UniLabJsonCommand
       motor_run_continuous:
+        feedback: {}
         goal:
           direction: 顺时针
           motor_id: 4
           speed: 60
+        goal_default:
+          direction: 顺时针
+          motor_id: null
+          speed: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 电机一直旋转 (速度模式)
           properties:
+            feedback: {}
             goal:
               properties:
                 direction:
                   default: 顺时针
                   description: 旋转方向
-                  enum:
-                  - 顺时针
-                  - 逆时针
                   type: string
                 motor_id:
-                  default: '4'
                   description: 选择电机 (4:搅拌, 5:旋钮)
-                  enum:
-                  - '4'
-                  - '5'
-                  type: string
+                  type: integer
                 speed:
-                  default: 60
                   description: 速度 (RPM)
                   type: integer
               required:
               - motor_id
               - speed
               type: object
+            result: {}
+          required:
+          - goal
+          title: motor_run_continuous参数
+          type: object
         type: UniLabJsonCommand
       motor_stop:
+        feedback: {}
         goal:
           motor_id: 4
+        goal_default:
+          motor_id: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 停止指定步进电机
           properties:
+            feedback: {}
             goal:
               properties:
                 motor_id:
-                  default: '4'
                   description: 选择电机
-                  enum:
-                  - '4'
-                  - '5'
                   title: '注: 4=搅拌, 5=旋钮'
-                  type: string
+                  type: integer
               required:
               - motor_id
               type: object
+            result: {}
+          required:
+          - goal
+          title: motor_stop参数
+          type: object
         type: UniLabJsonCommand
       pump_aspirate:
+        feedback: {}
         goal:
           pump_id: 1
           valve_port: 1
           volume: 1000
+        goal_default:
+          pump_id: null
+          valve_port: null
+          volume: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 注射泵吸液
           properties:
+            feedback: {}
             goal:
               properties:
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
+                  type: integer
                 valve_port:
-                  default: '1'
                   description: 阀门端口
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
+                  type: integer
                 volume:
-                  default: 1000
                   description: 吸液步数
                   type: integer
               required:
@@ -201,41 +212,38 @@ separator.chinwe:
               - volume
               - valve_port
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_aspirate参数
+          type: object
         type: UniLabJsonCommand
       pump_dispense:
+        feedback: {}
         goal:
           pump_id: 1
           valve_port: 1
           volume: 1000
+        goal_default:
+          pump_id: null
+          valve_port: null
+          volume: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 注射泵排液
           properties:
+            feedback: {}
             goal:
               properties:
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
+                  type: integer
                 valve_port:
-                  default: '1'
                   description: 阀门端口
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
+                  type: integer
                 volume:
-                  default: 1000
                   description: 排液步数
                   type: integer
               required:
@@ -243,121 +251,152 @@ separator.chinwe:
               - volume
               - valve_port
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_dispense参数
+          type: object
         type: UniLabJsonCommand
       pump_initialize:
+        feedback: {}
         goal:
           drain_port: 0
           output_port: 0
           pump_id: 1
           speed: 10
+        goal_default:
+          drain_port: 0
+          output_port: 0
+          pump_id: null
+          speed: 10
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 初始化指定注射泵
           properties:
+            feedback: {}
             goal:
               properties:
                 drain_port:
                   default: 0
                   description: 排液口索引
-                  type: integer
+                  type: string
                 output_port:
                   default: 0
                   description: 输出口索引
-                  type: integer
-                pump_id:
-                  default: '1'
-                  description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  title: '注: 1号泵, 2号泵, 3号泵'
                   type: string
+                pump_id:
+                  description: 选择泵
+                  title: '注: 1号泵, 2号泵, 3号泵'
+                  type: integer
                 speed:
                   default: 10
                   description: 运动速度
-                  type: integer
+                  type: string
               required:
               - pump_id
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_initialize参数
+          type: object
         type: UniLabJsonCommand
       pump_valve:
+        feedback: {}
         goal:
           port: 1
           pump_id: 1
+        goal_default:
+          port: null
+          pump_id: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 切换指定泵的阀门端口
           properties:
+            feedback: {}
             goal:
               properties:
                 port:
-                  default: '1'
                   description: 阀门端口号 (1-8)
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
+                  type: integer
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
+                  type: integer
               required:
               - pump_id
               - port
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_valve参数
+          type: object
         type: UniLabJsonCommand
       wait_sensor_level:
+        feedback: {}
         goal:
           target_state: 有液
           timeout: 30
+        goal_default:
+          target_state: 有液
+          timeout: 30
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 等待传感器液位条件
           properties:
+            feedback: {}
             goal:
               properties:
                 target_state:
                   default: 有液
                   description: 目标液位状态
-                  enum:
-                  - 有液
-                  - 无液
                   type: string
                 timeout:
                   default: 30
                   description: 超时时间 (秒)
                   type: integer
-              required:
-              - target_state
+              required: []
               type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: wait_sensor_level参数
+          type: object
         type: UniLabJsonCommand
       wait_time:
+        feedback: {}
         goal:
           duration: 10
+        goal_default:
+          duration: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 等待指定时间
           properties:
+            feedback: {}
             goal:
               properties:
                 duration:
-                  default: 10
                   description: 等待时间 (秒)
                   type: integer
               required:
               - duration
               type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: wait_time参数
+          type: object
         type: UniLabJsonCommand
     module: unilabos.devices.separator.chinwe:ChinweDevice
     status_types:
@@ -406,8 +445,8 @@ separator.chinwe:
         sensor_rssi:
           type: integer
       required:
+      - is_connected
       - sensor_level
       - sensor_rssi
-      - is_connected
       type: object
   version: 2.1.0

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -64,7 +64,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: fun_wuliao_test参数
@@ -109,7 +110,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_allpack_cmd参数
@@ -220,7 +222,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_allpack_cmd_simp参数
@@ -309,7 +312,8 @@ coincellassemblyworkstation_device:
                   type: boolean
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_device_init_auto_start_combined参数
@@ -351,7 +355,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_device_stop参数
@@ -376,7 +381,8 @@ coincellassemblyworkstation_device:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_get_msg_cmd参数
@@ -430,7 +436,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_send_finished_cmd参数
@@ -467,7 +474,8 @@ coincellassemblyworkstation_device:
               - assembly_type
               - assembly_pressure
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_send_msg_cmd参数
@@ -611,7 +619,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_sendbottle_allpack_multi参数
@@ -663,31 +672,6 @@ coincellassemblyworkstation_device:
           title: modify_deck_name参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-qiming_coin_cell_code:
         feedback: {}
         goal: {}
@@ -735,7 +719,8 @@ coincellassemblyworkstation_device:
               required:
               - fujipian_panshu
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: qiming_coin_cell_code参数
@@ -826,25 +811,24 @@ coincellassemblyworkstation_device:
         sys_status:
           type: string
       required:
-      - sys_status
-      - sys_mode
-      - request_rec_msg_status
-      - request_send_msg_status
       - data_assembly_coin_cell_num
+      - data_assembly_pressure
       - data_assembly_time
-      - data_open_circuit_voltage
       - data_axis_x_pos
       - data_axis_y_pos
       - data_axis_z_pos
-      - data_pole_weight
-      - data_assembly_pressure
-      - data_electrolyte_volume
-      - data_coin_num
       - data_coin_cell_code
+      - data_coin_num
       - data_electrolyte_code
-      - data_glove_box_pressure
+      - data_electrolyte_volume
       - data_glove_box_o2_content
+      - data_glove_box_pressure
       - data_glove_box_water_content
+      - data_open_circuit_voltage
+      - data_pole_weight
+      - request_rec_msg_status
+      - request_send_msg_status
+      - sys_mode
+      - sys_status
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/gas_handler.yaml

@@ -50,26 +50,25 @@ gas_source.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -82,26 +81,25 @@ gas_source.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -116,32 +114,31 @@ gas_source.mock:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -232,26 +229,25 @@ vacuum_pump.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -264,26 +260,25 @@ vacuum_pump.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -298,32 +293,31 @@ vacuum_pump.mock:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:

unilabos/registry/devices/hotel.yaml

@@ -5,7 +5,7 @@ hotel.thermo_orbitor_rs2_hotel:
     action_value_mappings: {}
     module: unilabos.devices.resource_container.container:HotelContainer
     status_types:
-      rotation: String
+      rotation: ''
     type: python
   config_info: []
   description: Thermo Orbitor RS2 Hotel容器设备，用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控，主要用于存储实验样品、试剂瓶或其他实验器具，支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。

unilabos/registry/devices/laiyu_liquid_test.yaml

@@ -22,7 +22,8 @@ xyz_stepper_controller:
               required:
               - degrees
               type: object
-            result: {}
+            result:
+              type: integer
           required:
           - goal
           title: degrees_to_steps参数
@@ -47,7 +48,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: emergency_stop参数
@@ -72,7 +74,10 @@ xyz_stepper_controller:
                   type: boolean
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: enable_all_axes参数
@@ -101,7 +106,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: enable_motor参数
@@ -122,7 +128,10 @@ xyz_stepper_controller:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: home_all_axes参数
@@ -147,7 +156,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: home_axis参数
@@ -188,7 +198,8 @@ xyz_stepper_controller:
               - axis
               - position
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: move_to_position参数
@@ -229,7 +240,8 @@ xyz_stepper_controller:
               - axis
               - degrees
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: move_to_position_degrees参数
@@ -270,7 +282,8 @@ xyz_stepper_controller:
               - axis
               - revolutions
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: move_to_position_revolutions参数
@@ -301,14 +314,17 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x:
-                  type: string
+                  type: integer
                 y:
-                  type: string
+                  type: integer
                 z:
-                  type: string
+                  type: integer
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: move_xyz参数
@@ -339,14 +355,17 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x_deg:
-                  type: string
+                  type: number
                 y_deg:
-                  type: string
+                  type: number
                 z_deg:
-                  type: string
+                  type: number
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: move_xyz_degrees参数
@@ -377,14 +396,17 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x_rev:
-                  type: string
+                  type: number
                 y_rev:
-                  type: string
+                  type: number
                 z_rev:
-                  type: string
+                  type: number
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: move_xyz_revolutions参数
@@ -409,7 +431,8 @@ xyz_stepper_controller:
               required:
               - revolutions
               type: object
-            result: {}
+            result:
+              type: integer
           required:
           - goal
           title: revolutions_to_steps参数
@@ -442,7 +465,8 @@ xyz_stepper_controller:
               - axis
               - speed
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: set_speed_mode参数
@@ -467,7 +491,8 @@ xyz_stepper_controller:
               required:
               - steps
               type: object
-            result: {}
+            result:
+              type: number
           required:
           - goal
           title: steps_to_degrees参数
@@ -492,7 +517,8 @@ xyz_stepper_controller:
               required:
               - steps
               type: object
-            result: {}
+            result:
+              type: number
           required:
           - goal
           title: steps_to_revolutions参数
@@ -513,7 +539,10 @@ xyz_stepper_controller:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: stop_all_axes参数
@@ -542,7 +571,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: wait_for_completion参数
@@ -550,8 +580,7 @@ xyz_stepper_controller:
         type: UniLabJsonCommand
     module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
     status_types:
-      all_positions: dict
-      motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
+      all_positions: Dict[MotorAxis, MotorPosition]
     type: python
   config_info: []
   description: 新XYZ控制器
@@ -574,12 +603,10 @@ xyz_stepper_controller:
     data:
       properties:
         all_positions:
-          type: object
-        motor_status:
+          additionalProperties:
+            type: object
           type: object
       required:
-      - motor_status
       - all_positions
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -5,31 +5,6 @@ neware_battery_test_system:
   - battery_test
   class:
     action_value_mappings:
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-print_status_summary:
         feedback: {}
         goal: {}
@@ -66,7 +41,8 @@ neware_battery_test_system:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: test_connection参数
@@ -77,9 +53,8 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 调试方法：显示所有资源的实际名称
           properties:
@@ -89,19 +64,10 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 资源调试信息
-                  type: string
-                success:
-                  description: 是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: debug_resource_names参数
           type: object
         type: UniLabJsonCommand
       export_status_json:
@@ -111,9 +77,8 @@ neware_battery_test_system:
         goal_default:
           filepath: bts_status.json
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 导出当前状态数据到JSON文件
           properties:
@@ -127,19 +92,10 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 导出操作结果信息
-                  type: string
-                success:
-                  description: 导出是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: export_status_json参数
           type: object
         type: UniLabJsonCommand
       get_device_summary:
@@ -181,10 +137,8 @@ neware_battery_test_system:
         goal_default:
           plate_num: null
         handles: {}
-        result:
-          plate_data: plate_data
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 获取指定盘或所有盘的状态信息
           properties:
@@ -193,29 +147,14 @@ neware_battery_test_system:
               properties:
                 plate_num:
                   description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
-                  maximum: 2
-                  minimum: 1
                   type: integer
               required: []
               type: object
             result:
-              properties:
-                plate_data:
-                  description: 盘状态数据（单盘或所有盘）
-                  type: object
-                return_info:
-                  description: 操作结果信息
-                  type: string
-                success:
-                  description: 查询是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
-              - plate_data
               type: object
           required:
           - goal
+          title: get_plate_status参数
           type: object
         type: UniLabJsonCommand
       print_status_summary_action:
@@ -223,9 +162,8 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 打印通道状态摘要信息到控制台
           properties:
@@ -235,28 +173,21 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 打印操作结果信息
-                  type: string
-                success:
-                  description: 打印是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: print_status_summary_action参数
           type: object
         type: UniLabJsonCommand
       query_plate_action:
         feedback: {}
         goal:
-          string: plate_id
+          plate_id: plate_id
+          string: string
         goal_default:
           string: ''
         handles: {}
+        placeholder_keys: {}
         result:
           return_info: return_info
           success: success
@@ -264,27 +195,23 @@ neware_battery_test_system:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -298,13 +225,11 @@ neware_battery_test_system:
           csv_path: string
           output_dir: string
         goal_default:
-          csv_path: ''
+          csv_path: null
           output_dir: .
         handles: {}
-        result:
-          return_info: return_info
-          submitted_count: submitted_count
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 从CSV文件批量提交Neware测试任务
           properties:
@@ -315,31 +240,17 @@ neware_battery_test_system:
                   description: 输入CSV文件的绝对路径
                   type: string
                 output_dir:
+                  default: .
                   description: 输出目录（用于存储XML和备份文件），默认当前目录
                   type: string
               required:
               - csv_path
               type: object
             result:
-              properties:
-                return_info:
-                  description: 执行结果详细信息
-                  type: string
-                submitted_count:
-                  description: 成功提交的任务数量
-                  type: integer
-                success:
-                  description: 是否成功
-                  type: boolean
-                total_count:
-                  description: CSV文件中的总行数
-                  type: integer
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: submit_from_csv参数
           type: object
         type: UniLabJsonCommand
       test_connection_action:
@@ -347,9 +258,8 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 测试与电池测试系统的TCP连接
           properties:
@@ -359,19 +269,10 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 连接测试结果信息
-                  type: string
-                success:
-                  description: 连接测试是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: test_connection_action参数
           type: object
         type: UniLabJsonCommand
       upload_backup_to_oss:
@@ -392,12 +293,8 @@ neware_battery_test_system:
             handler_key: uploaded_files
             io_type: sink
             label: Uploaded Files (with standard flow info)
-        result:
-          failed_files: failed_files
-          return_info: return_info
-          success: success
-          total_count: total_count
-          uploaded_count: uploaded_count
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 上传备份文件到阿里云OSS
           properties:
@@ -417,65 +314,17 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                failed_files:
-                  description: 上传失败的文件名列表
-                  items:
-                    type: string
-                  type: array
-                return_info:
-                  description: 上传操作结果信息
-                  type: string
-                success:
-                  description: 上传是否成功
-                  type: boolean
-                total_count:
-                  description: 总文件数
-                  type: integer
-                uploaded_count:
-                  description: 成功上传的文件数
-                  type: integer
-                uploaded_files:
-                  description: 成功上传的文件详情列表
-                  items:
-                    properties:
-                      Battery_Code:
-                        description: 电池编码
-                        type: string
-                      Electrolyte_Code:
-                        description: 电解液编码
-                        type: string
-                      filename:
-                        description: 文件名
-                        type: string
-                      url:
-                        description: OSS下载链接
-                        type: string
-                    required:
-                    - filename
-                    - url
-                    - Battery_Code
-                    - Electrolyte_Code
-                    type: object
-                  type: array
-              required:
-              - return_info
-              - success
-              - uploaded_count
-              - total_count
-              - failed_files
-              - uploaded_files
               type: object
           required:
           - goal
+          title: upload_backup_to_oss参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
     status_types:
-      channel_status: dict
-      connection_info: dict
+      channel_status: Dict[int, Dict]
+      connection_info: Dict[str, str]
       device_summary: dict
-      plate_status: dict
       status: str
       total_channels: int
     type: python
@@ -517,23 +366,24 @@ neware_battery_test_system:
     data:
       properties:
         channel_status:
+          additionalProperties:
+            type: object
           type: object
         connection_info:
+          additionalProperties:
+            type: string
           type: object
         device_summary:
           type: object
-        plate_status:
-          type: object
         status:
           type: string
         total_channels:
           type: integer
       required:
-      - status
       - channel_status
       - connection_info
-      - total_channels
-      - plate_status
       - device_summary
+      - status
+      - total_channels
       type: object
   version: 1.0.0

unilabos/registry/devices/opcua_example.yaml

@@ -142,8 +142,7 @@ opcua_example:
           type: object
         type: UniLabJsonCommand
     module: unilabos.device_comms.opcua_client.client:OpcUaClient
-    status_types:
-      node_value: String
+    status_types: {}
     type: python
   config_info: []
   description: null
@@ -167,10 +166,7 @@ opcua_example:
       - url
       type: object
     data:
-      properties:
-        node_value:
-          type: string
-      required:
-      - node_value
+      properties: {}
+      required: []
       type: object
   version: 1.0.0

unilabos/registry/devices/opsky_ATR30007.yaml

@@ -80,7 +80,8 @@ opsky_ATR30007:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: run_once参数

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -100,42 +100,41 @@ rotavap.one:
           type: object
         type: UniLabJsonCommand
       set_timer:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -250,9 +249,13 @@ separator.homemade:
         feedback:
           status: status
         goal:
+          event: event
           settling_time: settling_time
           stir_speed: stir_speed
-          stir_time: stir_time,
+          stir_time: stir_time
+          time: time
+          time_spec: time_spec
+          vessel: vessel
         goal_default:
           event: ''
           settling_time: ''
@@ -281,34 +284,42 @@ separator.homemade:
             sample_id: ''
             type: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          message: message
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: Stir_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 event:
                   type: string
                 settling_time:
                   type: string
                 stir_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 stir_time:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 time:
                   type: string
                 time_spec:
                   type: string
                 vessel:
+                  additionalProperties: false
                   properties:
                     category:
                       type: string
@@ -327,16 +338,26 @@ separator.homemade:
                     parent:
                       type: string
                     pose:
+                      additionalProperties: false
                       properties:
                         orientation:
+                          additionalProperties: false
                           properties:
                             w:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -346,12 +367,19 @@ separator.homemade:
                           title: orientation
                           type: object
                         position:
+                          additionalProperties: false
                           properties:
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -381,17 +409,10 @@ separator.homemade:
                   - data
                   title: vessel
                   type: object
-              required:
-              - vessel
-              - time
-              - event
-              - time_spec
-              - stir_time
-              - stir_speed
-              - settling_time
               title: Stir_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 message:
                   type: string
@@ -399,10 +420,6 @@ separator.homemade:
                   type: string
                 success:
                   type: boolean
-              required:
-              - success
-              - message
-              - return_info
               title: Stir_Result
               type: object
           required:
@@ -418,36 +435,34 @@ separator.homemade:
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/post_process_station.yaml

@@ -28,31 +28,6 @@ post_process_station:
           title: load_config参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-print_cache_stats:
         feedback: {}
         goal: {}
@@ -104,42 +79,41 @@ post_process_station:
           type: object
         type: UniLabJsonCommand
       disconnect:
-        feedback: {}
+        feedback:
+          status: status
         goal:
-          command: {}
+          command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -149,42 +123,41 @@ post_process_station:
         type: SendCmd
       read_node:
         feedback:
-          result: result
+          status: status
         goal:
-          command: node_name
+          command: command
+          node_name: node_name
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -283,17 +256,19 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: PostProcessTriggerClean_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 acetone_inner_wall_cleaning_count:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
                 acetone_inner_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -304,6 +279,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 acetone_outer_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -322,6 +299,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 acetone_stirrer_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -348,6 +327,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_inner_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -358,6 +339,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_outer_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -376,6 +359,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_stirrer_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -394,6 +379,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_inner_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 water_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -404,6 +391,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_outer_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 water_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -422,6 +411,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_stirrer_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 water_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -431,55 +422,13 @@ post_process_station:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - nmp_outer_wall_cleaning_injection
-              - nmp_outer_wall_cleaning_count
-              - nmp_outer_wall_cleaning_wait_time
-              - nmp_outer_wall_cleaning_waste_time
-              - nmp_inner_wall_cleaning_injection
-              - nmp_inner_wall_cleaning_count
-              - nmp_pump_cleaning_suction_count
-              - nmp_inner_wall_cleaning_waste_time
-              - nmp_stirrer_cleaning_injection
-              - nmp_stirrer_cleaning_count
-              - nmp_stirrer_cleaning_wait_time
-              - nmp_stirrer_cleaning_waste_time
-              - water_outer_wall_cleaning_injection
-              - water_outer_wall_cleaning_count
-              - water_outer_wall_cleaning_wait_time
-              - water_outer_wall_cleaning_waste_time
-              - water_inner_wall_cleaning_injection
-              - water_inner_wall_cleaning_count
-              - water_pump_cleaning_suction_count
-              - water_inner_wall_cleaning_waste_time
-              - water_stirrer_cleaning_injection
-              - water_stirrer_cleaning_count
-              - water_stirrer_cleaning_wait_time
-              - water_stirrer_cleaning_waste_time
-              - acetone_outer_wall_cleaning_injection
-              - acetone_outer_wall_cleaning_count
-              - acetone_outer_wall_cleaning_wait_time
-              - acetone_outer_wall_cleaning_waste_time
-              - acetone_inner_wall_cleaning_injection
-              - acetone_inner_wall_cleaning_count
-              - acetone_pump_cleaning_suction_count
-              - acetone_inner_wall_cleaning_waste_time
-              - acetone_stirrer_cleaning_injection
-              - acetone_stirrer_cleaning_count
-              - acetone_stirrer_cleaning_wait_time
-              - acetone_stirrer_cleaning_waste_time
-              - pipe_blowing_time
-              - injection_pump_forward_empty_suction_count
-              - injection_pump_reverse_empty_suction_count
-              - filtration_liquid_selection
               title: PostProcessTriggerClean_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: PostProcessTriggerClean_Result
               type: object
           required:
@@ -502,11 +451,11 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: PostProcessGrab_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 raw_tank_number:
                   maximum: 2147483647
@@ -516,17 +465,13 @@ post_process_station:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - reaction_tank_number
-              - raw_tank_number
               title: PostProcessGrab_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: PostProcessGrab_Result
               type: object
           required:
@@ -573,13 +518,15 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: PostProcessTriggerPostPro_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 atomization_fast_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 atomization_pressure_kpa:
                   maximum: 2147483647
@@ -594,8 +541,12 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 first_wash_water_amount:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 initial_water_amount:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 injection_pump_push_speed:
                   maximum: 2147483647
@@ -622,32 +573,20 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 second_wash_water_amount:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 wash_slow_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - atomization_fast_speed
-              - wash_slow_speed
-              - injection_pump_suction_speed
-              - injection_pump_push_speed
-              - raw_liquid_suction_count
-              - first_wash_water_amount
-              - second_wash_water_amount
-              - first_powder_mixing_tim
-              - second_powder_mixing_time
-              - first_powder_wash_count
-              - second_powder_wash_count
-              - initial_water_amount
-              - pre_filtration_mixing_time
-              - atomization_pressure_kpa
               title: PostProcessTriggerPostPro_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: PostProcessTriggerPostPro_Result
               type: object
           required:
@@ -669,30 +608,26 @@ post_process_station:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -702,8 +637,7 @@ post_process_station:
         type: SendCmd
     module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
     status_types:
-      cache_stats: dict
-      node_value: String
+      cache_stats: Dict[str, Any]
     type: python
   config_info: []
   description: 后处理站
@@ -718,7 +652,9 @@ post_process_station:
         config_path:
           type: string
         deck:
-          type: string
+          anyOf:
+          - type: object
+          - type: object
         password:
           type: string
         subscription_interval:
@@ -738,10 +674,7 @@ post_process_station:
       properties:
         cache_stats:
           type: object
-        node_value:
-          type: string
       required:
-      - node_value
       - cache_stats
       type: object
   version: 1.0.0

unilabos/registry/devices/pump_and_valve.yaml

@@ -136,36 +136,36 @@ solenoid_valve:
       set_valve_position:
         feedback: {}
         goal:
-          string: position
+          position: position
+          string: string
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -278,26 +278,25 @@ solenoid_valve.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -310,26 +309,25 @@ solenoid_valve.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -422,6 +420,27 @@ syringe_pump_with_valve.runze.SY03B-T06:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
+      auto-list:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: list的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: list参数
+          type: object
+        type: UniLabJsonCommand
       auto-pull_plunger:
         feedback: {}
         goal: {}
@@ -695,7 +714,10 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 position:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
+                  - type: number
               required:
               - position
               type: object
@@ -720,7 +742,9 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 velocity:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
               required:
               - velocity
               type: object
@@ -780,13 +804,13 @@ syringe_pump_with_valve.runze.SY03B-T06:
     status_types:
       max_velocity: float
       mode: int
-      plunger_position: String
+      plunger_position: ''
       position: float
       status: str
       valve_position: str
-      velocity_end: String
-      velocity_grade: String
-      velocity_init: String
+      velocity_end: ''
+      velocity_grade: ''
+      velocity_init: ''
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -885,15 +909,15 @@ syringe_pump_with_valve.runze.SY03B-T06:
         velocity_init:
           type: string
       required:
-      - status
-      - mode
       - max_velocity
+      - mode
+      - plunger_position
+      - position
+      - status
+      - valve_position
+      - velocity_end
       - velocity_grade
       - velocity_init
-      - velocity_end
-      - valve_position
-      - position
-      - plunger_position
       type: object
   version: 1.0.0
 syringe_pump_with_valve.runze.SY03B-T08:
@@ -943,6 +967,27 @@ syringe_pump_with_valve.runze.SY03B-T08:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
+      auto-list:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: list的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: list参数
+          type: object
+        type: UniLabJsonCommand
       auto-pull_plunger:
         feedback: {}
         goal: {}
@@ -1216,7 +1261,10 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 position:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
+                  - type: number
               required:
               - position
               type: object
@@ -1241,7 +1289,9 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 velocity:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
               required:
               - velocity
               type: object
@@ -1301,13 +1351,13 @@ syringe_pump_with_valve.runze.SY03B-T08:
     status_types:
       max_velocity: float
       mode: int
-      plunger_position: String
+      plunger_position: ''
       position: float
       status: str
       valve_position: str
-      velocity_end: String
-      velocity_grade: String
-      velocity_init: String
+      velocity_end: ''
+      velocity_grade: ''
+      velocity_init: ''
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -1422,14 +1472,14 @@ syringe_pump_with_valve.runze.SY03B-T08:
         velocity_init:
           type: string
       required:
-      - status
-      - mode
       - max_velocity
+      - mode
+      - plunger_position
+      - position
+      - status
+      - valve_position
+      - velocity_end
       - velocity_grade
       - velocity_init
-      - velocity_end
-      - valve_position
-      - position
-      - plunger_position
       type: object
   version: 1.0.0

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -13,12 +13,13 @@ reaction_station.bioyond:
           start_point: start_point
           start_step_key: start_step_key
         goal_default:
-          duration: 0
+          duration: null
           end_point: 0
           end_step_key: ''
           start_point: 0
           start_step_key: ''
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 添加时间约束 - 在两个工作流之间添加时间约束
@@ -30,23 +31,19 @@ reaction_station.bioyond:
                   description: 时间(秒)
                   type: integer
                 end_point:
-                  default: Start
+                  default: 0
                   description: 终点计时点 (Start=开始前, End=结束后)
-                  enum:
-                  - Start
-                  - End
-                  type: string
+                  type: integer
                 end_step_key:
+                  default: ''
                   description: 终点步骤Key (可选, 默认为空则自动选择)
                   type: string
                 start_point:
-                  default: Start
+                  default: 0
                   description: 起点计时点 (Start=开始前, End=结束后)
-                  enum:
-                  - Start
-                  - End
-                  type: string
+                  type: integer
                 start_step_key:
+                  default: ''
                   description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
                   type: string
               required:
@@ -98,7 +95,8 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_order参数
@@ -125,7 +123,8 @@ reaction_station.bioyond:
               required:
               - workflow_ids
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: hard_delete_merged_workflows参数
@@ -150,7 +149,8 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: merge_workflow_with_parameters参数
@@ -175,7 +175,8 @@ reaction_station.bioyond:
               required:
               - report_request
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_temperature_cutoff_report参数
@@ -200,7 +201,12 @@ reaction_station.bioyond:
               required:
               - web_workflow_json
               type: object
-            result: {}
+            result:
+              items:
+                additionalProperties:
+                  type: string
+                type: object
+              type: array
           required:
           - goal
           title: process_web_workflows参数
@@ -229,7 +235,8 @@ reaction_station.bioyond:
               - reactor_id
               - temperature
               type: object
-            result: {}
+            result:
+              type: string
           required:
           - goal
           title: set_reactor_temperature参数
@@ -254,7 +261,8 @@ reaction_station.bioyond:
               required:
               - preintake_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: skip_titration_steps参数
@@ -275,7 +283,8 @@ reaction_station.bioyond:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: sync_workflow_sequence_from_bioyond参数
@@ -307,7 +316,8 @@ reaction_station.bioyond:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_multiple_orders_and_get_reports参数
@@ -359,7 +369,8 @@ reaction_station.bioyond:
               required:
               - workflow_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: workflow_step_query参数
@@ -370,9 +381,8 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          code: code
-          message: message
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 清空服务端所有非核心工作流 (保留核心流程)
           properties:
@@ -382,13 +392,6 @@ reaction_station.bioyond:
               required: []
               type: object
             result:
-              properties:
-                code:
-                  description: 操作结果代码(1表示成功)
-                  type: integer
-                message:
-                  description: 结果描述
-                  type: string
               type: object
           required:
           - goal
@@ -405,13 +408,14 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
-          temperature: ''
-          time: ''
-          titration_type: ''
-          torque_variation: ''
-          volume: ''
+          assign_material_name: null
+          temperature: 25.0
+          time: '90'
+          titration_type: '1'
+          torque_variation: 2
+          volume: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 滴回去
@@ -423,33 +427,27 @@ reaction_station.bioyond:
                   description: 物料名称（不能为空）
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '90'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
+                  default: 2
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume:
                   description: 分液公式(mL)
                   type: string
               required:
-              - volume
               - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
+              - volume
               type: object
             result: {}
           required:
@@ -462,7 +460,7 @@ reaction_station.bioyond:
         goal:
           batch_reports_result: batch_reports_result
         goal_default:
-          batch_reports_result: ''
+          batch_reports_result: null
         handles:
           input:
           - data_key: batch_reports_result
@@ -478,8 +476,8 @@ reaction_station.bioyond:
             handler_key: ACTUALS_EXTRACTED
             io_type: sink
             label: Extracted Actuals
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 从批量任务完成报告中提取每个订单的实际加料量，输出extracted列表。
           properties:
@@ -493,13 +491,6 @@ reaction_station.bioyond:
               - batch_reports_result
               type: object
             result:
-              properties:
-                return_info:
-                  description: JSON字符串，包含actuals数组，每项含order_code, order_id, actualTargetWeigh,
-                    actualVolume
-                  type: string
-              required:
-              - return_info
               title: extract_actuals_from_batch_reports结果
               type: object
           required:
@@ -517,13 +508,14 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
-          temperature: ''
-          time: ''
-          titration_type: ''
-          torque_variation: ''
-          volume: ''
+          assign_material_name: BAPP
+          temperature: 25.0
+          time: '0'
+          titration_type: '1'
+          torque_variation: 1
+          volume: '350'
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料烧杯
@@ -532,36 +524,30 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
+                  default: BAPP
                   description: 物料名称
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
+                  default: 1
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume:
+                  default: '350'
                   description: 分液公式(mL)
                   type: string
-              required:
-              - volume
-              - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
+              required: []
               type: object
             result: {}
           required:
@@ -580,13 +566,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
-          solvents: ''
-          temperature: '25.00'
+          assign_material_name: null
+          solvents: null
+          temperature: 25.0
           time: '360'
           titration_type: '1'
-          torque_variation: '2'
-          volume: ''
+          torque_variation: 2
+          volume: null
         handles:
           input:
           - data_key: solvents
@@ -595,6 +581,7 @@ reaction_station.bioyond:
             handler_key: solvents
             io_type: source
             label: Solvents Data From Calculation Node
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
@@ -609,27 +596,21 @@ reaction_station.bioyond:
                   description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
                   type: string
                 temperature:
-                  default: '25.00'
+                  default: 25.0
                   description: 温度设定(°C),默认25.00
-                  type: string
+                  type: number
                 time:
                   default: '360'
                   description: 观察时间(分钟),默认360
                   type: string
                 titration_type:
-                  default: 'NO'
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是),默认NO
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
-                  default: 'YES'
+                  default: 2
                   description: 是否观察 (NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume:
                   description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
                   type: string
@@ -655,15 +636,15 @@ reaction_station.bioyond:
           volume_formula: volume_formula
           x_value: x_value
         goal_default:
-          assign_material_name: ''
-          extracted_actuals: ''
-          feeding_order_data: ''
-          temperature: '25.00'
+          assign_material_name: null
+          extracted_actuals: null
+          feeding_order_data: null
+          temperature: 25.0
           time: '90'
           titration_type: '2'
-          torque_variation: '2'
-          volume_formula: ''
-          x_value: ''
+          torque_variation: 2
+          volume_formula: null
+          x_value: null
         handles:
           input:
           - data_key: extracted_actuals
@@ -678,6 +659,7 @@ reaction_station.bioyond:
             handler_key: feeding_order
             io_type: source
             label: Feeding Order Data From Calculation Node
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料(滴定)。支持两种模式:1)直接提供volume_formula;2)自动计算-提供x_value+feeding_order_data+extracted_actuals,系统自动生成公式"1000*(m二酐-x)*V二酐滴定/m二酐滴定"
@@ -696,27 +678,21 @@ reaction_station.bioyond:
                     {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
                   type: string
                 temperature:
-                  default: '25.00'
+                  default: 25.0
                   description: 温度设定(°C),默认25.00
-                  type: string
+                  type: number
                 time:
                   default: '90'
                   description: 观察时间(分钟),默认90
                   type: string
                 titration_type:
-                  default: 'YES'
+                  default: '2'
                   description: 是否滴定(NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
-                  default: 'YES'
+                  default: 2
                   description: 是否观察 (NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume_formula:
                   description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
                   type: string
@@ -742,13 +718,14 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume_formula: volume_formula
         goal_default:
-          assign_material_name: ''
-          temperature: ''
-          time: ''
-          titration_type: ''
-          torque_variation: ''
-          volume_formula: ''
+          assign_material_name: null
+          temperature: 25.0
+          time: '0'
+          titration_type: '1'
+          torque_variation: 1
+          volume_formula: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料小瓶(非滴定)
@@ -760,33 +737,27 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
+                  default: 1
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume_formula:
                   description: 分液公式(mL)
                   type: string
               required:
               - volume_formula
               - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
               type: object
             result: {}
           required:
@@ -800,9 +771,10 @@ reaction_station.bioyond:
           task_name: task_name
           workflow_name: workflow_name
         goal_default:
-          task_name: ''
-          workflow_name: ''
+          task_name: null
+          workflow_name: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 处理并执行工作流
@@ -820,7 +792,8 @@ reaction_station.bioyond:
               - workflow_name
               - task_name
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_and_execute_workflow参数
@@ -833,10 +806,11 @@ reaction_station.bioyond:
           cutoff: cutoff
           temperature: temperature
         goal_default:
-          assign_material_name: ''
-          cutoff: ''
-          temperature: ''
+          assign_material_name: null
+          cutoff: '900000'
+          temperature: -10.0
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数
@@ -848,14 +822,14 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 cutoff:
+                  default: '900000'
                   description: 粘度上限
                   type: string
                 temperature:
+                  default: -10.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
               required:
-              - cutoff
-              - temperature
               - assign_material_name
               type: object
             result: {}
@@ -869,6 +843,7 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作
@@ -878,15 +853,7 @@ reaction_station.bioyond:
               properties: {}
               required: []
               type: object
-            result:
-              properties:
-                code:
-                  description: 操作结果代码(1表示成功,0表示失败)
-                  type: integer
-                return_info:
-                  description: 操作结果详细信息
-                  type: string
-              type: object
+            result: {}
           required:
           - goal
           title: reactor_taken_out参数
@@ -897,8 +864,8 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
           properties:
@@ -908,12 +875,6 @@ reaction_station.bioyond:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 调度器启动结果，成功返回1，失败返回0
-                  type: integer
-              required:
-              - return_info
               title: scheduler_start结果
               type: object
           required:
@@ -930,12 +891,13 @@ reaction_station.bioyond:
           time: time
           torque_variation: torque_variation
         goal_default:
-          assign_material_name: ''
-          material_id: ''
-          temperature: ''
-          time: ''
-          torque_variation: ''
+          assign_material_name: null
+          material_id: null
+          temperature: 25.0
+          time: '0'
+          torque_variation: 1
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA)
@@ -948,29 +910,21 @@ reaction_station.bioyond:
                   type: string
                 material_id:
                   description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
-                  enum:
-                  - Salt
-                  - Flour
-                  - BTDA
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 torque_variation:
+                  default: 1
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
               required:
-              - assign_material_name
               - material_id
-              - time
-              - torque_variation
-              - temperature
               type: object
             result: {}
           required:

unilabos/registry/devices/robot_agv.yaml

@@ -37,42 +37,41 @@ agv.SEER:
           type: object
         type: UniLabJsonCommand
       send_nav_task:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/robot_arm.yaml

@@ -122,31 +122,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           title: moveit_task参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: post_init的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-resource_manager:
         feedback: {}
         goal: {}
@@ -198,41 +173,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -241,41 +216,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: SendCmd
       set_position:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -284,41 +259,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: SendCmd
       set_status:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -455,42 +430,41 @@ robotic_arm.UR:
           type: object
         type: UniLabJsonCommand
       move_pos_task:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -532,8 +506,8 @@ robotic_arm.UR:
           type: string
       required:
       - arm_pose
-      - gripper_pose
       - arm_status
+      - gripper_pose
       - gripper_status
       type: object
   version: 1.0.0
@@ -726,41 +700,41 @@ robotic_arm.elite:
           type: object
         type: UniLabJsonCommand
       modbus_task_cmd:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -770,8 +744,8 @@ robotic_arm.elite:
         type: SendCmd
     module: unilabos.devices.arm.elite_robot:EliteRobot
     status_types:
-      actual_joint_positions: String
-      arm_pose: String
+      actual_joint_positions: ''
+      arm_pose: list[float]
     type: python
   config_info: []
   description: Elite robot arm
@@ -797,8 +771,8 @@ robotic_arm.elite:
             type: number
           type: array
       required:
-      - arm_pose
       - actual_joint_positions
+      - arm_pose
       type: object
   model:
     mesh: elite_robot

unilabos/registry/devices/robot_gripper.yaml

@@ -114,11 +114,12 @@ gripper.misumi_rz:
             goal:
               properties:
                 data:
-                  type: string
+                  type: object
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: modbus_crc参数
@@ -398,30 +399,26 @@ gripper.misumi_rz:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -504,71 +501,82 @@ gripper.mock:
         type: UniLabJsonCommand
       push_to:
         feedback:
-          effort: torque
+          effort: effort
           position: position
+          reached_goal: reached_goal
+          stalled: stalled
         goal:
-          command.max_effort: torque
-          command.position: position
+          command: command
+          position: position
+          torque: torque
+          velocity: velocity
         goal_default:
           command:
             max_effort: 0.0
             position: 0.0
         handles: {}
+        placeholder_keys: {}
         result:
-          effort: torque
+          effort: effort
           position: position
+          reached_goal: reached_goal
+          stalled: stalled
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 effort:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 reached_goal:
                   type: boolean
                 stalled:
                   type: boolean
-              required:
-              - position
-              - effort
-              - stalled
-              - reached_goal
               title: GripperCommand_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
+                  additionalProperties: false
                   properties:
                     max_effort:
+                      maximum: 1.7976931348623157e+308
+                      minimum: -1.7976931348623157e+308
                       type: number
                     position:
+                      maximum: 1.7976931348623157e+308
+                      minimum: -1.7976931348623157e+308
                       type: number
                   required:
                   - position
                   - max_effort
                   title: command
                   type: object
-              required:
-              - command
               title: GripperCommand_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 effort:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 reached_goal:
                   type: boolean
                 stalled:
                   type: boolean
-              required:
-              - position
-              - effort
-              - stalled
-              - reached_goal
               title: GripperCommand_Result
               type: object
           required:
@@ -604,8 +612,8 @@ gripper.mock:
           type: number
       required:
       - position
-      - velocity
-      - torque
       - status
+      - torque
+      - velocity
       type: object
   version: 1.0.0

unilabos/registry/devices/robot_linear_motion.yaml

@@ -24,6 +24,27 @@ linear_motion.grbl:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
+      auto-list:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: list的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: list参数
+          type: object
+        type: UniLabJsonCommand
       auto-set_position:
         feedback: {}
         goal: {}
@@ -93,44 +114,39 @@ linear_motion.grbl:
         type: UniLabJsonCommandAsync
       move_through_points:
         feedback:
-          current_pose.pose.position: position
-          estimated_time_remaining.sec: time_remaining
-          navigation_time.sec: time_spent
-          number_of_poses_remaining: pose_number_remaining
+          current_pose: current_pose
+          distance_remaining: distance_remaining
+          estimated_time_remaining: estimated_time_remaining
+          navigation_time: navigation_time
+          number_of_poses_remaining: number_of_poses_remaining
+          number_of_recoveries: number_of_recoveries
         goal:
-          poses[].pose.position: positions[]
+          behavior_tree: behavior_tree
+          poses: poses
+          positions: positions
         goal_default:
           behavior_tree: ''
-          poses:
-          - header:
-              frame_id: ''
-              stamp:
-                nanosec: 0
-                sec: 0
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
+          poses: []
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          result: result
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 current_pose:
+                  additionalProperties: false
                   properties:
                     header:
+                      additionalProperties: false
                       properties:
                         frame_id:
                           type: string
                         stamp:
+                          additionalProperties: false
                           properties:
                             nanosec:
                               maximum: 4294967295
@@ -151,16 +167,26 @@ linear_motion.grbl:
                       title: header
                       type: object
                     pose:
+                      additionalProperties: false
                       properties:
                         orientation:
+                          additionalProperties: false
                           properties:
                             w:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -170,12 +196,19 @@ linear_motion.grbl:
                           title: orientation
                           type: object
                         position:
+                          additionalProperties: false
                           properties:
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -194,8 +227,11 @@ linear_motion.grbl:
                   title: current_pose
                   type: object
                 distance_remaining:
+                  maximum: 3.4028235e+38
+                  minimum: -3.4028235e+38
                   type: number
                 estimated_time_remaining:
+                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -211,6 +247,7 @@ linear_motion.grbl:
                   title: estimated_time_remaining
                   type: object
                 navigation_time:
+                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -233,16 +270,10 @@ linear_motion.grbl:
                   maximum: 32767
                   minimum: -32768
                   type: integer
-              required:
-              - current_pose
-              - navigation_time
-              - estimated_time_remaining
-              - number_of_recoveries
-              - distance_remaining
-              - number_of_poses_remaining
               title: NavigateThroughPoses_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 behavior_tree:
                   type: string
@@ -256,12 +287,8 @@ linear_motion.grbl:
                           stamp:
                             properties:
                               nanosec:
-                                maximum: 4294967295
-                                minimum: 0
                                 type: integer
                               sec:
-                                maximum: 2147483647
-                                minimum: -2147483648
                                 type: integer
                             required:
                             - sec
@@ -314,23 +341,17 @@ linear_motion.grbl:
                     required:
                     - header
                     - pose
-                    title: poses
                     type: object
                   type: array
-              required:
-              - poses
-              - behavior_tree
               title: NavigateThroughPoses_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 result:
-                  properties: {}
-                  required: []
+                  additionalProperties: true
                   title: result
                   type: object
-              required:
-              - result
               title: NavigateThroughPoses_Result
               type: object
           required:
@@ -340,9 +361,15 @@ linear_motion.grbl:
         type: NavigateThroughPoses
       set_spindle_speed:
         feedback:
-          position: spindle_speed
+          error: error
+          header: header
+          position: position
+          velocity: velocity
         goal:
-          position: spindle_speed
+          max_velocity: max_velocity
+          min_duration: min_duration
+          position: position
+          spindle_speed: spindle_speed
         goal_default:
           max_velocity: 0.0
           min_duration:
@@ -350,19 +377,25 @@ linear_motion.grbl:
             sec: 0
           position: 0.0
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 error:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 header:
+                  additionalProperties: false
                   properties:
                     frame_id:
                       type: string
                     stamp:
+                      additionalProperties: false
                       properties:
                         nanosec:
                           maximum: 4294967295
@@ -383,21 +416,24 @@ linear_motion.grbl:
                   title: header
                   type: object
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 velocity:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - header
-              - position
-              - velocity
-              - error
               title: SingleJointPosition_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 max_velocity:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 min_duration:
+                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -413,16 +449,13 @@ linear_motion.grbl:
                   title: min_duration
                   type: object
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - position
-              - min_duration
-              - max_velocity
               title: SingleJointPosition_Goal
               type: object
             result:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: SingleJointPosition_Result
               type: object
           required:
@@ -432,7 +465,7 @@ linear_motion.grbl:
         type: SingleJointPosition
     module: unilabos.devices.cnc.grbl_sync:GrblCNC
     status_types:
-      position: unilabos.messages:Point3D
+      position: Point3D
       spindle_speed: float
       status: str
     type: python
@@ -471,9 +504,9 @@ linear_motion.grbl:
         status:
           type: string
       required:
-      - status
       - position
       - spindle_speed
+      - status
       type: object
   version: 1.0.0
 linear_motion.toyo_xyz.sim:
@@ -600,31 +633,6 @@ linear_motion.toyo_xyz.sim:
           title: moveit_task参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: post_init的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-resource_manager:
         feedback: {}
         goal: {}
@@ -676,41 +684,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -719,41 +727,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: SendCmd
       set_position:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -762,41 +770,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: SendCmd
       set_status:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -939,30 +947,26 @@ motor.iCL42:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -1000,8 +1004,8 @@ motor.iCL42:
         success:
           type: boolean
       required:
-      - motor_position
       - is_executing_run
+      - motor_position
       - success
       type: object
   version: 1.0.0

unilabos/registry/devices/solid_dispenser.yaml

@@ -14,19 +14,24 @@ solid_dispenser.laiyu:
           powder_tube_number: 0
           target_tube_position: ''
         handles: {}
+        placeholder_keys: {}
         result:
           actual_mass_mg: actual_mass_mg
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: SolidDispenseAddPowderTube_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 compound_mass:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 powder_tube_number:
                   maximum: 2147483647
@@ -34,24 +39,19 @@ solid_dispenser.laiyu:
                   type: integer
                 target_tube_position:
                   type: string
-              required:
-              - powder_tube_number
-              - target_tube_position
-              - compound_mass
               title: SolidDispenseAddPowderTube_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 actual_mass_mg:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - actual_mass_mg
-              - success
               title: SolidDispenseAddPowderTube_Result
               type: object
           required:
@@ -74,11 +74,12 @@ solid_dispenser.laiyu:
             goal:
               properties:
                 data:
-                  type: string
+                  type: object
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: calculate_crc参数
@@ -99,11 +100,12 @@ solid_dispenser.laiyu:
             goal:
               properties:
                 command:
-                  type: string
+                  type: object
               required:
               - command
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: send_command参数
@@ -112,36 +114,37 @@ solid_dispenser.laiyu:
       discharge:
         feedback: {}
         goal:
-          float_input: float_input
+          float_in: float_in
         goal_default:
           float_in: 0.0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: FloatSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 float_in:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - float_in
               title: FloatSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: FloatSingleInput_Result
               type: object
           required:
@@ -156,32 +159,31 @@ solid_dispenser.laiyu:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -200,38 +202,41 @@ solid_dispenser.laiyu:
           y: 0.0
           z: 0.0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: Point3DSeparateInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 x:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 y:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 z:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - x
-              - y
-              - z
               title: Point3DSeparateInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: Point3DSeparateInput_Result
               type: object
           required:
@@ -246,34 +251,33 @@ solid_dispenser.laiyu:
         goal_default:
           int_input: 0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: IntSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -288,34 +292,33 @@ solid_dispenser.laiyu:
         goal_default:
           int_input: 0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: IntSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -328,26 +331,25 @@ solid_dispenser.laiyu:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:

unilabos/registry/devices/temperature.yaml

@@ -34,7 +34,8 @@ chiller:
               - register_address
               - value
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: build_modbus_frame参数
@@ -63,7 +64,8 @@ chiller:
               required:
               - temperature
               type: object
-            result: {}
+            result:
+              type: integer
           required:
           - goal
           title: convert_temperature_to_modbus_value参数
@@ -84,11 +86,12 @@ chiller:
             goal:
               properties:
                 data:
-                  type: string
+                  type: object
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: modbus_crc参数
@@ -116,42 +119,41 @@ chiller:
           type: object
         type: UniLabJsonCommand
       set_temperature:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -266,9 +268,15 @@ heaterstirrer.dalong:
         feedback:
           status: status
         goal:
+          pressure: pressure
           purpose: purpose
+          reflux_solvent: reflux_solvent
+          stir: stir
+          stir_speed: stir_speed
           temp: temp
+          temp_spec: temp_spec
           time: time
+          time_spec: time_spec
           vessel: vessel
         goal_default:
           pressure: ''
@@ -301,20 +309,23 @@ heaterstirrer.dalong:
             sample_id: ''
             type: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          message: message
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: HeatChill_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 pressure:
                   type: string
@@ -325,8 +336,12 @@ heaterstirrer.dalong:
                 stir:
                   type: boolean
                 stir_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 temp:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 temp_spec:
                   type: string
@@ -335,6 +350,7 @@ heaterstirrer.dalong:
                 time_spec:
                   type: string
                 vessel:
+                  additionalProperties: false
                   properties:
                     category:
                       type: string
@@ -353,16 +369,26 @@ heaterstirrer.dalong:
                     parent:
                       type: string
                     pose:
+                      additionalProperties: false
                       properties:
                         orientation:
+                          additionalProperties: false
                           properties:
                             w:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -372,12 +398,19 @@ heaterstirrer.dalong:
                           title: orientation
                           type: object
                         position:
+                          additionalProperties: false
                           properties:
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -407,20 +440,10 @@ heaterstirrer.dalong:
                   - data
                   title: vessel
                   type: object
-              required:
-              - vessel
-              - temp
-              - time
-              - temp_spec
-              - time_spec
-              - pressure
-              - reflux_solvent
-              - stir
-              - stir_speed
-              - purpose
               title: HeatChill_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 message:
                   type: string
@@ -428,10 +451,6 @@ heaterstirrer.dalong:
                   type: string
                 success:
                   type: boolean
-              required:
-              - success
-              - message
-              - return_info
               title: HeatChill_Result
               type: object
           required:
@@ -440,42 +459,42 @@ heaterstirrer.dalong:
           type: object
         type: HeatChill
       set_temp_target:
-        feedback: {}
+        feedback:
+          status: status
         goal:
-          command: temp
+          command: command
+          temp: temp
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -484,42 +503,42 @@ heaterstirrer.dalong:
           type: object
         type: SendCmd
       set_temp_warning:
-        feedback: {}
+        feedback:
+          status: status
         goal:
-          command: temp
+          command: command
+          temp: temp
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -569,8 +588,8 @@ heaterstirrer.dalong:
       - status
       - stir_speed
       - temp
-      - temp_warning
       - temp_target
+      - temp_warning
       type: object
   version: 1.0.0
 tempsensor:
@@ -691,42 +710,41 @@ tempsensor:
           type: object
         type: UniLabJsonCommand
       set_warning:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/xrd_d7mate.yaml

@@ -45,31 +45,6 @@ xrd_d7mate:
           title: connect参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-start_from_string:
         feedback: {}
         goal: {}
@@ -85,11 +60,14 @@ xrd_d7mate:
             goal:
               properties:
                 params:
-                  type: string
+                  anyOf:
+                  - type: string
+                  - type: object
               required:
               - params
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: start_from_string参数
@@ -105,21 +83,18 @@ xrd_d7mate:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -130,38 +105,38 @@ xrd_d7mate:
       get_sample_down:
         feedback: {}
         goal:
-          sample_station: 1
+          int_input: int_input
+          sample_station: sample_station
         goal_default:
           int_input: 0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: IntSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -179,21 +154,18 @@ xrd_d7mate:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -211,21 +183,18 @@ xrd_d7mate:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -238,26 +207,25 @@ xrd_d7mate:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -274,42 +242,35 @@ xrd_d7mate:
           sample_id: ''
           start_theta: 10.0
         goal_default:
-          end_theta: 80.0
-          exp_time: 0.5
-          increment: 0.02
-          sample_id: Sample001
-          start_theta: 10.0
+          end_theta: null
+          exp_time: null
+          increment: null
+          sample_id: null
+          start_theta: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 送样完成后，发送样品信息和采集参数
           properties:
             feedback:
-              properties: {}
-              required: []
               title: SampleReadyInput_Feedback
-              type: object
             goal:
               properties:
                 end_theta:
                   description: 结束角度（≥5.5°，且必须大于start_theta）
-                  minimum: 5.5
                   type: number
                 exp_time:
                   description: 曝光时间（0.1-5.0秒）
-                  maximum: 5.0
-                  minimum: 0.1
                   type: number
                 increment:
                   description: 角度增量（≥0.005）
-                  minimum: 0.005
                   type: number
                 sample_id:
                   description: 样品标识符
                   type: string
                 start_theta:
                   description: 起始角度（≥5°）
-                  minimum: 5.0
                   type: number
               required:
               - sample_id
@@ -320,19 +281,11 @@ xrd_d7mate:
               title: SampleReadyInput_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: SampleReadyInput_Result
               type: object
           required:
           - goal
-          title: SampleReadyInput
+          title: send_sample_ready参数
           type: object
         type: UniLabJsonCommand
       set_power_off:
@@ -340,26 +293,25 @@ xrd_d7mate:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -372,26 +324,25 @@ xrd_d7mate:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -405,18 +356,16 @@ xrd_d7mate:
           current: 30.0
           voltage: 40.0
         goal_default:
-          current: 30.0
-          voltage: 40.0
+          current: null
+          voltage: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 设置高压电源电压和电流
           properties:
             feedback:
-              properties: {}
-              required: []
               title: VoltageCurrentInput_Feedback
-              type: object
             goal:
               properties:
                 current:
@@ -431,19 +380,11 @@ xrd_d7mate:
               title: VoltageCurrentInput_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: VoltageCurrentInput_Result
               type: object
           required:
           - goal
-          title: VoltageCurrentInput
+          title: set_voltage_current参数
           type: object
         type: UniLabJsonCommand
       start:
@@ -453,11 +394,12 @@ xrd_d7mate:
           end_theta: 80.0
           exp_time: 0.1
           increment: 0.05
-          sample_id: 样品名称
+          sample_id: ''
           start_theta: 10.0
           string: ''
           wait_minutes: 3.0
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 启动自动模式→上样→等待→样品准备→监控→检测下样位→执行下样流程。
@@ -466,54 +408,42 @@ xrd_d7mate:
             goal:
               properties:
                 end_theta:
+                  default: 80.0
                   description: 结束角度（≥5.5°，且必须大于start_theta）
-                  minimum: 5.5
-                  type: string
+                  type: number
                 exp_time:
+                  default: 0.1
                   description: 曝光时间（0.1-5.0秒）
-                  maximum: 5.0
-                  minimum: 0.1
-                  type: string
+                  type: number
                 increment:
+                  default: 0.05
                   description: 角度增量（≥0.005）
-                  minimum: 0.005
-                  type: string
+                  type: number
                 sample_id:
+                  default: ''
                   description: 样品标识符
                   type: string
                 start_theta:
+                  default: 10.0
                   description: 起始角度（≥5°）
-                  minimum: 5.0
-                  type: string
+                  type: number
                 string:
+                  default: ''
                   description: 字符串格式的参数输入，如果提供则优先解析使用
                   type: string
                 wait_minutes:
+                  default: 3.0
                   description: 允许上样后等待分钟数
-                  minimum: 0.0
                   type: number
-              required:
-              - sample_id
-              - start_theta
-              - end_theta
-              - increment
-              - exp_time
+              required: []
               title: StartWorkflow_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: StartWorkflow_Result
               type: object
           required:
           - goal
-          title: StartWorkflow
+          title: start参数
           type: object
         type: UniLabJsonCommand
       start_auto_mode:
@@ -521,17 +451,15 @@ xrd_d7mate:
         goal:
           status: true
         goal_default:
-          status: true
+          status: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 启动或停止自动模式
           properties:
             feedback:
-              properties: {}
-              required: []
               title: BoolSingleInput_Feedback
-              type: object
             goal:
               properties:
                 status:
@@ -542,25 +470,16 @@ xrd_d7mate:
               title: BoolSingleInput_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: BoolSingleInput_Result
               type: object
           required:
           - goal
-          title: BoolSingleInput
+          title: start_auto_mode参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.xrd_d7mate.xrd_d7mate:XRDClient
     status_types:
       current_acquire_data: dict
-      sample_down: dict
       sample_request: dict
       sample_status: dict
     type: python
@@ -586,16 +505,13 @@ xrd_d7mate:
       properties:
         current_acquire_data:
           type: object
-        sample_down:
-          type: object
         sample_request:
           type: object
         sample_status:
           type: object
       required:
-      - sample_request
       - current_acquire_data
+      - sample_request
       - sample_status
-      - sample_down
       type: object
   version: 1.0.0

unilabos/registry/devices/zhida_gcms.yaml

@@ -8,26 +8,25 @@ zhida_gcms:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -77,31 +76,6 @@ zhida_gcms:
           title: connect参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       get_methods:
         feedback: {}
         goal: {}
@@ -112,21 +86,18 @@ zhida_gcms:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -144,21 +115,18 @@ zhida_gcms:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -176,21 +144,18 @@ zhida_gcms:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -203,26 +168,25 @@ zhida_gcms:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -234,35 +198,35 @@ zhida_gcms:
         feedback: {}
         goal:
           string: string
+          text: text
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -273,36 +237,36 @@ zhida_gcms:
       start_with_csv_file:
         feedback: {}
         goal:
+          csv_file_path: csv_file_path
           string: string
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -343,8 +307,8 @@ zhida_gcms:
         version:
           type: object
       required:
-      - status
       - methods
+      - status
       - version
       type: object
   version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle.yaml

@@ -9,7 +9,6 @@ YB_20ml_fenyeping:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_5ml_fenyeping:
   category:
@@ -22,7 +21,6 @@ YB_5ml_fenyeping:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_jia_yang_tou_da:
   category:
@@ -35,7 +33,6 @@ YB_jia_yang_tou_da:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_pei_ye_da_Bottle:
   category:
@@ -48,7 +45,6 @@ YB_pei_ye_da_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_pei_ye_xiao_Bottle:
   category:
@@ -61,7 +57,6 @@ YB_pei_ye_xiao_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_qiang_tou:
   category:
@@ -74,7 +69,6 @@ YB_qiang_tou:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_ye_Bottle:
   category:
@@ -88,5 +82,4 @@ YB_ye_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -9,7 +9,6 @@ YB_100ml_yeti:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_20ml_fenyepingban:
   category:
@@ -22,7 +21,6 @@ YB_20ml_fenyepingban:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_5ml_fenyepingban:
   category:
@@ -35,7 +33,6 @@ YB_5ml_fenyepingban:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_6StockCarrier:
   category:
@@ -48,7 +45,6 @@ YB_6StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_6VialCarrier:
   category:
@@ -61,7 +57,6 @@ YB_6VialCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_gao_nian_ye_Bottle:
   category:
@@ -74,7 +69,6 @@ YB_gao_nian_ye_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_gaonianye:
   category:
@@ -87,7 +81,6 @@ YB_gaonianye:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_jia_yang_tou_da_Carrier:
   category:
@@ -100,7 +93,6 @@ YB_jia_yang_tou_da_Carrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_peiyepingdaban:
   category:
@@ -113,7 +105,6 @@ YB_peiyepingdaban:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_peiyepingxiaoban:
   category:
@@ -126,7 +117,6 @@ YB_peiyepingxiaoban:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_qiang_tou_he:
   category:
@@ -139,7 +129,6 @@ YB_qiang_tou_he:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_shi_pei_qi_kuai:
   category:
@@ -152,7 +141,6 @@ YB_shi_pei_qi_kuai:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_ye:
   category:
@@ -165,7 +153,6 @@ YB_ye:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_ye_100ml_Bottle:
   category:
@@ -178,5 +165,4 @@ YB_ye_100ml_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/bioyond/bottle_carriers.yaml

@@ -8,7 +8,6 @@ BIOYOND_PolymerStation_1BottleCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerStation_1FlaskCarrier:
   category:
@@ -20,7 +19,6 @@ BIOYOND_PolymerStation_1FlaskCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerStation_6StockCarrier:
   category:
@@ -32,7 +30,6 @@ BIOYOND_PolymerStation_6StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerStation_8StockCarrier:
   category:
@@ -44,5 +41,4 @@ BIOYOND_PolymerStation_8StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/bioyond/deck.yaml

@@ -8,7 +8,6 @@ BIOYOND_PolymerPreparationStation_Deck:
   handles: []
   icon: 配液站.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerReactionStation_Deck:
   category:
@@ -20,7 +19,6 @@ BIOYOND_PolymerReactionStation_Deck:
   handles: []
   icon: 反应站.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_YB_Deck:
   category:
@@ -32,7 +30,6 @@ BIOYOND_YB_Deck:
   handles: []
   icon: 配液站.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 CoincellDeck:
   category:
@@ -44,5 +41,4 @@ CoincellDeck:
   handles: []
   icon: koudian.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/common/resource_container.yaml

@@ -1,24 +1,3 @@
-disposal:
-  category:
-  - disposal
-  - waste
-  - resource_container
-  class:
-    module: unilabos.resources.disposal:Disposal
-    type: unilabos
-  description: 废料处理位置，用于处理实验废料
-  handles:
-  - data_key: disposal_access
-    data_source: handle
-    data_type: fluid
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 hplc_plate:
   category:
   - resource_container
@@ -40,56 +19,6 @@ hplc_plate:
     - 3.1416
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
     type: resource
-  registry_type: resource
-  version: 1.0.0
-maintenance:
-  category:
-  - maintenance
-  - position
-  - resource_container
-  class:
-    module: unilabos.resources.maintenance:Maintenance
-    type: unilabos
-  description: 维护位置，用于设备维护和校准
-  handles:
-  - data_key: maintenance_access
-    data_source: handle
-    data_type: mechanical
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-plate:
-  category:
-  - plate
-  - labware
-  - resource_container
-  class:
-    module: unilabos.resources.plate:Plate
-    type: unilabos
-  description: 实验板，用于放置样品和试剂
-  handles:
-  - data_key: plate_access
-    data_source: handle
-    data_type: mechanical
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  - data_key: sample_wells
-    data_source: handle
-    data_type: fluid
-    handler_key: wells
-    io_type: target
-    label: wells
-    side: CENTER
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 plate_96:
   category:
@@ -112,7 +41,6 @@ plate_96:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 plate_96_high:
   category:
@@ -135,35 +63,6 @@ plate_96_high:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
     type: resource
-  registry_type: resource
-  version: 1.0.0
-tip_rack:
-  category:
-  - tip_rack
-  - labware
-  - resource_container
-  class:
-    module: unilabos.resources.tip_rack:TipRack
-    type: unilabos
-  description: 枪头架资源，用于存放和管理移液器枪头
-  handles:
-  - data_key: tip_access
-    data_source: handle
-    data_type: mechanical
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  - data_key: tip_pickup
-    data_source: handle
-    data_type: mechanical
-    handler_key: pickup
-    io_type: target
-    label: pickup
-    side: SOUTH
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 tiprack_96_high:
   category:
@@ -195,7 +94,6 @@ tiprack_96_high:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 tiprack_box:
   category:
@@ -227,5 +125,4 @@ tiprack_box:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/container.yaml

@@ -29,7 +29,6 @@ bottle_container:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 tube_container:
   category:
@@ -62,5 +61,4 @@ tube_container:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/deck.yaml

@@ -12,5 +12,4 @@ TransformXYZDeck:
     mesh: liquid_transform_xyz
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
     type: device
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/deck.yaml

@@ -12,7 +12,6 @@ OTDeck:
     mesh: opentrons_liquid_handler
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
     type: device
-  registry_type: resource
   version: 1.0.0
 hplc_station:
   category:
@@ -28,5 +27,4 @@ hplc_station:
     mesh: hplc_station
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
     type: device
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/plate_adapters.yaml

@@ -8,5 +8,4 @@ Opentrons_96_adapter_Vb:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/plates.yaml

@@ -8,7 +8,6 @@ appliedbiosystemsmicroamp_384_wellplate_40ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 biorad_384_wellplate_50ul:
   category:
@@ -20,7 +19,6 @@ biorad_384_wellplate_50ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 biorad_96_wellplate_200ul_pcr:
   category:
@@ -32,7 +30,6 @@ biorad_96_wellplate_200ul_pcr:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_12_wellplate_6point9ml_flat:
   category:
@@ -44,7 +41,6 @@ corning_12_wellplate_6point9ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_24_wellplate_3point4ml_flat:
   category:
@@ -56,7 +52,6 @@ corning_24_wellplate_3point4ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_384_wellplate_112ul_flat:
   category:
@@ -68,7 +63,6 @@ corning_384_wellplate_112ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_48_wellplate_1point6ml_flat:
   category:
@@ -80,7 +74,6 @@ corning_48_wellplate_1point6ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_6_wellplate_16point8ml_flat:
   category:
@@ -92,7 +85,6 @@ corning_6_wellplate_16point8ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_96_wellplate_360ul_flat:
   category:
@@ -104,7 +96,6 @@ corning_96_wellplate_360ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_100ul_pcr_full_skirt:
   category:
@@ -136,7 +127,6 @@ nest_96_wellplate_100ul_pcr_full_skirt:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_200ul_flat:
   category:
@@ -148,7 +138,6 @@ nest_96_wellplate_200ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_2ml_deep:
   category:
@@ -171,7 +160,6 @@ nest_96_wellplate_2ml_deep:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 thermoscientificnunc_96_wellplate_1300ul:
   category:
@@ -183,7 +171,6 @@ thermoscientificnunc_96_wellplate_1300ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 thermoscientificnunc_96_wellplate_2000ul:
   category:
@@ -195,7 +182,6 @@ thermoscientificnunc_96_wellplate_2000ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 usascientific_96_wellplate_2point4ml_deep:
   category:
@@ -207,5 +193,4 @@ usascientific_96_wellplate_2point4ml_deep:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/reservoirs.yaml

@@ -8,7 +8,6 @@ agilent_1_reservoir_290ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 axygen_1_reservoir_90ml:
   category:
@@ -20,7 +19,6 @@ axygen_1_reservoir_90ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_12_reservoir_15ml:
   category:
@@ -32,7 +30,6 @@ nest_12_reservoir_15ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_1_reservoir_195ml:
   category:
@@ -44,7 +41,6 @@ nest_1_reservoir_195ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_1_reservoir_290ml:
   category:
@@ -56,7 +52,6 @@ nest_1_reservoir_290ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 usascientific_12_reservoir_22ml:
   category:
@@ -68,5 +63,4 @@ usascientific_12_reservoir_22ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/tip_racks.yaml

@@ -8,7 +8,6 @@ eppendorf_96_tiprack_1000ul_eptips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 eppendorf_96_tiprack_10ul_eptips:
   category:
@@ -20,7 +19,6 @@ eppendorf_96_tiprack_10ul_eptips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 geb_96_tiprack_1000ul:
   category:
@@ -32,7 +30,6 @@ geb_96_tiprack_1000ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 geb_96_tiprack_10ul:
   category:
@@ -44,7 +41,6 @@ geb_96_tiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_1000ul:
   category:
@@ -75,7 +71,6 @@ opentrons_96_filtertiprack_1000ul:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_10ul:
   category:
@@ -87,7 +82,6 @@ opentrons_96_filtertiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_200ul:
   category:
@@ -99,7 +93,6 @@ opentrons_96_filtertiprack_200ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_20ul:
   category:
@@ -111,7 +104,6 @@ opentrons_96_filtertiprack_20ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_1000ul:
   category:
@@ -123,7 +115,6 @@ opentrons_96_tiprack_1000ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_10ul:
   category:
@@ -135,7 +126,6 @@ opentrons_96_tiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_20ul:
   category:
@@ -147,7 +137,6 @@ opentrons_96_tiprack_20ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_300ul:
   category:

unilabos/registry/resources/opentrons/tube_racks.yaml

@@ -8,7 +8,6 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
   category:
@@ -20,7 +19,6 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
   category:
@@ -32,7 +30,6 @@ opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_15_tuberack_falcon_15ml_conical:
   category:
@@ -44,7 +41,6 @@ opentrons_15_tuberack_falcon_15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_15_tuberack_nest_15ml_conical:
   category:
@@ -56,7 +52,6 @@ opentrons_15_tuberack_nest_15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_aluminumblock_generic_2ml_screwcap:
   category:
@@ -68,7 +63,6 @@ opentrons_24_aluminumblock_generic_2ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_aluminumblock_nest_1point5ml_snapcap:
   category:
@@ -80,7 +74,6 @@ opentrons_24_aluminumblock_nest_1point5ml_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
   category:
@@ -92,7 +85,6 @@ opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
   category:
@@ -104,7 +96,6 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
   category:
@@ -116,7 +107,6 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
   category:
@@ -128,7 +118,6 @@ opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_generic_2ml_screwcap:
   category:
@@ -140,7 +129,6 @@ opentrons_24_tuberack_generic_2ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_0point5ml_screwcap:
   category:
@@ -152,7 +140,6 @@ opentrons_24_tuberack_nest_0point5ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_1point5ml_screwcap:
   category:
@@ -164,7 +151,6 @@ opentrons_24_tuberack_nest_1point5ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_1point5ml_snapcap:
   category:
@@ -176,7 +162,6 @@ opentrons_24_tuberack_nest_1point5ml_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_2ml_screwcap:
   category:
@@ -188,7 +173,6 @@ opentrons_24_tuberack_nest_2ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_2ml_snapcap:
   category:
@@ -200,7 +184,6 @@ opentrons_24_tuberack_nest_2ml_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_6_tuberack_falcon_50ml_conical:
   category:
@@ -212,7 +195,6 @@ opentrons_6_tuberack_falcon_50ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_6_tuberack_nest_50ml_conical:
   category:
@@ -224,7 +206,6 @@ opentrons_6_tuberack_nest_50ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_well_aluminum_block:
   category:
@@ -236,5 +217,4 @@ opentrons_96_well_aluminum_block:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/organic/container.yaml

@@ -29,5 +29,4 @@ container:
     side: WEST
   icon: Flask.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/post_process/bottle_carriers.yaml

@@ -8,7 +8,6 @@ POST_PROCESS_Raw_1BottleCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 POST_PROCESS_Reaction_1BottleCarrier:
   category:
@@ -20,5 +19,4 @@ POST_PROCESS_Reaction_1BottleCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/post_process/deck.yaml

@@ -9,5 +9,4 @@ post_process_deck:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/plate_adapters.yaml

@@ -9,7 +9,6 @@ PRCXI_30mm_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Adapter:
   category:
@@ -22,7 +21,6 @@ PRCXI_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Deep10_Adapter:
   category:
@@ -35,7 +33,6 @@ PRCXI_Deep10_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Deep300_Adapter:
   category:
@@ -48,7 +45,6 @@ PRCXI_Deep300_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_PCR_Adapter:
   category:
@@ -61,7 +57,6 @@ PRCXI_PCR_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Reservoir_Adapter:
   category:
@@ -74,7 +69,6 @@ PRCXI_Reservoir_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Tip10_Adapter:
   category:
@@ -87,7 +81,6 @@ PRCXI_Tip10_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Tip1250_Adapter:
   category:
@@ -100,7 +93,6 @@ PRCXI_Tip1250_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Tip300_Adapter:
   category:
@@ -113,5 +105,4 @@ PRCXI_Tip300_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/plates.yaml

@@ -9,7 +9,6 @@ PRCXI_48_DeepWell:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_96_DeepWell:
   category:
@@ -22,7 +21,6 @@ PRCXI_96_DeepWell:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_AGenBio_4_troughplate:
   category:
@@ -35,7 +33,6 @@ PRCXI_AGenBio_4_troughplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_BioER_96_wellplate:
   category:
@@ -48,7 +45,6 @@ PRCXI_BioER_96_wellplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_BioRad_384_wellplate:
   category:
@@ -61,7 +57,6 @@ PRCXI_BioRad_384_wellplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_CellTreat_96_wellplate:
   category:
@@ -74,7 +69,6 @@ PRCXI_CellTreat_96_wellplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_PCR_Plate_200uL_nonskirted:
   category:
@@ -87,7 +81,6 @@ PRCXI_PCR_Plate_200uL_nonskirted:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_PCR_Plate_200uL_semiskirted:
   category:
@@ -100,7 +93,6 @@ PRCXI_PCR_Plate_200uL_semiskirted:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_PCR_Plate_200uL_skirted:
   category:
@@ -113,7 +105,6 @@ PRCXI_PCR_Plate_200uL_skirted:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_nest_12_troughplate:
   category:
@@ -126,7 +117,6 @@ PRCXI_nest_12_troughplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_nest_1_troughplate:
   category:
@@ -139,5 +129,4 @@ PRCXI_nest_1_troughplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/tip_racks.yaml

@@ -9,7 +9,6 @@ PRCXI_1000uL_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_10uL_Tips:
   category:
@@ -22,7 +21,6 @@ PRCXI_10uL_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_10ul_eTips:
   category:
@@ -35,7 +33,6 @@ PRCXI_10ul_eTips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_1250uL_Tips:
   category:
@@ -48,7 +45,6 @@ PRCXI_1250uL_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_200uL_Tips:
   category:
@@ -61,7 +57,6 @@ PRCXI_200uL_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_300ul_Tips:
   category:
@@ -74,5 +69,4 @@ PRCXI_300ul_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/trash.yaml

@@ -9,5 +9,4 @@ PRCXI_trash:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/tube_racks.yaml

@@ -9,5 +9,4 @@ PRCXI_EP_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/utils.py

@@ -0,0 +1,724 @@
+"""
+注册表工具函数
+
+从 registry.py 中提取的纯工具函数，包括：
+- docstring 解析
+- 类型字符串 → JSON Schema 转换
+- AST 类型节点解析
+- TypedDict / Slot / Handle 等辅助检测
+"""
+
+import inspect
+import logging
+import re
+import typing
+from typing import Any, Dict, List, Optional, Tuple, Union
+
+from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance
+
+from unilabos.utils.cls_creator import import_class
+
+_logger = logging.getLogger(__name__)
+
+
+# ---------------------------------------------------------------------------
+# 异常
+# ---------------------------------------------------------------------------
+
+
+class ROSMsgNotFound(Exception):
+    pass
+
+
+# ---------------------------------------------------------------------------
+# Docstring 解析 (Google-style)
+# ---------------------------------------------------------------------------
+
+_SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
+
+
+def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
+    """
+    解析 Google-style docstring，提取描述和参数说明。
+
+    Returns:
+        {"description": "短描述", "params": {"param1": "参数1描述", ...}}
+    """
+    result: Dict[str, Any] = {"description": "", "params": {}}
+    if not docstring:
+        return result
+
+    lines = docstring.strip().splitlines()
+    if not lines:
+        return result
+
+    result["description"] = lines[0].strip()
+
+    in_args = False
+    current_param: Optional[str] = None
+    current_desc_parts: list = []
+
+    for line in lines[1:]:
+        stripped = line.strip()
+        section_match = _SECTION_RE.match(stripped)
+        if section_match:
+            if current_param is not None:
+                result["params"][current_param] = "\n".join(current_desc_parts).strip()
+                current_param = None
+                current_desc_parts = []
+            section_name = section_match.group(1).lower()
+            in_args = section_name in ("args", "arguments", "parameters", "params")
+            continue
+
+        if not in_args:
+            continue
+
+        if ":" in stripped and not stripped.startswith(" "):
+            if current_param is not None:
+                result["params"][current_param] = "\n".join(current_desc_parts).strip()
+            param_part, _, desc_part = stripped.partition(":")
+            param_name = param_part.strip().split("(")[0].strip()
+            current_param = param_name
+            current_desc_parts = [desc_part.strip()]
+        elif current_param is not None:
+            aline = line
+            if aline.startswith("    "):
+                aline = aline[4:]
+            elif aline.startswith("\t"):
+                aline = aline[1:]
+            current_desc_parts.append(aline.strip())
+
+    if current_param is not None:
+        result["params"][current_param] = "\n".join(current_desc_parts).strip()
+
+    return result
+
+
+# ---------------------------------------------------------------------------
+# 类型常量
+# ---------------------------------------------------------------------------
+
+SIMPLE_TYPE_MAP = {
+    "str": "string",
+    "string": "string",
+    "int": "integer",
+    "integer": "integer",
+    "float": "number",
+    "number": "number",
+    "bool": "boolean",
+    "boolean": "boolean",
+    "list": "array",
+    "array": "array",
+    "dict": "object",
+    "object": "object",
+}
+
+ARRAY_TYPES = {"list", "List", "tuple", "Tuple", "set", "Set", "Sequence", "Iterable"}
+OBJECT_TYPES = {"dict", "Dict", "Mapping"}
+WRAPPER_TYPES = {"Optional"}
+SLOT_TYPES = {"ResourceSlot", "DeviceSlot"}
+
+
+# ---------------------------------------------------------------------------
+# 简单类型映射
+# ---------------------------------------------------------------------------
+
+
+def get_json_schema_type(type_str: str) -> str:
+    """简单类型名 -> JSON Schema type"""
+    return SIMPLE_TYPE_MAP.get(type_str.lower(), "string")
+
+
+# ---------------------------------------------------------------------------
+# AST 类型解析
+# ---------------------------------------------------------------------------
+
+
+def parse_type_node(type_str: str):
+    """将类型注解字符串解析为 AST 节点，失败返回 None。"""
+    import ast as _ast
+
+    try:
+        return _ast.parse(type_str.strip(), mode="eval").body
+    except Exception:
+        return None
+
+
+def _collect_bitor(node, out: list):
+    """递归收集 X | Y | Z 的所有分支。"""
+    import ast as _ast
+
+    if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr):
+        _collect_bitor(node.left, out)
+        _collect_bitor(node.right, out)
+    else:
+        out.append(node)
+
+
+def type_node_to_schema(
+    node,
+    import_map: Optional[Dict[str, str]] = None,
+) -> Dict[str, Any]:
+    """将 AST 类型注解节点递归转换为 JSON Schema dict。
+
+    当提供 import_map 时，对于未知类名会尝试通过 import_map 解析模块路径，
+    然后 import 真实类型对象来生成 schema (支持 TypedDict 等)。
+
+    映射规则:
+    - Optional[X]                    → X 的 schema (剥掉 Optional)
+    - Union[X, Y]                    → {"anyOf": [X_schema, Y_schema]}
+    - List[X] / Tuple[X] / Set[X]   → {"type": "array", "items": X_schema}
+    - Dict[K, V]                     → {"type": "object", "additionalProperties": V_schema}
+    - Literal["a", "b"]             → {"type": "string", "enum": ["a", "b"]}
+    - TypedDict (via import_map)     → {"type": "object", "properties": {...}}
+    - 基本类型 str/int/...          → {"type": "string"/"integer"/...}
+    """
+    import ast as _ast
+
+    # --- Name 节点: str / int / dict / ResourceSlot / 自定义类 ---
+    if isinstance(node, _ast.Name):
+        name = node.id
+        if name in SLOT_TYPES:
+            return {"$slot": name}
+        json_type = SIMPLE_TYPE_MAP.get(name.lower())
+        if json_type:
+            return {"type": json_type}
+        # 尝试通过 import_map 解析并 import 真实类型
+        if import_map and name in import_map:
+            type_obj = resolve_type_object(import_map[name])
+            if type_obj is not None:
+                return type_to_schema(type_obj)
+        # 未知类名 → 无法转 schema 的自定义类型默认当 object
+        return {"type": "object"}
+
+    if isinstance(node, _ast.Constant):
+        if isinstance(node.value, str):
+            return {"type": SIMPLE_TYPE_MAP.get(node.value.lower(), "string")}
+        return {"type": "string"}
+
+    # --- Subscript 节点: List[X], Dict[K,V], Optional[X], Literal[...] 等 ---
+    if isinstance(node, _ast.Subscript):
+        base_name = node.value.id if isinstance(node.value, _ast.Name) else ""
+
+        # Optional[X] → 剥掉
+        if base_name in WRAPPER_TYPES:
+            return type_node_to_schema(node.slice, import_map)
+
+        # Union[X, None] → 剥掉 None; Union[X, Y] → anyOf
+        if base_name == "Union":
+            elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice]
+            non_none = [
+                e
+                for e in elts
+                if not (isinstance(e, _ast.Constant) and e.value is None)
+                and not (isinstance(e, _ast.Name) and e.id == "None")
+            ]
+            if len(non_none) == 1:
+                return type_node_to_schema(non_none[0], import_map)
+            if len(non_none) > 1:
+                return {"anyOf": [type_node_to_schema(e, import_map) for e in non_none]}
+            return {"type": "string"}
+
+        # Literal["a", "b", 1] → enum
+        if base_name == "Literal":
+            elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice]
+            values = []
+            for e in elts:
+                if isinstance(e, _ast.Constant):
+                    values.append(e.value)
+                elif isinstance(e, _ast.Name):
+                    values.append(e.id)
+            if values:
+                return {"type": "string", "enum": values}
+            return {"type": "string"}
+
+        # List / Tuple / Set → array
+        if base_name in ARRAY_TYPES:
+            if isinstance(node.slice, _ast.Tuple) and node.slice.elts:
+                inner_node = node.slice.elts[0]
+            else:
+                inner_node = node.slice
+            return {"type": "array", "items": type_node_to_schema(inner_node, import_map)}
+
+        # Dict → object
+        if base_name in OBJECT_TYPES:
+            schema: Dict[str, Any] = {"type": "object"}
+            if isinstance(node.slice, _ast.Tuple) and len(node.slice.elts) >= 2:
+                val_node = node.slice.elts[1]
+                # Dict[str, Any] → 不加 additionalProperties (Any 等同于无约束)
+                is_any = (isinstance(val_node, _ast.Name) and val_node.id == "Any") or (
+                    isinstance(val_node, _ast.Constant) and val_node.value is None
+                )
+                if not is_any:
+                    val_schema = type_node_to_schema(val_node, import_map)
+                    schema["additionalProperties"] = val_schema
+            return schema
+
+    # --- BinOp: X | Y (Python 3.10+) → 当 Union 处理 ---
+    if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr):
+        parts: list = []
+        _collect_bitor(node, parts)
+        non_none = [
+            p
+            for p in parts
+            if not (isinstance(p, _ast.Constant) and p.value is None)
+            and not (isinstance(p, _ast.Name) and p.id == "None")
+        ]
+        if len(non_none) == 1:
+            return type_node_to_schema(non_none[0], import_map)
+        if len(non_none) > 1:
+            return {"anyOf": [type_node_to_schema(p, import_map) for p in non_none]}
+        return {"type": "string"}
+
+    return {"type": "string"}
+
+
+# ---------------------------------------------------------------------------
+# 真实类型对象解析 (import-based)
+# ---------------------------------------------------------------------------
+
+
+def resolve_type_object(type_ref: str) -> Optional[Any]:
+    """通过 'module.path:ClassName' 格式的引用 import 并返回真实类型对象。
+
+    对于 typing 内置名 (str, int, List 等) 直接返回 None (由 AST 路径处理)。
+    import 失败时静默返回 None。
+    """
+    if ":" not in type_ref:
+        return None
+    try:
+        return import_class(type_ref)
+    except Exception:
+        return None
+
+
+def is_typed_dict_class(obj: Any) -> bool:
+    """检查对象是否是 TypedDict 类。"""
+    if obj is None:
+        return False
+    try:
+        from typing_extensions import is_typeddict
+
+        return is_typeddict(obj)
+    except ImportError:
+        if isinstance(obj, type):
+            return hasattr(obj, "__required_keys__") and hasattr(obj, "__optional_keys__")
+        return False
+
+
+def type_to_schema(tp: Any) -> Dict[str, Any]:
+    """将真实 typing 对象递归转换为 JSON Schema dict。
+
+    支持:
+    - 基本类型: str, int, float, bool → {"type": "string"/"integer"/...}
+    - typing 泛型: List[X], Dict[K,V], Optional[X], Union[X,Y], Literal[...]
+    - TypedDict → {"type": "object", "properties": {...}, "required": [...]}
+    - 自定义类 (ResourceSlot 等) → {"$slot": "..."} 或 {"type": "string"}
+    """
+    origin = getattr(tp, "__origin__", None)
+    args = getattr(tp, "__args__", None)
+
+    # --- None / NoneType ---
+    if tp is type(None):
+        return {"type": "null"}
+
+    # --- 基本类型 ---
+    if tp is str:
+        return {"type": "string"}
+    if tp is int:
+        return {"type": "integer"}
+    if tp is float:
+        return {"type": "number"}
+    if tp is bool:
+        return {"type": "boolean"}
+
+    # --- TypedDict ---
+    if is_typed_dict_class(tp):
+        try:
+            return TypedDictMessageInstance.get_json_schema_from_typed_dict(tp)
+        except Exception:
+            return {"type": "object"}
+
+    # --- Literal ---
+    if origin is typing.Literal:
+        values = list(args) if args else []
+        return {"type": "string", "enum": values}
+
+    # --- Optional / Union ---
+    if origin is typing.Union:
+        non_none = [a for a in (args or ()) if a is not type(None)]
+        if len(non_none) == 1:
+            return type_to_schema(non_none[0])
+        if len(non_none) > 1:
+            return {"anyOf": [type_to_schema(a) for a in non_none]}
+        return {"type": "string"}
+
+    # --- List / Sequence / Set / Tuple / Iterable ---
+    if origin in (list, tuple, set, frozenset) or (
+        origin is not None
+        and getattr(origin, "__name__", "") in ("Sequence", "Iterable", "Iterator", "MutableSequence")
+    ):
+        if args:
+            return {"type": "array", "items": type_to_schema(args[0])}
+        return {"type": "array"}
+
+    # --- Dict / Mapping ---
+    if origin in (dict,) or (origin is not None and getattr(origin, "__name__", "") in ("Mapping", "MutableMapping")):
+        schema: Dict[str, Any] = {"type": "object"}
+        if args and len(args) >= 2:
+            schema["additionalProperties"] = type_to_schema(args[1])
+        return schema
+
+    # --- Slot 类型 ---
+    if isinstance(tp, type):
+        name = tp.__name__
+        if name in SLOT_TYPES:
+            return {"$slot": name}
+
+    # --- 其他未知类型 fallback ---
+    if isinstance(tp, type):
+        return {"type": "object"}
+    return {"type": "string"}
+
+
+# ---------------------------------------------------------------------------
+# Slot / Placeholder 检测
+# ---------------------------------------------------------------------------
+
+
+def detect_slot_type(ptype) -> Tuple[Optional[str], bool]:
+    """检测参数类型是否为 ResourceSlot / DeviceSlot。
+
+    兼容多种格式:
+    - runtime: "unilabos.registry.placeholder_type:ResourceSlot"
+    - runtime tuple: ("list", "unilabos.registry.placeholder_type:ResourceSlot")
+    - AST 裸名: "ResourceSlot", "List[ResourceSlot]", "Optional[ResourceSlot]"
+
+    Returns: (slot_name | None, is_list)
+    """
+    ptype_str = str(ptype)
+
+    # 快速路径: 字符串里根本没有 Slot
+    if "ResourceSlot" not in ptype_str and "DeviceSlot" not in ptype_str:
+        return (None, False)
+
+    # runtime 格式: 完整模块路径
+    if isinstance(ptype, str):
+        if ptype.endswith(":ResourceSlot") or ptype == "ResourceSlot":
+            return ("ResourceSlot", False)
+        if ptype.endswith(":DeviceSlot") or ptype == "DeviceSlot":
+            return ("DeviceSlot", False)
+        # AST 复杂格式: List[ResourceSlot], Optional[ResourceSlot] 等
+        if "[" in ptype:
+            node = parse_type_node(ptype)
+            if node is not None:
+                schema = type_node_to_schema(node)
+                # 直接是 slot
+                if "$slot" in schema:
+                    return (schema["$slot"], False)
+                # array 包裹 slot: {"type": "array", "items": {"$slot": "..."}}
+                items = schema.get("items", {})
+                if isinstance(items, dict) and "$slot" in items:
+                    return (items["$slot"], True)
+        return (None, False)
+
+    # runtime tuple 格式
+    if isinstance(ptype, tuple) and len(ptype) == 2:
+        inner_str = str(ptype[1])
+        if "ResourceSlot" in inner_str:
+            return ("ResourceSlot", True)
+        if "DeviceSlot" in inner_str:
+            return ("DeviceSlot", True)
+
+    return (None, False)
+
+
+def detect_placeholder_keys(params: list) -> Dict[str, str]:
+    """Detect parameters that reference ResourceSlot or DeviceSlot."""
+    result: Dict[str, str] = {}
+    for p in params:
+        ptype = p.get("type", "")
+        if "ResourceSlot" in str(ptype):
+            result[p["name"]] = "unilabos_resources"
+        elif "DeviceSlot" in str(ptype):
+            result[p["name"]] = "unilabos_devices"
+    return result
+
+
+# ---------------------------------------------------------------------------
+# Handle 规范化
+# ---------------------------------------------------------------------------
+
+
+def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]:
+    """Convert AST-parsed handle structures to the standard registry format."""
+    if not handles_raw:
+        return []
+
+    # handle_type → io_type 映射 (AST 内部类名 → YAML 标准字段值)
+    _HANDLE_TYPE_TO_IO_TYPE = {
+        "input": "target",
+        "output": "source",
+        "action_input": "action_target",
+        "action_output": "action_source",
+    }
+
+    result: List[Dict[str, Any]] = []
+    for h in handles_raw:
+        if isinstance(h, dict):
+            call = h.get("_call", "")
+            if "InputHandle" in call:
+                handle_type = "input"
+            elif "OutputHandle" in call:
+                handle_type = "output"
+            elif "ActionInputHandle" in call:
+                handle_type = "action_input"
+            elif "ActionOutputHandle" in call:
+                handle_type = "action_output"
+            else:
+                handle_type = h.get("handle_type", "unknown")
+
+            io_type = _HANDLE_TYPE_TO_IO_TYPE.get(handle_type, handle_type)
+
+            entry: Dict[str, Any] = {
+                "handler_key": h.get("key", ""),
+                "data_type": h.get("data_type", ""),
+                "io_type": io_type,
+            }
+            side = h.get("side")
+            if side:
+                if isinstance(side, str) and "." in side:
+                    val = side.rsplit(".", 1)[-1]
+                    side = val.lower() if val in ("LEFT", "RIGHT", "TOP", "BOTTOM") else val
+                entry["side"] = side
+            label = h.get("label")
+            if label:
+                entry["label"] = label
+            data_key = h.get("data_key")
+            if data_key:
+                entry["data_key"] = data_key
+            data_source = h.get("data_source")
+            if data_source:
+                if isinstance(data_source, str) and "." in data_source:
+                    val = data_source.rsplit(".", 1)[-1]
+                    data_source = val.lower() if val in ("HANDLE", "EXECUTOR") else val
+                entry["data_source"] = data_source
+            description = h.get("description")
+            if description:
+                entry["description"] = description
+
+            result.append(entry)
+    return result
+
+
+def normalize_ast_action_handles(handles_raw: Any) -> Dict[str, Any]:
+    """Convert AST-parsed action handle list to {"input": [...], "output": [...]}.
+
+    Mirrors the runtime behavior of decorators._action_handles_to_dict:
+      - ActionInputHandle  => grouped under "input"
+      - ActionOutputHandle => grouped under "output"
+    Field mapping: key -> handler_key (matches Pydantic serialization_alias).
+    """
+    if not handles_raw or not isinstance(handles_raw, list):
+        return {}
+
+    input_list: List[Dict[str, Any]] = []
+    output_list: List[Dict[str, Any]] = []
+
+    for h in handles_raw:
+        if not isinstance(h, dict):
+            continue
+        call = h.get("_call", "")
+        is_input = "ActionInputHandle" in call or "InputHandle" in call
+        is_output = "ActionOutputHandle" in call or "OutputHandle" in call
+
+        entry: Dict[str, Any] = {
+            "handler_key": h.get("key", ""),
+            "data_type": h.get("data_type", ""),
+            "label": h.get("label", ""),
+        }
+        for opt_key in ("side", "data_key", "data_source", "description", "io_type"):
+            val = h.get(opt_key)
+            if val is not None:
+                # Only resolve enum-style refs (e.g. DataSource.HANDLE -> handle) for data_source/side
+                # data_key values like "wells.@flatten", "@this.0@@@plate" must be preserved as-is
+                if (
+                    isinstance(val, str)
+                    and "." in val
+                    and opt_key not in ("io_type", "data_key")
+                ):
+                    val = val.rsplit(".", 1)[-1].lower()
+                entry[opt_key] = val
+
+        # io_type: only add when explicitly set; do not default output to "sink" (YAML convention omits it)
+        if "io_type" not in entry and is_input:
+            entry["io_type"] = "source"
+
+        if is_input:
+            input_list.append(entry)
+        elif is_output:
+            output_list.append(entry)
+
+    result: Dict[str, Any] = {}
+    if input_list:
+        result["input"] = input_list
+    # Always include output (empty list when no outputs) to match YAML
+    result["output"] = output_list
+    return result
+
+
+# ---------------------------------------------------------------------------
+# Schema 辅助
+# ---------------------------------------------------------------------------
+
+
+def wrap_action_schema(
+    goal_schema: Dict[str, Any],
+    action_name: str,
+    description: str = "",
+    result_schema: Optional[Dict[str, Any]] = None,
+    feedback_schema: Optional[Dict[str, Any]] = None,
+) -> Dict[str, Any]:
+    """
+    将 goal 参数 schema 包装为标准的 action schema 格式:
+    { "properties": { "goal": ..., "feedback": ..., "result": ... }, ... }
+    """
+    # 去掉 auto- 前缀用于 title/description，与 YAML 路径保持一致
+    display_name = action_name.removeprefix("auto-")
+    return {
+        "title": f"{display_name}参数",
+        "description": description or f"{display_name}的参数schema",
+        "type": "object",
+        "properties": {
+            "goal": goal_schema,
+            "feedback": feedback_schema or {},
+            "result": result_schema or {},
+        },
+        "required": ["goal"],
+    }
+
+
+def preserve_field_descriptions(new_schema: Dict[str, Any], prev_schema: Dict[str, Any]):
+    """递归保留之前 schema 中各字段的 description / title。
+
+    覆盖顶层以及嵌套 properties（如 goal.properties.xxx.description）。
+    """
+    if not prev_schema or not new_schema:
+        return
+    prev_props = prev_schema.get("properties", {})
+    new_props = new_schema.get("properties", {})
+    for field_name, prev_field in prev_props.items():
+        if field_name not in new_props:
+            continue
+        new_field = new_props[field_name]
+        if not isinstance(prev_field, dict) or not isinstance(new_field, dict):
+            continue
+        if "title" in prev_field:
+            new_field.setdefault("title", prev_field["title"])
+        if "description" in prev_field:
+            new_field.setdefault("description", prev_field["description"])
+        if "properties" in prev_field and "properties" in new_field:
+            preserve_field_descriptions(new_field, prev_field)
+
+
+def strip_ros_descriptions(schema: Any):
+    """递归清除 ROS schema 中自动生成的无意义 description（含 rosidl_parser 内存地址）。"""
+    if isinstance(schema, dict):
+        desc = schema.get("description", "")
+        if isinstance(desc, str) and "rosidl_parser" in desc:
+            del schema["description"]
+        for v in schema.values():
+            strip_ros_descriptions(v)
+    elif isinstance(schema, list):
+        for item in schema:
+            strip_ros_descriptions(item)
+
+
+# ---------------------------------------------------------------------------
+# 深度对比
+# ---------------------------------------------------------------------------
+
+
+def _short(val, limit=120):
+    """截断过长的值用于日志显示。"""
+    s = repr(val)
+    return s if len(s) <= limit else s[:limit] + "..."
+
+
+def deep_diff(old, new, path="", max_depth=10) -> list:
+    """递归对比两个对象，返回所有差异的描述列表。"""
+    diffs = []
+    if max_depth <= 0:
+        if old != new:
+            diffs.append(f"{path}: (达到最大深度) OLD≠NEW")
+        return diffs
+
+    if type(old) != type(new):
+        diffs.append(f"{path}: 类型不同 OLD={type(old).__name__}({_short(old)}) NEW={type(new).__name__}({_short(new)})")
+        return diffs
+
+    if isinstance(old, dict):
+        old_keys = set(old.keys())
+        new_keys = set(new.keys())
+        for k in sorted(new_keys - old_keys):
+            diffs.append(f"{path}.{k}: 新增字段 (AST有, YAML无) = {_short(new[k])}")
+        for k in sorted(old_keys - new_keys):
+            diffs.append(f"{path}.{k}: 缺失字段 (YAML有, AST无) = {_short(old[k])}")
+        for k in sorted(old_keys & new_keys):
+            diffs.extend(deep_diff(old[k], new[k], f"{path}.{k}", max_depth - 1))
+    elif isinstance(old, (list, tuple)):
+        if len(old) != len(new):
+            diffs.append(f"{path}: 列表长度不同 OLD={len(old)} NEW={len(new)}")
+        for i in range(min(len(old), len(new))):
+            diffs.extend(deep_diff(old[i], new[i], f"{path}[{i}]", max_depth - 1))
+        if len(new) > len(old):
+            for i in range(len(old), len(new)):
+                diffs.append(f"{path}[{i}]: 新增元素 = {_short(new[i])}")
+        elif len(old) > len(new):
+            for i in range(len(new), len(old)):
+                diffs.append(f"{path}[{i}]: 缺失元素 = {_short(old[i])}")
+    else:
+        if old != new:
+            diffs.append(f"{path}: OLD={_short(old)} NEW={_short(new)}")
+    return diffs
+
+
+# ---------------------------------------------------------------------------
+# MRO 方法参数解析
+# ---------------------------------------------------------------------------
+
+
+def resolve_method_params_via_import(module_str: str, method_name: str) -> Dict[str, str]:
+    """当 AST 方法参数为空 (如 *args, **kwargs) 时, import class 并通过 MRO 获取真实方法参数.
+
+    返回 identity mapping {param_name: param_name}.
+    """
+    if not module_str or ":" not in module_str:
+        return {}
+    try:
+        cls = import_class(module_str)
+    except Exception as e:
+        _logger.debug(f"[AST] resolve_method_params_via_import: import_class('{module_str}') failed: {e}")
+        return {}
+
+    try:
+        for base_cls in cls.__mro__:
+            if method_name not in base_cls.__dict__:
+                continue
+            method = base_cls.__dict__[method_name]
+            actual = getattr(method, "__wrapped__", method)
+            if isinstance(actual, (staticmethod, classmethod)):
+                actual = actual.__func__
+            if not callable(actual):
+                continue
+            sig = inspect.signature(actual, follow_wrapped=True)
+            params = [
+                p.name for p in sig.parameters.values()
+                if p.name not in ("self", "cls")
+                and p.kind not in (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD)
+            ]
+            if params:
+                return {p: p for p in params}
+    except Exception as e:
+        _logger.debug(f"[AST] resolve_method_params_via_import: MRO walk for '{method_name}' failed: {e}")
+    return {}

unilabos/resources/container.py

@@ -1,10 +1,6 @@
-import json
 from typing import Dict, Any
 
 from pylabrobot.resources import Container
-from unilabos_msgs.msg import Resource
-
-from unilabos.ros.msgs.message_converter import convert_from_ros_msg
 
 
 class RegularContainer(Container):
@@ -16,12 +12,14 @@ class RegularContainer(Container):
             kwargs["size_y"] = 0
         if "size_z" not in kwargs:
             kwargs["size_z"] = 0
+        if "category" not in kwargs:
+            kwargs["category"] = "container"
+
         self.kwargs = kwargs
-        self.state = {}
-        super().__init__(*args, category="container", **kwargs)
+        super().__init__(*args, **kwargs)
 
     def load_state(self, state: Dict[str, Any]):
-        self.state = state
+        super().load_state(state)
 
 
 def get_regular_container(name="container"):
@@ -29,7 +27,6 @@ def get_regular_container(name="container"):
     r.category = "container"
     return r
 
-#
 # class RegularContainer(object):
 #     # 第一个参数必须是id传入
 #     # noinspection PyShadowingBuiltins
@@ -89,4 +86,4 @@ def get_regular_container(name="container"):
 #         return to_dict
 #
 #     def __str__(self):
-#         return f"{self.id}"
+#         return f"{self.id}"