Merge branch 'dev' into feat/samples

* add sample_material

* adapt to new samples sys

.conda/base/recipe.yaml

@@ -0,0 +1,60 @@
+# unilabos: Production package (depends on unilabos-env + pip unilabos)
+# For production deployment
+
+package:
+  name: unilabos
+  version: 0.10.17
+
+source:
+  path: ../../unilabos
+  target_directory: unilabos
+
+build:
+  python:
+    entry_points:
+    - unilab = unilabos.app.main:main
+  script:
+  - set PIP_NO_INDEX=
+  - if: win
+    then:
+    - copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
+    - copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
+    - copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
+    - pip install %SRC_DIR%
+  - if: unix
+    then:
+    - cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
+    - cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
+    - cp $RECIPE_DIR/../../setup.py $SRC_DIR
+    - pip install $SRC_DIR
+
+requirements:
+  host:
+  - python ==3.11.14
+  - pip
+  - setuptools
+  - zstd
+  - zstandard
+  run:
+  - zstd
+  - zstandard
+  - networkx
+  - typing_extensions
+  - websockets
+  - pint
+  - fastapi
+  - jinja2
+  - requests
+  - uvicorn
+  - opcua # [not osx]
+  - pyserial
+  - pandas
+  - pymodbus
+  - matplotlib
+  - pylibftdi
+  - uni-lab::unilabos-env ==0.10.17
+
+about:
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
+  license: GPL-3.0-only
+  description: "UniLabOS - Production package with minimal ROS2 dependencies"

.conda/environment/recipe.yaml

@@ -0,0 +1,39 @@
+# unilabos-env: conda environment dependencies (ROS2 + conda packages)
+
+package:
+  name: unilabos-env
+  version: 0.10.17
+
+build:
+  noarch: generic
+
+requirements:
+  run:
+  # Python
+  - zstd
+  - zstandard
+  - conda-forge::python ==3.11.14
+  - conda-forge::opencv
+  # ROS2 dependencies (from ci-check.yml)
+  - robostack-staging::ros-humble-ros-core
+  - robostack-staging::ros-humble-action-msgs
+  - robostack-staging::ros-humble-std-msgs
+  - robostack-staging::ros-humble-geometry-msgs
+  - robostack-staging::ros-humble-control-msgs
+  - robostack-staging::ros-humble-nav2-msgs
+  - robostack-staging::ros-humble-cv-bridge
+  - robostack-staging::ros-humble-vision-opencv
+  - robostack-staging::ros-humble-tf-transformations
+  - robostack-staging::ros-humble-moveit-msgs
+  - robostack-staging::ros-humble-tf2-ros
+  - robostack-staging::ros-humble-tf2-ros-py
+  - conda-forge::transforms3d
+  - conda-forge::uv
+
+  # UniLabOS custom messages
+  - uni-lab::ros-humble-unilabos-msgs
+
+about:
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
+  license: GPL-3.0-only
+  description: "UniLabOS Environment - ROS2 and conda dependencies"

.conda/full/recipe.yaml

@@ -0,0 +1,42 @@
+# unilabos-full: Full package with all features
+# Depends on unilabos + complete ROS2 desktop + dev tools
+
+package:
+  name: unilabos-full
+  version: 0.10.17
+
+build:
+  noarch: generic
+
+requirements:
+  run:
+  # Base unilabos package (includes unilabos-env)
+  - uni-lab::unilabos ==0.10.17
+  # Documentation tools
+  - sphinx
+  - sphinx_rtd_theme
+  # Web UI
+  - gradio
+  - flask
+  # Interactive development
+  - ipython
+  - jupyter
+  - jupyros
+  - colcon-common-extensions
+  # ROS2 full desktop (includes rviz2, gazebo, etc.)
+  - robostack-staging::ros-humble-desktop-full
+  # Navigation and motion control
+  - ros-humble-navigation2
+  - ros-humble-ros2-control
+  - ros-humble-robot-state-publisher
+  - ros-humble-joint-state-publisher
+  # MoveIt motion planning
+  - ros-humble-moveit
+  - ros-humble-moveit-servo
+  # Simulation
+  - ros-humble-simulation
+
+about:
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
+  license: GPL-3.0-only
+  description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"

.conda/recipe.yaml

@@ -1,91 +0,0 @@
-package:
-  name: unilabos
-  version: 0.10.15
-
-source:
-  path: ../unilabos
-  target_directory: unilabos
-
-build:
-  python:
-    entry_points:
-    - unilab = unilabos.app.main:main
-  script:
-  - set PIP_NO_INDEX=
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
-    - call %PYTHON% -m pip install %SRC_DIR%
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
-    - cp $RECIPE_DIR/../setup.cfg $SRC_DIR
-    - cp $RECIPE_DIR/../setup.py $SRC_DIR
-    - $PYTHON -m pip install $SRC_DIR
-
-requirements:
-  host:
-  - python ==3.11.11
-  - pip
-  - setuptools
-  - zstd
-  - zstandard
-  run:
-  - conda-forge::python ==3.11.11
-  - compilers
-  - cmake
-  - zstd
-  - zstandard
-  - ninja
-  - if: unix
-    then:
-    - make
-  - sphinx
-  - sphinx_rtd_theme
-  - numpy
-  - scipy
-  - pandas
-  - networkx
-  - matplotlib
-  - pint
-  - pyserial
-  - pyusb
-  - pylibftdi
-  - pymodbus
-  - python-can
-  - pyvisa
-  - opencv
-  - pydantic
-  - fastapi
-  - uvicorn
-  - gradio
-  - flask
-  - websockets
-  - ipython
-  - jupyter
-  - jupyros
-  - colcon-common-extensions
-  - robostack-staging::ros-humble-desktop-full
-  - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-sensor-msgs
-  - robostack-staging::ros-humble-trajectory-msgs
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
-  - ros-humble-rosbridge-server
-  - ros-humble-cv-bridge
-  - ros-humble-tf2
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
-  - ros-humble-simulation
-  - ros-humble-tf-transformations
-  - transforms3d
-  - uni-lab::ros-humble-unilabos-msgs
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "Uni-Lab-OS"

.conda/scripts/post-link.bat

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

.conda/scripts/post-link.sh

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

.cursorignore

@@ -1,26 +0,0 @@
-.conda
-# .github
-.idea
-# .vscode
-output
-pylabrobot_repo
-recipes
-scripts
-service
-temp
-# unilabos/test
-# unilabos/app/web
-unilabos/device_mesh
-unilabos_data
-unilabos_msgs
-unilabos.egg-info
-CONTRIBUTORS
-# LICENSE
-MANIFEST.in
-pyrightconfig.json
-# README.md
-# README_zh.md
-setup.py
-setup.cfg
-.gitattrubutes
-**/__pycache__

.github/dependabot.yml

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

.github/workflows/ci-check.yml

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

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

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

.github/workflows/deploy-docs.yml

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

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

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

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

@@ -1,25 +1,62 @@
 name: UniLabOS Conda Build
 
 on:
+  # 在 CI Check 成功后自动触发
+  workflow_run:
+    workflows: ["CI Check"]
+    types: [completed]
+    branches: [main, dev]
+  # 标签推送时直接触发（发布版本）
   push:
-    branches: [main, dev]
     tags: ['v*']
-  pull_request:
-    branches: [main, dev]
+  # 手动触发
   workflow_dispatch:
     inputs:
       platforms:
         description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
         required: false
         default: 'linux-64'
+      build_full:
+        description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
+        required: false
+        default: false
+        type: boolean
       upload_to_anaconda:
         description: '是否上传到Anaconda.org'
         required: false
         default: false
         type: boolean
+      skip_ci_check:
+        description: '跳过等待 CI Check (手动触发时可选)'
+        required: false
+        default: false
+        type: boolean
 
 jobs:
+  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
+  wait-for-ci:
+    runs-on: ubuntu-latest
+    if: github.event_name == 'workflow_run'
+    outputs:
+      should_continue: ${{ steps.check.outputs.should_continue }}
+    steps:
+      - name: Check CI status
+        id: check
+        run: |
+          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
+            echo "should_continue=true" >> $GITHUB_OUTPUT
+            echo "CI Check passed, proceeding with build"
+          else
+            echo "should_continue=false" >> $GITHUB_OUTPUT
+            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
+          fi
+
   build:
+    needs: [wait-for-ci]
+    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
+    if: |
+      always() &&
+      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
@@ -40,8 +77,10 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
+          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
+          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -65,7 +104,6 @@ jobs:
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: strict
           activate-environment: build-env
-          auto-activate-base: false
           auto-update-conda: false
           show-channel-urls: true
 
@@ -81,12 +119,61 @@ jobs:
           conda list | grep -E "(rattler-build|anaconda-client)"
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
-          echo "Building UniLabOS package"
+          echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
+          echo "Building packages:"
+          echo "  - unilabos-env (environment dependencies)"
+          echo "  - unilabos (with pip package)"
+          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+            echo "  - unilabos-full (complete package)"
+          fi
 
-      - name: Build conda package
+      - name: Build unilabos-env (conda environment only, noarch)
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
+          echo "Building unilabos-env (conda environment dependencies)..."
+          rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
+
+      - name: Upload unilabos-env to Anaconda.org (if enabled)
+        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          echo "Uploading unilabos-env to uni-lab organization..."
+          for package in $(find ./output -name "unilabos-env*.conda"); do
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
+
+      - name: Build unilabos (with pip package)
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Building unilabos package..."
+          # 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
+          rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
+
+      - name: Upload unilabos to Anaconda.org (if enabled)
+        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          echo "Uploading unilabos to uni-lab organization..."
+          for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
+
+      - name: Build unilabos-full - Only when explicitly requested
+        if: |
+          steps.should_build.outputs.should_build == 'true' && 
+          github.event.inputs.build_full == 'true'
+        run: |
+          echo "Building unilabos-full package on ${{ matrix.platform }}..."
+          rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
+
+      - name: Upload unilabos-full to Anaconda.org (if enabled)
+        if: |
+          steps.should_build.outputs.should_build == 'true' && 
+          github.event.inputs.build_full == 'true' &&
+          github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          echo "Uploading unilabos-full to uni-lab organization..."
+          for package in $(find ./output -name "unilabos-full*.conda"); do
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
 
       - name: List built packages
         if: steps.should_build.outputs.should_build == 'true'
@@ -108,17 +195,9 @@ jobs:
 
       - name: Upload conda package artifacts
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v6
         with:
           name: conda-package-unilabos-${{ matrix.platform }}
           path: conda-packages-temp
           if-no-files-found: warn
           retention-days: 30
-
-      - name: Upload to Anaconda.org (uni-lab organization)
-        if: github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          for package in $(find ./output -name "*.conda"); do
-            echo "Uploading $package to uni-lab organization..."
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done

.gitignore

@@ -4,6 +4,7 @@ temp/
 output/
 unilabos_data/
 pyrightconfig.json
+.cursorignore
 ## Python
 
 # Byte-compiled / optimized / DLL files

MANIFEST.in

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

README.md

@@ -31,26 +31,46 @@ Detailed documentation can be found at:
 
 ## Quick Start
 
-1. Setup Conda Environment
+### 1. Setup Conda Environment
 
-Uni-Lab-OS recommends using `mamba` for environment management:
+Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
+
+| Package | Use Case | Contents |
+|---------|----------|----------|
+| `unilabos` | **Recommended for most users** | Complete package, ready to use |
+| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
+| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
 
 ```bash
 # Create new environment
-mamba create -n unilab python=3.11.11
+mamba create -n unilab python=3.11.14
 mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# Option A: Standard installation (recommended for most users)
+mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# Option B: For developers (editable mode development)
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+# Then install unilabos and dependencies:
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+
+# Option C: Full installation (simulation/visualization)
+mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
-2. Install Dev Uni-Lab-OS
+**When to use which?**
+- **unilabos**: Standard installation for production deployment and general usage (recommended)
+- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
+- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
+
+### 2. Clone Repository (Optional, for developers)
 
 ```bash
-# Clone the repository
+# Clone the repository (only needed for development or examples)
 git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
-
-# Install Uni-Lab-OS
-pip install .
 ```
 
 3. Start Uni-Lab System

README_zh.md

@@ -31,26 +31,46 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
 
 ## 快速开始
 
-1. 配置 Conda 环境
+### 1. 配置 Conda 环境
 
-Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
+Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
+
+| 安装包 | 适用场景 | 包含内容 |
+|--------|----------|----------|
+| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
+| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
+| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
 
 ```bash
 # 创建新环境
-mamba create -n unilab python=3.11.11
+mamba create -n unilab python=3.11.14
 mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 方案 A：标准安装（推荐大多数用户）
+mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 方案 B：开发者环境（可编辑模式开发）
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+# 然后安装 unilabos 和依赖：
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+
+# 方案 C：完整安装（仿真/可视化）
+mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
-2. 安装开发版 Uni-Lab-OS:
+**如何选择？**
+- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
+- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
+- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
+
+### 2. 克隆仓库（可选，供开发者使用）
 
 ```bash
-# 克隆仓库
+# 克隆仓库（仅开发或查看示例时需要）
 git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
-
-# 安装 Uni-Lab-OS
-pip install .
 ```
 
 3. 启动 Uni-Lab 系统

docs/user_guide/best_practice.md

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

docs/user_guide/installation.md

@@ -13,15 +13,26 @@
   - 开发者需要 Git 和基本的 Python 开发知识
   - 自定义 msgs 需要 GitHub 账号
 
+## 安装包选择
+
+Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
+
+| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
+|--------|----------|----------|----------|
+| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
+| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
+| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
+
 ## 安装方式选择
 
 根据您的使用场景，选择合适的安装方式：
 
-| 安装方式               | 适用人群             | 特点                           | 安装时间                     |
-| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
-| **方式一：一键安装**   | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
-| **方式二：手动安装**   | 标准用户、生产环境   | 灵活配置，版本可控             | 10-20 分钟                   |
-| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs    | 20-30 分钟                   |
+| 安装方式               | 适用人群             | 推荐安装包        | 特点                           | 安装时间                     |
+| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
+| **方式一：一键安装**   | 快速体验、演示       | 预打包环境        | 离线可用，无需配置             | 5-10 分钟 (网络良好的情况下) |
+| **方式二：手动安装**   | **大多数用户**       | `unilabos`        | 完整功能，开箱即用             | 10-20 分钟                   |
+| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env`    | 可编辑模式，支持自定义开发     | 20-30 分钟                   |
+| **仿真/可视化**        | 仿真测试、可视化调试 | `unilabos-full`   | 含 Gazebo、rviz2、MoveIt       | 30-60 分钟                   |
 
 ---
 
@@ -144,17 +155,38 @@ bash Miniforge3-$(uname)-$(uname -m).sh
 使用以下命令创建 Uni-Lab 专用环境：
 
 ```bash
-mamba create -n unilab python=3.11.11  # 目前ros2组件依赖版本大多为3.11.11
+mamba create -n unilab python=3.11.14  # 目前ros2组件依赖版本大多为3.11.14
 mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 选择安装包（三选一）：
+
+# 方案 A：标准安装（推荐大多数用户）
+mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 方案 B：开发者环境（可编辑模式开发）
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+# 然后安装 unilabos 和 pip 依赖：
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+
+# 方案 C：完整版（含仿真和可视化工具）
+mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
 **参数说明**:
 
 - `-n unilab`: 创建名为 "unilab" 的环境
-- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
+- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
+- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
+- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
 - `-c robostack-staging -c conda-forge`: 添加额外的软件源
 
+**包选择建议**：
+- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
+- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
+- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
+
 **如果遇到网络问题**，可以使用清华镜像源加速下载：
 
 ```bash
@@ -163,8 +195,14 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
 
-# 然后重新执行安装命令
+# 然后重新执行安装命令（推荐标准安装）
 mamba create -n unilab uni-lab::unilabos -c robostack-staging
+
+# 或完整版（仿真/可视化）
+mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
+
+# pip 安装时使用清华镜像（开发者安装时使用）
+uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```
 
 ### 第三步：激活环境
@@ -203,58 +241,87 @@ cd Uni-Lab-OS
    cd Uni-Lab-OS
    ```
 
-### 第二步：安装基础环境
+### 第二步：安装开发环境（unilabos-env）
 
-**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
-
-#### 选项 A：通过一键安装（推荐）
-
-参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
+**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
+- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
+- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
+- 包含 `uv` 工具，用于快速安装 pip 依赖
+- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
 
 ```bash
+# 创建并激活环境
+mamba create -n unilab python=3.11.14
 conda activate unilab
+
+# 安装开发者环境包（ROS2 + conda 依赖 + uv）
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
 ```
 
-#### 选项 B：通过手动安装
+### 第三步：安装 pip 依赖和可编辑模式安装
 
-参考上文"方式二：手动安装"，创建并安装环境：
-
-```bash
-mamba create -n unilab python=3.11.11
-conda activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
-```
-
-**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
-
-### 第三步：切换到开发版本
-
-现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
+克隆代码并安装依赖：
 
 ```bash
 # 确保环境已激活
 conda activate unilab
 
-# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
-pip uninstall unilabos -y
-
-# 克隆 dev 分支（如果还未克隆）
-cd /path/to/your/workspace
-git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
-# 或者如果已经克隆，切换到 dev 分支
+# 克隆仓库（如果还未克隆）
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
+
+# 切换到 dev 分支（可选）
 git checkout dev
 git pull
-
-# 以可编辑模式安装开发版 unilabos
-pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```
 
-**参数说明**：
+**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
 
-- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
-- `-i`: 使用清华镜像源加速下载
-- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
+```bash
+# 自动检测中文环境，如果是中文系统则使用清华镜像
+python scripts/dev_install.py
+
+# 或者手动指定：
+python scripts/dev_install.py --china     # 强制使用清华镜像
+python scripts/dev_install.py --no-mirror # 强制使用 PyPI
+python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
+python scripts/dev_install.py --use-pip   # 使用 pip 而非 uv
+```
+
+**手动安装**（如果脚本安装失败或速度太慢）：
+
+```bash
+# 1. 安装 unilabos（可编辑模式）
+pip install -e .
+
+# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
+uv pip install -r unilabos/utils/requirements.txt
+
+# 国内用户使用清华镜像：
+pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+```
+
+**注意**：
+- `uv` 已包含在 `unilabos-env` 中，无需单独安装
+- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
+- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
+
+**为什么使用可编辑模式？**
+
+- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
+- 适合开发调试：修改代码后直接运行测试
+- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
+
+**验证安装**：
+
+```bash
+# 检查 unilabos 版本
+python -c "import unilabos; print(unilabos.__version__)"
+
+# 检查安装位置（应该指向你的代码目录）
+pip show unilabos | grep Location
+```
 
 ### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
 
@@ -464,7 +531,45 @@ cd $CONDA_PREFIX/envs/unilab
 
 ### 问题 8: 环境很大，有办法减小吗？
 
-**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
+**解决方案**: 
+
+1. **使用 `unilabos` 标准版**（推荐大多数用户）：
+   ```bash
+   mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+   ```
+   标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
+
+2. **使用 `unilabos-env` 开发者版**（最小化）：
+   ```bash
+   mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+   # 然后手动安装依赖
+   pip install -e .
+   uv pip install -r unilabos/utils/requirements.txt
+   ```
+   开发者版只包含环境依赖，体积最小约 2GB。
+
+3. **按需安装额外组件**：
+   如果后续需要特定功能，可以单独安装：
+   ```bash
+   # 需要 Jupyter
+   mamba install jupyter jupyros
+   
+   # 需要可视化
+   mamba install matplotlib opencv
+   
+   # 需要仿真（注意：这会安装大量依赖）
+   mamba install ros-humble-gazebo-ros
+   ```
+
+4. **预打包环境问题**：
+   预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
+
+**包选择建议**：
+| 需求 | 推荐包 | 预估大小 |
+|------|--------|----------|
+| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
+| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
+| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
 
 ### 问题 9: 如何更新到最新版本？
 
@@ -511,6 +616,7 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
 
 **提示**:
 
-- 生产环境推荐使用方式二（手动安装）的稳定版本
-- 开发和测试推荐使用方式三（开发者安装）
-- 快速体验和演示推荐使用方式一（一键安装）
+- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
+- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
+- **仿真/可视化**推荐安装 `unilabos-full` 完整版
+- **快速体验和演示**推荐使用方式一（一键安装）

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.15
+  version: 0.10.17
 source:
   path: ../../unilabos_msgs
   target_directory: src
@@ -25,7 +25,7 @@ requirements:
   build:
   - ${{ compiler('cxx') }}
   - ${{ compiler('c') }}
-  - python ==3.11.11
+  - python ==3.11.14
   - numpy
   - if: build_platform != target_platform
     then:
@@ -63,14 +63,14 @@ requirements:
   - robostack-staging::ros-humble-rosidl-default-generators
   - robostack-staging::ros-humble-std-msgs
   - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
+  - robostack-staging::ros2-distro-mutex=0.7
   run:
   - robostack-staging::ros-humble-action-msgs
   - robostack-staging::ros-humble-ros-workspace
   - robostack-staging::ros-humble-rosidl-default-runtime
   - robostack-staging::ros-humble-std-msgs
   - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
+  - robostack-staging::ros2-distro-mutex=0.7
   - if: osx and x86_64
     then:
     - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.15"
+  version: "0.10.17"
 
 source:
   path: ../..

scripts/create_readme.py

@@ -85,7 +85,7 @@ Verification:
 -------------
 
 The verify_installation.py script will check:
-  - Python version (3.11.11)
+  - Python version (3.11.14)
   - ROS2 rclpy installation
   - UniLabOS installation and dependencies
 
@@ -104,7 +104,7 @@ Build Information:
 
   Branch:   {branch}
   Platform: {platform}
-  Python:   3.11.11
+  Python:   3.11.14
   Date:     {build_date}
 
 Troubleshooting:

scripts/dev_install.py

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

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.15',
+    version='0.10.17',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

tests/workflow/test.json

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

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.15"
+__version__ = "0.10.17"

unilabos/__main__.py

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

unilabos/app/main.py

@@ -7,7 +7,6 @@ import sys
 import threading
 import time
 from typing import Dict, Any, List
-
 import networkx as nx
 import yaml
 
@@ -17,9 +16,9 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
+from unilabos.app.utils import cleanup_for_restart
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.config.config import load_config, BasicConfig, HTTPConfig
-from unilabos.app.utils import cleanup_for_restart
 
 # Global restart flags (used by ws_client and web/server)
 _restart_requested: bool = False
@@ -161,6 +160,12 @@ def parse_args():
         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(
         "--no_update_feedback",
         action="store_true",
@@ -211,7 +216,10 @@ def main():
     args_dict = vars(args)
 
     # 环境检查 - 检查并自动安装必需的包 (可选)
-    if not args_dict.get("skip_env_check", False):
+    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
 
         if not check_environment(auto_install=True):
@@ -222,7 +230,21 @@ def main():
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
-    if os.getcwd().endswith("unilabos_data"):
+
+    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:
+        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
+            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"))
@@ -241,7 +263,7 @@ def main():
         working_dir = os.path.dirname(config_path)
     elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
         config_path = os.path.join(working_dir, "local_config.py")
-    elif not config_path and (
+    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")
@@ -255,9 +277,11 @@ def main():
             print_status(f"已创建 local_config.py 路径： {config_path}", "info")
         else:
             os._exit(1)
-    # 加载配置文件
+
+    # 加载配置文件 (check_mode 跳过)
     print_status(f"当前工作目录为 {working_dir}", "info")
-    load_config_from_file(config_path)
+    if not check_mode:
+        load_config_from_file(config_path)
 
     # 根据配置重新设置日志级别
     from unilabos.utils.log import configure_logger, logger
@@ -313,6 +337,7 @@ def main():
     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,
@@ -331,10 +356,14 @@ def main():
     # 显示启动横幅
     print_unilab_banner(args_dict)
 
-    # 注册表
-    lab_registry = build_registry(
-        args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
-    )
+    # 注册表 - check_mode 时强制启用 complete_registry
+    complete_registry = args_dict.get("complete_registry", False) or check_mode
+    lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
+
+    # Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
+    if check_mode:
+        print_status("Check mode: complete_registry 完成，退出", "info")
+        os._exit(0)
 
     if BasicConfig.upload_registry:
         # 设备注册到服务端 - 需要 ak 和 sk

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/utils.py

@@ -4,8 +4,40 @@ UniLabOS 应用工具函数
 提供清理、重启等工具函数
 """
 
-import gc
+import glob
 import os
+import shutil
+import sys
+
+
+def patch_rclpy_dll_windows():
+    """在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
+    if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
+        return
+    try:
+        import rclpy
+
+        return
+    except ImportError as e:
+        if not str(e).startswith("DLL load failed"):
+            return
+    cp = os.environ["CONDA_PREFIX"]
+    impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
+    pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
+    if not os.path.exists(impl) or not pyd:
+        return
+    with open(impl, "r", encoding="utf-8") as f:
+        content = f.read()
+    lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
+    patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
+    shutil.copy2(impl, impl + ".bak")
+    with open(impl, "w", encoding="utf-8") as f:
+        f.write(patch + content)
+
+
+patch_rclpy_dll_windows()
+
+import gc
 import threading
 import time
 

unilabos/app/web/client.py

@@ -359,9 +359,7 @@ class HTTPClient:
         Returns:
             Dict: API响应数据，包含 code 和 data (uuid, name)
         """
-        # target_lab_uuid 暂时使用默认值，后续由后端根据 ak/sk 获取
         payload = {
-            "target_lab_uuid": "28c38bb0-63f6-4352-b0d8-b5b8eb1766d5",
             "name": name,
             "data": {
                 "workflow_uuid": workflow_uuid,

unilabos/app/web/controller.py

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

unilabos/app/ws_client.py

@@ -23,7 +23,7 @@ from typing import Optional, Dict, Any, List
 from urllib.parse import urlparse
 from enum import Enum
 
-from jedi.inference.gradual.typing import TypedDict
+from typing_extensions import TypedDict
 
 from unilabos.app.model import JobAddReq
 from unilabos.ros.nodes.presets.host_node import HostNode
@@ -154,7 +154,7 @@ class DeviceActionManager:
             job_info.set_ready_timeout(10)  # 设置10秒超时
             self.active_jobs[device_key] = job_info
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-            logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
+            logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
             return True
 
     def start_job(self, job_id: str) -> bool:
@@ -210,8 +210,9 @@ class DeviceActionManager:
                 job_info.update_timestamp()
                 # 从all_jobs中移除已结束的job
                 del self.all_jobs[job_id]
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
+                # job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                # logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
+                pass
             else:
                 job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
                 logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
@@ -227,7 +228,7 @@ class DeviceActionManager:
                 next_job_log = format_job_log(
                     next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                 )
-                logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
+                logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
                 return next_job
 
             return None
@@ -268,7 +269,7 @@ class DeviceActionManager:
                 # 从all_jobs中移除
                 del self.all_jobs[job_id]
                 job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
+                logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
 
                 # 启动下一个任务
                 if device_key in self.device_queues and self.device_queues[device_key]:
@@ -281,7 +282,7 @@ class DeviceActionManager:
                     next_job_log = format_job_log(
                         next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                     )
-                    logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
+                    logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
                 return True
 
             # 如果是排队中的任务
@@ -295,7 +296,7 @@ class DeviceActionManager:
                     job_log = format_job_log(
                         job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
                     )
-                    logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
+                    logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
                     return True
 
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
@@ -494,8 +495,12 @@ class MessageProcessor:
                         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')}")
+                            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:
@@ -540,7 +545,7 @@ 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())
@@ -565,7 +570,7 @@ class MessageProcessor:
 
     async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
         """处理收到的消息"""
-        logger.debug(f"[MessageProcessor] Processing message: {message_type}")
+        logger.trace(f"[MessageProcessor] Processing message: {message_type}")
 
         try:
             if message_type == "pong":
@@ -637,13 +642,13 @@ class MessageProcessor:
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", True, 0
             )
-            logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
+            logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
         else:
             # 需要排队
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", False, 10
             )
-            logger.info(f"[MessageProcessor] Job {job_log} queued")
+            logger.trace(f"[MessageProcessor] Job {job_log} queued")
 
             # 通知QueueProcessor有新的队列更新
             if self.queue_processor:
@@ -652,6 +657,8 @@ 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)
@@ -683,6 +690,7 @@ class MessageProcessor:
                 queue_item,
                 action_type=req.action_type,
                 action_kwargs=req.action_args,
+                sample_material=req.sample_material,
                 server_info=req.server_info,
             )
 
@@ -847,9 +855,7 @@ class MessageProcessor:
                         device_action_groups[key_add] = []
                     device_action_groups[key_add].append(item["uuid"])
 
-                    logger.info(
-                        f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
-                    )
+                    logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
                 else:
                     # 正常update
                     key = (device_id, "update")
@@ -863,11 +869,13 @@ class MessageProcessor:
                     device_action_groups[key] = []
                 device_action_groups[key].append(item["uuid"])
 
-        logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
+        logger.trace(
+            f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}"
+        )
 
         # 为每个(device_id, action)创建独立的更新线程
         for (device_id, actual_action), items in device_action_groups.items():
-            logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
+            logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}")
 
             def _notify_resource_tree(dev_id, act, item_list):
                 try:
@@ -902,42 +910,44 @@ class MessageProcessor:
     async def _handle_request_restart(self, data: Dict[str, Any]):
         """
         处理重启请求
-        
+
         当LabGo发送request_restart时，执行清理并触发重启
         """
         reason = data.get("reason", "unknown")
         delay = data.get("delay", 2)  # 默认延迟2秒
         logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
-        
+
         # 发送确认消息
         if self.websocket_client:
-            await self.websocket_client.send_message({
-                "action": "restart_acknowledged",
-                "data": {"reason": reason, "delay": delay}
-            })
-        
+            await self.websocket_client.send_message(
+                {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
+            )
+
         # 设置全局重启标志
         import unilabos.app.main as main_module
+
         main_module._restart_requested = True
         main_module._restart_reason = reason
-        
+
         # 延迟后执行清理
         await asyncio.sleep(delay)
-        
+
         # 在新线程中执行清理，避免阻塞当前事件循环
         def do_cleanup():
             import time
+
             time.sleep(0.5)  # 给当前消息处理完成的时间
             logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
             try:
                 from unilabos.app.utils import cleanup_for_restart
+
                 if cleanup_for_restart():
                     logger.info("[MessageProcessor] Cleanup successful, main() will restart")
                 else:
                     logger.error("[MessageProcessor] Cleanup failed")
             except Exception as e:
                 logger.error(f"[MessageProcessor] Error during cleanup: {e}")
-        
+
         cleanup_thread = threading.Thread(target=do_cleanup, name="RestartCleanupThread", daemon=True)
         cleanup_thread.start()
         logger.info(f"[MessageProcessor] Restart cleanup scheduled")
@@ -1128,7 +1138,7 @@ class QueueProcessor:
             success = self.message_processor.send_message(message)
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
             if success:
-                logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
+                logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
             else:
                 logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
 
@@ -1151,7 +1161,7 @@ class QueueProcessor:
             job_info.action_name,
         )
 
-        logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
+        logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
 
         # 结束任务，获取下一个可执行的任务
         next_job = self.device_manager.end_job(job_id)
@@ -1171,8 +1181,8 @@ class QueueProcessor:
                 },
             }
             self.message_processor.send_message(message)
-            next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
-            logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start")
+            # next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
+            # logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
 
             # 立即触发下一轮状态检查
             self.notify_queue_update()
@@ -1294,7 +1304,7 @@ 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_job_status(
         self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
@@ -1314,7 +1324,7 @@ class WebSocketClient(BaseCommunicationClient):
                 except (KeyError, AttributeError):
                     logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
 
-            logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
+            # logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
 
             # 通知队列处理器job完成（包括timeout的job）
             self.queue_processor.handle_job_completed(item.job_id, status)
@@ -1375,15 +1385,17 @@ class WebSocketClient(BaseCommunicationClient):
         # 收集设备信息
         devices = []
         machine_name = BasicConfig.machine_name
-        
+
         try:
             host_node = HostNode.get_instance(0)
             if host_node:
                 # 获取设备信息
                 for device_id, namespace in host_node.devices_names.items():
-                    device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
+                    device_key = (
+                        f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
+                    )
                     is_online = device_key in host_node._online_devices
-                    
+
                     # 获取设备的动作信息
                     actions = {}
                     for action_id, client in host_node._action_clients.items():
@@ -1394,16 +1406,18 @@ class WebSocketClient(BaseCommunicationClient):
                                 "action_path": action_id,
                                 "action_type": str(type(client).__name__),
                             }
-                    
-                    devices.append({
-                        "device_id": device_id,
-                        "namespace": namespace,
-                        "device_key": device_key,
-                        "is_online": is_online,
-                        "machine_name": host_node.device_machine_names.get(device_id, machine_name),
-                        "actions": actions,
-                    })
-                
+
+                    devices.append(
+                        {
+                            "device_id": device_id,
+                            "namespace": namespace,
+                            "device_key": device_key,
+                            "is_online": is_online,
+                            "machine_name": host_node.device_machine_names.get(device_id, machine_name),
+                            "actions": actions,
+                        }
+                    )
+
                 logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
         except Exception as e:
             logger.warning(f"[WebSocketClient] Error collecting device info: {e}")

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

@@ -22,6 +22,7 @@ class BasicConfig:
     startup_json_path = None  # 填写绝对路径
     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
     # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
     log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
 

unilabos/device_comms/opcua_client/node/uniopcua.py

@@ -43,7 +43,7 @@ class Base(ABC):
         self._type = typ
         self._data_type = data_type
         self._node: Optional[Node] = None
-        
+
     def _get_node(self) -> Node:
         if self._node is None:
             try:
@@ -66,7 +66,7 @@ class Base(ABC):
                 # 直接以字符串形式处理
                 if isinstance(nid, str):
                     nid = nid.strip()
-                    
+
                     # 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
                     # 提取括号内的内容
                     match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
@@ -116,16 +116,16 @@ class Base(ABC):
     def read(self) -> Tuple[Any, bool]:
         """读取节点值，返回(值, 是否出错)"""
         pass
-    
+
     @abstractmethod
     def write(self, value: Any) -> bool:
         """写入节点值，返回是否出错"""
         pass
-    
+
     @property
     def type(self) -> NodeType:
         return self._type
-    
+
     @property
     def node_id(self) -> str:
         return self._node_id
@@ -210,15 +210,15 @@ class Method(Base):
         super().__init__(client, name, node_id, NodeType.METHOD, data_type)
         self._parent_node_id = parent_node_id
         self._parent_node = None
-        
+
     def _get_parent_node(self) -> Node:
         if self._parent_node is None:
             try:
                 # 处理父节点ID，使用与_get_node相同的解析逻辑
                 import re
-                
+
                 nid = self._parent_node_id
-                
+
                 # 如果已经是 NodeId 对象，直接使用
                 try:
                     from opcua.ua import NodeId as UaNodeId
@@ -227,16 +227,16 @@ class Method(Base):
                         return self._parent_node
                 except Exception:
                     pass
-                
+
                 # 字符串处理
                 if isinstance(nid, str):
                     nid = nid.strip()
-                    
+
                     # 处理包含类名的格式
                     match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
                     if match_wrapped:
                         nid = match_wrapped.group(2).strip()
-                    
+
                     # 常见短格式
                     if re.match(r'^ns=\d+;[is]=', nid):
                         self._parent_node = self._client.get_node(nid)
@@ -271,7 +271,7 @@ class Method(Base):
     def write(self, value: Any) -> bool:
         """方法节点不支持写入操作"""
         return True
-        
+
     def call(self, *args) -> Tuple[Any, bool]:
         """调用方法，返回(返回值, 是否出错)"""
         try:
@@ -285,7 +285,7 @@ class Method(Base):
 class Object(Base):
     def __init__(self, client: Client, name: str, node_id: str):
         super().__init__(client, name, node_id, NodeType.OBJECT, None)
-        
+
     def read(self) -> Tuple[Any, bool]:
         """对象节点不支持直接读取操作"""
         return None, True
@@ -293,7 +293,7 @@ class Object(Base):
     def write(self, value: Any) -> bool:
         """对象节点不支持直接写入操作"""
         return True
-    
+
     def get_children(self) -> Tuple[List[Node], bool]:
         """获取子节点列表，返回(子节点列表, 是否出错)"""
         try:
@@ -301,4 +301,4 @@ class Object(Base):
             return children, False
         except Exception as e:
             print(f"获取对象 {self._name} 的子节点失败: {e}")
-            return [], True 
+            return [], True

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -30,9 +30,31 @@ from pylabrobot.liquid_handling.standard import (
     ResourceMove,
     ResourceDrop,
 )
-from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
+from pylabrobot.resources import (
+    ResourceHolder,
+    ResourceStack,
+    Tip,
+    Deck,
+    Plate,
+    Well,
+    TipRack,
+    Resource,
+    Container,
+    Coordinate,
+    TipSpot,
+    Trash,
+    PlateAdapter,
+    TubeRack,
+)
 
-from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
+from unilabos.devices.liquid_handling.liquid_handler_abstract import (
+    LiquidHandlerAbstract,
+    SimpleReturn,
+    SetLiquidReturn,
+    SetLiquidFromPlateReturn,
+    TransferLiquidReturn,
+)
+from unilabos.registry.placeholder_type import ResourceSlot
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -80,6 +102,7 @@ class PRCXI9300Deck(Deck):
         self.slots[slot - 1] = resource
         super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
 
+
 class PRCXI9300Container(Plate):
     """PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
 
@@ -108,74 +131,81 @@ class PRCXI9300Container(Plate):
     def serialize_state(self) -> Dict[str, Dict[str, Any]]:
         data = super().serialize_state()
         data.update(self._unilabos_state)
-        return data   
+        return data
+
+
 class PRCXI9300Plate(Plate):
-    """ 
+    """
     专用孔板类：
     1. 继承自 PLR 原生 Plate，保留所有物理特性。
     2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。
     """
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "plate", 
-                 ordered_items: collections.OrderedDict = None, 
-                 ordering: Optional[collections.OrderedDict] = None,
-                 model: Optional[str] = None, 
-                 material_info: Optional[Dict[str, Any]] = None, 
-                 **kwargs):
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str = "plate",
+        ordered_items: collections.OrderedDict = None,
+        ordering: Optional[collections.OrderedDict] = None,
+        model: Optional[str] = None,
+        material_info: Optional[Dict[str, Any]] = None,
+        **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:
-            super().__init__(name, size_x, size_y, size_z, 
-                             ordered_items=items,
-                             category=category,
-                             model=model, **kwargs)
+            super().__init__(
+                name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
+            )
         elif ordering_param is not None:
             # 传递 ordering 参数，让 Plate 自己创建 Well 对象
-            super().__init__(name, size_x, size_y, size_z, 
-                             ordering=ordering_param,
-                             category=category,
-                             model=model, **kwargs)
+            super().__init__(
+                name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
+            )
         else:
-            super().__init__(name, size_x, size_y, size_z, 
-                             category=category,
-                             model=model, **kwargs)
-        
+            super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
+
         self._unilabos_state = {}
         if material_info:
             self._unilabos_state["Material"] = material_info
-        
 
     def load_state(self, state: Dict[str, Any]) -> None:
         super().load_state(state)
         self._unilabos_state = state
 
-
     def serialize_state(self) -> Dict[str, Dict[str, Any]]:
         try:
             data = super().serialize_state()
         except AttributeError:
             data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
+        if hasattr(self, "_unilabos_state") and self._unilabos_state:
             safe_state = {}
             for k, v in self._unilabos_state.items():
                 # 如果是 Material 字典，深入检查
@@ -188,23 +218,32 @@ class PRCXI9300Plate(Plate):
                         else:
                             # 打印日志提醒（可选）
                             # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
+                            pass
                     safe_state[k] = safe_material
                 # 其他顶层属性也进行类型检查
                 elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
                     safe_state[k] = v
-            
+
             data.update(safe_state)
-        return data            # 其他顶层属性也进行类型检查
+        return data  # 其他顶层属性也进行类型检查
+
+
 class PRCXI9300TipRack(TipRack):
-    """ 专用吸头盒类 """
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "tip_rack", 
-                 ordered_items: collections.OrderedDict = None, 
-                 ordering: Optional[collections.OrderedDict] = None,
-                 model: Optional[str] = None,
-                 material_info: Optional[Dict[str, Any]] = None,
-                 **kwargs):
+    """专用吸头盒类"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str = "tip_rack",
+        ordered_items: collections.OrderedDict = None,
+        ordering: Optional[collections.OrderedDict] = None,
+        model: Optional[str] = None,
+        material_info: Optional[Dict[str, Any]] = None,
+        **kwargs,
+    ):
         # 如果 ordered_items 不为 None，直接使用
         if ordered_items is not None:
             items = ordered_items
@@ -225,27 +264,23 @@ class PRCXI9300TipRack(TipRack):
         else:
             items = None
             ordering_param = None
-        
+
         # 根据情况传递不同的参数
         if items is not None:
-            super().__init__(name, size_x, size_y, size_z, 
-                             ordered_items=items,
-                             category=category, 
-                             model=model, **kwargs)
+            super().__init__(
+                name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
+            )
         elif ordering_param is not None:
             # 传递 ordering 参数，让 TipRack 自己创建 Tip 对象
-            super().__init__(name, size_x, size_y, size_z, 
-                             ordering=ordering_param,
-                             category=category, 
-                             model=model, **kwargs)
+            super().__init__(
+                name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
+            )
         else:
-            super().__init__(name, size_x, size_y, size_z, 
-                             category=category, 
-                             model=model, **kwargs)
+            super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
         self._unilabos_state = {}
         if material_info:
             self._unilabos_state["Material"] = material_info
-            
+
     def load_state(self, state: Dict[str, Any]) -> None:
         super().load_state(state)
         self._unilabos_state = state
@@ -255,7 +290,7 @@ class PRCXI9300TipRack(TipRack):
             data = super().serialize_state()
         except AttributeError:
             data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
+        if hasattr(self, "_unilabos_state") and self._unilabos_state:
             safe_state = {}
             for k, v in self._unilabos_state.items():
                 # 如果是 Material 字典，深入检查
@@ -268,26 +303,33 @@ class PRCXI9300TipRack(TipRack):
                         else:
                             # 打印日志提醒（可选）
                             # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
+                            pass
                     safe_state[k] = safe_material
                 # 其他顶层属性也进行类型检查
                 elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
                     safe_state[k] = v
-            
+
             data.update(safe_state)
         return data
-    
+
+
 class PRCXI9300Trash(Trash):
     """PRCXI 9300 的专用 Trash 类，继承自 Trash。
 
     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, 
-                 category: str = "trash", 
-                 material_info: Optional[Dict[str, Any]] = None,
-                 **kwargs):
-        
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str = "trash",
+        material_info: Optional[Dict[str, Any]] = None,
+        **kwargs,
+    ):
+
         if name != "trash":
             print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
         super().__init__(name, size_x, size_y, size_z, **kwargs)
@@ -306,7 +348,7 @@ class PRCXI9300Trash(Trash):
             data = super().serialize_state()
         except AttributeError:
             data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
+        if hasattr(self, "_unilabos_state") and self._unilabos_state:
             safe_state = {}
             for k, v in self._unilabos_state.items():
                 # 如果是 Material 字典，深入检查
@@ -319,29 +361,37 @@ class PRCXI9300Trash(Trash):
                         else:
                             # 打印日志提醒（可选）
                             # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
+                            pass
                     safe_state[k] = safe_material
                 # 其他顶层属性也进行类型检查
                 elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
                     safe_state[k] = v
-            
+
             data.update(safe_state)
         return data
 
+
 class PRCXI9300TubeRack(TubeRack):
     """
     专用管架类：用于 EP 管架、试管架等。
     继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。
     """
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "tube_rack", 
-                 items: Optional[Dict[str, Any]] = None,
-                 ordered_items: Optional[OrderedDict] = None,
-                 ordering: Optional[OrderedDict] = None,
-                 model: Optional[str] = None,
-                 material_info: Optional[Dict[str, Any]] = None, 
-                 **kwargs):
-        
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str = "tube_rack",
+        items: Optional[Dict[str, Any]] = None,
+        ordered_items: Optional[OrderedDict] = None,
+        ordering: Optional[OrderedDict] = None,
+        model: Optional[str] = None,
+        material_info: Optional[Dict[str, Any]] = None,
+        **kwargs,
+    ):
+
         # 如果 ordered_items 不为 None，直接使用
         if ordered_items is not None:
             items_to_pass = ordered_items
@@ -367,24 +417,16 @@ class PRCXI9300TubeRack(TubeRack):
         else:
             items_to_pass = None
             ordering_param = None
-        
+
         # 根据情况传递不同的参数
         if items_to_pass is not None:
-            super().__init__(name, size_x, size_y, size_z, 
-                             ordered_items=items_to_pass, 
-                             model=model, 
-                             **kwargs)
+            super().__init__(name, size_x, size_y, size_z, ordered_items=items_to_pass, model=model, **kwargs)
         elif ordering_param is not None:
             # 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
-            super().__init__(name, size_x, size_y, size_z, 
-                             ordering=ordering_param,
-                             model=model, 
-                             **kwargs)
+            super().__init__(name, size_x, size_y, size_z, ordering=ordering_param, model=model, **kwargs)
         else:
-            super().__init__(name, size_x, size_y, size_z, 
-                             model=model, 
-                             **kwargs)
-        
+            super().__init__(name, size_x, size_y, size_z, model=model, **kwargs)
+
         self._unilabos_state = {}
         if material_info:
             self._unilabos_state["Material"] = material_info
@@ -394,7 +436,7 @@ class PRCXI9300TubeRack(TubeRack):
             data = super().serialize_state()
         except AttributeError:
             data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
+        if hasattr(self, "_unilabos_state") and self._unilabos_state:
             safe_state = {}
             for k, v in self._unilabos_state.items():
                 # 如果是 Material 字典，深入检查
@@ -407,33 +449,41 @@ class PRCXI9300TubeRack(TubeRack):
                         else:
                             # 打印日志提醒（可选）
                             # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
+                            pass
                     safe_state[k] = safe_material
                 # 其他顶层属性也进行类型检查
                 elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
                     safe_state[k] = v
-            
+
             data.update(safe_state)
         return data
 
+
 class PRCXI9300PlateAdapter(PlateAdapter):
     """
     专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。
     支持注入 material_info (UUID)。
     """
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "plate_adapter", 
-                 model: Optional[str] = None,
-                 material_info: Optional[Dict[str, Any]] = None, 
-                 # 参数给予默认值 (标准96孔板尺寸)
-                 adapter_hole_size_x: float = 127.76, 
-                 adapter_hole_size_y: float = 85.48, 
-                 adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
-                 dx: Optional[float] = None,
-                 dy: Optional[float] = None,
-                 dz: float = 0.0, # 默认Z轴偏移
-                 **kwargs):
-        
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str = "plate_adapter",
+        model: Optional[str] = None,
+        material_info: Optional[Dict[str, Any]] = None,
+        # 参数给予默认值 (标准96孔板尺寸)
+        adapter_hole_size_x: float = 127.76,
+        adapter_hole_size_y: float = 85.48,
+        adapter_hole_size_z: float = 10.0,  # 假设凹槽深度或板子放置高度
+        dx: Optional[float] = None,
+        dy: Optional[float] = None,
+        dz: float = 0.0,  # 默认Z轴偏移
+        **kwargs,
+    ):
+
         # 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置
         if dx is None:
             dx = (size_x - adapter_hole_size_x) / 2
@@ -441,20 +491,20 @@ class PRCXI9300PlateAdapter(PlateAdapter):
             dy = (size_y - adapter_hole_size_y) / 2
 
         super().__init__(
-            name=name, 
-            size_x=size_x, 
-            size_y=size_y, 
-            size_z=size_z, 
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
             dx=dx,
             dy=dy,
             dz=dz,
             adapter_hole_size_x=adapter_hole_size_x,
             adapter_hole_size_y=adapter_hole_size_y,
             adapter_hole_size_z=adapter_hole_size_z,
-            model=model, 
-            **kwargs
+            model=model,
+            **kwargs,
         )
-        
+
         self._unilabos_state = {}
         if material_info:
             self._unilabos_state["Material"] = material_info
@@ -464,7 +514,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
             data = super().serialize_state()
         except AttributeError:
             data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
+        if hasattr(self, "_unilabos_state") and self._unilabos_state:
             safe_state = {}
             for k, v in self._unilabos_state.items():
                 # 如果是 Material 字典，深入检查
@@ -477,15 +527,16 @@ class PRCXI9300PlateAdapter(PlateAdapter):
                         else:
                             # 打印日志提醒（可选）
                             # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
+                            pass
                     safe_state[k] = safe_material
                 # 其他顶层属性也进行类型检查
                 elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
                     safe_state[k] = v
-            
+
             data.update(safe_state)
         return data
 
+
 class PRCXI9300Handler(LiquidHandlerAbstract):
     support_touch_tip = False
 
@@ -518,7 +569,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                 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"])
+                        WorkTablets(
+                            Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"]
+                        )
                     )
         if is_9320:
             print("当前设备是9320")
@@ -538,9 +591,14 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         super().post_init(ros_node)
         self._unilabos_backend.post_init(ros_node)
 
-    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
+    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SetLiquidReturn:
         return super().set_liquid(wells, liquid_names, volumes)
 
+    def set_liquid_from_plate(
+        self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
+    ) -> SetLiquidFromPlateReturn:
+        return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)
+
     def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
         return super().set_group(group_name, wells, volumes)
 
@@ -660,7 +718,7 @@ 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,
@@ -799,7 +857,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait)
 
     async def heater_action(self, temperature: float, time: int):
-        return await self._unilabos_backend.heater_action(temperature, time)  
+        return await self._unilabos_backend.heater_action(temperature, time)
+
     async def move_plate(
         self,
         plate: Plate,
@@ -822,10 +881,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             drop_direction,
             pickup_direction,
             pickup_distance_from_top,
-            target_plate_number = to,
+            target_plate_number=to,
             **backend_kwargs,
         )
 
+
 class PRCXI9300Backend(LiquidHandlerBackend):
     """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
 
@@ -878,31 +938,28 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self.steps_todo_list.append(step)
         return step
 
-
     async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
-        
-        resource=pickup.resource
-        offset=pickup.offset
-        pickup_distance_from_top=pickup.pickup_distance_from_top
-        direction=pickup.direction
+
+        resource = pickup.resource
+        offset = pickup.offset
+        pickup_distance_from_top = pickup.pickup_distance_from_top
+        direction = pickup.direction
 
         plate_number = int(resource.parent.name.replace("T", ""))
         is_whole_plate = True
         balance_height = 0
         step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height)
-        
+
         self.steps_todo_list.append(step)
         return step
 
     async def drop_resource(self, drop: ResourceDrop, **backend_kwargs):
 
-
         plate_number = None
         target_plate_number = backend_kwargs.get("target_plate_number", None)
         if target_plate_number is not None:
             plate_number = int(target_plate_number.name.replace("T", ""))
 
-
         is_whole_plate = True
         balance_height = 0
         if plate_number is None:
@@ -911,7 +968,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self.steps_todo_list.append(step)
         return step
 
-
     async def heater_action(self, temperature: float, time: int):
         print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n")
         # return await self.api_client.heater_action(temperature, time)
@@ -968,7 +1024,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                 error_code = self.api_client.get_error_code()
                 if error_code:
                     print(f"PRCXI9300 error code detected: {error_code}")
-                
+
                 # 清除错误代码
                 self.api_client.clear_error_code()
                 print("PRCXI9300 error code cleared.")
@@ -976,11 +1032,11 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                 # 执行重置
                 print("Starting PRCXI9300 reset...")
                 self.api_client.call("IAutomation", "Reset")
-                
+
                 # 检查重置状态并等待完成
                 while not self.is_reset_ok:
                     print("Waiting for PRCXI9300 to reset...")
-                    if hasattr(self, '_ros_node') and self._ros_node is not None:
+                    if hasattr(self, "_ros_node") and self._ros_node is not None:
                         await self._ros_node.sleep(1)
                     else:
                         await asyncio.sleep(1)
@@ -998,7 +1054,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         """Pick up tips from the specified resource."""
         # INSERT_YOUR_CODE
         # Ensure use_channels is converted to a list of ints if it's an array
-        if hasattr(use_channels, 'tolist'):
+        if hasattr(use_channels, "tolist"):
             _use_channels = use_channels.tolist()
         else:
             _use_channels = list(use_channels) if use_channels is not None else None
@@ -1052,7 +1108,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
         """Pick up tips from the specified resource."""
-        if hasattr(use_channels, 'tolist'):
+        if hasattr(use_channels, "tolist"):
             _use_channels = use_channels.tolist()
         else:
             _use_channels = list(use_channels) if use_channels is not None else None
@@ -1135,7 +1191,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         none_keys: List[str] = [],
     ):
         """Mix liquid in the specified resources."""
-        
+
         plate_indexes = []
         for op in targets:
             deck = op.parent.parent.parent
@@ -1178,7 +1234,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
         """Aspirate liquid from the specified resources."""
-        if hasattr(use_channels, 'tolist'):
+        if hasattr(use_channels, "tolist"):
             _use_channels = use_channels.tolist()
         else:
             _use_channels = list(use_channels) if use_channels is not None else None
@@ -1235,7 +1291,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
         """Dispense liquid into the specified resources."""
-        if hasattr(use_channels, 'tolist'):
+        if hasattr(use_channels, "tolist"):
             _use_channels = use_channels.tolist()
         else:
             _use_channels = list(use_channels) if use_channels is not None else None
@@ -1416,7 +1472,6 @@ class PRCXI9300Api:
                 time.sleep(1)
         return success
 
-
     def call(self, service: str, method: str, params: Optional[list] = None) -> Any:
         payload = json.dumps(
             {"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":")
@@ -1543,7 +1598,7 @@ class PRCXI9300Api:
         assist_fun5: str = "",
         liquid_method: str = "NormalDispense",
         axis: str = "Left",
-        ) -> Dict[str, Any]:
+    ) -> Dict[str, Any]:
         return {
             "StepAxis": axis,
             "Function": "Imbibing",
@@ -1621,7 +1676,7 @@ class PRCXI9300Api:
         assist_fun5: str = "",
         liquid_method: str = "NormalDispense",
         axis: str = "Left",
-        ) -> Dict[str, Any]:
+    ) -> Dict[str, Any]:
         return {
             "StepAxis": axis,
             "Function": "Blending",
@@ -1681,11 +1736,11 @@ class PRCXI9300Api:
             "LiquidDispensingMethod": liquid_method,
         }
 
-    def clamp_jaw_pick_up(self,
+    def clamp_jaw_pick_up(
+        self,
         plate_no: int,
         is_whole_plate: bool,
         balance_height: int,
-
     ) -> Dict[str, Any]:
         return {
             "StepAxis": "ClampingJaw",
@@ -1695,7 +1750,7 @@ class PRCXI9300Api:
             "HoleRow": 1,
             "HoleCol": 1,
             "BalanceHeight": balance_height,
-            "PlateOrHoleNum": f"T{plate_no}"
+            "PlateOrHoleNum": f"T{plate_no}",
         }
 
     def clamp_jaw_drop(
@@ -1703,7 +1758,6 @@ class PRCXI9300Api:
         plate_no: int,
         is_whole_plate: bool,
         balance_height: int,
-
     ) -> Dict[str, Any]:
         return {
             "StepAxis": "ClampingJaw",
@@ -1713,7 +1767,7 @@ class PRCXI9300Api:
             "HoleRow": 1,
             "HoleCol": 1,
             "BalanceHeight": balance_height,
-            "PlateOrHoleNum": f"T{plate_no}"
+            "PlateOrHoleNum": f"T{plate_no}",
         }
 
     def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
@@ -1726,6 +1780,7 @@ class PRCXI9300Api:
             "AssistFun4": is_wait,
         }
 
+
 class DefaultLayout:
 
     def __init__(self, product_name: str = "PRCXI9300"):
@@ -2104,7 +2159,9 @@ if __name__ == "__main__":
             size_y=50,
             size_z=10,
             category="tip_rack",
-            ordered_items=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
+            ordered_items=collections.OrderedDict(
+                {k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}
+            ),
         )
         tip_rack_serialized = tip_rack.serialize()
         tip_rack_serialized["parent_name"] = deck.name
@@ -2299,43 +2356,37 @@ if __name__ == "__main__":
 
     A = tree_to_list([resource_plr_to_ulab(deck)])
     with open("deck.json", "w", encoding="utf-8") as f:
-        A.insert(0, {
-            "id": "PRCXI",
-            "name": "PRCXI",
-            "parent": None,
-            "type": "device",
-            "class": "liquid_handler.prcxi",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "deck": {
-                    "_resource_child_name": "PRCXI_Deck",
-                    "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
+        A.insert(
+            0,
+            {
+                "id": "PRCXI",
+                "name": "PRCXI",
+                "parent": None,
+                "type": "device",
+                "class": "liquid_handler.prcxi",
+                "position": {"x": 0, "y": 0, "z": 0},
+                "config": {
+                    "deck": {
+                        "_resource_child_name": "PRCXI_Deck",
+                        "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
+                    },
+                    "host": "192.168.0.121",
+                    "port": 9999,
+                    "timeout": 10.0,
+                    "axis": "Right",
+                    "channel_num": 1,
+                    "setup": False,
+                    "debug": True,
+                    "simulator": True,
+                    "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
+                    "is_9320": True,
                 },
-                "host": "192.168.0.121",
-                "port": 9999,
-                "timeout": 10.0,
-                "axis": "Right",
-                "channel_num": 1,
-                "setup": False,
-                "debug": True,
-                "simulator": True,
-                "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
-                "is_9320": True
+                "data": {},
+                "children": ["PRCXI_Deck"],
             },
-            "data": {},
-            "children": [
-                "PRCXI_Deck"
-            ]
-        })
+        )
         A[1]["parent"] = "PRCXI"
-        json.dump({
-            "nodes": A,
-            "links": []
-        }, f, indent=4, ensure_ascii=False)
+        json.dump({"nodes": A, "links": []}, f, indent=4, ensure_ascii=False)
 
     handler = PRCXI9300Handler(
         deck=deck,
@@ -2377,7 +2428,6 @@ if __name__ == "__main__":
     time.sleep(5)
     os._exit(0)
 
-
     prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
     prcxi_api.list_matrices()
     prcxi_api.get_all_materials()

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

@@ -0,0 +1,742 @@
+"""
+Virtual Workbench Device - 模拟工作台设备
+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
+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
+
+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, List
+from dataclasses import dataclass
+from enum import Enum
+from threading import Lock, RLock
+
+from typing_extensions import TypedDict
+
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+from unilabos.utils.decorator import not_action
+from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
+
+
+# ============ 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
+    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
+    material_2: int  # 物料编号2
+    material_3: int  # 物料编号3
+    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
+    HEATING = "heating"  # 加热中
+    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
+
+
+@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")
+    material_number: Optional[int] = None  # 物料编号 (1-5)
+    heating_start_time: Optional[float] = None
+    heating_progress: float = 0.0
+
+
+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
+
+    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
+    """
+
+    _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)
+    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):
+        # 处理可能的不同调用方式
+        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 "virtual_workbench"
+        self.config = config or {}
+
+        self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}")
+        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))
+
+        # 机械臂状态和锁 (使用threading.Lock)
+        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()
+        self._heating_stations: Dict[int, HeatingStation] = {
+            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
+
+        # 任务追踪
+        self._active_tasks: Dict[str, Dict[str, Any]] = {}  # material_id -> task_info
+        self._tasks_lock = Lock()
+
+        # 处理其他kwargs参数
+        skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"}
+        for key, value in kwargs.items():
+            if key not in skip_keys and not hasattr(self, key):
+                setattr(self, key, value)
+
+        self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===")
+        self.logger.info(
+            f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | "
+            f"加热时间: {self.HEATING_TIME}s | "
+            f"加热台数量: {self.NUM_HEATING_STATIONS}"
+        )
+
+    @not_action
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        """ROS节点初始化后回调"""
+        self._ros_node = ros_node
+
+    @not_action
+    def initialize(self) -> bool:
+        """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
+                station.current_material = None
+                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.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
+        return True
+
+    @not_action
+    def cleanup(self) -> bool:
+        """清理虚拟工作台"""
+        self.logger.info(f"清理虚拟工作台 {self.device_id}")
+
+        self._arm_state = ArmState.IDLE
+        self._arm_current_task = None
+
+        with self._stations_lock:
+            self._heating_stations.clear()
+
+        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",
+            }
+        )
+        return True
+
+    def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
+        """获取所有加热台状态"""
+        with self._stations_lock:
+            return {
+                station_id: {
+                    "state": station.state.value,
+                    "current_material": station.current_material,
+                    "material_number": station.material_number,
+                    "heating_progress": station.heating_progress,
+                }
+                for station_id, station in self._heating_stations.items()
+            }
+
+    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),
+            }
+        )
+        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
+        """
+        with self._stations_lock:
+            for station_id, station in self._heating_stations.items():
+                if station.state == HeatingStationState.IDLE:
+                    return station_id
+        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
+        """
+        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
+
+    def _release_arm(self):
+        """释放机械臂"""
+        task = self._arm_current_task
+        self._arm_state = ArmState.IDLE
+        self._arm_current_task = None
+        self._arm_lock.release()
+        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})")
+
+    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
+        """
+        # 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}")
+
+        return {
+            "success": True,
+            "count": count,
+            "material_1": materials[0] if len(materials) > 0 else 0,
+            "material_2": materials[1] if len(materials) > 1 else 0,
+            "material_3": materials[2] if len(materials) > 2 else 0,
+            "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()) for sample_uuid, content in sample_uuids.items()]
+        }
+
+    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
+        """
+        # 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",
+                "start_time": time.time(),
+            }
+
+        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._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
+            self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...")
+
+            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)")
+
+            # 释放机械臂
+            self._release_arm()
+
+            with self._tasks_lock:
+                self._active_tasks[material_id]["status"] = "placed_on_station"
+
+            return {
+                "success": True,
+                "station_id": station_id,
+                "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()) for
+                    sample_uuid, content in sample_uuids.items()]
+            }
+
+        except Exception as e:
+            self.logger.error(f"[{material_id}] 移动失败: {str(e)}")
+            if self._arm_lock.locked():
+                self._release_arm()
+            return {
+                "success": False,
+                "station_id": -1,
+                "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()) for
+                    sample_uuid, content in sample_uuids.items()]
+            }
+
+    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")
+
+        if station_id not in self._heating_stations:
+            return {
+                "success": False,
+                "station_id": station_id,
+                "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()) for
+                    sample_uuid, content in sample_uuids.items()]
+            }
+
+        with self._stations_lock:
+            station = self._heating_stations[station_id]
+
+            if station.current_material is None:
+                return {
+                    "success": False,
+                    "station_id": station_id,
+                    "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()) for
+                        sample_uuid, content in sample_uuids.items()]
+                }
+
+            if station.state == HeatingStationState.HEATING:
+                return {
+                    "success": False,
+                    "station_id": station_id,
+                    "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()) 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
+
+        with self._tasks_lock:
+            if material_id in self._active_tasks:
+                self._active_tasks[material_id]["status"] = "heating"
+
+        self._update_data_status(f"加热台{station_id}开始加热{material_id}")
+
+        # 模拟加热过程 (10秒)
+        start_time = time.time()
+        while True:
+            elapsed = time.time() - start_time
+            progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
+
+            with self._stations_lock:
+                self._heating_stations[station_id].heating_progress = progress
+
+            self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
+
+            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
+
+        with self._tasks_lock:
+            if material_id in self._active_tasks:
+                self._active_tasks[material_id]["status"] = "heating_completed"
+
+        self._update_data_status(f"加热台{station_id}加热完成")
+        self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
+
+        return {
+            "success": True,
+            "station_id": station_id,
+            "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()) for
+                sample_uuid, content in sample_uuids.items()]
+        }
+
+    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
+
+        if station_id not in self._heating_stations:
+            return {
+                "success": False,
+                "station_id": station_id,
+                "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()) for
+                    sample_uuid, content in sample_uuids.items()]
+            }
+
+        with self._stations_lock:
+            station = self._heating_stations[station_id]
+            material_id = station.current_material
+
+            if material_id is None:
+                return {
+                    "success": False,
+                    "station_id": station_id,
+                    "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()) for
+                        sample_uuid, content in sample_uuids.items()]
+                }
+
+            if station.state != HeatingStationState.COMPLETED:
+                return {
+                    "success": False,
+                    "station_id": station_id,
+                    "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()) for
+                        sample_uuid, content in sample_uuids.items()]
+                }
+
+        output_position = f"C{output_number}"
+        task_desc = f"从加热台{station_id}移动{material_id}到{output_position}"
+        self.logger.info(f"[任务] {task_desc}")
+
+        try:
+            with self._tasks_lock:
+                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}...")
+            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
+                self._heating_stations[station_id].material_number = None
+                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)")
+
+            return {
+                "success": True,
+                "station_id": station_id,
+                "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()) for
+                    sample_uuid, content in sample_uuids.items()]
+            }
+
+        except Exception as e:
+            self.logger.error(f"移动到输出位置失败: {str(e)}")
+            if self._arm_lock.locked():
+                self._release_arm()
+            return {
+                "success": False,
+                "station_id": station_id,
+                "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()) for
+                    sample_uuid, content in sample_uuids.items()]
+            }
+
+    # ============ 状态属性 ============
+
+    @property
+    def status(self) -> str:
+        return self.data.get("status", "Unknown")
+
+    @property
+    def arm_state(self) -> str:
+        return self._arm_state.value
+
+    @property
+    def arm_current_task(self) -> str:
+        return self._arm_current_task or ""
+
+    @property
+    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
+    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
+    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
+    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
+    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
+    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
+    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
+    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
+    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
+    def active_tasks_count(self) -> int:
+        with self._tasks_lock:
+            return len(self._active_tasks)
+
+    @property
+    def message(self) -> str:
+        return self.data.get("message", "")

unilabos/devices/workstation/README.md

@@ -1,9 +1,5 @@
 # 工作站抽象基类物料系统架构说明
 
-## 设计理念
-
-基于用户需求"请你帮我系统思考一下，工作站抽象基类的物料系统基类该如何构建"，我们最终确定了一个**PyLabRobot Deck为中心**的简化架构。
-
 ### 核心原则
 
 1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系

unilabos/devices/workstation/bioyond_studio/bioyond_cell/smiles&molweight.py

@@ -1,12 +0,0 @@
-import pubchempy as pcp
-
-cas = "21324-40-3"  # 示例
-comps = pcp.get_compounds(cas, namespace="name")
-if not comps:
-    raise ValueError("No hit")
-
-c = comps[0]
-
-print("Canonical SMILES:", c.canonical_smiles)
-print("Isomeric  SMILES:", c.isomeric_smiles)
-print("MW:", c.molecular_weight)

unilabos/devices/workstation/bioyond_studio/bioyond_cell/solid_materials.csv

@@ -1,7 +0,0 @@
-material_name
-LiPF6
-LiDFOB
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unilabos/devices/workstation/bioyond_studio/bioyond_cell/批量出库模板使用说明.md

@@ -0,0 +1,157 @@
+# 批量出库 Excel 模板使用说明
+
+**文件**: `outbound_template.xlsx`  
+**用途**: 配合 `auto_batch_outbound_from_xlsx()` 方法进行批量出库操作  
+**API 端点**: `/api/lims/storage/auto-batch-out-bound`
+
+---
+
+## 📋 Excel 列说明
+
+| 列名 | 说明 | 示例 | 必填 |
+|------|------|------|------|
+| `locationId` | **库位 ID（UUID）** | `3a19da43-57b5-294f-d663-154a1cc32270` | ✅ 是 |
+| `warehouseId` | **仓库 ID 或名称** | `配液站内试剂仓库` | ✅ 是 |
+| `quantity` | **出库数量** | `1.0`, `2.0` | ✅ 是 |
+| `x` | **X 坐标（库位横向位置）** | `1`, `2`, `3` | ✅ 是 |
+| `y` | **Y 坐标（库位纵向位置）** | `1`, `2`, `3` | ✅ 是 |
+| `z` | **Z 坐标（库位层数/高度）** | `1`, `2`, `3` | ✅ 是 |
+| `备注说明` | 可选备注信息 | `配液站内试剂仓库-A01` | ❌ 否 |
+
+### 📐 坐标说明
+
+**x, y, z** 是库位在仓库内的**三维坐标**：
+
+```
+仓库（例如 WH4）
+├── Z=1（第1层/加样头面）
+│   ├── X=1, Y=1（位置 A）
+│   ├── X=2, Y=1（位置 B）
+│   ├── X=3, Y=1（位置 C）
+│   └── ...
+│
+└── Z=2（第2层/原液瓶面）
+    ├── X=1, Y=1（位置 A）
+    ├── X=2, Y=1（位置 B）
+    └── ...
+```
+
+- **warehouseId**: 指定哪个仓库（WH3, WH4, 配液站等）
+- **x, y, z**: 在该仓库内的三维坐标
+- **locationId**: 该坐标位置的唯一 UUID
+
+### 🎯 起点与终点
+
+**重要说明**：批量出库模板**只规定了出库的"起点"**（从哪里取物料），**没有指定"终点"**（放到哪里）。
+
+```
+出库流程：
+起点（Excel 指定） → ？终点（LIMS/工作流决定）
+    ↓
+locationId, x, y, z    → 由 LIMS 系统或当前工作流自动分配
+```
+
+**终点由以下方式确定：**
+- **LIMS 系统自动分配**：根据当前任务自动规划目标位置
+- **工作流预定义**：在创建出库任务时已绑定目标位置
+- **暂存区**：默认放到出库暂存区，等待下一步操作
+
+💡 **对比**：上料操作（`auto_feeding4to3`）则有 `targetWH` 参数可以指定目标仓库
+
+---
+
+## 🔍 如何获取 UUID？
+
+### 方法 1：从配置文件获取
+
+参考 `yibin_electrolyte_config.json` 中的 `warehouse_mapping`：
+
+```json
+{
+  "warehouse_mapping": {
+    "配液站内试剂仓库": {
+      "site_uuids": {
+        "A01": "3a19da43-57b5-294f-d663-154a1cc32270",
+        "B01": "3a19da43-57b5-7394-5f49-54efe2c9bef2",
+        "C01": "3a19da43-57b5-5e75-552f-8dbd0ad1075f"
+      }
+    },
+    "手动堆栈": {
+      "site_uuids": {
+        "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
+        "A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe"
+      }
+    }
+  }
+}
+```
+
+### 方法 2：通过 API 查询
+
+```python
+material_info = hardware_interface.material_id_query(workflow_id)
+locations = material_info.get("locations", [])
+```
+
+---
+
+## 📝 填写示例
+
+### 示例 1：从配液站内试剂仓库出库
+
+| locationId | warehouseId | quantity | x | y | z | 备注说明 |
+|------------|-------------|----------|---|---|---|----------|
+| `3a19da43-57b5-294f-d663-154a1cc32270` | 配液站内试剂仓库 | 1 | 1 | 1 | 1 | A01 位置 |
+| `3a19da43-57b5-7394-5f49-54efe2c9bef2` | 配液站内试剂仓库 | 2 | 2 | 1 | 1 | B01 位置 |
+
+### 示例 2：从手动堆栈出库
+
+| locationId | warehouseId | quantity | x | y | z | 备注说明 |
+|------------|-------------|----------|---|---|---|----------|
+| `3a19deae-2c7a-36f5-5e41-02c5b66feaea` | 手动堆栈 | 1 | 1 | 1 | 1 | A01 |
+| `3a19deae-2c7a-dc6d-c41e-ef285d946cfe` | 手动堆栈 | 1 | 1 | 2 | 1 | A02 |
+
+---
+
+## 💻 使用方法
+
+```python
+from bioyond_cell_workstation import BioyondCellWorkstation
+
+# 初始化工作站
+workstation = BioyondCellWorkstation(config=config, deck=deck)
+
+# 调用批量出库方法
+result = workstation.auto_batch_outbound_from_xlsx(
+    xlsx_path="outbound_template.xlsx"
+)
+```
+
+---
+
+## ⚠️ 注意事项
+
+1. **locationId 必须是有效的 UUID**，不能使用库位名称
+2. **x, y, z 坐标必须与 locationId 对应**，表示该库位在仓库内的位置
+3. **quantity 必须是数字**，可以是整数或浮点数
+4. Excel 文件必须包含表头行
+5. 空行会被自动跳过
+6. 确保 UUID 与实际库位对应，否则 API 会报错
+
+---
+
+## 📚 相关文件
+
+- **配置文件**: `yibin_electrolyte_config.json`
+- **Python 代码**: `bioyond_cell_workstation.py` (L630-695)
+- **生成脚本**: `create_outbound_template.py`
+- **上料模板**: `material_template.xlsx`
+
+---
+
+## 🔄 重新生成模板
+
+```bash
+conda activate newunilab
+python create_outbound_template.py
+```

unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py

@@ -49,6 +49,14 @@ class BioyondV1RPC(BaseRequest):
         self.config = config
         self.api_key = config["api_key"]
         self.host = config["api_host"]
+
+        # 初始化 location_mapping
+        # 直接从 warehouse_mapping 构建，确保数据源所谓的单一和结构化
+        self.location_mapping = {}
+        warehouse_mapping = self.config.get("warehouse_mapping", {})
+        for warehouse_name, warehouse_config in warehouse_mapping.items():
+            if "site_uuids" in warehouse_config:
+                self.location_mapping.update(warehouse_config["site_uuids"])
         self._logger = SimpleLogger()
         self.material_cache = {}
         self._load_material_cache()
@@ -176,7 +184,40 @@ class BioyondV1RPC(BaseRequest):
             return {}
 
         print(f"add material data: {response['data']}")
-        return response.get("data", {})
+
+        # 自动更新缓存
+        data = response.get("data", {})
+        if data:
+            if isinstance(data, str):
+                # 如果返回的是字符串，通常是ID
+                mat_id = data
+                name = params.get("name")
+            else:
+                # 如果返回的是字典，尝试获取name和id
+                name = data.get("name") or params.get("name")
+                mat_id = data.get("id")
+
+            if name and mat_id:
+                self.material_cache[name] = mat_id
+                print(f"已自动更新缓存: {name} -> {mat_id}")
+
+            # 处理返回数据中的 details (如果有)
+            # 有些 API 返回结构可能直接包含 details，或者在 data 字段中
+            details = data.get("details", []) if isinstance(data, dict) else []
+            if not details and isinstance(data, dict):
+                 details = data.get("detail", [])
+
+            if details:
+                for detail in details:
+                    d_name = detail.get("name")
+                    # 尝试从不同字段获取 ID
+                    d_id = detail.get("id") or detail.get("detailMaterialId")
+
+                    if d_name and d_id:
+                        self.material_cache[d_name] = d_id
+                        print(f"已自动更新 detail 缓存: {d_name} -> {d_id}")
+
+        return data
 
     def query_matial_type_id(self, data) -> list:
         """查找物料typeid"""
@@ -203,7 +244,7 @@ class BioyondV1RPC(BaseRequest):
             params={
                 "apiKey": self.api_key,
                 "requestTime": self.get_current_time_iso8601(),
-                "data": {},
+                "data": 0,
             })
         if not response or response['code'] != 1:
             return []
@@ -273,12 +314,19 @@ class BioyondV1RPC(BaseRequest):
 
         if not response or response['code'] != 1:
             return {}
+
+        # 自动更新缓存 - 移除被删除的物料
+        for name, mid in list(self.material_cache.items()):
+            if mid == material_id:
+                del self.material_cache[name]
+                print(f"已从缓存移除物料: {name}")
+                break
+
         return response.get("data", {})
 
     def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
         """指定库位出库物料（通过库位名称）"""
-        # location_name 参数实际上应该直接是 location_id (UUID)
-        location_id = location_name
+        location_id = self.location_mapping.get(location_name, location_name)
 
         params = {
             "materialId": material_id,
@@ -1104,6 +1152,10 @@ class BioyondV1RPC(BaseRequest):
                     for detail_material in detail_materials:
                         detail_name = detail_material.get("name")
                         detail_id = detail_material.get("detailMaterialId")
+                        if not detail_id:
+                            # 尝试其他可能的字段
+                            detail_id = detail_material.get("id")
+
                         if detail_name and detail_id:
                             self.material_cache[detail_name] = detail_id
                             print(f"加载detail材料: {detail_name} -> ID: {detail_id}")
@@ -1124,6 +1176,14 @@ class BioyondV1RPC(BaseRequest):
             print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}")
             return material_id
 
+        # 如果缓存中没有，尝试刷新缓存
+        print(f"缓存中未找到材料 '{material_name_or_id}'，尝试刷新缓存...")
+        self.refresh_material_cache()
+        if material_name_or_id in self.material_cache:
+            material_id = self.material_cache[material_name_or_id]
+            print(f"刷新缓存后找到材料: {material_name_or_id} -> ID: {material_id}")
+            return material_id
+
         print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值")
         return material_name_or_id
 

unilabos/devices/workstation/bioyond_studio/config.py.deprecated

@@ -0,0 +1,329 @@
+# config.py
+"""
+Bioyond工作站配置文件
+包含API配置、工作流映射、物料类型映射、仓库库位映射等所有配置信息
+"""
+
+from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
+
+# ============================================================================
+# 基础配置
+# ============================================================================
+
+# API配置
+API_CONFIG = {
+    "api_key": "DE9BDDA0",
+    "api_host": "http://192.168.1.200:44402"
+}
+
+# HTTP 报送服务配置
+HTTP_SERVICE_CONFIG = {
+    "http_service_host": "127.0.0.1",  # 监听地址
+    "http_service_port": 8080,        # 监听端口
+}
+
+# Deck配置 - 反应站工作台配置
+DECK_CONFIG = BIOYOND_PolymerReactionStation_Deck(setup=True)
+
+# ============================================================================
+# 工作流配置
+# ============================================================================
+
+# 工作流ID映射
+WORKFLOW_MAPPINGS = {
+    "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
+    "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
+    "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
+    "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
+    "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
+    "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
+    "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
+    "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a",
+}
+
+# 工作流名称到显示名称的映射
+WORKFLOW_TO_SECTION_MAP = {
+    'reactor_taken_in': '反应器放入',
+    'reactor_taken_out': '反应器取出',
+    'Solid_feeding_vials': '固体投料-小瓶',
+    'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
+    'Liquid_feeding_solvents': '液体投料-溶剂',
+    'Liquid_feeding(titration)': '液体投料-滴定',
+    'liquid_feeding_beaker': '液体投料-烧杯',
+    'Drip_back': '液体回滴'
+}
+
+# 工作流步骤ID配置
+WORKFLOW_STEP_IDS = {
+    "reactor_taken_in": {
+        "config": "60a06f85-c5b3-29eb-180f-4f62dd7e2154"
+    },
+    "liquid_feeding_beaker": {
+        "liquid": "6808cda7-fee7-4092-97f0-5f9c2ffa60e3",
+        "observe": "1753c0de-dffc-4ee6-8458-805a2e227362"
+    },
+    "liquid_feeding_vials_non_titration": {
+        "liquid": "62ea6e95-3d5d-43db-bc1e-9a1802673861",
+        "observe": "3a167d99-6172-b67b-5f22-a7892197142e"
+    },
+    "liquid_feeding_solvents": {
+        "liquid": "1fcea355-2545-462b-b727-350b69a313bf",
+        "observe": "0553dfb3-9ac5-4ace-8e00-2f11029919a8"
+    },
+    "solid_feeding_vials": {
+        "feeding": "f7ae7448-4f20-4c1d-8096-df6fbadd787a",
+        "observe": "263c7ed5-7277-426b-bdff-d6fbf77bcc05"
+    },
+    "liquid_feeding_titration": {
+        "liquid": "a00ec41b-e666-4422-9c20-bfcd3cd15c54",
+        "observe": "ac738ff6-4c58-4155-87b1-d6f65a2c9ab5"
+    },
+    "drip_back": {
+        "liquid": "371be86a-ab77-4769-83e5-54580547c48a",
+        "observe": "ce024b9d-bd20-47b8-9f78-ca5ce7f44cf1"
+    }
+}
+
+# 工作流动作名称配置
+ACTION_NAMES = {
+    "reactor_taken_in": {
+        "config": "通量-配置",
+        "stirring": "反应模块-开始搅拌"
+    },
+    "solid_feeding_vials": {
+        "feeding": "粉末加样模块-投料",
+        "observe": "反应模块-观察搅拌结果"
+    },
+    "liquid_feeding_vials_non_titration": {
+        "liquid": "稀释液瓶加液位-液体投料",
+        "observe": "反应模块-滴定结果观察"
+    },
+    "liquid_feeding_solvents": {
+        "liquid": "试剂AB放置位-试剂吸液分液",
+        "observe": "反应模块-观察搅拌结果"
+    },
+    "liquid_feeding_titration": {
+        "liquid": "稀释液瓶加液位-稀释液吸液分液",
+        "observe": "反应模块-滴定结果观察"
+    },
+    "liquid_feeding_beaker": {
+        "liquid": "烧杯溶液放置位-烧杯吸液分液",
+        "observe": "反应模块-观察搅拌结果"
+    },
+    "drip_back": {
+        "liquid": "试剂AB放置位-试剂吸液分液",
+        "observe": "反应模块-向下滴定结果观察"
+    }
+}
+
+# ============================================================================
+# 仓库配置
+# ============================================================================
+# 说明:
+# - 出库和入库操作都需要UUID
+WAREHOUSE_MAPPING = {
+    # ========== 反应站仓库 ==========
+
+    # 堆栈1左 - 反应站左侧堆栈 (4行×4列=16个库位, A01～D04)
+    "堆栈1左": {
+        "uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
+        "site_uuids": {
+            "A01": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
+            "A02": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
+            "A03": "3a14aa17-0d49-c2bc-6222-5cee8d2d94f8",
+            "A04": "3a14aa17-0d49-3ce2-8e9a-008c38d116fb",
+            "B01": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
+            "B02": "3a14aa17-0d49-cf46-df85-a979c9c9920c",
+            "B03": "3a14aa17-0d49-7698-4a23-f7ffb7d48ba3",
+            "B04": "3a14aa17-0d49-1231-99be-d5870e6478e9",
+            "C01": "3a14aa17-0d49-be34-6fae-4aed9d48b70b",
+            "C02": "3a14aa17-0d49-11d7-0897-34921dcf6b7c",
+            "C03": "3a14aa17-0d49-9840-0bd5-9c63c1bb2c29",
+            "C04": "3a14aa17-0d49-8335-3bff-01da69ea4911",
+            "D01": "3a14aa17-0d49-2bea-c8e5-2b32094935d5",
+            "D02": "3a14aa17-0d49-cff4-e9e8-5f5f0bc1ef32",
+            "D03": "3a14aa17-0d49-4948-cb0a-78f30d1ca9b8",
+            "D04": "3a14aa17-0d49-fd2f-9dfb-a29b11e84099",
+        },
+    },
+
+    # 堆栈1右 - 反应站右侧堆栈 (4行×4列=16个库位, A05～D08)
+    "堆栈1右": {
+        "uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
+        "site_uuids": {
+            "A05": "3a14aa17-0d49-2c61-edc8-72a8ca7192dd",
+            "A06": "3a14aa17-0d49-60c8-2b00-40b17198f397",
+            "A07": "3a14aa17-0d49-ec5b-0b75-634dce8eed25",
+            "A08": "3a14aa17-0d49-3ec9-55b3-f3189c4ec53d",
+            "B05": "3a14aa17-0d49-6a4e-abcf-4c113eaaeaad",
+            "B06": "3a14aa17-0d49-e3f6-2dd6-28c2e8194fbe",
+            "B07": "3a14aa17-0d49-11a6-b861-ee895121bf52",
+            "B08": "3a14aa17-0d49-9c7d-1145-d554a6e482f0",
+            "C05": "3a14aa17-0d49-45c4-7a34-5105bc3e2368",
+            "C06": "3a14aa17-0d49-867e-39ab-31b3fe9014be",
+            "C07": "3a14aa17-0d49-ec56-c4b4-39fd9b2131e7",
+            "C08": "3a14aa17-0d49-1128-d7d9-ffb1231c98c0",
+            "D05": "3a14aa17-0d49-e843-f961-ea173326a14b",
+            "D06": "3a14aa17-0d49-4d26-a985-f188359c4f8b",
+            "D07": "3a14aa17-0d49-223a-b520-bc092bb42fe0",
+            "D08": "3a14aa17-0d49-4fa3-401a-6a444e1cca22",
+        },
+    },
+
+    # 站内试剂存放堆栈
+    "站内试剂存放堆栈": {
+        "uuid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
+        "site_uuids": {
+            "A01": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
+            "A02": "3a14aa3b-9fab-ca72-febc-b7c304476c78"
+        }
+    },
+
+
+    # 测量小瓶仓库（测密度）
+    "测量小瓶仓库": {
+        "uuid": "3a15012f-705b-c0de-3f9e-950c205f9921",
+        "site_uuids": {
+            "A01": "3a15012f-705e-0524-3161-c523b5aebc97",
+            "A02": "3a15012f-705e-7cd1-32ab-ad4fd1ab75c8",
+            "A03": "3a15012f-705e-a5d6-edac-bdbfec236260",
+            "B01": "3a15012f-705e-e0ee-80e0-10a6b3fc500d",
+            "B02": "3a15012f-705e-e499-180d-de06d60d0b21",
+            "B03": "3a15012f-705e-eff6-63f1-09f742096b26"
+        }
+    },
+
+    # 站内Tip盒堆栈 - 用于存放枪头盒 (耗材)
+    "站内Tip盒堆栈": {
+        "uuid": "3a14aa3a-2d3c-b5c1-9ddf-7c4a957d459a",
+        "site_uuids": {
+            "A01": "3a14aa3a-2d3d-e700-411a-0ddf85e1f18a",
+            "A02": "3a14aa3a-2d3d-a7ce-099a-d5632fdafa24",
+            "A03": "3a14aa3a-2d3d-bdf6-a702-c60b38b08501",
+            "B01": "3a14aa3a-2d3d-d704-f076-2a8d5bc72cb8",
+            "B02": "3a14aa3a-2d3d-c350-2526-0778d173a5ac",
+            "B03": "3a14aa3a-2d3d-bc38-b356-f0de2e44e0c7"
+        }
+    },
+    # ========== 配液站仓库 ==========
+    "粉末堆栈": {
+        "uuid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
+        "site_uuids": {
+            "A01": "3a14198e-6929-31f0-8a22-0f98f72260df",
+            "A02": "3a14198e-6929-4379-affa-9a2935c17f99",
+            "A03": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
+            "A04": "3a14198e-6929-5e99-2b79-80720f7cfb54",
+            "B01": "3a14198e-6929-f525-9a1b-1857552b28ee",
+            "B02": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
+            "B03": "3a14198e-6929-2d86-a468-602175a2b5aa",
+            "B04": "3a14198e-6929-1a98-ae57-e97660c489ad",
+            "C01": "3a14198e-6929-46fe-841e-03dd753f1e4a",
+            "C02": "3a14198e-6929-72ac-32ce-9b50245682b8",
+            "C03": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
+            "C04": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
+            "D01": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
+            "D02": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
+            "D03": "3a14198e-6929-dde1-fc78-34a84b71afdf",
+            "D04": "3a14198e-6929-7ac8-915a-fea51cb2e884"
+        }
+    },
+    "溶液堆栈": {
+        "uuid": "3a14198e-d723-2c13-7d12-50143e190a23",
+        "site_uuids": {
+            "A01": "3a14198e-d724-e036-afdc-2ae39a7f3383",
+            "A02": "3a14198e-d724-d818-6d4f-5725191a24b5",
+            "A03": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
+            "A04": "3a14198e-d724-d378-d266-2508a224a19f",
+            "B01": "3a14198e-d724-afa4-fc82-0ac8a9016791",
+            "B02": "3a14198e-d724-be8a-5e0b-012675e195c6",
+            "B03": "3a14198e-d724-ab4e-48cb-817c3c146707",
+            "B04": "3a14198e-d724-f56e-468b-0110a8feb36a",
+            "C01": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
+            "C02": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
+            "C03": "3a14198e-d724-7f18-1853-39d0c62e1d33",
+            "C04": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
+            "D01": "3a14198e-d724-df6d-5e32-5483b3cab583",
+            "D02": "3a14198e-d724-1e28-c885-574c3df468d0",
+            "D03": "3a14198e-d724-28a2-a760-baa896f46b66",
+            "D04": "3a14198e-d724-0ddd-9654-f9352a421de9"
+        }
+    },
+    "试剂堆栈": {
+        "uuid": "3a14198c-c2cc-0290-e086-44a428fba248",
+        "site_uuids": {
+            "A01": "3a14198c-c2cf-8b40-af28-b467808f1c36",  # x=1, y=1, code=0001-0001
+            "A02": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",  # x=1, y=2, code=0001-0002
+            "A03": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",  # x=1, y=3, code=0001-0003
+            "A04": "3a14198c-c2d0-725e-523d-34c037ac2440",  # x=1, y=4, code=0001-0004
+            "B01": "3a14198c-c2d0-f3e7-871a-e470d144296f",  # x=2, y=1, code=0001-0005
+            "B02": "3a14198c-c2d0-2070-efc8-44e245f10c6f",  # x=2, y=2, code=0001-0006
+            "B03": "3a14198c-c2d0-1559-105d-0ea30682cab4",  # x=2, y=3, code=0001-0007
+            "B04": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"   # x=2, y=4, code=0001-0008
+        }
+    }
+}
+
+# ============================================================================
+# 物料类型配置
+# ============================================================================
+# 说明:
+# - 格式: PyLabRobot资源类型名称 → Bioyond系统typeId的UUID
+# - 这个映射基于 resource.model 属性 (不是显示名称!)
+# - UUID为空表示该类型暂未在Bioyond系统中定义
+MATERIAL_TYPE_MAPPINGS = {
+    # ================================================配液站资源============================================================
+    # ==================================================样品===============================================================
+    "BIOYOND_PolymerStation_1FlaskCarrier": ("烧杯", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),  # 配液站-样品-烧杯
+    "BIOYOND_PolymerStation_1BottleCarrier": ("试剂瓶", "3a14196b-8bcf-a460-4f74-23f21ca79e72"),  # 配液站-样品-试剂瓶
+    "BIOYOND_PolymerStation_6StockCarrier": ("分装板", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),  # 配液站-样品-分装板
+    "BIOYOND_PolymerStation_Liquid_Vial": ("10%分装小瓶", "3a14196c-76be-2279-4e22-7310d69aed68"),  # 配液站-样品-分装板-第一排小瓶
+    "BIOYOND_PolymerStation_Solid_Vial": ("90%分装小瓶", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),  # 配液站-样品-分装板-第二排小瓶
+    # ==================================================试剂===============================================================
+    "BIOYOND_PolymerStation_8StockCarrier": ("样品板", "3a14196e-b7a0-a5da-1931-35f3000281e9"),  # 配液站-试剂-样品板（8孔）
+    "BIOYOND_PolymerStation_Solid_Stock": ("样品瓶", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),  # 配液站-试剂-样品板-样品瓶
+
+}
+
+# ============================================================================
+# 动态生成的库位UUID映射（从WAREHOUSE_MAPPING中提取）
+# ============================================================================
+
+LOCATION_MAPPING = {}
+for warehouse_name, warehouse_config in WAREHOUSE_MAPPING.items():
+    if "site_uuids" in warehouse_config:
+        LOCATION_MAPPING.update(warehouse_config["site_uuids"])
+
+# ============================================================================
+# 物料默认参数配置
+# ============================================================================
+# 说明:
+# - 为特定物料名称自动添加默认参数（如密度、分子量、单位等）
+# - 格式: 物料名称 → {参数字典}
+# - 在创建或更新物料时，会自动合并这些参数到 Parameters 字段
+# - unit: 物料的计量单位（会用于 unit 字段）
+# - density/densityUnit: 密度信息（会添加到 Parameters 中）
+
+MATERIAL_DEFAULT_PARAMETERS = {
+    # 溶剂类
+    "NMP": {
+        "unit": "毫升",
+        "density": "1.03",
+        "densityUnit": "g/mL",
+        "description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
+    },
+    # 可以继续添加其他物料...
+}
+
+# ============================================================================
+# 物料类型默认参数配置
+# ============================================================================
+# 说明:
+# - 为特定物料类型（UUID）自动添加默认参数
+# - 格式: Bioyond类型UUID → {参数字典}
+# - 优先级低于按名称匹配的配置
+MATERIAL_TYPE_PARAMETERS = {
+    # 示例:
+    # "3a14196b-24f2-ca49-9081-0cab8021bf1a": {  # 烧杯
+    #     "unit": "个"
+    # }
+}

unilabos/devices/workstation/bioyond_studio/dispensing_station/dispensing_station.py

@@ -4,7 +4,8 @@ import time
 from typing import Optional, Dict, Any, List
 from typing_extensions import TypedDict
 import requests
-from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
+import pint
+
 
 from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
 from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
@@ -25,13 +26,89 @@ class ComputeExperimentDesignReturn(TypedDict):
 class BioyondDispensingStation(BioyondWorkstation):
     def __init__(
         self,
-        config,
-            # 桌子
-        deck,
-        *args,
+        config: dict = None,
+        deck=None,
+        protocol_type=None,
         **kwargs,
-        ):
-        super().__init__(config, deck, *args, **kwargs)
+    ):
+        """初始化配液站
+
+        Args:
+            config: 配置字典,应包含material_type_mappings等配置
+            deck: Deck对象
+            protocol_type: 协议类型(由ROS系统传递,此处忽略)
+            **kwargs: 其他可能的参数
+        """
+        if config is None:
+            config = {}
+
+        # 将 kwargs 合并到 config 中 (处理扁平化配置如 api_key)
+        config.update(kwargs)
+
+        if deck is None and config:
+            deck = config.get('deck')
+
+        # 🔧 修复: 确保 Deck 上的 warehouses 具有正确的 UUID (必须在 super().__init__ 之前执行，因为父类会触发同步)
+        # 从配置中读取 warehouse_mapping，并应用到实际的 deck 资源上
+        if config and "warehouse_mapping" in config and deck:
+            warehouse_mapping = config["warehouse_mapping"]
+            print(f"正在根据配置更新 Deck warehouse UUIDs... (共有 {len(warehouse_mapping)} 个配置)")
+
+            user_deck = deck
+            # 初始化 warehouses 字典
+            if not hasattr(user_deck, "warehouses") or user_deck.warehouses is None:
+                user_deck.warehouses = {}
+
+            # 1. 尝试从 children 中查找匹配的资源
+            for child in user_deck.children:
+                # 简单判断: 如果名字在 mapping 中，就认为是 warehouse
+                if child.name in warehouse_mapping:
+                    user_deck.warehouses[child.name] = child
+                    print(f"  - 从子资源中找到 warehouse: {child.name}")
+
+            # 2. 如果还是没找到，且 Deck 类有 setup 方法，尝试调用 setup (针对 Deck 对象正确但未初始化的情况)
+            if not user_deck.warehouses and hasattr(user_deck, "setup"):
+                print("  - 尝试调用 deck.setup() 初始化仓库...")
+                try:
+                    user_deck.setup()
+                    # setup 后重新检查
+                    if hasattr(user_deck, "warehouses") and user_deck.warehouses:
+                            print(f"  - setup() 成功，找到 {len(user_deck.warehouses)} 个仓库")
+                except Exception as e:
+                    print(f"  - 调用 setup() 失败: {e}")
+
+            # 3. 如果仍然为空，可能需要手动创建 (仅针对特定已知的 Deck 类型进行补救，这里暂时只打印警告)
+            if not user_deck.warehouses:
+                    print("  - ⚠️ 仍然无法找到任何 warehouse 资源！")
+
+            for wh_name, wh_config in warehouse_mapping.items():
+                target_uuid = wh_config.get("uuid")
+
+                # 尝试在 deck.warehouses 中查找
+                wh_resource = None
+                if hasattr(user_deck, "warehouses") and wh_name in user_deck.warehouses:
+                    wh_resource = user_deck.warehouses[wh_name]
+
+                # 如果没找到，尝试在所有子资源中查找
+                if not wh_resource:
+                    wh_resource = user_deck.get_resource(wh_name)
+
+                if wh_resource:
+                    if target_uuid:
+                        current_uuid = getattr(wh_resource, "uuid", None)
+                        print(f"✅ 更新仓库 '{wh_name}' UUID: {current_uuid} -> {target_uuid}")
+
+                        # 动态添加 uuid 属性
+                        wh_resource.uuid = target_uuid
+                        # 同时也确保 category 正确，避免 graphio 识别错误
+                        # wh_resource.category = "warehouse"
+                    else:
+                            print(f"⚠️ 仓库 '{wh_name}' 在配置中没有 UUID")
+                else:
+                    print(f"❌ 在 Deck 中未找到配置的仓库: '{wh_name}'")
+
+        super().__init__(bioyond_config=config, deck=deck)
+
         # self.config = config
         # self.api_key = config["api_key"]
         # self.host = config["api_host"]
@@ -43,6 +120,41 @@ class BioyondDispensingStation(BioyondWorkstation):
         # 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
         self.order_completion_status = {}
 
+        # 初始化 pint 单位注册表
+        self.ureg = pint.UnitRegistry()
+
+        # 化合物信息
+        self.compound_info = {
+            "MolWt": {
+                "MDA": 108.14 * self.ureg.g / self.ureg.mol,
+                "TDA": 122.16 * self.ureg.g / self.ureg.mol,
+                "PAPP": 521.62 * self.ureg.g / self.ureg.mol,
+                "BTDA": 322.23 * self.ureg.g / self.ureg.mol,
+                "BPDA": 294.22 * self.ureg.g / self.ureg.mol,
+                "6FAP": 366.26 * self.ureg.g / self.ureg.mol,
+                "PMDA": 218.12 * self.ureg.g / self.ureg.mol,
+                "MPDA": 108.14 * self.ureg.g / self.ureg.mol,
+                "SIDA": 248.51 * self.ureg.g / self.ureg.mol,
+                "ODA": 200.236 * self.ureg.g / self.ureg.mol,
+                "4,4'-ODA": 200.236 * self.ureg.g / self.ureg.mol,
+                "134": 292.34 * self.ureg.g / self.ureg.mol,
+            },
+            "FuncGroup": {
+                "MDA": "Amine",
+                "TDA": "Amine",
+                "PAPP": "Amine",
+                "BTDA": "Anhydride",
+                "BPDA": "Anhydride",
+                "6FAP": "Amine",
+                "MPDA": "Amine",
+                "SIDA": "Amine",
+                "PMDA": "Anhydride",
+                "ODA": "Amine",
+                "4,4'-ODA": "Amine",
+                "134": "Amine",
+            }
+        }
+
     def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
         """项目接口通用POST调用
 
@@ -54,7 +166,7 @@ class BioyondDispensingStation(BioyondWorkstation):
             dict: 服务端响应，失败时返回 {code:0,message,...}
         """
         request_data = {
-            "apiKey": API_CONFIG["api_key"],
+            "apiKey": self.bioyond_config["api_key"],
             "requestTime": self.hardware_interface.get_current_time_iso8601(),
             "data": data
         }
@@ -85,7 +197,7 @@ class BioyondDispensingStation(BioyondWorkstation):
             dict: 服务端响应，失败时返回 {code:0,message,...}
         """
         request_data = {
-            "apiKey": API_CONFIG["api_key"],
+            "apiKey": self.bioyond_config["api_key"],
             "requestTime": self.hardware_interface.get_current_time_iso8601(),
             "data": data
         }
@@ -118,20 +230,22 @@ class BioyondDispensingStation(BioyondWorkstation):
                     ratio = json.loads(ratio)
                 except Exception:
                     ratio = {}
-            root = str(Path(__file__).resolve().parents[3])
-            if root not in sys.path:
-                sys.path.append(root)
-            try:
-                mod = importlib.import_module("tem.compute")
-            except Exception as e:
-                raise BioyondException(f"无法导入计算模块: {e}")
             try:
                 wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
                 mt = float(m_tot) if isinstance(m_tot, str) else m_tot
                 tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
             except Exception as e:
                 raise BioyondException(f"参数解析失败: {e}")
-            res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
+
+            # 2. 调用内部计算方法
+            res = self._generate_experiment_design(
+                ratio=ratio,
+                wt_percent=wp,
+                m_tot=mt,
+                titration_percent=tp
+            )
+
+            # 3. 构造返回结果
             out = {
                 "solutions": res.get("solutions", []),
                 "titration": res.get("titration", {}),
@@ -140,11 +254,248 @@ class BioyondDispensingStation(BioyondWorkstation):
                 "return_info": json.dumps(res, ensure_ascii=False)
             }
             return out
+
         except BioyondException:
             raise
         except Exception as e:
             raise BioyondException(str(e))
 
+    def _generate_experiment_design(
+        self,
+        ratio: dict,
+        wt_percent: float = 0.25,
+        m_tot: float = 70,
+        titration_percent: float = 0.03,
+    ) -> dict:
+        """内部方法：生成实验设计
+
+        根据FuncGroup自动区分二胺和二酐，每种二胺单独配溶液，严格按照ratio顺序投料。
+
+        参数:
+            ratio: 化合物配比字典，格式: {"compound_name": ratio_value}
+            wt_percent: 固体重量百分比
+            m_tot: 反应混合物总质量(g)
+            titration_percent: 滴定溶液百分比
+
+        返回:
+            包含实验设计详细参数的字典
+        """
+        # 溶剂密度
+        ρ_solvent = 1.03 * self.ureg.g / self.ureg.ml
+        # 二酐溶解度
+        solubility = 0.02 * self.ureg.g / self.ureg.ml
+        # 投入固体时最小溶剂体积
+        V_min = 30 * self.ureg.ml
+        m_tot = m_tot * self.ureg.g
+
+        # 保持ratio中的顺序
+        compound_names = list(ratio.keys())
+        compound_ratios = list(ratio.values())
+
+        # 验证所有化合物是否在 compound_info 中定义
+        undefined_compounds = [name for name in compound_names if name not in self.compound_info["MolWt"]]
+        if undefined_compounds:
+            available = list(self.compound_info["MolWt"].keys())
+            raise ValueError(
+                f"以下化合物未在 compound_info 中定义: {undefined_compounds}。"
+                f"可用的化合物: {available}"
+            )
+
+        # 获取各化合物的分子量和官能团类型
+        molecular_weights = [self.compound_info["MolWt"][name] for name in compound_names]
+        func_groups = [self.compound_info["FuncGroup"][name] for name in compound_names]
+
+        # 记录化合物信息用于调试
+        self.hardware_interface._logger.info(f"化合物名称: {compound_names}")
+        self.hardware_interface._logger.info(f"官能团类型: {func_groups}")
+
+        # 按原始顺序分离二胺和二酐
+        ordered_compounds = list(zip(compound_names, compound_ratios, molecular_weights, func_groups))
+        diamine_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Amine"]
+        anhydride_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Anhydride"]
+
+        if not diamine_compounds or not anhydride_compounds:
+            raise ValueError(
+                f"需要同时包含二胺(Amine)和二酐(Anhydride)化合物。"
+                f"当前二胺: {[c[0] for c in diamine_compounds]}, "
+                f"当前二酐: {[c[0] for c in anhydride_compounds]}"
+            )
+
+        # 计算加权平均分子量 (基于摩尔比)
+        total_molar_ratio = sum(compound_ratios)
+        weighted_molecular_weight = sum(ratio_val * mw for ratio_val, mw in zip(compound_ratios, molecular_weights))
+
+        # 取最后一个二酐用于滴定
+        titration_anhydride = anhydride_compounds[-1]
+        solid_anhydrides = anhydride_compounds[:-1] if len(anhydride_compounds) > 1 else []
+
+        # 二胺溶液配制参数 - 每种二胺单独配制
+        diamine_solutions = []
+        total_diamine_volume = 0 * self.ureg.ml
+
+        # 计算反应物的总摩尔量
+        n_reactant = m_tot * wt_percent / weighted_molecular_weight
+
+        for name, ratio_val, mw, order_index in diamine_compounds:
+            # 跳过 SIDA
+            if name == "SIDA":
+                continue
+
+            # 计算该二胺需要的摩尔数
+            n_diamine_needed = n_reactant * ratio_val
+
+            # 二胺溶液配制参数 (每种二胺固定配制参数)
+            m_diamine_solid = 5.0 * self.ureg.g  # 每种二胺固体质量
+            V_solvent_for_this = 20 * self.ureg.ml  # 每种二胺溶剂体积
+            m_solvent_for_this = ρ_solvent * V_solvent_for_this
+
+            # 计算该二胺溶液的浓度
+            c_diamine = (m_diamine_solid / mw) / V_solvent_for_this
+
+            # 计算需要移取的溶液体积
+            V_diamine_needed = n_diamine_needed / c_diamine
+
+            diamine_solutions.append({
+                "name": name,
+                "order": order_index,
+                "solid_mass": m_diamine_solid.magnitude,
+                "solvent_volume": V_solvent_for_this.magnitude,
+                "concentration": c_diamine.magnitude,
+                "volume_needed": V_diamine_needed.magnitude,
+                "molar_ratio": ratio_val
+            })
+
+            total_diamine_volume += V_diamine_needed
+
+        # 按原始顺序排序
+        diamine_solutions.sort(key=lambda x: x["order"])
+
+        # 计算滴定二酐的质量
+        titration_name, titration_ratio, titration_mw, _ = titration_anhydride
+        m_titration_anhydride = n_reactant * titration_ratio * titration_mw
+        m_titration_90 = m_titration_anhydride * (1 - titration_percent)
+        m_titration_10 = m_titration_anhydride * titration_percent
+
+        # 计算其他固体二酐的质量 (按顺序)
+        solid_anhydride_masses = []
+        for name, ratio_val, mw, order_index in solid_anhydrides:
+            mass = n_reactant * ratio_val * mw
+            solid_anhydride_masses.append({
+                "name": name,
+                "order": order_index,
+                "mass": mass.magnitude,
+                "molar_ratio": ratio_val
+            })
+
+        # 按原始顺序排序
+        solid_anhydride_masses.sort(key=lambda x: x["order"])
+
+        # 计算溶剂用量
+        total_diamine_solution_mass = sum(
+            sol["volume_needed"] * ρ_solvent for sol in diamine_solutions
+        ) * self.ureg.ml
+
+        # 预估滴定溶剂量、计算补加溶剂量
+        m_solvent_titration = m_titration_10 / solubility * ρ_solvent
+        m_solvent_add = m_tot * (1 - wt_percent) - total_diamine_solution_mass - m_solvent_titration
+
+        # 检查最小溶剂体积要求
+        total_liquid_volume = (total_diamine_solution_mass + m_solvent_add) / ρ_solvent
+        m_tot_min = V_min / total_liquid_volume * m_tot
+
+        # 如果需要，按比例放大
+        scale_factor = 1.0
+        if m_tot_min > m_tot:
+            scale_factor = (m_tot_min / m_tot).magnitude
+            m_titration_90 *= scale_factor
+            m_titration_10 *= scale_factor
+            m_solvent_add *= scale_factor
+            m_solvent_titration *= scale_factor
+
+            # 更新二胺溶液用量
+            for sol in diamine_solutions:
+                sol["volume_needed"] *= scale_factor
+
+            # 更新固体二酐用量
+            for anhydride in solid_anhydride_masses:
+                anhydride["mass"] *= scale_factor
+
+            m_tot = m_tot_min
+
+        # 生成投料顺序
+        feeding_order = []
+
+        # 1. 固体二酐 (按顺序)
+        for anhydride in solid_anhydride_masses:
+            feeding_order.append({
+                "step": len(feeding_order) + 1,
+                "type": "solid_anhydride",
+                "name": anhydride["name"],
+                "amount": anhydride["mass"],
+                "order": anhydride["order"]
+            })
+
+        # 2. 二胺溶液 (按顺序)
+        for sol in diamine_solutions:
+            feeding_order.append({
+                "step": len(feeding_order) + 1,
+                "type": "diamine_solution",
+                "name": sol["name"],
+                "amount": sol["volume_needed"],
+                "order": sol["order"]
+            })
+
+        # 3. 主要二酐粉末
+        feeding_order.append({
+            "step": len(feeding_order) + 1,
+            "type": "main_anhydride",
+            "name": titration_name,
+            "amount": m_titration_90.magnitude,
+            "order": titration_anhydride[3]
+        })
+
+        # 4. 补加溶剂
+        if m_solvent_add > 0:
+            feeding_order.append({
+                "step": len(feeding_order) + 1,
+                "type": "additional_solvent",
+                "name": "溶剂",
+                "amount": m_solvent_add.magnitude,
+                "order": 999
+            })
+
+        # 5. 滴定二酐溶液
+        feeding_order.append({
+            "step": len(feeding_order) + 1,
+            "type": "titration_anhydride",
+            "name": f"{titration_name} 滴定液",
+            "amount": m_titration_10.magnitude,
+            "titration_solvent": m_solvent_titration.magnitude,
+            "order": titration_anhydride[3]
+        })
+
+        # 返回实验设计结果
+        results = {
+            "total_mass": m_tot.magnitude,
+            "scale_factor": scale_factor,
+            "solutions": diamine_solutions,
+            "solids": solid_anhydride_masses,
+            "titration": {
+                "name": titration_name,
+                "main_portion": m_titration_90.magnitude,
+                "titration_portion": m_titration_10.magnitude,
+                "titration_solvent": m_solvent_titration.magnitude,
+            },
+            "solvents": {
+                "additional_solvent": m_solvent_add.magnitude,
+                "total_liquid_volume": total_liquid_volume.magnitude
+            },
+            "feeding_order": feeding_order,
+            "minimum_required_mass": m_tot_min.magnitude
+        }
+
+        return results
+
     # 90%10%小瓶投料任务创建方法
     def create_90_10_vial_feeding_task(self,
                                        order_name: str = None,
@@ -961,6 +1312,108 @@ class BioyondDispensingStation(BioyondWorkstation):
             'actualVolume': actual_volume
         }
 
+    def _simplify_report(self, report) -> Dict[str, Any]:
+        """简化实验报告，只保留关键信息，去除冗余的工作流参数"""
+        if not isinstance(report, dict):
+            return report
+
+        data = report.get('data', {})
+        if not isinstance(data, dict):
+            return report
+
+        # 提取关键信息
+        simplified = {
+            'name': data.get('name'),
+            'code': data.get('code'),
+            'requester': data.get('requester'),
+            'workflowName': data.get('workflowName'),
+            'workflowStep': data.get('workflowStep'),
+            'requestTime': data.get('requestTime'),
+            'startPreparationTime': data.get('startPreparationTime'),
+            'completeTime': data.get('completeTime'),
+            'useTime': data.get('useTime'),
+            'status': data.get('status'),
+            'statusName': data.get('statusName'),
+        }
+
+        # 提取物料信息（简化版）
+        pre_intakes = data.get('preIntakes', [])
+        if pre_intakes and isinstance(pre_intakes, list):
+            first_intake = pre_intakes[0]
+            sample_materials = first_intake.get('sampleMaterials', [])
+
+            # 简化物料信息
+            simplified_materials = []
+            for material in sample_materials:
+                if isinstance(material, dict):
+                    mat_info = {
+                        'materialName': material.get('materialName'),
+                        'materialTypeName': material.get('materialTypeName'),
+                        'materialCode': material.get('materialCode'),
+                        'materialLocation': material.get('materialLocation'),
+                    }
+
+                    # 解析parameters中的关键信息（如密度、加料历史等）
+                    params_str = material.get('parameters', '{}')
+                    try:
+                        params = json.loads(params_str) if isinstance(params_str, str) else params_str
+                        if isinstance(params, dict):
+                            # 只保留关键参数
+                            if 'density' in params:
+                                mat_info['density'] = params['density']
+                            if 'feedingHistory' in params:
+                                mat_info['feedingHistory'] = params['feedingHistory']
+                            if 'liquidVolume' in params:
+                                mat_info['liquidVolume'] = params['liquidVolume']
+                            if 'm_diamine_tot' in params:
+                                mat_info['m_diamine_tot'] = params['m_diamine_tot']
+                            if 'wt_diamine' in params:
+                                mat_info['wt_diamine'] = params['wt_diamine']
+                    except:
+                        pass
+
+                    simplified_materials.append(mat_info)
+
+            simplified['sampleMaterials'] = simplified_materials
+
+            # 提取extraProperties中的实际值
+            extra_props = first_intake.get('extraProperties', {})
+            if isinstance(extra_props, dict):
+                simplified_extra = {}
+                for key, value in extra_props.items():
+                    try:
+                        parsed_value = json.loads(value) if isinstance(value, str) else value
+                        simplified_extra[key] = parsed_value
+                    except:
+                        simplified_extra[key] = value
+                simplified['extraProperties'] = simplified_extra
+
+        return {
+            'data': simplified,
+            'code': report.get('code'),
+            'message': report.get('message'),
+            'timestamp': report.get('timestamp')
+        }
+
+    def scheduler_start(self) -> dict:
+        """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
+
+        Returns:
+            dict: 包含return_info的字典，return_info为整型(1=成功)
+
+        Raises:
+            BioyondException: 调度器启动失败时抛出异常
+        """
+        result = self.hardware_interface.scheduler_start()
+        self.hardware_interface._logger.info(f"调度器启动结果: {result}")
+
+        if result != 1:
+            error_msg = "启动调度器失败: 有未处理错误，调度无法启动。请检查Bioyond系统状态。"
+            self.hardware_interface._logger.error(error_msg)
+            raise BioyondException(error_msg)
+
+        return {"return_info": result}
+
     # 等待多个任务完成并获取实验报告
     def wait_for_multiple_orders_and_get_reports(self,
                                                   batch_create_result: str = None,
@@ -1002,7 +1455,12 @@ class BioyondDispensingStation(BioyondWorkstation):
 
             # 验证batch_create_result参数
             if not batch_create_result or batch_create_result == "":
-                raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
+                raise BioyondException(
+                    "batch_create_result参数为空，请确保:\n"
+                    "1. batch_create节点与wait节点之间正确连接了handle\n"
+                    "2. batch_create节点成功执行并返回了结果\n"
+                    "3. 检查上游batch_create任务是否成功创建了订单"
+                )
 
             # 解析batch_create_result JSON对象
             try:
@@ -1031,7 +1489,17 @@ class BioyondDispensingStation(BioyondWorkstation):
 
             # 验证提取的数据
             if not order_codes:
-                raise BioyondException("batch_create_result中未找到order_codes字段或为空")
+                self.hardware_interface._logger.error(
+                    f"batch_create任务未生成任何订单。batch_create_result内容: {batch_create_result}"
+                )
+                raise BioyondException(
+                    "batch_create_result中未找到order_codes或为空。\n"
+                    "可能的原因:\n"
+                    "1. batch_create任务执行失败（检查任务是否报错）\n"
+                    "2. 物料配置问题（如'物料样品板分配失败'）\n"
+                    "3. Bioyond系统状态异常\n"
+                    f"请检查batch_create任务的执行结果"
+                )
             if not order_ids:
                 raise BioyondException("batch_create_result中未找到order_ids字段或为空")
 
@@ -1114,6 +1582,8 @@ class BioyondDispensingStation(BioyondWorkstation):
                                 self.hardware_interface._logger.info(
                                     f"成功获取任务 {order_code} 的实验报告"
                                 )
+                                # 简化报告，去除冗余信息
+                                report = self._simplify_report(report)
 
                             reports.append({
                                 "order_code": order_code,
@@ -1288,7 +1758,7 @@ class BioyondDispensingStation(BioyondWorkstation):
                 f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
             )
 
-            from .config import WAREHOUSE_MAPPING
+            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
             results = []
             successful_count = 0
             failed_count = 0

unilabos/devices/workstation/bioyond_studio/station.py

@@ -6,6 +6,7 @@ Bioyond Workstation Implementation
 """
 import time
 import traceback
+import threading
 from datetime import datetime
 from typing import Dict, Any, List, Optional, Union
 import json
@@ -27,6 +28,90 @@ from pylabrobot.resources.resource import Resource as ResourcePLR
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
 
 
+class ConnectionMonitor:
+    """Bioyond连接监控器"""
+    def __init__(self, workstation, check_interval=30):
+        self.workstation = workstation
+        self.check_interval = check_interval
+        self._running = False
+        self._thread = None
+        self._last_status = "unknown"
+
+    def start(self):
+        if self._running:
+            return
+        self._running = True
+        self._thread = threading.Thread(target=self._monitor_loop, daemon=True, name="BioyondConnectionMonitor")
+        self._thread.start()
+        logger.info("Bioyond连接监控器已启动")
+
+    def stop(self):
+        self._running = False
+        if self._thread:
+            self._thread.join(timeout=2)
+            logger.info("Bioyond连接监控器已停止")
+
+    def _monitor_loop(self):
+        while self._running:
+            try:
+                # 使用 lightweight API 检查连接
+                # query_matial_type_list 是比较快的查询
+                start_time = time.time()
+                result = self.workstation.hardware_interface.material_type_list()
+
+                status = "online" if result else "offline"
+                msg = "Connection established" if status == "online" else "Failed to get material type list"
+
+                if status != self._last_status:
+                    logger.info(f"Bioyond连接状态变更: {self._last_status} -> {status}")
+                    self._publish_event(status, msg)
+                    self._last_status = status
+
+                # 发布心跳 (可选，或者只在状态变更时发布)
+                # self._publish_event(status, msg)
+
+            except Exception as e:
+                logger.error(f"Bioyond连接检查异常: {e}")
+                if self._last_status != "error":
+                    self._publish_event("error", str(e))
+                    self._last_status = "error"
+
+            time.sleep(self.check_interval)
+
+    def _publish_event(self, status, message):
+        try:
+            if hasattr(self.workstation, "_ros_node") and self.workstation._ros_node:
+                event_data = {
+                    "status": status,
+                    "message": message,
+                    "timestamp": datetime.now().isoformat()
+                }
+
+                # 动态发布消息，需要在 ROS2DeviceNode 中有对应支持
+                # 这里假设通用事件发布机制，使用 String 类型的 topic
+                # 话题: /<namespace>/events/device_status
+                ns = self.workstation._ros_node.namespace
+                topic = f"{ns}/events/device_status"
+
+                # 使用 ROS2DeviceNode 的发布功能
+                # 如果没有预定义的 publisher，需要动态创建
+                # 注意：workstation base node 可能没有自动创建 arbitrary publishers 的机制
+                # 这里我们先尝试用 String json 发布
+
+                # 在 ROS2DeviceNode 中通常需要先 create_publisher
+                # 为了简单起见，我们检查是否已有 publisher，没有则创建
+                if not hasattr(self.workstation, "_device_status_pub"):
+                    self.workstation._device_status_pub = self.workstation._ros_node.create_publisher(
+                        String, topic, 10
+                    )
+
+                self.workstation._device_status_pub.publish(
+                    convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
+                )
+        except Exception as e:
+            logger.error(f"发布设备状态事件失败: {e}")
+
+
 class BioyondResourceSynchronizer(ResourceSynchronizer):
     """Bioyond资源同步器
 
@@ -172,9 +257,8 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
             else:
                 logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
 
-            # 第1步：获取仓库配置
-            from .config import WAREHOUSE_MAPPING
-            warehouse_mapping = WAREHOUSE_MAPPING
+            # 第1步：从配置中获取仓库配置
+            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
 
             # 确定目标仓库名称
             parent_name = None
@@ -236,14 +320,20 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
             # 第2步：转换为 Bioyond 格式
             logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...")
 
-            # 导入物料默认参数配置
-            from .config import MATERIAL_DEFAULT_PARAMETERS
+            # 从配置中获取物料默认参数
+            material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
+            material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
+
+            # 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
+            merged_params = material_default_params.copy()
+            for type_id, params in material_type_params.items():
+                merged_params[f"type:{type_id}"] = params
 
             bioyond_material = resource_plr_to_bioyond(
                 [resource],
                 type_mapping=self.workstation.bioyond_config["material_type_mappings"],
                 warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
-                material_params=MATERIAL_DEFAULT_PARAMETERS
+                material_params=merged_params
             )[0]
 
             logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...")
@@ -466,13 +556,20 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                 return material_bioyond_id
 
             # 转换为 Bioyond 格式
-            from .config import MATERIAL_DEFAULT_PARAMETERS
+            # 从配置中获取物料默认参数
+            material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
+            material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
+
+            # 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
+            merged_params = material_default_params.copy()
+            for type_id, params in material_type_params.items():
+                merged_params[f"type:{type_id}"] = params
 
             bioyond_material = resource_plr_to_bioyond(
                 [resource],
                 type_mapping=self.workstation.bioyond_config["material_type_mappings"],
                 warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
-                material_params=MATERIAL_DEFAULT_PARAMETERS
+                material_params=merged_params
             )[0]
 
             # ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位
@@ -526,8 +623,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
             logger.info(f"[物料入库] 目标库位: {update_site}")
 
             # 获取仓库配置和目标库位 UUID
-            from .config import WAREHOUSE_MAPPING
-            warehouse_mapping = WAREHOUSE_MAPPING
+            warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
 
             parent_name = None
             target_location_uuid = None
@@ -582,6 +678,44 @@ class BioyondWorkstation(WorkstationBase):
     集成Bioyond物料管理的工作站实现
     """
 
+    def _publish_task_status(
+        self,
+        task_id: str,
+        task_type: str,
+        status: str,
+        result: dict = None,
+        progress: float = 0.0,
+        task_code: str = None
+    ):
+        """发布任务状态事件"""
+        try:
+            if not getattr(self, "_ros_node", None):
+                return
+
+            event_data = {
+                "task_id": task_id,
+                "task_code": task_code,
+                "task_type": task_type,
+                "status": status,
+                "progress": progress,
+                "timestamp": datetime.now().isoformat()
+            }
+            if result:
+                event_data["result"] = result
+
+            topic = f"{self._ros_node.namespace}/events/task_status"
+
+            if not hasattr(self, "_task_status_pub"):
+                self._task_status_pub = self._ros_node.create_publisher(
+                    String, topic, 10
+                )
+
+            self._task_status_pub.publish(
+                convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
+            )
+        except Exception as e:
+            logger.error(f"发布任务状态事件失败: {e}")
+
     def __init__(
         self,
         bioyond_config: Optional[Dict[str, Any]] = None,
@@ -603,10 +737,28 @@ class BioyondWorkstation(WorkstationBase):
             raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置")
 
         # 初始化 warehouses 属性
-        self.deck.warehouses = {}
-        for resource in self.deck.children:
-            if isinstance(resource, WareHouse):
-                self.deck.warehouses[resource.name] = resource
+        if not hasattr(self.deck, "warehouses") or self.deck.warehouses is None:
+            self.deck.warehouses = {}
+
+        # 仅当 warehouses 为空时尝试重新扫描（避免覆盖子类的修复）
+        if not self.deck.warehouses:
+            for resource in self.deck.children:
+                # 兼容性增强: 只要是仓库类别或者是 WareHouse 实例均可
+                is_warehouse = isinstance(resource, WareHouse) or getattr(resource, "category", "") == "warehouse"
+
+                # 如果配置中有定义，也可以认定为 warehouse
+                if not is_warehouse and "warehouse_mapping" in bioyond_config:
+                    if resource.name in bioyond_config["warehouse_mapping"]:
+                        is_warehouse = True
+
+                if is_warehouse:
+                    self.deck.warehouses[resource.name] = resource
+                    # 确保 category 被正确设置，方便后续使用
+                    if getattr(resource, "category", "") != "warehouse":
+                        try:
+                            resource.category = "warehouse"
+                        except:
+                            pass
 
         # 创建通信模块
         self._create_communication_module(bioyond_config)
@@ -625,18 +777,22 @@ class BioyondWorkstation(WorkstationBase):
             self._set_workflow_mappings(bioyond_config["workflow_mappings"])
 
         # 准备 HTTP 报送接收服务配置（延迟到 post_init 启动）
-        # 从 bioyond_config 中获取，如果没有则使用默认值
+        # 从 bioyond_config 中的 http_service_config 获取
+        http_service_cfg = bioyond_config.get("http_service_config", {})
         self._http_service_config = {
-            "host": bioyond_config.get("http_service_host", bioyond_config.get("HTTP_host", "")),
-            "port": bioyond_config.get("http_service_port", bioyond_config.get("HTTP_port", 0))
+            "host": http_service_cfg.get("http_service_host", "127.0.0.1"),
+            "port": http_service_cfg.get("http_service_port", 8080)
         }
-        self.http_service = None  # 将在 post_init 中启动
+        self.http_service = None  # 将在 post_init 启动
+        self.connection_monitor = None # 将在 post_init 启动
 
         logger.info(f"Bioyond工作站初始化完成")
 
     def __del__(self):
         """析构函数：清理资源，停止 HTTP 服务"""
         try:
+            if hasattr(self, 'connection_monitor') and self.connection_monitor:
+                self.connection_monitor.stop()
             if hasattr(self, 'http_service') and self.http_service is not None:
                 logger.info("正在停止 HTTP 报送服务...")
                 self.http_service.stop()
@@ -646,6 +802,13 @@ class BioyondWorkstation(WorkstationBase):
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
 
+        # 启动连接监控
+        try:
+            self.connection_monitor = ConnectionMonitor(self)
+            self.connection_monitor.start()
+        except Exception as e:
+            logger.error(f"启动连接监控失败: {e}")
+
         # 启动 HTTP 报送接收服务（现在 device_id 已可用）
         # ⚠️ 检查子类是否已经自己管理 HTTP 服务
         if self.bioyond_config.get("_disable_auto_http_service"):
@@ -690,14 +853,14 @@ class BioyondWorkstation(WorkstationBase):
 
     def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
         """创建Bioyond通信模块"""
-        # 使用传入的 config 参数（来自 bioyond_config）
-        # 不再依赖全局变量 API_CONFIG 等
+        # 直接使用传入的配置，不再使用默认值
+        # 所有配置必须从 JSON 文件中提供
         if config:
             self.bioyond_config = config
         else:
-            # 如果没有传入配置，创建空配置（用于测试或兼容性）
+            # 如果没有配置，使用空字典（会导致后续错误，但这是预期的）
             self.bioyond_config = {}
-
+            print("警告: 未提供 bioyond_config，请确保在 JSON 配置文件中提供完整配置")
 
         self.hardware_interface = BioyondV1RPC(self.bioyond_config)
 
@@ -1011,7 +1174,15 @@ class BioyondWorkstation(WorkstationBase):
 
         workflow_id = self._get_workflow(actual_workflow_name)
         if workflow_id:
-            self.workflow_sequence.append(workflow_id)
+            # 兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property 的情况
+            if isinstance(self.workflow_sequence, list):
+                self.workflow_sequence.append(workflow_id)
+            elif hasattr(self, "_cached_workflow_sequence") and isinstance(self._cached_workflow_sequence, list):
+                self._cached_workflow_sequence.append(workflow_id)
+            else:
+                print(f"❌ 无法添加工作流: workflow_sequence 类型错误 {type(self.workflow_sequence)}")
+                return False
+
             print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}")
             return True
         return False
@@ -1212,6 +1383,22 @@ class BioyondWorkstation(WorkstationBase):
             # TODO: 根据实际业务需求处理步骤完成逻辑
             # 例如：更新数据库、触发后续流程等
 
+            # 发布任务状态事件 (running/progress update)
+            self._publish_task_status(
+                task_id=data.get('orderCode'), # 使用 OrderCode 作为关联 ID
+                task_code=data.get('orderCode'),
+                task_type="bioyond_step",
+                status="running",
+                progress=0.5, # 步骤完成视为任务进行中
+                result={"step_name": data.get('stepName'), "step_id": data.get('stepId')}
+            )
+
+            # 更新物料信息
+            # 步骤完成后，物料状态可能发生变化（如位置、用量等），触发同步
+            logger.info(f"[步骤完成报送] 触发物料同步...")
+            self.resource_synchronizer.sync_from_external()
+
+
             return {
                 "processed": True,
                 "step_id": data.get('stepId'),
@@ -1246,6 +1433,17 @@ class BioyondWorkstation(WorkstationBase):
 
             # TODO: 根据实际业务需求处理通量完成逻辑
 
+            # 发布任务状态事件
+            self._publish_task_status(
+                task_id=data.get('orderCode'),
+                task_code=data.get('orderCode'),
+                task_type="bioyond_sample",
+                status="running",
+                progress=0.7,
+                result={"sample_id": data.get('sampleId'), "status": status_desc}
+            )
+
+
             return {
                 "processed": True,
                 "sample_id": data.get('sampleId'),
@@ -1285,6 +1483,32 @@ class BioyondWorkstation(WorkstationBase):
             # TODO: 根据实际业务需求处理任务完成逻辑
             # 例如：更新物料库存、生成报表等
 
+            # 映射状态到事件状态
+            event_status = "completed"
+            if str(data.get('status')) in ["-11", "-12"]:
+                event_status = "error"
+            elif str(data.get('status')) == "30":
+                event_status = "completed"
+            else:
+                event_status = "running" # 其他状态视为运行中（或根据实际定义）
+
+            # 发布任务状态事件
+            self._publish_task_status(
+                task_id=data.get('orderCode'),
+                task_code=data.get('orderCode'),
+                task_type="bioyond_order",
+                status=event_status,
+                progress=1.0 if event_status in ["completed", "error"] else 0.9,
+                result={"order_name": data.get('orderName'), "status": status_desc, "materials_count": len(used_materials)}
+            )
+
+            # 更新物料信息
+            # 任务完成后，且状态为完成时，触发同步以更新最终物料状态
+            if event_status == "completed":
+                logger.info(f"[任务完成报送] 触发物料同步...")
+                self.resource_synchronizer.sync_from_external()
+
+
             return {
                 "processed": True,
                 "order_code": data.get('orderCode'),

unilabos/devices/workstation/workstation_http_service.py

@@ -459,12 +459,12 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
             # 验证必需字段
             if 'brand' in request_data:
                 if request_data['brand'] == "bioyond":  # 奔曜
-                    error_msg = request_data["text"]
-                    logger.info(f"收到奔曜错误处理报送: {error_msg}")
+                    material_data = request_data["text"]
+                    logger.info(f"收到奔曜物料变更报送: {material_data}")
                     return HttpResponse(
                         success=True,
-                        message=f"错误处理报送已收到: {error_msg}",
-                        acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_msg.get('action_id', 'unknown')}",
+                        message=f"物料变更报送已收到: {material_data}",
+                        acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{material_data.get('id', 'unknown')}",
                         data=None
                     )
             else:

unilabos/registry/devices/bioyond.yaml

@@ -1,589 +0,0 @@
-workstation.bioyond_dispensing_station:
-  category:
-  - workstation
-  - bioyond
-  class:
-    action_value_mappings:
-      auto-batch_create_90_10_vial_feeding_tasks:
-        feedback: {}
-        goal: {}
-        goal_default:
-          delay_time: null
-          hold_m_name: null
-          liquid_material_name: NMP
-          speed: null
-          temperature: null
-          titration: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                hold_m_name:
-                  type: string
-                liquid_material_name:
-                  default: NMP
-                  type: string
-                speed:
-                  type: string
-                temperature:
-                  type: string
-                titration:
-                  type: string
-              required:
-              - titration
-              type: object
-            result: {}
-          required:
-          - goal
-          title: batch_create_90_10_vial_feeding_tasks参数
-          type: object
-        type: UniLabJsonCommand
-      auto-batch_create_diamine_solution_tasks:
-        feedback: {}
-        goal: {}
-        goal_default:
-          delay_time: null
-          liquid_material_name: NMP
-          solutions: null
-          speed: null
-          temperature: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                liquid_material_name:
-                  default: NMP
-                  type: string
-                solutions:
-                  type: string
-                speed:
-                  type: string
-                temperature:
-                  type: string
-              required:
-              - solutions
-              type: object
-            result: {}
-          required:
-          - goal
-          title: batch_create_diamine_solution_tasks参数
-          type: object
-        type: UniLabJsonCommand
-      auto-brief_step_parameters:
-        feedback: {}
-        goal: {}
-        goal_default:
-          data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                data:
-                  type: object
-              required:
-              - data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: brief_step_parameters参数
-          type: object
-        type: UniLabJsonCommand
-      auto-compute_experiment_design:
-        feedback: {}
-        goal: {}
-        goal_default:
-          m_tot: '70'
-          ratio: null
-          titration_percent: '0.03'
-          wt_percent: '0.25'
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                m_tot:
-                  default: '70'
-                  type: string
-                ratio:
-                  type: object
-                titration_percent:
-                  default: '0.03'
-                  type: string
-                wt_percent:
-                  default: '0.25'
-                  type: string
-              required:
-              - ratio
-              type: object
-            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
-              - titration
-              - solvents
-              - feeding_order
-              - return_info
-              title: ComputeExperimentDesignReturn
-              type: object
-          required:
-          - goal
-          title: compute_experiment_design参数
-          type: object
-        type: UniLabJsonCommand
-      auto-process_order_finish_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          report_request: null
-          used_materials: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                report_request:
-                  type: string
-                used_materials:
-                  type: string
-              required:
-              - report_request
-              - used_materials
-              type: object
-            result: {}
-          required:
-          - goal
-          title: process_order_finish_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-project_order_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          order_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                order_id:
-                  type: string
-              required:
-              - order_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: project_order_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-query_resource_by_name:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  type: string
-              required:
-              - material_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: query_resource_by_name参数
-          type: object
-        type: UniLabJsonCommand
-      auto-transfer_materials_to_reaction_station:
-        feedback: {}
-        goal: {}
-        goal_default:
-          target_device_id: null
-          transfer_groups: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                target_device_id:
-                  type: string
-                transfer_groups:
-                  type: array
-              required:
-              - target_device_id
-              - transfer_groups
-              type: object
-            result: {}
-          required:
-          - goal
-          title: transfer_materials_to_reaction_station参数
-          type: object
-        type: UniLabJsonCommand
-      auto-wait_for_multiple_orders_and_get_reports:
-        feedback: {}
-        goal: {}
-        goal_default:
-          batch_create_result: null
-          check_interval: 10
-          timeout: 7200
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                batch_create_result:
-                  type: string
-                check_interval:
-                  default: 10
-                  type: integer
-                timeout:
-                  default: 7200
-                  type: integer
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: wait_for_multiple_orders_and_get_reports参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_sample_locations:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_id:
-                  type: string
-              required:
-              - workflow_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: workflow_sample_locations参数
-          type: object
-        type: UniLabJsonCommand
-      create_90_10_vial_feeding_task:
-        feedback: {}
-        goal:
-          delay_time: delay_time
-          hold_m_name: hold_m_name
-          order_name: order_name
-          percent_10_1_assign_material_name: percent_10_1_assign_material_name
-          percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
-          percent_10_1_target_weigh: percent_10_1_target_weigh
-          percent_10_1_volume: percent_10_1_volume
-          percent_10_2_assign_material_name: percent_10_2_assign_material_name
-          percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
-          percent_10_2_target_weigh: percent_10_2_target_weigh
-          percent_10_2_volume: percent_10_2_volume
-          percent_10_3_assign_material_name: percent_10_3_assign_material_name
-          percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
-          percent_10_3_target_weigh: percent_10_3_target_weigh
-          percent_10_3_volume: percent_10_3_volume
-          percent_90_1_assign_material_name: percent_90_1_assign_material_name
-          percent_90_1_target_weigh: percent_90_1_target_weigh
-          percent_90_2_assign_material_name: percent_90_2_assign_material_name
-          percent_90_2_target_weigh: percent_90_2_target_weigh
-          percent_90_3_assign_material_name: percent_90_3_assign_material_name
-          percent_90_3_target_weigh: percent_90_3_target_weigh
-          speed: speed
-          temperature: temperature
-        goal_default:
-          delay_time: ''
-          hold_m_name: ''
-          order_name: ''
-          percent_10_1_assign_material_name: ''
-          percent_10_1_liquid_material_name: ''
-          percent_10_1_target_weigh: ''
-          percent_10_1_volume: ''
-          percent_10_2_assign_material_name: ''
-          percent_10_2_liquid_material_name: ''
-          percent_10_2_target_weigh: ''
-          percent_10_2_volume: ''
-          percent_10_3_assign_material_name: ''
-          percent_10_3_liquid_material_name: ''
-          percent_10_3_target_weigh: ''
-          percent_10_3_volume: ''
-          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: ''
-          speed: ''
-          temperature: ''
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: DispenStationVialFeed_Feedback
-              type: object
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                hold_m_name:
-                  type: string
-                order_name:
-                  type: string
-                percent_10_1_assign_material_name:
-                  type: string
-                percent_10_1_liquid_material_name:
-                  type: string
-                percent_10_1_target_weigh:
-                  type: string
-                percent_10_1_volume:
-                  type: string
-                percent_10_2_assign_material_name:
-                  type: string
-                percent_10_2_liquid_material_name:
-                  type: string
-                percent_10_2_target_weigh:
-                  type: string
-                percent_10_2_volume:
-                  type: string
-                percent_10_3_assign_material_name:
-                  type: string
-                percent_10_3_liquid_material_name:
-                  type: string
-                percent_10_3_target_weigh:
-                  type: string
-                percent_10_3_volume:
-                  type: string
-                percent_90_1_assign_material_name:
-                  type: string
-                percent_90_1_target_weigh:
-                  type: string
-                percent_90_2_assign_material_name:
-                  type: string
-                percent_90_2_target_weigh:
-                  type: string
-                percent_90_3_assign_material_name:
-                  type: string
-                percent_90_3_target_weigh:
-                  type: string
-                speed:
-                  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:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: DispenStationVialFeed_Result
-              type: object
-          required:
-          - goal
-          title: DispenStationVialFeed
-          type: object
-        type: DispenStationVialFeed
-      create_diamine_solution_task:
-        feedback: {}
-        goal:
-          delay_time: delay_time
-          hold_m_name: hold_m_name
-          liquid_material_name: liquid_material_name
-          material_name: material_name
-          order_name: order_name
-          speed: speed
-          target_weigh: target_weigh
-          temperature: temperature
-          volume: volume
-        goal_default:
-          delay_time: ''
-          hold_m_name: ''
-          liquid_material_name: ''
-          material_name: ''
-          order_name: ''
-          speed: ''
-          target_weigh: ''
-          temperature: ''
-          volume: ''
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: DispenStationSolnPrep_Feedback
-              type: object
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                hold_m_name:
-                  type: string
-                liquid_material_name:
-                  type: string
-                material_name:
-                  type: string
-                order_name:
-                  type: string
-                speed:
-                  type: string
-                target_weigh:
-                  type: string
-                temperature:
-                  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:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: DispenStationSolnPrep_Result
-              type: object
-          required:
-          - goal
-          title: DispenStationSolnPrep
-          type: object
-        type: DispenStationSolnPrep
-    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
-    status_types: {}
-    type: python
-  config_info: []
-  description: ''
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        config:
-          type: string
-        deck:
-          type: string
-      required:
-      - config
-      - deck
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  version: 1.0.0

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -30,71 +30,6 @@ bioyond_dispensing_station:
           title: brief_step_parameters参数
           type: object
         type: UniLabJsonCommand
-      auto-compute_experiment_design:
-        feedback: {}
-        goal: {}
-        goal_default:
-          m_tot: '70'
-          ratio: null
-          titration_percent: '0.03'
-          wt_percent: '0.25'
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                m_tot:
-                  default: '70'
-                  type: string
-                ratio:
-                  type: object
-                titration_percent:
-                  default: '0.03'
-                  type: string
-                wt_percent:
-                  default: '0.25'
-                  type: string
-              required:
-              - ratio
-              type: object
-            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
-              - titration
-              - solvents
-              - feeding_order
-              - return_info
-              title: ComputeExperimentDesignReturn
-              type: object
-          required:
-          - goal
-          title: compute_experiment_design参数
-          type: object
-        type: UniLabJsonCommand
       auto-process_order_finish_report:
         feedback: {}
         goal: {}
@@ -174,35 +109,6 @@ bioyond_dispensing_station:
           title: query_resource_by_name参数
           type: object
         type: UniLabJsonCommand
-      auto-transfer_materials_to_reaction_station:
-        feedback: {}
-        goal: {}
-        goal_default:
-          target_device_id: null
-          transfer_groups: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                target_device_id:
-                  type: string
-                transfer_groups:
-                  type: array
-              required:
-              - target_device_id
-              - transfer_groups
-              type: object
-            result: {}
-          required:
-          - goal
-          title: transfer_materials_to_reaction_station参数
-          type: object
-        type: UniLabJsonCommand
       auto-workflow_sample_locations:
         feedback: {}
         goal: {}
@@ -394,6 +300,99 @@ bioyond_dispensing_station:
           title: BatchCreateDiamineSolutionTasks
           type: object
         type: UniLabJsonCommand
+      compute_experiment_design:
+        feedback: {}
+        goal:
+          m_tot: m_tot
+          ratio: ratio
+          titration_percent: titration_percent
+          wt_percent: wt_percent
+        goal_default:
+          m_tot: '70'
+          ratio: ''
+          titration_percent: '0.03'
+          wt_percent: '0.25'
+        handles:
+          output:
+          - data_key: solutions
+            data_source: executor
+            data_type: array
+            handler_key: solutions
+            io_type: sink
+            label: Solution Data From Python
+          - data_key: titration
+            data_source: executor
+            data_type: object
+            handler_key: titration
+            io_type: sink
+            label: Titration Data From Calculation Node
+          - data_key: solvents
+            data_source: executor
+            data_type: object
+            handler_key: solvents
+            io_type: sink
+            label: Solvents Data From Calculation Node
+          - data_key: feeding_order
+            data_source: executor
+            data_type: array
+            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
+        schema:
+          description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                m_tot:
+                  default: '70'
+                  description: 总质量(g)
+                  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
+                titration_percent:
+                  default: '0.03'
+                  description: 滴定比例(10%部分)
+                  type: string
+                wt_percent:
+                  default: '0.25'
+                  description: 目标固含质量分数
+                  type: string
+              required:
+              - ratio
+              type: object
+            result:
+              properties:
+                feeding_order:
+                  type: array
+                return_info:
+                  type: string
+                solutions:
+                  type: array
+                solvents:
+                  type: object
+                titration:
+                  type: object
+              required:
+              - solutions
+              - titration
+              - solvents
+              - feeding_order
+              - return_info
+              title: ComputeExperimentDesign_Result
+              type: object
+          required:
+          - goal
+          title: ComputeExperimentDesign
+          type: object
+        type: UniLabJsonCommand
       create_90_10_vial_feeding_task:
         feedback: {}
         goal:
@@ -620,6 +619,89 @@ bioyond_dispensing_station:
           title: DispenStationSolnPrep
           type: object
         type: DispenStationSolnPrep
+      scheduler_start:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          return_info: return_info
+        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:
+            feedback: {}
+            goal:
+              properties: {}
+              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:
+          - goal
+          title: scheduler_start参数
+          type: object
+        type: UniLabJsonCommand
+      transfer_materials_to_reaction_station:
+        feedback: {}
+        goal:
+          target_device_id: target_device_id
+          transfer_groups: transfer_groups
+        goal_default:
+          target_device_id: ''
+          transfer_groups: ''
+        handles: {}
+        placeholder_keys:
+          target_device_id: unilabos_devices
+        result: {}
+        schema:
+          description: 将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                target_device_id:
+                  description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
+                  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: {}
+          required:
+          - goal
+          title: transfer_materials_to_reaction_station参数
+          type: object
+        type: UniLabJsonCommand
       wait_for_multiple_orders_and_get_reports:
         feedback: {}
         goal:
@@ -688,7 +770,7 @@ bioyond_dispensing_station:
           title: WaitForMultipleOrdersAndGetReports
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
+    module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation
     status_types: {}
     type: python
   config_info: []
@@ -699,15 +781,16 @@ bioyond_dispensing_station:
     config:
       properties:
         config:
-          type: string
+          type: object
         deck:
           type: string
-      required:
-      - config
-      - deck
+        protocol_type:
+          type: string
+      required: []
       type: object
     data:
       properties: {}
       required: []
       type: object
+  model: {}
   version: 1.0.0

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -405,7 +405,7 @@ coincellassemblyworkstation_device:
             goal:
               properties:
                 bottle_num:
-                  type: integer
+                  type: string
               required:
               - bottle_num
               type: object

unilabos/registry/devices/liquid_handler.yaml

@@ -638,7 +638,7 @@ liquid_handler:
         placeholder_keys: {}
         result: {}
         schema:
-          description: 吸头迭代函数。用于自动管理和切换吸头架中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
+          description: 吸头迭代函数。用于自动管理和切换枪头盒中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
           properties:
             feedback: {}
             goal:
@@ -712,6 +712,43 @@ liquid_handler:
           title: set_group参数
           type: object
         type: UniLabJsonCommand
+      auto-set_liquid_from_plate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          liquid_names: null
+          plate: null
+          volumes: null
+          well_names: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                liquid_names:
+                  type: string
+                plate:
+                  type: string
+                volumes:
+                  type: string
+                well_names:
+                  type: string
+              required:
+              - plate
+              - well_names
+              - liquid_names
+              - volumes
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_liquid_from_plate参数
+          type: object
+        type: UniLabJsonCommand
       auto-set_tiprack:
         feedback: {}
         goal: {}
@@ -721,7 +758,7 @@ liquid_handler:
         placeholder_keys: {}
         result: {}
         schema:
-          description: 吸头架设置函数。用于配置和初始化液体处理系统的吸头架信息，包括吸头架位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、吸头架更换、实验配置等需要吸头资源管理的操作场景。
+          description: 枪头盒设置函数。用于配置和初始化液体处理系统的枪头盒信息，包括枪头盒位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、枪头盒更换、实验配置等需要吸头资源管理的操作场景。
           properties:
             feedback: {}
             goal:
@@ -4093,32 +4130,32 @@ liquid_handler:
           - 0
         handles:
           input:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: sources
-            label: sources
-          - data_key: liquid
-            data_source: executor
-            data_type: resource
-            handler_key: targets
-            label: targets
-          - data_key: liquid
-            data_source: executor
-            data_type: resource
-            handler_key: tip_rack
-            label: tip_rack
-          output:
-          - data_key: liquid
+            label: 待移动液体
+          - data_key: targets
             data_source: handle
             data_type: resource
+            handler_key: targets
+            label: 转移目标
+          - data_key: tip_racks
+            data_source: handle
+            data_type: resource
+            handler_key: tip_rack
+            label: 枪头盒
+          output:
+          - data_key: sources.@flatten
+            data_source: executor
+            data_type: resource
             handler_key: sources_out
-            label: sources
-          - data_key: liquid
+            label: 移液后源孔
+          - data_key: targets.@flatten
             data_source: executor
             data_type: resource
             handler_key: targets_out
-            label: targets
+            label: 移液后目标孔
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -5114,19 +5151,34 @@ liquid_handler.biomek:
           - 0
         handles:
           input:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
-            handler_key: liquid-input
+            handler_key: sources
             io_type: target
-            label: Liquid Input
+            label: 待移动液体
+          - data_key: targets
+            data_source: handle
+            data_type: resource
+            handler_key: targets
+            label: 转移目标
+          - data_key: tip_racks
+            data_source: handle
+            data_type: resource
+            handler_key: tip_rack
+            label: 枪头盒
           output:
-          - data_key: liquid
+          - data_key: sources.@flatten
             data_source: executor
             data_type: resource
-            handler_key: liquid-output
+            handler_key: sources_out
             io_type: source
-            label: Liquid Output
+            label: 移液后源孔
+          - data_key: targets.@flatten
+            data_source: executor
+            data_type: resource
+            handler_key: targets_out
+            label: 移液后目标孔
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -9278,7 +9330,19 @@ liquid_handler.prcxi:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: {}
+        handles:
+          input:
+          - data_key: wells
+            data_source: handle
+            data_type: resource
+            handler_key: input_wells
+            label: 待设定液体孔
+          output:
+          - data_key: wells.@flatten
+            data_source: executor
+            data_type: resource
+            handler_key: output_wells
+            label: 已设定液体孔
         placeholder_keys:
           wells: unilabos_resources
         result: {}
@@ -9394,6 +9458,352 @@ liquid_handler.prcxi:
           title: LiquidHandlerSetLiquid
           type: object
         type: LiquidHandlerSetLiquid
+      set_liquid_from_plate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          liquid_names: null
+          plate: null
+          volumes: null
+          well_names: null
+        handles:
+          input:
+          - data_key: '@this.0@@@plate'
+            data_source: handle
+            data_type: resource
+            handler_key: input_plate
+            label: 待设定液体板
+          output:
+          - data_key: plate.@flatten
+            data_source: executor
+            data_type: resource
+            handler_key: output_plate
+            label: 已设定液体板
+          - data_key: wells.@flatten
+            data_source: executor
+            data_type: resource
+            handler_key: output_wells
+            label: 已设定液体孔
+          - data_key: volumes
+            data_source: executor
+            data_type: number_array
+            handler_key: output_volumes
+            label: 各孔设定体积
+        placeholder_keys:
+          plate: unilabos_resources
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                liquid_names:
+                  items:
+                    type: string
+                  type: array
+                plate:
+                  properties:
+                    category:
+                      type: string
+                    children:
+                      items:
+                        type: string
+                      type: array
+                    config:
+                      type: string
+                    data:
+                      type: string
+                    id:
+                      type: string
+                    name:
+                      type: string
+                    parent:
+                      type: string
+                    pose:
+                      properties:
+                        orientation:
+                          properties:
+                            w:
+                              type: number
+                            x:
+                              type: number
+                            y:
+                              type: number
+                            z:
+                              type: number
+                          required:
+                          - x
+                          - y
+                          - z
+                          - w
+                          title: orientation
+                          type: object
+                        position:
+                          properties:
+                            x:
+                              type: number
+                            y:
+                              type: number
+                            z:
+                              type: number
+                          required:
+                          - x
+                          - y
+                          - z
+                          title: position
+                          type: object
+                      required:
+                      - position
+                      - orientation
+                      title: pose
+                      type: object
+                    sample_id:
+                      type: string
+                    type:
+                      type: string
+                  required:
+                  - id
+                  - name
+                  - sample_id
+                  - children
+                  - parent
+                  - type
+                  - category
+                  - pose
+                  - config
+                  - data
+                  title: plate
+                  type: object
+                volumes:
+                  items:
+                    type: number
+                  type: array
+                well_names:
+                  items:
+                    type: string
+                  type: array
+              required:
+              - plate
+              - well_names
+              - liquid_names
+              - volumes
+              type: object
+            result:
+              $defs:
+                ResourceDict:
+                  properties:
+                    class:
+                      description: Resource class name
+                      title: Class
+                      type: string
+                    config:
+                      additionalProperties: true
+                      description: Resource configuration
+                      title: Config
+                      type: object
+                    data:
+                      additionalProperties: true
+                      description: 'Resource data, eg: container liquid data'
+                      title: Data
+                      type: object
+                    description:
+                      default: ''
+                      description: Resource description
+                      title: Description
+                      type: string
+                    extra:
+                      additionalProperties: true
+                      description: 'Extra data, eg: slot index'
+                      title: Extra
+                      type: object
+                    icon:
+                      default: ''
+                      description: Resource icon
+                      title: Icon
+                      type: string
+                    id:
+                      description: Resource ID
+                      title: Id
+                      type: string
+                    model:
+                      additionalProperties: true
+                      description: Resource model
+                      title: Model
+                      type: object
+                    name:
+                      description: Resource name
+                      title: Name
+                      type: string
+                    parent:
+                      anyOf:
+                      - $ref: '#/$defs/ResourceDict'
+                      - type: 'null'
+                      default: null
+                      description: Parent resource object
+                    parent_uuid:
+                      anyOf:
+                      - type: string
+                      - type: 'null'
+                      default: null
+                      description: Parent resource uuid
+                      title: Parent Uuid
+                    pose:
+                      $ref: '#/$defs/ResourceDictPosition'
+                      description: Resource position
+                    schema:
+                      additionalProperties: true
+                      description: Resource schema
+                      title: Schema
+                      type: object
+                    type:
+                      anyOf:
+                      - const: device
+                        type: string
+                      - type: string
+                      description: Resource type
+                      title: Type
+                    uuid:
+                      description: Resource UUID
+                      title: Uuid
+                      type: string
+                  required:
+                  - id
+                  - uuid
+                  - name
+                  - type
+                  - class
+                  - config
+                  - data
+                  - extra
+                  title: ResourceDict
+                  type: object
+                ResourceDictPosition:
+                  properties:
+                    cross_section_type:
+                      default: rectangle
+                      description: Cross section type
+                      enum:
+                      - rectangle
+                      - circle
+                      - rounded_rectangle
+                      title: Cross Section Type
+                      type: string
+                    layout:
+                      default: x-y
+                      description: Resource layout
+                      enum:
+                      - 2d
+                      - x-y
+                      - z-y
+                      - x-z
+                      title: Layout
+                      type: string
+                    position:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource position
+                    position3d:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource position in 3D space
+                    rotation:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource rotation
+                    scale:
+                      $ref: '#/$defs/ResourceDictPositionScale'
+                      description: Resource scale
+                    size:
+                      $ref: '#/$defs/ResourceDictPositionSize'
+                      description: Resource size
+                  title: ResourceDictPosition
+                  type: object
+                ResourceDictPositionObject:
+                  properties:
+                    x:
+                      default: 0.0
+                      description: X coordinate
+                      title: X
+                      type: number
+                    y:
+                      default: 0.0
+                      description: Y coordinate
+                      title: Y
+                      type: number
+                    z:
+                      default: 0.0
+                      description: Z coordinate
+                      title: Z
+                      type: number
+                  title: ResourceDictPositionObject
+                  type: object
+                ResourceDictPositionScale:
+                  properties:
+                    x:
+                      default: 0.0
+                      description: x scale
+                      title: X
+                      type: number
+                    y:
+                      default: 0.0
+                      description: y scale
+                      title: Y
+                      type: number
+                    z:
+                      default: 0.0
+                      description: z scale
+                      title: Z
+                      type: number
+                  title: ResourceDictPositionScale
+                  type: object
+                ResourceDictPositionSize:
+                  properties:
+                    depth:
+                      default: 0.0
+                      description: Depth
+                      title: Depth
+                      type: number
+                    height:
+                      default: 0.0
+                      description: Height
+                      title: Height
+                      type: number
+                    width:
+                      default: 0.0
+                      description: Width
+                      title: Width
+                      type: number
+                  title: ResourceDictPositionSize
+                  type: object
+              properties:
+                plate:
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
+                  title: Plate
+                  type: array
+                volumes:
+                  items:
+                    type: number
+                  title: Volumes
+                  type: array
+                wells:
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
+                  title: Wells
+                  type: array
+              required:
+              - plate
+              - wells
+              - volumes
+              title: SetLiquidFromPlateReturn
+              type: object
+          required:
+          - goal
+          title: set_liquid_from_plate参数
+          type: object
+        type: UniLabJsonCommand
       set_tiprack:
         feedback: {}
         goal:
@@ -9739,32 +10149,32 @@ liquid_handler.prcxi:
           - 0
         handles:
           input:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
-            handler_key: sources
-            label: sources
-          - data_key: liquid
-            data_source: executor
+            handler_key: sources_identifier
+            label: 待移动液体
+          - data_key: targets
+            data_source: handle
             data_type: resource
-            handler_key: targets
-            label: targets
-          - data_key: liquid
-            data_source: executor
+            handler_key: targets_identifier
+            label: 转移目标
+          - data_key: tip_rack
+            data_source: handle
             data_type: resource
-            handler_key: tip_rack
-            label: tip_rack
+            handler_key: tip_rack_identifier
+            label: 枪头盒
           output:
-          - data_key: liquid
-            data_source: handle
+          - data_key: sources.@flatten
+            data_source: executor
             data_type: resource
             handler_key: sources_out
-            label: sources
-          - data_key: liquid
+            label: 移液后源孔
+          - data_key: targets.@flatten
             data_source: executor
             data_type: resource
             handler_key: targets_out
-            label: targets
+            label: 移液后目标孔
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources

unilabos/registry/devices/opcua_example.yaml

@@ -49,32 +49,7 @@ opcua_example:
           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:
+      auto-refresh_node_values:
         feedback: {}
         goal: {}
         goal_default: {}
@@ -92,32 +67,7 @@ opcua_example:
             result: {}
           required:
           - goal
-          title: print_cache_stats参数
-          type: object
-        type: UniLabJsonCommand
-      auto-read_node:
-        feedback: {}
-        goal: {}
-        goal_default:
-          node_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                node_name:
-                  type: string
-              required:
-              - node_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: read_node参数
+          title: refresh_node_values参数
           type: object
         type: UniLabJsonCommand
       auto-set_node_value:
@@ -149,9 +99,50 @@ opcua_example:
           title: set_node_value参数
           type: object
         type: UniLabJsonCommand
+      auto-start_node_refresh:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start_node_refresh参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_node_refresh:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_node_refresh参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.device_comms.opcua_client.client:OpcUaClient
     status_types:
-      cache_stats: dict
       node_value: String
     type: python
   config_info: []
@@ -161,23 +152,15 @@ opcua_example:
   init_param_schema:
     config:
       properties:
-        cache_timeout:
-          default: 5.0
-          type: number
         config_path:
           type: string
-        deck:
-          type: string
         password:
           type: string
-        subscription_interval:
-          default: 500
-          type: integer
+        refresh_interval:
+          default: 1.0
+          type: number
         url:
           type: string
-        use_subscription:
-          default: true
-          type: boolean
         username:
           type: string
       required:
@@ -185,12 +168,9 @@ opcua_example:
       type: object
     data:
       properties:
-        cache_stats:
-          type: object
         node_value:
           type: string
       required:
       - node_value
-      - cache_stats
       type: object
   version: 1.0.0

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -4,6 +4,81 @@ reaction_station.bioyond:
   - reaction_station_bioyond
   class:
     action_value_mappings:
+      add_time_constraint:
+        feedback: {}
+        goal:
+          duration: duration
+          end_point: end_point
+          end_step_key: end_step_key
+          start_point: start_point
+          start_step_key: start_step_key
+        goal_default:
+          duration: 0
+          end_point: 0
+          end_step_key: ''
+          start_point: 0
+          start_step_key: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 添加时间约束 - 在两个工作流之间添加时间约束
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                duration:
+                  description: 时间(秒)
+                  type: integer
+                end_point:
+                  default: Start
+                  description: 终点计时点 (Start=开始前, End=结束后)
+                  enum:
+                  - Start
+                  - End
+                  type: string
+                end_step_key:
+                  description: 终点步骤Key (可选, 默认为空则自动选择)
+                  type: string
+                start_point:
+                  default: Start
+                  description: 起点计时点 (Start=开始前, End=结束后)
+                  enum:
+                  - Start
+                  - End
+                  type: string
+                start_step_key:
+                  description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
+                  type: string
+              required:
+              - duration
+              type: object
+            result: {}
+          required:
+          - goal
+          title: add_time_constraint参数
+          type: object
+        type: UniLabJsonCommand
+      auto-clear_workflows:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: clear_workflows参数
+          type: object
+        type: UniLabJsonCommand
       auto-create_order:
         feedback: {}
         goal: {}
@@ -131,6 +206,35 @@ reaction_station.bioyond:
           title: process_web_workflows参数
           type: object
         type: UniLabJsonCommand
+      auto-set_reactor_temperature:
+        feedback: {}
+        goal: {}
+        goal_default:
+          reactor_id: null
+          temperature: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                reactor_id:
+                  type: integer
+                temperature:
+                  type: number
+              required:
+              - reactor_id
+              - temperature
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_reactor_temperature参数
+          type: object
+        type: UniLabJsonCommand
       auto-skip_titration_steps:
         feedback: {}
         goal: {}
@@ -156,6 +260,27 @@ reaction_station.bioyond:
           title: skip_titration_steps参数
           type: object
         type: UniLabJsonCommand
+      auto-sync_workflow_sequence_from_bioyond:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: sync_workflow_sequence_from_bioyond参数
+          type: object
+        type: UniLabJsonCommand
       auto-wait_for_multiple_orders_and_get_reports:
         feedback: {}
         goal: {}
@@ -188,6 +313,33 @@ reaction_station.bioyond:
           title: wait_for_multiple_orders_and_get_reports参数
           type: object
         type: UniLabJsonCommand
+      auto-workflow_sequence:
+        feedback: {}
+        goal: {}
+        goal_default:
+          value: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                value:
+                  items:
+                    type: string
+                  type: array
+              required:
+              - value
+              type: object
+            result: {}
+          required:
+          - goal
+          title: workflow_sequence参数
+          type: object
+        type: UniLabJsonCommand
       auto-workflow_step_query:
         feedback: {}
         goal: {}
@@ -213,6 +365,36 @@ reaction_station.bioyond:
           title: workflow_step_query参数
           type: object
         type: UniLabJsonCommand
+      clean_all_server_workflows:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          code: code
+          message: message
+        schema:
+          description: 清空服务端所有非核心工作流 (保留核心流程)
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              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
+          title: clean_all_server_workflows参数
+          type: object
+        type: UniLabJsonCommand
       drip_back:
         feedback: {}
         goal:
@@ -247,13 +429,19 @@ reaction_station.bioyond:
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
-                  description: 是否滴定(1=否, 2=是)
+                  description: 是否滴定(NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
                 torque_variation:
-                  description: 是否观察 (1=否, 2=是)
+                  description: 是否观察 (NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
                 volume:
-                  description: 分液公式(μL)
+                  description: 分液公式(mL)
                   type: string
               required:
               - volume
@@ -353,13 +541,19 @@ reaction_station.bioyond:
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
-                  description: 是否滴定(1=否, 2=是)
+                  description: 是否滴定(NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
                 torque_variation:
-                  description: 是否观察 (1=否, 2=是)
+                  description: 是否观察 (NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
                 volume:
-                  description: 分液公式(μL)
+                  description: 分液公式(mL)
                   type: string
               required:
               - volume
@@ -403,7 +597,7 @@ reaction_station.bioyond:
             label: Solvents Data From Calculation Node
         result: {}
         schema:
-          description: 液体投料-溶剂。可以直接提供volume(μL),或通过solvents对象自动从additional_solvent(mL)计算volume。
+          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。
           properties:
             feedback: {}
             goal:
@@ -423,15 +617,21 @@ reaction_station.bioyond:
                   description: 观察时间(分钟),默认360
                   type: string
                 titration_type:
-                  default: '1'
-                  description: 是否滴定(1=否, 2=是),默认1
+                  default: 'NO'
+                  description: 是否滴定(NO=否, YES=是),默认NO
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
                 torque_variation:
-                  default: '2'
-                  description: 是否观察 (1=否, 2=是),默认2
+                  default: 'YES'
+                  description: 是否观察 (NO=否, YES=是),默认YES
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
                 volume:
-                  description: 分液量(μL)。可直接提供,或通过solvents参数自动计算
+                  description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
                   type: string
               required:
               - assign_material_name
@@ -504,15 +704,21 @@ reaction_station.bioyond:
                   description: 观察时间(分钟),默认90
                   type: string
                 titration_type:
-                  default: '2'
-                  description: 是否滴定(1=否, 2=是),默认2
+                  default: 'YES'
+                  description: 是否滴定(NO=否, YES=是),默认YES
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
                 torque_variation:
-                  default: '2'
-                  description: 是否观察 (1=否, 2=是),默认2
+                  default: 'YES'
+                  description: 是否观察 (NO=否, YES=是),默认YES
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
                 volume_formula:
-                  description: 分液公式(μL)。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
+                  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
                 x_value:
                   description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
@@ -560,13 +766,19 @@ reaction_station.bioyond:
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
-                  description: 是否滴定(1=否, 2=是)
+                  description: 是否滴定(NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
                 torque_variation:
-                  description: 是否观察 (1=否, 2=是)
+                  description: 是否观察 (NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
                 volume_formula:
-                  description: 分液公式(μL)
+                  description: 分液公式(mL)
                   type: string
               required:
               - volume_formula
@@ -680,6 +892,35 @@ reaction_station.bioyond:
           title: reactor_taken_out参数
           type: object
         type: UniLabJsonCommand
+      scheduler_start:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          return_info: return_info
+        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:
+            feedback: {}
+            goal:
+              properties: {}
+              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:
+          - goal
+          title: scheduler_start参数
+          type: object
+        type: UniLabJsonCommand
       solid_feeding_vials:
         feedback: {}
         goal:
@@ -706,7 +947,11 @@ reaction_station.bioyond:
                   description: 物料名称(用于获取试剂瓶位ID)
                   type: string
                 material_id:
-                  description: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
+                  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:
                   description: 温度设定(°C)
@@ -715,7 +960,10 @@ reaction_station.bioyond:
                   description: 观察时间(分钟)
                   type: string
                 torque_variation:
-                  description: 是否观察 (1=否, 2=是)
+                  description: 是否观察 (NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                   type: string
               required:
               - assign_material_name
@@ -730,10 +978,10 @@ reaction_station.bioyond:
           title: solid_feeding_vials参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation
+    module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactionStation
     protocol_type: []
     status_types:
-      workflow_sequence: String
+      workflow_sequence: str
     type: python
   config_info: []
   description: Bioyond反应站
@@ -753,9 +1001,7 @@ reaction_station.bioyond:
     data:
       properties:
         workflow_sequence:
-          items:
-            type: string
-          type: array
+          type: string
       required:
       - workflow_sequence
       type: object
@@ -791,7 +1037,7 @@ reaction_station.reactor:
           title: update_metrics参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactor
+    module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactor
     status_types: {}
     type: python
   config_info: []

unilabos/registry/devices/virtual_device.yaml

@@ -5792,3 +5792,481 @@ virtual_vacuum_pump:
       - status
       type: object
   version: 1.0.0
+virtual_workbench:
+  category:
+  - virtual_device
+  class:
+    action_value_mappings:
+      auto-move_to_heating_station:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_number: null
+        handles:
+          input:
+          - data_key: material_number
+            data_source: handle
+            data_type: workbench_material
+            handler_key: material_input
+            label: 物料编号
+          output:
+          - data_key: station_id
+            data_source: executor
+            data_type: workbench_station
+            handler_key: heating_station_output
+            label: 加热台ID
+          - data_key: material_number
+            data_source: executor
+            data_type: workbench_material
+            handler_key: material_number_output
+            label: 物料编号
+        placeholder_keys: {}
+        result: {}
+        schema:
+          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
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_number:
+                  description: 物料编号，1-5，物料ID自动生成为A{n}
+                  type: integer
+              required:
+              - material_number
+              type: object
+            result:
+              $defs:
+                LabSample:
+                  properties:
+                    extra:
+                      additionalProperties: true
+                      title: Extra
+                      type: object
+                    oss_path:
+                      title: Oss Path
+                      type: string
+                    sample_uuid:
+                      title: Sample Uuid
+                      type: string
+                  required:
+                  - sample_uuid
+                  - oss_path
+                  - extra
+                  title: LabSample
+                  type: object
+              description: move_to_heating_station 返回类型
+              properties:
+                material_id:
+                  title: Material Id
+                  type: string
+                material_number:
+                  title: Material Number
+                  type: integer
+                message:
+                  title: Message
+                  type: string
+                station_id:
+                  description: 分配的加热台ID
+                  title: Station Id
+                  type: integer
+                success:
+                  title: Success
+                  type: boolean
+                unilabos_samples:
+                  items:
+                    $ref: '#/$defs/LabSample'
+                  title: Unilabos Samples
+                  type: array
+              required:
+              - success
+              - station_id
+              - material_id
+              - material_number
+              - message
+              - unilabos_samples
+              title: MoveToHeatingStationResult
+              type: object
+          required:
+          - goal
+          title: move_to_heating_station参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_output:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_number: null
+          station_id: null
+        handles:
+          input:
+          - data_key: station_id
+            data_source: handle
+            data_type: workbench_station
+            handler_key: output_station_input
+            label: 加热台ID
+          - data_key: material_number
+            data_source: handle
+            data_type: workbench_material
+            handler_key: output_material_input
+            label: 物料编号
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 将物料从加热台移动到输出位置Cn
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_number:
+                  description: 物料编号，用于确定输出位置Cn
+                  type: integer
+                station_id:
+                  description: 加热台ID，1-3，从上一节点传入
+                  type: integer
+              required:
+              - station_id
+              - material_number
+              type: object
+            result:
+              $defs:
+                LabSample:
+                  properties:
+                    extra:
+                      additionalProperties: true
+                      title: Extra
+                      type: object
+                    oss_path:
+                      title: Oss Path
+                      type: string
+                    sample_uuid:
+                      title: Sample Uuid
+                      type: string
+                  required:
+                  - sample_uuid
+                  - oss_path
+                  - extra
+                  title: LabSample
+                  type: object
+              description: move_to_output 返回类型
+              properties:
+                material_id:
+                  title: Material Id
+                  type: string
+                station_id:
+                  title: Station Id
+                  type: integer
+                success:
+                  title: Success
+                  type: boolean
+                unilabos_samples:
+                  items:
+                    $ref: '#/$defs/LabSample'
+                  title: Unilabos Samples
+                  type: array
+              required:
+              - success
+              - station_id
+              - material_id
+              - unilabos_samples
+              title: MoveToOutputResult
+              type: object
+          required:
+          - goal
+          title: move_to_output参数
+          type: object
+        type: UniLabJsonCommand
+      auto-prepare_materials:
+        feedback: {}
+        goal: {}
+        goal_default:
+          count: 5
+        handles:
+          output:
+          - data_key: material_1
+            data_source: executor
+            data_type: workbench_material
+            handler_key: channel_1
+            label: 实验1
+          - data_key: material_2
+            data_source: executor
+            data_type: workbench_material
+            handler_key: channel_2
+            label: 实验2
+          - data_key: material_3
+            data_source: executor
+            data_type: workbench_material
+            handler_key: channel_3
+            label: 实验3
+          - data_key: material_4
+            data_source: executor
+            data_type: workbench_material
+            handler_key: channel_4
+            label: 实验4
+          - data_key: material_5
+            data_source: executor
+            data_type: workbench_material
+            handler_key: channel_5
+            label: 实验5
+        placeholder_keys: {}
+        result: {}
+        schema:
+          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
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                count:
+                  default: 5
+                  description: 待生成的物料数量，默认5 (生成 A1-A5)
+                  type: integer
+              required: []
+              type: object
+            result:
+              $defs:
+                LabSample:
+                  properties:
+                    extra:
+                      additionalProperties: true
+                      title: Extra
+                      type: object
+                    oss_path:
+                      title: Oss Path
+                      type: string
+                    sample_uuid:
+                      title: Sample Uuid
+                      type: string
+                  required:
+                  - sample_uuid
+                  - oss_path
+                  - extra
+                  title: LabSample
+                  type: object
+              description: prepare_materials 返回类型 - 批量准备物料
+              properties:
+                count:
+                  title: Count
+                  type: integer
+                material_1:
+                  title: Material 1
+                  type: integer
+                material_2:
+                  title: Material 2
+                  type: integer
+                material_3:
+                  title: Material 3
+                  type: integer
+                material_4:
+                  title: Material 4
+                  type: integer
+                material_5:
+                  title: Material 5
+                  type: integer
+                message:
+                  title: Message
+                  type: string
+                success:
+                  title: Success
+                  type: boolean
+                unilabos_samples:
+                  items:
+                    $ref: '#/$defs/LabSample'
+                  title: Unilabos Samples
+                  type: array
+              required:
+              - success
+              - count
+              - material_1
+              - material_2
+              - material_3
+              - material_4
+              - material_5
+              - message
+              - unilabos_samples
+              title: PrepareMaterialsResult
+              type: object
+          required:
+          - goal
+          title: prepare_materials参数
+          type: object
+        type: UniLabJsonCommand
+      auto-start_heating:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_number: null
+          station_id: null
+        handles:
+          input:
+          - data_key: station_id
+            data_source: handle
+            data_type: workbench_station
+            handler_key: station_id_input
+            label: 加热台ID
+          - data_key: material_number
+            data_source: handle
+            data_type: workbench_material
+            handler_key: material_number_input
+            label: 物料编号
+          output:
+          - data_key: station_id
+            data_source: executor
+            data_type: workbench_station
+            handler_key: heating_done_station
+            label: 加热完成-加热台ID
+          - data_key: material_number
+            data_source: executor
+            data_type: workbench_material
+            handler_key: heating_done_material
+            label: 加热完成-物料编号
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 启动指定加热台的加热程序
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_number:
+                  description: 物料编号，从上一节点传入
+                  type: integer
+                station_id:
+                  description: 加热台ID，1-3，从上一节点传入
+                  type: integer
+              required:
+              - station_id
+              - material_number
+              type: object
+            result:
+              $defs:
+                LabSample:
+                  properties:
+                    extra:
+                      additionalProperties: true
+                      title: Extra
+                      type: object
+                    oss_path:
+                      title: Oss Path
+                      type: string
+                    sample_uuid:
+                      title: Sample Uuid
+                      type: string
+                  required:
+                  - sample_uuid
+                  - oss_path
+                  - extra
+                  title: LabSample
+                  type: object
+              description: start_heating 返回类型
+              properties:
+                material_id:
+                  title: Material Id
+                  type: string
+                material_number:
+                  title: Material Number
+                  type: integer
+                message:
+                  title: Message
+                  type: string
+                station_id:
+                  title: Station Id
+                  type: integer
+                success:
+                  title: Success
+                  type: boolean
+                unilabos_samples:
+                  items:
+                    $ref: '#/$defs/LabSample'
+                  title: Unilabos Samples
+                  type: array
+              required:
+              - success
+              - station_id
+              - material_id
+              - material_number
+              - message
+              - unilabos_samples
+              title: StartHeatingResult
+              type: object
+          required:
+          - goal
+          title: start_heating参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.virtual.workbench:VirtualWorkbench
+    status_types:
+      active_tasks_count: int
+      arm_current_task: str
+      arm_state: str
+      heating_station_1_material: str
+      heating_station_1_progress: float
+      heating_station_1_state: str
+      heating_station_2_material: str
+      heating_station_2_progress: float
+      heating_station_2_state: str
+      heating_station_3_material: str
+      heating_station_3_progress: float
+      heating_station_3_state: str
+      message: str
+      status: str
+    type: python
+  config_info: []
+  description: Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent
+    material processing
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        config:
+          type: string
+        device_id:
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        active_tasks_count:
+          type: integer
+        arm_current_task:
+          type: string
+        arm_state:
+          type: string
+        heating_station_1_material:
+          type: string
+        heating_station_1_progress:
+          type: number
+        heating_station_1_state:
+          type: string
+        heating_station_2_material:
+          type: string
+        heating_station_2_progress:
+          type: number
+        heating_station_2_state:
+          type: string
+        heating_station_3_material:
+          type: string
+        heating_station_3_progress:
+          type: number
+        heating_station_3_state:
+          type: string
+        message:
+          type: string
+        status:
+          type: string
+      required:
+      - status
+      - arm_state
+      - arm_current_task
+      - heating_station_1_state
+      - heating_station_1_material
+      - heating_station_1_progress
+      - heating_station_2_state
+      - heating_station_2_material
+      - heating_station_2_progress
+      - heating_station_3_state
+      - heating_station_3_material
+      - heating_station_3_progress
+      - active_tasks_count
+      - message
+      type: object
+  version: 1.0.0

unilabos/registry/registry.py

@@ -4,6 +4,8 @@ import os
 import sys
 import inspect
 import importlib
+import threading
+from concurrent.futures import ThreadPoolExecutor, as_completed
 from pathlib import Path
 from typing import Any, Dict, List, Union, Tuple
 
@@ -60,6 +62,7 @@ class Registry:
         self.device_module_to_registry = {}
         self.resource_type_registry = {}
         self._setup_called = False  # 跟踪setup是否已调用
+        self._registry_lock = threading.Lock()  # 多线程加载时的锁
         # 其他状态变量
         # self.is_host_mode = False  # 移至BasicConfig中
 
@@ -71,6 +74,20 @@ class Registry:
 
         from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
 
+        # 获取 HostNode 类的增强信息，用于自动生成 action schema
+        host_node_enhanced_info = get_enhanced_class_info(
+            "unilabos.ros.nodes.presets.host_node:HostNode", use_dynamic=True
+        )
+
+        # 为 test_latency 生成 schema，保留原有 description
+        test_latency_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_latency", {})
+        test_latency_schema = self._generate_unilab_json_command_schema(
+            test_latency_method_info.get("args", []),
+            "test_latency",
+            test_latency_method_info.get("return_annotation"),
+        )
+        test_latency_schema["description"] = "用于测试延迟的动作，返回延迟时间和时间差。"
+
         self.device_type_registry.update(
             {
                 "host_node": {
@@ -124,28 +141,47 @@ class Registry:
                                     "output": [
                                         {
                                             "handler_key": "labware",
-                                            "label": "Labware",
                                             "data_type": "resource",
-                                            "data_source": "handle",
-                                            "data_key": "liquid",
-                                        }
+                                            "label": "Labware",
+                                            "data_source": "executor",
+                                            "data_key": "created_resource_tree.@flatten",
+                                        },
+                                        {
+                                            "handler_key": "liquid_slots",
+                                            "data_type": "resource",
+                                            "label": "LiquidSlots",
+                                            "data_source": "executor",
+                                            "data_key": "liquid_input_resource_tree.@flatten",
+                                        },
+                                        {
+                                            "handler_key": "materials",
+                                            "data_type": "resource",
+                                            "label": "AllMaterials",
+                                            "data_source": "executor",
+                                            "data_key": "[created_resource_tree,liquid_input_resource_tree].@flatten.@flatten",
+                                        },
                                     ]
                                 },
                                 "placeholder_keys": {
                                     "res_id": "unilabos_resources",  # 将当前实验室的全部物料id作为下拉框可选择
                                     "device_id": "unilabos_devices",  # 将当前实验室的全部设备id作为下拉框可选择
                                     "parent": "unilabos_nodes",  # 将当前实验室的设备/物料作为下拉框可选择
+                                    "class_name": "unilabos_class",
                                 },
                             },
                             "test_latency": {
-                                "type": self.EmptyIn,
+                                "type": (
+                                    "UniLabJsonCommandAsync"
+                                    if test_latency_method_info.get("is_async", False)
+                                    else "UniLabJsonCommand"
+                                ),
                                 "goal": {},
                                 "feedback": {},
                                 "result": {},
-                                "schema": ros_action_to_json_schema(
-                                    self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
-                                ),
-                                "goal_default": {},
+                                "schema": test_latency_schema,
+                                "goal_default": {
+                                    arg["name"]: arg["default"] for arg in test_latency_method_info.get("args", [])
+                                },
                                 "handles": {},
                             },
                             "auto-test_resource": {
@@ -186,7 +222,17 @@ class Registry:
                                     "resources": "unilabos_resources",
                                 },
                                 "goal_default": {},
-                                "handles": {},
+                                "handles": {
+                                    "input": [
+                                        {
+                                            "handler_key": "input_resources",
+                                            "data_type": "resource",
+                                            "label": "InputResources",
+                                            "data_source": "handle",
+                                            "data_key": "resources",  # 不为空
+                                        },
+                                    ]
+                                },
                             },
                         },
                     },
@@ -218,67 +264,115 @@ class Registry:
         # 标记setup已被调用
         self._setup_called = True
 
+    def _load_single_resource_file(
+        self, file: Path, complete_registry: bool, upload_registry: bool
+    ) -> Tuple[Dict[str, Any], Dict[str, Any], bool]:
+        """
+        加载单个资源文件 (线程安全)
+
+        Returns:
+            (data, complete_data, is_valid): 资源数据, 完整数据, 是否有效
+        """
+        try:
+            with open(file, encoding="utf-8", mode="r") as f:
+                data = yaml.safe_load(io.StringIO(f.read()))
+        except Exception as e:
+            logger.warning(f"[UniLab Registry] 读取资源文件失败: {file}, 错误: {e}")
+            return {}, {}, False
+
+        if not data:
+            return {}, {}, False
+
+        complete_data = {}
+        for resource_id, resource_info in data.items():
+            if "version" not in resource_info:
+                resource_info["version"] = "1.0.0"
+            if "category" not in resource_info:
+                resource_info["category"] = [file.stem]
+            elif file.stem not in resource_info["category"]:
+                resource_info["category"].append(file.stem)
+            elif not isinstance(resource_info.get("category"), list):
+                resource_info["category"] = [resource_info["category"]]
+            if "config_info" not in resource_info:
+                resource_info["config_info"] = []
+            if "icon" not in resource_info:
+                resource_info["icon"] = ""
+            if "handles" not in resource_info:
+                resource_info["handles"] = []
+            if "init_param_schema" not in resource_info:
+                resource_info["init_param_schema"] = {}
+            if "config_info" in resource_info:
+                del resource_info["config_info"]
+            if "file_path" in resource_info:
+                del resource_info["file_path"]
+            complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
+            if upload_registry:
+                class_info = resource_info.get("class", {})
+                if len(class_info) and "module" in class_info:
+                    if class_info.get("type") == "pylabrobot":
+                        res_class = get_class(class_info["module"])
+                        if callable(res_class) and not isinstance(res_class, type):
+                            res_instance = res_class(res_class.__name__)
+                            res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
+                            resource_info["config_info"] = res_ulr
+            resource_info["registry_type"] = "resource"
+            resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
+
+        complete_data = dict(sorted(complete_data.items()))
+        complete_data = copy.deepcopy(complete_data)
+
+        if complete_registry:
+            try:
+                with open(file, "w", encoding="utf-8") as f:
+                    yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
+            except Exception as e:
+                logger.warning(f"[UniLab Registry] 写入资源文件失败: {file}, 错误: {e}")
+
+        return data, complete_data, True
+
     def load_resource_types(self, path: os.PathLike, complete_registry: bool, upload_registry: bool):
         abs_path = Path(path).absolute()
         resource_path = abs_path / "resources"
         files = list(resource_path.glob("*/*.yaml"))
-        logger.trace(f"[UniLab Registry] load resources? {resource_path.exists()}, total: {len(files)}")
-        current_resource_number = len(self.resource_type_registry) + 1
-        for i, file in enumerate(files):
-            with open(file, encoding="utf-8", mode="r") as f:
-                data = yaml.safe_load(io.StringIO(f.read()))
-            complete_data = {}
-            if data:
-                # 为每个资源添加文件路径信息
-                for resource_id, resource_info in data.items():
-                    if "version" not in resource_info:
-                        resource_info["version"] = "1.0.0"
-                    if "category" not in resource_info:
-                        resource_info["category"] = [file.stem]
-                    elif file.stem not in resource_info["category"]:
-                        resource_info["category"].append(file.stem)
-                    elif not isinstance(resource_info.get("category"), list):
-                        resource_info["category"] = [resource_info["category"]]
-                    if "config_info" not in resource_info:
-                        resource_info["config_info"] = []
-                    if "icon" not in resource_info:
-                        resource_info["icon"] = ""
-                    if "handles" not in resource_info:
-                        resource_info["handles"] = []
-                    if "init_param_schema" not in resource_info:
-                        resource_info["init_param_schema"] = {}
-                    if "config_info" in resource_info:
-                        del resource_info["config_info"]
-                    if "file_path" in resource_info:
-                        del resource_info["file_path"]
-                    complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
-                    if upload_registry:
-                        class_info = resource_info.get("class", {})
-                        if len(class_info) and "module" in class_info:
-                            if class_info.get("type") == "pylabrobot":
-                                res_class = get_class(class_info["module"])
-                                if callable(res_class) and not isinstance(
-                                    res_class, type
-                                ):  # 有的是类，有的是函数，这里暂时只登记函数类的
-                                    res_instance = res_class(res_class.__name__)
-                                    res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
-                                    resource_info["config_info"] = res_ulr
-                    resource_info["registry_type"] = "resource"
-                    resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
-                complete_data = dict(sorted(complete_data.items()))
-                complete_data = copy.deepcopy(complete_data)
-                if complete_registry:
-                    with open(file, "w", encoding="utf-8") as f:
-                        yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
+        logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
 
+        if not files:
+            return
+
+        # 使用线程池并行加载
+        max_workers = min(8, len(files))
+        results = []
+
+        with ThreadPoolExecutor(max_workers=max_workers) as executor:
+            future_to_file = {
+                executor.submit(self._load_single_resource_file, file, complete_registry, upload_registry): file
+                for file in files
+            }
+            for future in as_completed(future_to_file):
+                file = future_to_file[future]
+                try:
+                    data, complete_data, is_valid = future.result()
+                    if is_valid:
+                        results.append((file, data))
+                except Exception as e:
+                    logger.warning(f"[UniLab Registry] 处理资源文件异常: {file}, 错误: {e}")
+
+        # 线程安全地更新注册表
+        current_resource_number = len(self.resource_type_registry) + 1
+        with self._registry_lock:
+            for i, (file, data) in enumerate(results):
                 self.resource_type_registry.update(data)
-                logger.trace(  # type: ignore
-                    f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
+                logger.trace(
+                    f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(results)} "
                     + f"Add {list(data.keys())}"
                 )
                 current_resource_number += 1
-            else:
-                logger.debug(f"[UniLab Registry] Res File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}")
+
+        # 记录无效文件
+        valid_files = {r[0] for r in results}
+        for file in files:
+            if file not in valid_files:
+                logger.debug(f"[UniLab Registry] Res File Not Valid YAML File: {file.absolute()}")
 
     def _extract_class_docstrings(self, module_string: str) -> Dict[str, str]:
         """
@@ -455,7 +549,11 @@ class Registry:
         return status_schema
 
     def _generate_unilab_json_command_schema(
-        self, method_args: List[Dict[str, Any]], method_name: str, return_annotation: Any = None
+        self,
+        method_args: List[Dict[str, Any]],
+        method_name: str,
+        return_annotation: Any = None,
+        previous_schema: Dict[str, Any] | None = None,
     ) -> Dict[str, Any]:
         """
         根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
@@ -464,6 +562,7 @@ class Registry:
             method_args: 方法信息字典，包含args等
             method_name: 方法名称
             return_annotation: 返回类型注解，用于生成result schema（仅支持TypedDict）
+            previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description
 
         Returns:
             JSON Schema格式的参数schema
@@ -497,7 +596,7 @@ class Registry:
         if return_annotation is not None and self._is_typed_dict(return_annotation):
             result_schema = self._generate_typed_dict_result_schema(return_annotation)
 
-        return {
+        final_schema = {
             "title": f"{method_name}参数",
             "description": f"",
             "type": "object",
@@ -505,6 +604,40 @@ class Registry:
             "required": ["goal"],
         }
 
+        # 保留之前 schema 中 goal/feedback/result 下一级字段的 description
+        if previous_schema:
+            self._preserve_field_descriptions(final_schema, previous_schema)
+
+        return final_schema
+
+    def _preserve_field_descriptions(self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any]) -> None:
+        """
+        保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
+
+        Args:
+            new_schema: 新生成的 schema（会被修改）
+            previous_schema: 之前的 schema
+        """
+        for section in ["goal", "feedback", "result"]:
+            new_section = new_schema.get("properties", {}).get(section, {})
+            prev_section = previous_schema.get("properties", {}).get(section, {})
+
+            if not new_section or not prev_section:
+                continue
+
+            new_props = new_section.get("properties", {})
+            prev_props = prev_section.get("properties", {})
+
+            for field_name, field_schema in new_props.items():
+                if field_name in prev_props:
+                    prev_field = prev_props[field_name]
+                    # 保留字段的 description
+                    if "description" in prev_field and prev_field["description"]:
+                        field_schema["description"] = prev_field["description"]
+                    # 保留字段的 title（用户自定义的中文名）
+                    if "title" in prev_field and prev_field["title"]:
+                        field_schema["title"] = prev_field["title"]
+
     def _is_typed_dict(self, annotation: Any) -> bool:
         """
         检查类型注解是否是TypedDict
@@ -591,209 +724,244 @@ class Registry:
                 "handles": {},
             }
 
+    def _load_single_device_file(
+        self, file: Path, complete_registry: bool, get_yaml_from_goal_type
+    ) -> Tuple[Dict[str, Any], Dict[str, Any], bool, List[str]]:
+        """
+        加载单个设备文件 (线程安全)
+
+        Returns:
+            (data, complete_data, is_valid, device_ids): 设备数据, 完整数据, 是否有效, 设备ID列表
+        """
+        try:
+            with open(file, encoding="utf-8", mode="r") as f:
+                data = yaml.safe_load(io.StringIO(f.read()))
+        except Exception as e:
+            logger.warning(f"[UniLab Registry] 读取设备文件失败: {file}, 错误: {e}")
+            return {}, {}, False, []
+
+        if not data:
+            return {}, {}, False, []
+
+        complete_data = {}
+        action_str_type_mapping = {
+            "UniLabJsonCommand": "UniLabJsonCommand",
+            "UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
+        }
+        status_str_type_mapping = {}
+        device_ids = []
+
+        for device_id, device_config in data.items():
+            if "version" not in device_config:
+                device_config["version"] = "1.0.0"
+            if "category" not in device_config:
+                device_config["category"] = [file.stem]
+            elif file.stem not in device_config["category"]:
+                device_config["category"].append(file.stem)
+            if "config_info" not in device_config:
+                device_config["config_info"] = []
+            if "description" not in device_config:
+                device_config["description"] = ""
+            if "icon" not in device_config:
+                device_config["icon"] = ""
+            if "handles" not in device_config:
+                device_config["handles"] = []
+            if "init_param_schema" not in device_config:
+                device_config["init_param_schema"] = {}
+            if "class" in device_config:
+                if "status_types" not in device_config["class"] or device_config["class"]["status_types"] is None:
+                    device_config["class"]["status_types"] = {}
+                if (
+                    "action_value_mappings" not in device_config["class"]
+                    or device_config["class"]["action_value_mappings"] is None
+                ):
+                    device_config["class"]["action_value_mappings"] = {}
+                enhanced_info = {}
+                if complete_registry:
+                    device_config["class"]["status_types"].clear()
+                    enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
+                    if not enhanced_info.get("dynamic_import_success", False):
+                        continue
+                    device_config["class"]["status_types"].update(
+                        {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
+                    )
+                for status_name, status_type in device_config["class"]["status_types"].items():
+                    if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
+                        status_type = "String"
+                        device_config["class"]["status_types"][status_name] = status_type
+                    try:
+                        target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
+                    except ROSMsgNotFound:
+                        continue
+                    if target_type in [dict, list]:
+                        target_type = String
+                    status_str_type_mapping[status_type] = target_type
+                device_config["class"]["status_types"] = dict(sorted(device_config["class"]["status_types"].items()))
+                if complete_registry:
+                    old_action_configs = {}
+                    for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                        old_action_configs[action_name] = action_config
+
+                    device_config["class"]["action_value_mappings"] = {
+                        k: v
+                        for k, v in device_config["class"]["action_value_mappings"].items()
+                        if not k.startswith("auto-")
+                    }
+                    device_config["class"]["action_value_mappings"].update(
+                        {
+                            f"auto-{k}": {
+                                "type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
+                                "goal": {},
+                                "feedback": {},
+                                "result": {},
+                                "schema": self._generate_unilab_json_command_schema(
+                                    v["args"],
+                                    k,
+                                    v.get("return_annotation"),
+                                    old_action_configs.get(f"auto-{k}", {}).get("schema"),
+                                ),
+                                "goal_default": {i["name"]: i["default"] for i in v["args"]},
+                                "handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
+                                "placeholder_keys": {
+                                    i["name"]: (
+                                        "unilabos_resources"
+                                        if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
+                                        or i["type"] == ("list", "unilabos.registry.placeholder_type:ResourceSlot")
+                                        else "unilabos_devices"
+                                    )
+                                    for i in v["args"]
+                                    if i.get("type", "")
+                                    in [
+                                        "unilabos.registry.placeholder_type:ResourceSlot",
+                                        "unilabos.registry.placeholder_type:DeviceSlot",
+                                        ("list", "unilabos.registry.placeholder_type:ResourceSlot"),
+                                        ("list", "unilabos.registry.placeholder_type:DeviceSlot"),
+                                    ]
+                                },
+                            }
+                            for k, v in enhanced_info["action_methods"].items()
+                            if k not in device_config["class"]["action_value_mappings"]
+                        }
+                    )
+                    for action_name, old_config in old_action_configs.items():
+                        if action_name in device_config["class"]["action_value_mappings"]:
+                            old_schema = old_config.get("schema", {})
+                            if "description" in old_schema and old_schema["description"]:
+                                device_config["class"]["action_value_mappings"][action_name]["schema"][
+                                    "description"
+                                ] = old_schema["description"]
+                    device_config["init_param_schema"] = {}
+                    device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
+                        enhanced_info["init_params"], "__init__"
+                    )["properties"]["goal"]
+                    device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
+                        enhanced_info["status_methods"]
+                    )
+
+                device_config.pop("schema", None)
+                device_config["class"]["action_value_mappings"] = dict(
+                    sorted(device_config["class"]["action_value_mappings"].items())
+                )
+                for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                    if "handles" not in action_config:
+                        action_config["handles"] = {}
+                    elif isinstance(action_config["handles"], list):
+                        if len(action_config["handles"]):
+                            logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
+                            continue
+                        else:
+                            action_config["handles"] = {}
+                    if "type" in action_config:
+                        action_type_str: str = action_config["type"]
+                        if not action_type_str.startswith("UniLabJsonCommand"):
+                            try:
+                                target_type = self._replace_type_with_class(
+                                    action_type_str, device_id, f"动作 {action_name}"
+                                )
+                            except ROSMsgNotFound:
+                                continue
+                            action_str_type_mapping[action_type_str] = target_type
+                            if target_type is not None:
+                                action_config["goal_default"] = yaml.safe_load(
+                                    io.StringIO(get_yaml_from_goal_type(target_type.Goal))
+                                )
+                                action_config["schema"] = ros_action_to_json_schema(target_type)
+                            else:
+                                logger.warning(
+                                    f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
+                                )
+                complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items())))
+                for status_name, status_type in device_config["class"]["status_types"].items():
+                    device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
+                for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                    if action_config["type"] not in action_str_type_mapping:
+                        continue
+                    action_config["type"] = action_str_type_mapping[action_config["type"]]
+                self._add_builtin_actions(device_config, device_id)
+            device_config["file_path"] = str(file.absolute()).replace("\\", "/")
+            device_config["registry_type"] = "device"
+            device_ids.append(device_id)
+
+        complete_data = dict(sorted(complete_data.items()))
+        complete_data = copy.deepcopy(complete_data)
+        try:
+            with open(file, "w", encoding="utf-8") as f:
+                yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
+        except Exception as e:
+            logger.warning(f"[UniLab Registry] 写入设备文件失败: {file}, 错误: {e}")
+
+        return data, complete_data, True, device_ids
+
     def load_device_types(self, path: os.PathLike, complete_registry: bool):
-        # return
         abs_path = Path(path).absolute()
         devices_path = abs_path / "devices"
         device_comms_path = abs_path / "device_comms"
         files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
-        logger.trace(  # type: ignore
+        logger.trace(
             f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
             + f"total: {len(files)}"
         )
-        current_device_number = len(self.device_type_registry) + 1
+
+        if not files:
+            return
+
         from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
 
-        for i, file in enumerate(files):
-            with open(file, encoding="utf-8", mode="r") as f:
-                data = yaml.safe_load(io.StringIO(f.read()))
-            complete_data = {}
-            action_str_type_mapping = {
-                "UniLabJsonCommand": "UniLabJsonCommand",
-                "UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
+        # 使用线程池并行加载
+        max_workers = min(8, len(files))
+        results = []
+
+        with ThreadPoolExecutor(max_workers=max_workers) as executor:
+            future_to_file = {
+                executor.submit(self._load_single_device_file, file, complete_registry, get_yaml_from_goal_type): file
+                for file in files
             }
-            status_str_type_mapping = {}
-            if data:
-                # 在添加到注册表前处理类型替换
-                for device_id, device_config in data.items():
-                    # 添加文件路径信息 - 使用规范化的完整文件路径
-                    if "version" not in device_config:
-                        device_config["version"] = "1.0.0"
-                    if "category" not in device_config:
-                        device_config["category"] = [file.stem]
-                    elif file.stem not in device_config["category"]:
-                        device_config["category"].append(file.stem)
-                    if "config_info" not in device_config:
-                        device_config["config_info"] = []
-                    if "description" not in device_config:
-                        device_config["description"] = ""
-                    if "icon" not in device_config:
-                        device_config["icon"] = ""
-                    if "handles" not in device_config:
-                        device_config["handles"] = []
-                    if "init_param_schema" not in device_config:
-                        device_config["init_param_schema"] = {}
-                    if "class" in device_config:
-                        if (
-                            "status_types" not in device_config["class"]
-                            or device_config["class"]["status_types"] is None
-                        ):
-                            device_config["class"]["status_types"] = {}
-                        if (
-                            "action_value_mappings" not in device_config["class"]
-                            or device_config["class"]["action_value_mappings"] is None
-                        ):
-                            device_config["class"]["action_value_mappings"] = {}
-                        enhanced_info = {}
-                        if complete_registry:
-                            device_config["class"]["status_types"].clear()
-                            enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
-                            if not enhanced_info.get("dynamic_import_success", False):
-                                continue
-                            device_config["class"]["status_types"].update(
-                                {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
-                            )
-                        for status_name, status_type in device_config["class"]["status_types"].items():
-                            if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
-                                status_type = "String"  # 替换成ROS的String，便于显示
-                                device_config["class"]["status_types"][status_name] = status_type
-                            try:
-                                target_type = self._replace_type_with_class(
-                                    status_type, device_id, f"状态 {status_name}"
-                                )
-                            except ROSMsgNotFound:
-                                continue
-                            if target_type in [
-                                dict,
-                                list,
-                            ]:  # 对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换
-                                target_type = String
-                            status_str_type_mapping[status_type] = target_type
-                        device_config["class"]["status_types"] = dict(
-                            sorted(device_config["class"]["status_types"].items())
-                        )
-                        if complete_registry:
-                            # 保存原有的description信息
-                            old_descriptions = {}
-                            for action_name, action_config in device_config["class"]["action_value_mappings"].items():
-                                if "description" in action_config.get("schema", {}):
-                                    description = action_config["schema"]["description"]
-                                    if len(description):
-                                        old_descriptions[action_name] = action_config["schema"]["description"]
+            for future in as_completed(future_to_file):
+                file = future_to_file[future]
+                try:
+                    data, complete_data, is_valid, device_ids = future.result()
+                    if is_valid:
+                        results.append((file, data, device_ids))
+                except Exception as e:
+                    logger.warning(f"[UniLab Registry] 处理设备文件异常: {file}, 错误: {e}")
 
-                            device_config["class"]["action_value_mappings"] = {
-                                k: v
-                                for k, v in device_config["class"]["action_value_mappings"].items()
-                                if not k.startswith("auto-")
-                            }
-                            # 处理动作值映射
-                            device_config["class"]["action_value_mappings"].update(
-                                {
-                                    f"auto-{k}": {
-                                        "type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
-                                        "goal": {},
-                                        "feedback": {},
-                                        "result": {},
-                                        "schema": self._generate_unilab_json_command_schema(
-                                            v["args"], k, v.get("return_annotation")
-                                        ),
-                                        "goal_default": {i["name"]: i["default"] for i in v["args"]},
-                                        "handles": [],
-                                        "placeholder_keys": {
-                                            i["name"]: (
-                                                "unilabos_resources"
-                                                if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
-                                                or i["type"]
-                                                == ("list", "unilabos.registry.placeholder_type:ResourceSlot")
-                                                else "unilabos_devices"
-                                            )
-                                            for i in v["args"]
-                                            if i.get("type", "")
-                                            in [
-                                                "unilabos.registry.placeholder_type:ResourceSlot",
-                                                "unilabos.registry.placeholder_type:DeviceSlot",
-                                                ("list", "unilabos.registry.placeholder_type:ResourceSlot"),
-                                                ("list", "unilabos.registry.placeholder_type:DeviceSlot"),
-                                            ]
-                                        },
-                                    }
-                                    # 不生成已配置action的动作
-                                    for k, v in enhanced_info["action_methods"].items()
-                                    if k not in device_config["class"]["action_value_mappings"]
-                                }
-                            )
-                            # 恢复原有的description信息（auto开头的不修改）
-                            for action_name, description in old_descriptions.items():
-                                if action_name in device_config["class"]["action_value_mappings"]:  # 有一些会被删除
-                                    device_config["class"]["action_value_mappings"][action_name]["schema"][
-                                        "description"
-                                    ] = description
-                            device_config["init_param_schema"] = {}
-                            device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
-                                enhanced_info["init_params"], "__init__"
-                            )["properties"]["goal"]
-                            device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
-                                enhanced_info["status_methods"]
-                            )
-
-                        device_config.pop("schema", None)
-                        device_config["class"]["action_value_mappings"] = dict(
-                            sorted(device_config["class"]["action_value_mappings"].items())
-                        )
-                        for action_name, action_config in device_config["class"]["action_value_mappings"].items():
-                            if "handles" not in action_config:
-                                action_config["handles"] = {}
-                            elif isinstance(action_config["handles"], list):
-                                if len(action_config["handles"]):
-                                    logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
-                                    continue
-                                else:
-                                    action_config["handles"] = {}
-                            if "type" in action_config:
-                                action_type_str: str = action_config["type"]
-                                # 通过Json发放指令，而不是通过特殊的ros action进行处理
-                                if not action_type_str.startswith("UniLabJsonCommand"):
-                                    try:
-                                        target_type = self._replace_type_with_class(
-                                            action_type_str, device_id, f"动作 {action_name}"
-                                        )
-                                    except ROSMsgNotFound:
-                                        continue
-                                    action_str_type_mapping[action_type_str] = target_type
-                                    if target_type is not None:
-                                        action_config["goal_default"] = yaml.safe_load(
-                                            io.StringIO(get_yaml_from_goal_type(target_type.Goal))
-                                        )
-                                        action_config["schema"] = ros_action_to_json_schema(target_type)
-                                    else:
-                                        logger.warning(
-                                            f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
-                                        )
-                        complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items())))  # 稍后dump到文件
-                        for status_name, status_type in device_config["class"]["status_types"].items():
-                            device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
-                        for action_name, action_config in device_config["class"]["action_value_mappings"].items():
-                            if action_config["type"] not in action_str_type_mapping:
-                                continue
-                            action_config["type"] = action_str_type_mapping[action_config["type"]]
-                        # 添加内置的驱动命令动作
-                        self._add_builtin_actions(device_config, device_id)
-                    device_config["file_path"] = str(file.absolute()).replace("\\", "/")
-                    device_config["registry_type"] = "device"
-                    logger.trace(  # type: ignore
-                        f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
+        # 线程安全地更新注册表
+        current_device_number = len(self.device_type_registry) + 1
+        with self._registry_lock:
+            for file, data, device_ids in results:
+                self.device_type_registry.update(data)
+                for device_id in device_ids:
+                    logger.trace(
+                        f"[UniLab Registry] Device-{current_device_number} Add {device_id} "
                         + f"[{data[device_id].get('name', '未命名设备')}]"
                     )
                     current_device_number += 1
-                complete_data = dict(sorted(complete_data.items()))
-                complete_data = copy.deepcopy(complete_data)
-                with open(file, "w", encoding="utf-8") as f:
-                    yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
-                self.device_type_registry.update(data)
-            else:
-                logger.debug(
-                    f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
-                )
+
+        # 记录无效文件
+        valid_files = {r[0] for r in results}
+        for file in files:
+            if file not in valid_files:
+                logger.debug(f"[UniLab Registry] Device File Not Valid YAML File: {file.absolute()}")
 
     def obtain_registry_device_info(self):
         devices = []

unilabos/registry/resources/bioyond/bottles.yaml

@@ -20,6 +20,17 @@ BIOYOND_PolymerStation_Liquid_Vial:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
+BIOYOND_PolymerStation_Measurement_Vial:
+  category:
+  - bottles
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Measurement_Vial
+    type: pylabrobot
+  description: 聚合站-测量小瓶（测密度）
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
 BIOYOND_PolymerStation_Reactor:
   category:
   - bottles

unilabos/resources/bioyond/YB_warehouses.py

@@ -84,12 +84,12 @@ def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
     )
 
 def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
-    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
+    """创建BioYond站内Tip盒堆栈（A01～B03, 2行×3列）"""
     return warehouse_factory(
         name=name,
-        num_items_x=3,  # 3列（01-03）
-        num_items_y=2,  # 2行（A-B）
-        num_items_z=1,  # 1层
+        num_items_x=3,      # 3列（01-03）
+        num_items_y=2,      # 2行（A-B）
+        num_items_z=1,      # 1层
         dx=10.0,
         dy=10.0,
         dz=10.0,
@@ -167,7 +167,7 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
 
 def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
     """创建BioYond 1x2x2仓库（1列×2行×2层）- 旧版本，已弃用
-    
+
     布局（2层）:
     层1: A01
          B01
@@ -191,7 +191,7 @@ def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
 
 def bioyond_warehouse_2x2x1(name: str) -> WareHouse:
     """创建BioYond 2x2x1仓库（2行×2列×1层）
-    
+
     布局:
     A01 | A02
     B01 | B02
@@ -246,14 +246,14 @@ def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
 
 def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
     """创建BioYond 5x3x1仓库（5行×3列×1层）
-    
+
     标准布局（row_offset=0）:
     A01 | A02 | A03
     B01 | B02 | B03
     C01 | C02 | C03
     D01 | D02 | D03
     E01 | E02 | E03
-    
+
     带偏移布局（row_offset=5）:
     F01 | F02 | F03
     G01 | G02 | G03
@@ -281,7 +281,7 @@ def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
 
 def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
     """创建BioYond 3x3x1仓库（3行×3列×1层）
-    
+
     布局:
     A01 | A02 | A03
     B01 | B02 | B03

unilabos/resources/bioyond/bottles.py

@@ -193,3 +193,20 @@ def BIOYOND_PolymerStation_Flask(
         barcode=barcode,
         model="BIOYOND_PolymerStation_Flask",
     )
+
+def BIOYOND_PolymerStation_Measurement_Vial(
+    name: str,
+    diameter: float = 25.0,
+    height: float = 60.0,
+    max_volume: float = 20000.0,  # 20mL
+    barcode: str = None,
+) -> Bottle:
+    """创建测量小瓶"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Measurement_Vial",
+    )

unilabos/resources/bioyond/decks.py

@@ -18,9 +18,12 @@ from unilabos.resources.bioyond.YB_warehouses import (
     bioyond_warehouse_1x8x4,
     bioyond_warehouse_reagent_storage,
     # bioyond_warehouse_liquid_preparation,
-    bioyond_warehouse_tipbox_storage,  # 新增：Tip盒堆栈
     bioyond_warehouse_density_vial,
 )
+from unilabos.resources.bioyond.warehouses import (
+    bioyond_warehouse_tipbox_storage_left,   # 新增：Tip盒堆栈(左)
+    bioyond_warehouse_tipbox_storage_right,  # 新增：Tip盒堆栈(右)
+)
 
 
 class BIOYOND_PolymerReactionStation_Deck(Deck):
@@ -47,24 +50,22 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
             "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"),  # 右侧堆栈: A05～D08
             "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"),  # A01～A02
             # "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"),  # A01～B04
-            "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"),  # A01～B03, 存放枪头盒.
+            "站内Tip盒堆栈(左)": bioyond_warehouse_tipbox_storage_left("站内Tip盒堆栈(左)"),  # A02～B03
+            "站内Tip盒堆栈(右)": bioyond_warehouse_tipbox_storage_right("站内Tip盒堆栈(右)"),  # A01～B01
             "测量小瓶仓库(测密度)": bioyond_warehouse_density_vial("测量小瓶仓库(测密度)"),  # A01～B03
         }
         self.warehouse_locations = {
-            "堆栈1左": Coordinate(0.0, 430.0, 0.0),  # 左侧位置
-            "堆栈1右": Coordinate(2500.0, 430.0, 0.0),  # 右侧位置
-            "站内试剂存放堆栈": Coordinate(640.0, 480.0, 0.0),
-            # "移液站内10%分装液体准备仓库": Coordinate(1200.0, 600.0, 0.0),
-            "站内Tip盒堆栈": Coordinate(300.0, 150.0, 0.0),
-            "测量小瓶仓库(测密度)": Coordinate(922.0, 552.0, 0.0),
+            "堆栈1左": Coordinate(-200.0, 400.0, 0.0),  # 左侧位置
+            "堆栈1右": Coordinate(2350.0, 400.0, 0.0),  # 右侧位置
+            "站内试剂存放堆栈": Coordinate(640.0, 400.0, 0.0),
+            "站内Tip盒堆栈(左)": Coordinate(300.0, 100.0, 0.0),
+            "站内Tip盒堆栈(右)": Coordinate(2250.0, 100.0, 0.0),  # 向右偏移 2 * item_dx (137.0)
+            "测量小瓶仓库(测密度)": Coordinate(1000.0, 530.0, 0.0),
         }
-        self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
-        self.warehouses["测量小瓶仓库(测密度)"].rotation = Rotation(z=270)
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
 
-
 class BIOYOND_PolymerPreparationStation_Deck(Deck):
     def __init__(
         self,
@@ -92,9 +93,9 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
             "溶液堆栈": bioyond_warehouse_1x4x4("溶液堆栈"),  # 4行×4列 (A01-D04)
         }
         self.warehouse_locations = {
-            "粉末堆栈": Coordinate(0.0, 450.0, 0.0),
-            "试剂堆栈": Coordinate(1850.0, 200.0, 0.0),
-            "溶液堆栈": Coordinate(2500.0, 450.0, 0.0),
+            "粉末堆栈": Coordinate(-200.0, 400.0, 0.0),
+            "试剂堆栈": Coordinate(1750.0, 160.0, 0.0),
+            "溶液堆栈": Coordinate(2350.0, 400.0, 0.0),
         }
 
         for warehouse_name, warehouse in self.warehouses.items():
@@ -148,6 +149,7 @@ class BIOYOND_YB_Deck(Deck):
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
+
 def YB_Deck(name: str) -> Deck:
     by=BIOYOND_YB_Deck(name=name)
     by.setup()

unilabos/resources/bioyond/warehouses.py

@@ -46,48 +46,62 @@ def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
     )
 
 def bioyond_warehouse_density_vial(name: str) -> WareHouse:
-    """创建测量小瓶仓库(测密度) A01～B03"""
+    """创建测量小瓶仓库(测密度) - 竖向排列2列3行
+    布局（从下到上，从左到右）：
+    | A03 | B03 |  ← 顶部
+    | A02 | B02 |  ← 中部
+    | A01 | B01 |  ← 底部
+    """
     return warehouse_factory(
         name=name,
-        num_items_x=3,  # 3列（01-03）
-        num_items_y=2,  # 2行（A-B）
+        num_items_x=2,  # 2列（A, B）
+        num_items_y=3,  # 3行（01-03，从下到上）
         num_items_z=1,  # 1层
         dx=10.0,
         dy=10.0,
         dz=10.0,
-        item_dx=40.0,
-        item_dy=40.0,
+        item_dx=40.0,  # 列间距（A到B的横向距离）
+        item_dy=40.0,  # 行间距（01到02到03的竖向距离）
         item_dz=50.0,
-        # 用更小的 resource_size 来表现 "小点的孔位"
+        # ⭐ 竖向warehouse：槽位尺寸也是竖向的（小瓶已经是正方形，无需调整）
         resource_size_x=30.0,
         resource_size_y=30.0,
         resource_size_z=12.0,
         category="warehouse",
         col_offset=0,
-        layout="row-major",
+        layout="vertical-col-major",  # ⭐ 竖向warehouse专用布局
     )
 
 def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
-    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
+    """创建BioYond站内试剂存放堆栈 - 竖向排列1列2行
+    布局（竖向，从下到上）：
+    | A02 |  ← 顶部
+    | A01 |  ← 底部
+    """
     return warehouse_factory(
         name=name,
-        num_items_x=2,  # 2列（01-02）
-        num_items_y=1,  # 1行（A）
+        num_items_x=1,  # 1列
+        num_items_y=2,  # 2行（01-02，从下到上）
         num_items_z=1,  # 1层
         dx=10.0,
         dy=10.0,
         dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
+        item_dx=96.0,   # 列间距（这里只有1列，不重要）
+        item_dy=137.0,  # 行间距（A01到A02的竖向距离）
         item_dz=120.0,
+        # ⭐ 竖向warehouse：交换槽位尺寸，使槽位框也是竖向的
+        resource_size_x=86.0,   # 原来的 resource_size_y
+        resource_size_y=127.0,  # 原来的 resource_size_x
+        resource_size_z=25.0,
         category="warehouse",
+        layout="vertical-col-major",  # ⭐ 竖向warehouse专用布局
     )
 
-def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
-    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
+def bioyond_warehouse_tipbox_storage_left(name: str) -> WareHouse:
+    """创建BioYond站内Tip盒堆栈左侧部分（A02～B03），2列2行"""
     return warehouse_factory(
         name=name,
-        num_items_x=3,  # 3列（01-03）
+        num_items_x=2,  # 2列
         num_items_y=2,  # 2行（A-B）
         num_items_z=1,  # 1层
         dx=10.0,
@@ -97,7 +111,25 @@ def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
         item_dy=96.0,
         item_dz=120.0,
         category="warehouse",
-        col_offset=0,
+        col_offset=1,   # 从02开始: A02, A03
+        layout="row-major",
+    )
+
+def bioyond_warehouse_tipbox_storage_right(name: str) -> WareHouse:
+    """创建BioYond站内Tip盒堆栈右侧部分（A01～B01），1列2行"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=1,  # 1列
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+        col_offset=0,   # 从01开始: A01
         layout="row-major",
     )
 

unilabos/resources/container.py

@@ -27,7 +27,7 @@ class RegularContainer(Container):
 def get_regular_container(name="container"):
     r = RegularContainer(name=name)
     r.category = "container"
-    return RegularContainer(name=name)
+    return r
 
 #
 # class RegularContainer(object):

unilabos/resources/graphio.py

@@ -151,12 +151,40 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
     """
     # 构建 id 到 uuid 的映射
     id_to_uuid: Dict[str, str] = {}
+    uuid_to_id: Dict[str, str] = {}
     for node in resource_tree_set.all_nodes:
         id_to_uuid[node.res_content.id] = node.res_content.uuid
+        uuid_to_id[node.res_content.uuid] = node.res_content.id
+
+    # 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
+    for link in links:
+        source_id = link.get("source")
+        target_id = link.get("target")
+
+        # 添加 source_uuid
+        if source_id and source_id in id_to_uuid:
+            link["source_uuid"] = id_to_uuid[source_id]
+
+        # 添加 target_uuid
+        if target_id and target_id in id_to_uuid:
+            link["target_uuid"] = id_to_uuid[target_id]
+
+        source_uuid = link.get("source_uuid")
+        target_uuid = link.get("target_uuid")
+
+        # 添加 source_uuid
+        if source_uuid and source_uuid in uuid_to_id:
+            link["source"] = uuid_to_id[source_uuid]
+
+        # 添加 target_uuid
+        if target_uuid and target_uuid in uuid_to_id:
+            link["target"] = uuid_to_id[target_uuid]
 
     # 第一遍处理：将字符串类型的port转换为字典格式
     for link in links:
         port = link.get("port")
+        if port is None:
+            continue
         if link.get("type", "physical") == "physical":
             link["type"] = "fluid"
         if isinstance(port, int):
@@ -179,13 +207,15 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
             link["port"] = {link["source"]: None, link["target"]: None}
 
     # 构建边字典，键为(source节点, target节点)，值为对应的port信息
-    edges = {(link["source"], link["target"]): link["port"] for link in links}
+    edges = {(link["source"], link["target"]): link["port"] for link in links if link.get("port")}
 
     # 第二遍处理：填充反向边的dest信息
     delete_reverses = []
     for i, link in enumerate(links):
         s, t = link["source"], link["target"]
-        current_port = link["port"]
+        current_port = link.get("port")
+        if current_port is None:
+            continue
         if current_port.get(t) is None:
             reverse_key = (t, s)
             reverse_port = edges.get(reverse_key)
@@ -200,20 +230,6 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
                 current_port[t] = current_port[s]
     # 删除已被使用反向端口信息的反向边
     standardized_links = [link for i, link in enumerate(links) if i not in delete_reverses]
-
-    # 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
-    for link in standardized_links:
-        source_id = link.get("source")
-        target_id = link.get("target")
-
-        # 添加 source_uuid
-        if source_id and source_id in id_to_uuid:
-            link["source_uuid"] = id_to_uuid[source_id]
-
-        # 添加 target_uuid
-        if target_id and target_id in id_to_uuid:
-            link["target_uuid"] = id_to_uuid[target_id]
-
     return standardized_links
 
 
@@ -260,7 +276,7 @@ def read_node_link_json(
     resource_tree_set = canonicalize_nodes_data(nodes)
 
     # 标准化边数据
-    links = data.get("links", [])
+    links = data.get("links", data.get("edges", []))
     standardized_links = canonicalize_links_ports(links, resource_tree_set)
 
     # 构建 NetworkX 图（需要转换回 dict 格式）
@@ -284,6 +300,8 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
             edge["sourceHandle"] = port[source]
         elif "source_port" in edge:
             edge["sourceHandle"] = edge.pop("source_port")
+        elif "source_handle" in edge:
+            edge["sourceHandle"] = edge.pop("source_handle")
         else:
             typ = edge.get("type")
             if typ == "communication":
@@ -292,6 +310,8 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
             edge["targetHandle"] = port[target]
         elif "target_port" in edge:
             edge["targetHandle"] = edge.pop("target_port")
+        elif "target_handle" in edge:
+            edge["targetHandle"] = edge.pop("target_handle")
         else:
             typ = edge.get("type")
             if typ == "communication":
@@ -597,6 +617,8 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
             "tube": "tube",
             "bottle_carrier": "bottle_carrier",
             "plate_adapter": "plate_adapter",
+            "electrode_sheet": "electrode_sheet",
+            "material_hole": "material_hole",
         }
         if source in replace_info:
             return replace_info[source]
@@ -779,6 +801,22 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             if not locations:
                 logger.debug(f"[物料位置] {unique_name} 没有location信息，跳过warehouse放置")
 
+            # ⭐ 预先检查：如果物料的任何location在竖向warehouse中，提前交换尺寸
+            # 这样可以避免多个location时尺寸不一致的问题
+            needs_size_swap = False
+            for loc in locations:
+                wh_name_check = loc.get("whName")
+                if wh_name_check in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
+                    needs_size_swap = True
+                    break
+
+            if needs_size_swap and hasattr(plr_material, 'size_x') and hasattr(plr_material, 'size_y'):
+                original_x = plr_material.size_x
+                original_y = plr_material.size_y
+                plr_material.size_x = original_y
+                plr_material.size_y = original_x
+                logger.debug(f"   物料 {unique_name} 将放入竖向warehouse，预先交换尺寸: {original_x}×{original_y} → {plr_material.size_x}×{plr_material.size_y}")
+
             for loc in locations:
                 wh_name = loc.get("whName")
                 logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
@@ -795,12 +833,20 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                         logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
                         continue
 
+                # 特殊处理: Bioyond的"站内Tip盒堆栈"也需要进行拆分映射
+                if wh_name == "站内Tip盒堆栈":
+                    y_val = loc.get("y", 1)
+                    if y_val == 1:
+                        wh_name = "站内Tip盒堆栈(右)"
+                    elif y_val in [2, 3]:
+                        wh_name = "站内Tip盒堆栈(左)"
+                        y = y - 1  # 调整列号，因为左侧仓库对应的 Bioyond y=2 实际上是它的第1列
+
                 if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
                     warehouse = deck.warehouses[wh_name]
                     logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
 
                     # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
-                    # PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
                     x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
                     y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
                     z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
@@ -809,12 +855,23 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     if wh_name == "堆栈1右":
                         y = y - 4  # 将5-8映射到1-4
 
-                    # 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈）
-                    # Bioyond的y坐标表示线性位置序号，而不是列号
-                    if warehouse.num_items_y == 1:
-                        # 1行warehouse: 直接用y作为线性索引
-                        idx = y - 1
-                        logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
+                    # 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库）
+                    # 这些warehouse使用 vertical-col-major 布局
+                    if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
+                        # vertical-col-major 布局的坐标映射：
+                        # - Bioyond的x(1=A,2=B)对应warehouse的列(col, x方向)
+                        # - Bioyond的y(1=01,2=02,3=03)对应warehouse的行(row, y方向)，从下到上
+                        # vertical-col-major 中: row=0 对应底部，row=n-1 对应顶部
+                        # Bioyond y=1(01) 对应底部 → row=0, y=2(02) 对应中间 → row=1
+                        # 索引计算: idx = row * num_cols + col
+                        col_idx = x - 1  # Bioyond的x(A,B) → col索引(0,1)
+                        row_idx = y - 1  # Bioyond的y(01,02,03) → row索引(0,1,2)
+                        layer_idx = z - 1
+
+                        idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + row_idx * warehouse.num_items_y + col_idx
+                        logger.debug(f"🔍 竖向warehouse {wh_name}: Bioyond(x={x},y={y},z={z}) → warehouse(col={col_idx},row={row_idx},layer={layer_idx}) → idx={idx}, capacity={warehouse.capacity}")
+
+                    # 普通横向warehouse的处理
                     else:
                         # 多行warehouse: 根据 layout 使用不同的索引计算
                         row_idx = x - 1  # x表示行: 转为0-based
@@ -838,6 +895,7 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
 
                     if 0 <= idx < warehouse.capacity:
                         if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
+                            # 物料尺寸已在放入warehouse前根据需要进行了交换
                             warehouse[idx] = plr_material
                             logger.debug(f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
                     else:
@@ -1011,11 +1069,24 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
                 logger.debug(f"  📭 [单瓶物料] {resource.name} 无液体，使用资源名: {material_name}")
 
             # 🎯 处理物料默认参数和单位
-            # 检查是否有该物料名称的默认参数配置
+            # 优先级: typeId参数 > 物料名称参数 > 默认值
             default_unit = "个"  # 默认单位
             material_parameters = {}
 
-            if material_name in material_params:
+            # 1️⃣ 首先检查是否有 typeId 对应的参数配置（从 material_params 中获取，key 格式为 "type:<typeId>"）
+            type_params_key = f"type:{type_id}"
+            if type_params_key in material_params:
+                params_config = material_params[type_params_key].copy()
+
+                # 提取 unit 字段（如果有）
+                if "unit" in params_config:
+                    default_unit = params_config.pop("unit")  # 从参数中移除，放到外层
+
+                # 剩余的字段放入 Parameters
+                material_parameters = params_config
+                logger.debug(f"  🔧 [物料参数-按typeId] 为 typeId={type_id[:8]}... 应用配置: unit={default_unit}, parameters={material_parameters}")
+            # 2️⃣ 其次检查是否有该物料名称的默认参数配置
+            elif material_name in material_params:
                 params_config = material_params[material_name].copy()
 
                 # 提取 unit 字段（如果有）
@@ -1024,7 +1095,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
 
                 # 剩余的字段放入 Parameters
                 material_parameters = params_config
-                logger.debug(f"  🔧 [物料参数] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}")
+                logger.debug(f"  🔧 [物料参数-按名称] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}")
 
             # 转换为 JSON 字符串
             parameters_json = json.dumps(material_parameters) if material_parameters else "{}"
@@ -1151,11 +1222,7 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
         if resource_class_config["type"] == "pylabrobot":
             resource_plr = RESOURCE(name=resource_config["name"])
             if resource_type != ResourcePLR:
-                tree_sets = ResourceTreeSet.from_plr_resources([resource_plr])
-                # r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
-                # # r = resource_plr_to_ulab(resource_plr=resource_plr)
-                # if resource_config.get("position") is not None:
-                #     r["position"] = resource_config["position"]
+                tree_sets = ResourceTreeSet.from_plr_resources([resource_plr], known_newly_created=True)
                 r = tree_sets.dump()
             else:
                 r = resource_plr

unilabos/resources/itemized_carrier.py

@@ -50,12 +50,45 @@ class Bottle(Well):
         self.barcode = barcode
 
     def serialize(self) -> dict:
+        # Pylabrobot expects barcode to be an object with serialize(), but here it is a str.
+        # We temporarily unset it to avoid AttributeError in super().serialize().
+        _barcode = self.barcode
+        self.barcode = None
+        try:
+            data = super().serialize()
+        finally:
+            self.barcode = _barcode
+
         return {
-            **super().serialize(),
+            **data,
             "diameter": self.diameter,
             "height": self.height,
         }
 
+    @classmethod
+    def deserialize(cls, data: dict, allow_marshal: bool = False):
+        # Extract barcode before calling parent deserialize to avoid type error
+        barcode_data = data.pop("barcode", None)
+
+        # Call parent deserialize
+        instance = super(Bottle, cls).deserialize(data, allow_marshal=allow_marshal)
+
+        # Set barcode as string (not as Barcode object)
+        if barcode_data:
+            if isinstance(barcode_data, str):
+                instance.barcode = barcode_data
+            elif isinstance(barcode_data, dict):
+                # If it's a dict (Barcode serialized format), extract the data field
+                instance.barcode = barcode_data.get("data", "")
+        else:
+            instance.barcode = ""
+
+        # Set additional attributes
+        instance.diameter = data.get("diameter", instance._size_x)
+        instance.height = data.get("height", instance._size_z)
+
+        return instance
+
 T = TypeVar("T", bound=ResourceHolder)
 
 S = TypeVar("S", bound=ResourceHolder)

unilabos/resources/resource_tracker.py

@@ -1,10 +1,12 @@
 import inspect
 import traceback
 import uuid
-from pydantic import BaseModel, field_serializer, field_validator
+from pydantic import BaseModel, field_serializer, field_validator, ValidationError
 from pydantic import Field
 from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
 
+from typing_extensions import TypedDict
+
 from unilabos.resources.plr_additional_res_reg import register
 from unilabos.utils.log import logger
 
@@ -13,6 +15,29 @@ if TYPE_CHECKING:
     from pylabrobot.resources import Resource as PLRResource
 
 
+EXTRA_CLASS = "unilabos_resource_class"
+EXTRA_SAMPLE_UUID = "sample_uuid"
+EXTRA_UNILABOS_SAMPLE_UUID = "unilabos_sample_uuid"
+
+# 函数参数名常量 - 用于自动注入 sample_uuids 列表
+PARAM_SAMPLE_UUIDS = "sample_uuids"
+
+# JSON Command 中的系统参数字段名
+JSON_UNILABOS_PARAM = "unilabos_param"
+
+# 返回值中的 samples 字段名
+RETURN_UNILABOS_SAMPLES = "unilabos_samples"
+
+# sample_uuids 参数类型 (用于 virtual bench 等设备添加 sample_uuids 参数)
+SampleUUIDsType = Dict[str, Optional["PLRResource"]]
+
+
+class LabSample(TypedDict):
+    sample_uuid: str
+    oss_path: str
+    extra: Dict[str, Any]
+
+
 class ResourceDictPositionSize(BaseModel):
     depth: float = Field(description="Depth", default=0.0)  # z
     width: float = Field(description="Width", default=0.0)  # x
@@ -147,20 +172,24 @@ class ResourceDictInstance(object):
         if not content.get("extra"):  # MagicCode
             content["extra"] = {}
         if "position" in content:
-            pose = content.get("pose",{})
-            if "position" not in pose :
+            pose = content.get("pose", {})
+            if "position" not in pose:
                 if "position" in content["position"]:
                     pose["position"] = content["position"]["position"]
                 else:
                     pose["position"] = {"x": 0, "y": 0, "z": 0}
             if "size" not in pose:
                 pose["size"] = {
-                    "width": content["config"].get("size_x", 0), 
-                    "height": content["config"].get("size_y", 0), 
-                    "depth": content["config"].get("size_z", 0)
+                    "width": content["config"].get("size_x", 0),
+                    "height": content["config"].get("size_y", 0),
+                    "depth": content["config"].get("size_z", 0),
                 }
             content["pose"] = pose
-        return ResourceDictInstance(ResourceDict.model_validate(content))
+        try:
+            res_dict = ResourceDict.model_validate(content)
+            return ResourceDictInstance(res_dict)
+        except ValidationError as err:
+            raise err
 
     def get_plr_nested_dict(self) -> Dict[str, Any]:
         """获取资源实例的嵌套字典表示"""
@@ -322,7 +351,7 @@ class ResourceTreeSet(object):
             )
 
     @classmethod
-    def from_plr_resources(cls, resources: List["PLRResource"]) -> "ResourceTreeSet":
+    def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False) -> "ResourceTreeSet":
         """
         从plr资源创建ResourceTreeSet
         """
@@ -339,6 +368,8 @@ class ResourceTreeSet(object):
             }
             if source in replace_info:
                 return replace_info[source]
+            elif source is None:
+                return ""
             else:
                 print("转换pylabrobot的时候，出现未知类型", source)
                 return source
@@ -349,7 +380,8 @@ class ResourceTreeSet(object):
             if not uid:
                 uid = str(uuid.uuid4())
                 res.unilabos_uuid = uid
-                logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
+                if not known_newly_created:
+                    logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
 
             # 获取unilabos_extra，默认为空字典
             extra = getattr(res, "unilabos_extra", {})
@@ -386,7 +418,7 @@ class ResourceTreeSet(object):
                 "parent": parent_resource,  # 直接传入 ResourceDict 对象
                 "parent_uuid": parent_uuid,  # 使用 parent_uuid 而不是 parent 对象
                 "type": replace_plr_type(d.get("category", "")),
-                "class": d.get("class", ""),
+                "class": extra.get(EXTRA_CLASS, ""),
                 "position": pos,
                 "pose": pos,
                 "config": {
@@ -436,7 +468,7 @@ class ResourceTreeSet(object):
             trees.append(tree_instance)
         return cls(trees)
 
-    def to_plr_resources(self) -> List["PLRResource"]:
+    def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
         """
         将 ResourceTreeSet 转换为 PLR 资源列表
 
@@ -448,13 +480,20 @@ class ResourceTreeSet(object):
         from pylabrobot.utils.object_parsing import find_subclass
 
         # 类型映射
-        TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer", "tip_spot": "TipSpot"}
+        TYPE_MAP = {
+            "plate": "Plate",
+            "well": "Well",
+            "deck": "Deck",
+            "container": "RegularContainer",
+            "tip_spot": "TipSpot",
+        }
 
         def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
             """一次遍历收集 name_to_uuid, all_states 和 name_to_extra"""
             name_to_uuid[node.res_content.name] = node.res_content.uuid
             all_states[node.res_content.name] = node.res_content.data
             name_to_extra[node.res_content.name] = node.res_content.extra
+            name_to_extra[node.res_content.name][EXTRA_CLASS] = node.res_content.klass
             for child in node.children:
                 collect_node_data(child, name_to_uuid, all_states, name_to_extra)
 
@@ -499,7 +538,10 @@ class ResourceTreeSet(object):
             plr_dict = node_to_plr_dict(tree.root_node, has_model)
             try:
                 sub_cls = find_subclass(plr_dict["type"], PLRResource)
-                if sub_cls is None:
+                if skip_devices and plr_dict["type"] == "device":
+                    logger.info(f"跳过更新 {plr_dict['name']} 设备是class")
+                    continue
+                elif sub_cls is None:
                     raise ValueError(
                         f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
                     )
@@ -507,6 +549,11 @@ class ResourceTreeSet(object):
                 if "category" not in spec.parameters:
                     plr_dict.pop("category", None)
                 plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
+                from pylabrobot.resources import Coordinate
+                from pylabrobot.serializer import deserialize
+
+                location = cast(Coordinate, deserialize(plr_dict["location"]))
+                plr_resource.location = location
                 plr_resource.load_all_state(all_states)
                 # 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
                 tracker.loop_set_uuid(plr_resource, name_to_uuid)
@@ -608,6 +655,16 @@ class ResourceTreeSet(object):
         """
         return [tree.root_node for tree in self.trees]
 
+    @property
+    def root_nodes_uuid(self) -> List[ResourceDictInstance]:
+        """
+        获取所有树的根节点
+
+        Returns:
+            所有根节点的资源实例列表
+        """
+        return [tree.root_node.res_content.uuid for tree in self.trees]
+
     @property
     def all_nodes(self) -> List[ResourceDictInstance]:
         """
@@ -918,6 +975,33 @@ class DeviceNodeResourceTracker(object):
 
         return self._traverse_and_process(resource, process)
 
+    def loop_find_with_uuid(self, resource, target_uuid: str):
+        """
+        递归遍历资源树，根据 uuid 查找并返回对应的资源
+
+        Args:
+            resource: 资源对象（可以是list、dict或实例）
+            target_uuid: 要查找的uuid
+
+        Returns:
+            找到的资源对象，未找到则返回None
+        """
+        found_resource = None
+
+        def process(res):
+            nonlocal found_resource
+            if found_resource is not None:
+                return 0  # 已找到，跳过后续处理
+            current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
+            if current_uuid and current_uuid == target_uuid:
+                found_resource = res
+                logger.trace(f"找到资源UUID: {target_uuid}")
+                return 1
+            return 0
+
+        self._traverse_and_process(resource, process)
+        return found_resource
+
     def loop_set_extra(self, resource, name_to_extra_map: Dict[str, dict]) -> int:
         """
         递归遍历资源树，根据 name 设置所有节点的 extra
@@ -936,7 +1020,7 @@ class DeviceNodeResourceTracker(object):
                 extra = name_to_extra_map[resource_name]
                 self.set_resource_extra(res, extra)
                 if len(extra):
-                    logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
+                    logger.trace(f"设置资源Extra: {resource_name} -> {extra}")
                 return 1
             return 0
 
@@ -1103,7 +1187,7 @@ class DeviceNodeResourceTracker(object):
         for key in keys_to_remove:
             self.resource2parent_resource.pop(key, None)
 
-        logger.debug(f"成功移除资源: {resource}")
+        logger.trace(f"[ResourceTracker] 成功移除资源: {resource}")
         return True
 
     def clear_resource(self):

unilabos/resources/warehouse.py

@@ -43,6 +43,10 @@ def warehouse_factory(
                 if layout == "row-major":
                     # 行优先：row=0(A行) 应该显示在上方，需要较小的 y 值
                     y = dy + row * item_dy
+                elif layout == "vertical-col-major":
+                    # 竖向warehouse: row=0 对应顶部（y小），row=n-1 对应底部（y大）
+                    # 但标签 01 应该在底部，所以使用反向映射
+                    y = dy + (num_items_y - row - 1) * item_dy
                 else:
                     # 列优先：保持原逻辑（row=0 对应较大的 y）
                     y = dy + (num_items_y - row - 1) * item_dy

unilabos/ros/msgs/message_converter.py

@@ -159,10 +159,14 @@ _msg_converter: Dict[Type, Any] = {
             else Pose()
         ),
         config=json.dumps(x.get("config", {})),
-        data=json.dumps(x.get("data", {})),
+        data=json.dumps(obtain_data_with_uuid(x)),
     ),
 }
 
+def obtain_data_with_uuid(x: dict):
+    data = x.get("data", {})
+    data["unilabos_uuid"] = x.get("uuid", None)
+    return data
 
 def json_or_yaml_loads(data: str) -> Any:
     try:
@@ -766,13 +770,16 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
     return schema
 
 
-def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, Any]:
+def ros_action_to_json_schema(
+    action_class: Any, description="", previous_schema: Optional[Dict[str, Any]] = None
+) -> Dict[str, Any]:
     """
     将 ROS Action 类转换为 JSON Schema
 
     Args:
         action_class: ROS Action 类
         description: 描述
+        previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description
 
     Returns:
         完整的 JSON Schema 定义
@@ -806,9 +813,44 @@ def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, An
         "required": ["goal"],
     }
 
+    # 保留之前 schema 中 goal/feedback/result 下一级字段的 description
+    if previous_schema:
+        _preserve_field_descriptions(schema, previous_schema)
+
     return schema
 
 
+def _preserve_field_descriptions(
+    new_schema: Dict[str, Any], previous_schema: Dict[str, Any]
+) -> None:
+    """
+    保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
+
+    Args:
+        new_schema: 新生成的 schema（会被修改）
+        previous_schema: 之前的 schema
+    """
+    for section in ["goal", "feedback", "result"]:
+        new_section = new_schema.get("properties", {}).get(section, {})
+        prev_section = previous_schema.get("properties", {}).get(section, {})
+
+        if not new_section or not prev_section:
+            continue
+
+        new_props = new_section.get("properties", {})
+        prev_props = prev_section.get("properties", {})
+
+        for field_name, field_schema in new_props.items():
+            if field_name in prev_props:
+                prev_field = prev_props[field_name]
+                # 保留字段的 description
+                if "description" in prev_field and prev_field["description"]:
+                    field_schema["description"] = prev_field["description"]
+                # 保留字段的 title（用户自定义的中文名）
+                if "title" in prev_field and prev_field["title"]:
+                    field_schema["title"] = prev_field["title"]
+
+
 def convert_ros_action_to_jsonschema(
     action_name_or_type: Union[str, Type], output_file: Optional[str] = None, format: str = "json"
 ) -> Dict[str, Any]:

unilabos/ros/nodes/base_device_node.py

@@ -4,8 +4,20 @@ import json
 import threading
 import time
 import traceback
-from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union, \
-    Tuple
+from typing import (
+    get_type_hints,
+    TypeVar,
+    Generic,
+    Dict,
+    Any,
+    Type,
+    TypedDict,
+    Optional,
+    List,
+    TYPE_CHECKING,
+    Union,
+    Tuple,
+)
 
 from concurrent.futures import ThreadPoolExecutor
 import asyncio
@@ -48,8 +60,10 @@ from unilabos.resources.resource_tracker import (
     ResourceTreeSet,
     ResourceTreeInstance,
     ResourceDictInstance,
+    EXTRA_SAMPLE_UUID,
+    PARAM_SAMPLE_UUIDS,
+    JSON_UNILABOS_PARAM,
 )
-from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from rclpy.task import Task, Future
 from unilabos.utils.import_manager import default_manager
@@ -185,7 +199,7 @@ class PropertyPublisher:
                 f"创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}"
             )
         self.timer = node.create_timer(self.timer_period, self.publish_property)
-        self.__loop = get_event_loop()
+        self.__loop = ROS2DeviceNode.get_asyncio_loop()
         str_msg_type = str(msg_type)[8:-2]
         self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")
 
@@ -217,14 +231,15 @@ class PropertyPublisher:
 
     def publish_property(self):
         try:
-            self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
+            # self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
             value = self.get_property()
             if self.print_publish:
-                self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
+                pass
+                # self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
             if value is not None:
                 msg = convert_to_ros_msg(self.msg_type, value)
                 self.publisher_.publish(msg)
-                self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
+                # self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
         except Exception as e:
             self.node.lab_logger().error(
                 f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
@@ -362,6 +377,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             from pylabrobot.resources.deck import Deck
             from pylabrobot.resources import Coordinate
             from pylabrobot.resources import Plate
+
             # 物料传输到对应的node节点
             client = self._resource_clients["c2s_update_resource_tree"]
             request = SerialCommand.Request()
@@ -389,30 +405,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
             parent_resource = None
             if bind_parent_id != self.node_name:
-                parent_resource = self.resource_tracker.figure_resource(
-                    {"name": bind_parent_id}
-                )
-            for r in rts.root_nodes:
-                # noinspection PyUnresolvedReferences
-                r.res_content.parent_uuid = parent_resource.unilabos_uuid
-
-            if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
+                parent_resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
+                for r in rts.root_nodes:
+                    # noinspection PyUnresolvedReferences
+                    r.res_content.parent_uuid = parent_resource.unilabos_uuid
+            else:
+                for r in rts.root_nodes:
+                    r.res_content.parent_uuid = self.uuid
+            rts_plr_instances = rts.to_plr_resources()
+            if len(rts.root_nodes) == 1 and isinstance(rts_plr_instances[0], RegularContainer):
                 # noinspection PyTypeChecker
-                container_instance: RegularContainer = rts.root_nodes[0]
-                found_resources = self.resource_tracker.figure_resource(
-                    {"id": container_instance.name}, try_mode=True
-                )
+                container_instance: RegularContainer = rts_plr_instances[0]
+                found_resources = self.resource_tracker.figure_resource({"name": container_instance.name}, try_mode=True)
                 if not len(found_resources):
                     self.resource_tracker.add_resource(container_instance)
                     logger.info(f"添加物料{container_instance.name}到资源跟踪器")
                 else:
-                    assert (
-                        len(found_resources) == 1
-                    ), f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
+                    assert len(found_resources) == 1, f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
                     found_resource = found_resources[0]
                     if isinstance(found_resource, RegularContainer):
                         logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}")
-                        found_resource.state.update(json.loads(container_instance.state))
+                        found_resource.state.update(container_instance.state)
                     elif isinstance(found_resource, dict):
                         raise ValueError("已不支持 字典 版本的RegularContainer")
                     else:
@@ -420,21 +433,26 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
                         )
             # noinspection PyUnresolvedReferences
-            request.command = json.dumps({
-                "action": "add",
-                "data": {
-                    "data": rts.dump(),
-                    "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
-                    "first_add": False,
-                },
-            })
+            request.command = json.dumps(
+                {
+                    "action": "add",
+                    "data": {
+                        "data": rts.dump(),
+                        "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else self.uuid,
+                        "first_add": False,
+                    },
+                }
+            )
             tree_response: SerialCommand.Response = await client.call_async(request)
             uuid_maps = json.loads(tree_response.response)
-            self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
+            plr_instances = rts.to_plr_resources()
+            for plr_instance in plr_instances:
+                self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
+            rts: ResourceTreeSet = ResourceTreeSet.from_plr_resources(plr_instances)
             self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
             final_response = {
-                "created_resources": rts.dump(),
-                "liquid_input_resources": [],
+                "created_resource_tree": rts.dump(),
+                "liquid_input_resource_tree": [],
             }
             res.response = json.dumps(final_response)
             # 如果driver自己就有assign的方法，那就使用driver自己的assign方法
@@ -460,13 +478,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 return res
             try:
                 if len(rts.root_nodes) == 1 and parent_resource is not None:
-                    plr_instance = rts.to_plr_resources()[0]
+                    plr_instance = plr_instances[0]
                     if isinstance(plr_instance, Plate):
                         empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
                         if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
                             ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
                             LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
-                            self.lab_logger().warning(f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个")
+                            self.lab_logger().warning(
+                                f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个"
+                            )
                         for liquid_type, liquid_volume, liquid_input_slot in zip(
                             ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
                         ):
@@ -485,9 +505,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             input_wells = []
                             for r in LIQUID_INPUT_SLOT:
                                 input_wells.append(plr_instance.children[r])
-                        final_response["liquid_input_resources"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
+                        final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
+                            input_wells
+                        ).dump()
                         res.response = json.dumps(final_response)
-                    if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param:
+                    if (
+                        issubclass(parent_resource.__class__, Deck)
+                        and hasattr(parent_resource, "assign_child_at_slot")
+                        and "slot" in other_calling_param
+                    ):
                         other_calling_param["slot"] = int(other_calling_param["slot"])
                         parent_resource.assign_child_at_slot(plr_instance, **other_calling_param)
                     else:
@@ -502,14 +528,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
                     if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
                         rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
-                    request.command = json.dumps({
-                        "action": "add",
-                        "data": {
-                            "data": rts_with_parent.dump(),
-                            "mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
-                            "first_add": False,
-                        },
-                    })
+                    request.command = json.dumps(
+                        {
+                            "action": "add",
+                            "data": {
+                                "data": rts_with_parent.dump(),
+                                "mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
+                                "first_add": False,
+                            },
+                        }
+                    )
                     tree_response: SerialCommand.Response = await client.call_async(request)
                     uuid_maps = json.loads(tree_response.response)
                     self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
@@ -619,7 +647,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         )  # type: ignore
         raw_nodes = json.loads(response.response)
         tree_set = ResourceTreeSet.from_raw_dict_list(raw_nodes)
-        self.lab_logger().debug(f"获取资源结果: {len(tree_set.trees)} 个资源树")
+        self.lab_logger().trace(f"获取资源结果: {len(tree_set.trees)} 个资源树 {tree_set.root_nodes}")
         return tree_set
 
     async def get_resource_with_dir(self, resource_id: str, with_children: bool = True) -> "ResourcePLR":
@@ -653,61 +681,71 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
     def transfer_to_new_resource(
         self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]
-    ):
+    ) -> Optional["ResourcePLR"]:
         parent_uuid = tree.root_node.res_content.parent_uuid
-        if parent_uuid:
-            parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
-            if parent_resource is None:
+        if not parent_uuid:
+            self.lab_logger().warning(
+                f"物料{plr_resource} parent未知，挂载到当前节点下，额外参数：{additional_add_params}"
+            )
+            return None
+        if parent_uuid == self.uuid:
+            self.lab_logger().warning(
+                f"物料{plr_resource}请求挂载到{self.identifier}，额外参数：{additional_add_params}"
+            )
+            return None
+        parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
+        if parent_resource is None:
+            self.lab_logger().warning(
+                f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
+            )
+        else:
+            try:
+                # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
+                additional_params = {}
+                extra = getattr(plr_resource, "unilabos_extra", {})
+                if len(extra):
+                    self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
+                if "update_resource_site" in extra:
+                    additional_add_params["site"] = extra["update_resource_site"]
+                site = additional_add_params.get("site", None)
+                spec = inspect.signature(parent_resource.assign_child_resource)
+                if "spot" in spec.parameters:
+                    ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering")
+                    if ordering_dict:
+                        site = list(ordering_dict.keys()).index(site)
+                    additional_params["spot"] = site
+                old_parent = plr_resource.parent
+                if old_parent is not None:
+                    # plr并不支持同一个deck的加载和卸载
+                    self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载")
+                    old_parent.unassign_child_resource(plr_resource)
                 self.lab_logger().warning(
-                    f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
+                    f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
                 )
-            else:
-                try:
-                    # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
-                    additional_params = {}
-                    extra = getattr(plr_resource, "unilabos_extra", {})
-                    if len(extra):
-                        self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
-                    if "update_resource_site" in extra:
-                        additional_add_params["site"] = extra["update_resource_site"]
-                    site = additional_add_params.get("site", None)
-                    spec = inspect.signature(parent_resource.assign_child_resource)
-                    if "spot" in spec.parameters:
-                        ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering")
-                        if ordering_dict:
-                            site = list(ordering_dict.keys()).index(site)
-                        additional_params["spot"] = site
-                    old_parent = plr_resource.parent
-                    if old_parent is not None:
-                        # plr并不支持同一个deck的加载和卸载
-                        self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载")
-                        old_parent.unassign_child_resource(plr_resource)
-                    self.lab_logger().warning(
-                        f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
-                    )
 
-                    # ⭐ assign 之前，需要从 resources 列表中移除
-                    # 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源
-                    # 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children
-                    resource_id = id(plr_resource)
-                    for i, r in enumerate(self.resource_tracker.resources):
-                        if id(r) == resource_id:
-                            self.resource_tracker.resources.pop(i)
-                            self.lab_logger().debug(
-                                f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）"
-                            )
-                            break
+                # ⭐ assign 之前，需要从 resources 列表中移除
+                # 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源
+                # 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children
+                resource_id = id(plr_resource)
+                for i, r in enumerate(self.resource_tracker.resources):
+                    if id(r) == resource_id:
+                        self.resource_tracker.resources.pop(i)
+                        self.lab_logger().debug(
+                            f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）"
+                        )
+                        break
 
-                    parent_resource.assign_child_resource(plr_resource, location=None, **additional_params)
+                parent_resource.assign_child_resource(plr_resource, location=None, **additional_params)
 
-                    func = getattr(self.driver_instance, "resource_tree_transfer", None)
-                    if callable(func):
-                        # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
-                        func(old_parent, plr_resource, parent_resource)
-                except Exception as e:
-                    self.lab_logger().warning(
-                        f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
-                    )
+                func = getattr(self.driver_instance, "resource_tree_transfer", None)
+                if callable(func):
+                    # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
+                    func(old_parent, plr_resource, parent_resource)
+                return parent_resource
+            except Exception as e:
+                self.lab_logger().warning(
+                    f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
+                )
 
     async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response):
         """
@@ -722,7 +760,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
         def _handle_add(
             plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
-        ) -> Dict[str, Any]:
+        ) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
             """
             处理资源添加操作的内部函数
 
@@ -734,15 +772,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             Returns:
                 操作结果字典
             """
+            parents = []  # 放的是被变更的物料 / 被变更的物料父级
             for plr_resource, tree in zip(plr_resources, tree_set.trees):
                 self.resource_tracker.add_resource(plr_resource)
-                self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
+                parent = self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
+                if parent is not None:
+                    parents.append(parent)
+                else:
+                    parents.append(plr_resource)
 
             func = getattr(self.driver_instance, "resource_tree_add", None)
             if callable(func):
                 func(plr_resources)
 
-            return {"success": True, "action": "add"}
+            return {"success": True, "action": "add"}, parents
 
         def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]:
             """
@@ -777,11 +820,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 if plr_resource.parent is not None:
                     plr_resource.parent.unassign_child_resource(plr_resource)
                 self.resource_tracker.remove_resource(plr_resource)
-                self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
+                self.lab_logger().info(f"[资源同步] 移除物料 {plr_resource} 及其子节点")
 
             for other_plr_resource in other_plr_resources:
                 self.resource_tracker.remove_resource(other_plr_resource)
-                self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
+                self.lab_logger().info(f"[资源同步] 移除物料 {other_plr_resource} 及其子节点")
 
             return {
                 "success": True,
@@ -791,7 +834,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             }
 
         def _handle_update(
-            plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
+            plr_resources: List[Union[ResourcePLR, ResourceDictInstance]],
+            tree_set: ResourceTreeSet,
+            additional_add_params: Dict[str, Any],
         ) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
             """
             处理资源更新操作的内部函数
@@ -813,11 +858,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 original_instance: ResourcePLR = self.resource_tracker.figure_resource(
                     {"uuid": tree.root_node.res_content.uuid}, try_mode=False
                 )
+                original_parent_resource = original_instance.parent
+                original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
+                target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
+                not_same_parent = (
+                    original_parent_resource_uuid != target_parent_resource_uuid
+                    and original_parent_resource is not None
+                )
+                old_name = original_instance.name
+                new_name = plr_resource.name
+                parent_appended = False
 
-                # Update操作中包含改名：需要先remove再add
-                if original_instance.name != plr_resource.name:
-                    old_name = original_instance.name
-                    new_name = plr_resource.name
+                # Update操作中包含改名：需要先remove再add，这里更新父节点即可
+                if not not_same_parent and old_name != new_name:
                     self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}")
 
                     # 收集所有相关的uuid（包括子节点）
@@ -826,12 +879,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     _handle_add([original_instance], tree_set, additional_add_params)
 
                     self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}")
+                    original_instances.append(original_parent_resource)
+                    parent_appended = True
 
                 # 常规更新：不涉及改名
-                original_parent_resource = original_instance.parent
-                original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
-                target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
-
                 self.lab_logger().info(
                     f"物料{original_instance} 原始父节点{original_parent_resource_uuid} "
                     f"目标父节点{target_parent_resource_uuid} 更新"
@@ -842,29 +893,43 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra")  # type: ignore  # noqa: E501
 
                 # 如果父节点变化，需要重新挂载
-                if (
-                    original_parent_resource_uuid != target_parent_resource_uuid
-                    and original_parent_resource is not None
-                ):
-                    self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+                if not_same_parent:
+                    parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+                    original_instances.append(parent)
+                    parent_appended = True
                 else:
-                    # 判断是否变更了resource_site
+                    # 判断是否变更了resource_site，重新登记
                     target_site = original_instance.unilabos_extra.get("update_resource_site")
-                    sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None
-                    site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
+                    sites = (
+                        original_instance.parent.sites
+                        if original_instance.parent is not None and hasattr(original_instance.parent, "sites")
+                        else None
+                    )
+                    site_names = (
+                        list(original_instance.parent._ordering.keys())
+                        if original_instance.parent is not None and hasattr(original_instance.parent, "sites")
+                        else []
+                    )
                     if target_site is not None and sites is not None and site_names is not None:
                         site_index = sites.index(original_instance)
                         site_name = site_names[site_index]
                         if site_name != target_site:
-                            self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+                            parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+                            if parent is not None:
+                                original_instances.append(parent)
+                                parent_appended = True
 
                 # 加载状态
+                original_instance.location = plr_resource.location
+                original_instance.rotation = plr_resource.rotation
+                original_instance.barcode = plr_resource.barcode
                 original_instance.load_all_state(states)
                 child_count = len(original_instance.get_all_children())
                 self.lab_logger().info(
                     f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
                 )
-                original_instances.append(original_instance)
+                if not parent_appended:
+                    original_instances.append(original_instance)
 
             # 调用driver的update回调
             func = getattr(self.driver_instance, "resource_tree_update", None)
@@ -881,9 +946,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 action = i.get("action")  # remove, add, update
                 resources_uuid: List[str] = i.get("data")  # 资源数据
                 additional_add_params = i.get("additional_add_params", {})  # 额外参数
-                self.lab_logger().info(
-                    f"[Resource Tree Update] Processing {action} operation, " f"resources count: {len(resources_uuid)}"
-                )
+                self.lab_logger().trace(f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}")
                 tree_set = None
                 if action in ["add", "update"]:
                     tree_set = await self.get_resource(
@@ -894,13 +957,29 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         if tree_set is None:
                             raise ValueError("tree_set不能为None")
                         plr_resources = tree_set.to_plr_resources()
-                        result = _handle_add(plr_resources, tree_set, additional_add_params)
-                        new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
+                        result, parents = _handle_add(plr_resources, tree_set, additional_add_params)
+                        parents: List[Optional["ResourcePLR"]] = [i for i in parents if i is not None]
+                        # de_dupe_parents = list(set(parents))
+                        # Fix unhashable type error for WareHouse
+                        de_dupe_parents = []
+                        _seen_ids = set()
+                        for p in parents:
+                            if id(p) not in _seen_ids:
+                                _seen_ids.add(id(p))
+                                de_dupe_parents.append(p)
+                        new_tree_set = ResourceTreeSet.from_plr_resources(de_dupe_parents)  # 去重
+                        for tree in new_tree_set.trees:
+                            if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node":
+                                tree.root_node.res_content.parent_uuid = self.uuid
                         r = SerialCommand.Request()
                         r.command = json.dumps(
-                            {"data": {"data": new_tree_set.dump()}, "action": "update"})  # 和Update Resource一致
+                            {"data": {"data": new_tree_set.dump()}, "action": "update"}
+                        )  # 和Update Resource一致
                         response: SerialCommand_Response = await self._resource_clients[
-                            "c2s_update_resource_tree"].call_async(r)  # type: ignore
+                            "c2s_update_resource_tree"
+                        ].call_async(
+                            r
+                        )  # type: ignore
                         self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
                         results.append(result)
                     elif action == "update":
@@ -914,12 +993,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
                         result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params)
                         if not BasicConfig.no_update_feedback:
-                            new_tree_set = ResourceTreeSet.from_plr_resources(original_instances)
+                            new_tree_set = ResourceTreeSet.from_plr_resources(original_instances)  # 去重
+                            for tree in new_tree_set.trees:
+                                if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node":
+                                    tree.root_node.res_content.parent_uuid = self.uuid
                             r = SerialCommand.Request()
                             r.command = json.dumps(
-                                {"data": {"data": new_tree_set.dump()}, "action": "update"})  # 和Update Resource一致
+                                {"data": {"data": new_tree_set.dump()}, "action": "update"}
+                            )  # 和Update Resource一致
                             response: SerialCommand_Response = await self._resource_clients[
-                                "c2s_update_resource_tree"].call_async(r)  # type: ignore
+                                "c2s_update_resource_tree"
+                            ].call_async(
+                                r
+                            )  # type: ignore
                             self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
                         results.append(result)
                     elif action == "remove":
@@ -934,15 +1020,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             # 返回处理结果
             result_json = {"results": results, "total": len(data)}
             res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder)
-            self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
+            # self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
 
         except json.JSONDecodeError as e:
             error_msg = f"Invalid JSON format: {str(e)}"
-            self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
+            self.lab_logger().error(f"[资源同步] {error_msg}")
             res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
         except Exception as e:
             error_msg = f"Unexpected error: {str(e)}"
-            self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
+            self.lab_logger().error(f"[资源同步] {error_msg}")
             self.lab_logger().error(traceback.format_exc())
             res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
 
@@ -1263,7 +1349,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
 
             action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
-            self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
+            self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {str(action_kwargs)[:1000]}")
+            self.lab_logger().trace(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
             error_skip = False
             # 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
             if action_name not in ["create_resource_detailed", "create_resource"]:
@@ -1277,21 +1364,41 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
 
                             # 批量查询资源
-                            queried_resources = []
-                            for resource_data in resource_inputs:
-                                plr_resource = await self.get_resource_with_dir(
-                                    resource_id=resource_data["id"], with_children=True
-                                )
-                                if "sample_id" in resource_data:
-                                    plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
-                                queried_resources.append(plr_resource)
+                            queried_resources: list = [None] * len(resource_inputs)
+                            uuid_indices: list[tuple[int, str, dict]] = []  # (index, uuid, resource_data)
+
+                            # 第一遍：处理没有uuid的资源，收集有uuid的资源信息
+                            for idx, resource_data in enumerate(resource_inputs):
+                                unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
+                                if unilabos_uuid is None:
+                                    plr_resource = await self.get_resource_with_dir(
+                                        resource_id=resource_data["id"], with_children=True
+                                    )
+                                    if "sample_id" in resource_data:
+                                        plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
+                                    queried_resources[idx] = plr_resource
+                                else:
+                                    uuid_indices.append((idx, unilabos_uuid, resource_data))
+
+                            # 第二遍：批量查询有uuid的资源
+                            if uuid_indices:
+                                uuids = [item[1] for item in uuid_indices]
+                                resource_tree = await self.get_resource(uuids)
+                                plr_resources = resource_tree.to_plr_resources()
+                                for i, (idx, _, resource_data) in enumerate(uuid_indices):
+                                    plr_resource = plr_resources[i]
+                                    if "sample_id" in resource_data:
+                                        plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
+                                    queried_resources[idx] = plr_resource
 
                             self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
 
                             # 通过资源跟踪器获取本地实例
                             final_resources = queried_resources if is_sequence else queried_resources[0]
                             if not is_sequence:
-                                plr = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
+                                plr = self.resource_tracker.figure_resource(
+                                    {"name": final_resources.name}, try_mode=False
+                                )
                                 # 保留unilabos_extra
                                 if hasattr(final_resources, "unilabos_extra") and hasattr(plr, "unilabos_extra"):
                                     plr.unilabos_extra = getattr(final_resources, "unilabos_extra", {}).copy()
@@ -1331,6 +1438,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             except Exception as _:
                                 execution_error = traceback.format_exc()
                                 error(
+                                    f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}"
+                                )
+                                trace(
                                     f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
                                 )
 
@@ -1352,6 +1462,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         except Exception as _:
                             execution_error = traceback.format_exc()
                             error(
+                                f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}"
+                            )
+                            trace(
                                 f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
                             )
 
@@ -1420,11 +1533,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             if isinstance(rs, list):
                                 for r in rs:
                                     res = self.resource_tracker.parent_resource(r)  # 获取 resource 对象
+                                    if res is None:
+                                        res = rs
+                                    if id(res) not in seen:
+                                        seen.add(id(res))
+                                        unique_resources.append(res)
                             else:
-                                res = self.resource_tracker.parent_resource(r)
-                            if id(res) not in seen:
-                                seen.add(id(res))
-                                unique_resources.append(res)
+                                res = self.resource_tracker.parent_resource(rs)
+                                if res is None:
+                                    res = rs
+                                if id(res) not in seen:
+                                    seen.add(id(res))
+                                    unique_resources.append(res)
 
                         # 使用新的资源树接口
                         if unique_resources:
@@ -1476,20 +1596,39 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         try:
             function_name = target["function_name"]
             function_args = target["function_args"]
+            # 获取 unilabos 系统参数
+            unilabos_param: Dict[str, Any] = target[JSON_UNILABOS_PARAM]
+
             assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
             function = getattr(self.driver_instance, function_name)
             assert callable(
                 function
             ), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
 
-            # 处理 ResourceSlot 类型参数
-            args_list = default_manager._analyze_method_signature(function)["args"]
+            # 处理参数（包含 unilabos 系统参数如 sample_uuids）
+            args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
             for arg in args_list:
                 arg_name = arg["name"]
                 arg_type = arg["type"]
 
                 # 跳过不在 function_args 中的参数
                 if arg_name not in function_args:
+                    # 处理 sample_uuids 参数注入
+                    if arg_name == PARAM_SAMPLE_UUIDS:
+                        raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
+                        # 将 material uuid 转换为 resource 实例
+                        # key: sample_uuid, value: material_uuid -> resource 实例
+                        resolved_sample_uuids: Dict[str, Any] = {}
+                        for sample_uuid, material_uuid in raw_sample_uuids.items():
+                            if material_uuid and self.resource_tracker:
+                                resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
+                                resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
+                            else:
+                                resolved_sample_uuids[sample_uuid] = material_uuid
+                        function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
+                        self.lab_logger().debug(
+                            f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
+                        )
                     continue
 
                 # 处理单个 ResourceSlot
@@ -1497,8 +1636,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     resource_data = function_args[arg_name]
                     if isinstance(resource_data, dict) and "id" in resource_data:
                         try:
-                            converted_resource = self._convert_resource_sync(resource_data)
-                            function_args[arg_name] = converted_resource
+                            function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
                         except Exception as e:
                             self.lab_logger().error(
                                 f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
@@ -1512,68 +1650,87 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         resource_list = function_args[arg_name]
                         if isinstance(resource_list, list):
                             try:
-                                converted_resources = []
-                                for resource_data in resource_list:
-                                    if isinstance(resource_data, dict) and "id" in resource_data:
-                                        converted_resource = self._convert_resource_sync(resource_data)
-                                        converted_resources.append(converted_resource)
-                                function_args[arg_name] = converted_resources
+                                uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
+                                function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
                             except Exception as e:
                                 self.lab_logger().error(
                                     f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
                                 )
                                 raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
 
+            # todo: 默认反报送
             return function(**function_args)
         except KeyError as ex:
             raise JsonCommandInitError(
                 f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
             )
 
-    def _convert_resource_sync(self, resource_data: Dict[str, Any]):
-        """同步转换资源数据为实例"""
-        # 创建资源查询请求
-        r = SerialCommand.Request()
-        r.command = json.dumps(
-            {
-                "id": resource_data.get("id", None),
-                "uuid": resource_data.get("uuid", None),
-                "with_children": True,
-            }
-        )
+    def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]:
+        """同步转换资源 UUID 为实例
 
-        # 同步调用资源查询服务
-        future = self._resource_clients["resource_get"].call_async(r)
+        Args:
+            *uuids: 一个或多个资源 UUID
+
+        Returns:
+            单个 UUID 时返回单个资源实例，多个 UUID 时返回资源实例列表
+        """
+        if not uuids:
+            raise ValueError("至少需要提供一个 UUID")
+
+        uuids_list = list(uuids)
+        future = self._resource_clients["c2s_update_resource_tree"].call_async(
+            SerialCommand.Request(
+                command=json.dumps(
+                    {
+                        "data": {"data": uuids_list, "with_children": True},
+                        "action": "get",
+                    }
+                )
+            )
+        )
 
         # 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒）
         timeout = 30.0
         elapsed = 0.0
         while not future.done() and elapsed < timeout:
-            time.sleep(0.05)
-            elapsed += 0.05
+            time.sleep(0.02)
+            elapsed += 0.02
 
         if not future.done():
-            raise Exception(f"资源查询超时: {resource_data}")
+            raise Exception(f"资源查询超时: {uuids_list}")
 
         response = future.result()
         if response is None:
-            raise Exception(f"资源查询返回空结果: {resource_data}")
+            raise Exception(f"资源查询返回空结果: {uuids_list}")
 
         raw_data = json.loads(response.response)
 
         # 转换为 PLR 资源
         tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
-        plr_resource = tree_set.to_plr_resources()[0]
+        if not len(tree_set.trees):
+            raise Exception(f"资源查询返回空树: {raw_data}")
+        plr_resources = tree_set.to_plr_resources()
 
         # 通过资源跟踪器获取本地实例
-        res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
-        if len(res) == 0:
-            self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
-            return plr_resource
-        elif len(res) == 1:
-            return res[0]
-        else:
-            raise ValueError(f"资源转换得到多个实例: {res}")
+        figured_resources: List[ResourcePLR] = []
+        for plr_resource, tree in zip(plr_resources, tree_set.trees):
+            res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
+            if len(res) == 0:
+                self.lab_logger().warning(f"资源转换未能索引到实例: {tree.root_node.res_content}，返回新建实例")
+                figured_resources.append(plr_resource)
+            elif len(res) == 1:
+                figured_resources.append(res[0])
+            else:
+                raise ValueError(f"资源转换得到多个实例: {res}")
+
+        mapped_plr_resources = []
+        for uuid in uuids_list:
+            for plr_resource in figured_resources:
+                r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
+                mapped_plr_resources.append(r)
+                break
+
+        return mapped_plr_resources
 
     async def _execute_driver_command_async(self, string: str):
         try:
@@ -1588,6 +1745,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         try:
             function_name = target["function_name"]
             function_args = target["function_args"]
+            # 获取 unilabos 系统参数
+            unilabos_param: Dict[str, Any] = target.get(JSON_UNILABOS_PARAM, {})
+
             assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
             function = getattr(self.driver_instance, function_name)
             assert callable(
@@ -1597,14 +1757,30 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 function
             ), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
 
-            # 处理 ResourceSlot 类型参数
-            args_list = default_manager._analyze_method_signature(function)["args"]
+            # 处理参数（包含 unilabos 系统参数如 sample_uuids）
+            args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
             for arg in args_list:
                 arg_name = arg["name"]
                 arg_type = arg["type"]
 
                 # 跳过不在 function_args 中的参数
                 if arg_name not in function_args:
+                    # 处理 sample_uuids 参数注入
+                    if arg_name == PARAM_SAMPLE_UUIDS:
+                        raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
+                        # 将 material uuid 转换为 resource 实例
+                        # key: sample_uuid, value: material_uuid -> resource 实例
+                        resolved_sample_uuids: Dict[str, Any] = {}
+                        for sample_uuid, material_uuid in raw_sample_uuids.items():
+                            if material_uuid and self.resource_tracker:
+                                resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
+                                resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
+                            else:
+                                resolved_sample_uuids[sample_uuid] = material_uuid
+                        function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
+                        self.lab_logger().debug(
+                            f"[JsonCommandAsync] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
+                        )
                     continue
 
                 # 处理单个 ResourceSlot
@@ -1694,6 +1870,15 @@ class ROS2DeviceNode:
     它不继承设备类，而是通过代理模式访问设备类的属性和方法。
     """
 
+    # 类变量，用于循环管理
+    _asyncio_loop = None
+    _asyncio_loop_running = False
+    _asyncio_loop_thread = None
+
+    @classmethod
+    def get_asyncio_loop(cls):
+        return cls._asyncio_loop
+
     @staticmethod
     async def safe_task_wrapper(trace_callback, func, **kwargs):
         try:
@@ -1770,6 +1955,11 @@ class ROS2DeviceNode:
             print_publish: 是否打印发布信息
             driver_is_ros:
         """
+        # 在初始化时检查循环状态
+        if ROS2DeviceNode._asyncio_loop_running and ROS2DeviceNode._asyncio_loop_thread is not None:
+            pass
+        elif ROS2DeviceNode._asyncio_loop_thread is None:
+            self._start_loop()
 
         # 保存设备类是否支持异步上下文
         self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
@@ -1861,6 +2051,19 @@ class ROS2DeviceNode:
             except Exception as e:
                 self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
 
+    def _start_loop(self):
+        def run_event_loop():
+            loop = asyncio.new_event_loop()
+            ROS2DeviceNode._asyncio_loop = loop
+            asyncio.set_event_loop(loop)
+            loop.run_forever()
+
+        ROS2DeviceNode._asyncio_loop_thread = threading.Thread(
+            target=run_event_loop, daemon=True, name="ROS2DeviceNode"
+        )
+        ROS2DeviceNode._asyncio_loop_thread.start()
+        logger.info(f"循环线程已启动")
+
 
 class DeviceInfoType(TypedDict):
     id: str

unilabos/ros/nodes/presets/host_node.py

@@ -1,16 +1,17 @@
 import collections
-from dataclasses import dataclass, field
 import json
 import threading
 import time
 import traceback
 import uuid
-from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, TypedDict, Union
+from dataclasses import dataclass, field
+from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
 
 from action_msgs.msg import GoalStatus
 from geometry_msgs.msg import Point
 from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
 from rclpy.service import Service
+from typing_extensions import TypedDict
 from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos_msgs.srv import (
     ResourceAdd,
@@ -22,9 +23,20 @@ from unilabos_msgs.srv import (
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
 
+from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
 from unilabos.registry.registry import lab_registry
+from unilabos.resources.container import RegularContainer
 from unilabos.resources.graphio import initialize_resource
 from unilabos.resources.registry import add_schema
+from unilabos.resources.resource_tracker import (
+    ResourceDict,
+    ResourceDictInstance,
+    ResourceTreeSet,
+    ResourceTreeInstance,
+    RETURN_UNILABOS_SAMPLES,
+    JSON_UNILABOS_PARAM,
+    PARAM_SAMPLE_UUIDS,
+)
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
     get_msg_type,
@@ -35,17 +47,10 @@ from unilabos.ros.msgs.message_converter import (
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
-from unilabos.resources.resource_tracker import (
-    ResourceDict,
-    ResourceDictInstance,
-    ResourceTreeSet,
-    ResourceTreeInstance,
-)
 from unilabos.utils import logger
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.log import warning
 from unilabos.utils.type_check import serialize_result_info
-from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
 
 if TYPE_CHECKING:
     from unilabos.app.ws_client import QueueItem
@@ -61,6 +66,18 @@ class TestResourceReturn(TypedDict):
     devices: List[DeviceSlot]
 
 
+class TestLatencyReturn(TypedDict):
+    """test_latency方法的返回值类型"""
+
+    avg_rtt_ms: float
+    avg_time_diff_ms: float
+    max_time_error_ms: float
+    task_delay_ms: float
+    raw_delay_ms: float
+    test_count: int
+    status: str
+
+
 class HostNode(BaseROS2DeviceNode):
     """
     主机节点类，负责管理设备、资源和控制器
@@ -361,8 +378,7 @@ class HostNode(BaseROS2DeviceNode):
             request.command = ""
             future = sclient.call_async(request)
             # Use timeout for result as well
-            future.result(timeout_sec=5.0)
-            self.lab_logger().debug(f"[Host Node] Re-register completed for {device_namespace}")
+            future.result()
         except Exception as e:
             # Gracefully handle destruction during shutdown
             if "destruction was requested" in str(e) or self._shutting_down:
@@ -586,11 +602,10 @@ class HostNode(BaseROS2DeviceNode):
         )
 
         try:
-            new_li = []
+            assert len(response) == 1, "Create Resource应当只返回一个结果"
             for i in response:
                 res = json.loads(i)
-                new_li.append(res)
-            return {"resources": new_li, "liquid_input_resources": new_li}
+                return res
         except Exception as ex:
             pass
         _n = "\n"
@@ -743,6 +758,7 @@ class HostNode(BaseROS2DeviceNode):
         item: "QueueItem",
         action_type: str,
         action_kwargs: Dict[str, Any],
+        sample_material: Dict[str, str],
         server_info: Optional[Dict[str, Any]] = None,
     ) -> None:
         """
@@ -760,14 +776,14 @@ class HostNode(BaseROS2DeviceNode):
             if action_name.startswith("auto-"):
                 action_name = action_name[5:]
             action_id = f"/devices/{device_id}/_execute_driver_command"
-            action_kwargs = {
-                "string": json.dumps(
-                    {
-                        "function_name": action_name,
-                        "function_args": action_kwargs,
-                    }
-                )
+            json_command: Dict[str, Any] = {
+                "function_name": action_name,
+                "function_args": action_kwargs,
+                JSON_UNILABOS_PARAM: {
+                    PARAM_SAMPLE_UUIDS: sample_material,
+                },
             }
+            action_kwargs = {"string": json.dumps(json_command)}
             if action_type.startswith("UniLabJsonCommandAsync"):
                 action_id = f"/devices/{device_id}/_execute_driver_command_async"
         else:
@@ -778,24 +794,11 @@ class HostNode(BaseROS2DeviceNode):
             raise ValueError(f"ActionClient {action_id} not found.")
 
         action_client: ActionClient = self._action_clients[action_id]
-
-        # 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id"
-        def assign_sample_id(obj):
-            if isinstance(obj, dict):
-                if "sample_uuid" in obj:
-                    obj["sample_id"] = obj["sample_uuid"]
-                    obj.pop("sample_uuid")
-                for k, v in obj.items():
-                    if k != "unilabos_extra":
-                        assign_sample_id(v)
-            elif isinstance(obj, list):
-                for item in obj:
-                    assign_sample_id(item)
-
-        assign_sample_id(action_kwargs)
         goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
 
-        self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
+        # self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
+        self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}")
+        self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
         action_client.wait_for_server()
         goal_uuid_obj = UUID(uuid=list(u.bytes))
 
@@ -853,9 +856,14 @@ class HostNode(BaseROS2DeviceNode):
                         # 适配后端的一些额外处理
                         return_value = return_info.get("return_value")
                         if isinstance(return_value, dict):
-                            unilabos_samples = return_info.get("unilabos_samples")
-                            if isinstance(unilabos_samples, list):
-                                return_info["unilabos_samples"] = unilabos_samples
+                            unilabos_samples = return_value.pop(RETURN_UNILABOS_SAMPLES, None)
+                            if isinstance(unilabos_samples, list) and unilabos_samples:
+                                self.lab_logger().info(
+                                    f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): "
+                                    f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}"
+                                    f"{'...' if len(unilabos_samples) > 5 else ''}"
+                                )
+                                return_info["samples"] = unilabos_samples
                         suc = return_info.get("suc", False)
                         if not suc:
                             status = "failed"
@@ -881,7 +889,7 @@ class HostNode(BaseROS2DeviceNode):
             # 清理 _goals 中的记录
             if job_id in self._goals:
                 del self._goals[job_id]
-                self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")
+                self.lab_logger().trace(f"[Host Node] Removed goal {job_id[:8]} from _goals")
 
             # 存储结果供 HTTP API 查询
             try:
@@ -1133,11 +1141,11 @@ class HostNode(BaseROS2DeviceNode):
 
         接收序列化的 ResourceTreeSet 数据并进行处理
         """
-        self.lab_logger().info(f"[Host Node-Resource] Resource tree add request received")
         try:
             # 解析请求数据
             data = json.loads(request.command)
             action = data["action"]
+            self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received")
             data = data["data"]
             if action == "add":
                 await self._resource_tree_action_add_callback(data, response)
@@ -1161,7 +1169,7 @@ class HostNode(BaseROS2DeviceNode):
         """
         更新节点信息回调
         """
-        # self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
+        self.lab_logger().trace(f"[Host Node] Node info update request received: {request}")
         try:
             from unilabos.app.communication import get_communication_client
             from unilabos.app.web.client import HTTPClient, http_client
@@ -1243,7 +1251,7 @@ class HostNode(BaseROS2DeviceNode):
             data = json.loads(request.command)
             if "uuid" in data and data["uuid"] is not None:
                 http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
-            elif "id" in data and data["id"].startswith("/"):
+            elif "id" in data:
                 http_req = http_client.resource_get(data["id"], data["with_children"])
             else:
                 raise ValueError("没有使用正确的物料 id 或 uuid")
@@ -1326,10 +1334,20 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
         return response
 
-    def test_latency(self):
+    def test_latency(self) -> TestLatencyReturn:
         """
         测试网络延迟的action实现
         通过5次ping-pong机制校对时间误差并计算实际延迟
+
+        Returns:
+            TestLatencyReturn: 包含延迟测试结果的字典，包括：
+                - avg_rtt_ms: 平均往返时间（毫秒）
+                - avg_time_diff_ms: 平均时间差（毫秒）
+                - max_time_error_ms: 最大时间误差（毫秒）
+                - task_delay_ms: 实际任务延迟（毫秒），-1表示无法计算
+                - raw_delay_ms: 原始时间差（毫秒），-1表示无法计算
+                - test_count: 有效测试次数
+                - status: 测试状态，"success"表示成功，"all_timeout"表示全部超时
         """
         import uuid as uuid_module
 
@@ -1392,7 +1410,15 @@ class HostNode(BaseROS2DeviceNode):
 
         if not ping_results:
             self.lab_logger().error("❌ 所有ping-pong测试都失败了")
-            return {"status": "all_timeout"}
+            return {
+                "avg_rtt_ms": -1.0,
+                "avg_time_diff_ms": -1.0,
+                "max_time_error_ms": -1.0,
+                "task_delay_ms": -1.0,
+                "raw_delay_ms": -1.0,
+                "test_count": 0,
+                "status": "all_timeout",
+            }
 
         # 统计分析
         rtts = [r["rtt_ms"] for r in ping_results]
@@ -1400,7 +1426,7 @@ class HostNode(BaseROS2DeviceNode):
 
         avg_rtt_ms = sum(rtts) / len(rtts)
         avg_time_diff_ms = sum(time_diffs) / len(time_diffs)
-        max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs)))
+        max_time_diff_error_ms: float = max(abs(min(time_diffs)), abs(max(time_diffs)))
 
         self.lab_logger().info("-" * 50)
         self.lab_logger().info("[测试统计]")
@@ -1440,7 +1466,7 @@ class HostNode(BaseROS2DeviceNode):
 
         self.lab_logger().info("=" * 60)
 
-        return {
+        res: TestLatencyReturn = {
             "avg_rtt_ms": avg_rtt_ms,
             "avg_time_diff_ms": avg_time_diff_ms,
             "max_time_error_ms": max_time_diff_error_ms,
@@ -1451,12 +1477,23 @@ class HostNode(BaseROS2DeviceNode):
             "test_count": len(ping_results),
             "status": "success",
         }
+        return res
 
     def test_resource(
-        self, resource: ResourceSlot, resources: List[ResourceSlot], device: DeviceSlot, devices: List[DeviceSlot]
+        self,
+        resource: ResourceSlot = None,
+        resources: List[ResourceSlot] = None,
+        device: DeviceSlot = None,
+        devices: List[DeviceSlot] = None,
     ) -> TestResourceReturn:
+        if resources is None:
+            resources = []
+        if devices is None:
+            devices = []
+        if resource is None:
+            resource = RegularContainer("test_resource传入None")
         return {
-            "resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(),
+            "resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(),
             "devices": [device, *devices],
         }
 
@@ -1508,7 +1545,9 @@ class HostNode(BaseROS2DeviceNode):
 
             # 构建服务地址
             srv_address = f"/srv{namespace}/s2c_resource_tree"
-            self.lab_logger().info(f"[Host Node-Resource] Notifying {device_id} for resource tree {action} operation")
+            self.lab_logger().trace(
+                f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------"
+            )
 
             # 创建服务客户端
             sclient = self.create_client(SerialCommand, srv_address)
@@ -1543,8 +1582,8 @@ class HostNode(BaseROS2DeviceNode):
                 time.sleep(0.05)
 
             response = future.result()
-            self.lab_logger().info(
-                f"[Host Node-Resource] Resource tree {action} notification completed for {device_id}"
+            self.lab_logger().trace(
+                f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------"
             )
             return True
 

unilabos/ros/nodes/presets/workstation.py

@@ -6,8 +6,6 @@ from typing import List, Dict, Any, Optional, TYPE_CHECKING
 
 import rclpy
 from rosidl_runtime_py import message_to_ordereddict
-from unilabos_msgs.msg import Resource
-from unilabos_msgs.srv import ResourceUpdate
 
 from unilabos.messages import *  # type: ignore  # protocol names
 from rclpy.action import ActionServer, ActionClient
@@ -15,7 +13,6 @@ from rclpy.action.server import ServerGoalHandle
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 
 from unilabos.compile import action_protocol_generators
-from unilabos.resources.graphio import nested_dict_to_list
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
     get_action_type,
@@ -231,15 +228,15 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                         try:
                             # 统一处理单个或多个资源
                             resource_id = (
-                                protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
+                                protocol_kwargs[k]["id"]
+                                if v == "unilabos_msgs/Resource"
+                                else protocol_kwargs[k][0]["id"]
                             )
                             resource_uuid = protocol_kwargs[k].get("uuid", None)
                             r = SerialCommand_Request()
                             r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True})
                             # 发送请求并等待响应
-                            response: SerialCommand_Response = await self._resource_clients[
-                                "resource_get"
-                            ].call_async(
+                            response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(
                                 r
                             )  # type: ignore
                             raw_data = json.loads(response.response)
@@ -307,12 +304,54 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
 
                 # 向Host更新物料当前状态
                 for k, v in goal.get_fields_and_field_types().items():
-                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                        r = ResourceUpdate.Request()
-                        r.resources = [
-                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
-                        ]
-                        response = await self._resource_clients["resource_update"].call_async(r)
+                    if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                        continue
+                    self.lab_logger().info(f"更新资源状态: {k}")
+                    try:
+                        # 去重：使用 seen 集合获取唯一的资源对象
+                        seen = set()
+                        unique_resources = []
+
+                        # 获取资源数据，统一转换为列表
+                        resource_data = protocol_kwargs[k]
+                        is_sequence = v != "unilabos_msgs/Resource"
+                        if not is_sequence:
+                            resource_list = [resource_data] if isinstance(resource_data, dict) else resource_data
+                        else:
+                            # 处理序列类型，可能是嵌套列表
+                            resource_list = []
+                            if isinstance(resource_data, list):
+                                for item in resource_data:
+                                    if isinstance(item, list):
+                                        resource_list.extend(item)
+                                    else:
+                                        resource_list.append(item)
+                            else:
+                                resource_list = [resource_data]
+
+                        for res_data in resource_list:
+                            if not isinstance(res_data, dict):
+                                continue
+                            res_name = res_data.get("id") or res_data.get("name")
+                            if not res_name:
+                                continue
+
+                            # 使用 resource_tracker 获取本地 PLR 实例
+                            plr = self.resource_tracker.figure_resource({"name": res_name}, try_mode=False)
+                            # 获取父资源
+                            res = self.resource_tracker.parent_resource(plr)
+                            if res is None:
+                                res = plr
+                            if id(res) not in seen:
+                                seen.add(id(res))
+                                unique_resources.append(res)
+
+                        # 使用新的资源树接口更新
+                        if unique_resources:
+                            await self.update_resource(unique_resources)
+                    except Exception as e:
+                        self.lab_logger().error(f"资源更新失败: {e}")
+                        self.lab_logger().error(traceback.format_exc())
 
                 # 设置成功状态和返回值
                 execution_success = True

unilabos/ros/utils/driver_creator.py

@@ -52,7 +52,8 @@ class DeviceClassCreator(Generic[T]):
         if self.device_instance is not None:
             for c in self.children:
                 if c.res_content.type != "device":
-                    self.resource_tracker.add_resource(c.get_plr_nested_dict())
+                    res = ResourceTreeSet([ResourceTreeInstance(c)]).to_plr_resources()[0]
+                    self.resource_tracker.add_resource(res)
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
@@ -119,7 +120,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
     #     return resource, source_type
 
     def _process_resource_references(
-        self, data: Any, to_dict=False, states=None, prefix_path="", name_to_uuid=None
+        self, data: Any, processed_child_names: Optional[Dict[str, Any]], to_dict=False, states=None, prefix_path="", name_to_uuid=None
     ) -> Any:
         """
         递归处理资源引用，替换_resource_child_name对应的资源
@@ -164,6 +165,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                                 states[prefix_path] = resource_instance.serialize_all_state()
                                 return serialized
                             else:
+                                processed_child_names[child_name] = resource_instance
                                 self.resource_tracker.add_resource(resource_instance)
                                 # 立即设置UUID，state已经在resource_ulab_to_plr中处理过了
                                 if name_to_uuid:
@@ -182,12 +184,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             result = {}
             for key, value in data.items():
                 new_prefix = f"{prefix_path}.{key}" if prefix_path else key
-                result[key] = self._process_resource_references(value, to_dict, states, new_prefix, name_to_uuid)
+                result[key] = self._process_resource_references(value, processed_child_names, to_dict, states, new_prefix, name_to_uuid)
             return result
 
         elif isinstance(data, list):
             return [
-                self._process_resource_references(item, to_dict, states, f"{prefix_path}[{i}]", name_to_uuid)
+                self._process_resource_references(item, processed_child_names, to_dict, states, f"{prefix_path}[{i}]", name_to_uuid)
                 for i, item in enumerate(data)
             ]
 
@@ -234,7 +236,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             # 首先处理资源引用
             states = {}
             processed_data = self._process_resource_references(
-                data, to_dict=True, states=states, name_to_uuid=name_to_uuid
+                data, {}, to_dict=True, states=states, name_to_uuid=name_to_uuid
             )
 
             try:
@@ -270,7 +272,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                         arg_value = spec_args[param_name].annotation
                         data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
                         logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
-                processed_data = self._process_resource_references(data, to_dict=False, name_to_uuid=name_to_uuid)
+                processed_child_names = {}
+                processed_data = self._process_resource_references(data, processed_child_names, to_dict=False, name_to_uuid=name_to_uuid)
+                for child_name, resource_instance in processed_data.items():
+                    for ind, name in enumerate([child.res_content.name for child in self.children]):
+                        if name == child_name:
+                            self.children.pop(ind)
                 self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data)  # 补全变量后直接调用，调用的自身的attach_resource
             except Exception as e:
                 logger.error(f"PyLabRobot创建实例失败: {e}")
@@ -342,9 +349,10 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
         try:
             # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
             data["children"] = self.children
-            for child in self.children:
-                if child.res_content.type != "device":
-                    self.resource_tracker.add_resource(child.get_plr_nested_dict())
+            # super(WorkstationNodeCreator, self).create_instance(data)的时候会attach
+            # for child in self.children:
+            #     if child.res_content.type != "device":
+            #         self.resource_tracker.add_resource(child.get_plr_nested_dict())
             deck_dict = data.get("deck")
             if deck_dict:
                 from pylabrobot.resources import Deck, Resource

unilabos/ros/x/rclpyx.py

@@ -1,182 +0,0 @@
-import asyncio
-from asyncio import events
-import threading
-
-import rclpy
-from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
-from rclpy.executors import await_or_execute, Executor
-from rclpy.action import ActionClient, ActionServer
-from rclpy.action.server import ServerGoalHandle, GoalResponse, GoalInfo, GoalStatus
-from std_msgs.msg import String
-from action_tutorials_interfaces.action import Fibonacci
-
-
-loop = None
-
-def get_event_loop():
-    global loop
-    return loop
-
-
-async def default_handle_accepted_callback_async(goal_handle):
-    """Execute the goal."""
-    await goal_handle.execute()
-
-
-class ServerGoalHandleX(ServerGoalHandle):
-    def __init__(self, *args, **kwargs):
-        super().__init__(*args, **kwargs)
-
-    async def execute(self, execute_callback=None):
-        # It's possible that there has been a request to cancel the goal prior to executing.
-        # In this case we want to avoid the illegal state transition to EXECUTING
-        # but still call the users execute callback to let them handle canceling the goal.
-        if not self.is_cancel_requested:
-            self._update_state(_rclpy.GoalEvent.EXECUTE)
-        await self._action_server.notify_execute_async(self, execute_callback)
-
-
-class ActionServerX(ActionServer):
-    def __init__(self, *args, **kwargs):
-        super().__init__(*args, **kwargs)
-        self.register_handle_accepted_callback(default_handle_accepted_callback_async)
-
-    async def _execute_goal_request(self, request_header_and_message):
-        request_header, goal_request = request_header_and_message
-        goal_uuid = goal_request.goal_id
-        goal_info = GoalInfo()
-        goal_info.goal_id = goal_uuid
-
-        self._node.get_logger().debug('New goal request with ID: {0}'.format(goal_uuid.uuid))
-
-        # Check if goal ID is already being tracked by this action server
-        with self._lock:
-            goal_id_exists = self._handle.goal_exists(goal_info)
-
-        accepted = False
-        if not goal_id_exists:
-            # Call user goal callback
-            response = await await_or_execute(self._goal_callback, goal_request.goal)
-            if not isinstance(response, GoalResponse):
-                self._node.get_logger().warning(
-                    'Goal request callback did not return a GoalResponse type. Rejecting goal.')
-            else:
-                accepted = GoalResponse.ACCEPT == response
-
-        if accepted:
-            # Stamp time of acceptance
-            goal_info.stamp = self._node.get_clock().now().to_msg()
-
-            # Create a goal handle
-            try:
-                with self._lock:
-                    goal_handle = ServerGoalHandleX(self, goal_info, goal_request.goal)
-            except RuntimeError as e:
-                self._node.get_logger().error(
-                    'Failed to accept new goal with ID {0}: {1}'.format(goal_uuid.uuid, e))
-                accepted = False
-            else:
-                self._goal_handles[bytes(goal_uuid.uuid)] = goal_handle
-
-        # Send response
-        response_msg = self._action_type.Impl.SendGoalService.Response()
-        response_msg.accepted = accepted
-        response_msg.stamp = goal_info.stamp
-        self._handle.send_goal_response(request_header, response_msg)
-
-        if not accepted:
-            self._node.get_logger().debug('New goal rejected: {0}'.format(goal_uuid.uuid))
-            return
-
-        self._node.get_logger().debug('New goal accepted: {0}'.format(goal_uuid.uuid))
-
-        # Provide the user a reference to the goal handle
-        # await await_or_execute(self._handle_accepted_callback, goal_handle)
-        asyncio.create_task(self._handle_accepted_callback(goal_handle))
-
-    async def notify_execute_async(self, goal_handle, execute_callback):
-        # Use provided callback, defaulting to a previously registered callback
-        if execute_callback is None:
-            if self._execute_callback is None:
-                return
-            execute_callback = self._execute_callback
-
-        # Schedule user callback for execution
-        self._node.get_logger().info(f"{events.get_running_loop()}")
-        asyncio.create_task(self._execute_goal(execute_callback, goal_handle))
-        # loop = asyncio.new_event_loop()
-        # asyncio.set_event_loop(loop)
-        # task = loop.create_task(self._execute_goal(execute_callback, goal_handle))
-        # await task
-
-
-class ActionClientX(ActionClient):
-    feedback_queue = asyncio.Queue()
-
-    async def feedback_cb(self, msg):
-        await self.feedback_queue.put(msg)
-
-    async def send_goal_async(self, goal_msg):
-        goal_future = super().send_goal_async(
-            goal_msg,
-            feedback_callback=self.feedback_cb
-        )
-        client_goal_handle = await asyncio.ensure_future(goal_future)
-        if not client_goal_handle.accepted:
-            raise Exception("Goal rejected.")
-        result_future = client_goal_handle.get_result_async()
-        while True:
-            feedback_future = asyncio.ensure_future(self.feedback_queue.get())
-            tasks = [result_future, feedback_future]
-            await asyncio.wait(tasks, return_when=asyncio.FIRST_COMPLETED)
-            if result_future.done():
-                result = result_future.result().result
-                yield (None, result)
-                break
-            else:
-                feedback = feedback_future.result().feedback
-                yield (feedback, None)
-
-
-async def main(node):
-    print('Node started.')
-    action_client = ActionClientX(node, Fibonacci, 'fibonacci')
-    goal_msg = Fibonacci.Goal()
-    goal_msg.order = 10
-    async for (feedback, result) in action_client.send_goal_async(goal_msg):
-        if feedback:
-            print(f'Feedback: {feedback}')
-        else:
-            print(f'Result: {result}')
-    print('Finished.')
-
-
-async def ros_loop_node(node):
-    while rclpy.ok():
-        rclpy.spin_once(node, timeout_sec=0)
-        await asyncio.sleep(1e-4)
-
-
-async def ros_loop(executor: Executor):
-    while rclpy.ok():
-        executor.spin_once(timeout_sec=0)
-        await asyncio.sleep(1e-4)
-
-
-def run_event_loop():
-    global loop
-    loop = asyncio.new_event_loop()
-    asyncio.set_event_loop(loop)
-    loop.run_forever()
-    
-
-def run_event_loop_in_thread():
-    thread = threading.Thread(target=run_event_loop, args=())
-    thread.start()
-
-
-if __name__ == "__main__":
-    rclpy.init()
-    node = rclpy.create_node('async_subscriber')
-    future = asyncio.wait([ros_loop(node), main()])
-    asyncio.get_event_loop().run_until_complete(future)

unilabos/test/experiments/dispensing_station_bioyond.json

@@ -9,49 +9,125 @@
             "parent": null,
             "type": "device",
             "class": "bioyond_dispensing_station",
-            "config": {
-                "config": {
-                    "api_key": "DE9BDDA0",
-                    "api_host": "http://192.168.1.200:44388",
-                    "material_type_mappings": {
-                        "BIOYOND_PolymerStation_1FlaskCarrier": [
-                            "烧杯",
-                            "3a14196b-24f2-ca49-9081-0cab8021bf1a"
-                        ],
-                        "BIOYOND_PolymerStation_1BottleCarrier": [
-                            "试剂瓶",
-                            "3a14196b-8bcf-a460-4f74-23f21ca79e72"
-                        ],
-                        "BIOYOND_PolymerStation_6StockCarrier": [
-                            "分装板",
-                            "3a14196e-5dfe-6e21-0c79-fe2036d052c4"
-                        ],
-                        "BIOYOND_PolymerStation_Liquid_Vial": [
-                            "10%分装小瓶",
-                            "3a14196c-76be-2279-4e22-7310d69aed68"
-                        ],
-                        "BIOYOND_PolymerStation_Solid_Vial": [
-                            "90%分装小瓶",
-                            "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
-                        ],
-                        "BIOYOND_PolymerStation_8StockCarrier": [
-                            "样品板",
-                            "3a14196e-b7a0-a5da-1931-35f3000281e9"
-                        ],
-                        "BIOYOND_PolymerStation_Solid_Stock": [
-                            "样品瓶",
-                            "3a14196a-cf7d-8aea-48d8-b9662c7dba94"
-                        ]
-                    }
-                },
-                "deck": {
-                    "data": {
-                        "_resource_child_name": "Bioyond_Dispensing_Deck",
-                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
-                    }
-                },
-                "protocol_type": []
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
             },
+            "config": {
+                "api_key": "YOUR_API_KEY",
+                "api_host": "http://your-api-host:port",
+                "material_type_mappings": {
+                    "BIOYOND_PolymerStation_1FlaskCarrier": [
+                        "烧杯",
+                        "uuid-placeholder-flask"
+                    ],
+                    "BIOYOND_PolymerStation_1BottleCarrier": [
+                        "试剂瓶",
+                        "uuid-placeholder-bottle"
+                    ],
+                    "BIOYOND_PolymerStation_6StockCarrier": [
+                        "分装板",
+                        "uuid-placeholder-stock-6"
+                    ],
+                    "BIOYOND_PolymerStation_Liquid_Vial": [
+                        "10%分装小瓶",
+                        "uuid-placeholder-liquid-vial"
+                    ],
+                    "BIOYOND_PolymerStation_Solid_Vial": [
+                        "90%分装小瓶",
+                        "uuid-placeholder-solid-vial"
+                    ],
+                    "BIOYOND_PolymerStation_8StockCarrier": [
+                        "样品板",
+                        "uuid-placeholder-stock-8"
+                    ],
+                    "BIOYOND_PolymerStation_Solid_Stock": [
+                        "样品瓶",
+                        "uuid-placeholder-solid-stock"
+                    ]
+                },
+                "warehouse_mapping": {
+                    "粉末堆栈": {
+                        "uuid": "uuid-placeholder-powder-stack",
+                        "site_uuids": {
+                            "A01": "uuid-placeholder-powder-A01",
+                            "A02": "uuid-placeholder-powder-A02",
+                            "A03": "uuid-placeholder-powder-A03",
+                            "A04": "uuid-placeholder-powder-A04",
+                            "B01": "uuid-placeholder-powder-B01",
+                            "B02": "uuid-placeholder-powder-B02",
+                            "B03": "uuid-placeholder-powder-B03",
+                            "B04": "uuid-placeholder-powder-B04",
+                            "C01": "uuid-placeholder-powder-C01",
+                            "C02": "uuid-placeholder-powder-C02",
+                            "C03": "uuid-placeholder-powder-C03",
+                            "C04": "uuid-placeholder-powder-C04",
+                            "D01": "uuid-placeholder-powder-D01",
+                            "D02": "uuid-placeholder-powder-D02",
+                            "D03": "uuid-placeholder-powder-D03",
+                            "D04": "uuid-placeholder-powder-D04"
+                        }
+                    },
+                    "溶液堆栈": {
+                        "uuid": "uuid-placeholder-liquid-stack",
+                        "site_uuids": {
+                            "A01": "uuid-placeholder-liquid-A01",
+                            "A02": "uuid-placeholder-liquid-A02",
+                            "A03": "uuid-placeholder-liquid-A03",
+                            "A04": "uuid-placeholder-liquid-A04",
+                            "B01": "uuid-placeholder-liquid-B01",
+                            "B02": "uuid-placeholder-liquid-B02",
+                            "B03": "uuid-placeholder-liquid-B03",
+                            "B04": "uuid-placeholder-liquid-B04",
+                            "C01": "uuid-placeholder-liquid-C01",
+                            "C02": "uuid-placeholder-liquid-C02",
+                            "C03": "uuid-placeholder-liquid-C03",
+                            "C04": "uuid-placeholder-liquid-C04",
+                            "D01": "uuid-placeholder-liquid-D01",
+                            "D02": "uuid-placeholder-liquid-D02",
+                            "D03": "uuid-placeholder-liquid-D03",
+                            "D04": "uuid-placeholder-liquid-D04"
+                        }
+                    },
+                    "试剂堆栈": {
+                        "uuid": "uuid-placeholder-reagent-stack",
+                        "site_uuids": {
+                            "A01": "uuid-placeholder-reagent-A01",
+                            "A02": "uuid-placeholder-reagent-A02",
+                            "A03": "uuid-placeholder-reagent-A03",
+                            "A04": "uuid-placeholder-reagent-A04",
+                            "B01": "uuid-placeholder-reagent-B01",
+                            "B02": "uuid-placeholder-reagent-B02",
+                            "B03": "uuid-placeholder-reagent-B03",
+                            "B04": "uuid-placeholder-reagent-B04"
+                        }
+                    }
+                },
+                "http_service_config": {
+                    "http_service_host": "127.0.0.1",
+                    "http_service_port": 8080
+                },
+                "material_default_parameters": {
+                    "NMP": {
+                        "unit": "毫升",
+                        "density": "1.03",
+                        "densityUnit": "g/mL",
+                        "description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
+                    }
+                },
+                "material_type_parameters": {}
+            },
+            "deck": {
+                "data": {
+                    "_resource_child_name": "Bioyond_Dispensing_Deck",
+                    "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
+                }
+            },
+            "size_x": 2700.0,
+            "size_y": 1080.0,
+            "size_z": 1500.0,
+            "protocol_type": [],
             "data": {}
         },
         {
@@ -80,4 +156,4 @@
             "data": {}
         }
     ]
-}
+}

unilabos/test/experiments/prcxi_9320_slim.json

@@ -0,0 +1,795 @@
+{
+  "nodes": [
+    {
+      "id": "PRCXI",
+      "name": "PRCXI",
+      "type": "device",
+      "class": "liquid_handler.prcxi",
+      "parent": "",
+      "pose": {
+        "size": {
+          "width": 562,
+          "height": 394,
+          "depth": 0
+        }
+      },
+      "config": {
+        "axis": "Left",
+        "deck": {
+          "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
+          "_resource_child_name": "PRCXI_Deck"
+        },
+        "host": "10.20.30.184",
+        "port": 9999,
+        "debug": true,
+        "setup": true,
+        "is_9320": true,
+        "timeout": 10,
+        "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
+        "simulator": true,
+        "channel_num": 2
+      },
+      "data": {
+        "reset_ok": true
+      },
+      "schema": {},
+      "description": "",
+      "model": null,
+      "position": {
+        "x": 0,
+        "y": 240,
+        "z": 0
+      }
+    },
+    {
+      "id": "PRCXI_Deck",
+      "name": "PRCXI_Deck",
+
+      "children": [],
+      "parent": "PRCXI",
+      "type": "deck",
+      "class": "",
+      "position": {
+        "x": 10,
+        "y": 10,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Deck",
+        "size_x": 542,
+        "size_y": 374,
+        "size_z": 0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "deck",
+        "barcode": null
+      },
+      "data": {}
+    },
+    {
+      "id": "T1",
+      "name": "T1",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 288,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T1",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T2",
+      "name": "T2",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 138,
+        "y": 288,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T2",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T3",
+      "name": "T3",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 276,
+        "y": 288,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T3",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T4",
+      "name": "T4",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 414,
+        "y": 288,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T4",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T5",
+      "name": "T5",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 192,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T5",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T6",
+      "name": "T6",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 138,
+        "y": 192,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T6",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T7",
+      "name": "T7",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 276,
+        "y": 192,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T7",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T8",
+      "name": "T8",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 414,
+        "y": 192,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T8",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T9",
+      "name": "T9",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 96,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T9",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T10",
+      "name": "T10",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 138,
+        "y": 96,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T10",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T11",
+      "name": "T11",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 276,
+        "y": 96,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T11",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T12",
+      "name": "T12",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 414,
+        "y": 96,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T12",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T13",
+      "name": "T13",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T13",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T14",
+      "name": "T14",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 138,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T14",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T15",
+      "name": "T15",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 276,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T15",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T16",
+      "name": "T16",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 414,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T16",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    }
+  ],
+  "edges": []
+}

unilabos/test/experiments/reaction_station_bioyond.json

@@ -14,60 +14,200 @@
             ],
             "type": "device",
             "class": "reaction_station.bioyond",
-            "position": {"x": 0, "y": 3800, "z": 0},
-            "config": {
-                "config": {
-                    "api_key": "DE9BDDA0",
-                    "api_host": "http://192.168.1.200:44402",
-                    "workflow_mappings": {
-                        "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
-                        "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
-                        "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
-                        "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
-                        "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
-                        "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
-                        "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
-                        "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
-                    },
-                    "material_type_mappings": {
-                        "BIOYOND_PolymerStation_Reactor": [
-                            "反应器",
-                            "3a14233b-902d-0d7b-4533-3f60f1c41c1b"
-                        ],
-                        "BIOYOND_PolymerStation_1BottleCarrier": [
-                            "试剂瓶",
-                            "3a14233b-56e3-6c53-a8ab-fcaac163a9ba"
-                        ],
-                        "BIOYOND_PolymerStation_1FlaskCarrier": [
-                            "烧杯",
-                            "3a14233b-f0a9-ba84-eaa9-0d4718b361b6"
-                        ],
-                        "BIOYOND_PolymerStation_6StockCarrier": [
-                            "样品板",
-                            "3a142339-80de-8f25-6093-1b1b1b6c322e"
-                        ],
-                        "BIOYOND_PolymerStation_Solid_Vial": [
-                            "90%分装小瓶",
-                            "3a14233a-26e1-28f8-af6a-60ca06ba0165"
-                        ],
-                        "BIOYOND_PolymerStation_Liquid_Vial": [
-                            "10%分装小瓶",
-                            "3a14233a-84a3-088d-6676-7cb4acd57c64"
-                        ],
-                        "BIOYOND_PolymerStation_TipBox": [
-                            "枪头盒",
-                            "3a143890-9d51-60ac-6d6f-6edb43c12041"
-                        ]
-                    }
-                },
-                "deck": {
-                    "data": {
-                        "_resource_child_name": "Bioyond_Deck",
-                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
-                    }
-                },
-                "protocol_type": []
+            "position": {
+                "x": 0,
+                "y": 1100,
+                "z": 0
             },
+            "config": {
+                "api_key": "YOUR_API_KEY",
+                "api_host": "http://your-api-host:port",
+                "workflow_mappings": {
+                    "reactor_taken_out": "workflow-uuid-reactor-out",
+                    "reactor_taken_in": "workflow-uuid-reactor-in",
+                    "Solid_feeding_vials": "workflow-uuid-solid-vials",
+                    "Liquid_feeding_vials(non-titration)": "workflow-uuid-liquid-vials",
+                    "Liquid_feeding_solvents": "workflow-uuid-solvents",
+                    "Liquid_feeding(titration)": "workflow-uuid-titration",
+                    "liquid_feeding_beaker": "workflow-uuid-beaker",
+                    "Drip_back": "workflow-uuid-drip-back"
+                },
+                "material_type_mappings": {
+                    "BIOYOND_PolymerStation_Reactor": [
+                        "反应器",
+                        "uuid-placeholder-reactor"
+                    ],
+                    "BIOYOND_PolymerStation_1BottleCarrier": [
+                        "试剂瓶",
+                        "uuid-placeholder-bottle"
+                    ],
+                    "BIOYOND_PolymerStation_1FlaskCarrier": [
+                        "烧杯",
+                        "uuid-placeholder-beaker"
+                    ],
+                    "BIOYOND_PolymerStation_6StockCarrier": [
+                        "样品板",
+                        "uuid-placeholder-sample-plate"
+                    ],
+                    "BIOYOND_PolymerStation_Solid_Vial": [
+                        "90%分装小瓶",
+                        "uuid-placeholder-solid-vial"
+                    ],
+                    "BIOYOND_PolymerStation_Liquid_Vial": [
+                        "10%分装小瓶",
+                        "uuid-placeholder-liquid-vial"
+                    ],
+                    "BIOYOND_PolymerStation_TipBox": [
+                        "枪头盒",
+                        "uuid-placeholder-tipbox"
+                    ],
+                    "BIOYOND_PolymerStation_Measurement_Vial": [
+                        "测量小瓶",
+                        "uuid-placeholder-measure-vial"
+                    ]
+                },
+                "warehouse_mapping": {
+                    "堆栈1左": {
+                        "uuid": "uuid-placeholder-stack1-left",
+                        "site_uuids": {
+                            "A01": "uuid-placeholder-site-A01",
+                            "A02": "uuid-placeholder-site-A02",
+                            "A03": "uuid-placeholder-site-A03",
+                            "A04": "uuid-placeholder-site-A04",
+                            "B01": "uuid-placeholder-site-B01",
+                            "B02": "uuid-placeholder-site-B02",
+                            "B03": "uuid-placeholder-site-B03",
+                            "B04": "uuid-placeholder-site-B04",
+                            "C01": "uuid-placeholder-site-C01",
+                            "C02": "uuid-placeholder-site-C02",
+                            "C03": "uuid-placeholder-site-C03",
+                            "C04": "uuid-placeholder-site-C04",
+                            "D01": "uuid-placeholder-site-D01",
+                            "D02": "uuid-placeholder-site-D02",
+                            "D03": "uuid-placeholder-site-D03",
+                            "D04": "uuid-placeholder-site-D04"
+                        }
+                    },
+                    "堆栈1右": {
+                        "uuid": "uuid-placeholder-stack1-right",
+                        "site_uuids": {
+                            "A05": "uuid-placeholder-site-A05",
+                            "A06": "uuid-placeholder-site-A06",
+                            "A07": "uuid-placeholder-site-A07",
+                            "A08": "uuid-placeholder-site-A08",
+                            "B05": "uuid-placeholder-site-B05",
+                            "B06": "uuid-placeholder-site-B06",
+                            "B07": "uuid-placeholder-site-B07",
+                            "B08": "uuid-placeholder-site-B08",
+                            "C05": "uuid-placeholder-site-C05",
+                            "C06": "uuid-placeholder-site-C06",
+                            "C07": "uuid-placeholder-site-C07",
+                            "C08": "uuid-placeholder-site-C08",
+                            "D05": "uuid-placeholder-site-D05",
+                            "D06": "uuid-placeholder-site-D06",
+                            "D07": "uuid-placeholder-site-D07",
+                            "D08": "uuid-placeholder-site-D08"
+                        }
+                    },
+                    "站内试剂存放堆栈": {
+                        "uuid": "uuid-placeholder-reagent-stack",
+                        "site_uuids": {
+                            "A01": "uuid-placeholder-reagent-A01",
+                            "A02": "uuid-placeholder-reagent-A02"
+                        }
+                    },
+                    "测量小瓶仓库(测密度)": {
+                        "uuid": "uuid-placeholder-density-stack",
+                        "site_uuids": {
+                            "A01": "uuid-placeholder-density-A01",
+                            "A02": "uuid-placeholder-density-A02",
+                            "A03": "uuid-placeholder-density-A03",
+                            "B01": "uuid-placeholder-density-B01",
+                            "B02": "uuid-placeholder-density-B02",
+                            "B03": "uuid-placeholder-density-B03"
+                        }
+                    },
+                    "站内Tip盒堆栈(左)": {
+                        "uuid": "uuid-placeholder-tipstack-left",
+                        "site_uuids": {
+                            "A02": "uuid-placeholder-tip-A02",
+                            "A03": "uuid-placeholder-tip-A03",
+                            "B02": "uuid-placeholder-tip-B02",
+                            "B03": "uuid-placeholder-tip-B03"
+                        }
+                    },
+                    "站内Tip盒堆栈(右)": {
+                        "uuid": "uuid-placeholder-tipstack-right",
+                        "site_uuids": {
+                            "A01": "uuid-placeholder-tip-A01",
+                            "B01": "uuid-placeholder-tip-B01"
+                        }
+                    }
+                },
+                "workflow_to_section_map": {
+                    "reactor_taken_in": "反应器放入",
+                    "reactor_taken_out": "反应器取出",
+                    "Solid_feeding_vials": "固体投料-小瓶",
+                    "Liquid_feeding_vials(non-titration)": "液体投料-小瓶（非滴定）",
+                    "Liquid_feeding_solvents": "液体投料-溶剂",
+                    "Liquid_feeding(titration)": "液体投料-滴定",
+                    "liquid_feeding_beaker": "液体投料-烧杯",
+                    "Drip_back": "液体回滴"
+                },
+                "action_names": {
+                    "reactor_taken_in": {
+                        "config": "通量-配置",
+                        "stirring": "反应模块-开始搅拌"
+                    },
+                    "solid_feeding_vials": {
+                        "feeding": "粉末加样模块-投料",
+                        "observe": "反应模块-观察搅拌结果"
+                    },
+                    "liquid_feeding_vials_non_titration": {
+                        "liquid": "稀释液瓶加液位-液体投料",
+                        "observe": "反应模块-滴定结果观察"
+                    },
+                    "liquid_feeding_solvents": {
+                        "liquid": "试剂AB放置位-试剂吸液分液",
+                        "observe": "反应模块-观察搅拌结果"
+                    },
+                    "liquid_feeding_titration": {
+                        "liquid": "稀释液瓶加液位-稀释液吸液分液",
+                        "observe": "反应模块-滴定结果观察"
+                    },
+                    "liquid_feeding_beaker": {
+                        "liquid": "烧杯溶液放置位-烧杯吸液分液",
+                        "observe": "反应模块-观察搅拌结果"
+                    },
+                    "drip_back": {
+                        "liquid": "试剂AB放置位-试剂吸液分液",
+                        "observe": "反应模块-向下滴定结果观察"
+                    }
+                },
+                "http_service_config": {
+                    "http_service_host": "127.0.0.1",
+                    "http_service_port": 8080
+                },
+                "material_default_parameters": {
+                    "NMP": {
+                        "unit": "毫升",
+                        "density": "1.03",
+                        "densityUnit": "g/mL",
+                        "description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
+                    }
+                },
+                "material_type_parameters": {}
+            },
+            "deck": {
+                "data": {
+                    "_resource_child_name": "Bioyond_Deck",
+                    "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
+                }
+            },
+            "size_x": 2700.0,
+            "size_y": 1080.0,
+            "size_z": 2500.0,
+            "protocol_type": [],
             "data": {}
         },
         {
@@ -77,7 +217,11 @@
             "parent": "reaction_station_bioyond",
             "type": "device",
             "class": "reaction_station.reactor",
-            "position": {"x": 1150, "y": 380, "z": 0},
+            "position": {
+                "x": 1150,
+                "y": 300,
+                "z": 0
+            },
             "config": {},
             "data": {}
         },
@@ -88,7 +232,11 @@
             "parent": "reaction_station_bioyond",
             "type": "device",
             "class": "reaction_station.reactor",
-            "position": {"x": 1365, "y": 380, "z": 0},
+            "position": {
+                "x": 1365,
+                "y": 300,
+                "z": 0
+            },
             "config": {},
             "data": {}
         },
@@ -99,7 +247,11 @@
             "parent": "reaction_station_bioyond",
             "type": "device",
             "class": "reaction_station.reactor",
-            "position": {"x": 1580, "y": 380, "z": 0},
+            "position": {
+                "x": 1580,
+                "y": 300,
+                "z": 0
+            },
             "config": {},
             "data": {}
         },
@@ -110,7 +262,11 @@
             "parent": "reaction_station_bioyond",
             "type": "device",
             "class": "reaction_station.reactor",
-            "position": {"x": 1790, "y": 380, "z": 0},
+            "position": {
+                "x": 1790,
+                "y": 300,
+                "z": 0
+            },
             "config": {},
             "data": {}
         },
@@ -121,7 +277,11 @@
             "parent": "reaction_station_bioyond",
             "type": "device",
             "class": "reaction_station.reactor",
-            "position": {"x": 2010, "y": 380, "z": 0},
+            "position": {
+                "x": 2010,
+                "y": 300,
+                "z": 0
+            },
             "config": {},
             "data": {}
         },
@@ -134,7 +294,7 @@
             "class": "BIOYOND_PolymerReactionStation_Deck",
             "position": {
                 "x": 0,
-                "y": 0,
+                "y": 1100,
                 "z": 0
             },
             "config": {
@@ -150,4 +310,4 @@
             "data": {}
         }
     ]
-}
+}

unilabos/test/experiments/virtual_bench.json

@@ -0,0 +1,28 @@
+{
+    "nodes": [
+        {
+            "id": "workbench_1",
+            "name": "虚拟工作台",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "virtual_workbench",
+            "position": {
+                "x": 400,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "arm_operation_time": 3.0,
+                "heating_time": 10.0,
+                "num_heating_stations": 3
+            },
+            "data": {
+                "status": "Ready",
+                "arm_state": "idle",
+                "message": "工作台就绪"
+            }
+        }
+    ],
+    "links": []
+}

unilabos/utils/README_LOGGING.md

@@ -1,187 +0,0 @@
-# UniLabOS 日志配置说明
-
-> **文件位置**: `unilabos/utils/log.py`  
-> **最后更新**: 2026-01-11  
-> **维护者**: Uni-Lab-OS 开发团队
-
-本文档说明 UniLabOS 日志系统中对第三方库和内部模块的日志级别配置，避免控制台被过多的 DEBUG 日志淹没。
-
----
-
-## 📋 已屏蔽的日志
-
-以下库/模块的日志已被设置为 **WARNING** 或 **INFO** 级别，不再显示 DEBUG 日志：
-
-### 1. pymodbus（Modbus 通信库）
-
-**配置位置**: `log.py` 第196-200行
-
-```python
-# pymodbus 库的日志太详细，设置为 WARNING
-logging.getLogger('pymodbus').setLevel(logging.WARNING)
-logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
-logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
-logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
-```
-
-**屏蔽原因**:
-- pymodbus 在 DEBUG 级别会输出每一次 Modbus 通信的详细信息
-- 包括 `Processing: 0x5 0x1e 0x0 0x0...` 等原始数据
-- 包括 `decoded PDU function_code(3 sub -1) -> ReadHoldingRegistersResponse(...)` 等解码信息
-- 这些信息对日常使用价值不大，但会快速刷屏
-
-**典型被屏蔽的日志**:
-```
-[DEBUG] Processing: 0x5 0x1e 0x0 0x0 0x0 0x7 0x1 0x3 0x4 0x0 0x0 0x0 0x0 [handleFrame:72] [pymodbus.logging.base]
-[DEBUG] decoded PDU function_code(3 sub -1) -> ReadHoldingRegistersResponse(...) [decode:79] [pymodbus.logging.decoders]
-```
-
----
-
-### 2. websockets（WebSocket 库）
-
-**配置位置**: `log.py` 第202-205行
-
-```python
-# websockets 库的日志输出较多，设置为 WARNING
-logging.getLogger('websockets').setLevel(logging.WARNING)
-logging.getLogger('websockets.client').setLevel(logging.WARNING)
-logging.getLogger('websockets.server').setLevel(logging.WARNING)
-```
-
-**屏蔽原因**:
-- WebSocket 连接、断开、心跳等信息在 DEBUG 级别会频繁输出
-- 对于长时间运行的服务，这些日志意义不大
-
----
-
-### 3. ROS Host Node（设备状态更新）
-
-**配置位置**: `log.py` 第207-208行
-
-```python
-# ROS 节点的状态更新日志过于频繁，设置为 INFO
-logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO)
-```
-
-**屏蔽原因**:
-- 设备状态更新（如手套箱压力）每隔几秒就会更新一次
-- DEBUG 日志会记录每一次状态变化，导致日志刷屏
-- 这些频繁的状态更新对调试价值不大
-
-**典型被屏蔽的日志**:
-```
-[DEBUG] [/devices/host_node] Status updated: BatteryStation.data_glove_box_pressure = 4.229457855224609 [property_callback:666] [unilabos.ros.nodes.presets.host_node]
-```
-
----
-
-### 4. asyncio 和 urllib3
-
-**配置位置**: `log.py` 第224-225行
-
-```python
-logging.getLogger("asyncio").setLevel(logging.INFO)
-logging.getLogger("urllib3").setLevel(logging.INFO)
-```
-
-**屏蔽原因**:
-- asyncio: 异步 IO 的内部调试信息
-- urllib3: HTTP 请求库的连接池、重试等详细信息
-
----
-
-## 🔧 如何临时启用这些日志（调试用）
-
-### 方法1: 修改 log.py（永久启用）
-
-在 `log.py` 的 `configure_logger()` 函数中，将对应库的日志级别改为 `logging.DEBUG`:
-
-```python
-# 临时启用 pymodbus 的 DEBUG 日志
-logging.getLogger('pymodbus').setLevel(logging.DEBUG)
-logging.getLogger('pymodbus.logging').setLevel(logging.DEBUG)
-logging.getLogger('pymodbus.logging.base').setLevel(logging.DEBUG)
-logging.getLogger('pymodbus.logging.decoders').setLevel(logging.DEBUG)
-```
-
-### 方法2: 在代码中临时启用（单次调试）
-
-在需要调试的代码文件中添加：
-
-```python
-import logging
-
-# 临时启用 pymodbus DEBUG 日志
-logging.getLogger('pymodbus').setLevel(logging.DEBUG)
-
-# 你的 Modbus 调试代码
-...
-
-# 调试完成后恢复
-logging.getLogger('pymodbus').setLevel(logging.WARNING)
-```
-
-### 方法3: 使用环境变量或配置文件（推荐）
-
-未来可以考虑在启动参数中添加 `--debug-modbus` 等选项来动态控制。
-
----
-
-## 📊 日志级别说明
-
-| 级别 | 数值 | 用途 | 是否显示 |
-|------|------|------|---------|
-| TRACE | 5 | 最详细的跟踪信息 | ✅ |
-| DEBUG | 10 | 调试信息 | ✅ |
-| INFO | 20 | 一般信息 | ✅ |
-| WARNING | 30 | 警告信息 | ✅ |
-| ERROR | 40 | 错误信息 | ✅ |
-| CRITICAL | 50 | 严重错误 | ✅ |
-
-**当前配置**:
-- UniLabOS 自身代码: DEBUG 及以上全部显示
-- pymodbus/websockets: **WARNING** 及以上显示（屏蔽 DEBUG/INFO）
-- ROS host_node: **INFO** 及以上显示（屏蔽 DEBUG）
-
----
-
-## ⚠️ 重要提示
-
-### 修改生效时间
-- 修改 `log.py` 后需要 **重启 unilab 服务** 才能生效
-- 不需要重新安装或重新编译
-
-### 调试 Modbus 通信问题
-如果需要调试 Modbus 通信故障，应该：
-1. 临时启用 pymodbus DEBUG 日志（方法2）
-2. 复现问题
-3. 查看详细的通信日志
-4. 调试完成后记得恢复 WARNING 级别
-
-### 调试设备状态问题
-如果需要调试设备状态更新问题：
-```python
-logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.DEBUG)
-```
-
----
-
-## 📝 维护记录
-
-| 日期 | 修改内容 | 操作人 |
-|------|---------|--------|
-| 2026-01-11 | 初始创建，添加 pymodbus、websockets、ROS host_node 屏蔽 | - |
-| 2026-01-07 | 添加 pymodbus 和 websockets 屏蔽（log-0107.py） | - |
-
----
-
-## 🔗 相关文件
-
-- `log.py` - 日志配置主文件
-- `unilabos/devices/workstation/coin_cell_assembly/` - 使用 Modbus 的扣电工作站代码
-- `unilabos/ros/nodes/presets/host_node.py` - ROS 主机节点代码
-
----
-
-**维护提示**: 如果添加了新的第三方库或发现新的日志刷屏问题，请在此文档中记录并更新 `log.py` 配置。

unilabos/utils/decorator.py

@@ -182,3 +182,49 @@ def get_all_subscriptions(instance) -> list:
         except Exception:
             pass
     return subscriptions
+
+
+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 complete_registry 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。
+
+    Example:
+        class MyDriver:
+            @not_action
+            def helper_method(self):
+                # 这个方法不会被注册为动作
+                pass
+
+            def actual_action(self, param: str):
+                # 这个方法会被注册为动作
+                self.helper_method()
+
+    Note:
+        - 可以与其他装饰器组合使用，@not_action 应放在最外层
+        - 仅影响 complete_registry 的动作识别，不影响方法的正常调用
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        return func(*args, **kwargs)
+
+    # 在函数上附加标记
+    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
+
+    Args:
+        func: 被检查的函数
+
+    Returns:
+        如果函数被 @not_action 装饰则返回 True，否则返回 False
+    """
+    return getattr(func, "_is_not_action", False)

unilabos/utils/environment_check.py

@@ -24,6 +24,7 @@ class EnvironmentChecker:
             "msgcenterpy": "msgcenterpy",
             "opentrons_shared_data": "opentrons_shared_data",
             "typing_extensions": "typing_extensions",
+            "crcmod": "crcmod-plus",
         }
 
         # 特殊安装包（需要特殊处理的包）

unilabos/utils/import_manager.py

@@ -27,7 +27,9 @@ __all__ = [
 
 from ast import Constant
 
+from unilabos.resources.resource_tracker import PARAM_SAMPLE_UUIDS
 from unilabos.utils import logger
+from unilabos.utils.decorator import is_not_action
 
 
 class ImportManager:
@@ -275,6 +277,9 @@ class ImportManager:
                     method_info = self._analyze_method_signature(method)
                     result["status_methods"][actual_name] = method_info
                 elif not name.startswith("_"):
+                    # 检查是否被 @not_action 装饰器标记
+                    if is_not_action(method):
+                        continue
                     # 其他非_开头的方法归类为action
                     method_info = self._analyze_method_signature(method)
                     result["action_methods"][name] = method_info
@@ -330,17 +335,25 @@ class ImportManager:
                     if actual_name not in result["status_methods"]:
                         result["status_methods"][actual_name] = method_info
                 else:
+                    # 检查是否被 @not_action 装饰器标记
+                    if self._is_not_action_method(node):
+                        continue
                     # 其他非_开头的方法归类为action
                     result["action_methods"][method_name] = method_info
         return result
 
-    def _analyze_method_signature(self, method) -> Dict[str, Any]:
+    def _analyze_method_signature(self, method, skip_unilabos_params: bool = True) -> Dict[str, Any]:
         """
         分析方法签名，提取具体的命名参数信息
 
         注意：此方法会跳过*args和**kwargs，只提取具体的命名参数
         这样可以确保通过**dict方式传参时的准确性
 
+        Args:
+            method: 要分析的方法
+            skip_unilabos_params: 是否跳过 unilabos 系统参数（如 sample_uuids），
+                                  registry 补全时为 True，JsonCommand 执行时为 False
+
         示例用法：
             method_info = self._analyze_method_signature(some_method)
             params = {"param1": "value1", "param2": "value2"}
@@ -361,6 +374,10 @@ class ImportManager:
             if param.kind == param.VAR_KEYWORD:  # **kwargs
                 continue
 
+            # 跳过 sample_uuids 参数（由系统自动注入，registry 补全时跳过）
+            if skip_unilabos_params and param_name == PARAM_SAMPLE_UUIDS:
+                continue
+
             is_required = param.default == inspect.Parameter.empty
             if is_required:
                 num_required += 1
@@ -450,6 +467,13 @@ class ImportManager:
                 return True
         return False
 
+    def _is_not_action_method(self, node: ast.FunctionDef) -> bool:
+        """检查是否是@not_action装饰的方法"""
+        for decorator in node.decorator_list:
+            if isinstance(decorator, ast.Name) and decorator.id == "not_action":
+                return True
+        return False
+
     def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
         """从setter装饰器中获取属性名"""
         for decorator in node.decorator_list:
@@ -549,6 +573,9 @@ class ImportManager:
         for i, arg in enumerate(node.args.args):
             if arg.arg == "self":
                 continue
+            # 跳过 sample_uuids 参数（由系统自动注入）
+            if arg.arg == PARAM_SAMPLE_UUIDS:
+                continue
             arg_info = {
                 "name": arg.arg,
                 "type": None,

unilabos/utils/log.py

@@ -191,21 +191,6 @@ def configure_logger(loglevel=None, working_dir=None):
 
     # 添加处理器到根日志记录器
     root_logger.addHandler(console_handler)
-    
-    # 降低第三方库的日志级别，避免过多输出
-    # pymodbus 库的日志太详细，设置为 WARNING
-    logging.getLogger('pymodbus').setLevel(logging.WARNING)
-    logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
-    logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
-    logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
-    
-    # websockets 库的日志输出较多，设置为 WARNING
-    logging.getLogger('websockets').setLevel(logging.WARNING)
-    logging.getLogger('websockets.client').setLevel(logging.WARNING)
-    logging.getLogger('websockets.server').setLevel(logging.WARNING)
-    
-    # ROS 节点的状态更新日志过于频繁，设置为 INFO
-    logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO)
 
     # 如果指定了工作目录，添加文件处理器
     if working_dir is not None:

unilabos/utils/pywinauto_util.py

@@ -1,7 +1,11 @@
 import psutil
 import pywinauto
-from pywinauto_recorder import UIApplication
-from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path
+try:
+    from pywinauto_recorder import UIApplication
+    from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path
+except ImportError:
+    print("未安装pywinauto_recorder，部分功能无法使用，安装时注意enum")
+    pass
 from pywinauto.controls.uiawrapper import UIAWrapper
 from pywinauto.application import WindowSpecification
 from pywinauto import findbestmatch