Revert opcua client & move electrolyte node

.conda/base/recipe.yaml

@@ -1,62 +0,0 @@
-# unilabos: Production package (depends on unilabos-env + pip unilabos)
-# For production deployment
-
-package:
-  name: unilabos
-  version: 0.10.18
-
-source:
-  path: ../../unilabos
-  target_directory: unilabos
-
-build:
-  python:
-    entry_points:
-    - unilab = unilabos.app.main:main
-  script:
-  - set PIP_NO_INDEX=
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
-    - copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
-    - copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
-    - pip install %SRC_DIR%
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
-    - cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
-    - cp $RECIPE_DIR/../../setup.py $SRC_DIR
-    - pip install $SRC_DIR
-
-requirements:
-  host:
-  - python ==3.11.14
-  - pip
-  - setuptools
-  - zstd
-  - zstandard
-  run:
-  - zstd
-  - zstandard
-  - networkx
-  - typing_extensions
-  - websockets
-  - pint
-  - fastapi
-  - jinja2
-  - requests
-  - uvicorn
-  - if: not osx
-    then:
-    - opcua
-  - pyserial
-  - pandas
-  - pymodbus
-  - matplotlib
-  - pylibftdi
-  - uni-lab::unilabos-env ==0.10.18
-
-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

@@ -1,39 +0,0 @@
-# unilabos-env: conda environment dependencies (ROS2 + conda packages)
-
-package:
-  name: unilabos-env
-  version: 0.10.18
-
-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

@@ -1,42 +0,0 @@
-# unilabos-full: Full package with all features
-# Depends on unilabos + complete ROS2 desktop + dev tools
-
-package:
-  name: unilabos-full
-  version: 0.10.18
-
-build:
-  noarch: generic
-
-requirements:
-  run:
-  # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.18
-  # 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

@@ -0,0 +1,91 @@
+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

@@ -0,0 +1,9 @@
+@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

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

.cursor/rules/device-drivers.mdc

@@ -1,328 +0,0 @@
----
-description: 设备驱动开发规范
-globs: ["unilabos/devices/**/*.py"]
----
-
-# 设备驱动开发规范
-
-## 目录结构
-
-```
-unilabos/devices/
-├── virtual/           # 虚拟设备（用于测试）
-│   ├── virtual_stirrer.py
-│   └── virtual_centrifuge.py
-├── liquid_handling/   # 液体处理设备
-├── balance/           # 天平设备
-├── hplc/              # HPLC设备
-├── pump_and_valve/    # 泵和阀门
-├── temperature/       # 温度控制设备
-├── workstation/       # 工作站（组合设备）
-└── ...
-```
-
-## 设备类完整模板
-
-```python
-import asyncio
-import logging
-import time as time_module
-from typing import Dict, Any, Optional
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-
-class MyDevice:
-    """
-    设备类描述
-
-    Attributes:
-        device_id: 设备唯一标识
-        config: 设备配置字典
-        data: 设备状态数据
-    """
-
-    _ros_node: BaseROS2DeviceNode
-
-    def __init__(
-        self,
-        device_id: str = None,
-        config: Dict[str, Any] = None,
-        **kwargs
-    ):
-        """
-        初始化设备
-
-        Args:
-            device_id: 设备ID
-            config: 配置字典
-            **kwargs: 其他参数
-        """
-        # 兼容不同调用方式
-        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 "unknown_device"
-        self.config = config or {}
-        self.data = {}
-
-        # 从config读取参数
-        self.port = self.config.get('port') or kwargs.get('port', 'COM1')
-        self._max_value = self.config.get('max_value', 1000.0)
-
-        # 初始化日志
-        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
-
-        self.logger.info(f"设备 {self.device_id} 已创建")
-
-    def post_init(self, ros_node: BaseROS2DeviceNode):
-        """
-        ROS节点注入 - 在ROS节点创建后调用
-
-        Args:
-            ros_node: ROS2设备节点实例
-        """
-        self._ros_node = ros_node
-
-    async def initialize(self) -> bool:
-        """
-        初始化设备 - 连接硬件、设置初始状态
-
-        Returns:
-            bool: 初始化是否成功
-        """
-        self.logger.info(f"初始化设备 {self.device_id}")
-
-        try:
-            # 执行硬件初始化
-            # await self._connect_hardware()
-
-            # 设置初始状态
-            self.data.update({
-                "status": "待机",
-                "is_running": False,
-                "current_value": 0.0,
-            })
-
-            self.logger.info(f"设备 {self.device_id} 初始化完成")
-            return True
-
-        except Exception as e:
-            self.logger.error(f"初始化失败: {e}")
-            self.data["status"] = f"错误: {e}"
-            return False
-
-    async def cleanup(self) -> bool:
-        """
-        清理设备 - 断开连接、释放资源
-
-        Returns:
-            bool: 清理是否成功
-        """
-        self.logger.info(f"清理设备 {self.device_id}")
-
-        self.data.update({
-            "status": "离线",
-            "is_running": False,
-        })
-
-        return True
-
-    # ==================== 设备动作 ====================
-
-    async def execute_action(
-        self,
-        param1: float,
-        param2: str = "",
-        **kwargs
-    ) -> bool:
-        """
-        执行设备动作
-
-        Args:
-            param1: 参数1
-            param2: 参数2（可选）
-
-        Returns:
-            bool: 动作是否成功
-        """
-        # 类型转换和验证
-        try:
-            param1 = float(param1)
-        except (ValueError, TypeError) as e:
-            self.logger.error(f"参数类型错误: {e}")
-            return False
-
-        # 参数验证
-        if param1 > self._max_value:
-            self.logger.error(f"参数超出范围: {param1} > {self._max_value}")
-            return False
-
-        self.logger.info(f"执行动作: param1={param1}, param2={param2}")
-
-        # 更新状态
-        self.data.update({
-            "status": "运行中",
-            "is_running": True,
-        })
-
-        # 执行动作（带进度反馈）
-        duration = 10.0  # 秒
-        start_time = time_module.time()
-
-        while True:
-            elapsed = time_module.time() - start_time
-            remaining = max(0, duration - elapsed)
-            progress = min(100, (elapsed / duration) * 100)
-
-            self.data.update({
-                "status": f"运行中: {progress:.0f}%",
-                "remaining_time": remaining,
-            })
-
-            if remaining <= 0:
-                break
-
-            await self._ros_node.sleep(1.0)
-
-        # 完成
-        self.data.update({
-            "status": "完成",
-            "is_running": False,
-        })
-
-        self.logger.info("动作执行完成")
-        return True
-
-    # ==================== 状态属性 ====================
-
-    @property
-    def status(self) -> str:
-        """设备状态 - 自动发布为ROS Topic"""
-        return self.data.get("status", "未知")
-
-    @property
-    def is_running(self) -> bool:
-        """是否正在运行"""
-        return self.data.get("is_running", False)
-
-    @property
-    def current_value(self) -> float:
-        """当前值"""
-        return self.data.get("current_value", 0.0)
-
-    # ==================== 辅助方法 ====================
-
-    def get_device_info(self) -> Dict[str, Any]:
-        """获取设备信息"""
-        return {
-            "device_id": self.device_id,
-            "status": self.status,
-            "is_running": self.is_running,
-            "current_value": self.current_value,
-        }
-
-    def __str__(self) -> str:
-        return f"MyDevice({self.device_id}: {self.status})"
-```
-
-## 关键规则
-
-### 1. 参数处理
-
-所有动作方法的参数都可能以字符串形式传入，必须进行类型转换：
-
-```python
-async def my_action(self, value: float, **kwargs) -> bool:
-    # 始终进行类型转换
-    try:
-        value = float(value)
-    except (ValueError, TypeError) as e:
-        self.logger.error(f"参数类型错误: {e}")
-        return False
-```
-
-### 2. vessel 参数处理
-
-vessel 参数可能是字符串ID或字典：
-
-```python
-def extract_vessel_id(vessel: Union[str, dict]) -> str:
-    if isinstance(vessel, dict):
-        return vessel.get("id", "")
-    return str(vessel) if vessel else ""
-```
-
-### 3. 状态更新
-
-使用 `self.data` 字典存储状态，属性读取状态：
-
-```python
-# 更新状态
-self.data["status"] = "运行中"
-self.data["current_speed"] = 300.0
-
-# 读取状态（通过属性）
-@property
-def status(self) -> str:
-    return self.data.get("status", "待机")
-```
-
-### 4. 异步等待
-
-使用 ROS 节点的 sleep 方法：
-
-```python
-# 正确
-await self._ros_node.sleep(1.0)
-
-# 避免（除非在纯 Python 测试环境）
-await asyncio.sleep(1.0)
-```
-
-### 5. 进度反馈
-
-长时间运行的操作需要提供进度反馈：
-
-```python
-while remaining > 0:
-    progress = (elapsed / total_time) * 100
-    self.data["status"] = f"运行中: {progress:.0f}%"
-    self.data["remaining_time"] = remaining
-
-    await self._ros_node.sleep(1.0)
-```
-
-## 虚拟设备
-
-虚拟设备用于测试和演示，放在 `unilabos/devices/virtual/` 目录：
-
-- 类名以 `Virtual` 开头
-- 文件名以 `virtual_` 开头
-- 模拟真实设备的行为和时序
-- 使用表情符号增强日志可读性（可选）
-
-## 工作站设备
-
-工作站是组合多个设备的复杂设备：
-
-```python
-from unilabos.devices.workstation.workstation_base import WorkstationBase
-
-class MyWorkstation(WorkstationBase):
-    """组合工作站"""
-
-    async def execute_workflow(self, workflow: Dict[str, Any]) -> bool:
-        """执行工作流"""
-        pass
-```
-
-## 设备注册
-
-设备类开发完成后，需要在注册表中注册：
-
-1. 创建/编辑 `unilabos/registry/devices/my_category.yaml`
-2. 添加设备配置（参考 `virtual_device.yaml`）
-3. 运行 `--complete_registry` 自动生成 schema

.cursor/rules/protocol-development.mdc

@@ -1,240 +0,0 @@
----
-description: 协议编译器开发规范
-globs: ["unilabos/compile/**/*.py"]
----
-
-# 协议编译器开发规范
-
-## 概述
-
-协议编译器负责将高级实验操作（如 Stir、Add、Filter）编译为设备可执行的动作序列。
-
-## 文件命名
-
-- 位置: `unilabos/compile/`
-- 命名: `{operation}_protocol.py`
-- 示例: `stir_protocol.py`, `add_protocol.py`, `filter_protocol.py`
-
-## 协议函数模板
-
-```python
-from typing import List, Dict, Any, Union
-import networkx as nx
-import logging
-
-from .utils.unit_parser import parse_time_input
-from .utils.vessel_parser import extract_vessel_id
-
-logger = logging.getLogger(__name__)
-
-
-def generate_{operation}_protocol(
-    G: nx.DiGraph,
-    vessel: Union[str, dict],
-    param1: Union[str, float] = "0",
-    param2: float = 0.0,
-    **kwargs
-) -> List[Dict[str, Any]]:
-    """
-    生成{操作}协议序列
-
-    Args:
-        G: 物理拓扑图 (NetworkX DiGraph)
-        vessel: 容器ID或Resource字典
-        param1: 参数1（支持字符串单位，如 "5 min"）
-        param2: 参数2
-        **kwargs: 其他参数
-
-    Returns:
-        List[Dict]: 动作序列
-
-    Raises:
-        ValueError: 参数无效时
-    """
-    # 1. 提取 vessel_id
-    vessel_id = extract_vessel_id(vessel)
-
-    # 2. 验证参数
-    if not vessel_id:
-        raise ValueError("vessel 参数不能为空")
-
-    if vessel_id not in G.nodes():
-        raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
-
-    # 3. 解析参数（支持单位）
-    parsed_param1 = parse_time_input(param1)  # "5 min" -> 300.0
-
-    # 4. 查找设备
-    device_id = find_connected_device(G, vessel_id, device_type="my_device")
-
-    # 5. 生成动作序列
-    action_sequence = []
-
-    action = {
-        "device_id": device_id,
-        "action_name": "my_action",
-        "action_kwargs": {
-            "vessel": {"id": vessel_id},  # 始终使用字典格式
-            "param1": float(parsed_param1),
-            "param2": float(param2),
-        }
-    }
-    action_sequence.append(action)
-
-    logger.info(f"生成协议: {len(action_sequence)} 个动作")
-    return action_sequence
-
-
-def find_connected_device(
-    G: nx.DiGraph,
-    vessel_id: str,
-    device_type: str = ""
-) -> str:
-    """
-    查找与容器相连的设备
-
-    Args:
-        G: 拓扑图
-        vessel_id: 容器ID
-        device_type: 设备类型关键字
-
-    Returns:
-        str: 设备ID
-    """
-    # 查找所有匹配类型的设备
-    device_nodes = []
-    for node in G.nodes():
-        node_class = G.nodes[node].get('class', '') or ''
-        if device_type.lower() in node_class.lower():
-            device_nodes.append(node)
-
-    # 检查连接
-    if vessel_id and device_nodes:
-        for device in device_nodes:
-            if G.has_edge(device, vessel_id) or G.has_edge(vessel_id, device):
-                return device
-
-    # 返回第一个可用设备
-    if device_nodes:
-        return device_nodes[0]
-
-    # 默认设备
-    return f"{device_type}_1"
-```
-
-## 关键规则
-
-### 1. vessel 参数处理
-
-vessel 参数可能是字符串或字典，需要统一处理：
-
-```python
-def extract_vessel_id(vessel: Union[str, dict]) -> str:
-    """提取vessel_id"""
-    if isinstance(vessel, dict):
-        # 可能是 {"id": "xxx"} 或完整 Resource 对象
-        return vessel.get("id", list(vessel.values())[0].get("id", ""))
-    return str(vessel) if vessel else ""
-```
-
-### 2. action_kwargs 中的 vessel
-
-始终使用 `{"id": vessel_id}` 格式传递 vessel：
-
-```python
-# 正确
-"action_kwargs": {
-    "vessel": {"id": vessel_id},  # 字符串ID包装为字典
-}
-
-# 避免
-"action_kwargs": {
-    "vessel": vessel_resource,  # 不要传递完整 Resource 对象
-}
-```
-
-### 3. 单位解析
-
-使用 `parse_time_input` 解析时间参数：
-
-```python
-from .utils.unit_parser import parse_time_input
-
-# 支持格式: "5 min", "1 h", "300", "1.5 hours"
-time_seconds = parse_time_input("5 min")  # -> 300.0
-time_seconds = parse_time_input(120)      # -> 120.0
-time_seconds = parse_time_input("1 h")    # -> 3600.0
-```
-
-### 4. 参数验证
-
-所有参数必须进行验证和类型转换：
-
-```python
-# 验证范围
-if speed < 10.0 or speed > 1500.0:
-    logger.warning(f"速度 {speed} 超出范围，修正为 300")
-    speed = 300.0
-
-# 类型转换
-param = float(param) if not isinstance(param, (int, float)) else param
-```
-
-### 5. 日志记录
-
-使用项目日志记录器：
-
-```python
-logger = logging.getLogger(__name__)
-
-def generate_protocol(...):
-    logger.info(f"开始生成协议...")
-    logger.debug(f"参数: vessel={vessel_id}, time={time}")
-    logger.warning(f"参数修正: {old_value} -> {new_value}")
-```
-
-## 便捷函数
-
-为常用操作提供便捷函数：
-
-```python
-def stir_briefly(G: nx.DiGraph, vessel: Union[str, dict],
-                speed: float = 300.0) -> List[Dict[str, Any]]:
-    """短时间搅拌（30秒）"""
-    return generate_stir_protocol(G, vessel, time="30", stir_speed=speed)
-
-def stir_vigorously(G: nx.DiGraph, vessel: Union[str, dict],
-                   time: str = "5 min") -> List[Dict[str, Any]]:
-    """剧烈搅拌"""
-    return generate_stir_protocol(G, vessel, time=time, stir_speed=800.0)
-```
-
-## 测试函数
-
-每个协议文件应包含测试函数：
-
-```python
-def test_{operation}_protocol():
-    """测试协议生成"""
-    # 测试参数处理
-    vessel_dict = {"id": "flask_1", "name": "反应瓶1"}
-    vessel_id = extract_vessel_id(vessel_dict)
-    assert vessel_id == "flask_1"
-
-    # 测试单位解析
-    time_s = parse_time_input("5 min")
-    assert time_s == 300.0
-
-
-if __name__ == "__main__":
-    test_{operation}_protocol()
-```
-
-## 现有协议参考
-
-- `stir_protocol.py` - 搅拌操作
-- `add_protocol.py` - 添加物料
-- `filter_protocol.py` - 过滤操作
-- `heatchill_protocol.py` - 加热/冷却
-- `separate_protocol.py` - 分离操作
-- `evaporate_protocol.py` - 蒸发操作

.cursor/rules/registry-config.mdc

@@ -1,319 +0,0 @@
----
-description: 注册表配置规范 (YAML)
-globs: ["unilabos/registry/**/*.yaml"]
----
-
-# 注册表配置规范
-
-## 概述
-
-注册表使用 YAML 格式定义设备和资源类型，是 Uni-Lab-OS 的核心配置系统。
-
-## 目录结构
-
-```
-unilabos/registry/
-├── devices/              # 设备类型注册
-│   ├── virtual_device.yaml
-│   ├── liquid_handler.yaml
-│   └── ...
-├── device_comms/         # 通信设备配置
-│   ├── communication_devices.yaml
-│   └── modbus_ioboard.yaml
-└── resources/            # 资源类型注册
-    ├── bioyond/
-    ├── organic/
-    ├── opentrons/
-    └── ...
-```
-
-## 设备注册表格式
-
-### 基本结构
-
-```yaml
-device_type_id:
-  # 基本信息
-  description: "设备描述"
-  version: "1.0.0"
-  category:
-    - category_name
-  icon: "icon_device.webp"
-
-  # 类配置
-  class:
-    module: "unilabos.devices.my_module:MyClass"
-    type: python
-
-    # 状态类型（属性 -> ROS消息类型）
-    status_types:
-      status: String
-      temperature: Float64
-      is_running: Bool
-
-    # 动作映射
-    action_value_mappings:
-      action_name:
-        type: UniLabJsonCommand  # 或 UniLabJsonCommandAsync
-        goal: {}
-        feedback: {}
-        result: {}
-        schema: {...}
-        handles: {}
-```
-
-### action_value_mappings 详细格式
-
-```yaml
-action_value_mappings:
-  # 同步动作
-  my_sync_action:
-    type: UniLabJsonCommand
-    goal:
-      param1: param1
-      param2: param2
-    feedback: {}
-    result:
-      success: success
-      message: message
-    goal_default:
-      param1: 0.0
-      param2: ""
-    handles: {}
-    placeholder_keys:
-      device_param: unilabos_devices   # 设备选择器
-      resource_param: unilabos_resources  # 资源选择器
-    schema:
-      title: "动作名称参数"
-      description: "动作描述"
-      type: object
-      properties:
-        goal:
-          type: object
-          properties:
-            param1:
-              type: number
-            param2:
-              type: string
-          required:
-            - param1
-        feedback: {}
-        result:
-          type: object
-          properties:
-            success:
-              type: boolean
-            message:
-              type: string
-      required:
-        - goal
-
-  # 异步动作
-  my_async_action:
-    type: UniLabJsonCommandAsync
-    goal: {}
-    feedback:
-      progress: progress
-      current_status: status
-    result:
-      success: success
-    schema: {...}
-```
-
-### 自动生成的动作
-
-以 `auto-` 开头的动作由系统自动生成：
-
-```yaml
-action_value_mappings:
-  auto-initialize:
-    type: UniLabJsonCommandAsync
-    goal: {}
-    feedback: {}
-    result: {}
-    schema: {...}
-
-  auto-cleanup:
-    type: UniLabJsonCommandAsync
-    goal: {}
-    feedback: {}
-    result: {}
-    schema: {...}
-```
-
-### handles 配置
-
-用于工作流编辑器中的数据流连接：
-
-```yaml
-handles:
-  input:
-    - handler_key: "input_resource"
-      data_type: "resource"
-      label: "输入资源"
-      data_source: "handle"
-      data_key: "resources"
-  output:
-    - handler_key: "output_labware"
-      data_type: "resource"
-      label: "输出器皿"
-      data_source: "executor"
-      data_key: "created_resource.@flatten"
-```
-
-## 资源注册表格式
-
-```yaml
-resource_type_id:
-  description: "资源描述"
-  version: "1.0.0"
-  category:
-    - category_name
-  icon: ""
-  handles: []
-  init_param_schema: {}
-
-  class:
-    module: "unilabos.resources.my_module:MyResource"
-    type: pylabrobot  # 或 python
-```
-
-### PyLabRobot 资源示例
-
-```yaml
-BIOYOND_Electrolyte_6VialCarrier:
-  category:
-    - bottle_carriers
-    - bioyond
-  class:
-    module: "unilabos.resources.bioyond.bottle_carriers:BIOYOND_Electrolyte_6VialCarrier"
-    type: pylabrobot
-  version: "1.0.0"
-```
-
-## 状态类型映射
-
-Python 类型到 ROS 消息类型的映射：
-
-| Python 类型 | ROS 消息类型 |
-|------------|-------------|
-| `str` | `String` |
-| `bool` | `Bool` |
-| `int` | `Int64` |
-| `float` | `Float64` |
-| `list` | `String` (序列化) |
-| `dict` | `String` (序列化) |
-
-## 自动完善注册表
-
-使用 `--complete_registry` 参数自动生成 schema：
-
-```bash
-python -m unilabos.app.main --complete_registry
-```
-
-这会：
-1. 扫描设备类的方法签名
-2. 自动生成 `auto-` 前缀的动作
-3. 生成 JSON Schema
-4. 更新 YAML 文件
-
-## 验证规则
-
-1. **device_type_id** 必须唯一
-2. **module** 路径必须正确可导入
-3. **status_types** 的类型必须是有效的 ROS 消息类型
-4. **schema** 必须是有效的 JSON Schema
-
-## 示例：完整设备配置
-
-```yaml
-virtual_stirrer:
-  category:
-    - virtual_device
-  description: "虚拟搅拌器设备"
-  version: "1.0.0"
-  icon: "icon_stirrer.webp"
-  handles: []
-  init_param_schema: {}
-
-  class:
-    module: "unilabos.devices.virtual.virtual_stirrer:VirtualStirrer"
-    type: python
-
-    status_types:
-      status: String
-      operation_mode: String
-      current_speed: Float64
-      is_stirring: Bool
-      remaining_time: Float64
-
-    action_value_mappings:
-      auto-initialize:
-        type: UniLabJsonCommandAsync
-        goal: {}
-        feedback: {}
-        result: {}
-        schema:
-          title: "initialize参数"
-          type: object
-          properties:
-            goal:
-              type: object
-              properties: {}
-            feedback: {}
-            result: {}
-          required:
-            - goal
-
-      stir:
-        type: UniLabJsonCommandAsync
-        goal:
-          stir_time: stir_time
-          stir_speed: stir_speed
-          settling_time: settling_time
-        feedback:
-          current_speed: current_speed
-          remaining_time: remaining_time
-        result:
-          success: success
-        goal_default:
-          stir_time: 60.0
-          stir_speed: 300.0
-          settling_time: 30.0
-        handles: {}
-        schema:
-          title: "stir参数"
-          description: "搅拌操作"
-          type: object
-          properties:
-            goal:
-              type: object
-              properties:
-                stir_time:
-                  type: number
-                  description: "搅拌时间（秒）"
-                stir_speed:
-                  type: number
-                  description: "搅拌速度（RPM）"
-                settling_time:
-                  type: number
-                  description: "沉降时间（秒）"
-              required:
-                - stir_time
-                - stir_speed
-            feedback:
-              type: object
-              properties:
-                current_speed:
-                  type: number
-                remaining_time:
-                  type: number
-            result:
-              type: object
-              properties:
-                success:
-                  type: boolean
-          required:
-            - goal
-```

.cursor/rules/ros-integration.mdc

@@ -1,233 +0,0 @@
----
-description: ROS 2 集成开发规范
-globs: ["unilabos/ros/**/*.py", "**/*_node.py"]
----
-
-# ROS 2 集成开发规范
-
-## 概述
-
-Uni-Lab-OS 使用 ROS 2 作为设备通信中间件，基于 rclpy 实现。
-
-## 核心组件
-
-### BaseROS2DeviceNode
-
-设备节点基类，提供：
-- ROS Topic 自动发布（状态属性）
-- Action Server 自动创建（设备动作）
-- 资源管理服务
-- 异步任务调度
-
-```python
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-```
-
-### 消息转换器
-
-```python
-from unilabos.ros.msgs.message_converter import (
-    convert_to_ros_msg,
-    convert_from_ros_msg_with_mapping,
-    msg_converter_manager,
-    ros_action_to_json_schema,
-    ros_message_to_json_schema,
-)
-```
-
-## 设备与 ROS 集成
-
-### post_init 方法
-
-设备类必须实现 `post_init` 方法接收 ROS 节点：
-
-```python
-class MyDevice:
-    _ros_node: BaseROS2DeviceNode
-
-    def post_init(self, ros_node: BaseROS2DeviceNode):
-        """ROS节点注入"""
-        self._ros_node = ros_node
-```
-
-### 状态属性发布
-
-设备的 `@property` 属性会自动发布为 ROS Topic：
-
-```python
-class MyDevice:
-    @property
-    def temperature(self) -> float:
-        return self._temperature
-
-    # 自动发布到 /{namespace}/temperature Topic
-```
-
-### Topic 配置装饰器
-
-```python
-from unilabos.utils.decorator import topic_config
-
-class MyDevice:
-    @property
-    @topic_config(period=1.0, print_publish=False, qos=10)
-    def fast_data(self) -> float:
-        """高频数据 - 每秒发布一次"""
-        return self._fast_data
-
-    @property
-    @topic_config(period=5.0)
-    def slow_data(self) -> str:
-        """低频数据 - 每5秒发布一次"""
-        return self._slow_data
-```
-
-### 订阅装饰器
-
-```python
-from unilabos.utils.decorator import subscribe
-
-class MyDevice:
-    @subscribe(topic="/external/sensor_data", qos=10)
-    def on_sensor_data(self, msg):
-        """订阅外部Topic"""
-        self._sensor_value = msg.data
-```
-
-## 异步操作
-
-### 使用 ROS 节点睡眠
-
-```python
-# 推荐：使用ROS节点的睡眠方法
-await self._ros_node.sleep(1.0)
-
-# 不推荐：直接使用asyncio（可能导致回调阻塞）
-await asyncio.sleep(1.0)
-```
-
-### 获取事件循环
-
-```python
-from unilabos.ros.x.rclpyx import get_event_loop
-
-loop = get_event_loop()
-```
-
-## 消息类型
-
-### unilabos_msgs 包
-
-```python
-from unilabos_msgs.msg import Resource
-from unilabos_msgs.srv import (
-    ResourceAdd,
-    ResourceDelete,
-    ResourceUpdate,
-    ResourceList,
-    SerialCommand,
-)
-from unilabos_msgs.action import SendCmd
-```
-
-### Resource 消息结构
-
-```python
-Resource:
-    id: str
-    name: str
-    category: str
-    type: str
-    parent: str
-    children: List[str]
-    config: str  # JSON字符串
-    data: str    # JSON字符串
-    sample_id: str
-    pose: Pose
-```
-
-## 日志适配器
-
-```python
-from unilabos.utils.log import info, debug, warning, error, trace
-
-class MyDevice:
-    def __init__(self):
-        # 创建设备专属日志器
-        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
-```
-
-ROSLoggerAdapter 同时向自定义日志和 ROS 日志发送消息。
-
-## Action Server
-
-设备动作自动创建为 ROS Action Server：
-
-```yaml
-# 在注册表中配置
-action_value_mappings:
-  my_action:
-    type: UniLabJsonCommandAsync  # 异步Action
-    goal: {...}
-    feedback: {...}
-    result: {...}
-```
-
-### Action 类型
-
-- **UniLabJsonCommand**: 同步动作
-- **UniLabJsonCommandAsync**: 异步动作（支持feedback）
-
-## 服务客户端
-
-```python
-from rclpy.client import Client
-
-# 调用其他节点的服务
-response = await self._ros_node.call_service(
-    service_name="/other_node/service",
-    request=MyServiceRequest(...)
-)
-```
-
-## 命名空间
-
-设备节点使用命名空间隔离：
-
-```
-/{device_id}/                 # 设备命名空间
-/{device_id}/status          # 状态Topic
-/{device_id}/temperature     # 温度Topic
-/{device_id}/my_action       # 动作Server
-```
-
-## 调试
-
-### 查看 Topic
-
-```bash
-ros2 topic list
-ros2 topic echo /{device_id}/status
-```
-
-### 查看 Action
-
-```bash
-ros2 action list
-ros2 action info /{device_id}/my_action
-```
-
-### 查看 Service
-
-```bash
-ros2 service list
-ros2 service call /{device_id}/resource_list unilabos_msgs/srv/ResourceList
-```
-
-## 最佳实践
-
-1. **状态属性命名**: 使用蛇形命名法（snake_case）
-2. **Topic 频率**: 根据数据变化频率调整，避免过高频率
-3. **Action 反馈**: 长时间操作提供进度反馈
-4. **错误处理**: 使用 try-except 捕获并记录错误
-5. **资源清理**: 在 cleanup 方法中正确清理资源

.cursor/rules/testing-patterns.mdc

@@ -1,357 +0,0 @@
----
-description: 测试开发规范
-globs: ["tests/**/*.py", "**/test_*.py"]
----
-
-# 测试开发规范
-
-## 目录结构
-
-```
-tests/
-├── __init__.py
-├── devices/              # 设备测试
-│   └── liquid_handling/
-│       └── test_transfer_liquid.py
-├── resources/            # 资源测试
-│   ├── test_bottle_carrier.py
-│   └── test_resourcetreeset.py
-├── ros/                  # ROS消息测试
-│   └── msgs/
-│       ├── test_basic.py
-│       ├── test_conversion.py
-│       └── test_mapping.py
-└── workflow/             # 工作流测试
-    └── merge_workflow.py
-```
-
-## 测试框架
-
-使用 pytest 作为测试框架：
-
-```bash
-# 运行所有测试
-pytest tests/
-
-# 运行特定测试文件
-pytest tests/resources/test_bottle_carrier.py
-
-# 运行特定测试函数
-pytest tests/resources/test_bottle_carrier.py::test_bottle_carrier
-
-# 显示详细输出
-pytest -v tests/
-
-# 显示打印输出
-pytest -s tests/
-```
-
-## 测试文件模板
-
-```python
-import pytest
-from typing import List, Dict, Any
-
-# 导入被测试的模块
-from unilabos.resources.bioyond.bottle_carriers import (
-    BIOYOND_Electrolyte_6VialCarrier,
-)
-from unilabos.resources.bioyond.bottles import (
-    BIOYOND_PolymerStation_Solid_Vial,
-)
-
-
-class TestBottleCarrier:
-    """BottleCarrier 测试类"""
-
-    def setup_method(self):
-        """每个测试方法前执行"""
-        self.carrier = BIOYOND_Electrolyte_6VialCarrier("test_carrier")
-
-    def teardown_method(self):
-        """每个测试方法后执行"""
-        pass
-
-    def test_carrier_creation(self):
-        """测试载架创建"""
-        assert self.carrier.name == "test_carrier"
-        assert len(self.carrier.sites) == 6
-
-    def test_bottle_placement(self):
-        """测试瓶子放置"""
-        bottle = BIOYOND_PolymerStation_Solid_Vial("test_bottle")
-        # 测试逻辑...
-        assert bottle.name == "test_bottle"
-
-
-def test_standalone_function():
-    """独立测试函数"""
-    result = some_function()
-    assert result is True
-
-
-# 参数化测试
-@pytest.mark.parametrize("input,expected", [
-    ("5 min", 300.0),
-    ("1 h", 3600.0),
-    ("120", 120.0),
-    (60, 60.0),
-])
-def test_time_parsing(input, expected):
-    """测试时间解析"""
-    from unilabos.compile.utils.unit_parser import parse_time_input
-    assert parse_time_input(input) == expected
-
-
-# 异常测试
-def test_invalid_input_raises_error():
-    """测试无效输入抛出异常"""
-    with pytest.raises(ValueError) as exc_info:
-        invalid_function("bad_input")
-    assert "invalid" in str(exc_info.value).lower()
-
-
-# 跳过条件测试
-@pytest.mark.skipif(
-    not os.environ.get("ROS_DISTRO"),
-    reason="需要ROS环境"
-)
-def test_ros_feature():
-    """需要ROS环境的测试"""
-    pass
-```
-
-## 设备测试
-
-### 虚拟设备测试
-
-```python
-import pytest
-import asyncio
-from unittest.mock import MagicMock, AsyncMock
-
-from unilabos.devices.virtual.virtual_stirrer import VirtualStirrer
-
-
-class TestVirtualStirrer:
-    """VirtualStirrer 测试"""
-
-    @pytest.fixture
-    def stirrer(self):
-        """创建测试用搅拌器"""
-        device = VirtualStirrer(
-            device_id="test_stirrer",
-            config={"max_speed": 1500.0, "min_speed": 50.0}
-        )
-
-        # Mock ROS节点
-        mock_node = MagicMock()
-        mock_node.sleep = AsyncMock(return_value=None)
-        device.post_init(mock_node)
-
-        return device
-
-    @pytest.mark.asyncio
-    async def test_initialize(self, stirrer):
-        """测试初始化"""
-        result = await stirrer.initialize()
-        assert result is True
-        assert stirrer.status == "待机中"
-
-    @pytest.mark.asyncio
-    async def test_stir_action(self, stirrer):
-        """测试搅拌动作"""
-        await stirrer.initialize()
-
-        result = await stirrer.stir(
-            stir_time=5.0,
-            stir_speed=300.0,
-            settling_time=2.0
-        )
-
-        assert result is True
-        assert stirrer.operation_mode == "Completed"
-
-    @pytest.mark.asyncio
-    async def test_stir_invalid_speed(self, stirrer):
-        """测试无效速度"""
-        await stirrer.initialize()
-
-        # 速度超出范围
-        result = await stirrer.stir(
-            stir_time=5.0,
-            stir_speed=2000.0,  # 超过max_speed
-            settling_time=0.0
-        )
-
-        assert result is False
-        assert "错误" in stirrer.status
-```
-
-### 异步测试配置
-
-```python
-# conftest.py
-import pytest
-import asyncio
-
-
-@pytest.fixture(scope="session")
-def event_loop():
-    """创建事件循环"""
-    loop = asyncio.get_event_loop_policy().new_event_loop()
-    yield loop
-    loop.close()
-```
-
-## 资源测试
-
-```python
-import pytest
-from unilabos.resources.resource_tracker import (
-    ResourceTreeSet,
-    ResourceTreeInstance,
-)
-
-
-def test_resource_tree_creation():
-    """测试资源树创建"""
-    tree_set = ResourceTreeSet()
-
-    # 添加资源
-    resource = {"id": "res_1", "name": "Resource 1"}
-    tree_set.add_resource(resource)
-
-    # 验证
-    assert len(tree_set.all_nodes) == 1
-    assert tree_set.get_resource("res_1") is not None
-
-
-def test_resource_tree_merge():
-    """测试资源树合并"""
-    local_set = ResourceTreeSet()
-    remote_set = ResourceTreeSet()
-
-    # 设置数据...
-
-    local_set.merge_remote_resources(remote_set)
-
-    # 验证合并结果...
-```
-
-## ROS 消息测试
-
-```python
-import pytest
-from unilabos.ros.msgs.message_converter import (
-    convert_to_ros_msg,
-    convert_from_ros_msg_with_mapping,
-    msg_converter_manager,
-)
-
-
-def test_message_conversion():
-    """测试消息转换"""
-    # Python -> ROS
-    python_data = {"id": "test", "value": 42}
-    ros_msg = convert_to_ros_msg(python_data, MyMsgType)
-
-    assert ros_msg.id == "test"
-    assert ros_msg.value == 42
-
-    # ROS -> Python
-    result = convert_from_ros_msg_with_mapping(ros_msg, mapping)
-    assert result["id"] == "test"
-```
-
-## 协议测试
-
-```python
-import pytest
-import networkx as nx
-from unilabos.compile.stir_protocol import (
-    generate_stir_protocol,
-    extract_vessel_id,
-)
-
-
-@pytest.fixture
-def topology_graph():
-    """创建测试拓扑图"""
-    G = nx.DiGraph()
-    G.add_node("flask_1", **{"class": "flask"})
-    G.add_node("stirrer_1", **{"class": "virtual_stirrer"})
-    G.add_edge("stirrer_1", "flask_1")
-    return G
-
-
-def test_generate_stir_protocol(topology_graph):
-    """测试搅拌协议生成"""
-    actions = generate_stir_protocol(
-        G=topology_graph,
-        vessel="flask_1",
-        time="5 min",
-        stir_speed=300.0
-    )
-
-    assert len(actions) == 1
-    assert actions[0]["device_id"] == "stirrer_1"
-    assert actions[0]["action_name"] == "stir"
-
-
-def test_extract_vessel_id():
-    """测试vessel_id提取"""
-    # 字典格式
-    assert extract_vessel_id({"id": "flask_1"}) == "flask_1"
-
-    # 字符串格式
-    assert extract_vessel_id("flask_2") == "flask_2"
-
-    # 空值
-    assert extract_vessel_id("") == ""
-```
-
-## 测试标记
-
-```python
-# 慢速测试
-@pytest.mark.slow
-def test_long_running():
-    pass
-
-# 需要网络
-@pytest.mark.network
-def test_network_call():
-    pass
-
-# 需要ROS
-@pytest.mark.ros
-def test_ros_feature():
-    pass
-```
-
-运行特定标记的测试：
-
-```bash
-pytest -m "not slow"  # 排除慢速测试
-pytest -m ros         # 仅ROS测试
-```
-
-## 覆盖率
-
-```bash
-# 生成覆盖率报告
-pytest --cov=unilabos tests/
-
-# HTML报告
-pytest --cov=unilabos --cov-report=html tests/
-```
-
-## 最佳实践
-
-1. **测试命名**: `test_{功能}_{场景}_{预期结果}`
-2. **独立性**: 每个测试独立运行，不依赖其他测试
-3. **Mock外部依赖**: 使用 unittest.mock 模拟外部服务
-4. **参数化**: 使用 `@pytest.mark.parametrize` 减少重复代码
-5. **fixtures**: 使用 fixtures 共享测试设置
-6. **断言清晰**: 每个断言只验证一件事

.cursor/rules/unilabos-project.mdc

@@ -1,353 +0,0 @@
----
-description: Uni-Lab-OS 实验室自动化平台开发规范 - 核心规则
-globs: ["**/*.py", "**/*.yaml", "**/*.json"]
----
-
-# Uni-Lab-OS 项目开发规范
-
-## 项目概述
-
-Uni-Lab-OS 是一个实验室自动化操作系统，用于连接和控制各种实验设备，实现实验工作流的自动化和标准化。
-
-## 技术栈
-
-- **Python 3.11** - 核心开发语言
-- **ROS 2** - 设备通信中间件 (rclpy)
-- **Conda/Mamba** - 包管理 (robostack-staging, conda-forge)
-- **FastAPI** - Web API 服务
-- **WebSocket** - 实时通信
-- **NetworkX** - 拓扑图管理
-- **YAML** - 配置和注册表定义
-- **PyLabRobot** - 实验室自动化库集成
-- **pytest** - 测试框架
-- **asyncio** - 异步编程
-
-## 项目结构
-
-```
-unilabos/
-├── app/           # 应用入口、Web服务、后端
-├── compile/       # 协议编译器 (stir, add, filter 等)
-├── config/        # 配置管理
-├── devices/       # 设备驱动 (真实/虚拟)
-├── device_comms/  # 设备通信协议
-├── device_mesh/   # 3D网格和可视化
-├── registry/      # 设备和资源类型注册表 (YAML)
-├── resources/     # 资源定义
-├── ros/           # ROS 2 集成
-├── utils/         # 工具函数
-└── workflow/      # 工作流管理
-```
-
-## 代码规范
-
-### Python 风格
-
-1. **类型注解**：所有函数必须使用类型注解
-   ```python
-   def transfer_liquid(
-       source: str,
-       destination: str,
-       volume: float,
-       **kwargs
-   ) -> List[Dict[str, Any]]:
-   ```
-
-2. **Docstring**：使用 Google 风格的文档字符串
-   ```python
-   def initialize(self) -> bool:
-       """
-       初始化设备
-
-       Returns:
-           bool: 初始化是否成功
-       """
-   ```
-
-3. **导入顺序**：
-   - 标准库
-   - 第三方库
-   - ROS 相关 (rclpy, unilabos_msgs)
-   - 项目内部模块
-
-### 异步编程
-
-1. 设备操作方法使用 `async def`
-2. 使用 `await self._ros_node.sleep()` 而非 `asyncio.sleep()`
-3. 长时间运行操作需提供进度反馈
-
-```python
-async def stir(self, stir_time: float, stir_speed: float, **kwargs) -> bool:
-    """执行搅拌操作"""
-    start_time = time_module.time()
-    while True:
-        elapsed = time_module.time() - start_time
-        remaining = max(0, stir_time - elapsed)
-
-        self.data.update({
-            "remaining_time": remaining,
-            "status": f"搅拌中: {stir_speed} RPM"
-        })
-
-        if remaining <= 0:
-            break
-        await self._ros_node.sleep(1.0)
-    return True
-```
-
-### 日志规范
-
-使用项目自定义日志系统：
-
-```python
-from unilabos.utils.log import logger, info, debug, warning, error, trace
-
-# 在设备类中使用
-self.logger = logging.getLogger(f"DeviceName.{self.device_id}")
-self.logger.info("设备初始化完成")
-```
-
-## 设备驱动开发
-
-### 设备类结构
-
-```python
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-class MyDevice:
-    """设备驱动类"""
-
-    _ros_node: BaseROS2DeviceNode
-
-    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
-        self.device_id = device_id or "unknown_device"
-        self.config = config or {}
-        self.data = {}  # 设备状态数据
-
-    def post_init(self, ros_node: BaseROS2DeviceNode):
-        """ROS节点注入"""
-        self._ros_node = ros_node
-
-    async def initialize(self) -> bool:
-        """初始化设备"""
-        pass
-
-    async def cleanup(self) -> bool:
-        """清理设备"""
-        pass
-
-    # 状态属性 - 自动发布为 ROS Topic
-    @property
-    def status(self) -> str:
-        return self.data.get("status", "待机")
-```
-
-### 状态属性装饰器
-
-```python
-from unilabos.utils.decorator import topic_config
-
-class MyDevice:
-    @property
-    @topic_config(period=1.0, qos=10)  # 每秒发布一次
-    def temperature(self) -> float:
-        return self._temperature
-```
-
-### 虚拟设备
-
-虚拟设备放置在 `unilabos/devices/virtual/` 目录下，命名为 `virtual_*.py`
-
-## 注册表配置
-
-### 设备注册表 (YAML)
-
-位置: `unilabos/registry/devices/*.yaml`
-
-```yaml
-my_device_type:
-  category:
-    - my_category
-  description: "设备描述"
-  version: "1.0.0"
-  class:
-    module: "unilabos.devices.my_device:MyDevice"
-    type: python
-    status_types:
-      status: String
-      temperature: Float64
-    action_value_mappings:
-      auto-initialize:
-        type: UniLabJsonCommandAsync
-        goal: {}
-        feedback: {}
-        result: {}
-        schema: {...}
-```
-
-### 资源注册表 (YAML)
-
-位置: `unilabos/registry/resources/**/*.yaml`
-
-```yaml
-my_container:
-  category:
-    - container
-  class:
-    module: "unilabos.resources.my_resource:MyContainer"
-    type: pylabrobot
-  version: "1.0.0"
-```
-
-## 协议编译器
-
-位置: `unilabos/compile/*_protocol.py`
-
-### 协议生成函数模板
-
-```python
-from typing import List, Dict, Any, Union
-import networkx as nx
-
-def generate_my_protocol(
-    G: nx.DiGraph,
-    vessel: Union[str, dict],
-    param1: float = 0.0,
-    **kwargs
-) -> List[Dict[str, Any]]:
-    """
-    生成操作协议序列
-
-    Args:
-        G: 物理拓扑图
-        vessel: 容器ID或字典
-        param1: 参数1
-
-    Returns:
-        List[Dict]: 动作序列
-    """
-    # 提取vessel_id
-    vessel_id = vessel if isinstance(vessel, str) else vessel.get("id", "")
-
-    # 查找设备
-    device_id = find_connected_device(G, vessel_id)
-
-    # 生成动作
-    action_sequence = [{
-        "device_id": device_id,
-        "action_name": "my_action",
-        "action_kwargs": {
-            "vessel": {"id": vessel_id},
-            "param1": float(param1)
-        }
-    }]
-
-    return action_sequence
-```
-
-## 测试规范
-
-### 测试文件位置
-
-- 单元测试: `tests/` 目录
-- 设备测试: `tests/devices/`
-- 资源测试: `tests/resources/`
-- ROS消息测试: `tests/ros/msgs/`
-
-### 测试命名
-
-```python
-# tests/devices/my_device/test_my_device.py
-
-import pytest
-
-def test_device_initialization():
-    """测试设备初始化"""
-    pass
-
-def test_device_action():
-    """测试设备动作"""
-    pass
-```
-
-## 错误处理
-
-```python
-from unilabos.utils.exception import UniLabException
-
-try:
-    result = await device.execute_action()
-except ValueError as e:
-    self.logger.error(f"参数错误: {e}")
-    self.data["status"] = "错误: 参数无效"
-    return False
-except Exception as e:
-    self.logger.error(f"执行失败: {e}")
-    raise
-```
-
-## 配置管理
-
-```python
-from unilabos.config.config import BasicConfig, HTTPConfig
-
-# 读取配置
-port = BasicConfig.port
-is_host = BasicConfig.is_host_mode
-
-# 配置文件: local_config.py
-```
-
-## 常用工具
-
-### 单例模式
-
-```python
-from unilabos.utils.decorator import singleton
-
-@singleton
-class MyManager:
-    pass
-```
-
-### 类型检查
-
-```python
-from unilabos.utils.type_check import NoAliasDumper
-
-yaml.dump(data, f, Dumper=NoAliasDumper)
-```
-
-### 导入管理
-
-```python
-from unilabos.utils.import_manager import get_class
-
-device_class = get_class("unilabos.devices.my_device:MyDevice")
-```
-
-## Git 提交规范
-
-提交信息格式:
-```
-<type>(<scope>): <subject>
-
-<body>
-```
-
-类型:
-- `feat`: 新功能
-- `fix`: 修复bug
-- `docs`: 文档更新
-- `refactor`: 重构
-- `test`: 测试相关
-- `chore`: 构建/工具相关
-
-示例:
-```
-feat(devices): 添加虚拟搅拌器设备
-
-- 实现VirtualStirrer类
-- 支持定时搅拌和持续搅拌模式
-- 添加速度验证逻辑
-```

.cursorignore

@@ -1,188 +1,26 @@
-# ============================================================
+.conda
-# Uni-Lab-OS Cursor Ignore 配置，控制 Cursor AI 的文件索引范围
+# .github
-# ============================================================
+.idea
-
+# .vscode
-# ==================== 敏感配置文件 ====================
+output
-# 本地配置（可能包含密钥）
+pylabrobot_repo
-**/local_config.py
+recipes
-test_config.py
+scripts
-local_test*.py
+service
-
+temp
-# 环境变量和密钥
+# unilabos/test
-.env
+# unilabos/app/web
-.env.*
+unilabos/device_mesh
-**/.certs/
+unilabos_data
-*.pem
+unilabos_msgs
-*.key
+unilabos.egg-info
-credentials.json
+CONTRIBUTORS
-secrets.yaml
+# LICENSE
-
+MANIFEST.in
-# ==================== 二进制和 3D 模型文件 ====================
-# 3D 模型文件（无需索引）
-*.stl
-*.dae
-*.glb
-*.gltf
-*.obj
-*.fbx
-*.blend
-
-# URDF/Xacro 机器人描述文件（大型XML）
-*.xacro
-
-# 图片文件
-*.png
-*.jpg
-*.jpeg
-*.gif
-*.webp
-*.ico
-*.svg
-*.bmp
-
-# 压缩包
-*.zip
-*.tar
-*.tar.gz
-*.tgz
-*.bz2
-*.rar
-*.7z
-
-# ==================== Python 生成文件 ====================
-__pycache__/
-*.py[cod]
-*$py.class
-*.so
-*.pyd
-*.egg
-*.egg-info/
-.eggs/
-dist/
-build/
-*.manifest
-*.spec
-
-# ==================== IDE 和编辑器 ====================
-.idea/
-.vscode/
-*.swp
-*.swo
-*~
-.#*
-
-# ==================== 测试和覆盖率 ====================
-.pytest_cache/
-.coverage
-.coverage.*
-htmlcov/
-.tox/
-.nox/
-coverage.xml
-*.cover
-
-# ==================== 虚拟环境 ====================
-.venv/
-venv/
-env/
-ENV/
-
-# ==================== ROS 2 生成文件 ====================
-# ROS 构建目录
-build/
-install/
-log/
-logs/
-devel/
-
-# ROS 消息生成
-msg_gen/
-srv_gen/
-msg/*Action.msg
-msg/*ActionFeedback.msg
-msg/*ActionGoal.msg
-msg/*ActionResult.msg
-msg/*Feedback.msg
-msg/*Goal.msg
-msg/*Result.msg
-msg/_*.py
-srv/_*.py
-build_isolated/
-devel_isolated/
-
-# ROS 动态配置
-*.cfgc
-/cfg/cpp/
-/cfg/*.py
-
-# ==================== 项目特定目录 ====================
-# 工作数据目录
-unilabos_data/
-
-# 临时和输出目录
-temp/
-output/
-cursor_docs/
-configs/
-
-# 文档构建
-docs/_build/
-/site
-
-# ==================== 大型数据文件 ====================
-# 点云数据
-*.pcd
-
-# GraphML 图形文件
-*.graphml
-
-# 日志文件
-*.log
-
-# 数据库
-*.sqlite3
-*.db
-
-# Jupyter 检查点
-.ipynb_checkpoints/
-
-# ==================== 设备网格资源 ====================
-# 3D 网格文件目录（包含大量 STL/DAE 文件）
-unilabos/device_mesh/devices/**/*.stl
-unilabos/device_mesh/devices/**/*.dae
-unilabos/device_mesh/resources/**/*.stl
-unilabos/device_mesh/resources/**/*.glb
-unilabos/device_mesh/resources/**/*.xacro
-
-# RViz 配置
-*.rviz
-
-# ==================== 系统文件 ====================
-.DS_Store
-Thumbs.db
-desktop.ini
-
-# ==================== 锁文件 ====================
-poetry.lock
-Pipfile.lock
-pdm.lock
-package-lock.json
-yarn.lock
-
-# ==================== 类型检查缓存 ====================
-.mypy_cache/
-.dmypy.json
-.pytype/
-.pyre/
 pyrightconfig.json
-
+# README.md
-# ==================== 其他 ====================
+# README_zh.md
-# Catkin
+setup.py
-CATKIN_IGNORE
+setup.cfg
-
+.gitattrubutes
-# Eclipse/Qt
+**/__pycache__
-.project
-.cproject
-CMakeLists.txt.user
-*.user
-qtcreator-*

.github/dependabot.yml

@@ -1,19 +0,0 @@
-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

@@ -1,67 +0,0 @@
-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

@@ -13,11 +13,6 @@ 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:
@@ -62,7 +57,7 @@ jobs:
             echo "should_build=false" >> $GITHUB_OUTPUT
           fi
 
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         if: steps.should_build.outputs.should_build == 'true'
         with:
           ref: ${{ github.event.inputs.branch }}
@@ -74,7 +69,7 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.14'
+          python-version: '3.11.11'
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: flexible
           activate-environment: unilab
@@ -86,14 +81,7 @@ jobs:
         run: |
           echo Installing unilabos and dependencies to unilab environment...
           echo Using mamba for faster and more reliable dependency resolution...
-          echo Build full: ${{ github.event.inputs.build_full }}
+          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          if "${{ 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'
@@ -101,14 +89,7 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          echo "Build full: ${{ github.event.inputs.build_full }}"
+          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          if [[ "${{ 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'
@@ -312,7 +293,7 @@ jobs:
 
       - name: Upload distribution package
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v4
         with:
           name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
           path: dist-package/
@@ -327,12 +308,7 @@ jobs:
           echo ==========================================
           echo Platform: ${{ matrix.platform }}
           echo Branch: ${{ github.event.inputs.branch }}
-          echo Python version: 3.11.14
+          echo Python version: 3.11.11
-          if "${{ github.event.inputs.build_full }}"=="true" (
-            echo Package: unilabos-full ^(complete^)
-          ) else (
-            echo Package: unilabos ^(minimal^)
-          )
           echo.
           echo Distribution package contents:
           dir dist-package
@@ -352,12 +328,7 @@ jobs:
           echo "=========================================="
           echo "Platform: ${{ matrix.platform }}"
           echo "Branch: ${{ github.event.inputs.branch }}"
-          echo "Python version: 3.11.14"
+          echo "Python version: 3.11.11"
-          if [[ "${{ 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

@@ -1,12 +1,10 @@
 name: Deploy Docs
 
 on:
-  # 在 CI Check 成功后自动触发（仅 main 分支）
+  push:
-  workflow_run:
+    branches: [main]
-    workflows: ["CI Check"]
+  pull_request:
-    types: [completed]
     branches: [main]
-  # 手动触发
   workflow_dispatch:
     inputs:
       branch:
@@ -35,19 +33,12 @@ 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@v6
+        uses: actions/checkout@v4
         with:
-          # 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.inputs.branch || github.ref }}
-          ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
           fetch-depth: 0
 
       - name: Setup Miniforge (with mamba)
@@ -55,7 +46,7 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.14'
+          python-version: '3.11.11'
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: flexible
           activate-environment: unilab
@@ -84,10 +75,8 @@ jobs:
 
       - name: Setup Pages
         id: pages
-        uses: actions/configure-pages@v5
+        uses: actions/configure-pages@v4
-        if: |
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
-          github.event.workflow_run.head_branch == 'main' ||
-          (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
 
       - name: Build Sphinx documentation
         run: |
@@ -105,18 +94,14 @@ 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@v4
+        uses: actions/upload-pages-artifact@v3
-        if: |
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
-          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: |
+    if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
-      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

@@ -1,16 +1,11 @@
 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*']
-  # 手动触发
+  pull_request:
+    branches: [main, dev]
   workflow_dispatch:
     inputs:
       platforms:
@@ -22,37 +17,9 @@ 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:
@@ -77,10 +44,8 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         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
@@ -104,6 +69,7 @@ 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
 
@@ -149,7 +115,7 @@ jobs:
 
       - name: Upload conda package artifacts
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v4
         with:
           name: conda-package-${{ matrix.platform }}
           path: conda-packages-temp

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

@@ -1,62 +1,25 @@
 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*']
-  # 手动触发
+  pull_request:
+    branches: [main, dev]
   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:
@@ -77,10 +40,8 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         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
@@ -104,6 +65,7 @@ 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
 
@@ -119,61 +81,12 @@ jobs:
           conda list | grep -E "(rattler-build|anaconda-client)"
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
-          echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
+          echo "Building UniLabOS package"
-          echo "Building packages:"
-          echo "  - unilabos-env (environment dependencies)"
-          echo "  - unilabos (with pip package)"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
-            echo "  - unilabos-full (complete package)"
-          fi
 
-      - name: Build unilabos-env (conda environment only, noarch)
+      - name: Build conda package
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          echo "Building unilabos-env (conda environment dependencies)..."
+          rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
-          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'
@@ -195,9 +108,17 @@ jobs:
 
       - name: Upload conda package artifacts
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v4
         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

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

MANIFEST.in

@@ -1,5 +1,4 @@
 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

@@ -31,46 +31,26 @@ 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. Choose the package that fits your needs:
+Uni-Lab-OS recommends using `mamba` for environment management:
-
-| 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=3.11.14
+mamba create -n unilab python=3.11.11
 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
 ```
 
-**When to use which?**
+2. Install Dev Uni-Lab-OS
-- **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 (only needed for development or examples)
+# Clone the repository
 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

@@ -31,46 +31,26 @@ 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。根据您的需求选择合适的安装包：
+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:
-
-| 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=3.11.14
+mamba create -n unilab python=3.11.11
 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
 ```
 
-**如何选择？**
+2. 安装开发版 Uni-Lab-OS:
-- **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（仅开发或查看示例时需要）
+# 克隆仓库
 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

@@ -31,14 +31,6 @@
 
 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
@@ -46,30 +38,15 @@
 # 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
 
 # 2. 创建 Conda 环境
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.11.11
 
 # 3. 激活环境
 mamba activate unilab
 
-# 4. 安装 Uni-Lab-OS（选择其一）
+# 4. 安装 Uni-Lab-OS
-
-# 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
@@ -439,9 +416,6 @@ 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)
 
@@ -452,9 +426,8 @@ 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_multiway_valve` 拖拽到 `workstation` 中
+2. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
-3. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
+3. 在画布上连接它们（建立父子关系）
-4. 在画布上连接它们（建立父子关系）
 
 ![设备连接](image/links.png)
 
@@ -795,43 +768,7 @@ 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 开发环境准备
+#### 9.1 为什么需要自定义设备？
-
-**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：
 
@@ -840,7 +777,7 @@ 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
 
-#### 9.3 创建 Python 包
+#### 9.2 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。
 
@@ -877,7 +814,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
 touch my_lab_devices/my_lab_devices/devices/__init__.py
 ```
 
-#### 9.4 创建 setup.py
+#### 9.3 创建 setup.py
 
 ```python
 # my_lab_devices/setup.py
@@ -908,7 +845,7 @@ setup(
 )
 ```
 
-#### 9.5 开发安装
+#### 9.4 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：
 
@@ -923,7 +860,7 @@ 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）
 
-#### 9.6 编写设备驱动
+#### 9.5 编写设备驱动
 
 创建设备驱动文件：
 
@@ -1064,7 +1001,7 @@ 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
 
-#### 9.7 测试设备驱动
+#### 9.6 测试设备驱动
 
 创建简单的测试脚本：
 

docs/user_guide/installation.md

@@ -13,26 +13,15 @@
   - 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             | 推荐安装包        | 特点                           | 安装时间                     |
+| 安装方式               | 适用人群             | 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**   | **大多数用户**       | `unilabos`        | 完整功能，开箱即用             | 10-20 分钟                   |
+| **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 | `unilabos-env`    | 可编辑模式，支持自定义开发     | 20-30 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                   |
-| **仿真/可视化**        | 仿真测试、可视化调试 | `unilabos-full`   | 含 Gazebo、rviz2、MoveIt       | 30-60 分钟                   |
 
 ---
 
@@ -155,38 +144,17 @@ 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=3.11.14  # 目前ros2组件依赖版本大多为3.11.14
+mamba create -n unilab python=3.11.11  # 目前ros2组件依赖版本大多为3.11.11
 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`: 安装 unilabos 完整包，开箱即用（推荐）
+- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
-- `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
@@ -195,14 +163,8 @@ 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（推荐标准安装）
+# 然后重新执行安装命令
 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
@@ -241,87 +203,58 @@ cd Uni-Lab-OS
    cd Uni-Lab-OS
    ```
 
-### 第二步：安装开发环境（unilabos-env）
+### 第二步：安装基础环境
 
-**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
+**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）。
-- 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
+#### 选项 A：通过一键安装（推荐）
-- 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）
+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：
 
 ```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
 ```
 
-### 第三步：安装 pip 依赖和可编辑模式安装
+#### 选项 B：通过手动安装
 
-克隆代码并安装依赖：
+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：
 
 ```bash
 # 确保环境已激活
 conda activate unilab
 
-# 克隆仓库（如果还未克隆）
+# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git
+pip uninstall unilabos -y
-cd Uni-Lab-OS
 
-# 切换到 dev 分支（可选）
+# 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
+cd Uni-Lab-OS
 git checkout dev
 git pull
-```
 
-**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
+# 以可编辑模式安装开发版 unilabos
-
-```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**：
+**参数说明**：
-- `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（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
-- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
+- `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）
-- 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）
 
@@ -531,45 +464,7 @@ cd $CONDA_PREFIX/envs/unilab
 
 ### 问题 8: 环境很大，有办法减小吗？
 
-**解决方案**: 
+**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。
-
-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？
 
@@ -616,7 +511,6 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
 
 **提示**:
 
-- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
+- 生产环境推荐使用方式二（手动安装）的稳定版本
-- **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
+- 开发和测试推荐使用方式三（开发者安装）
-- **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）
-- **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: 0.10.18
+  version: 0.10.15
 source:
   path: ../../unilabos_msgs
   target_directory: src
@@ -25,7 +25,7 @@ requirements:
   build:
   - ${{ compiler('cxx') }}
   - ${{ compiler('c') }}
-  - python ==3.11.14
+  - python ==3.11.11
   - numpy
   - if: build_platform != target_platform
     then:
@@ -63,14 +63,14 @@ requirements:
   - robostack-staging::ros-humble-rosidl-default-generators
   - robostack-staging::ros-humble-std-msgs
   - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.7
+  - robostack-staging::ros2-distro-mutex=0.6
   run:
   - robostack-staging::ros-humble-action-msgs
   - robostack-staging::ros-humble-ros-workspace
   - robostack-staging::ros-humble-rosidl-default-runtime
   - robostack-staging::ros-humble-std-msgs
   - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.7
+  - robostack-staging::ros2-distro-mutex=0.6
   - if: osx and x86_64
     then:
     - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.18"
+  version: "0.10.15"
 
 source:
   path: ../..

scripts/create_readme.py

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

scripts/dev_install.py

@@ -1,214 +0,0 @@
-#!/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='0.10.18',
+    version='0.10.15',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

tests/workflow/test.json

@@ -1,213 +0,0 @@
-{
-  "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__ = "0.10.18"
+__version__ = "0.10.15"

unilabos/__main__.py

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

unilabos/app/main.py

@@ -7,6 +7,7 @@ import sys
 import threading
 import time
 from typing import Dict, Any, List
+
 import networkx as nx
 import yaml
 
@@ -16,9 +17,9 @@ 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
@@ -160,23 +161,11 @@ 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",
         help="Disable sending update feedback to server",
     )
-    parser.add_argument(
-        "--test_mode",
-        action="store_true",
-        default=False,
-        help="Test mode: all actions simulate execution and return mock results without running real hardware",
-    )
     # workflow upload subcommand
     workflow_parser = subparsers.add_parser(
         "workflow_upload",
@@ -210,12 +199,6 @@ def parse_args():
         default=False,
         help="Whether to publish the workflow (default: False)",
     )
-    workflow_parser.add_argument(
-        "--description",
-        type=str,
-        default="",
-        help="Workflow description, used when publishing the workflow",
-    )
     return parser
 
 
@@ -228,10 +211,7 @@ def main():
     args_dict = vars(args)
 
     # 环境检查 - 检查并自动安装必需的包 (可选)
-    skip_env_check = args_dict.get("skip_env_check", False)
+    if not 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):
@@ -242,75 +222,49 @@ 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"):
-    # === 解析 working_dir ===
-    # 规则1: working_dir 传入 → 检测 unilabos_data 子目录，已是则不修改
-    # 规则2: 仅 config_path 传入 → 用其父目录作为 working_dir
-    # 规则4: 两者都传入 → 各用各的，但 working_dir 仍做 unilabos_data 子目录检测
-    raw_working_dir = args_dict.get("working_dir")
-    if raw_working_dir:
-        working_dir = os.path.abspath(raw_working_dir)
-    elif config_path and os.path.exists(config_path):
-        working_dir = os.path.dirname(os.path.abspath(config_path))
-    else:
         working_dir = os.path.abspath(os.getcwd())
+    else:
+        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
 
-    # unilabos_data 子目录自动检测
+    if args_dict.get("working_dir"):
-    if os.path.basename(working_dir) != "unilabos_data":
+        working_dir = args_dict.get("working_dir", "")
-        unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
+        if config_path and not os.path.exists(config_path):
-        if os.path.isdir(unilabos_data_sub):
+            config_path = os.path.join(working_dir, "local_config.py")
-            working_dir = unilabos_data_sub
+            if not os.path.exists(config_path):
-        elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
+                print_status(
-            # 未显式指定路径，默认使用 cwd/unilabos_data
+                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
-            working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
+                    "error",
-
-    # === 解析 config_path ===
-    if config_path and not os.path.exists(config_path):
-        # config_path 传入但不存在，尝试在 working_dir 中查找
-        candidate = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(candidate):
-            config_path = candidate
-            print_status(f"在工作目录中发现配置文件: {config_path}", "info")
-        else:
-            print_status(
-                f"配置文件 {config_path} 不存在，工作目录 {working_dir} 中也未找到 local_config.py，"
-                f"请通过 --config 传入 local_config.py 文件路径",
-                "error",
-            )
-            os._exit(1)
-    elif not config_path:
-        # 规则3: 未传入 config_path，尝试 working_dir/local_config.py
-        candidate = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(candidate):
-            config_path = candidate
-            print_status(f"发现本地配置文件: {config_path}", "info")
-        else:
-            print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-            print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
-            if check_mode or input() != "n":
-                os.makedirs(working_dir, exist_ok=True)
-                config_path = os.path.join(working_dir, "local_config.py")
-                shutil.copy(
-                    os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"),
-                    config_path,
                 )
-                print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-            else:
                 os._exit(1)
-
+    elif config_path and os.path.exists(config_path):
-    # 加载配置文件 (check_mode 跳过)
+        working_dir = os.path.dirname(config_path)
+    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
+        config_path = os.path.join(working_dir, "local_config.py")
+    elif not config_path and (
+        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
+    ):
+        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
+        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
+        if input() != "n":
+            os.makedirs(working_dir, exist_ok=True)
+            config_path = os.path.join(working_dir, "local_config.py")
+            shutil.copy(
+                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
+            )
+            print_status(f"已创建 local_config.py 路径： {config_path}", "info")
+        else:
+            os._exit(1)
+    # 加载配置文件
     print_status(f"当前工作目录为 {working_dir}", "info")
-    if not check_mode:
+    load_config_from_file(config_path)
-        load_config_from_file(config_path)
 
     # 根据配置重新设置日志级别
     from unilabos.utils.log import configure_logger, logger
 
     if hasattr(BasicConfig, "log_level"):
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-    file_path = configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
+    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
-    if file_path is not None:
-        logger.info(f"[LOG_FILE] {file_path}")
 
     if args.addr != parser.get_default("addr"):
         if args.addr == "test":
@@ -354,15 +308,11 @@ def main():
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
     BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
-    BasicConfig.test_mode = args_dict.get("test_mode", False)
-    if BasicConfig.test_mode:
-        print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
     BasicConfig.communication_protocol = "websocket"
     machine_name = os.popen("hostname").read().strip()
     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,
@@ -381,14 +331,10 @@ def main():
     # 显示启动横幅
     print_unilab_banner(args_dict)
 
-    # 注册表 - check_mode 时强制启用 complete_registry
+    # 注册表
-    complete_registry = args_dict.get("complete_registry", False) or check_mode
+    lab_registry = build_registry(
-    lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
+        args_dict["registry_path"], args_dict.get("complete_registry", False), 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

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

unilabos/app/register.py

@@ -38,9 +38,9 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
             response = http_client.resource_registry({"resources": list(devices_to_register.values())})
             cost_time = time.time() - start_time
             if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}s")
+                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
             else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}s")
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
         except Exception as e:
             logger.error(f"[UniLab Register] 设备注册异常: {e}")
 
@@ -51,9 +51,9 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
             response = http_client.resource_registry({"resources": list(resources_to_register.values())})
             cost_time = time.time() - start_time
             if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}s")
+                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
             else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}s")
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
         except Exception as e:
             logger.error(f"[UniLab Register] 资源注册异常: {e}")
 

unilabos/app/utils.py

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

unilabos/app/web/client.py

@@ -343,10 +343,9 @@ class HTTPClient:
         edges: List[Dict[str, Any]],
         tags: Optional[List[str]] = None,
         published: bool = False,
-        description: str = "",
     ) -> Dict[str, Any]:
         """
-        导入工作流到服务器，如果 published 为 True，则额外发起发布请求
+        导入工作流到服务器
 
         Args:
             name: 工作流名称（顶层）
@@ -356,12 +355,13 @@ class HTTPClient:
             edges: 工作流边列表
             tags: 工作流标签列表，默认为空列表
             published: 是否发布工作流，默认为False
-            description: 工作流描述，发布时使用
 
         Returns:
             Dict: API响应数据，包含 code 和 data (uuid, name)
         """
+        # target_lab_uuid 暂时使用默认值，后续由后端根据 ak/sk 获取
         payload = {
+            "target_lab_uuid": "28c38bb0-63f6-4352-b0d8-b5b8eb1766d5",
             "name": name,
             "data": {
                 "workflow_uuid": workflow_uuid,
@@ -369,6 +369,7 @@ class HTTPClient:
                 "nodes": nodes,
                 "edges": edges,
                 "tags": tags if tags is not None else [],
+                "published": published,
             },
         }
         # 保存请求到文件
@@ -389,51 +390,11 @@ class HTTPClient:
             res = response.json()
             if "code" in res and res["code"] != 0:
                 logger.error(f"导入工作流失败: {response.text}")
-                return res
-            # 导入成功后，如果需要发布则额外发起发布请求
-            if published:
-                imported_uuid = res.get("data", {}).get("uuid", workflow_uuid)
-                publish_res = self.workflow_publish(imported_uuid, description)
-                res["publish_result"] = publish_res
             return res
         else:
             logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
             return {"code": response.status_code, "message": response.text}
 
-    def workflow_publish(self, workflow_uuid: str, description: str = "") -> Dict[str, Any]:
-        """
-        发布工作流
-
-        Args:
-            workflow_uuid: 工作流UUID
-            description: 工作流描述
-
-        Returns:
-            Dict: API响应数据
-        """
-        payload = {
-            "uuid": workflow_uuid,
-            "description": description,
-            "published": True,
-        }
-        logger.info(f"正在发布工作流: {workflow_uuid}")
-        response = requests.patch(
-            f"{self.remote_addr}/lab/workflow/owner",
-            json=payload,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=60,
-        )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"发布工作流失败: {response.text}")
-            else:
-                logger.info(f"工作流发布成功: {workflow_uuid}")
-            return res
-        else:
-            logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
-            return {"code": response.status_code, "message": response.text}
-
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/web/controller.py

@@ -58,14 +58,14 @@ class JobResultStore:
                 feedback=feedback or {},
                 timestamp=time.time(),
             )
-            logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
+            logger.debug(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.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
+                logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
             return result
 
     def get_result(self, job_id: str) -> Optional[JobResult]:
@@ -327,7 +327,6 @@ 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 typing_extensions import TypedDict
+from jedi.inference.gradual.typing import TypedDict
 
 from unilabos.app.model import JobAddReq
 from unilabos.ros.nodes.presets.host_node import HostNode
@@ -76,7 +76,6 @@ class JobInfo:
     start_time: float
     last_update_time: float = field(default_factory=time.time)
     ready_timeout: Optional[float] = None  # READY状态的超时时间
-    always_free: bool = False  # 是否为永久闲置动作(不受排队限制)
 
     def update_timestamp(self):
         """更新最后更新时间"""
@@ -128,15 +127,6 @@ class DeviceActionManager:
             # 总是将job添加到all_jobs中
             self.all_jobs[job_info.job_id] = job_info
 
-            # always_free的动作不受排队限制，直接设为READY
-            if job_info.always_free:
-                job_info.status = JobStatus.READY
-                job_info.update_timestamp()
-                job_info.set_ready_timeout(10)
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
-                return True
-
             # 检查是否有正在执行或准备执行的任务
             if device_key in self.active_jobs:
                 # 有正在执行或准备执行的任务，加入队列
@@ -164,7 +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.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
+            logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
             return True
 
     def start_job(self, job_id: str) -> bool:
@@ -186,15 +176,11 @@ class DeviceActionManager:
                 logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
                 return False
 
-            # always_free的job不需要检查active_jobs
+            # 检查设备上是否是这个job
-            if not job_info.always_free:
+            if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
-                # 检查设备上是否是这个job
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
+                logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
-                    job_log = format_job_log(
+                return False
-                        job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
-                    )
-                    logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
-                    return False
 
             # 开始执行任务，将状态从READY转换为STARTED
             job_info.status = JobStatus.STARTED
@@ -217,13 +203,6 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
-            # always_free的job直接清理，不影响队列
-            if job_info.always_free:
-                job_info.status = JobStatus.ENDED
-                job_info.update_timestamp()
-                del self.all_jobs[job_id]
-                return None
-
             # 移除活跃任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 del self.active_jobs[device_key]
@@ -231,9 +210,8 @@ 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)
+                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}")
+                logger.info(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}")
@@ -249,20 +227,15 @@ 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.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
+                logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
                 return next_job
 
             return None
 
     def get_active_jobs(self) -> List[JobInfo]:
-        """获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
+        """获取所有正在执行的任务"""
         with self.lock:
-            jobs = list(self.active_jobs.values())
+            return list(self.active_jobs.values())
-            # 补充 always_free 的 STARTED job(它们不在 active_jobs 中)
-            for job in self.all_jobs.values():
-                if job.always_free and job.status == JobStatus.STARTED and job not in jobs:
-                    jobs.append(job)
-            return jobs
 
     def get_queued_jobs(self) -> List[JobInfo]:
         """获取所有排队中的任务"""
@@ -287,14 +260,6 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
-            # always_free的job直接清理
-            if job_info.always_free:
-                job_info.status = JobStatus.ENDED
-                del self.all_jobs[job_id]
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
-                return True
-
             # 如果是正在执行的任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 # 清理active job状态
@@ -303,7 +268,7 @@ 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.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
+                logger.info(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]:
@@ -316,7 +281,7 @@ 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.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
+                    logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
                 return True
 
             # 如果是排队中的任务
@@ -330,7 +295,7 @@ class DeviceActionManager:
                     job_log = format_job_log(
                         job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
                     )
-                    logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
+                    logger.info(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)
@@ -368,18 +333,13 @@ class DeviceActionManager:
         timeout_jobs = []
 
         with self.lock:
-            # 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
+            # 统计READY状态的任务数量
-            ready_candidates = list(self.active_jobs.values())
+            ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
-            for job in self.all_jobs.values():
-                if job.always_free and job.status == JobStatus.READY and job not in ready_candidates:
-                    ready_candidates.append(job)
-
-            ready_jobs_count = sum(1 for job in ready_candidates if job.status == JobStatus.READY)
             if ready_jobs_count > 0:
                 logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout")  # type: ignore  # noqa: E501
 
             # 找到所有超时的READY任务（只检测，不处理）
-            for job_info in ready_candidates:
+            for job_info in self.active_jobs.values():
                 if job_info.is_ready_timeout():
                     timeout_jobs.append(job_info)
                     job_log = format_job_log(
@@ -534,12 +494,8 @@ class MessageProcessor:
                         await self._process_message(message_type, message_data)
                     else:
                         if message_type.endswith("_material"):
-                            logger.trace(
+                            logger.trace(f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}")
-                                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.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:
@@ -584,7 +540,7 @@ 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())
@@ -609,7 +565,7 @@ class MessageProcessor:
 
     async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
         """处理收到的消息"""
-        logger.trace(f"[MessageProcessor] Processing message: {message_type}")
+        logger.debug(f"[MessageProcessor] Processing message: {message_type}")
 
         try:
             if message_type == "pong":
@@ -647,24 +603,6 @@ class MessageProcessor:
         if host_node:
             host_node.handle_pong_response(pong_data)
 
-    def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
-        """检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
-        try:
-            host_node = HostNode.get_instance(0)
-            if not host_node:
-                return False
-            # noinspection PyProtectedMember
-            action_mappings = host_node._action_value_mappings.get(device_id)
-            if not action_mappings:
-                return False
-            # 尝试直接匹配或 auto- 前缀匹配
-            for key in [action_name, f"auto-{action_name}"]:
-                if key in action_mappings:
-                    return action_mappings[key].get("always_free", False)
-            return False
-        except Exception:
-            return False
-
     async def _handle_query_action_state(self, data: Dict[str, Any]):
         """处理query_action_state消息"""
         device_id = data.get("device_id", "")
@@ -679,9 +617,6 @@ class MessageProcessor:
 
         device_action_key = f"/devices/{device_id}/{action_name}"
 
-        # 检查action是否为always_free
-        action_always_free = self._check_action_always_free(device_id, action_name)
-
         # 创建任务信息
         job_info = JobInfo(
             job_id=job_id,
@@ -691,7 +626,6 @@ class MessageProcessor:
             device_action_key=device_action_key,
             status=JobStatus.QUEUE,
             start_time=time.time(),
-            always_free=action_always_free,
         )
 
         # 添加到设备管理器
@@ -703,13 +637,13 @@ class MessageProcessor:
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", True, 0
             )
-            logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
+            logger.info(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.trace(f"[MessageProcessor] Job {job_log} queued")
+            logger.info(f"[MessageProcessor] Job {job_log} queued")
 
             # 通知QueueProcessor有新的队列更新
             if self.queue_processor:
@@ -718,8 +652,6 @@ 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)
@@ -751,7 +683,6 @@ class MessageProcessor:
                 queue_item,
                 action_type=req.action_type,
                 action_kwargs=req.action_args,
-                sample_material=req.sample_material,
                 server_info=req.server_info,
             )
 
@@ -916,7 +847,9 @@ class MessageProcessor:
                         device_action_groups[key_add] = []
                     device_action_groups[key_add].append(item["uuid"])
 
-                    logger.info(f"[资源同步] 跨站Transfer: {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")
@@ -930,9 +863,7 @@ class MessageProcessor:
                     device_action_groups[key] = []
                 device_action_groups[key].append(item["uuid"])
 
-        logger.trace(
+        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)}")
-            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():
@@ -980,13 +911,13 @@ class MessageProcessor:
 
         # 发送确认消息
         if self.websocket_client:
-            await self.websocket_client.send_message(
+            await self.websocket_client.send_message({
-                {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
+                "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
 
@@ -996,12 +927,10 @@ class MessageProcessor:
         # 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:
@@ -1184,11 +1113,6 @@ class QueueProcessor:
         logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
 
         for job_info in queued_jobs:
-            # 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
-            # 此时不应再发送 busy/need_more，否则会覆盖已发出的 free=True 通知
-            if job_info.status != JobStatus.QUEUE:
-                continue
-
             message = {
                 "action": "report_action_state",
                 "data": {
@@ -1204,7 +1128,7 @@ 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.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
+                logger.debug(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}")
 
@@ -1227,7 +1151,7 @@ class QueueProcessor:
             job_info.action_name,
         )
 
-        logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
+        logger.info(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)
@@ -1247,8 +1171,8 @@ 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)
+            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")
+            logger.info(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()
@@ -1370,7 +1294,7 @@ 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
@@ -1390,7 +1314,7 @@ class WebSocketClient(BaseCommunicationClient):
                 except (KeyError, AttributeError):
                     logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
 
-            # logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
+            logger.info(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)
@@ -1457,9 +1381,7 @@ class WebSocketClient(BaseCommunicationClient):
             if host_node:
                 # 获取设备信息
                 for device_id, namespace in host_node.devices_names.items():
-                    device_key = (
+                    device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
-                        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
@@ -1473,16 +1395,14 @@ class WebSocketClient(BaseCommunicationClient):
                                 "action_type": str(type(client).__name__),
                             }
 
-                    devices.append(
+                    devices.append({
-                        {
+                        "device_id": device_id,
-                            "device_id": device_id,
+                        "namespace": namespace,
-                            "namespace": namespace,
+                        "device_key": device_key,
-                            "device_key": device_key,
+                        "is_online": is_online,
-                            "is_online": is_online,
+                        "machine_name": host_node.device_machine_names.get(device_id, machine_name),
-                            "machine_name": host_node.device_machine_names.get(device_id, machine_name),
+                        "actions": actions,
-                            "actions": actions,
+                    })
-                        }
-                    )
 
                 logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
         except Exception as e:

unilabos/compile/pump_protocol.py

@@ -95,29 +95,8 @@ def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
     return total_volume
 
 
-def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
+def is_integrated_pump(node_name):
-    """
+    return "pump" in node_name and "valve" in node_name
-    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):
@@ -207,9 +186,7 @@ def build_pump_valve_maps(G, pump_backbone):
     debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
 
     for node in filtered_backbone:
-        node_data = G.nodes.get(node, {})
+        if is_integrated_pump(G.nodes[node]["class"]):
-        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

@@ -22,8 +22,6 @@ 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
-    test_mode = False  # 测试模式，所有动作不实际执行，返回模拟结果
     # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
     log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
 
@@ -146,5 +144,5 @@ def load_config(config_path=None):
             traceback.print_exc()
             exit(1)
     else:
-        config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
+        config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
         load_config(config_path)

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -30,31 +30,9 @@ from pylabrobot.liquid_handling.standard import (
     ResourceMove,
     ResourceDrop,
 )
-from pylabrobot.resources import (
+from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
-    ResourceHolder,
-    ResourceStack,
-    Tip,
-    Deck,
-    Plate,
-    Well,
-    TipRack,
-    Resource,
-    Container,
-    Coordinate,
-    TipSpot,
-    Trash,
-    PlateAdapter,
-    TubeRack,
-)
 
-from unilabos.devices.liquid_handling.liquid_handler_abstract import (
+from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
-    LiquidHandlerAbstract,
-    SimpleReturn,
-    SetLiquidReturn,
-    SetLiquidFromPlateReturn,
-    TransferLiquidReturn,
-)
-from unilabos.registry.placeholder_type import ResourceSlot
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -91,7 +69,7 @@ class PRCXI9300Deck(Deck):
     """
 
     def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
-        super().__init__(size_x, size_y, size_z, name)
+        super().__init__(name, size_x, size_y, size_z)
         self.slots = [None] * 16  # PRCXI 9300/9320 最大有 16 个槽位
         self.slot_locations = [Coordinate(0, 0, 0)] * 16
 
@@ -102,7 +80,6 @@ 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。
 
@@ -131,132 +108,32 @@ 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, 
-    def __init__(
+                 category: str = "plate", 
-        self,
+                 ordered_items: collections.OrderedDict = None, 
-        name: str,
+                 ordering: Optional[collections.OrderedDict] = None,
-        size_x: float,
+                 model: Optional[str] = None, 
-        size_y: float,
+                 material_info: Optional[Dict[str, Any]] = None, 
-        size_z: float,
+                 **kwargs):
-        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:
+            if ordering and isinstance(next(iter(ordering.values()), None), str):
-                values = list(ordering.values())
+                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
-                value = values[0]
+                # 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
-                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
-
-        # 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
-            )
-        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
-            )
-        else:
-            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:
-            safe_state = {}
-            for k, v in self._unilabos_state.items():
-                # 如果是 Material 字典，深入检查
-                if k == "Material" and isinstance(v, dict):
-                    safe_material = {}
-                    for mk, mv in v.items():
-                        # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
-                        if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
-                            safe_material[mk] = mv
-                        else:
-                            # 打印日志提醒（可选）
-                            # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            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
-
-
-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,
-    ):
-        # 如果 ordered_items 不为 None，直接使用
-        if ordered_items is not None:
-            items = ordered_items
-        elif ordering is not None:
-            # 检查 ordering 中的值类型来决定如何处理：
-            # - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
-            # - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
-            # - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
-            first_val = next(iter(ordering.values()), None) if ordering else None
-            if not ordering or first_val is None or isinstance(first_val, str):
-                # ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
-                # 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象
                 items = None
+                # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
                 # ordering 的值已经是对象，可以直接使用
@@ -265,33 +142,40 @@ 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__(
+            super().__init__(name, size_x, size_y, size_z, 
-                name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
+                             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
+            # 传递 ordering 参数，让 Plate 自己创建 Well 对象
-            super().__init__(
+            super().__init__(name, size_x, size_y, size_z, 
-                name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
+                             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
@@ -304,33 +188,106 @@ 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            # 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):
+        # 如果 ordered_items 不为 None，直接使用
+        if ordered_items is not None:
+            items = ordered_items
+        elif ordering is not None:
+            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
+            # 如果是字符串，说明这是位置名称，需要让 TipRack 自己创建 Tip 对象
+            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
+            if ordering and isinstance(next(iter(ordering.values()), None), str):
+                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
+                # 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象
+                items = None
+                # 使用 ordering 参数，只包含位置信息（键）
+                ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+            else:
+                # ordering 的值已经是对象，可以直接使用
+                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)
+        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)
+        else:
+            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:
+            safe_state = {}
+            for k, v in self._unilabos_state.items():
+                # 如果是 Material 字典，深入检查
+                if k == "Material" and isinstance(v, dict):
+                    safe_material = {}
+                    for mk, mv in v.items():
+                        # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
+                        if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
+                            safe_material[mk] = mv
+                        else:
+                            # 打印日志提醒（可选）
+                            # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
+                            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__(
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-        self,
+                 category: str = "trash", 
-        name: str,
+                 material_info: Optional[Dict[str, Any]] = None,
-        size_x: float,
+                 **kwargs):
-        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)
@@ -349,7 +306,7 @@ 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
@@ -362,51 +319,42 @@ 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, 
-    def __init__(
+                 category: str = "tube_rack", 
-        self,
+                 items: Optional[Dict[str, Any]] = None,
-        name: str,
+                 ordered_items: Optional[OrderedDict] = None,
-        size_x: float,
+                 ordering: Optional[OrderedDict] = None,
-        size_y: float,
+                 model: Optional[str] = None,
-        size_z: float,
+                 material_info: Optional[Dict[str, Any]] = None, 
-        category: str = "tube_rack",
+                 **kwargs):
-        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
             ordering_param = None
         elif ordering is not None:
-            # 检查 ordering 中的值类型来决定如何处理：
+            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
-            # - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
+            # 如果是字符串，说明这是位置名称，需要让 TubeRack 自己创建 Tube 对象
-            # - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
+            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
-            # - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
+            if ordering and isinstance(next(iter(ordering.values()), None), str):
-            first_val = next(iter(ordering.values()), None) if ordering else None
+                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
-            if not ordering or first_val is None or isinstance(first_val, str):
-                # ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
                 # 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象
                 items_to_pass = None
+                # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
                 # ordering 的值已经是对象，可以直接使用
@@ -419,16 +367,24 @@ 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
@@ -438,7 +394,7 @@ 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
@@ -451,41 +407,33 @@ 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, 
-    def __init__(
+                 category: str = "plate_adapter", 
-        self,
+                 model: Optional[str] = None,
-        name: str,
+                 material_info: Optional[Dict[str, Any]] = None, 
-        size_x: float,
+                 # 参数给予默认值 (标准96孔板尺寸)
-        size_y: float,
+                 adapter_hole_size_x: float = 127.76, 
-        size_z: float,
+                 adapter_hole_size_y: float = 85.48, 
-        category: str = "plate_adapter",
+                 adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
-        model: Optional[str] = None,
+                 dx: Optional[float] = None,
-        material_info: Optional[Dict[str, Any]] = None,
+                 dy: Optional[float] = None,
-        # 参数给予默认值 (标准96孔板尺寸)
+                 dz: float = 0.0, # 默认Z轴偏移
-        adapter_hole_size_x: float = 127.76,
+                 **kwargs):
-        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
@@ -493,20 +441,20 @@ class PRCXI9300PlateAdapter(PlateAdapter):
             dy = (size_y - adapter_hole_size_y) / 2
 
         super().__init__(
-            name=name,
+            name=name, 
-            size_x=size_x,
+            size_x=size_x, 
-            size_y=size_y,
+            size_y=size_y, 
-            size_z=size_z,
+            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,
+            model=model, 
-            **kwargs,
+            **kwargs
         )
-
+        
         self._unilabos_state = {}
         if material_info:
             self._unilabos_state["Material"] = material_info
@@ -516,7 +464,7 @@ 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
@@ -529,16 +477,15 @@ 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
 
@@ -571,9 +518,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                 if "Material" in child.children[0]._unilabos_state:
                     number = int(child.name.replace("T", ""))
                     tablets_info.append(
-                        WorkTablets(
+                        WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"])
-                            Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"]
-                        )
                     )
         if is_9320:
             print("当前设备是9320")
@@ -593,14 +538,9 @@ 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]) -> SetLiquidReturn:
+    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
         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)
 
@@ -720,7 +660,7 @@ 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,
@@ -859,8 +799,7 @@ 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,
@@ -883,11 +822,10 @@ 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。
 
@@ -940,28 +878,31 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self.steps_todo_list.append(step)
         return step
 
-    async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
 
-        resource = pickup.resource
+    async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
-        offset = pickup.offset
+        
-        pickup_distance_from_top = pickup.pickup_distance_from_top
+        resource=pickup.resource
-        direction = pickup.direction
+        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:
@@ -970,6 +911,7 @@ 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)
@@ -1026,7 +968,7 @@ 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.")
@@ -1034,11 +976,11 @@ 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)
@@ -1056,7 +998,7 @@ 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
@@ -1110,7 +1052,7 @@ 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
@@ -1193,7 +1135,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         none_keys: List[str] = [],
     ):
         """Mix liquid in the specified resources."""
-
+        
         plate_indexes = []
         for op in targets:
             deck = op.parent.parent.parent
@@ -1236,7 +1178,7 @@ 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
@@ -1293,7 +1235,7 @@ 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
@@ -1474,6 +1416,7 @@ 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=(",", ":")
@@ -1600,7 +1543,7 @@ class PRCXI9300Api:
         assist_fun5: str = "",
         liquid_method: str = "NormalDispense",
         axis: str = "Left",
-    ) -> Dict[str, Any]:
+        ) -> Dict[str, Any]:
         return {
             "StepAxis": axis,
             "Function": "Imbibing",
@@ -1678,7 +1621,7 @@ class PRCXI9300Api:
         assist_fun5: str = "",
         liquid_method: str = "NormalDispense",
         axis: str = "Left",
-    ) -> Dict[str, Any]:
+        ) -> Dict[str, Any]:
         return {
             "StepAxis": axis,
             "Function": "Blending",
@@ -1738,11 +1681,11 @@ class PRCXI9300Api:
             "LiquidDispensingMethod": liquid_method,
         }
 
-    def clamp_jaw_pick_up(
+    def clamp_jaw_pick_up(self,
-        self,
         plate_no: int,
         is_whole_plate: bool,
         balance_height: int,
+
     ) -> Dict[str, Any]:
         return {
             "StepAxis": "ClampingJaw",
@@ -1752,7 +1695,7 @@ class PRCXI9300Api:
             "HoleRow": 1,
             "HoleCol": 1,
             "BalanceHeight": balance_height,
-            "PlateOrHoleNum": f"T{plate_no}",
+            "PlateOrHoleNum": f"T{plate_no}"
         }
 
     def clamp_jaw_drop(
@@ -1760,6 +1703,7 @@ class PRCXI9300Api:
         plate_no: int,
         is_whole_plate: bool,
         balance_height: int,
+
     ) -> Dict[str, Any]:
         return {
             "StepAxis": "ClampingJaw",
@@ -1769,7 +1713,7 @@ 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):
@@ -1782,7 +1726,6 @@ class PRCXI9300Api:
             "AssistFun4": is_wait,
         }
 
-
 class DefaultLayout:
 
     def __init__(self, product_name: str = "PRCXI9300"):
@@ -2161,9 +2104,7 @@ if __name__ == "__main__":
             size_y=50,
             size_z=10,
             category="tip_rack",
-            ordered_items=collections.OrderedDict(
+            ordered_items=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
-                {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
@@ -2358,37 +2299,43 @@ if __name__ == "__main__":
 
     A = tree_to_list([resource_plr_to_ulab(deck)])
     with open("deck.json", "w", encoding="utf-8") as f:
-        A.insert(
+        A.insert(0, {
-            0,
+            "id": "PRCXI",
-            {
+            "name": "PRCXI",
-                "id": "PRCXI",
+            "parent": None,
-                "name": "PRCXI",
+            "type": "device",
-                "parent": None,
+            "class": "liquid_handler.prcxi",
-                "type": "device",
+            "position": {
-                "class": "liquid_handler.prcxi",
+                "x": 0,
-                "position": {"x": 0, "y": 0, "z": 0},
+                "y": 0,
-                "config": {
+                "z": 0
-                    "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,
-                },
-                "data": {},
-                "children": ["PRCXI_Deck"],
             },
-        )
+            "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
+            },
+            "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,
@@ -2430,6 +2377,7 @@ 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/motor/ZDT_X42.py

@@ -1,376 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-ZDT X42 Closed-Loop Stepper Motor Driver
-RS485 Serial Communication via USB-Serial Converter
-
-- Baudrate: 115200
-"""
-
-import serial
-import time
-import threading
-import struct
-import logging
-from typing import Optional, Any
-
-try:
-    from unilabos.device_comms.universal_driver import UniversalDriver
-except ImportError:
-    class UniversalDriver:
-        def __init__(self, *args, **kwargs):
-            self.logger = logging.getLogger(self.__class__.__name__)
-        def execute_command_from_outer(self, command: Any): pass
-
-from serial.rs485 import RS485Settings
-
-
-class ZDTX42Driver(UniversalDriver):
-    """
-    ZDT X42 闭环步进电机驱动器
-
-    支持功能:
-    - 速度模式运行
-    - 位置模式运行 (相对/绝对)
-    - 位置读取和清零
-    - 使能/禁用控制
-
-    通信协议:
-    - 帧格式: [设备ID] [功能码] [数据...] [校验位=0x6B]
-    - 响应长度根据功能码决定
-    """
-
-    def __init__(
-        self,
-        port: str,
-        baudrate: int = 115200,
-        device_id: int = 1,
-        timeout: float = 0.5,
-        debug: bool = False
-    ):
-        """
-        初始化 ZDT X42 电机驱动
-
-        Args:
-            port: 串口设备路径
-            baudrate: 波特率 (默认 115200)
-            device_id: 设备地址 (1-255)
-            timeout: 通信超时时间(秒)
-            debug: 是否启用调试输出
-        """
-        super().__init__()
-        self.id = device_id
-        self.debug = debug
-        self.lock = threading.RLock()
-        self.status = "idle"         # 对应注册表中的 status (str)
-        self.position = 0             # 对应注册表中的 position (int)
-
-        try:
-            self.ser = serial.Serial(
-                port=port,
-                baudrate=baudrate,
-                timeout=timeout,
-                bytesize=serial.EIGHTBITS,
-                parity=serial.PARITY_NONE,
-                stopbits=serial.STOPBITS_ONE
-            )
-
-            # 启用 RS485 模式
-            try:
-                self.ser.rs485_mode = RS485Settings(
-                    rts_level_for_tx=True,
-                    rts_level_for_rx=False
-                )
-            except Exception:
-                pass  # RS485 模式是可选的
-
-            self.logger.info(
-                f"ZDT X42 Motor connected: {port} "
-                f"(Baud: {baudrate}, ID: {device_id})"
-            )
-            # 自动使能电机，确保初始状态可运动
-            self.enable(True)
-
-            # 启动背景轮询线程，确保 position 实时刷新
-            self._stop_event = threading.Event()
-            self._polling_thread = threading.Thread(
-                target=self._update_loop,
-                name=f"ZDTPolling_{port}",
-                daemon=True
-            )
-            self._polling_thread.start()
-        except Exception as e:
-            self.logger.error(f"Failed to open serial port {port}: {e}")
-            self.ser = None
-
-    def _update_loop(self):
-        """背景循环读取电机位置"""
-        while not self._stop_event.is_set():
-            try:
-                self.get_position()
-            except Exception as e:
-                if self.debug:
-                    self.logger.error(f"Polling error: {e}")
-            time.sleep(1.0) # 每1秒刷新一次位置数据
-
-    def _send(self, func_code: int, payload: list) -> bytes:
-        """
-        发送指令并接收响应
-
-        Args:
-            func_code: 功能码
-            payload: 数据负载 (list of bytes)
-
-        Returns:
-            响应数据 (bytes)
-        """
-        if not self.ser:
-            self.logger.error("Serial port not available")
-            return b""
-
-        with self.lock:
-            # 清空输入缓冲区
-            self.ser.reset_input_buffer()
-
-            # 构建消息: [ID] [功能码] [数据...] [校验位=0x6B]
-            message = bytes([self.id, func_code] + payload + [0x6B])
-
-            # 发送
-            self.ser.write(message)
-
-            # 根据功能码决定响应长度
-            # 查询类指令返回 10 字节，控制类指令返回 4 字节
-            read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
-            response = self.ser.read(read_len)
-
-            # 调试输出
-            if self.debug:
-                sent_hex = message.hex().upper()
-                recv_hex = response.hex().upper() if response else 'TIMEOUT'
-                print(f"[ID {self.id}] TX: {sent_hex} → RX: {recv_hex}")
-
-            return response
-
-    def enable(self, on: bool = True) -> bool:
-        """
-        使能/禁用电机
-
-        Args:
-            on: True=使能(锁轴), False=禁用(松轴)
-
-        Returns:
-            是否成功
-        """
-        state = 1 if on else 0
-        resp = self._send(0xF3, [0xAB, state, 0])
-        return len(resp) >= 4
-
-    def move_speed(
-        self,
-        speed_rpm: int,
-        direction: str = "CW",
-        acceleration: int = 10
-    ) -> bool:
-        """
-        速度模式运行
-
-        Args:
-            speed_rpm: 转速 (RPM)
-            direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
-            acceleration: 加速度 (0-255)
-
-        Returns:
-            是否成功
-        """
-        dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
-        speed_bytes = struct.pack('>H', int(speed_rpm))
-        self.status = f"moving@{speed_rpm}rpm"
-        resp = self._send(0xF6, [dir_val, speed_bytes[0], speed_bytes[1], acceleration, 0])
-        return len(resp) >= 4
-
-    def move_position(
-        self,
-        pulses: int,
-        speed_rpm: int,
-        direction: str = "CW",
-        acceleration: int = 10,
-        absolute: bool = False
-    ) -> bool:
-        """
-        位置模式运行
-
-        Args:
-            pulses: 脉冲数
-            speed_rpm: 转速 (RPM)
-            direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
-            acceleration: 加速度 (0-255)
-            absolute: True=绝对位置, False=相对位置
-
-        Returns:
-            是否成功
-        """
-        dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
-        speed_bytes = struct.pack('>H', int(speed_rpm))
-        self.status = f"moving_to_{pulses}"
-        pulse_bytes = struct.pack('>I', int(pulses))
-        abs_flag = 1 if absolute else 0
-
-        payload = [
-            dir_val,
-            speed_bytes[0], speed_bytes[1],
-            acceleration,
-            pulse_bytes[0], pulse_bytes[1], pulse_bytes[2], pulse_bytes[3],
-            abs_flag,
-            0
-        ]
-
-        resp = self._send(0xFD, payload)
-        return len(resp) >= 4
-
-    def stop(self) -> bool:
-        """
-        停止电机
-
-        Returns:
-            是否成功
-        """
-        self.status = "idle"
-        resp = self._send(0xFE, [0x98, 0])
-        return len(resp) >= 4
-
-    def rotate_quarter(self, speed_rpm: int = 60, direction: str = "CW") -> bool:
-        """
-        电机旋转 1/4 圈 (阻塞式)
-        假设电机细分为 3200 脉冲/圈，1/4 圈 = 800 脉冲
-        """
-        pulses = 800
-        success = self.move_position(pulses=pulses, speed_rpm=speed_rpm, direction=direction, absolute=False)
-
-        if success:
-            # 计算预估旋转时间并进行阻塞等待 (Time = revolutions / (RPM/60))
-            # 1/4 rev / (RPM/60) = 15.0 / RPM
-            estimated_time = 15.0 / max(1, speed_rpm)
-            time.sleep(estimated_time + 0.5)  # 额外给 0.5 秒缓冲
-            self.status = "idle"
-
-        return success
-
-    def wait_time(self, duration_s: float) -> bool:
-        """
-        等待指定时间 (秒)
-        """
-        self.logger.info(f"Waiting for {duration_s} seconds...")
-        time.sleep(duration_s)
-        return True
-
-    def set_zero(self) -> bool:
-        """
-        清零当前位置
-
-        Returns:
-            是否成功
-        """
-        resp = self._send(0x0A, [])
-        return len(resp) >= 4
-
-    def get_position(self) -> Optional[int]:
-        """
-        读取当前位置 (脉冲数)
-
-        Returns:
-            当前位置脉冲数，失败返回 None
-        """
-        resp = self._send(0x32, [])
-
-        if len(resp) >= 8:
-            # 响应格式: [ID] [Func] [符号位] [数值4字节] [校验]
-            sign = resp[2]  # 0=正, 1=负
-            value = struct.unpack('>I', resp[3:7])[0]
-            self.position = -value if sign == 1 else value
-
-            if self.debug:
-                print(f"[Position] Raw: {resp.hex().upper()}, Parsed: {self.position}")
-
-            return self.position
-
-        self.logger.warning("Failed to read position")
-        return None
-
-    def close(self):
-        """关闭串口连接并停止线程"""
-        if hasattr(self, '_stop_event'):
-            self._stop_event.set()
-
-        if self.ser and self.ser.is_open:
-            self.ser.close()
-            self.logger.info("Serial port closed")
-
-
-# ============================================================
-# 测试和调试代码
-# ============================================================
-
-def test_motor():
-    """基础功能测试"""
-    logging.basicConfig(level=logging.INFO)
-
-    print("="*60)
-    print("ZDT X42 电机驱动测试")
-    print("="*60)
-
-    driver = ZDTX42Driver(
-        port="/dev/tty.usbserial-3110",
-        baudrate=115200,
-        device_id=2,
-        debug=True
-    )
-
-    if not driver.ser:
-        print("❌ 串口打开失败")
-        return
-
-    try:
-        # 测试 1: 读取位置
-        print("\n[1] 读取当前位置")
-        pos = driver.get_position()
-        print(f"✓ 当前位置: {pos} 脉冲")
-
-        # 测试 2: 使能
-        print("\n[2] 使能电机")
-        driver.enable(True)
-        time.sleep(0.3)
-        print("✓ 电机已锁定")
-
-        # 测试 3: 相对位置运动
-        print("\n[3] 相对位置运动 (1000脉冲)")
-        driver.move_position(pulses=1000, speed_rpm=60, direction="CW")
-        time.sleep(2)
-        pos = driver.get_position()
-        print(f"✓ 新位置: {pos}")
-
-        # 测试 4: 速度运动
-        print("\n[4] 速度模式 (30RPM, 3秒)")
-        driver.move_speed(speed_rpm=30, direction="CW")
-        time.sleep(3)
-        driver.stop()
-        pos = driver.get_position()
-        print(f"✓ 停止后位置: {pos}")
-
-        # 测试 5: 禁用
-        print("\n[5] 禁用电机")
-        driver.enable(False)
-        print("✓ 电机已松开")
-
-        print("\n" + "="*60)
-        print("✅ 测试完成")
-        print("="*60)
-
-    except Exception as e:
-        print(f"\n❌ 测试失败: {e}")
-        import traceback
-        traceback.print_exc()
-    finally:
-        driver.close()
-
-
-if __name__ == "__main__":
-    test_motor()

unilabos/devices/ros_dev/liquid_handler_joint_publisher.py

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

unilabos/devices/separator/chinwe.py

@@ -623,119 +623,6 @@ class ChinweDevice(UniversalDriver):
         time.sleep(duration)
         return True
 
-    def separation_step(self, motor_id: int = 5, speed: int = 60, pulses: int = 700,
-                       max_cycles: int = 0, timeout: int = 300) -> bool:
-        """
-        分液步骤 - 液位传感器与电机联动
-        当液位传感器检测到"有液"时,电机顺时针旋转指定脉冲数
-        当液位传感器检测到"无液"时,电机逆时针旋转指定脉冲数
-
-        :param motor_id: 电机ID (必须在初始化时配置的motor_ids中)
-        :param speed: 电机转速 (RPM)
-        :param pulses: 每次旋转的脉冲数 (默认700约为1/4圈,假设3200脉冲/圈)
-        :param max_cycles: 最大执行循环次数 (0=无限制,默认0)
-        :param timeout: 整体超时时间 (秒)
-        :return: 成功返回True,超时或失败返回False
-        """
-        motor_id = int(motor_id)
-        speed = int(speed)
-        pulses = int(pulses)
-        max_cycles = int(max_cycles)
-        timeout = int(timeout)
-
-        # 检查电机是否存在
-        if motor_id not in self.motors:
-            self.logger.error(f"Motor {motor_id} not found in configured motors: {list(self.motors.keys())}")
-            return False
-
-        # 检查传感器是否可用
-        if not self.sensor:
-            self.logger.error("Sensor not initialized")
-            return False
-
-        motor = self.motors[motor_id]
-
-        # 停止轮询线程，避免与 separation_step 同时读取传感器造成串口冲突
-        self.logger.info("Stopping polling thread for separation_step...")
-        self._stop_event.set()
-        if self._poll_thread and self._poll_thread.is_alive():
-            self._poll_thread.join(timeout=2.0)
-
-        # 使能电机
-        self.logger.info(f"Enabling motor {motor_id}...")
-        motor.enable(True)
-        time.sleep(0.2)
-
-        self.logger.info(f"Starting separation step: motor_id={motor_id}, speed={speed} RPM, "
-                        f"pulses={pulses}, max_cycles={max_cycles}, timeout={timeout}s")
-
-        # 记录上一次的液位状态
-        last_level = None
-        cycle_count = 0
-        start_time = time.time()
-        error_count = 0
-
-        try:
-            while True:
-                # 检查超时
-                if time.time() - start_time > timeout:
-                    self.logger.warning(f"Separation step timeout after {timeout} seconds")
-                    return False
-
-                # 检查循环次数限制
-                if max_cycles > 0 and cycle_count >= max_cycles:
-                    self.logger.info(f"Separation step completed: reached max_cycles={max_cycles}")
-                    return True
-
-                # 读取传感器数据
-                data = self.sensor.read_level()
-
-                if data is None:
-                    error_count += 1
-                    if error_count > 5:
-                        self.logger.warning("Sensor read failed multiple times, retrying...")
-                        error_count = 0
-                    time.sleep(0.5)
-                    continue
-
-                error_count = 0
-                current_level = data['level']
-                rssi = data['rssi']
-
-                # 检测状态变化 (包括首次检测)
-                if current_level != last_level:
-                    cycle_count += 1
-
-                    if current_level:
-                        # 有液 -> 电机顺时针旋转
-                        self.logger.info(f"[Cycle {cycle_count}] Liquid detected (RSSI={rssi}), "
-                                       f"rotating motor {motor_id} clockwise {pulses} pulses")
-                        motor.run_position(pulses=pulses, speed_rpm=speed, direction=0, absolute=False)
-
-                        # 等待电机完成 (预估时间)
-                        estimated_time = 15.0 / max(1, speed)
-                        time.sleep(estimated_time + 0.5)
-
-                    else:
-                        # 无液 -> 电机逆时针旋转
-                        self.logger.info(f"[Cycle {cycle_count}] No liquid detected (RSSI={rssi}), "
-                                       f"rotating motor {motor_id} counter-clockwise {pulses} pulses")
-                        motor.run_position(pulses=pulses, speed_rpm=speed, direction=1, absolute=False)
-
-                        # 等待电机完成 (预估时间)
-                        estimated_time = 15.0 / max(1, speed)
-                        time.sleep(estimated_time + 0.5)
-
-                # 更新状态
-                last_level = current_level
-
-                # 轮询间隔
-                time.sleep(0.1)
-        finally:
-            # 恢复轮询线程
-            self.logger.info("Restarting polling thread...")
-            self._start_polling()
-
     def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
         """支持标准 JSON 指令调用"""
         return super().execute_command_from_outer(command_dict)

unilabos/devices/separator/xkc_sensor.py

@@ -1,379 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-XKC RS485 液位传感器 (Modbus RTU)
-
-说明:
-    1. 遵循 Modbus-RTU 协议。
-    2. 数据寄存器: 0x0001 (液位状态, 1=有液, 0=无液), 0x0002 (RSSI 信号强度)。
-    3. 地址寄存器: 0x0004 (可读写, 范围 1-254)。
-    4. 波特率寄存器: 0x0005 (可写, 代码表见 change_baudrate 方法)。
-"""
-
-import struct
-import threading
-import time
-import logging
-import serial
-from typing import Optional, Dict, Any, List
-
-from unilabos.device_comms.universal_driver import UniversalDriver
-
-class TransportManager:
-    """
-    统一通信管理类。
-    仅支持 串口 (Serial/有线) 连接。
-    """
-    def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
-        self.port = port
-        self.baudrate = baudrate
-        self.timeout = timeout
-        self.logger = logger
-        self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
-
-        self.serial = None
-        self._connect_serial()
-
-    def _connect_serial(self):
-        try:
-            self.serial = serial.Serial(
-                port=self.port,
-                baudrate=self.baudrate,
-                timeout=self.timeout
-            )
-        except Exception as e:
-            raise ConnectionError(f"Serial open failed: {e}")
-
-    def close(self):
-        """关闭连接"""
-        if self.serial and self.serial.is_open:
-            self.serial.close()
-
-    def clear_buffer(self):
-        """清空缓冲区 (Thread-safe)"""
-        with self.lock:
-            if self.serial:
-                self.serial.reset_input_buffer()
-
-    def write(self, data: bytes):
-        """发送原始字节"""
-        with self.lock:
-            if self.serial:
-                self.serial.write(data)
-
-    def read(self, size: int) -> bytes:
-        """读取指定长度字节"""
-        if self.serial:
-            return self.serial.read(size)
-        return b''
-
-class XKCSensorDriver(UniversalDriver):
-    """XKC RS485 液位传感器 (Modbus RTU)"""
-
-    def __init__(self, port: str, baudrate: int = 9600, device_id: int = 6,
-                 threshold: int = 300, timeout: float = 3.0, debug: bool = False):
-        super().__init__()
-        self.port = port
-        self.baudrate = baudrate
-        self.device_id = device_id
-        self.threshold = threshold
-        self.timeout = timeout
-        self.debug = debug
-        self.level = False
-        self.rssi = 0
-        self.status = {"level": self.level, "rssi": self.rssi}
-
-        try:
-            self.transport = TransportManager(port, baudrate, timeout, logger=self.logger)
-            self.logger.info(f"XKCSensorDriver connected to {port} (ID: {device_id})")
-        except Exception as e:
-            self.logger.error(f"Failed to connect XKCSensorDriver: {e}")
-            self.transport = None
-
-        # 启动背景轮询线程，确保 status 实时刷新
-        self._stop_event = threading.Event()
-        self._polling_thread = threading.Thread(
-            target=self._update_loop,
-            name=f"XKCPolling_{port}",
-            daemon=True
-        )
-        if self.transport:
-            self._polling_thread.start()
-
-    def _update_loop(self):
-        """背景循环读取传感器数据"""
-        while not self._stop_event.is_set():
-            try:
-                self.read_level()
-            except Exception as e:
-                if self.debug:
-                    self.logger.error(f"Polling error: {e}")
-            time.sleep(2.0) # 每2秒刷新一次数据
-
-    def _crc(self, data: bytes) -> bytes:
-        crc = 0xFFFF
-        for byte in data:
-            crc ^= byte
-            for _ in range(8):
-                if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
-                else: crc >>= 1
-        return struct.pack('<H', crc)
-
-    def read_level(self) -> Optional[Dict[str, Any]]:
-        """
-        读取液位。
-        返回: {'level': bool, 'rssi': int}
-        """
-        if not self.transport:
-            return None
-
-        with self.transport.lock:
-            self.transport.clear_buffer()
-            # Modbus Read Registers: 01 03 00 01 00 02 CRC
-            payload = struct.pack('>HH', 0x0001, 0x0002)
-            msg = struct.pack('BB', self.device_id, 0x03) + payload
-            msg += self._crc(msg)
-
-            if self.debug:
-                self.logger.info(f"TX (ID {self.device_id}): {msg.hex().upper()}")
-
-            self.transport.write(msg)
-
-            # Read header
-            h = self.transport.read(3) # Addr, Func, Len
-            if self.debug:
-                self.logger.info(f"RX Header: {h.hex().upper()}")
-
-            if len(h) < 3: return None
-            length = h[2]
-
-            # Read body + CRC
-            body = self.transport.read(length + 2)
-            if self.debug:
-                self.logger.info(f"RX Body+CRC: {body.hex().upper()}")
-            if len(body) < length + 2:
-                # Firmware bug fix specific to some modules
-                if len(body) == 4 and length == 4:
-                    pass
-                else:
-                    return None
-
-            data = body[:-2]
-            # 根据手册说明:
-            # 寄存器 0x0001 (data[0:2]): 液位状态 (00 01 为有液, 00 00 为无液)
-            # 寄存器 0x0002 (data[2:4]): 信号强度 RSSI
-
-            hw_level = False
-            rssi = 0
-
-            if len(data) >= 4:
-                hw_level = ((data[0] << 8) | data[1]) == 1
-                rssi = (data[2] << 8) | data[3]
-            elif len(data) == 2:
-                # 兼容模式: 某些老固件可能只返回 1 个寄存器
-                rssi = (data[0] << 8) | data[1]
-                hw_level = rssi > self.threshold
-            else:
-                return None
-
-            # 最终判定: 优先使用硬件层级的 level 判定，但 RSSI 阈值逻辑作为补充/校验
-            # 注意: 如果用户显式设置了 THRESHOLD，我们可以在逻辑中做权衡
-            self.level = hw_level or (rssi > self.threshold)
-            self.rssi = rssi
-            result = {
-                'level': self.level,
-                'rssi': self.rssi
-            }
-            self.status = result
-            return result
-
-    def wait_level(self, target_state: bool, timeout: float = 60.0) -> bool:
-        """
-        等待液位达到目标状态 (阻塞式)
-        """
-        self.logger.info(f"Waiting for level: {target_state}")
-        start_time = time.time()
-        while (time.time() - start_time) < timeout:
-            res = self.read_level()
-            if res and res.get('level') == target_state:
-                return True
-            time.sleep(0.5)
-        self.logger.warning(f"Wait level timeout ({timeout}s)")
-        return False
-
-    def wait_for_liquid(self, target_state: bool, timeout: float = 120.0) -> bool:
-        """
-        实时检测电导率(RSSI)并等待用户指定的“有液”或“无液”状态。
-        一旦检测到符合目标状态，立即返回。
-
-        Args:
-            target_state: True 为“有液”, False 为“无液”
-            timeout: 最大等待时间(秒)
-        """
-        state_str = "有液" if target_state else "无液"
-        self.logger.info(f"开始实时检测电导率，等待状态: {state_str} (超时: {timeout}s)")
-
-        start_time = time.time()
-        while (time.time() - start_time) < timeout:
-            res = self.read_level() # 内部已更新 self.level 和 self.rssi
-            if res:
-                current_level = res.get('level')
-                current_rssi = res.get('rssi')
-                if current_level == target_state:
-                    self.logger.info(f"✅ 检测到目标状态: {state_str} (当前电导率/RSSI: {current_rssi})")
-                    return True
-
-                if self.debug:
-                    self.logger.debug(f"当前状态: {'有液' if current_level else '无液'}, RSSI: {current_rssi}")
-
-            time.sleep(0.2) # 高频采样
-
-        self.logger.warning(f"❌ 等待 {state_str} 状态超时 ({timeout}s)")
-        return False
-
-    def set_threshold(self, threshold: int):
-        """设置液位判定阈值"""
-        self.threshold = int(threshold)
-        self.logger.info(f"Threshold updated to: {self.threshold}")
-
-    def change_device_id(self, new_id: int) -> bool:
-        """
-        修改设备的 Modbus 从站地址。
-        寄存器: 0x0004, 功能码: 0x06
-        """
-        if not (1 <= new_id <= 254):
-            self.logger.error(f"Invalid device ID: {new_id}. Must be 1-254.")
-            return False
-
-        self.logger.info(f"Changing device ID from {self.device_id} to {new_id}")
-        success = self._write_single_register(0x0004, new_id)
-        if success:
-            self.device_id = new_id # 更新内存中的地址
-            self.logger.info(f"Device ID update command sent successfully (target {new_id}).")
-        return success
-
-    def change_baudrate(self, baud_code: int) -> bool:
-        """
-        更改通讯波特率 (寄存器: 0x0005)。
-        设置成功后传感器 LED 会闪烁，通常无数据返回。
-
-        波特率代码对照表 (16进制):
-        05: 2400
-        06: 4800
-        07: 9600 (默认)
-        08: 14400
-        09: 19200
-        0A: 28800
-        0C: 57600
-        0D: 115200
-        0E: 128000
-        0F: 256000
-        """
-        self.logger.info(f"Sending baudrate change command (Code: {baud_code:02X})")
-        # 写入寄存器 0x0005
-        self._write_single_register(0x0005, baud_code)
-        self.logger.info("Baudrate change command executed. Device LED should flash. Please update connection settings.")
-        return True
-
-    def factory_reset(self) -> bool:
-        """
-        恢复出厂设置 (通过广播地址 FF)。
-        设置地址为 01，逻辑为向 0x0004 写入 0x0002
-        """
-        self.logger.info("Sending factory reset command via broadcast address FF...")
-        # 广播指令通常无回显
-        self._write_single_register(0x0004, 0x0002, slave_id=0xFF)
-        self.logger.info("Factory reset command sent. Device address should be 01 now.")
-        return True
-
-    def _write_single_register(self, reg_addr: int, value: int, slave_id: Optional[int] = None) -> bool:
-        """内部辅助函数: Modbus 功能码 06 写单个寄存器"""
-        if not self.transport: return False
-
-        target_id = slave_id if slave_id is not None else self.device_id
-        msg = struct.pack('BBHH', target_id, 0x06, reg_addr, value)
-        msg += self._crc(msg)
-
-        with self.transport.lock:
-            self.transport.clear_buffer()
-            if self.debug:
-                self.logger.info(f"TX Write (Reg {reg_addr:#06x}): {msg.hex().upper()}")
-
-            self.transport.write(msg)
-
-            # 广播地址、波特率修改或厂家特定指令可能无回显
-            if target_id == 0xFF or reg_addr == 0x0005:
-                time.sleep(0.5)
-                return True
-
-            # 等待返回 (正常应返回相同报文)
-            resp = self.transport.read(len(msg))
-            if self.debug:
-                self.logger.info(f"RX Write Response: {resp.hex().upper()}")
-
-            return resp == msg
-
-    def close(self):
-        if self.transport:
-            self.transport.close()
-
-if __name__ == "__main__":
-    # 快速实例化测试
-    import logging
-    # 减少冗余日志，仅显示重要信息
-    logging.basicConfig(level=logging.INFO, format='%(levelname)s: %(message)s')
-
-    # 硬件配置 (根据实际情况修改)
-    TEST_PORT = "/dev/tty.usbserial-3110"
-    SLAVE_ID = 1
-    THRESHOLD = 300
-
-    print("\n" + "="*50)
-    print(f"  XKC RS485 传感器独立测试程序")
-    print(f"  端口: {TEST_PORT} | 地址: {SLAVE_ID} | 阈值: {THRESHOLD}")
-    print("="*50)
-
-    sensor = XKCSensorDriver(port=TEST_PORT, device_id=SLAVE_ID, threshold=THRESHOLD, debug=False)
-
-    try:
-        if sensor.transport:
-            print(f"\n开始实时连续采样测试 (持续 15 秒)...")
-            print(f"按 Ctrl+C 可提前停止\n")
-
-            start_time = time.time()
-            duration = 15
-            count = 0
-
-            while time.time() - start_time < duration:
-                count += 1
-                res = sensor.read_level()
-                if res:
-                    rssi = res['rssi']
-                    level = res['level']
-                    status_str = "【有液】" if level else "【无液】"
-                    # 使用 \r 实现单行刷新显示 (或者不刷，直接打印历史)
-                    # 为了方便查看变化，我们直接打印
-                    elapsed = time.time() - start_time
-                    print(f" [{elapsed:4.1f}s] 采样 {count:<3}: 电导率/RSSI = {rssi:<5} | 判定结果: {status_str}")
-                else:
-                    print(f" [{time.time()-start_time:4.1f}s] 采样 {count:<3}: 通信失败 (无响应)")
-
-                time.sleep(0.5) # 每秒采样 2 次
-
-            print(f"\n--- 15 秒采样测试完成 (总计 {count} 次) ---")
-
-            # [3] 测试动态修改阈值
-            print(f"\n[3] 动态修改阈值演示...")
-            new_threshold = 400
-            sensor.set_threshold(new_threshold)
-            res = sensor.read_level()
-            if res:
-                print(f"  采样 (当前阈值={new_threshold}): 电导率/RSSI = {res['rssi']:<5} | 判定结果: {'【有液】' if res['level'] else '【无液】'}")
-            sensor.set_threshold(THRESHOLD) # 还原
-
-    except KeyboardInterrupt:
-        print("\n[!] 用户中断测试")
-    except Exception as e:
-        print(f"\n[!] 测试运行出错: {e}")
-    finally:
-        sensor.close()
-        print("\n--- 测试程序已退出 ---\n")

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.max_volume = float(config.get('max_volume', 25.0))
-            self.port = config.get("port", "VIRTUAL")
+            self.port = config.get('port', 'VIRTUAL')
         else:
-            self.max_volume = float(kwargs.get("max_volume", 25.0))
+            self.max_volume = float(kwargs.get('max_volume', 25.0))
-            self.port = kwargs.get("port", "VIRTUAL")
+            self.port = kwargs.get('port', 'VIRTUAL')
-
+        
-        self._transfer_rate = float(kwargs.get("transfer_rate", 0))
+        self._transfer_rate = float(kwargs.get('transfer_rate', 0))
-        self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
+        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
@@ -52,16 +52,14 @@ 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(
+        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")
-            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} ✨")
@@ -70,33 +68,33 @@ 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
@@ -105,17 +103,17 @@ 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 ⏰
@@ -123,10 +121,10 @@ 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
@@ -134,13 +132,13 @@ 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） 📊
@@ -149,16 +147,16 @@ 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
         """
@@ -166,19 +164,19 @@ 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"
@@ -189,34 +187,28 @@ class VirtualTransferPump:
             else:
                 operation_type = "保持"
                 operation_emoji = "📍"
-
+            
             self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
-            self.logger.info(
+            self.logger.info(f"  📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
-                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 = (
+                    current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
-                        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"
@@ -224,10 +216,10 @@ 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}%")
@@ -235,7 +227,7 @@ 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)
@@ -244,27 +236,25 @@ 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(
+                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")
-                    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)
@@ -272,136 +262,134 @@ 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 (
+        return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
-            f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
+    
-        )
-
     def __repr__(self):
         return self.__str__()
 
@@ -410,20 +398,20 @@ class VirtualTransferPump:
 async def demo():
     """虚拟泵使用示例"""
     pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
-
+    
     await pump.initialize()
-
+    
     print(f"Initial state: {pump}")
-
+    
     # 测试set_position方法
     result = await pump.set_position(10.0, max_velocity=2.0)
     print(f"Set position result: {result}")
     print(f"After setting position to 10ml: {pump}")
-
+    
     # 吸液测试
     await pump.aspirate(5.0, velocity=2.0)
     print(f"After aspirating 5ml: {pump}")
-
+    
     # 清空测试
     result = await pump.set_position(0.0)
     print(f"Empty result: {result}")

unilabos/devices/virtual/workbench.py

@@ -1,759 +0,0 @@
-"""
-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, always_free
-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 = 2  # 机械臂操作时间(秒)
-    HEATING_TIME: float = 60.0  # 加热时间(秒)
-    NUM_HEATING_STATIONS: int = 3  # 加热台数量
-
-    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        # 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", self.ARM_OPERATION_TIME))
-        self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
-        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
-
-        # 机械臂状态和锁 (使用threading.Lock)
-        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()]
-            }
-
-    @always_free
-    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}")
-
-        # 打印当前所有正在加热的台位
-        with self._stations_lock:
-            heating_list = [
-                f"加热台{sid}:{s.current_material}"
-                for sid, s in self._heating_stations.items()
-                if s.state == HeatingStationState.HEATING and s.current_material
-            ]
-        self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
-
-        # 模拟加热过程
-        start_time = time.time()
-        last_countdown_log = start_time
-        while True:
-            elapsed = time.time() - start_time
-            remaining = max(0.0, self.HEATING_TIME - elapsed)
-            progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
-
-            with self._stations_lock:
-                self._heating_stations[station_id].heating_progress = progress
-
-            self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
-
-            # 每5秒打印一次倒计时
-            if time.time() - last_countdown_log >= 5.0:
-                self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
-                last_countdown_log = time.time()
-
-            if elapsed >= self.HEATING_TIME:
-                break
-
-            time.sleep(1.0)
-
-        # 加热完成
-        with self._stations_lock:
-            self._heating_stations[station_id].state = HeatingStationState.COMPLETED
-            self._heating_stations[station_id].heating_progress = 100.0
-
-        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/bioyond_studio/station.py

@@ -258,7 +258,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                 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：从配置中获取仓库配置
-            warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
+            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
 
             # 确定目标仓库名称
             parent_name = None

unilabos/registry/device_comms/communication_devices.yaml

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

unilabos/registry/devices/camera.yaml

@@ -67,9 +67,6 @@ camera:
         period:
           default: 0.1
           type: number
-        registry_name:
-          default: ''
-          type: string
         resource_tracker:
           type: object
       required: []

unilabos/registry/devices/chinwe.yaml

@@ -317,47 +317,6 @@ separator.chinwe:
               - port
               type: object
         type: UniLabJsonCommand
-      separation_step:
-        goal:
-          max_cycles: 0
-          motor_id: 5
-          pulses: 700
-          speed: 60
-          timeout: 300
-        handles: {}
-        schema:
-          description: 分液步骤 - 液位传感器与电机联动 (有液→顺时针, 无液→逆时针)
-          properties:
-            goal:
-              properties:
-                max_cycles:
-                  default: 0
-                  description: 最大循环次数 (0=无限制)
-                  type: integer
-                motor_id:
-                  default: '5'
-                  description: 选择电机
-                  enum:
-                  - '4'
-                  - '5'
-                  title: '注: 4=搅拌, 5=旋钮'
-                  type: string
-                pulses:
-                  default: 700
-                  description: 每次旋转脉冲数 (约1/4圈)
-                  type: integer
-                speed:
-                  default: 60
-                  description: 电机转速 (RPM)
-                  type: integer
-                timeout:
-                  default: 300
-                  description: 超时时间 (秒)
-                  type: integer
-              required:
-              - motor_id
-              type: object
-        type: UniLabJsonCommand
       wait_sensor_level:
         goal:
           target_state: 有液

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。
+          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。
           properties:
             feedback: {}
             goal:
@@ -712,43 +712,6 @@ 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: {}
@@ -758,7 +721,7 @@ liquid_handler:
         placeholder_keys: {}
         result: {}
         schema:
-          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。
+          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。
           properties:
             feedback: {}
             goal:
@@ -4130,32 +4093,32 @@ liquid_handler:
           - 0
         handles:
           input:
-          - data_key: sources
+          - data_key: liquid
             data_source: handle
             data_type: resource
             handler_key: sources
-            label: 待移动液体
+            label: sources
-          - data_key: targets
+          - data_key: liquid
-            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: targets
+            label: targets
+          - data_key: liquid
+            data_source: executor
+            data_type: resource
+            handler_key: tip_rack
+            label: tip_rack
+          output:
+          - data_key: liquid
+            data_source: handle
+            data_type: resource
             handler_key: sources_out
-            label: 移液后源孔
+            label: sources
-          - data_key: targets.@flatten
+          - data_key: liquid
             data_source: executor
             data_type: resource
             handler_key: targets_out
-            label: 移液后目标孔
+            label: targets
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -5151,34 +5114,19 @@ liquid_handler.biomek:
           - 0
         handles:
           input:
-          - data_key: sources
+          - data_key: liquid
             data_source: handle
             data_type: resource
-            handler_key: sources
+            handler_key: liquid-input
             io_type: target
-            label: 待移动液体
+            label: Liquid Input
-          - 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_key: liquid
             data_source: executor
             data_type: resource
-            handler_key: sources_out
+            handler_key: liquid-output
             io_type: source
-            label: 移液后源孔
+            label: Liquid Output
-          - 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
@@ -9336,13 +9284,7 @@ liquid_handler.prcxi:
             data_source: handle
             data_type: resource
             handler_key: input_wells
-            label: 待设定液体孔
+            label: InputWells
-          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: {}
@@ -9458,352 +9400,6 @@ 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:
@@ -10149,32 +9745,32 @@ liquid_handler.prcxi:
           - 0
         handles:
           input:
-          - data_key: sources
+          - data_key: liquid
             data_source: handle
             data_type: resource
-            handler_key: sources_identifier
+            handler_key: sources
-            label: 待移动液体
+            label: sources
-          - data_key: targets
+          - data_key: liquid
-            data_source: handle
-            data_type: resource
-            handler_key: targets_identifier
-            label: 转移目标
-          - data_key: tip_rack
-            data_source: handle
-            data_type: resource
-            handler_key: tip_rack_identifier
-            label: 枪头盒
-          output:
-          - data_key: sources.@flatten
             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
+            data_source: handle
+            data_type: resource
             handler_key: sources_out
-            label: 移液后源孔
+            label: sources
-          - data_key: targets.@flatten
+          - data_key: liquid
             data_source: executor
             data_type: resource
             handler_key: targets_out
-            label: 移液后目标孔
+            label: targets
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources

unilabos/registry/devices/motor.yaml

@@ -1,286 +0,0 @@
-motor.zdt_x42:
-  category:
-  - motor
-  class:
-    action_value_mappings:
-      auto-enable:
-        feedback: {}
-        goal: {}
-        goal_default:
-          'on': true
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 使能或禁用电机。使能后电机进入锁轴状态，可接收运动指令；禁用后电机进入松轴状态。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                'on':
-                  default: true
-                  type: boolean
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: enable参数
-          type: object
-        type: UniLabJsonCommand
-      auto-get_position:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 获取当前电机脉冲位置。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result:
-              properties:
-                position:
-                  type: integer
-              type: object
-          required:
-          - goal
-          title: get_position参数
-          type: object
-        type: UniLabJsonCommand
-      auto-move_position:
-        feedback: {}
-        goal: {}
-        goal_default:
-          absolute: false
-          acceleration: 10
-          direction: CW
-          pulses: 1000
-          speed_rpm: 60
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 位置模式运行。控制电机移动到指定脉冲位置或相对于当前位置移动指定脉冲数。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                absolute:
-                  default: false
-                  type: boolean
-                acceleration:
-                  default: 10
-                  maximum: 255
-                  minimum: 0
-                  type: integer
-                direction:
-                  default: CW
-                  enum:
-                  - CW
-                  - CCW
-                  type: string
-                pulses:
-                  default: 1000
-                  type: integer
-                speed_rpm:
-                  default: 60
-                  minimum: 0
-                  type: integer
-              required:
-              - pulses
-              - speed_rpm
-              type: object
-            result: {}
-          required:
-          - goal
-          title: move_position参数
-          type: object
-        type: UniLabJsonCommand
-      auto-move_speed:
-        feedback: {}
-        goal: {}
-        goal_default:
-          acceleration: 10
-          direction: CW
-          speed_rpm: 60
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 速度模式运行。控制电机以指定转速和方向持续转动。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                acceleration:
-                  default: 10
-                  maximum: 255
-                  minimum: 0
-                  type: integer
-                direction:
-                  default: CW
-                  enum:
-                  - CW
-                  - CCW
-                  type: string
-                speed_rpm:
-                  default: 60
-                  minimum: 0
-                  type: integer
-              required:
-              - speed_rpm
-              type: object
-            result: {}
-          required:
-          - goal
-          title: move_speed参数
-          type: object
-        type: UniLabJsonCommand
-      auto-rotate_quarter:
-        feedback: {}
-        goal: {}
-        goal_default:
-          direction: CW
-          speed_rpm: 60
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 电机旋转 1/4 圈 (阻塞式)。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                direction:
-                  default: CW
-                  enum:
-                  - CW
-                  - CCW
-                  type: string
-                speed_rpm:
-                  default: 60
-                  minimum: 1
-                  type: integer
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: rotate_quarter参数
-          type: object
-        type: UniLabJsonCommand
-      auto-set_zero:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 将当前电机位置设为零点。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: set_zero参数
-          type: object
-        type: UniLabJsonCommand
-      auto-stop:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 立即停止电机运动。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: stop参数
-          type: object
-        type: UniLabJsonCommand
-      auto-wait_time:
-        feedback: {}
-        goal: {}
-        goal_default:
-          duration_s: 1.0
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 等待指定时间 (秒)。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                duration_s:
-                  default: 1.0
-                  minimum: 0
-                  type: number
-              required:
-              - duration_s
-              type: object
-            result: {}
-          required:
-          - goal
-          title: wait_time参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.motor.ZDT_X42:ZDTX42Driver
-    status_types:
-      position: int
-      status: str
-    type: python
-  config_info: []
-  description: ZDT X42 闭环步进电机驱动。支持速度运行、精确位置控制、位置查询和清零功能。适用于各种需要精确运动控制的实验室自动化场景。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        baudrate:
-          default: 115200
-          type: integer
-        debug:
-          default: false
-          type: boolean
-        device_id:
-          default: 1
-          type: integer
-        port:
-          type: string
-        timeout:
-          default: 0.5
-          type: number
-      required:
-      - port
-      type: object
-    data:
-      properties:
-        position:
-          type: integer
-        status:
-          type: string
-      required:
-      - status
-      - position
-      type: object
-  version: 1.0.0

unilabos/registry/devices/sensor.yaml

@@ -1,148 +0,0 @@
-sensor.xkc_rs485:
-  category:
-  - sensor
-  - separator
-  class:
-    action_value_mappings:
-      auto-change_baudrate:
-        goal:
-          baud_code: 7
-        handles: {}
-        schema:
-          description: '更改通讯波特率 (设置成功后无返回，且需手动切换波特率重连)。代码表 (16进制): 05=2400, 06=4800,
-            07=9600, 08=14400, 09=19200, 0A=28800, 0C=57600, 0D=115200, 0E=128000,
-            0F=256000'
-          properties:
-            goal:
-              properties:
-                baud_code:
-                  description: '波特率代码 (例如: 7 为 9600, 13 即 0x0D 为 115200)'
-                  type: integer
-              required:
-              - baud_code
-              type: object
-        type: UniLabJsonCommand
-      auto-change_device_id:
-        goal:
-          new_id: 1
-        handles: {}
-        schema:
-          description: 修改传感器的 Modbus 从站地址
-          properties:
-            goal:
-              properties:
-                new_id:
-                  description: 新的从站地址 (1-254)
-                  maximum: 254
-                  minimum: 1
-                  type: integer
-              required:
-              - new_id
-              type: object
-        type: UniLabJsonCommand
-      auto-factory_reset:
-        goal: {}
-        handles: {}
-        schema:
-          description: 恢复出厂设置 (地址重置为 01)
-          properties:
-            goal:
-              type: object
-        type: UniLabJsonCommand
-      auto-read_level:
-        goal: {}
-        handles: {}
-        schema:
-          description: 直接读取当前液位及信号强度
-          properties:
-            goal:
-              type: object
-          type: object
-        type: UniLabJsonCommand
-      auto-set_threshold:
-        goal:
-          threshold: 300
-        handles: {}
-        schema:
-          description: 设置液位判定阈值
-          properties:
-            goal:
-              properties:
-                threshold:
-                  type: integer
-              required:
-              - threshold
-              type: object
-        type: UniLabJsonCommand
-      auto-wait_for_liquid:
-        goal:
-          target_state: true
-          timeout: 120
-        handles: {}
-        schema:
-          description: 实时检测电导率(RSSI)并等待用户指定的状态
-          properties:
-            goal:
-              properties:
-                target_state:
-                  default: true
-                  description: 目标状态 (True=有液, False=无液)
-                  type: boolean
-                timeout:
-                  default: 120
-                  description: 超时时间 (秒)
-              required:
-              - target_state
-              type: object
-        type: UniLabJsonCommand
-      auto-wait_level:
-        goal:
-          level: true
-          timeout: 10
-        handles: {}
-        schema:
-          description: 等待液位达到目标状态
-          properties:
-            goal:
-              properties:
-                level:
-                  type: boolean
-                timeout:
-                  type: number
-              required:
-              - level
-              type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.separator.xkc_sensor:XKCSensorDriver
-    status_types:
-      level: bool
-      rssi: int
-    type: python
-  config_info: []
-  description: XKC RS485 非接触式液位传感器 (Modbus RTU)
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        baudrate:
-          default: 9600
-          type: integer
-        debug:
-          default: false
-          type: boolean
-        device_id:
-          default: 1
-          type: integer
-        port:
-          type: string
-        threshold:
-          default: 300
-          type: integer
-        timeout:
-          default: 3.0
-          type: number
-      required:
-      - port
-      type: object
-  version: 1.0.0

unilabos/registry/devices/virtual_device.yaml

@@ -5792,482 +5792,3 @@ 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:
-        always_free: true
-        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

@@ -4,9 +4,6 @@ import os
 import sys
 import inspect
 import importlib
-import threading
-import traceback
-from concurrent.futures import ThreadPoolExecutor, as_completed
 from pathlib import Path
 from typing import Any, Dict, List, Union, Tuple
 
@@ -63,7 +60,6 @@ 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
 
@@ -75,28 +71,6 @@ 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。"
-
-        test_resource_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_resource", {})
-        test_resource_schema = self._generate_unilab_json_command_schema(
-            test_resource_method_info.get("args", []),
-            "test_resource",
-            test_resource_method_info.get("return_annotation"),
-        )
-        test_resource_schema["description"] = "用于测试物料、设备和样本。"
-
         self.device_type_registry.update(
             {
                 "host_node": {
@@ -175,22 +149,17 @@ class Registry:
                                     "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": (
+                                "type": self.EmptyIn,
-                                    "UniLabJsonCommandAsync"
-                                    if test_latency_method_info.get("is_async", False)
-                                    else "UniLabJsonCommand"
-                                ),
                                 "goal": {},
                                 "feedback": {},
                                 "result": {},
-                                "schema": test_latency_schema,
+                                "schema": ros_action_to_json_schema(
-                                "goal_default": {
+                                    self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
-                                    arg["name"]: arg["default"] for arg in test_latency_method_info.get("args", [])
+                                ),
-                                },
+                                "goal_default": {},
                                 "handles": {},
                             },
                             "auto-test_resource": {
@@ -198,7 +167,32 @@ class Registry:
                                 "goal": {},
                                 "feedback": {},
                                 "result": {},
-                                "schema": test_resource_schema,
+                                "schema": {
+                                    "description": "",
+                                    "properties": {
+                                        "feedback": {},
+                                        "goal": {
+                                            "properties": {
+                                                "resource": ros_message_to_json_schema(Resource, "resource"),
+                                                "resources": {
+                                                    "items": {
+                                                        "properties": ros_message_to_json_schema(
+                                                            Resource, "resources"
+                                                        ),
+                                                        "type": "object",
+                                                    },
+                                                    "type": "array",
+                                                },
+                                                "device": {"type": "string"},
+                                                "devices": {"items": {"type": "string"}, "type": "array"},
+                                            },
+                                            "type": "object",
+                                        },
+                                        "result": {},
+                                    },
+                                    "title": "test_resource",
+                                    "type": "object",
+                                },
                                 "placeholder_keys": {
                                     "device": "unilabos_devices",
                                     "devices": "unilabos_devices",
@@ -248,115 +242,67 @@ 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.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
+        logger.trace(f"[UniLab Registry] load 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 in enumerate(files):
-            for i, (file, data) in enumerate(results):
+            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)
+
                 self.resource_type_registry.update(data)
-                logger.trace(
+                logger.trace(  # type: ignore
-                    f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(results)} "
+                    f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
                     + f"Add {list(data.keys())}"
                 )
                 current_resource_number += 1
-
+            else:
-        # 记录无效文件
+                logger.debug(f"[UniLab Registry] Res File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}")
-        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]:
         """
@@ -594,9 +540,11 @@ class Registry:
 
         return final_schema
 
-    def _preserve_field_descriptions(self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any]) -> None:
+    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
+        保留之前 schema 中 goal/feedback/result 下一级字段的 description
 
         Args:
             new_schema: 新生成的 schema（会被修改）
@@ -618,9 +566,6 @@ class Registry:
                     # 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:
         """
@@ -708,246 +653,213 @@ 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"),
-                                    ]
-                                },
-                                **({"always_free": True} if v.get("always_free") else {}),
-                            }
-                            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(
+        logger.trace(  # type: ignore
             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
 
-        # 使用线程池并行加载
+        for i, file in enumerate(files):
-        max_workers = min(8, len(files))
+            with open(file, encoding="utf-8", mode="r") as f:
-        results = []
+                data = yaml.safe_load(io.StringIO(f.read()))
-
+            complete_data = {}
-        with ThreadPoolExecutor(max_workers=max_workers) as executor:
+            action_str_type_mapping = {
-            future_to_file = {
+                "UniLabJsonCommand": "UniLabJsonCommand",
-                executor.submit(self._load_single_device_file, file, complete_registry, get_yaml_from_goal_type): file
+                "UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
-                for file in files
             }
-            for future in as_completed(future_to_file):
+            status_str_type_mapping = {}
-                file = future_to_file[future]
+            if data:
-                try:
+                # 在添加到注册表前处理类型替换
-                    data, complete_data, is_valid, device_ids = future.result()
+                for device_id, device_config in data.items():
-                    if is_valid:
+                    # 添加文件路径信息 - 使用规范化的完整文件路径
-                        results.append((file, data, device_ids))
+                    if "version" not in device_config:
-                except Exception as e:
+                        device_config["version"] = "1.0.0"
-                    traceback.print_exc()
+                    if "category" not in device_config:
-                    logger.warning(f"[UniLab Registry] 处理设备文件异常: {file}, 错误: {e}")
+                        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 action 配置（用于保留 schema 的 description 和 handles 等）
+                            old_action_configs = {}
+                            for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                                old_action_configs[action_name] = action_config
 
-        # 线程安全地更新注册表
+                            device_config["class"]["action_value_mappings"] = {
-        current_device_number = len(self.device_type_registry) + 1
+                                k: v
-        with self._registry_lock:
+                                for k, v in device_config["class"]["action_value_mappings"].items()
-            for file, data, device_ids in results:
+                                if not k.startswith("auto-")
-                self.device_type_registry.update(data)
+                            }
-                for device_id in device_ids:
+                            # 处理动作值映射
-                    logger.trace(
+                            device_config["class"]["action_value_mappings"].update(
-                        f"[UniLab Registry] Device-{current_device_number} Add {device_id} "
+                                {
+                                    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"),
+                                            # 传入旧的 schema 以保留字段 description
+                                            old_action_configs.get(f"auto-{k}", {}).get("schema"),
+                                        ),
+                                        "goal_default": {i["name"]: i["default"] for i in v["args"]},
+                                        # 保留原有的 handles 配置
+                                        "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"),
+                                            ]
+                                        },
+                                    }
+                                    # 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（非 auto- 开头的动作）
+                            for action_name, old_config in old_action_configs.items():
+                                if action_name in device_config["class"]["action_value_mappings"]:  # 有一些会被删除
+                                    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"]
+                                # 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} "
                         + f"[{data[device_id].get('name', '未命名设备')}]"
                     )
                     current_device_number += 1
-
+                complete_data = dict(sorted(complete_data.items()))
-        # 记录无效文件
+                complete_data = copy.deepcopy(complete_data)
-        valid_files = {r[0] for r in results}
+                with open(file, "w", encoding="utf-8") as f:
-        for file in files:
+                    yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
-            if file not in valid_files:
+                self.device_type_registry.update(data)
-                logger.debug(f"[UniLab Registry] Device File Not Valid YAML File: {file.absolute()}")
+            else:
+                logger.debug(
+                    f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
+                )
 
     def obtain_registry_device_info(self):
         devices = []

unilabos/registry/resources/bioyond/bottle_carriers.yaml

@@ -46,16 +46,3 @@ BIOYOND_PolymerStation_8StockCarrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-BIOYOND_PolymerStation_TipBox:
-  category:
-  - bottle_carriers
-  - tip_racks
-  class:
-    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_TipBox
-    type: pylabrobot
-  description: BIOYOND_PolymerStation_TipBox (4x6布局，24个枪头孔位)
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0

unilabos/registry/resources/bioyond/bottles.yaml

@@ -82,3 +82,14 @@ BIOYOND_PolymerStation_Solution_Beaker:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
+BIOYOND_PolymerStation_TipBox:
+  category:
+  - bottles
+  - tip_boxes
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0

unilabos/resources/bioyond/bottle_carriers.py

@@ -1,4 +1,4 @@
-from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d, Container
+from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
 
 from unilabos.resources.itemized_carrier import BottleCarrier
 from unilabos.resources.bioyond.bottles import (
@@ -9,28 +9,6 @@ from unilabos.resources.bioyond.bottles import (
     BIOYOND_PolymerStation_Reagent_Bottle,
     BIOYOND_PolymerStation_Flask,
 )
-
-
-def BIOYOND_PolymerStation_Tip(name: str, size_x: float = 8.0, size_y: float = 8.0, size_z: float = 50.0) -> Container:
-    """创建单个枪头资源
-
-    Args:
-        name: 枪头名称
-        size_x: 枪头宽度 (mm)
-        size_y: 枪头长度 (mm)
-        size_z: 枪头高度 (mm)
-
-    Returns:
-        Container: 枪头容器
-    """
-    return Container(
-        name=name,
-        size_x=size_x,
-        size_y=size_y,
-        size_z=size_z,
-        category="tip",
-        model="BIOYOND_PolymerStation_Tip",
-    )
 # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
 
 
@@ -344,88 +322,3 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
     carrier.num_items_z = 1
     carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
     return carrier
-
-
-def BIOYOND_PolymerStation_TipBox(
-    name: str,
-    size_x: float = 127.76,  # 枪头盒宽度
-    size_y: float = 85.48,   # 枪头盒长度
-    size_z: float = 100.0,   # 枪头盒高度
-    barcode: str = None,
-) -> BottleCarrier:
-    """创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
-
-    Args:
-        name: 枪头盒名称
-        size_x: 枪头盒宽度 (mm)
-        size_y: 枪头盒长度 (mm)
-        size_z: 枪头盒高度 (mm)
-        barcode: 条形码
-
-    Returns:
-        BottleCarrier: 包含24个枪头孔位的枪头盒载架
-
-    布局说明:
-        - 4行×6列 (A-D, 1-6)
-        - 枪头孔位间距: 18mm (x方向) × 18mm (y方向)
-        - 起始位置居中对齐
-        - 索引顺序: 列优先 (0=A1, 1=B1, 2=C1, 3=D1, 4=A2, ...)
-    """
-    # 枪头孔位参数
-    num_cols = 6  # 1-6 (x方向)
-    num_rows = 4  # A-D (y方向)
-    tip_diameter = 8.0  # 枪头孔位直径
-    tip_spacing_x = 18.0  # 列间距 (增加到18mm，更宽松)
-    tip_spacing_y = 18.0  # 行间距 (增加到18mm，更宽松)
-
-    # 计算起始位置 (居中对齐)
-    total_width = (num_cols - 1) * tip_spacing_x + tip_diameter
-    total_height = (num_rows - 1) * tip_spacing_y + tip_diameter
-    start_x = (size_x - total_width) / 2
-    start_y = (size_y - total_height) / 2
-
-    # 使用 create_ordered_items_2d 创建孔位
-    # create_ordered_items_2d 返回的 key 是数字索引: 0, 1, 2, ...
-    # 顺序是列优先: 先y后x (即 0=A1, 1=B1, 2=C1, 3=D1, 4=A2, 5=B2, ...)
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=num_cols,
-        num_items_y=num_rows,
-        dx=start_x,
-        dy=start_y,
-        dz=5.0,
-        item_dx=tip_spacing_x,
-        item_dy=tip_spacing_y,
-        size_x=tip_diameter,
-        size_y=tip_diameter,
-        size_z=50.0,  # 枪头深度
-    )
-
-    # 更新 sites 中每个 ResourceHolder 的名称
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    # 创建枪头盒载架
-    # 注意：不设置 category，使用默认的 "bottle_carrier"，这样前端会显示为完整的矩形载架
-    tip_box = BottleCarrier(
-        name=name,
-        size_x=size_x,
-        size_y=size_y,
-        size_z=size_z,
-        sites=sites,  # 直接使用数字索引的 sites
-        model="BIOYOND_PolymerStation_TipBox",
-    )
-
-    # 设置自定义属性
-    tip_box.barcode = barcode
-    tip_box.tip_count = 24  # 4行×6列
-    tip_box.num_items_x = num_cols
-    tip_box.num_items_y = num_rows
-    tip_box.num_items_z = 1
-
-    # ⭐ 枪头盒不需要放入子资源
-    # 与其他 carrier 不同，枪头盒在 Bioyond 中是一个整体
-    # 不需要追踪每个枪头的状态，保持为空的 ResourceHolder 即可
-    # 这样前端会显示24个空槽位，可以用于放置枪头
-
-    return tip_box

unilabos/resources/bioyond/bottles.py

@@ -116,9 +116,7 @@ def BIOYOND_PolymerStation_TipBox(
     size_z: float = 100.0,   # 枪头盒高度
     barcode: str = None,
 ):
-    """创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
+    """创建4×6枪头盒 (24个枪头)
-
-    注意：此函数已弃用，请使用 bottle_carriers.py 中的版本
 
     Args:
         name: 枪头盒名称
@@ -128,11 +126,55 @@ def BIOYOND_PolymerStation_TipBox(
         barcode: 条形码
 
     Returns:
-        BottleCarrier: 包含24个枪头孔位的枪头盒载架
+        TipBoxCarrier: 包含24个枪头孔位的枪头盒
     """
-    # 重定向到 bottle_carriers.py 中的实现
+    from pylabrobot.resources import Container, Coordinate
-    from unilabos.resources.bioyond.bottle_carriers import BIOYOND_PolymerStation_TipBox as TipBox_Carrier
+
-    return TipBox_Carrier(name=name, size_x=size_x, size_y=size_y, size_z=size_z, barcode=barcode)
+    # 创建枪头盒容器
+    tip_box = Container(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        category="tip_rack",
+        model="BIOYOND_PolymerStation_TipBox_4x6",
+    )
+
+    # 设置自定义属性
+    tip_box.barcode = barcode
+    tip_box.tip_count = 24  # 4行×6列
+    tip_box.num_items_x = 6  # 6列
+    tip_box.num_items_y = 4  # 4行
+
+    # 创建24个枪头孔位 (4行×6列)
+    # 假设孔位间距为 9mm
+    tip_spacing_x = 9.0  # 列间距
+    tip_spacing_y = 9.0  # 行间距
+    start_x = 14.38  # 第一个孔位的x偏移
+    start_y = 11.24  # 第一个孔位的y偏移
+
+    for row in range(4):  # A, B, C, D
+        for col in range(6):  # 1-6
+            spot_name = f"{chr(65 + row)}{col + 1}"  # A1, A2, ..., D6
+            x = start_x + col * tip_spacing_x
+            y = start_y + row * tip_spacing_y
+
+            # 创建枪头孔位容器
+            tip_spot = Container(
+                name=spot_name,
+                size_x=8.0,  # 单个枪头孔位大小
+                size_y=8.0,
+                size_z=size_z - 10.0,  # 略低于盒子高度
+                category="tip_spot",
+            )
+
+            # 添加到枪头盒
+            tip_box.assign_child_resource(
+                tip_spot,
+                location=Coordinate(x=x, y=y, z=0)
+            )
+
+    return tip_box
 
 
 def BIOYOND_PolymerStation_Flask(

unilabos/resources/graphio.py

@@ -151,40 +151,12 @@ 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):
@@ -207,15 +179,13 @@ 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 if link.get("port")}
+    edges = {(link["source"], link["target"]): link["port"] for link in links}
 
     # 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.get("port")
+        current_port = link["port"]
-        if current_port is None:
-            continue
         if current_port.get(t) is None:
             reverse_key = (t, s)
             reverse_port = edges.get(reverse_key)
@@ -230,6 +200,20 @@ 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
 
 
@@ -276,7 +260,7 @@ def read_node_link_json(
     resource_tree_set = canonicalize_nodes_data(nodes)
 
     # 标准化边数据
-    links = data.get("links", data.get("edges", []))
+    links = data.get("links", [])
     standardized_links = canonicalize_links_ports(links, resource_tree_set)
 
     # 构建 NetworkX 图（需要转换回 dict 格式）
@@ -300,8 +284,6 @@ 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":
@@ -310,8 +292,6 @@ 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":
@@ -617,8 +597,6 @@ 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]
@@ -779,12 +757,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     bottle = plr_material[number] = initialize_resource(
                         {"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR
                     )
-                    # 只有具有 tracker 属性的容器才设置液体信息（如 Bottle, Well）
+                    bottle.tracker.liquids = [
-                    # ResourceHolder 等不支持液体追踪的容器跳过
+                        (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
-                    if hasattr(bottle, "tracker"):
+                    ]
-                        bottle.tracker.liquids = [
-                            (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
-                        ]
                     bottle.code = detail.get("code", "")
                     logger.debug(f"  └─ [子物料] {detail['name']} → {plr_material.name}[{number}] (类型:{typeName})")
                 else:
@@ -793,11 +768,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             # 只对有 capacity 属性的容器（液体容器）处理液体追踪
             if hasattr(plr_material, 'capacity'):
                 bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
-                # 确保 bottle 有 tracker 属性才设置液体信息
+                bottle.tracker.liquids = [
-                if hasattr(bottle, "tracker"):
+                    (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
-                    bottle.tracker.liquids = [
+                ]
-                        (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
-                    ]
 
         plr_materials.append(plr_material)
 
@@ -826,29 +799,24 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                 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')})")
 
-                # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
-                # 必须在warehouse映射之前先获取坐标，以便后续调整
-                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)
-
                 # 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
-                # 根据列号(y)判断: 1-4映射到左侧, 5-8映射到右侧
+                # 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
                 if wh_name == "堆栈1":
-                    if 1 <= y <= 4:
+                    x_val = loc.get("x", 1)
+                    if 1 <= x_val <= 4:
                         wh_name = "堆栈1左"
-                    elif 5 <= y <= 8:
+                    elif 5 <= x_val <= 8:
                         wh_name = "堆栈1右"
-                        y = y - 4  # 调整列号: 5-8映射到1-4
                     else:
-                        logger.warning(f"物料 {material['name']} 的列号 y={y} 超出范围，无法映射到堆栈1左或堆栈1右")
+                        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":
-                    if y == 1:
+                    y_val = loc.get("y", 1)
+                    if y_val == 1:
                         wh_name = "站内Tip盒堆栈(右)"
-                    elif y in [2, 3]:
+                    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
 
@@ -856,6 +824,15 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     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)
+                    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)
+
+                    # 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
+                    if wh_name == "堆栈1右":
+                        y = y - 4  # 将5-8映射到1-4
+
                     # 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)"]:

unilabos/resources/plr_additional_res_reg.py

@@ -18,9 +18,3 @@ def register():
     from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
     from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
 
-    # noinspection PyUnresolvedReferences
-    from unilabos.resources.bioyond.decks import (
-        BIOYOND_PolymerReactionStation_Deck,
-        BIOYOND_PolymerPreparationStation_Deck,
-        BIOYOND_YB_Deck,
-    )

unilabos/resources/resource_tracker.py

@@ -5,8 +5,6 @@ from pydantic import BaseModel, field_serializer, field_validator, ValidationErr
 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
 
@@ -15,75 +13,24 @@ 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 ResourceDictPositionSizeType(TypedDict):
-    depth: float
-    width: float
-    height: float
-
-
 class ResourceDictPositionSize(BaseModel):
     depth: float = Field(description="Depth", default=0.0)  # z
     width: float = Field(description="Width", default=0.0)  # x
     height: float = Field(description="Height", default=0.0)  # y
 
 
-class ResourceDictPositionScaleType(TypedDict):
-    x: float
-    y: float
-    z: float
-
-
 class ResourceDictPositionScale(BaseModel):
     x: float = Field(description="x scale", default=0.0)
     y: float = Field(description="y scale", default=0.0)
     z: float = Field(description="z scale", default=0.0)
 
 
-class ResourceDictPositionObjectType(TypedDict):
-    x: float
-    y: float
-    z: float
-
-
 class ResourceDictPositionObject(BaseModel):
     x: float = Field(description="X coordinate", default=0.0)
     y: float = Field(description="Y coordinate", default=0.0)
     z: float = Field(description="Z coordinate", default=0.0)
 
 
-class ResourceDictPositionType(TypedDict):
-    size: ResourceDictPositionSizeType
-    scale: ResourceDictPositionScaleType
-    layout: Literal["2d", "x-y", "z-y", "x-z"]
-    position: ResourceDictPositionObjectType
-    position3d: ResourceDictPositionObjectType
-    rotation: ResourceDictPositionObjectType
-    cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"]
-
-
 class ResourceDictPosition(BaseModel):
     size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
     scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
@@ -102,24 +49,6 @@ class ResourceDictPosition(BaseModel):
     )
 
 
-class ResourceDictType(TypedDict):
-    id: str
-    uuid: str
-    name: str
-    description: str
-    resource_schema: Dict[str, Any]
-    model: Dict[str, Any]
-    icon: str
-    parent_uuid: Optional[str]
-    parent: Optional["ResourceDictType"]
-    type: Union[Literal["device"], str]
-    klass: str
-    pose: ResourceDictPositionType
-    config: Dict[str, Any]
-    data: Dict[str, Any]
-    extra: Dict[str, Any]
-
-
 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
 class ResourceDict(BaseModel):
     id: str = Field(description="Resource ID")
@@ -409,7 +338,6 @@ class ResourceTreeSet(object):
                 "deck": "deck",
                 "tip_rack": "tip_rack",
                 "tip_spot": "tip_spot",
-                "tip": "tip",  # 添加 tip 类型支持
                 "tube": "tube",
                 "bottle_carrier": "bottle_carrier",
             }
@@ -465,7 +393,7 @@ 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": extra.get(EXTRA_CLASS, ""),
+                "class": d.get("class", ""),
                 "position": pos,
                 "pose": pos,
                 "config": {
@@ -515,7 +443,7 @@ class ResourceTreeSet(object):
             trees.append(tree_instance)
         return cls(trees)
 
-    def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
+    def to_plr_resources(self) -> List["PLRResource"]:
         """
         将 ResourceTreeSet 转换为 PLR 资源列表
 
@@ -540,7 +468,6 @@ class ResourceTreeSet(object):
             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)
 
@@ -585,10 +512,7 @@ class ResourceTreeSet(object):
             plr_dict = node_to_plr_dict(tree.root_node, has_model)
             try:
                 sub_cls = find_subclass(plr_dict["type"], PLRResource)
-                if skip_devices and plr_dict["type"] == "device":
+                if sub_cls is None:
-                    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}"
                     )
@@ -596,11 +520,6 @@ 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)
@@ -1067,7 +986,7 @@ class DeviceNodeResourceTracker(object):
                 extra = name_to_extra_map[resource_name]
                 self.set_resource_extra(res, extra)
                 if len(extra):
-                    logger.trace(f"设置资源Extra: {resource_name} -> {extra}")
+                    logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
                 return 1
             return 0
 

unilabos/ros/device_node_wrapper.py

@@ -44,7 +44,8 @@ def ros2_device_node(
     # 从属性中自动发现可发布状态
     if status_types is None:
         status_types = {}
-    assert device_config is not None, "device_config cannot be None"
+    if device_config is None:
+        raise ValueError("device_config cannot be None")
     if action_value_mappings is None:
         action_value_mappings = {}
     if hardware_interface is None:

unilabos/ros/msgs/message_converter.py

@@ -770,16 +770,13 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
     return schema
 
 
-def ros_action_to_json_schema(
+def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, Any]:
-    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
@@ -813,44 +810,9 @@ def ros_action_to_json_schema(
         "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

@@ -4,20 +4,8 @@ import json
 import threading
 import time
 import traceback
-from typing import (
+from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union, \
-    get_type_hints,
+    Tuple
-    TypeVar,
-    Generic,
-    Dict,
-    Any,
-    Type,
-    TypedDict,
-    Optional,
-    List,
-    TYPE_CHECKING,
-    Union,
-    Tuple,
-)
 
 from concurrent.futures import ThreadPoolExecutor
 import asyncio
@@ -60,10 +48,8 @@ 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
@@ -146,7 +132,7 @@ def init_wrapper(
     device_id: str,
     device_uuid: str,
     driver_class: type[T],
-    device_config: ResourceDictInstance,
+    device_config: ResourceTreeInstance,
     status_types: Dict[str, Any],
     action_value_mappings: Dict[str, Any],
     hardware_interface: Dict[str, Any],
@@ -199,7 +185,7 @@ 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 = ROS2DeviceNode.get_asyncio_loop()
+        self.__loop = get_event_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}")
 
@@ -231,15 +217,14 @@ 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:
-                pass
+                self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
-                # 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()}"
@@ -279,7 +264,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         self,
         driver_instance: T,
         device_id: str,
-        registry_name: str,
         device_uuid: str,
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
@@ -301,7 +285,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         """
         self.driver_instance = driver_instance
         self.device_id = device_id
-        self.registry_name = registry_name
         self.uuid = device_uuid
         self.publish_high_frequency = False
         self.callback_group = ReentrantCallbackGroup()
@@ -379,7 +362,6 @@ 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()
@@ -407,29 +389,33 @@ 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})
+                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):
+            if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
                 # noinspection PyTypeChecker
-                container_instance: RegularContainer = rts_plr_instances[0]
+                container_instance: RegularContainer = rts.root_nodes[0]
                 found_resources = self.resource_tracker.figure_resource(
-                    {"name": container_instance.name}, try_mode=True
+                    {"id": 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(container_instance.state)
+                        found_resource.state.update(json.loads(container_instance.state))
                     elif isinstance(found_resource, dict):
                         raise ValueError("已不支持 字典 版本的RegularContainer")
                     else:
@@ -437,16 +423,14 @@ 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(
+            request.command = json.dumps({
-                {
+                "action": "add",
-                    "action": "add",
+                "data": {
-                    "data": {
+                    "data": rts.dump(),
-                        "data": rts.dump(),
+                    "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
-                        "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else self.uuid,
+                    "first_add": False,
-                        "first_add": False,
+                },
-                    },
+            })
-                }
-            )
             tree_response: SerialCommand.Response = await client.call_async(request)
             uuid_maps = json.loads(tree_response.response)
             plr_instances = rts.to_plr_resources()
@@ -460,7 +444,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             }
             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
-            if hasattr(self.driver_instance, "create_resource") and self.node_name != "host_node":
+            if hasattr(self.driver_instance, "create_resource"):
                 create_resource_func = getattr(self.driver_instance, "create_resource")
                 try:
                     ret = create_resource_func(
@@ -488,9 +472,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         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(
+                            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")
-                                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
                         ):
@@ -509,15 +491,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             input_wells = []
                             for r in LIQUID_INPUT_SLOT:
                                 input_wells.append(plr_instance.children[r])
-                        final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
+                        final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
-                            input_wells
-                        ).dump()
                         res.response = json.dumps(final_response)
-                    if (
+                    if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param:
-                        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:
@@ -532,16 +508,14 @@ 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(
+                    request.command = json.dumps({
-                        {
+                        "action": "add",
-                            "action": "add",
+                        "data": {
-                            "data": {
+                            "data": rts_with_parent.dump(),
-                                "data": rts_with_parent.dump(),
+                            "mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
-                                "mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
+                            "first_add": False,
-                                "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)
@@ -838,9 +812,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             }
 
         def _handle_update(
-            plr_resources: List[Union[ResourcePLR, ResourceDictInstance]],
+            plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
-            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
@@ -865,10 +837,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 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 = (
+                not_same_parent = original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None
-                    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
@@ -904,16 +873,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 else:
                     # 判断是否变更了resource_site，重新登记
                     target_site = original_instance.unilabos_extra.get("update_resource_site")
-                    sites = (
+                    sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None
-                        original_instance.parent.sites
+                    site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
-                        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]
@@ -924,9 +885,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 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(
@@ -950,7 +908,9 @@ 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().trace(f"[资源同步] 处理 {action}, " 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(
@@ -977,13 +937,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 tree.root_node.res_content.parent_uuid = self.uuid
                         r = SerialCommand.Request()
                         r.command = json.dumps(
-                            {"data": {"data": new_tree_set.dump()}, "action": "update"}
+                            {"data": {"data": new_tree_set.dump()}, "action": "update"})  # 和Update Resource一致
-                        )  # 和Update Resource一致
                         response: SerialCommand_Response = await self._resource_clients[
-                            "c2s_update_resource_tree"
+                            "c2s_update_resource_tree"].call_async(r)  # type: ignore
-                        ].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":
@@ -1003,13 +959,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                     tree.root_node.res_content.parent_uuid = self.uuid
                             r = SerialCommand.Request()
                             r.command = json.dumps(
-                                {"data": {"data": new_tree_set.dump()}, "action": "update"}
+                                {"data": {"data": new_tree_set.dump()}, "action": "update"})  # 和Update Resource一致
-                            )  # 和Update Resource一致
                             response: SerialCommand_Response = await self._resource_clients[
-                                "c2s_update_resource_tree"
+                                "c2s_update_resource_tree"].call_async(r)  # type: ignore
-                            ].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":
@@ -1156,7 +1108,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     "machine_name": BasicConfig.machine_name,
                     "type": "slave",
                     "edge_device_id": self.device_id,
-                    "registry_name": self.registry_name,
                 }
             },
             ensure_ascii=False,
@@ -1369,41 +1320,26 @@ 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: list = [None] * len(resource_inputs)
+                            queried_resources = []
-                            uuid_indices: list[tuple[int, str, dict]] = []  # (index, uuid, resource_data)
+                            for resource_data in resource_inputs:
-
-                            # 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))
+                                    resource_tree = await self.get_resource([unilabos_uuid])
-
+                                    plr_resource = resource_tree.to_plr_resources()[0]
-                            # 第二遍：批量查询有uuid的资源
+                                if "sample_id" in resource_data:
-                            if uuid_indices:
+                                    plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
-                                uuids = [item[1] for item in uuid_indices]
+                                queried_resources.append(plr_resource)
-                                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(
+                                plr = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
-                                    {"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()
@@ -1442,12 +1378,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 execution_success = True
                             except Exception as _:
                                 execution_error = traceback.format_exc()
-                                error(
+                                error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
-                                    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}")
-                                )
-                                trace(
-                                    f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
-                                )
 
                         future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
                         future.add_done_callback(_handle_future_exception)
@@ -1467,11 +1399,9 @@ 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]}"
+                                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}"
+                                f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
-                            )
 
                     future.add_done_callback(_handle_future_exception)
 
@@ -1538,18 +1468,11 @@ 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(rs)
-                                if res is None:
+                            if id(res) not in seen:
-                                    res = rs
+                                seen.add(id(res))
-                                if id(res) not in seen:
+                                unique_resources.append(res)
-                                    seen.add(id(res))
-                                    unique_resources.append(res)
 
                         # 使用新的资源树接口
                         if unique_resources:
@@ -1601,37 +1524,20 @@ 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}"
 
-            # 处理参数（包含 unilabos 系统参数如 sample_uuids）
+            # 处理 ResourceSlot 类型参数
-            args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
+            args_list = default_manager._analyze_method_signature(function)["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
@@ -1661,7 +1567,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 )
                                 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(
@@ -1681,23 +1586,21 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             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(
+        future = self._resource_clients["c2s_update_resource_tree"].call_async(SerialCommand.Request(
-            SerialCommand.Request(
+            command=json.dumps(
-                command=json.dumps(
+                {
-                    {
+                    "data": {"data": uuids_list, "with_children": True},
-                        "data": {"data": uuids_list, "with_children": True},
+                    "action": "get",
-                        "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(0.02)
+            time.sleep(0.05)
-            elapsed += 0.02
+            elapsed += 0.05
 
         if not future.done():
             raise Exception(f"资源查询超时: {uuids_list}")
@@ -1748,9 +1651,6 @@ 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(
@@ -1760,30 +1660,14 @@ 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}"
 
-            # 处理参数（包含 unilabos 系统参数如 sample_uuids）
+            # 处理 ResourceSlot 类型参数
-            args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
+            args_list = default_manager._analyze_method_signature(function)["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
@@ -1873,15 +1757,6 @@ 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:
@@ -1958,11 +1833,6 @@ 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__")
@@ -2008,7 +1878,6 @@ class ROS2DeviceNode:
 
         if driver_is_ros:
             driver_params["device_id"] = device_id
-            driver_params["registry_name"] = device_config.res_content.klass
             driver_params["resource_tracker"] = self.resource_tracker
         self._driver_instance = self._driver_creator.create_instance(driver_params)
         if self._driver_instance is None:
@@ -2026,7 +1895,6 @@ class ROS2DeviceNode:
                 children=children,
                 driver_instance=self._driver_instance,  # type: ignore
                 device_id=device_id,
-                registry_name=device_config.res_content.klass,
                 device_uuid=device_uuid,
                 status_types=status_types,
                 action_value_mappings=action_value_mappings,
@@ -2038,7 +1906,6 @@ class ROS2DeviceNode:
             self._ros_node = BaseROS2DeviceNode(
                 driver_instance=self._driver_instance,
                 device_id=device_id,
-                registry_name=device_config.res_content.klass,
                 device_uuid=device_uuid,
                 status_types=status_types,
                 action_value_mappings=action_value_mappings,
@@ -2047,7 +1914,6 @@ class ROS2DeviceNode:
                 resource_tracker=self.resource_tracker,
             )
         self._ros_node: BaseROS2DeviceNode
-        # 将注册表类型名传递给BaseROS2DeviceNode,用于slave上报
         self._ros_node.lab_logger().info(f"初始化完成 {self._ros_node.uuid} {self.driver_is_ros}")
         self.driver_instance._ros_node = self._ros_node  # type: ignore
         self.driver_instance._execute_driver_command = self._ros_node._execute_driver_command  # type: ignore
@@ -2058,19 +1924,6 @@ 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/camera.py

@@ -6,13 +6,12 @@ from cv_bridge import CvBridge
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
 
 class VideoPublisher(BaseROS2DeviceNode):
-    def __init__(self, device_id='video_publisher', registry_name="", device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
+    def __init__(self, device_id='video_publisher', device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
         # 初始化BaseROS2DeviceNode，使用自身作为driver_instance
         BaseROS2DeviceNode.__init__(
             self,
             driver_instance=self,
             device_id=device_id,
-            registry_name=registry_name,
             device_uuid=device_uuid,
             status_types={},
             action_value_mappings={},

unilabos/ros/nodes/presets/controller_node.py

@@ -10,7 +10,6 @@ class ControllerNode(BaseROS2DeviceNode):
     def __init__(
         self,
         device_id: str,
-        registry_name: str,
         controller_func: Callable,
         update_rate: float,
         inputs: Dict[str, Dict[str, type | str]],
@@ -52,7 +51,6 @@ class ControllerNode(BaseROS2DeviceNode):
             self,
             driver_instance=self,
             device_id=device_id,
-            registry_name=registry_name,
             status_types=status_types,
             action_value_mappings=action_value_mappings,
             hardware_interface=hardware_interface,

unilabos/ros/nodes/presets/host_node.py

@@ -1,17 +1,16 @@
 import collections
+from dataclasses import dataclass, field
 import json
 import threading
 import time
 import traceback
 import uuid
-from dataclasses import dataclass, field
+from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, TypedDict, Union
-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,
@@ -23,20 +22,10 @@ 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, SampleUUIDsType, LabSample,
-)
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
     get_msg_type,
@@ -47,11 +36,17 @@ 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.config.config import BasicConfig
+from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
 
 if TYPE_CHECKING:
     from unilabos.app.ws_client import QueueItem
@@ -64,20 +59,7 @@ class DeviceActionStatus:
 
 class TestResourceReturn(TypedDict):
     resources: List[List[ResourceDict]]
-    devices: List[Dict[str, Any]]
+    devices: List[DeviceSlot]
-    unilabos_samples: List[LabSample]
-
-
-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):
@@ -250,7 +232,6 @@ class HostNode(BaseROS2DeviceNode):
             self,
             driver_instance=self,
             device_id=device_id,
-            registry_name="host_node",
             device_uuid=host_node_dict["uuid"],
             status_types={},
             action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
@@ -305,8 +286,7 @@ class HostNode(BaseROS2DeviceNode):
         }  # 用来存储多个ActionClient实例
         self._action_value_mappings: Dict[str, Dict] = (
             {}
-        )  # device_id -> action_value_mappings(本地+远程设备统一存储)
+        )  # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
-        self._slave_registry_configs: Dict[str, Dict] = {}  # registry_name -> registry_config(含action_value_mappings)
         self._goals: Dict[str, Any] = {}  # 用来存储多个目标的状态
         self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"}  # 用于跟踪在线设备
         self._last_discovery_time = 0.0  # 上次设备发现的时间
@@ -640,8 +620,6 @@ class HostNode(BaseROS2DeviceNode):
         self.device_machine_names[device_id] = "本地"
         self.devices_instances[device_id] = d
         # noinspection PyProtectedMember
-        self._action_value_mappings[device_id] = d._ros_node._action_value_mappings
-        # noinspection PyProtectedMember
         for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
             if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith(
                 "UniLabJsonCommand"
@@ -764,7 +742,6 @@ 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:
         """
@@ -778,29 +755,18 @@ class HostNode(BaseROS2DeviceNode):
         u = uuid.UUID(item.job_id)
         device_id = item.device_id
         action_name = item.action_name
-
-        if BasicConfig.test_mode:
-            action_id = f"/devices/{device_id}/{action_name}"
-            self.lab_logger().info(
-                f"[TEST MODE] 模拟执行: {action_id} (job={item.job_id[:8]}), 参数: {str(action_kwargs)[:500]}"
-            )
-            # 根据注册表 handles 构建模拟返回值
-            mock_return = self._build_test_mode_return(device_id, action_name, action_kwargs)
-            self._handle_test_mode_result(item, action_id, mock_return)
-            return
-
         if action_type.startswith("UniLabJsonCommand"):
             if action_name.startswith("auto-"):
                 action_name = action_name[5:]
             action_id = f"/devices/{device_id}/_execute_driver_command"
-            json_command: Dict[str, Any] = {
+            action_kwargs = {
-                "function_name": action_name,
+                "string": json.dumps(
-                "function_args": action_kwargs,
+                    {
-                JSON_UNILABOS_PARAM: {
+                        "function_name": action_name,
-                    PARAM_SAMPLE_UUIDS: sample_material,
+                        "function_args": action_kwargs,
-                },
+                    }
+                )
             }
-            action_kwargs = {"string": json.dumps(json_command)}
             if action_type.startswith("UniLabJsonCommandAsync"):
                 action_id = f"/devices/{device_id}/_execute_driver_command_async"
         else:
@@ -811,10 +777,24 @@ 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().trace(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
+        self.lab_logger().info(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))
@@ -826,51 +806,6 @@ class HostNode(BaseROS2DeviceNode):
         )
         future.add_done_callback(lambda f: self.goal_response_callback(item, action_id, f))
 
-    def _build_test_mode_return(
-        self, device_id: str, action_name: str, action_kwargs: Dict[str, Any]
-    ) -> Dict[str, Any]:
-        """
-        根据注册表 handles 的 output 定义构建测试模式的模拟返回值
-
-        根据 data_key 中 @flatten 的层数决定嵌套数组层数，叶子值为空字典。
-        例如: "vessel" → {}, "plate.@flatten" → [{}], "a.@flatten.@flatten" → [[{}]]
-        """
-        mock_return: Dict[str, Any] = {"test_mode": True, "action_name": action_name}
-        action_mappings = self._action_value_mappings.get(device_id, {})
-        action_mapping = action_mappings.get(action_name, {})
-        handles = action_mapping.get("handles", {})
-        if isinstance(handles, dict):
-            for output_handle in handles.get("output", []):
-                data_key = output_handle.get("data_key", "")
-                handler_key = output_handle.get("handler_key", "")
-                # 根据 @flatten 层数构建嵌套数组，叶子为空字典
-                flatten_count = data_key.count("@flatten")
-                value: Any = {}
-                for _ in range(flatten_count):
-                    value = [value]
-                mock_return[handler_key] = value
-        return mock_return
-
-    def _handle_test_mode_result(
-        self, item: "QueueItem", action_id: str, mock_return: Dict[str, Any]
-    ) -> None:
-        """
-        测试模式下直接构建结果并走正常的结果回调流程（跳过 ROS）
-        """
-        job_id = item.job_id
-        status = "success"
-        return_info = serialize_result_info("", True, mock_return)
-
-        self.lab_logger().info(f"[TEST MODE] Result for {action_id} ({job_id[:8]}): {status}")
-
-        from unilabos.app.web.controller import store_job_result
-        store_job_result(job_id, status, return_info, mock_return)
-
-        # 发布状态到桥接器
-        for bridge in self.bridges:
-            if hasattr(bridge, "publish_job_status"):
-                bridge.publish_job_status(mock_return, item, status, return_info)
-
     def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
         """目标响应回调"""
         goal_handle = future.result()
@@ -918,14 +853,9 @@ 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_value.pop(RETURN_UNILABOS_SAMPLES, None)
+                            unilabos_samples = return_info.get("unilabos_samples")
-                            if isinstance(unilabos_samples, list) and unilabos_samples:
+                            if isinstance(unilabos_samples, list):
-                                self.lab_logger().info(
+                                return_info["unilabos_samples"] = unilabos_samples
-                                    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"
@@ -951,7 +881,7 @@ class HostNode(BaseROS2DeviceNode):
             # 清理 _goals 中的记录
             if job_id in self._goals:
                 del self._goals[job_id]
-                self.lab_logger().trace(f"[Host Node] Removed goal {job_id[:8]} from _goals")
+                self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")
 
             # 存储结果供 HTTP API 查询
             try:
@@ -1230,12 +1160,8 @@ class HostNode(BaseROS2DeviceNode):
     def _node_info_update_callback(self, request, response):
         """
         更新节点信息回调
-
-        处理两种消息:
-        1. 首次上报(main_slave_run): 带 devices_config + registry_config,存储 action_value_mappings
-        2. 设备重注册(SYNC_SLAVE_NODE_INFO): 带 edge_device_id + registry_name,用 registry_name 索引已存储的 mappings
         """
-        self.lab_logger().trace(f"[Host Node] Node info update request received: {request}")
+        # self.lab_logger().info(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
@@ -1245,48 +1171,12 @@ class HostNode(BaseROS2DeviceNode):
                 info = info["SYNC_SLAVE_NODE_INFO"]
                 machine_name = info["machine_name"]
                 edge_device_id = info["edge_device_id"]
-                registry_name = info.get("registry_name", "")
                 self.device_machine_names[edge_device_id] = machine_name
-
-                # 用 registry_name 索引已存储的 registry_config,获取 action_value_mappings
-                if registry_name and registry_name in self._slave_registry_configs:
-                    action_mappings = self._slave_registry_configs[registry_name].get(
-                        "class", {}
-                    ).get("action_value_mappings", {})
-                    if action_mappings:
-                        self._action_value_mappings[edge_device_id] = action_mappings
-                        self.lab_logger().info(
-                            f"[Host Node] Loaded {len(action_mappings)} action mappings "
-                            f"for remote device {edge_device_id} (registry: {registry_name})"
-                        )
             else:
                 devices_config = info.pop("devices_config")
                 registry_config = info.pop("registry_config")
                 if registry_config:
                     http_client.resource_registry({"resources": registry_config})
-
-                    # 存储 slave 的 registry_config,用于后续 SYNC_SLAVE_NODE_INFO 索引
-                    for reg_name, reg_data in registry_config.items():
-                        if isinstance(reg_data, dict) and "class" in reg_data:
-                            self._slave_registry_configs[reg_name] = reg_data
-
-                # 解析 devices_config,建立 device_id -> action_value_mappings 映射
-                if devices_config:
-                    for device_tree in devices_config:
-                        for device_dict in device_tree:
-                            device_id = device_dict.get("id", "")
-                            class_name = device_dict.get("class", "")
-                            if device_id and class_name and class_name in self._slave_registry_configs:
-                                action_mappings = self._slave_registry_configs[class_name].get(
-                                    "class", {}
-                                ).get("action_value_mappings", {})
-                                if action_mappings:
-                                    self._action_value_mappings[device_id] = action_mappings
-                                    self.lab_logger().info(
-                                        f"[Host Node] Stored {len(action_mappings)} action mappings "
-                                        f"for remote device {device_id} (class: {class_name})"
-                                    )
-
             self.lab_logger().debug(f"[Host Node] Node info update: {info}")
             response.response = "OK"
         except Exception as e:
@@ -1436,20 +1326,10 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
         return response
 
-    def test_latency(self) -> TestLatencyReturn:
+    def test_latency(self):
         """
         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
 
@@ -1512,15 +1392,7 @@ class HostNode(BaseROS2DeviceNode):
 
         if not ping_results:
             self.lab_logger().error("❌ 所有ping-pong测试都失败了")
-            return {
+            return {"status": "all_timeout"}
-                "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]
@@ -1528,7 +1400,7 @@ 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: float = max(abs(min(time_diffs)), abs(max(time_diffs)))
+        max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs)))
 
         self.lab_logger().info("-" * 50)
         self.lab_logger().info("[测试统计]")
@@ -1568,7 +1440,7 @@ class HostNode(BaseROS2DeviceNode):
 
         self.lab_logger().info("=" * 60)
 
-        res: TestLatencyReturn = {
+        return {
             "avg_rtt_ms": avg_rtt_ms,
             "avg_time_diff_ms": avg_time_diff_ms,
             "max_time_error_ms": max_time_diff_error_ms,
@@ -1579,15 +1451,9 @@ class HostNode(BaseROS2DeviceNode):
             "test_count": len(ping_results),
             "status": "success",
         }
-        return res
 
     def test_resource(
-        self,
+        self, resource: ResourceSlot = None, resources: List[ResourceSlot] = None, device: DeviceSlot = None, devices: List[DeviceSlot] = None
-        sample_uuids: SampleUUIDsType,
-        resource: ResourceSlot = None,
-        resources: List[ResourceSlot] = None,
-        device: DeviceSlot = None,
-        devices: List[DeviceSlot] = None,
     ) -> TestResourceReturn:
         if resources is None:
             resources = []
@@ -1598,7 +1464,6 @@ class HostNode(BaseROS2DeviceNode):
         return {
             "resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(),
             "devices": [device, *devices],
-            "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 handle_pong_response(self, pong_data: dict):
@@ -1649,9 +1514,7 @@ class HostNode(BaseROS2DeviceNode):
 
             # 构建服务地址
             srv_address = f"/srv{namespace}/s2c_resource_tree"
-            self.lab_logger().trace(
+            self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------")
-                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)
@@ -1686,9 +1549,7 @@ class HostNode(BaseROS2DeviceNode):
                 time.sleep(0.05)
 
             response = future.result()
-            self.lab_logger().trace(
+            self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------")
-                f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------"
-            )
             return True
 
         except Exception as e:

unilabos/ros/nodes/presets/joint_republisher.py

@@ -7,11 +7,10 @@ from rclpy.callback_groups import ReentrantCallbackGroup
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 class JointRepublisher(BaseROS2DeviceNode):
-    def __init__(self,device_id, registry_name, resource_tracker, **kwargs):
+    def __init__(self,device_id,resource_tracker, **kwargs):
         super().__init__(
             driver_instance=self,
             device_id=device_id,
-            registry_name=registry_name,
             status_types={},
             action_value_mappings={},
             hardware_interface={},

unilabos/ros/nodes/presets/resource_mesh_manager.py

@@ -26,7 +26,7 @@ from unilabos.resources.graphio import initialize_resources
 from unilabos.registry.registry import lab_registry
 
 class ResourceMeshManager(BaseROS2DeviceNode):
-    def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", registry_name: str = "", rate=50, **kwargs):
+    def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", rate=50, **kwargs):
         """初始化资源网格管理器节点
         
         Args:
@@ -37,7 +37,6 @@ class ResourceMeshManager(BaseROS2DeviceNode):
         super().__init__(
             driver_instance=self,
             device_id=device_id,
-            registry_name=registry_name,
             status_types={},
             action_value_mappings={},
             hardware_interface={},

unilabos/ros/nodes/presets/serial_node.py

@@ -7,7 +7,7 @@ from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeRe
 
 
 class ROS2SerialNode(BaseROS2DeviceNode):
-    def __init__(self, device_id, registry_name, port: str, baudrate: int = 9600, resource_tracker: DeviceNodeResourceTracker=None):
+    def __init__(self, device_id, port: str, baudrate: int = 9600, resource_tracker: DeviceNodeResourceTracker=None):
         # 保存属性，以便在调用父类初始化前使用
         self.port = port
         self.baudrate = baudrate
@@ -28,7 +28,6 @@ class ROS2SerialNode(BaseROS2DeviceNode):
         BaseROS2DeviceNode.__init__(
             self,
             driver_instance=self,
-            registry_name=registry_name,
             device_id=device_id,
             status_types={},
             action_value_mappings={},

unilabos/ros/nodes/presets/workstation.py

@@ -6,6 +6,8 @@ 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
@@ -13,6 +15,7 @@ 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,
@@ -47,7 +50,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         *,
         driver_instance: "WorkstationBase",
         device_id: str,
-        registry_name: str,
         device_uuid: str,
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
@@ -63,7 +65,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         super().__init__(
             driver_instance=driver_instance,
             device_id=device_id,
-            registry_name=registry_name,
             device_uuid=device_uuid,
             status_types=status_types,
             action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
@@ -230,15 +231,15 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                         try:
                             # 统一处理单个或多个资源
                             resource_id = (
-                                protocol_kwargs[k]["id"]
+                                protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["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)
@@ -306,54 +307,12 @@ 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 not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                        continue
+                        r = ResourceUpdate.Request()
-                    self.lab_logger().info(f"更新资源状态: {k}")
+                        r.resources = [
-                    try:
+                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
-                        # 去重：使用 seen 集合获取唯一的资源对象
+                        ]
-                        seen = set()
+                        response = await self._resource_clients["resource_update"].call_async(r)
-                        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

@@ -52,8 +52,7 @@ class DeviceClassCreator(Generic[T]):
         if self.device_instance is not None:
             for c in self.children:
                 if c.res_content.type != "device":
-                    res = ResourceTreeSet([ResourceTreeInstance(c)]).to_plr_resources()[0]
+                    self.resource_tracker.add_resource(c.get_plr_nested_dict())
-                    self.resource_tracker.add_resource(res)
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
@@ -120,7 +119,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
     #     return resource, source_type
 
     def _process_resource_references(
-        self, data: Any, processed_child_names: Optional[Dict[str, Any]], to_dict=False, states=None, prefix_path="", name_to_uuid=None
+        self, data: 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
@@ -165,7 +164,6 @@ 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:
@@ -184,12 +182,12 @@ 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, processed_child_names, to_dict, states, new_prefix, name_to_uuid)
+                result[key] = self._process_resource_references(value, to_dict, states, new_prefix, name_to_uuid)
             return result
 
         elif isinstance(data, list):
             return [
-                self._process_resource_references(item, processed_child_names, to_dict, states, f"{prefix_path}[{i}]", name_to_uuid)
+                self._process_resource_references(item, to_dict, states, f"{prefix_path}[{i}]", name_to_uuid)
                 for i, item in enumerate(data)
             ]
 
@@ -236,7 +234,7 @@ 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:
@@ -272,12 +270,7 @@ 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_child_names = {}
+                processed_data = self._process_resource_references(data, to_dict=False, name_to_uuid=name_to_uuid)
-                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}")
@@ -349,10 +342,9 @@ 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
-            # super(WorkstationNodeCreator, self).create_instance(data)的时候会attach
+            for child in self.children:
-            # for child in self.children:
+                if child.res_content.type != "device":
-            #     if child.res_content.type != "device":
+                    self.resource_tracker.add_resource(child.get_plr_nested_dict())
-            #         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

@@ -0,0 +1,182 @@
+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/comprehensive_protocol/comprehensive_station.json

@@ -339,8 +339,13 @@
                 "z": 0
             },
             "config": {
+                "max_volume": 500.0,
                 "type": "RegularContainer",
-                "category": "container"
+                "category": "container",
+                "max_temp": 200.0,
+                "min_temp": -20.0,
+                "has_stirrer": true,
+                "has_heater": true
             },
             "data": {
                 "liquids": [],
@@ -764,7 +769,9 @@
                 "size_y": 250,
                 "size_z": 0,
                 "type": "RegularContainer",
-                "category": "container"
+                "category": "container",
+                "reagent": "sodium_chloride",
+                "physical_state": "solid"
             },
             "data": {
                 "current_mass": 500.0,
@@ -785,11 +792,14 @@
                 "z": 0
             },
             "config": {
+                "volume": 500.0,
                 "size_x": 600,
                 "size_y": 250,
                 "size_z": 0,
                 "type": "RegularContainer",
-                "category": "container"
+                "category": "container",
+                "reagent": "sodium_carbonate",
+                "physical_state": "solid"
             },
             "data": {
                 "current_mass": 500.0,
@@ -810,11 +820,14 @@
                 "z": 0
             },
             "config": {
+                "volume": 500.0,
                 "size_x": 650,
                 "size_y": 250,
                 "size_z": 0,
                 "type": "RegularContainer",
-                "category": "container"
+                "category": "container",
+                "reagent": "magnesium_chloride",
+                "physical_state": "solid"
             },
             "data": {
                 "current_mass": 500.0,

unilabos/test/experiments/prcxi_9320_slim.json

@@ -1,795 +0,0 @@
-{
-  "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/virtual_bench.json

@@ -1,28 +0,0 @@
-{
-    "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/test/experiments/xkc_sensor_test.json

@@ -1,29 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "Liquid_Sensor_1",
-            "name": "XKC Sensor",
-            "children": [],
-            "parent": null,
-            "type": "device",
-            "class": "sensor.xkc_rs485",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "port": "/dev/tty.usbserial-3110",
-                "baudrate": 9600,
-                "device_id": 1,
-                "threshold": 300,
-                "timeout": 3.0
-            },
-            "data": {
-                "level": false,
-                "rssi": 0
-            }
-        }
-    ],
-    "links": []
-}

unilabos/test/experiments/zdt_motor_test.json

@@ -1,28 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "ZDT_Motor",
-            "name": "ZDT Motor",
-            "children": [],
-            "parent": null,
-            "type": "device",
-            "class": "motor.zdt_x42",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "port": "/dev/tty.usbserial-3110",
-                "baudrate": 115200,
-                "device_id": 1,
-                "debug": true
-            },
-            "data": {
-                "position": 0,
-                "status": "idle"
-            }
-        }
-    ],
-    "links": []
-}

unilabos/utils/README_LOGGING.md

@@ -0,0 +1,187 @@
+# 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

@@ -182,94 +182,3 @@ def get_all_subscriptions(instance) -> list:
         except Exception:
             pass
     return subscriptions
-
-
-def always_free(func: F) -> F:
-    """
-    标记动作为永久闲置(不受busy队列限制)的装饰器
-
-    被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
-    任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
-
-    Example:
-        class MyDriver:
-            @always_free
-            def query_status(self, param: str):
-                # 这个动作可以随时执行，不需要排队
-                return self._status
-
-            def transfer(self, volume: float):
-                # 这个动作会按正常排队逻辑执行
-                pass
-
-    Note:
-        - 可以与其他装饰器组合使用，@always_free 应放在最外层
-        - 仅影响 WebSocket 调度层的 busy/free 判断，不影响 ROS2 层
-    """
-
-    @wraps(func)
-    def wrapper(*args, **kwargs):
-        return func(*args, **kwargs)
-
-    wrapper._is_always_free = True  # type: ignore[attr-defined]
-
-    return wrapper  # type: ignore[return-value]
-
-
-def is_always_free(func) -> bool:
-    """
-    检查函数是否被标记为永久闲置
-
-    Args:
-        func: 被检查的函数
-
-    Returns:
-        如果函数被 @always_free 装饰则返回 True，否则返回 False
-    """
-    return getattr(func, "_is_always_free", False)
-
-
-def not_action(func: F) -> F:
-    """
-    标记方法为非动作的装饰器
-
-    用于装饰 driver 类中的方法，使其在 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

@@ -24,7 +24,6 @@ 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

@@ -27,9 +27,7 @@ __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, is_always_free
 
 
 class ImportManager:
@@ -277,14 +275,8 @@ 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)
-                    # 检查是否被 @always_free 装饰器标记
-                    if is_always_free(method):
-                        method_info["always_free"] = True
                     result["action_methods"][name] = method_info
 
         return result
@@ -338,28 +330,17 @@ 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
-                    # 检查是否被 @always_free 装饰器标记
-                    if self._is_always_free_method(node):
-                        method_info["always_free"] = True
                     result["action_methods"][method_name] = method_info
         return result
 
-    def _analyze_method_signature(self, method, skip_unilabos_params: bool = True) -> Dict[str, Any]:
+    def _analyze_method_signature(self, method) -> 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"}
@@ -380,10 +361,6 @@ 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
@@ -473,20 +450,6 @@ 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 _is_always_free_method(self, node: ast.FunctionDef) -> bool:
-        """检查是否是@always_free装饰的方法"""
-        for decorator in node.decorator_list:
-            if isinstance(decorator, ast.Name) and decorator.id == "always_free":
-                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:
@@ -586,9 +549,6 @@ 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

@@ -193,7 +193,6 @@ def configure_logger(loglevel=None, working_dir=None):
     root_logger.addHandler(console_handler)
 
     # 如果指定了工作目录，添加文件处理器
-    log_filepath = None
     if working_dir is not None:
         logs_dir = os.path.join(working_dir, "logs")
         os.makedirs(logs_dir, exist_ok=True)
@@ -214,7 +213,6 @@ def configure_logger(loglevel=None, working_dir=None):
 
     logging.getLogger("asyncio").setLevel(logging.INFO)
     logging.getLogger("urllib3").setLevel(logging.INFO)
-    return log_filepath
 
 
 

unilabos/utils/pywinauto_util.py

@@ -1,11 +1,7 @@
 import psutil
 import pywinauto
-try:
+from pywinauto_recorder import UIApplication
-    from pywinauto_recorder import UIApplication
+from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path
-    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

unilabos/utils/requirements.txt

@@ -1,18 +0,0 @@
-networkx
-typing_extensions
-websockets
-msgcenterpy>=0.1.5
-opentrons_shared_data
-pint
-fastapi
-jinja2
-requests
-uvicorn
-pyautogui
-opcua
-pyserial
-pandas
-crcmod-plus
-pymodbus
-matplotlib
-pylibftdi

unilabos/workflow/common.py

@@ -1,104 +1,3 @@
-"""
-工作流转换模块 - JSON 到 WorkflowGraph 的转换流程
-
-==================== 输入格式 (JSON) ====================
-
-{
-    "workflow": [
-        {"action": "transfer_liquid", "action_args": {"sources": "cell_lines", "targets": "Liquid_1", "asp_vol": 100.0, "dis_vol": 74.75, ...}},
-        ...
-    ],
-    "reagent": {
-        "cell_lines": {"slot": 4, "well": ["A1", "A3", "A5"], "labware": "DRUG + YOYO-MEDIA"},
-        "Liquid_1": {"slot": 1, "well": ["A4", "A7", "A10"], "labware": "rep 1"},
-        ...
-    }
-}
-
-==================== 转换步骤 ====================
-
-第一步: 按 slot 去重创建 create_resource 节点（创建板子）
---------------------------------------------------------------------------------
-- 首先创建一个 Group 节点（type="Group", minimized=true），用于包含所有 create_resource 节点
-- 遍历所有 reagent，按 slot 去重，为每个唯一的 slot 创建一个板子
-- 所有 create_resource 节点的 parent_uuid 指向 Group 节点，minimized=true
-- 生成参数:
-    res_id: plate_slot_{slot}
-    device_id: /PRCXI
-    class_name: PRCXI_BioER_96_wellplate
-    parent: /PRCXI/PRCXI_Deck/T{slot}
-    slot_on_deck: "{slot}"
-- 输出端口: labware（用于连接 set_liquid_from_plate）
-- 控制流: create_resource 之间通过 ready 端口串联
-
-示例: slot=1, slot=4 -> 创建 1 个 Group + 2 个 create_resource 节点
-
-第二步: 为每个 reagent 创建 set_liquid_from_plate 节点（设置液体）
---------------------------------------------------------------------------------
-- 首先创建一个 Group 节点（type="Group", minimized=true），用于包含所有 set_liquid_from_plate 节点
-- 遍历所有 reagent，为每个试剂创建 set_liquid_from_plate 节点
-- 所有 set_liquid_from_plate 节点的 parent_uuid 指向 Group 节点，minimized=true
-- 生成参数:
-    plate: []（通过连接传递，来自 create_resource 的 labware）
-    well_names: ["A1", "A3", "A5"]（来自 reagent 的 well 数组）
-    liquid_names: ["cell_lines", "cell_lines", "cell_lines"]（与 well 数量一致）
-    volumes: [1e5, 1e5, 1e5]（与 well 数量一致，默认体积）
-- 输入连接: create_resource (labware) -> set_liquid_from_plate (input_plate)
-- 输出端口: output_wells（用于连接 transfer_liquid）
-- 控制流: set_liquid_from_plate 连接在所有 create_resource 之后，通过 ready 端口串联
-
-第三步: 解析 workflow，创建 transfer_liquid 等动作节点
---------------------------------------------------------------------------------
-- 遍历 workflow 数组，为每个动作创建步骤节点
-- 参数重命名: asp_vol -> asp_vols, dis_vol -> dis_vols, asp_flow_rate -> asp_flow_rates, dis_flow_rate -> dis_flow_rates
-- 参数扩展: 根据 targets 的 wells 数量，将单值扩展为数组
-    例: asp_vol=100.0, targets 有 3 个 wells -> asp_vols=[100.0, 100.0, 100.0]
-- 连接处理: 如果 sources/targets 已通过 set_liquid_from_plate 连接，参数值改为 []
-- 输入连接: set_liquid_from_plate (output_wells) -> transfer_liquid (sources_identifier / targets_identifier)
-- 输出端口: sources_out, targets_out（用于连接下一个 transfer_liquid）
-
-==================== 连接关系图 ====================
-
-控制流 (ready 端口串联):
-    - create_resource 之间: 无 ready 连接
-    - set_liquid_from_plate 之间: 无 ready 连接
-    - create_resource 与 set_liquid_from_plate 之间: 无 ready 连接
-    - transfer_liquid 之间: 通过 ready 端口串联
-        transfer_liquid_1 -> transfer_liquid_2 -> transfer_liquid_3 -> ...
-
-物料流:
-    [create_resource] --labware--> [set_liquid_from_plate] --output_wells--> [transfer_liquid] --sources_out/targets_out--> [下一个 transfer_liquid]
-          (slot=1)                    (cell_lines)           (input_plate)     (sources_identifier)                          (sources_identifier)
-          (slot=4)                    (Liquid_1)                               (targets_identifier)                          (targets_identifier)
-
-==================== 端口映射 ====================
-
-create_resource:
-    输出: labware
-
-set_liquid_from_plate:
-    输入: input_plate
-    输出: output_plate, output_wells
-
-transfer_liquid:
-    输入: sources -> sources_identifier, targets -> targets_identifier
-    输出: sources -> sources_out, targets -> targets_out
-
-==================== 设备名配置 (device_name) ====================
-
-每个节点都有 device_name 字段，指定在哪个设备上执行:
-- create_resource: device_name = "host_node"（固定）
-- set_liquid_from_plate: device_name = "PRCXI"（可配置，见 DEVICE_NAME_DEFAULT）
-- transfer_liquid 等动作: device_name = "PRCXI"（可配置，见 DEVICE_NAME_DEFAULT）
-
-==================== 校验规则 ====================
-
-- 检查 sources/targets 是否在 reagent 中定义
-- 检查 sources 和 targets 的 wells 数量是否匹配
-- 检查参数数组长度是否与 wells 数量一致
-- 如有问题，在 footer 中添加 [WARN: ...] 标记
-"""
-
 import re
 import uuid
 
@@ -109,35 +8,6 @@ from typing import Dict, List, Any, Tuple, Optional
 
 Json = Dict[str, Any]
 
-
-# ==================== 默认配置 ====================
-
-# 设备名配置
-DEVICE_NAME_HOST = "host_node"  # create_resource 固定在 host_node 上执行
-DEVICE_NAME_DEFAULT = "PRCXI"  # transfer_liquid, set_liquid_from_plate 等动作的默认设备名
-
-# 节点类型
-NODE_TYPE_DEFAULT = "ILab"  # 所有节点的默认类型
-
-# create_resource 节点默认参数
-CREATE_RESOURCE_DEFAULTS = {
-    "device_id": "/PRCXI",
-    "parent_template": "/PRCXI/PRCXI_Deck/T{slot}",  # {slot} 会被替换为实际的 slot 值
-    "class_name": "PRCXI_BioER_96_wellplate",
-}
-
-# 默认液体体积 (uL)
-DEFAULT_LIQUID_VOLUME = 1e5
-
-# 参数重命名映射：单数 -> 复数（用于 transfer_liquid 等动作）
-PARAM_RENAME_MAPPING = {
-    "asp_vol": "asp_vols",
-    "dis_vol": "dis_vols",
-    "asp_flow_rate": "asp_flow_rates",
-    "dis_flow_rate": "dis_flow_rates",
-}
-
-
 # ---------------- Graph ----------------
 
 
@@ -358,263 +228,120 @@ def refactor_data(
 
 
 def build_protocol_graph(
-    labware_info: Dict[str, Dict[str, Any]],
+    labware_info: List[Dict[str, Any]],
     protocol_steps: List[Dict[str, Any]],
     workstation_name: str,
     action_resource_mapping: Optional[Dict[str, str]] = None,
-    labware_defs: Optional[List[Dict[str, Any]]] = None,
 ) -> WorkflowGraph:
     """统一的协议图构建函数，根据设备类型自动选择构建逻辑
 
     Args:
-        labware_info: reagent 信息字典，格式为 {name: {slot, well}, ...}，用于 set_liquid 和 well 查找
+        labware_info: labware 信息字典
         protocol_steps: 协议步骤列表
         workstation_name: 工作站名称
         action_resource_mapping: action 到 resource_name 的映射字典，可选
-        labware_defs: labware 定义列表，格式为 [{"name": "...", "slot": "1", "type": "lab_xxx"}, ...]
     """
     G = WorkflowGraph()
-    resource_last_writer = {}  # reagent_name -> "node_id:port"
+    resource_last_writer = {}
-    slot_to_create_resource = {}  # slot -> create_resource node_id
 
     protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
+    # 有机化学&移液站协议图构建
+    WORKSTATION_ID = workstation_name
 
-    # ==================== 第一步：按 slot 创建 create_resource 节点 ====================
+    # 为所有labware创建资源节点
-    # 创建 Group 节点，包含所有 create_resource 节点
-    group_node_id = str(uuid.uuid4())
-    G.add_node(
-        group_node_id,
-        name="Resources Group",
-        type="Group",
-        parent_uuid="",
-        lab_node_type="Device",
-        template_name="",
-        resource_name="",
-        footer="",
-        minimized=True,
-        param=None,
-    )
-
-    # 直接使用 JSON 中的 labware 定义，每个 slot 一条记录，type 即 class_name
     res_index = 0
-    for lw in (labware_defs or []):
+    for labware_id, item in labware_info.items():
-        slot = str(lw.get("slot", ""))
+        # item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
-        if not slot or slot in slot_to_create_resource:
+        node_id = str(uuid.uuid4())
-            continue  # 跳过空 slot 或已处理的 slot
 
-        lw_name = lw.get("name", f"slot {slot}")
+        # 判断节点类型
-        lw_type = lw.get("type", CREATE_RESOURCE_DEFAULTS["class_name"])
+        if "Rack" in str(labware_id) or "Tip" in str(labware_id):
-        res_id = f"plate_slot_{slot}"
+            lab_node_type = "Labware"
+            description = f"Prepare Labware: {labware_id}"
+            liquid_type = []
+            liquid_volume = []
+        elif item.get("type") == "hardware" or "reactor" in str(labware_id).lower():
+            if "reactor" not in str(labware_id).lower():
+                continue
+            lab_node_type = "Sample"
+            description = f"Prepare Reactor: {labware_id}"
+            liquid_type = []
+            liquid_volume = []
+        else:
+            lab_node_type = "Reagent"
+            description = f"Add Reagent to Flask: {labware_id}"
+            liquid_type = [labware_id]
+            liquid_volume = [1e5]
 
         res_index += 1
-        node_id = str(uuid.uuid4())
         G.add_node(
             node_id,
             template_name="create_resource",
             resource_name="host_node",
-            name=lw_name,
+            name=f"Res {res_index}",
-            description=f"Create {lw_name}",
+            description=description,
-            lab_node_type="Labware",
+            lab_node_type=lab_node_type,
             footer="create_resource-host_node",
-            device_name=DEVICE_NAME_HOST,
-            type=NODE_TYPE_DEFAULT,
-            parent_uuid=group_node_id,
-            minimized=True,
             param={
-                "res_id": res_id,
+                "res_id": labware_id,
-                "device_id": CREATE_RESOURCE_DEFAULTS["device_id"],
+                "device_id": WORKSTATION_ID,
-                "class_name": lw_type,
+                "class_name": "container",
-                "parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot),
+                "parent": WORKSTATION_ID,
                 "bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0},
-                "slot_on_deck": slot,
+                "liquid_input_slot": [-1],
+                "liquid_type": liquid_type,
+                "liquid_volume": liquid_volume,
+                "slot_on_deck": "",
             },
         )
-        slot_to_create_resource[slot] = node_id
+        resource_last_writer[labware_id] = f"{node_id}:labware"
 
-    # ==================== 第二步：为每个 reagent 创建 set_liquid_from_plate 节点 ====================
-    # 创建 Group 节点，包含所有 set_liquid_from_plate 节点
-    set_liquid_group_id = str(uuid.uuid4())
-    G.add_node(
-        set_liquid_group_id,
-        name="SetLiquid Group",
-        type="Group",
-        parent_uuid="",
-        lab_node_type="Device",
-        template_name="",
-        resource_name="",
-        footer="",
-        minimized=True,
-        param=None,
-    )
-
-    set_liquid_index = 0
-
-    for labware_id, item in labware_info.items():
-        # 跳过 Tip/Rack 类型
-        if "Rack" in str(labware_id) or "Tip" in str(labware_id):
-            continue
-        if item.get("type") == "hardware":
-            continue
-
-        slot = str(item.get("slot", ""))
-        wells = item.get("well", [])
-        if not wells or not slot:
-            continue
-
-        # res_id 不能有空格
-        res_id = str(labware_id).replace(" ", "_")
-        well_count = len(wells)
-
-        node_id = str(uuid.uuid4())
-        set_liquid_index += 1
-
-        G.add_node(
-            node_id,
-            template_name="set_liquid_from_plate",
-            resource_name="liquid_handler.prcxi",
-            name=f"SetLiquid {set_liquid_index}",
-            description=f"Set liquid: {labware_id}",
-            lab_node_type="Reagent",
-            footer="set_liquid_from_plate-liquid_handler.prcxi",
-            device_name=DEVICE_NAME_DEFAULT,
-            type=NODE_TYPE_DEFAULT,
-            parent_uuid=set_liquid_group_id,  # 指向 Group 节点
-            minimized=True,  # 折叠显示
-            param={
-                "plate": [],  # 通过连接传递
-                "well_names": wells,  # 孔位名数组，如 ["A1", "A3", "A5"]
-                "liquid_names": [res_id] * well_count,
-                "volumes": [DEFAULT_LIQUID_VOLUME] * well_count,
-            },
-        )
-
-        # set_liquid_from_plate 之间不需要 ready 连接
-
-        # 物料流：create_resource 的 labware -> set_liquid_from_plate 的 input_plate
-        create_res_node_id = slot_to_create_resource.get(slot)
-        if create_res_node_id:
-            G.add_edge(create_res_node_id, node_id, source_port="labware", target_port="input_plate")
-
-        # set_liquid_from_plate 的输出 output_wells 用于连接 transfer_liquid
-        resource_last_writer[labware_id] = f"{node_id}:output_wells"
-
-    # transfer_liquid 之间通过 ready 串联，从 None 开始
     last_control_node_id = None
 
-    # 端口名称映射：JSON 字段名 -> 实际 handle key
-    INPUT_PORT_MAPPING = {
-        "sources": "sources_identifier",
-        "targets": "targets_identifier",
-        "vessel": "vessel",
-        "to_vessel": "to_vessel",
-        "from_vessel": "from_vessel",
-        "reagent": "reagent",
-        "solvent": "solvent",
-        "compound": "compound",
-    }
-
-    OUTPUT_PORT_MAPPING = {
-        "sources": "sources_out",  # 输出端口是 xxx_out
-        "targets": "targets_out",  # 输出端口是 xxx_out
-        "vessel": "vessel_out",
-        "to_vessel": "to_vessel_out",
-        "from_vessel": "from_vessel_out",
-        "filtrate_vessel": "filtrate_out",
-        "reagent": "reagent",
-        "solvent": "solvent",
-        "compound": "compound",
-    }
-
-    # 需要根据 wells 数量扩展的参数列表（复数形式）
-    EXPAND_BY_WELLS_PARAMS = ["asp_vols", "dis_vols", "asp_flow_rates", "dis_flow_rates"]
-
     # 处理协议步骤
     for step in protocol_steps:
         node_id = str(uuid.uuid4())
-        params = step.get("param", {}).copy()  # 复制一份，避免修改原数据
+        G.add_node(node_id, **step)
-        connected_params = set()  # 记录被连接的参数
-        warnings = []  # 收集警告信息
-
-        # 参数重命名：单数 -> 复数
-        for old_name, new_name in PARAM_RENAME_MAPPING.items():
-            if old_name in params:
-                params[new_name] = params.pop(old_name)
-
-        # 处理输入连接
-        for param_key, target_port in INPUT_PORT_MAPPING.items():
-            resource_name = params.get(param_key)
-            if resource_name and resource_name in resource_last_writer:
-                source_node, source_port = resource_last_writer[resource_name].split(":")
-                G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
-                connected_params.add(param_key)
-            elif resource_name and resource_name not in resource_last_writer:
-                # 资源名在 labware_info 中不存在
-                warnings.append(f"{param_key}={resource_name} 未找到")
-
-        # 获取 targets 对应的 wells 数量，用于扩展参数
-        targets_name = params.get("targets")
-        sources_name = params.get("sources")
-        targets_wells_count = 1
-        sources_wells_count = 1
-
-        if targets_name and targets_name in labware_info:
-            target_wells = labware_info[targets_name].get("well", [])
-            targets_wells_count = len(target_wells) if target_wells else 1
-        elif targets_name:
-            warnings.append(f"targets={targets_name} 未在 reagent 中定义")
-
-        if sources_name and sources_name in labware_info:
-            source_wells = labware_info[sources_name].get("well", [])
-            sources_wells_count = len(source_wells) if source_wells else 1
-        elif sources_name:
-            warnings.append(f"sources={sources_name} 未在 reagent 中定义")
-
-        # 检查 sources 和 targets 的 wells 数量是否匹配
-        if targets_wells_count != sources_wells_count and targets_name and sources_name:
-            warnings.append(f"wells 数量不匹配: sources={sources_wells_count}, targets={targets_wells_count}")
-
-        # 使用 targets 的 wells 数量来扩展参数
-        wells_count = targets_wells_count
-
-        # 扩展单值参数为数组（根据 targets 的 wells 数量）
-        for expand_param in EXPAND_BY_WELLS_PARAMS:
-            if expand_param in params:
-                value = params[expand_param]
-                # 如果是单个值，扩展为数组
-                if not isinstance(value, list):
-                    params[expand_param] = [value] * wells_count
-                # 如果已经是数组但长度不对，记录警告
-                elif len(value) != wells_count:
-                    warnings.append(f"{expand_param} 数量({len(value)})与 wells({wells_count})不匹配")
-
-        # 如果 sources/targets 已通过连接传递，将参数值改为空数组
-        for param_key in connected_params:
-            if param_key in params:
-                params[param_key] = []
-
-        # 更新 step 的 param、footer、device_name 和 type
-        step_copy = step.copy()
-        step_copy["param"] = params
-        step_copy["device_name"] = DEVICE_NAME_DEFAULT  # 动作节点使用默认设备名
-        step_copy["type"] = NODE_TYPE_DEFAULT  # 节点类型
-
-        # 如果有警告，修改 footer 添加警告标记（警告放前面）
-        if warnings:
-            original_footer = step.get("footer", "")
-            step_copy["footer"] = f"[WARN: {'; '.join(warnings)}] {original_footer}"
-
-        G.add_node(node_id, **step_copy)
 
         # 控制流
         if last_control_node_id is not None:
             G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
         last_control_node_id = node_id
 
-        # 处理输出：更新 resource_last_writer
+        # 物料流
-        for param_key, output_port in OUTPUT_PORT_MAPPING.items():
+        params = step.get("param", {})
-            resource_name = step.get("param", {}).get(param_key)  # 使用原始参数值
+        input_resources_possible_names = [
+            "vessel",
+            "to_vessel",
+            "from_vessel",
+            "reagent",
+            "solvent",
+            "compound",
+            "sources",
+            "targets",
+        ]
+
+        for target_port in input_resources_possible_names:
+            resource_name = params.get(target_port)
+            if resource_name and resource_name in resource_last_writer:
+                source_node, source_port = resource_last_writer[resource_name].split(":")
+                G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
+
+        output_resources = {
+            "vessel_out": params.get("vessel"),
+            "from_vessel_out": params.get("from_vessel"),
+            "to_vessel_out": params.get("to_vessel"),
+            "filtrate_out": params.get("filtrate_vessel"),
+            "reagent": params.get("reagent"),
+            "solvent": params.get("solvent"),
+            "compound": params.get("compound"),
+            "sources_out": params.get("sources"),
+            "targets_out": params.get("targets"),
+        }
+
+        for source_port, resource_name in output_resources.items():
             if resource_name:
-                resource_last_writer[resource_name] = f"{node_id}:{output_port}"
+                resource_last_writer[resource_name] = f"{node_id}:{source_port}"
 
     return G