修改rviz显示逻辑与joint_publisher，添加moveit2相关节点描述

add z index

(cherry picked from commit 145fcaae65)

.conda/base/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos
-  version: 0.10.17
+  version: 0.10.18
 
 source:
   path: ../../unilabos
@@ -46,13 +46,15 @@ requirements:
   - jinja2
   - requests
   - uvicorn
-  - opcua # [not osx]
+  - if: not osx
+    then:
+    - opcua
   - pyserial
   - pandas
   - pymodbus
   - matplotlib
   - pylibftdi
-  - uni-lab::unilabos-env ==0.10.17
+  - uni-lab::unilabos-env ==0.10.18
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS

.conda/environment/recipe.yaml

@@ -2,7 +2,7 @@
 
 package:
   name: unilabos-env
-  version: 0.10.17
+  version: 0.10.18
 
 build:
   noarch: generic

.conda/full/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos-full
-  version: 0.10.17
+  version: 0.10.18
 
 build:
   noarch: generic
@@ -11,7 +11,7 @@ build:
 requirements:
   run:
   # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.17
+  - uni-lab::unilabos ==0.10.18
   # Documentation tools
   - sphinx
   - sphinx_rtd_theme

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.17
+  version: 0.10.18
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.17"
+  version: "0.10.18"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.17',
+    version='0.10.18',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.17"
+__version__ = "0.10.18"

unilabos/app/main.py

@@ -1,6 +1,7 @@
 import argparse
 import asyncio
 import os
+import platform
 import shutil
 import signal
 import sys
@@ -171,6 +172,12 @@ def parse_args():
         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",
@@ -204,6 +211,12 @@ def parse_args():
         default=False,
         help="Whether to publish the workflow (default: False)",
     )
+    workflow_parser.add_argument(
+        "--description",
+        type=str,
+        default="",
+        help="Workflow description, used when publishing the workflow",
+    )
     return parser
 
 
@@ -231,52 +244,60 @@ 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 check_mode:
-        args_dict["working_dir"] = os.path.abspath(os.getcwd())
-    # 当 skip_env_check 时，默认使用当前目录作为 working_dir
-    if skip_env_check and not args_dict.get("working_dir") and not config_path:
+    # === 解析 working_dir ===
+    # 规则1: working_dir 传入 → 检测 unilabos_data 子目录，已是则不修改
+    # 规则2: 仅 config_path 传入 → 用其父目录作为 working_dir
+    # 规则4: 两者都传入 → 各用各的，但 working_dir 仍做 unilabos_data 子目录检测
+    raw_working_dir = args_dict.get("working_dir")
+    if raw_working_dir:
+        working_dir = os.path.abspath(raw_working_dir)
+    elif config_path and os.path.exists(config_path):
+        working_dir = os.path.dirname(os.path.abspath(config_path))
+    else:
         working_dir = os.path.abspath(os.getcwd())
-        print_status(f"跳过环境检查模式：使用当前目录作为工作目录 {working_dir}", "info")
-        # 检查当前目录是否有 local_config.py
-        local_config_in_cwd = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(local_config_in_cwd):
-            config_path = local_config_in_cwd
+
+    # unilabos_data 子目录自动检测
+    if os.path.basename(working_dir) != "unilabos_data":
+        unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
+        if os.path.isdir(unilabos_data_sub):
+            working_dir = unilabos_data_sub
+        elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
+            # 未显式指定路径，默认使用 cwd/unilabos_data
+            working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
+
+    # === 解析 config_path ===
+    if config_path and not os.path.exists(config_path):
+        # config_path 传入但不存在，尝试在 working_dir 中查找
+        candidate = os.path.join(working_dir, "local_config.py")
+        if os.path.exists(candidate):
+            config_path = candidate
+            print_status(f"在工作目录中发现配置文件: {config_path}", "info")
+        else:
+            print_status(
+                f"配置文件 {config_path} 不存在，工作目录 {working_dir} 中也未找到 local_config.py，"
+                f"请通过 --config 传入 local_config.py 文件路径",
+                "error",
+            )
+            os._exit(1)
+    elif not config_path:
+        # 规则3: 未传入 config_path，尝试 working_dir/local_config.py
+        candidate = os.path.join(working_dir, "local_config.py")
+        if os.path.exists(candidate):
+            config_path = candidate
             print_status(f"发现本地配置文件: {config_path}", "info")
         else:
             print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-    elif os.getcwd().endswith("unilabos_data"):
-        working_dir = os.path.abspath(os.getcwd())
-    else:
-        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-
-    if args_dict.get("working_dir"):
-        working_dir = args_dict.get("working_dir", "")
-        if config_path and not os.path.exists(config_path):
-            config_path = os.path.join(working_dir, "local_config.py")
-            if not os.path.exists(config_path):
-                print_status(
-                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
-                    "error",
+            print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
+            if check_mode or input() != "n":
+                os.makedirs(working_dir, exist_ok=True)
+                config_path = os.path.join(working_dir, "local_config.py")
+                shutil.copy(
+                    os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"),
+                    config_path,
                 )
+                print_status(f"已创建 local_config.py 路径： {config_path}", "info")
+            else:
                 os._exit(1)
-    elif config_path and os.path.exists(config_path):
-        working_dir = os.path.dirname(config_path)
-    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
-        config_path = os.path.join(working_dir, "local_config.py")
-    elif not skip_env_check and not config_path and (
-        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
-    ):
-        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
-        if input() != "n":
-            os.makedirs(working_dir, exist_ok=True)
-            config_path = os.path.join(working_dir, "local_config.py")
-            shutil.copy(
-                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
-            )
-            print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-        else:
-            os._exit(1)
 
     # 加载配置文件 (check_mode 跳过)
     print_status(f"当前工作目录为 {working_dir}", "info")
@@ -288,7 +309,9 @@ def main():
 
     if hasattr(BasicConfig, "log_level"):
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
+    file_path = configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
+    if file_path is not None:
+        logger.info(f"[LOG_FILE] {file_path}")
 
     if args.addr != parser.get_default("addr"):
         if args.addr == "test":
@@ -332,8 +355,11 @@ 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 = platform.node()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
     BasicConfig.vis_2d_enable = args_dict["2d_vis"]

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}ms")
+                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}s")
             else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}s")
         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}ms")
+                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}s")
             else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}s")
         except Exception as e:
             logger.error(f"[UniLab Register] 资源注册异常: {e}")
 

unilabos/app/web/client.py

@@ -343,9 +343,10 @@ class HTTPClient:
         edges: List[Dict[str, Any]],
         tags: Optional[List[str]] = None,
         published: bool = False,
+        description: str = "",
     ) -> Dict[str, Any]:
         """
-        导入工作流到服务器
+        导入工作流到服务器，如果 published 为 True，则额外发起发布请求
 
         Args:
             name: 工作流名称（顶层）
@@ -355,6 +356,7 @@ class HTTPClient:
             edges: 工作流边列表
             tags: 工作流标签列表，默认为空列表
             published: 是否发布工作流，默认为False
+            description: 工作流描述，发布时使用
 
         Returns:
             Dict: API响应数据，包含 code 和 data (uuid, name)
@@ -367,7 +369,6 @@ class HTTPClient:
                 "nodes": nodes,
                 "edges": edges,
                 "tags": tags if tags is not None else [],
-                "published": published,
             },
         }
         # 保存请求到文件
@@ -388,11 +389,51 @@ class HTTPClient:
             res = response.json()
             if "code" in res and res["code"] != 0:
                 logger.error(f"导入工作流失败: {response.text}")
+                return res
+            # 导入成功后，如果需要发布则额外发起发布请求
+            if published:
+                imported_uuid = res.get("data", {}).get("uuid", workflow_uuid)
+                publish_res = self.workflow_publish(imported_uuid, description)
+                res["publish_result"] = publish_res
             return res
         else:
             logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
             return {"code": response.status_code, "message": response.text}
 
+    def workflow_publish(self, workflow_uuid: str, description: str = "") -> Dict[str, Any]:
+        """
+        发布工作流
+
+        Args:
+            workflow_uuid: 工作流UUID
+            description: 工作流描述
+
+        Returns:
+            Dict: API响应数据
+        """
+        payload = {
+            "uuid": workflow_uuid,
+            "description": description,
+            "published": True,
+        }
+        logger.info(f"正在发布工作流: {workflow_uuid}")
+        response = requests.patch(
+            f"{self.remote_addr}/lab/workflow/owner",
+            json=payload,
+            headers={"Authorization": f"Lab {self.auth}"},
+            timeout=60,
+        )
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"发布工作流失败: {response.text}")
+            else:
+                logger.info(f"工作流发布成功: {workflow_uuid}")
+            return res
+        else:
+            logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
+            return {"code": response.status_code, "message": response.text}
+
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/ws_client.py

@@ -76,6 +76,7 @@ class JobInfo:
     start_time: float
     last_update_time: float = field(default_factory=time.time)
     ready_timeout: Optional[float] = None  # READY状态的超时时间
+    always_free: bool = False  # 是否为永久闲置动作(不受排队限制)
 
     def update_timestamp(self):
         """更新最后更新时间"""
@@ -127,6 +128,15 @@ class DeviceActionManager:
             # 总是将job添加到all_jobs中
             self.all_jobs[job_info.job_id] = job_info
 
+            # always_free的动作不受排队限制，直接设为READY
+            if job_info.always_free:
+                job_info.status = JobStatus.READY
+                job_info.update_timestamp()
+                job_info.set_ready_timeout(10)
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
+                return True
+
             # 检查是否有正在执行或准备执行的任务
             if device_key in self.active_jobs:
                 # 有正在执行或准备执行的任务，加入队列
@@ -176,11 +186,15 @@ class DeviceActionManager:
                 logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
                 return False
 
-            # 检查设备上是否是这个job
-            if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
-                return False
+            # always_free的job不需要检查active_jobs
+            if not job_info.always_free:
+                # 检查设备上是否是这个job
+                if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
+                    job_log = format_job_log(
+                        job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
+                    )
+                    logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
+                    return False
 
             # 开始执行任务，将状态从READY转换为STARTED
             job_info.status = JobStatus.STARTED
@@ -203,6 +217,13 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
+            # always_free的job直接清理，不影响队列
+            if job_info.always_free:
+                job_info.status = JobStatus.ENDED
+                job_info.update_timestamp()
+                del self.all_jobs[job_id]
+                return None
+
             # 移除活跃任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 del self.active_jobs[device_key]
@@ -234,9 +255,14 @@ class DeviceActionManager:
             return None
 
     def get_active_jobs(self) -> List[JobInfo]:
-        """获取所有正在执行的任务"""
+        """获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
         with self.lock:
-            return list(self.active_jobs.values())
+            jobs = list(self.active_jobs.values())
+            # 补充 always_free 的 STARTED job(它们不在 active_jobs 中)
+            for job in self.all_jobs.values():
+                if job.always_free and job.status == JobStatus.STARTED and job not in jobs:
+                    jobs.append(job)
+            return jobs
 
     def get_queued_jobs(self) -> List[JobInfo]:
         """获取所有排队中的任务"""
@@ -261,6 +287,14 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
+            # always_free的job直接清理
+            if job_info.always_free:
+                job_info.status = JobStatus.ENDED
+                del self.all_jobs[job_id]
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
+                return True
+
             # 如果是正在执行的任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 # 清理active job状态
@@ -334,13 +368,18 @@ class DeviceActionManager:
         timeout_jobs = []
 
         with self.lock:
-            # 统计READY状态的任务数量
-            ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
+            # 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
+            ready_candidates = list(self.active_jobs.values())
+            for job in self.all_jobs.values():
+                if job.always_free and job.status == JobStatus.READY and job not in ready_candidates:
+                    ready_candidates.append(job)
+
+            ready_jobs_count = sum(1 for job in ready_candidates if job.status == JobStatus.READY)
             if ready_jobs_count > 0:
                 logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout")  # type: ignore  # noqa: E501
 
             # 找到所有超时的READY任务（只检测，不处理）
-            for job_info in self.active_jobs.values():
+            for job_info in ready_candidates:
                 if job_info.is_ready_timeout():
                     timeout_jobs.append(job_info)
                     job_log = format_job_log(
@@ -608,6 +647,24 @@ class MessageProcessor:
         if host_node:
             host_node.handle_pong_response(pong_data)
 
+    def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
+        """检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
+        try:
+            host_node = HostNode.get_instance(0)
+            if not host_node:
+                return False
+            # noinspection PyProtectedMember
+            action_mappings = host_node._action_value_mappings.get(device_id)
+            if not action_mappings:
+                return False
+            # 尝试直接匹配或 auto- 前缀匹配
+            for key in [action_name, f"auto-{action_name}"]:
+                if key in action_mappings:
+                    return action_mappings[key].get("always_free", False)
+            return False
+        except Exception:
+            return False
+
     async def _handle_query_action_state(self, data: Dict[str, Any]):
         """处理query_action_state消息"""
         device_id = data.get("device_id", "")
@@ -622,6 +679,9 @@ class MessageProcessor:
 
         device_action_key = f"/devices/{device_id}/{action_name}"
 
+        # 检查action是否为always_free
+        action_always_free = self._check_action_always_free(device_id, action_name)
+
         # 创建任务信息
         job_info = JobInfo(
             job_id=job_id,
@@ -631,6 +691,7 @@ class MessageProcessor:
             device_action_key=device_action_key,
             status=JobStatus.QUEUE,
             start_time=time.time(),
+            always_free=action_always_free,
         )
 
         # 添加到设备管理器
@@ -1123,6 +1184,11 @@ class QueueProcessor:
         logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
 
         for job_info in queued_jobs:
+            # 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
+            # 此时不应再发送 busy/need_more，否则会覆盖已发出的 free=True 通知
+            if job_info.status != JobStatus.QUEUE:
+                continue
+
             message = {
                 "action": "report_action_state",
                 "data": {

unilabos/config/config.py

@@ -23,6 +23,7 @@ class BasicConfig:
     disable_browser = False  # 禁止浏览器自动打开
     port = 8002  # 本地HTTP服务
     check_mode = False  # CI 检查模式，用于验证 registry 导入和文件一致性
+    test_mode = False  # 测试模式，所有动作不实际执行，返回模拟结果
     # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
     log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
 
@@ -145,5 +146,5 @@ def load_config(config_path=None):
             traceback.print_exc()
             exit(1)
     else:
-        config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
+        config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
         load_config(config_path)

unilabos/device_mesh/resource_visalization.py

@@ -201,17 +201,42 @@ class ResourceVisualization:
                 self.moveit_controllers_yaml['moveit_simple_controller_manager'][f"{name}_{controller_name}"] = moveit_dict['moveit_simple_controller_manager'][controller_name]
 
 
+    @staticmethod
+    def _ensure_ros2_env() -> dict:
+        """确保 ROS2 环境变量正确设置，返回可用于子进程的 env dict"""
+        import sys
+        env = dict(os.environ)
+        conda_prefix = os.path.dirname(os.path.dirname(sys.executable))
+
+        if "AMENT_PREFIX_PATH" not in env or not env["AMENT_PREFIX_PATH"].strip():
+            candidate = os.pathsep.join([conda_prefix, os.path.join(conda_prefix, "Library")])
+            env["AMENT_PREFIX_PATH"] = candidate
+            os.environ["AMENT_PREFIX_PATH"] = candidate
+
+        extra_bin_dirs = [
+            os.path.join(conda_prefix, "Library", "bin"),
+            os.path.join(conda_prefix, "Library", "lib"),
+            os.path.join(conda_prefix, "Scripts"),
+            conda_prefix,
+        ]
+        current_path = env.get("PATH", "")
+        for d in extra_bin_dirs:
+            if d not in current_path:
+                current_path = d + os.pathsep + current_path
+        env["PATH"] = current_path
+        os.environ["PATH"] = current_path
+
+        return env
+
     def create_launch_description(self) -> LaunchDescription:
         """
         创建launch描述，包含robot_state_publisher和move_group节点
 
-        Args:
-            urdf_str: URDF文本
-
         Returns:
             LaunchDescription: launch描述对象
         """
-        # 检查ROS 2环境变量
+        launch_env = self._ensure_ros2_env()
+
         if "AMENT_PREFIX_PATH" not in os.environ:
             raise OSError(
                 "ROS 2环境未正确设置。需要设置 AMENT_PREFIX_PATH 环境变量。\n"
@@ -290,7 +315,7 @@ class ResourceVisualization:
                         {"robot_description": robot_description},
                         ros2_controllers,
                     ],
-                    env=dict(os.environ)
+                    env=launch_env,
                 )
             )
             for controller in self.moveit_controllers_yaml['moveit_simple_controller_manager']['controller_names']:
@@ -300,7 +325,7 @@ class ResourceVisualization:
                         executable="spawner",
                         arguments=[f"{controller}", "--controller-manager", f"controller_manager"],
                         output="screen",
-                        env=dict(os.environ)
+                        env=launch_env,
                     )
                 )
             controllers.append(
@@ -309,7 +334,7 @@ class ResourceVisualization:
                         executable="spawner",
                         arguments=["joint_state_broadcaster", "--controller-manager", f"controller_manager"],
                         output="screen",
-                        env=dict(os.environ)
+                        env=launch_env,
                 )
             )
             for i in controllers:
@@ -317,7 +342,6 @@ class ResourceVisualization:
         else:
             ros2_controllers = None
 
-        # 创建robot_state_publisher节点
         robot_state_publisher = nd(
             package='robot_state_publisher',
             executable='robot_state_publisher',
@@ -327,9 +351,8 @@ class ResourceVisualization:
                 'robot_description': robot_description,
                 'use_sim_time': False
             },
-            # kinematics_dict
             ],
-            env=dict(os.environ)
+            env=launch_env,
         )
 
 
@@ -361,7 +384,7 @@ class ResourceVisualization:
             executable='move_group',
             output='screen',
             parameters=moveit_params,
-            env=dict(os.environ)
+            env=launch_env,
         )
 
 
@@ -379,13 +402,11 @@ class ResourceVisualization:
                 arguments=['-d', f"{str(self.mesh_path)}/view_robot.rviz"],
                 output='screen',
                 parameters=[
-                    {'robot_description_kinematics': kinematics_dict,
-                     },
+                    {'robot_description_kinematics': kinematics_dict},
                     robot_description_planning,
                     planning_pipelines,
-
                 ],
-                env=dict(os.environ)
+                env=launch_env,
             )
             self.launch_description.add_action(rviz_node)
 

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -55,6 +55,7 @@ from unilabos.devices.liquid_handling.liquid_handler_abstract import (
     TransferLiquidReturn,
 )
 from unilabos.registry.placeholder_type import ResourceSlot
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -90,20 +91,107 @@ class PRCXI9300Deck(Deck):
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """
 
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
-        super().__init__(name, size_x, size_y, size_z)
-        self.slots = [None] * 16  # PRCXI 9300/9320 最大有 16 个槽位
-        self.slot_locations = [Coordinate(0, 0, 0)] * 16
+    # T1-T16 默认位置 (4列×4行)
+    _DEFAULT_SITE_POSITIONS = [
+        (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0),         # T1-T4
+        (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0),     # T5-T8
+        (0, 192, 0), (138, 192, 0), (276, 192, 0), (414, 192, 0), # T9-T12
+        (0, 288, 0), (138, 288, 0), (276, 288, 0), (414, 288, 0), # T13-T16
+    ]
+    _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86, "depth": 0}
+    _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack", "adaptor"]
+
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
+                 sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
+        super().__init__( size_x, size_y, size_z, name=name)
+        if sites is not None:
+            self.sites: List[Dict[str, Any]] = [dict(s) for s in sites]
+        else:
+            self.sites = []
+            for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
+                self.sites.append({
+                    "label": f"T{i + 1}",
+                    "visible": True,
+                    "position": {"x": x, "y": y, "z": z},
+                    "size": dict(self._DEFAULT_SITE_SIZE),
+                    "content_type": list(self._DEFAULT_CONTENT_TYPE),
+                })
+        # _ordering: label -> None, 用于外部通过 list(keys()).index(site) 将 Tn 转换为 spot index
+        self._ordering = collections.OrderedDict(
+            (site["label"], None) for site in self.sites
+        )
+        self.root = self.get_root()
+
+    def _get_site_location(self, idx: int) -> Coordinate:
+        pos = self.sites[idx]["position"]
+        return Coordinate(pos["x"], pos["y"], pos["z"])
+
+    def _get_site_resource(self, idx: int) -> Optional[Resource]:
+        site_loc = self._get_site_location(idx)
+        for child in self.children:
+            if child.location == site_loc:
+                return child
+        return None
+
+    def assign_child_resource(
+        self,
+        resource: Resource,
+        location: Optional[Coordinate] = None,
+        reassign: bool = True,
+        spot: Optional[int] = None,
+    ):
+        idx = spot
+        if spot is not None:
+            idx = spot
+        else:
+            for i, site in enumerate(self.sites):
+                site_loc = self._get_site_location(i)
+                if site.get("label") == resource.name:
+                    idx = i
+                    break
+                if location is not None and site_loc == location:
+                    idx = i
+                    break
+
+        if idx is None:
+            for i in range(len(self.sites)):
+                if self._get_site_resource(i) is None:
+                    idx = i
+                    break
+
+        if idx is None:
+            raise ValueError(f"No available site on deck '{self.name}' for resource '{resource.name}'")
+
+        if not reassign and self._get_site_resource(idx) is not None:
+            existing = self.root.get_resource(resource.name)
+            if existing is not resource and existing.parent is not None:
+                existing.parent.unassign_child_resource(existing)
+
+
+        loc = self._get_site_location(idx)
+        super().assign_child_resource(resource, location=loc, reassign=reassign)
 
     def assign_child_at_slot(self, resource: Resource, slot: int, reassign: bool = False) -> None:
-        if self.slots[slot - 1] is not None and not reassign:
-            raise ValueError(f"Spot {slot} is already occupied")
+        self.assign_child_resource(resource, spot=slot - 1, reassign=reassign)
 
-        self.slots[slot - 1] = resource
-        super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
+    def serialize(self) -> dict:
+        data = super().serialize()
+        sites_out = []
+        for i, site in enumerate(self.sites):
+            occupied = self._get_site_resource(i)
+            sites_out.append({
+                "label": site["label"],
+                "visible": site.get("visible", True),
+                "occupied_by": occupied.name if occupied is not None else None,
+                "position": site["position"],
+                "size": site["size"],
+                "content_type": site["content_type"],
+            })
+        data["sites"] = sites_out
+        return data
 
 
-class PRCXI9300Container(Plate):
+class PRCXI9300Container(Container):
     """PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
 
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
@@ -116,11 +204,10 @@ class PRCXI9300Container(Plate):
         size_y: float,
         size_z: float,
         category: str,
-        ordering: collections.OrderedDict,
         model: Optional[str] = None,
         **kwargs,
     ):
-        super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
+        super().__init__(name, size_x, size_y, size_z, category=category, model=model)
         self._unilabos_state = {}
 
     def load_state(self, state: Dict[str, Any]) -> None:
@@ -248,14 +335,15 @@ class PRCXI9300TipRack(TipRack):
         if ordered_items is not None:
             items = ordered_items
         elif ordering is not None:
-            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
-            # 如果是字符串，说明这是位置名称，需要让 TipRack 自己创建 Tip 对象
-            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
-            if ordering and isinstance(next(iter(ordering.values()), None), str):
-                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
+            # 检查 ordering 中的值类型来决定如何处理：
+            # - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
+            # - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
+            # - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
+            first_val = next(iter(ordering.values()), None) if ordering else None
+            if not ordering or first_val is None or isinstance(first_val, str):
+                # ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
                 # 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象
                 items = None
-                # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
                 # ordering 的值已经是对象，可以直接使用
@@ -397,14 +485,15 @@ class PRCXI9300TubeRack(TubeRack):
             items_to_pass = ordered_items
             ordering_param = None
         elif ordering is not None:
-            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
-            # 如果是字符串，说明这是位置名称，需要让 TubeRack 自己创建 Tube 对象
-            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
-            if ordering and isinstance(next(iter(ordering.values()), None), str):
-                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
+            # 检查 ordering 中的值类型来决定如何处理：
+            # - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
+            # - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
+            # - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
+            first_val = next(iter(ordering.values()), None) if ordering else None
+            if not ordering or first_val is None or isinstance(first_val, str):
+                # ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
                 # 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象
                 items_to_pass = None
-                # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
                 # ordering 的值已经是对象，可以直接使用
@@ -565,14 +654,14 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         tablets_info = []
         count = 0
         for child in deck.children:
-            if child.children:
-                if "Material" in child.children[0]._unilabos_state:
-                    number = int(child.name.replace("T", ""))
-                    tablets_info.append(
-                        WorkTablets(
-                            Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"]
-                        )
+            # 如果放其他类型的物料，是不可以的
+            if hasattr(child, "_unilabos_state") and "Material" in child._unilabos_state:
+                number = int(child.name.replace("T", ""))
+                tablets_info.append(
+                    WorkTablets(
+                        Number=number, Code=f"T{number}", Material=child._unilabos_state["Material"]
                     )
+                )
         if is_9320:
             print("当前设备是9320")
         # 始终初始化 step_mode 属性
@@ -709,6 +798,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         touch_tip: bool = False,
         liquid_height: Optional[List[Optional[float]]] = None,
         blow_out_air_volume: Optional[List[Optional[float]]] = None,
+        blow_out_air_volume_before: Optional[List[Optional[float]]] = None,
         spread: Literal["wide", "tight", "custom"] = "wide",
         is_96_well: bool = False,
         mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
@@ -719,7 +809,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
     ) -> TransferLiquidReturn:
-        return await super().transfer_liquid(
+        if self.step_mode:
+            await self.create_protocol(f"transfer_liquid{time.time()}")
+        res =  await super().transfer_liquid(
             sources,
             targets,
             tip_racks,
@@ -732,6 +824,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             touch_tip=touch_tip,
             liquid_height=liquid_height,
             blow_out_air_volume=blow_out_air_volume,
+            blow_out_air_volume_before=blow_out_air_volume_before,
             spread=spread,
             is_96_well=is_96_well,
             mix_stage=mix_stage,
@@ -742,6 +835,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             delays=delays,
             none_keys=none_keys,
         )
+        if self.step_mode:
+            await self.run_protocol()
+        return res
 
     async def custom_delay(self, seconds=0, msg=None):
         return await super().custom_delay(seconds, msg)
@@ -758,9 +854,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         offsets: Optional[Coordinate] = None,
         mix_rate: Optional[float] = None,
         none_keys: List[str] = [],
+        use_channels: Optional[List[int]] = [0],
     ):
         return await self._unilabos_backend.mix(
-            targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys
+            targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys, use_channels
         )
 
     def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
@@ -1189,9 +1286,15 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         offsets: Optional[Coordinate] = None,
         mix_rate: Optional[float] = None,
         none_keys: List[str] = [],
+        use_channels: Optional[List[int]] = [0],
     ):
         """Mix liquid in the specified resources."""
-
+        if use_channels == [0]:
+            axis = "Left"
+        elif use_channels == [1]:
+            axis = "Right"
+        else:
+            raise ValueError("Invalid use channels: " + str(use_channels))
         plate_indexes = []
         for op in targets:
             deck = op.parent.parent.parent

unilabos/devices/liquid_handling/rviz_backend.py

@@ -59,6 +59,7 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
     self.total_height = total_height
     self.joint_config = kwargs.get("joint_config", None)
     self.lh_device_id = kwargs.get("lh_device_id", "lh_joint_publisher")
+    self.simulate_rviz = kwargs.get("simulate_rviz", False)
     if not rclpy.ok():
         rclpy.init()
     self.joint_state_publisher = None
@@ -69,7 +70,7 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
     self.joint_state_publisher = LiquidHandlerJointPublisher(
                                 joint_config=self.joint_config,
                                 lh_device_id=self.lh_device_id,
-                                simulate_rviz=True)
+                                simulate_rviz=self.simulate_rviz)
 
     # 启动ROS executor
     self.executor = rclpy.executors.MultiThreadedExecutor()

unilabos/devices/ros_dev/liquid_handler_joint_publisher.py

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

unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py

@@ -42,6 +42,7 @@ class LiquidHandlerJointPublisher(Node):
             while self.resource_action is None:
                 self.resource_action = self.check_tf_update_actions()
                 time.sleep(1)
+                self.get_logger().info(f'Waiting for TfUpdate server: {self.resource_action}')
 
             self.resource_action_client = ActionClient(self, SendCmd, self.resource_action)
             while not self.resource_action_client.wait_for_server(timeout_sec=1.0):

unilabos/devices/virtual/workbench.py

@@ -22,7 +22,7 @@ from threading import Lock, RLock
 from typing_extensions import TypedDict
 
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.utils.decorator import not_action
+from unilabos.utils.decorator import not_action, always_free
 from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
 
 
@@ -123,8 +123,8 @@ class VirtualWorkbench:
     _ros_node: BaseROS2DeviceNode
 
     # 配置常量
-    ARM_OPERATION_TIME: float = 3.0  # 机械臂操作时间(秒)
-    HEATING_TIME: float = 10.0  # 加热时间(秒)
+    ARM_OPERATION_TIME: float = 2  # 机械臂操作时间(秒)
+    HEATING_TIME: float = 60.0  # 加热时间(秒)
     NUM_HEATING_STATIONS: int = 3  # 加热台数量
 
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
@@ -141,9 +141,9 @@ class VirtualWorkbench:
         self.data: Dict[str, Any] = {}
 
         # 从config中获取可配置参数
-        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", 3.0))
-        self.HEATING_TIME = float(self.config.get("heating_time", 10.0))
-        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", 3))
+        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
+        self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
+        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
 
         # 机械臂状态和锁 (使用threading.Lock)
         self._arm_lock = Lock()
@@ -431,6 +431,7 @@ class VirtualWorkbench:
                     sample_uuid, content in sample_uuids.items()]
             }
 
+    @always_free
     def start_heating(
         self,
         sample_uuids: SampleUUIDsType,
@@ -501,10 +502,21 @@ class VirtualWorkbench:
 
         self._update_data_status(f"加热台{station_id}开始加热{material_id}")
 
-        # 模拟加热过程 (10秒)
+        # 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:
@@ -512,6 +524,11 @@ class VirtualWorkbench:
 
             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
 

unilabos/registry/device_comms/communication_devices.yaml

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

unilabos/registry/devices/camera.yaml

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

unilabos/registry/devices/liquid_handler.yaml

@@ -4976,13 +4976,13 @@ liquid_handler.biomek:
             handler_key: tip_rack
             label: tip_rack
           output:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: sources_out
             label: sources
-          - data_key: liquid
-            data_source: executor
+          - data_key: targets
+            data_source: handle
             data_type: resource
             handler_key: targets_out
             label: targets
@@ -7656,6 +7656,43 @@ liquid_handler.prcxi:
           title: iter_tips参数
           type: object
         type: UniLabJsonCommand
+      auto-magnetic_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          height: null
+          is_wait: null
+          module_no: null
+          time: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                height:
+                  type: integer
+                is_wait:
+                  type: boolean
+                module_no:
+                  type: integer
+                time:
+                  type: integer
+              required:
+              - time
+              - module_no
+              - height
+              - is_wait
+              type: object
+            result: {}
+          required:
+          - goal
+          title: magnetic_action参数
+          type: object
+        type: UniLabJsonCommandAsync
       auto-move_to:
         feedback: {}
         goal: {}
@@ -7689,6 +7726,31 @@ liquid_handler.prcxi:
           title: move_to参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-plr_pos_to_prcxi:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource:
+                  type: object
+              required:
+              - resource
+              type: object
+            result: {}
+          required:
+          - goal
+          title: plr_pos_to_prcxi参数
+          type: object
+        type: UniLabJsonCommand
       auto-post_init:
         feedback: {}
         goal: {}
@@ -7809,6 +7871,47 @@ liquid_handler.prcxi:
           title: shaker_action参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-shaking_incubation_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          amplitude: null
+          is_wait: null
+          module_no: null
+          temperature: null
+          time: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                amplitude:
+                  type: integer
+                is_wait:
+                  type: boolean
+                module_no:
+                  type: integer
+                temperature:
+                  type: integer
+                time:
+                  type: integer
+              required:
+              - time
+              - module_no
+              - amplitude
+              - is_wait
+              - temperature
+              type: object
+            result: {}
+          required:
+          - goal
+          title: shaking_incubation_action参数
+          type: object
+        type: UniLabJsonCommandAsync
       auto-touch_tip:
         feedback: {}
         goal: {}
@@ -10034,116 +10137,28 @@ liquid_handler.prcxi:
         type: Transfer
       transfer_liquid:
         feedback: {}
-        goal:
-          asp_flow_rates: asp_flow_rates
-          asp_vols: asp_vols
-          blow_out_air_volume: blow_out_air_volume
-          delays: delays
-          dis_flow_rates: dis_flow_rates
-          dis_vols: dis_vols
-          is_96_well: is_96_well
-          liquid_height: liquid_height
-          mix_liquid_height: mix_liquid_height
-          mix_rate: mix_rate
-          mix_stage: mix_stage
-          mix_times: mix_times
-          mix_vol: mix_vol
-          none_keys: none_keys
-          offsets: offsets
-          sources: sources
-          spread: spread
-          targets: targets
-          tip_racks: tip_racks
-          touch_tip: touch_tip
-          use_channels: use_channels
+        goal: {}
         goal_default:
-          asp_flow_rates:
-          - 0.0
-          asp_vols:
-          - 0.0
-          blow_out_air_volume:
-          - 0.0
-          delays:
-          - 0
-          dis_flow_rates:
-          - 0.0
-          dis_vols:
-          - 0.0
+          asp_flow_rates: null
+          asp_vols: null
+          blow_out_air_volume: null
+          blow_out_air_volume_before: null
+          delays: null
+          dis_flow_rates: null
+          dis_vols: null
           is_96_well: false
-          liquid_height:
-          - 0.0
-          mix_liquid_height: 0.0
-          mix_rate: 0
-          mix_stage: ''
-          mix_times: 0
-          mix_vol: 0
-          none_keys:
-          - ''
-          offsets:
-          - x: 0.0
-            y: 0.0
-            z: 0.0
-          sources:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          spread: ''
-          targets:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          tip_racks:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
+          liquid_height: null
+          mix_liquid_height: null
+          mix_rate: null
+          mix_stage: none
+          mix_times: null
+          mix_vol: null
+          none_keys: []
+          offsets: null
+          sources: null
+          spread: wide
+          targets: null
+          tip_racks: null
           touch_tip: false
           use_channels:
           - 0
@@ -10159,7 +10174,7 @@ liquid_handler.prcxi:
             data_type: resource
             handler_key: targets_identifier
             label: 转移目标
-          - data_key: tip_rack
+          - data_key: tip_racks
             data_source: handle
             data_type: resource
             handler_key: tip_rack_identifier
@@ -10183,11 +10198,7 @@ liquid_handler.prcxi:
         schema:
           description: ''
           properties:
-            feedback:
-              properties: {}
-              required: []
-              title: LiquidHandlerTransfer_Feedback
-              type: object
+            feedback: {}
             goal:
               properties:
                 asp_flow_rates:
@@ -10202,6 +10213,10 @@ liquid_handler.prcxi:
                   items:
                     type: number
                   type: array
+                blow_out_air_volume_before:
+                  items:
+                    type: number
+                  type: array
                 delays:
                   items:
                     maximum: 2147483647
@@ -10217,6 +10232,7 @@ liquid_handler.prcxi:
                     type: number
                   type: array
                 is_96_well:
+                  default: false
                   type: boolean
                 liquid_height:
                   items:
@@ -10229,6 +10245,7 @@ liquid_handler.prcxi:
                   minimum: -2147483648
                   type: integer
                 mix_stage:
+                  default: none
                   type: string
                 mix_times:
                   maximum: 2147483647
@@ -10239,6 +10256,7 @@ liquid_handler.prcxi:
                   minimum: -2147483648
                   type: integer
                 none_keys:
+                  default: []
                   items:
                     type: string
                   type: array
@@ -10334,6 +10352,7 @@ liquid_handler.prcxi:
                     type: object
                   type: array
                 spread:
+                  default: wide
                   type: string
                 targets:
                   items:
@@ -10486,6 +10505,7 @@ liquid_handler.prcxi:
                     type: object
                   type: array
                 touch_tip:
+                  default: false
                   type: boolean
                 use_channels:
                   items:
@@ -10494,45 +10514,221 @@ liquid_handler.prcxi:
                     type: integer
                   type: array
               required:
-              - asp_vols
-              - dis_vols
               - sources
               - targets
               - tip_racks
-              - use_channels
-              - asp_flow_rates
-              - dis_flow_rates
-              - offsets
-              - touch_tip
-              - liquid_height
-              - blow_out_air_volume
-              - spread
-              - is_96_well
-              - mix_stage
-              - mix_times
-              - mix_vol
-              - mix_rate
-              - mix_liquid_height
-              - delays
-              - none_keys
-              title: LiquidHandlerTransfer_Goal
+              - asp_vols
+              - dis_vols
               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:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
+                sources:
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
+                  title: Sources
+                  type: array
+                targets:
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
+                  title: Targets
+                  type: array
               required:
-              - return_info
-              - success
-              title: LiquidHandlerTransfer_Result
+              - sources
+              - targets
+              title: TransferLiquidReturn
               type: object
           required:
           - goal
-          title: LiquidHandlerTransfer
+          title: transfer_liquid参数
           type: object
-        type: LiquidHandlerTransfer
+        type: UniLabJsonCommandAsync
     module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler
     status_types:
       reset_ok: bool
@@ -10555,6 +10751,12 @@ liquid_handler.prcxi:
           type: string
         deck:
           type: object
+        deck_y:
+          default: 400
+          type: string
+        deck_z:
+          default: 300
+          type: string
         host:
           type: string
         is_9320:
@@ -10565,17 +10767,44 @@ liquid_handler.prcxi:
           type: string
         port:
           type: integer
+        rail_interval:
+          default: 0
+          type: string
+        rail_nums:
+          default: 4
+          type: string
+        rail_width:
+          default: 27.5
+          type: string
         setup:
           default: true
           type: string
         simulator:
           default: false
           type: string
+        start_rail:
+          default: 2
+          type: string
         step_mode:
           default: false
           type: string
         timeout:
           type: number
+        x_increase:
+          default: -0.003636
+          type: string
+        x_offset:
+          default: -0.8
+          type: string
+        xy_coupling:
+          default: -0.0045
+          type: string
+        y_increase:
+          default: -0.003636
+          type: string
+        y_offset:
+          default: -37.98
+          type: string
       required:
       - deck
       - host

unilabos/registry/devices/virtual_device.yaml

@@ -6090,6 +6090,7 @@ virtual_workbench:
           type: object
         type: UniLabJsonCommand
       auto-start_heating:
+        always_free: true
         feedback: {}
         goal: {}
         goal_default:

unilabos/registry/registry.py

@@ -5,6 +5,7 @@ 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
@@ -88,6 +89,14 @@ class Registry:
         )
         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": {
@@ -166,7 +175,8 @@ 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",
+                                    "class_name": "unilabos_class",  # 当前实验室物料的class name
+                                    "slot_on_deck": "unilabos_resource_slot:parent",  # 勾选的parent的config中的sites的name，展示name，参数对应slot（index）
                                 },
                             },
                             "test_latency": {
@@ -189,32 +199,7 @@ class Registry:
                                 "goal": {},
                                 "feedback": {},
                                 "result": {},
-                                "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",
-                                },
+                                "schema": test_resource_schema,
                                 "placeholder_keys": {
                                     "device": "unilabos_devices",
                                     "devices": "unilabos_devices",
@@ -838,6 +823,7 @@ class Registry:
                                         ("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"]
@@ -943,6 +929,7 @@ class Registry:
                     if is_valid:
                         results.append((file, data, device_ids))
                 except Exception as e:
+                    traceback.print_exc()
                     logger.warning(f"[UniLab Registry] 处理设备文件异常: {file}, 错误: {e}")
 
         # 线程安全地更新注册表

unilabos/resources/container.py

@@ -1,10 +1,6 @@
-import json
 from typing import Dict, Any
 
 from pylabrobot.resources import Container
-from unilabos_msgs.msg import Resource
-
-from unilabos.ros.msgs.message_converter import convert_from_ros_msg
 
 
 class RegularContainer(Container):
@@ -16,12 +12,12 @@ class RegularContainer(Container):
             kwargs["size_y"] = 0
         if "size_z" not in kwargs:
             kwargs["size_z"] = 0
+
         self.kwargs = kwargs
-        self.state = {}
         super().__init__(*args, category="container", **kwargs)
 
     def load_state(self, state: Dict[str, Any]):
-        self.state = state
+        super().load_state(state)
 
 
 def get_regular_container(name="container"):
@@ -29,7 +25,6 @@ def get_regular_container(name="container"):
     r.category = "container"
     return r
 
-#
 # class RegularContainer(object):
 #     # 第一个参数必须是id传入
 #     # noinspection PyShadowingBuiltins
@@ -89,4 +84,4 @@ def get_regular_container(name="container"):
 #         return to_dict
 #
 #     def __str__(self):
-#         return f"{self.id}"
+#         return f"{self.id}"

unilabos/resources/graphio.py

@@ -76,7 +76,7 @@ def canonicalize_nodes_data(
             if sample_id:
                 logger.error(f"{node}的sample_id参数已弃用，sample_id: {sample_id}")
         for k in list(node.keys()):
-            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose"]:
+            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose", "extra"]:
                 v = node.pop(k)
                 node["config"][k] = v
     if outer_host_node_id is not None:

unilabos/resources/resource_tracker.py

@@ -16,6 +16,7 @@ if TYPE_CHECKING:
 
 
 EXTRA_CLASS = "unilabos_resource_class"
+FRONTEND_POSE_EXTRA = "unilabos_frontend_pose_extra"
 EXTRA_SAMPLE_UUID = "sample_uuid"
 EXTRA_UNILABOS_SAMPLE_UUID = "unilabos_sample_uuid"
 
@@ -38,24 +39,60 @@ class LabSample(TypedDict):
     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 ResourceDictPoseExtraObjectType(BaseModel):
+    z_index: int
+
+
+class ResourceDictPoseExtraObject(BaseModel):
+    z_index: Optional[int] = Field(alias="zIndex", default=None)
+
+
+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)
@@ -72,6 +109,25 @@ class ResourceDictPosition(BaseModel):
     cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(
         description="Cross section type", default="rectangle"
     )
+    extra: Optional[ResourceDictPoseExtraObject] = Field(description="Extra data", default=None)
+
+
+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
@@ -365,6 +421,15 @@ class ResourceTreeSet(object):
                 "tip_spot": "tip_spot",
                 "tube": "tube",
                 "bottle_carrier": "bottle_carrier",
+                "material_hole": "material_hole",
+                "container": "container",
+                "material_plate": "material_plate",
+                "electrode_sheet": "electrode_sheet",
+                "warehouse": "warehouse",
+                "magazine_holder": "magazine_holder",
+                "resource_group": "resource_group",
+                "trash": "trash",
+                "plate_adapter": "plate_adapter",
             }
             if source in replace_info:
                 return replace_info[source]
@@ -408,6 +473,7 @@ class ResourceTreeSet(object):
                 "position3d": raw_pos,
                 "rotation": d["rotation"],
                 "cross_section_type": d.get("cross_section_type", "rectangle"),
+                "extra": extra.get(FRONTEND_POSE_EXTRA)
             }
 
             # 先构建当前节点的字典（不包含children）
@@ -468,10 +534,17 @@ 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, skip_devices: bool = True, requested_uuids: Optional[List[str]] = None
+    ) -> List["PLRResource"]:
         """
         将 ResourceTreeSet 转换为 PLR 资源列表
 
+        Args:
+            skip_devices: 是否跳过 device 类型节点
+            requested_uuids: 若指定，则按此 UUID 顺序返回对应资源（用于批量查询时一一对应），
+                否则返回各树的根节点列表
+
         Returns:
             List[PLRResource]: PLR 资源实例列表
         """
@@ -493,6 +566,7 @@ 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][FRONTEND_POSE_EXTRA] = node.res_content.pose.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)
@@ -526,6 +600,71 @@ class ResourceTreeSet(object):
                 d["model"] = res.config.get("model", None)
             return d
 
+        # deserialize 会单独处理的元数据 key，不传给构造函数
+        _META_KEYS = {"type", "parent_name", "location", "children", "rotation", "barcode"}
+        # deserialize 自定义逻辑使用的 key（如 TipSpot 用 prototype_tip 构建 make_tip），需保留
+        _DESERIALIZE_PRESERVED_KEYS = {"prototype_tip"}
+
+        def remove_incompatible_params(plr_d: dict) -> None:
+            """递归移除 PLR 类不接受的参数，避免 deserialize 报错。
+            - 移除构造函数不接受的参数（如 compute_height_from_volume、ordering、category）
+            - 对 TubeRack：将 ordering 转为 ordered_items
+            - 保留 deserialize 自定义逻辑需要的 key（如 prototype_tip）
+            """
+            if "type" in plr_d:
+                sub_cls = find_subclass(plr_d["type"], PLRResource)
+                if sub_cls is not None:
+                    spec = inspect.signature(sub_cls)
+                    valid_params = set(spec.parameters.keys())
+                    # TubeRack 特殊处理：先转换 ordering，再参与后续过滤
+                    if "ordering" not in valid_params and "ordering" in plr_d:
+                        ordering = plr_d.pop("ordering", None)
+                        if sub_cls.__name__ == "TubeRack":
+                            plr_d["ordered_items"] = (
+                                _ordering_to_ordered_items(plr_d, ordering)
+                                if ordering
+                                else {}
+                            )
+                    # 移除构造函数不接受的参数（保留 META 和 deserialize 自定义逻辑需要的 key）
+                    for key in list(plr_d.keys()):
+                        if (
+                            key not in _META_KEYS
+                            and key not in _DESERIALIZE_PRESERVED_KEYS
+                            and key not in valid_params
+                        ):
+                            plr_d.pop(key, None)
+            for child in plr_d.get("children", []):
+                remove_incompatible_params(child)
+
+        def _ordering_to_ordered_items(plr_d: dict, ordering: dict) -> dict:
+            """将 ordering 转为 ordered_items，从 children 构建 Tube 对象"""
+            from pylabrobot.resources import Tube, Coordinate
+            from pylabrobot.serializer import deserialize as plr_deserialize
+
+            children = plr_d.get("children", [])
+            ordered_items = {}
+            for idx, (ident, child_name) in enumerate(ordering.items()):
+                child_data = children[idx] if idx < len(children) else None
+                if child_data is None:
+                    continue
+                loc_data = child_data.get("location")
+                loc = (
+                    plr_deserialize(loc_data)
+                    if loc_data
+                    else Coordinate(0, 0, 0)
+                )
+                tube = Tube(
+                    name=child_data.get("name", child_name or ident),
+                    size_x=child_data.get("size_x", 10),
+                    size_y=child_data.get("size_y", 10),
+                    size_z=child_data.get("size_z", 50),
+                    max_volume=child_data.get("max_volume", 1000),
+                )
+                tube.location = loc
+                ordered_items[ident] = tube
+            plr_d["children"] = []  # 已并入 ordered_items，避免重复反序列化
+            return ordered_items
+
         plr_resources = []
         tracker = DeviceNodeResourceTracker()
 
@@ -545,9 +684,7 @@ class ResourceTreeSet(object):
                     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}"
                     )
-                spec = inspect.signature(sub_cls)
-                if "category" not in spec.parameters:
-                    plr_dict.pop("category", None)
+                remove_incompatible_params(plr_dict)
                 plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
                 from pylabrobot.resources import Coordinate
                 from pylabrobot.serializer import deserialize
@@ -567,6 +704,41 @@ class ResourceTreeSet(object):
                 logger.error(f"堆栈: {traceback.format_exc()}")
                 raise
 
+        if requested_uuids:
+            # 按请求的 UUID 顺序返回对应资源（从整棵树中按 uuid 提取）
+            # 优先使用 tracker.uuid_to_resources；若映射缺失，再递归遍历 PLR 树兜底搜索。
+            def _find_plr_by_uuid(roots: List["PLRResource"], uid: str) -> Optional["PLRResource"]:
+                stack = list(roots)
+                while stack:
+                    node = stack.pop()
+                    node_uid = getattr(node, "unilabos_uuid", None)
+                    if node_uid == uid:
+                        return node
+                    children = getattr(node, "children", None) or []
+                    stack.extend(children)
+                return None
+
+            result = []
+            missing_uuids = []
+            for uid in requested_uuids:
+                found = tracker.uuid_to_resources.get(uid)
+                if found is None:
+                    found = _find_plr_by_uuid(plr_resources, uid)
+                    if found is not None:
+                        # 回填缓存，后续相同 uuid 可直接命中
+                        tracker.uuid_to_resources[uid] = found
+                if found is None:
+                    missing_uuids.append(uid)
+                else:
+                    result.append(found)
+
+            if missing_uuids:
+                raise ValueError(
+                    f"请求的 UUID 未在资源树中找到: {missing_uuids}。"
+                    f"可用 UUID 数量: {len(tracker.uuid_to_resources)}，"
+                    f"资源树数量: {len(self.trees)}"
+                )
+            return result
         return plr_resources
 
     @classmethod

unilabos/ros/device_node_wrapper.py

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

unilabos/ros/main_slave_run.py

@@ -51,6 +51,7 @@ def main(
     bridges: List[Any] = [],
     visual: str = "disable",
     resources_mesh_config: dict = {},
+    resources_mesh_resource_list: list = [],
     rclpy_init_args: List[str] = ["--log-level", "debug"],
     discovery_interval: float = 15.0,
 ) -> None:
@@ -77,12 +78,12 @@ def main(
     if visual != "disable":
         from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
 
-        # 将 ResourceTreeSet 转换为 list 用于 visual 组件
-        resources_list = (
-            [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
-            if resources_config
-            else []
-        )
+        # 优先使用从 main.py 传入的完整资源列表（包含所有子资源）
+        if resources_mesh_resource_list:
+            resources_list = resources_mesh_resource_list
+        else:
+            # fallback: 从 ResourceTreeSet 获取
+            resources_list = [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
             resources_list,
@@ -90,7 +91,7 @@ def main(
             device_id="resource_mesh_manager",
             device_uuid=str(uuid.uuid4()),
         )
-        joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker)
+        joint_republisher = JointRepublisher("joint_republisher","joint_republisher", host_node.resource_tracker)
         # lh_joint_pub = LiquidHandlerJointPublisher(
         #     resources_config=resources_list, resource_tracker=host_node.resource_tracker
         # )
@@ -114,6 +115,7 @@ def slave(
     bridges: List[Any] = [],
     visual: str = "disable",
     resources_mesh_config: dict = {},
+    resources_mesh_resource_list: list = [],
     rclpy_init_args: List[str] = ["--log-level", "debug"],
 ) -> None:
     """从节点函数"""
@@ -208,12 +210,12 @@ def slave(
     if visual != "disable":
         from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
 
-        # 将 ResourceTreeSet 转换为 list 用于 visual 组件
-        resources_list = (
-            [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
-            if resources_config
-            else []
-        )
+        # 优先使用从 main.py 传入的完整资源列表（包含所有子资源）
+        if resources_mesh_resource_list:
+            resources_list = resources_mesh_resource_list
+        else:
+            # fallback: 从 ResourceTreeSet 获取
+            resources_list = [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
             resources_list,

unilabos/ros/nodes/base_device_node.py

@@ -146,7 +146,7 @@ def init_wrapper(
     device_id: str,
     device_uuid: str,
     driver_class: type[T],
-    device_config: ResourceTreeInstance,
+    device_config: ResourceDictInstance,
     status_types: Dict[str, Any],
     action_value_mappings: Dict[str, Any],
     hardware_interface: Dict[str, Any],
@@ -279,6 +279,7 @@ 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],
@@ -300,6 +301,7 @@ 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()
@@ -416,7 +418,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             if len(rts.root_nodes) == 1 and isinstance(rts_plr_instances[0], RegularContainer):
                 # noinspection PyTypeChecker
                 container_instance: RegularContainer = rts_plr_instances[0]
-                found_resources = self.resource_tracker.figure_resource({"name": container_instance.name}, try_mode=True)
+                found_resources = self.resource_tracker.figure_resource(
+                    {"name": container_instance.name}, try_mode=True
+                )
                 if not len(found_resources):
                     self.resource_tracker.add_resource(container_instance)
                     logger.info(f"添加物料{container_instance.name}到资源跟踪器")
@@ -456,7 +460,7 @@ 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"):
+            if hasattr(self.driver_instance, "create_resource") and self.node_name != "host_node":
                 create_resource_func = getattr(self.driver_instance, "create_resource")
                 try:
                     ret = create_resource_func(
@@ -911,8 +915,24 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         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]
+                        site_index = None
+                        try:
+                            # sites 可能是 Resource 列表或 dict 列表 (如 PRCXI9300Deck)
+                            # 只有itemized_carrier在使用，准备弃用
+                            site_index = sites.index(original_instance)
+                        except ValueError:
+                            # dict 类型的 sites: 通过name匹配
+                            for idx, site in enumerate(sites):
+                                if original_instance.name == site["occupied_by"]:
+                                    site_index = idx
+                                    break
+                                elif (original_instance.location.x == site["position"]["x"] and original_instance.location.y == site["position"]["y"] and original_instance.location.z == site["position"]["z"]):
+                                    site_index = idx
+                                    break
+                        if site_index is None:
+                            site_name = None
+                        else:
+                            site_name = site_names[site_index]
                         if site_name != target_site:
                             parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params)
                             if parent is not None:
@@ -920,6 +940,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 parent_appended = True
 
                 # 加载状态
+                # noinspection PyProtectedMember
+                original_instance._size_x = plr_resource._size_x
+                # noinspection PyProtectedMember
+                original_instance._size_y = plr_resource._size_y
+                # noinspection PyProtectedMember
+                original_instance._size_z = plr_resource._size_z
+                # noinspection PyProtectedMember
+                original_instance._local_size_z = plr_resource._local_size_z
                 original_instance.location = plr_resource.location
                 original_instance.rotation = plr_resource.rotation
                 original_instance.barcode = plr_resource.barcode
@@ -980,7 +1008,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         ].call_async(
                             r
                         )  # type: ignore
-                        self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
+                        self.lab_logger().trace(f"确认资源云端 Add 结果: {response.response}")
                         results.append(result)
                     elif action == "update":
                         if tree_set is None:
@@ -1006,7 +1034,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             ].call_async(
                                 r
                             )  # type: ignore
-                            self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
+                            self.lab_logger().trace(f"确认资源云端 Update 结果: {response.response}")
                         results.append(result)
                     elif action == "remove":
                         result = _handle_remove(resources_uuid)
@@ -1152,6 +1180,7 @@ 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,
@@ -1626,9 +1655,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             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}"
-                        )
+                        self.lab_logger().debug(f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}")
                     continue
 
                 # 处理单个 ResourceSlot
@@ -2005,6 +2032,7 @@ 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:
@@ -2022,6 +2050,7 @@ 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,
@@ -2033,6 +2062,7 @@ 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,
@@ -2041,6 +2071,7 @@ 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

unilabos/ros/nodes/presets/camera.py

@@ -6,12 +6,13 @@ 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', device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
+    def __init__(self, device_id='video_publisher', registry_name="", 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

@@ -10,6 +10,7 @@ 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]],
@@ -51,6 +52,7 @@ 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

@@ -35,7 +35,7 @@ from unilabos.resources.resource_tracker import (
     ResourceTreeInstance,
     RETURN_UNILABOS_SAMPLES,
     JSON_UNILABOS_PARAM,
-    PARAM_SAMPLE_UUIDS,
+    PARAM_SAMPLE_UUIDS, SampleUUIDsType, LabSample,
 )
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
@@ -51,6 +51,7 @@ 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
 
 if TYPE_CHECKING:
     from unilabos.app.ws_client import QueueItem
@@ -63,7 +64,8 @@ class DeviceActionStatus:
 
 class TestResourceReturn(TypedDict):
     resources: List[List[ResourceDict]]
-    devices: List[DeviceSlot]
+    devices: List[Dict[str, Any]]
+    unilabos_samples: List[LabSample]
 
 
 class TestLatencyReturn(TypedDict):
@@ -248,6 +250,7 @@ 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"],
@@ -302,7 +305,8 @@ class HostNode(BaseROS2DeviceNode):
         }  # 用来存储多个ActionClient实例
         self._action_value_mappings: Dict[str, Dict] = (
             {}
-        )  # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
+        )  # device_id -> action_value_mappings(本地+远程设备统一存储)
+        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
@@ -636,6 +640,8 @@ 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"
@@ -772,6 +778,17 @@ 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:]
@@ -809,6 +826,51 @@ 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()
@@ -1133,7 +1195,7 @@ class HostNode(BaseROS2DeviceNode):
                 self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
             # 还需要加入到资源图中，暂不实现，考虑资源图新的获取方式
             response.response = json.dumps(uuid_mapping)
-            self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
+            self.lab_logger().info(f"[Host Node-Resource] Resource tree update completed, success: {success}")
 
     async def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
         """
@@ -1168,6 +1230,10 @@ 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}")
         try:
@@ -1179,12 +1245,48 @@ 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:
@@ -1481,6 +1583,7 @@ class HostNode(BaseROS2DeviceNode):
 
     def test_resource(
         self,
+        sample_uuids: SampleUUIDsType,
         resource: ResourceSlot = None,
         resources: List[ResourceSlot] = None,
         device: DeviceSlot = None,
@@ -1495,6 +1598,7 @@ 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):

unilabos/ros/nodes/presets/joint_republisher.py

@@ -7,10 +7,11 @@ from rclpy.callback_groups import ReentrantCallbackGroup
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 class JointRepublisher(BaseROS2DeviceNode):
-    def __init__(self,device_id,resource_tracker, **kwargs):
+    def __init__(self,device_id, registry_name, 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

@@ -23,30 +23,48 @@ from unilabos_msgs.action import SendCmd
 from rclpy.action.server import ServerGoalHandle
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode,DeviceNodeResourceTracker
 from unilabos.resources.graphio import initialize_resources
+from unilabos.resources.resource_tracker import EXTRA_CLASS
 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", rate=50, **kwargs):
+    def __init__(
+        self,
+        resource_model: Optional[dict] = None,
+        resource_config: Optional[list] = None,
+        resource_tracker=None,
+        device_id: str = "resource_mesh_manager",
+        registry_name: str = "",
+        rate=50,
+        **kwargs,
+    ):
         """初始化资源网格管理器节点
-        
+
         Args:
-            resource_model (dict): 资源模型字典,包含资源的3D模型信息
-            resource_config (dict): 资源配置字典,包含资源的配置信息
-            device_id (str): 节点名称
+            resource_model: 资源模型字典（可选，为 None 时自动从 registry 构建）
+            resource_config: 资源配置列表（可选，为 None 时启动后通过 ActionServer 或 load_from_resource_tree 加载）
+            resource_tracker: 资源追踪器
+            device_id: 节点名称
+            rate: TF 发布频率
         """
+        if resource_tracker is None:
+            resource_tracker = DeviceNodeResourceTracker()
+
         super().__init__(
             driver_instance=self,
             device_id=device_id,
+            registry_name=registry_name,
             status_types={},
             action_value_mappings={},
             hardware_interface={},
             print_publish=False,
-            resource_tracker=resource_tracker, 
+            resource_tracker=resource_tracker,
             device_uuid=kwargs.get("uuid", str(uuid.uuid4())),
-        ) 
+        )
 
-        self.resource_model         = resource_model
-        self.resource_config_dict   = {item['uuid']: item for item in resource_config}
+        self.resource_model         = resource_model if resource_model is not None else {}
+        self.resource_config_dict   = (
+            {item['uuid']: item for item in resource_config} if resource_config else {}
+        )
         self.move_group_ready       = False
         self.resource_tf_dict       = {}
         self.tf_broadcaster         = TransformBroadcaster(self)
@@ -62,7 +80,7 @@ class ResourceMeshManager(BaseROS2DeviceNode):
         self.mesh_path = Path(__file__).parent.parent.parent.parent.absolute()
         self.msg_type = 'resource_status'
         self.resource_status_dict = {}
-        
+
         callback_group = ReentrantCallbackGroup()
         self._get_planning_scene_service = self.create_client(
             srv_type=GetPlanningScene,
@@ -75,8 +93,7 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             ),
             callback_group=callback_group,
         )
-        
-        # Create a service for applying the planning scene
+
         self._apply_planning_scene_service = self.create_client(
             srv_type=ApplyPlanningScene,
             srv_name="/apply_planning_scene",
@@ -102,27 +119,36 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             AttachedCollisionObject, "/attached_collision_object", 0
         )
 
-        # 创建一个Action Server用于修改resource_tf_dict
         self._action_server = ActionServer(
             self,
             SendCmd,
             f"tf_update",
             self.tf_update,
-            callback_group=callback_group
+            callback_group=callback_group,
         )
 
-        # 创建一个Action Server用于添加新的资源模型与resource_tf_dict
         self._add_resource_mesh_action_server = ActionServer(
             self,
             SendCmd,
             f"add_resource_mesh",
             self.add_resource_mesh_callback,
-            callback_group=callback_group
+            callback_group=callback_group,
         )
 
-        self.resource_tf_dict = self.resource_mesh_setup(self.resource_config_dict)
-        self.create_timer(1/self.rate, self.publish_resource_tf)
-        self.create_timer(1/self.rate, self.check_resource_pose_changes)
+        self._reload_resource_mesh_action_server = ActionServer(
+            self,
+            SendCmd,
+            f"reload_resource_mesh",
+            self._reload_resource_mesh_callback,
+            callback_group=callback_group,
+        )
+
+        if self.resource_config_dict:
+            self.resource_tf_dict = self.resource_mesh_setup(self.resource_config_dict)
+        else:
+            self.get_logger().info("未提供 resource_config，将通过 ActionServer 或 load_from_resource_tree 加载")
+        self.create_timer(1 / self.rate, self.publish_resource_tf)
+        self.create_timer(1 / self.rate, self.check_resource_pose_changes)
 
     def check_move_group_ready(self):
         """检查move_group节点是否已初始化完成"""
@@ -139,56 +165,156 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             self.add_resource_collision_meshes(self.resource_tf_dict)
 
        
-    def add_resource_mesh_callback(self, goal_handle : ServerGoalHandle):
+    def _build_resource_model_for_config(self, resource_config_dict: dict):
+        """从 registry 中为给定的资源配置自动构建 resource_model（mesh 信息）"""
+        registry = lab_registry
+        for _uuid, res_cfg in resource_config_dict.items():
+            resource_id = res_cfg.get('id', '')
+            resource_class = res_cfg.get('class', '')
+            if not resource_class:
+                continue
+            if resource_class not in registry.resource_type_registry:
+                continue
+            reg_entry = registry.resource_type_registry[resource_class]
+            if 'model' not in reg_entry:
+                continue
+            model_config = reg_entry['model']
+            if model_config.get('type') != 'resource':
+                continue
+            if resource_id in self.resource_model:
+                continue
+            self.resource_model[resource_id] = {
+                'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}",
+                'mesh_tf': model_config['mesh_tf'],
+            }
+            if model_config.get('children_mesh') is not None:
+                self.resource_model[f"{resource_id}_"] = {
+                    'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}",
+                    'mesh_tf': model_config['children_mesh_tf'],
+                }
+
+    def load_from_resource_tree(self):
+        """从 resource_tracker 中读取资源树，自动构建 resource_config_dict / resource_model 并刷新 TF"""
+        new_config_dict: dict = {}
+
+        def _collect_plr_resource(res, parent_uuid: Optional[str] = None):
+            res_uuid = getattr(res, 'unilabos_uuid', None)
+            if not res_uuid:
+                res_uuid = str(uuid.uuid4())
+            extra = getattr(res, 'unilabos_extra', {}) or {}
+            resource_class = extra.get(EXTRA_CLASS, '')
+
+            location = getattr(res, 'location', None)
+            pos_x = float(location.x) if location else 0.0
+            pos_y = float(location.y) if location else 0.0
+            pos_z = float(location.z) if location else 0.0
+
+            rotation = extra.get('rotation', {'x': 0, 'y': 0, 'z': 0})
+
+            new_config_dict[res_uuid] = {
+                'id': res.name,
+                'uuid': res_uuid,
+                'class': resource_class,
+                'parent_uuid': parent_uuid,
+                'pose': {
+                    'position': {'x': pos_x, 'y': pos_y, 'z': pos_z},
+                    'rotation': rotation,
+                },
+            }
+
+            for child in getattr(res, 'children', []) or []:
+                _collect_plr_resource(child, res_uuid)
+
+        for resource in self.resource_tracker.resources:
+            root_parent_uuid = None
+            plr_parent = getattr(resource, 'parent', None)
+            if plr_parent is not None:
+                root_parent_uuid = getattr(plr_parent, 'unilabos_uuid', None)
+            _collect_plr_resource(resource, root_parent_uuid)
+
+        if not new_config_dict:
+            self.get_logger().warning("resource_tracker 中没有找到任何资源")
+            return
+
+        self.resource_config_dict = {**self.resource_config_dict, **new_config_dict}
+        self._build_resource_model_for_config(new_config_dict)
+
+        tf_dict = self.resource_mesh_setup(new_config_dict)
+        self.resource_tf_dict = {**self.resource_tf_dict, **tf_dict}
+        self.publish_resource_tf()
+        if self.move_group_ready:
+            self.add_resource_collision_meshes(tf_dict)
+        self.get_logger().info(f"从资源树加载了 {len(new_config_dict)} 个资源")
+
+    def _reload_resource_mesh_callback(self, goal_handle: ServerGoalHandle):
+        """ActionServer 回调：重新从资源树加载所有 mesh"""
+        try:
+            self.load_from_resource_tree()
+        except Exception as e:
+            self.get_logger().error(f"重新加载资源失败: {e}")
+            goal_handle.abort()
+            return SendCmd.Result(success=False)
+        goal_handle.succeed()
+        return SendCmd.Result(success=True)
+
+    def add_resource_mesh_callback(self, goal_handle: ServerGoalHandle):
         tf_update_msg = goal_handle.request
-        try:    
-            self.add_resource_mesh(tf_update_msg.command)
+        try:
+            parsed = json.loads(tf_update_msg.command.replace("'", '"'))
+            if 'resources' in parsed:
+                for res_config in parsed['resources']:
+                    self.add_resource_mesh(json.dumps(res_config))
+            else:
+                self.add_resource_mesh(tf_update_msg.command)
         except Exception as e:
             self.get_logger().error(f"添加资源失败: {e}")
             goal_handle.abort()
             return SendCmd.Result(success=False)
         goal_handle.succeed()
         return SendCmd.Result(success=True)
-    
-    def add_resource_mesh(self,resource_config_str:str):
-        """刷新资源配置"""
 
+    def add_resource_mesh(self, resource_config_str: str):
+        """添加单个资源的 mesh 配置"""
         registry = lab_registry
-        resource_config = json.loads(resource_config_str.replace("'",'"'))
-        
+        resource_config = json.loads(resource_config_str.replace("'", '"'))
+
         if resource_config['id'] in self.resource_config_dict:
             self.get_logger().info(f'资源 {resource_config["id"]} 已存在')
             return
-        if resource_config['class'] in registry.resource_type_registry.keys():
-            model_config = registry.resource_type_registry[resource_config['class']]['model']
-            if model_config['type'] == 'resource':
-                self.resource_model[resource_config['id']] = {
-                    'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}",
-                    'mesh_tf': model_config['mesh_tf']}
-                if 'children_mesh' in model_config.keys():
-                    self.resource_model[f"{resource_config['id']}_"] = {
-                        'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}",
-                        'mesh_tf': model_config['children_mesh_tf']
+        resource_class = resource_config.get('class', '')
+        if resource_class and resource_class in registry.resource_type_registry:
+            reg_entry = registry.resource_type_registry[resource_class]
+            if 'model' in reg_entry:
+                model_config = reg_entry['model']
+                if model_config.get('type') == 'resource':
+                    self.resource_model[resource_config['id']] = {
+                        'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}",
+                        'mesh_tf': model_config['mesh_tf'],
                     }
+                    if model_config.get('children_mesh') is not None:
+                        self.resource_model[f"{resource_config['id']}_"] = {
+                            'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}",
+                            'mesh_tf': model_config['children_mesh_tf'],
+                        }
         resources = initialize_resources([resource_config])
         resource_dict = {item['id']: item for item in resources}
-        self.resource_config_dict = {**self.resource_config_dict,**resource_dict}
+        self.resource_config_dict = {**self.resource_config_dict, **resource_dict}
         tf_dict = self.resource_mesh_setup(resource_dict)
-        self.resource_tf_dict = {**self.resource_tf_dict,**tf_dict}
+        self.resource_tf_dict = {**self.resource_tf_dict, **tf_dict}
         self.publish_resource_tf()
         self.add_resource_collision_meshes(tf_dict)
 
-
-    def resource_mesh_setup(self, resource_config_dict:dict):
-        """move_group初始化完成后的设置"""
+    def resource_mesh_setup(self, resource_config_dict: dict):
+        """根据资源配置字典设置 TF 关系"""
         self.get_logger().info('开始设置资源网格管理器')
-        #遍历resource_config中的资源配置，判断panent是否在resource_model中，
         resource_tf_dict = {}
         for resource_uuid, resource_config in resource_config_dict.items():
             parent = None
             resource_id = resource_config['id']
-            if resource_config['parent_uuid'] is not None and resource_config['parent_uuid'] != "":
-                parent = resource_config_dict[resource_config['parent_uuid']]['id']
+            parent_uuid = resource_config.get('parent_uuid')
+            if parent_uuid is not None and parent_uuid != "":
+                parent_entry = resource_config_dict.get(parent_uuid) or self.resource_config_dict.get(parent_uuid)
+                parent = parent_entry['id'] if parent_entry else None
 
             parent_link = 'world'
             if parent in self.resource_model:

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, port: str, baudrate: int = 9600, resource_tracker: DeviceNodeResourceTracker=None):
+    def __init__(self, device_id, registry_name, 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
@@ -28,6 +28,7 @@ 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

@@ -47,6 +47,7 @@ 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],
@@ -62,6 +63,7 @@ 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},

unilabos/test/experiments/comprehensive_protocol/comprehensive_station.json

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

unilabos/utils/decorator.py

@@ -184,6 +184,51 @@ def get_all_subscriptions(instance) -> list:
     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

unilabos/utils/import_manager.py

@@ -29,7 +29,7 @@ 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
+from unilabos.utils.decorator import is_not_action, is_always_free
 
 
 class ImportManager:
@@ -282,6 +282,9 @@ class ImportManager:
                         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
@@ -339,6 +342,9 @@ class ImportManager:
                     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
 
@@ -474,6 +480,13 @@ class ImportManager:
                 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:

unilabos/utils/log.py

@@ -193,6 +193,7 @@ 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)
@@ -213,6 +214,7 @@ def configure_logger(loglevel=None, working_dir=None):
 
     logging.getLogger("asyncio").setLevel(logging.INFO)
     logging.getLogger("urllib3").setLevel(logging.INFO)
+    return log_filepath
 
 
 

unilabos/workflow/common.py

@@ -26,7 +26,7 @@
     res_id: plate_slot_{slot}
     device_id: /PRCXI
     class_name: PRCXI_BioER_96_wellplate
-    parent: /PRCXI/PRCXI_Deck/T{slot}
+    parent: /PRCXI/PRCXI_Deck
     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
@@ -51,6 +51,7 @@
 --------------------------------------------------------------------------------
 - 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
+- 参数输入转换: liquid_height（按 wells 扩展）；mix_stage/mix_times/mix_vol/mix_rate/mix_liquid_height 保持标量
 - 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 []
@@ -119,11 +120,14 @@ DEVICE_NAME_DEFAULT = "PRCXI"  # transfer_liquid, set_liquid_from_plate 等动
 # 节点类型
 NODE_TYPE_DEFAULT = "ILab"  # 所有节点的默认类型
 
+CLASS_NAMES_MAPPING = {
+    "plate": "PRCXI_BioER_96_wellplate",
+    "tip_rack": "PRCXI_300ul_Tips",
+}
 # 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",
+    "parent_template": "/PRCXI/PRCXI_Deck",
 }
 
 # 默认液体体积 (uL)
@@ -362,6 +366,7 @@ def build_protocol_graph(
     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
 
@@ -382,11 +387,14 @@ def build_protocol_graph(
     slots_info = {}  # slot -> {labware, res_id}
     for labware_id, item in labware_info.items():
         slot = str(item.get("slot", ""))
+        labware = item.get("labware", "")
         if slot and slot not in slots_info:
-            res_id = f"plate_slot_{slot}"
+            res_id = f"{labware}_slot_{slot}"
             slots_info[slot] = {
-                "labware": item.get("labware", ""),
+                "labware": labware,
                 "res_id": res_id,
+                "labware_id": labware_id,
+                "object": item.get("object", ""),
             }
 
     # 创建 Group 节点，包含所有 create_resource 节点
@@ -404,18 +412,22 @@ def build_protocol_graph(
         param=None,
     )
 
+    trash_create_node_id = None  # 记录 trash 的 create_resource 节点
+
     # 为每个唯一的 slot 创建 create_resource 节点
-    res_index = 0
     for slot, info in slots_info.items():
         node_id = str(uuid.uuid4())
         res_id = info["res_id"]
-
-        res_index += 1
+        res_type_name = info["labware"].lower().replace(".", "point")
+        object_type = info.get("object", "")
+        res_type_name = f"lab_{res_type_name}"
+        if object_type == "trash":
+            res_type_name = "PRCXI_trash"
         G.add_node(
             node_id,
             template_name="create_resource",
             resource_name="host_node",
-            name=f"Plate {res_index}",
+            name=f"{res_type_name}_slot{slot}",
             description=f"Create plate on slot {slot}",
             lab_node_type="Labware",
             footer="create_resource-host_node",
@@ -426,14 +438,17 @@ def build_protocol_graph(
             param={
                 "res_id": res_id,
                 "device_id": CREATE_RESOURCE_DEFAULTS["device_id"],
-                "class_name": CREATE_RESOURCE_DEFAULTS["class_name"],
+                "class_name": res_type_name,
                 "parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot),
                 "bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0},
                 "slot_on_deck": slot,
             },
         )
         slot_to_create_resource[slot] = node_id
-
+        if object_type == "tiprack":
+            resource_last_writer[info["labware_id"]] = f"{node_id}:labware"
+        if object_type == "trash":
+            trash_create_node_id = node_id
         # create_resource 之间不需要 ready 连接
 
     # ==================== 第二步：为每个 reagent 创建 set_liquid_from_plate 节点 ====================
@@ -469,6 +484,8 @@ def build_protocol_graph(
         # res_id 不能有空格
         res_id = str(labware_id).replace(" ", "_")
         well_count = len(wells)
+        object_type = item.get("object", "")
+        liquid_volume = DEFAULT_LIQUID_VOLUME if object_type == "source" else 0
 
         node_id = str(uuid.uuid4())
         set_liquid_index += 1
@@ -489,7 +506,7 @@ def build_protocol_graph(
                 "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,
+                "volumes": [liquid_volume] * well_count,
             },
         )
 
@@ -503,8 +520,8 @@ def build_protocol_graph(
         # 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
+    # transfer_liquid 之间通过 ready 串联；若存在 trash 节点，第一个 transfer_liquid 从 trash 的 ready 开始
+    last_control_node_id = trash_create_node_id
 
     # 端口名称映射：JSON 字段名 -> 实际 handle key
     INPUT_PORT_MAPPING = {
@@ -516,6 +533,7 @@ def build_protocol_graph(
         "reagent": "reagent",
         "solvent": "solvent",
         "compound": "compound",
+        "tip_racks": "tip_rack_identifier",
     }
 
     OUTPUT_PORT_MAPPING = {
@@ -530,8 +548,17 @@ def build_protocol_graph(
         "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"]
+    # 需要根据 wells 数量扩展的参数列表：
+    # - 复数参数（asp_vols 等）支持单值自动扩展
+    # - liquid_height 按 wells 扩展为数组
+    # - mix_* 参数保持标量，避免被转换为 list
+    EXPAND_BY_WELLS_PARAMS = [
+        "asp_vols",
+        "dis_vols",
+        "asp_flow_rates",
+        "dis_flow_rates",
+        "liquid_height",
+    ]
 
     # 处理协议步骤
     for step in protocol_steps:
@@ -545,6 +572,57 @@ def build_protocol_graph(
             if old_name in params:
                 params[new_name] = params.pop(old_name)
 
+        # touch_tip 输入归一化：
+        # - 支持 bool / 0/1 / "true"/"false" / 单元素 list
+        # - 最终统一为 bool 标量，避免被下游误当作序列处理
+        if "touch_tip" in params:
+            touch_tip_value = params.get("touch_tip")
+            if isinstance(touch_tip_value, list):
+                if len(touch_tip_value) == 1:
+                    touch_tip_value = touch_tip_value[0]
+                elif len(touch_tip_value) == 0:
+                    touch_tip_value = False
+                else:
+                    warnings.append(f"touch_tip 期望标量，但收到长度为 {len(touch_tip_value)} 的列表，使用首个值")
+                    touch_tip_value = touch_tip_value[0]
+            if isinstance(touch_tip_value, str):
+                norm = touch_tip_value.strip().lower()
+                if norm in {"true", "1", "yes", "y", "on"}:
+                    touch_tip_value = True
+                elif norm in {"false", "0", "no", "n", "off", ""}:
+                    touch_tip_value = False
+                else:
+                    warnings.append(f"touch_tip 字符串值无法识别: {touch_tip_value}，按 True 处理")
+                    touch_tip_value = True
+            elif isinstance(touch_tip_value, (int, float)):
+                touch_tip_value = bool(touch_tip_value)
+            elif touch_tip_value is None:
+                touch_tip_value = False
+            else:
+                touch_tip_value = bool(touch_tip_value)
+            params["touch_tip"] = touch_tip_value
+
+        # delays 输入归一化：
+        # - 支持标量（int/float/字符串数字）与 list
+        # - 最终统一为数字列表，供下游按 delays[0]/delays[1] 使用
+        if "delays" in params:
+            delays_value = params.get("delays")
+            if delays_value is None or delays_value == "":
+                params["delays"] = []
+            else:
+                raw_list = delays_value if isinstance(delays_value, list) else [delays_value]
+                normalized_delays = []
+                for delay_item in raw_list:
+                    if isinstance(delay_item, str):
+                        delay_item = delay_item.strip()
+                        if delay_item == "":
+                            continue
+                    try:
+                        normalized_delays.append(float(delay_item))
+                    except (TypeError, ValueError):
+                        warnings.append(f"delays 包含无法转换为数字的值: {delay_item}，已忽略")
+                params["delays"] = normalized_delays
+
         # 处理输入连接
         for param_key, target_port in INPUT_PORT_MAPPING.items():
             resource_name = params.get(param_key)

unilabos/workflow/convert_from_json.py

@@ -1,16 +1,20 @@
 """
 JSON 工作流转换模块
 
-将 workflow/reagent 格式的 JSON 转换为统一工作流格式。
+将 workflow/reagent/labware 格式的 JSON 转换为统一工作流格式。
 
 输入格式:
 {
+    "labware": [
+        {"name": "...", "slot": "1", "type": "lab_xxx"},
+        ...
+    ],
     "workflow": [
         {"action": "...", "action_args": {...}},
         ...
     ],
     "reagent": {
-        "reagent_name": {"slot": int, "well": [...], "labware": "..."},
+        "reagent_name": {"slot": int, "well": [...]},
         ...
     }
 }
@@ -245,18 +249,18 @@ def convert_from_json(
     if "workflow" not in json_data or "reagent" not in json_data:
         raise ValueError(
             "不支持的 JSON 格式。请使用标准格式:\n"
-            '{"workflow": [{"action": "...", "action_args": {...}}, ...], '
-            '"reagent": {"name": {"slot": int, "well": [...], "labware": "..."}, ...}}'
+            '{"labware": [...], "workflow": [...], "reagent": {...}}'
         )
 
     # 提取数据
     workflow = json_data["workflow"]
     reagent = json_data["reagent"]
+    labware_defs = json_data.get("labware", [])  # 新的 labware 定义列表
 
     # 规范化步骤数据
     protocol_steps = normalize_workflow_steps(workflow)
 
-    # reagent 已经是字典格式，直接使用
+    # reagent 已经是字典格式，用于 set_liquid 和 well 数量查找
     labware_info = reagent
 
     # 构建工作流图
@@ -265,6 +269,7 @@ def convert_from_json(
         protocol_steps=protocol_steps,
         workstation_name=workstation_name,
         action_resource_mapping=ACTION_RESOURCE_MAPPING,
+        labware_defs=labware_defs,
     )
 
     # 校验句柄配置

unilabos/workflow/wf_utils.py

@@ -41,6 +41,7 @@ def upload_workflow(
     workflow_name: Optional[str] = None,
     tags: Optional[List[str]] = None,
     published: bool = False,
+    description: str = "",
 ) -> Dict[str, Any]:
     """
     上传工作流到服务器
@@ -56,6 +57,7 @@ def upload_workflow(
         workflow_name: 工作流名称，如果不提供则从文件中读取或使用文件名
         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
@@ -75,6 +77,14 @@ def upload_workflow(
         print_status(f"工作流文件JSON解析失败: {e}", "error")
         return {"code": -1, "message": f"JSON解析失败: {e}"}
 
+    # 从 JSON 文件中提取 description 和 tags（作为 fallback）
+    if not description and "description" in workflow_data:
+        description = workflow_data["description"]
+        print_status(f"从文件中读取 description", "info")
+    if not tags and "tags" in workflow_data:
+        tags = workflow_data["tags"]
+        print_status(f"从文件中读取 tags: {tags}", "info")
+
     # 自动检测并转换格式
     if not _is_node_link_format(workflow_data):
         try:
@@ -96,6 +106,7 @@ def upload_workflow(
     print_status(f"  - 节点数量: {len(nodes)}", "info")
     print_status(f"  - 边数量: {len(edges)}", "info")
     print_status(f"  - 标签: {tags or []}", "info")
+    print_status(f"  - 描述: {description[:50]}{'...' if len(description) > 50 else ''}", "info")
     print_status(f"  - 发布状态: {published}", "info")
 
     # 调用 http_client 上传
@@ -107,6 +118,7 @@ def upload_workflow(
         edges=edges,
         tags=tags,
         published=published,
+        description=description,
     )
 
     if result.get("code") == 0:
@@ -131,8 +143,9 @@ def handle_workflow_upload_command(args_dict: Dict[str, Any]) -> None:
     workflow_name = args_dict.get("workflow_name")
     tags = args_dict.get("tags", [])
     published = args_dict.get("published", False)
+    description = args_dict.get("description", "")
 
     if workflow_file:
-        upload_workflow(workflow_file, workflow_name, tags, published)
+        upload_workflow(workflow_file, workflow_name, tags, published, description)
     else:
         print_status("未指定工作流文件路径，请使用 -f/--workflow_file 参数", "error")

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.17</version>
+  <version>0.10.18</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>