merge lab_resource，并修改transfer liquid

unilabos/app/main.py

@@ -171,6 +171,12 @@ 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 +210,12 @@ 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 +243,60 @@ 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")
@@ -334,6 +354,9 @@ def main():
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
     BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
+    BasicConfig.test_mode = args_dict.get("test_mode", False)
+    if BasicConfig.test_mode:
+        print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
     BasicConfig.communication_protocol = "websocket"
     machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])

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

@@ -1177,6 +1177,11 @@ 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

@@ -22,6 +22,8 @@ class BasicConfig:
     startup_json_path = None  # 填写绝对路径
     disable_browser = False  # 禁止浏览器自动打开
     port = 8002  # 本地HTTP服务
+    check_mode = False  # CI 检查模式，用于验证 registry 导入和文件一致性
+    test_mode = False  # 测试模式，所有动作不实际执行，返回模拟结果
     # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
     log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
 

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -21,7 +21,7 @@ from pylabrobot.resources import (
     ResourceHolder,
     Lid,
     Trash,
-    Tip,
+    Tip, TubeRack,
 )
 from typing_extensions import TypedDict
 
@@ -208,7 +208,8 @@ class LiquidHandlerMiddleware(LiquidHandler):
         spread: Literal["wide", "tight", "custom"] = "wide",
         **backend_kwargs,
     ):
-
+        if spread == "":
+            spread = "wide"
         if self._simulator:
             return await self._simulate_handler.aspirate(
                 resources,
@@ -221,17 +222,33 @@ class LiquidHandlerMiddleware(LiquidHandler):
                 spread,
                 **backend_kwargs,
             )
-        await super().aspirate(
-            resources,
-            vols,
-            use_channels,
-            flow_rates,
-            offsets,
-            liquid_height,
-            blow_out_air_volume,
-            spread,
-            **backend_kwargs,
-        )
+        try:
+            await super().aspirate(
+                resources,
+                vols,
+                use_channels,
+                flow_rates,
+                offsets,
+                liquid_height,
+                blow_out_air_volume,
+                spread,
+                **backend_kwargs,
+            )
+        except ValueError as e:
+            if "Resource is too small to space channels" in str(e) and spread != "custom":
+                await super().aspirate(
+                    resources,
+                    vols,
+                    use_channels,
+                    flow_rates,
+                    offsets,
+                    liquid_height,
+                    blow_out_air_volume,
+                    spread="custom",
+                    **backend_kwargs,
+                )
+            else:
+                raise
 
         res_samples = []
         res_volumes = []
@@ -243,7 +260,8 @@ class LiquidHandlerMiddleware(LiquidHandler):
             channels_to_use = use_channels
 
         for resource, volume, channel in zip(resources, vols, channels_to_use):
-            res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
+            sample_uuid_value = getattr(resource, "unilabos_extra", {}).get(EXTRA_SAMPLE_UUID, None)
+            res_samples.append({"name": resource.name, "sample_uuid": sample_uuid_value})
             res_volumes.append(volume)
             self.pending_liquids_dict[channel] = {
                 EXTRA_SAMPLE_UUID: sample_uuid_value,
@@ -263,6 +281,8 @@ class LiquidHandlerMiddleware(LiquidHandler):
         spread: Literal["wide", "tight", "custom"] = "wide",
         **backend_kwargs,
     ) -> SimpleReturn:
+        if spread == "":
+            spread = "wide"
         if self._simulator:
             return await self._simulate_handler.dispense(
                 resources,
@@ -275,16 +295,33 @@ class LiquidHandlerMiddleware(LiquidHandler):
                 spread,
                 **backend_kwargs,
             )
-        await super().dispense(
-            resources,
-            vols,
-            use_channels,
-            flow_rates,
-            offsets,
-            liquid_height,
-            blow_out_air_volume,
-            **backend_kwargs,
-        )
+        try:
+            await super().dispense(
+                resources,
+                vols,
+                use_channels,
+                flow_rates,
+                offsets,
+                liquid_height,
+                blow_out_air_volume,
+                spread,
+                **backend_kwargs,
+            )
+        except ValueError as e:
+            if "Resource is too small to space channels" in str(e) and spread != "custom":
+                await super().dispense(
+                    resources,
+                    vols,
+                    use_channels,
+                    flow_rates,
+                    offsets,
+                    liquid_height,
+                    blow_out_air_volume,
+                    "custom",
+                    **backend_kwargs,
+                )
+            else:
+                raise
         res_samples = []
         res_volumes = []
         for resource, volume, channel in zip(resources, vols, use_channels):
@@ -702,10 +739,13 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
 
         如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
         """
-        assert issubclass(plate.__class__, Plate), "plate must be a Plate"
-        plate: Plate = cast(Plate, cast(Resource, plate))
+        assert issubclass(plate.__class__, Plate) or issubclass(plate.__class__, TubeRack) , f"plate must be a Plate, now: {type(plate)}"
+        plate: Union[Plate, TubeRack]
         # 根据 well_names 获取对应的 Well 对象
-        wells = [plate.get_well(name) for name in well_names]
+        if issubclass(plate.__class__, Plate):
+            wells = [plate.get_well(name) for name in well_names]
+        elif issubclass(plate.__class__, TubeRack):
+            wells = [plate.get_tube(name) for name in well_names]
         res_volumes = []
 
         # 如果 liquid_names 和 volumes 都为空，直接返回
@@ -851,7 +891,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     for _ in range(len(sources)):
                         tip = []
                         for __ in range(len(use_channels)):
-                            tip.extend(next(self.current_tip))
+                            tip.extend(self._get_next_tip())
                         await self.pick_up_tips(tip)
                         await self.aspirate(
                             resources=[sources[_]],
@@ -891,7 +931,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     for i in range(0, len(sources), 8):
                         tip = []
                         for _ in range(len(use_channels)):
-                            tip.extend(next(self.current_tip))
+                            tip.extend(self._get_next_tip())
                         await self.pick_up_tips(tip)
                         current_targets = waste_liquid[i : i + 8]
                         current_reagent_sources = sources[i : i + 8]
@@ -985,7 +1025,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 for _ in range(len(targets)):
                     tip = []
                     for x in range(len(use_channels)):
-                        tip.extend(next(self.current_tip))
+                        tip.extend(self._get_next_tip())
                     await self.pick_up_tips(tip)
 
                     await self.aspirate(
@@ -1037,7 +1077,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 for i in range(0, len(targets), 8):
                     tip = []
                     for _ in range(len(use_channels)):
-                        tip.extend(next(self.current_tip))
+                        tip.extend(self._get_next_tip())
                     await self.pick_up_tips(tip)
                     current_targets = targets[i : i + 8]
                     current_reagent_sources = reagent_sources[i : i + 8]
@@ -1162,11 +1202,19 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             Number of mix cycles. If *None* (default) no mixing occurs regardless of
             mix_stage.
         """
-
+        num_sources = len(sources)
+        num_targets = len(targets)
+        len_asp_vols = len(asp_vols)
+        len_dis_vols = len(dis_vols)
         # 确保 use_channels 有默认值
         if use_channels is None:
             # 默认使用设备所有通道（例如 8 通道移液站默认就是 0-7）
-            use_channels = list(range(self.channel_num)) if self.channel_num > 0 else [0]
+            use_channels = list(range(self.channel_num)) if self.channel_num == 8 else [0]
+        elif len(use_channels) == 8:
+            if self.channel_num != 8:
+                raise ValueError(f"if channel_num is 8, use_channels length must be 8, but got {len(use_channels)}")
+            if num_sources%8 != 0 or num_targets%8 != 0 or len_asp_vols%8 != 0 or len_dis_vols%8 != 0:
+                raise ValueError(f"if channel_num is 8, sources, targets, asp_vols, and dis_vols length must be divisible by 8, but got {num_sources}, {num_targets}, {len_asp_vols}, and {len_dis_vols}")
 
         if is_96_well:
             pass  # This mode is not verified.
@@ -1200,87 +1248,228 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         # 识别传输模式（mix_times 为 None 也应该能正常移液，只是不做 mix）
         num_sources = len(sources)
         num_targets = len(targets)
+        len_asp_vols = len(asp_vols)
+        len_dis_vols = len(dis_vols)
 
-        if num_sources == 1 and num_targets > 1:
-            # 模式1: 一对多 (1 source -> N targets)
-            await self._transfer_one_to_many(
-                sources[0],
-                targets,
-                tip_racks,
-                use_channels,
-                asp_vols,
-                dis_vols,
-                asp_flow_rates,
-                dis_flow_rates,
-                offsets,
-                touch_tip,
-                liquid_height,
-                blow_out_air_volume,
-                spread,
-                mix_stage,
-                mix_times,
-                mix_vol,
-                mix_rate,
-                mix_liquid_height,
-                delays,
-            )
-        elif num_sources > 1 and num_targets == 1:
-            # 模式2: 多对一 (N sources -> 1 target)
-            await self._transfer_many_to_one(
-                sources,
-                targets[0],
-                tip_racks,
-                use_channels,
-                asp_vols,
-                dis_vols,
-                asp_flow_rates,
-                dis_flow_rates,
-                offsets,
-                touch_tip,
-                liquid_height,
-                blow_out_air_volume,
-                spread,
-                mix_stage,
-                mix_times,
-                mix_vol,
-                mix_rate,
-                mix_liquid_height,
-                delays,
-            )
-        elif num_sources == num_targets:
-            # 模式3: 一对一 (N sources -> N targets)
-            await self._transfer_one_to_one(
-                sources,
-                targets,
-                tip_racks,
-                use_channels,
-                asp_vols,
-                dis_vols,
-                asp_flow_rates,
-                dis_flow_rates,
-                offsets,
-                touch_tip,
-                liquid_height,
-                blow_out_air_volume,
-                spread,
-                mix_stage,
-                mix_times,
-                mix_vol,
-                mix_rate,
-                mix_liquid_height,
-                delays,
-            )
-        else:
-            raise ValueError(
-                f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
-                "Supported modes: 1->N, N->1, or N->N."
-            )
+        # if num_targets != 1 and num_sources != 1:
+        #     if len_asp_vols != num_sources and len_asp_vols != num_targets:
+        #         raise ValueError(f"asp_vols length must be equal to sources or targets length, but got {len_asp_vols} and {num_sources} and {num_targets}")
+        #     if len_dis_vols != num_sources and len_dis_vols != num_targets:
+        #         raise ValueError(f"dis_vols length must be equal to sources or targets length, but got {len_dis_vols} and {num_sources} and {num_targets}")
+
+        if len(use_channels) != 8:
+            max_len = max(num_sources, num_targets)
+            for i in range(max_len):
+
+                # 辅助函数：安全地从列表中获取元素，如果列表为空则返回None
+                def safe_get(lst, idx, default=None):
+                    return [lst[idx]] if lst else default
+
+                # 动态构建参数字典，只传递实际提供的参数
+                kwargs = {
+                    'sources': [sources[i%num_sources]],
+                    'targets': [targets[i%num_targets]],
+                    'tip_racks': tip_racks,
+                    'use_channels': use_channels,
+                    'asp_vols': [asp_vols[i%len_asp_vols]],
+                    'dis_vols': [dis_vols[i%len_dis_vols]],
+                }
+
+                # 条件性添加可选参数
+                if asp_flow_rates is not None:
+                    kwargs['asp_flow_rates'] = [asp_flow_rates[i%len_asp_vols]]
+                if dis_flow_rates is not None:
+                    kwargs['dis_flow_rates'] = [dis_flow_rates[i%len_dis_vols]]
+                if offsets is not None:
+                    kwargs['offsets'] = safe_get(offsets, i)
+                if touch_tip is not None:
+                    kwargs['touch_tip'] = touch_tip if touch_tip else False
+                if liquid_height is not None:
+                    kwargs['liquid_height'] = safe_get(liquid_height, i)
+                if blow_out_air_volume is not None:
+                    kwargs['blow_out_air_volume'] = safe_get(blow_out_air_volume, i)
+                if spread is not None:
+                    kwargs['spread'] = spread
+                if mix_stage is not None:
+                    kwargs['mix_stage'] = safe_get(mix_stage, i)
+                if mix_times is not None:
+                    kwargs['mix_times'] = safe_get(mix_times, i)
+                if mix_vol is not None:
+                    kwargs['mix_vol'] = safe_get(mix_vol, i)
+                if mix_rate is not None:
+                    kwargs['mix_rate'] = safe_get(mix_rate, i)
+                if mix_liquid_height is not None:
+                    kwargs['mix_liquid_height'] = safe_get(mix_liquid_height, i)
+                if delays is not None:
+                    kwargs['delays'] = safe_get(delays, i)
+
+                await self._transfer_base_method(**kwargs)
+
+    
+
+        # if num_sources == 1 and num_targets > 1:
+        #     # 模式1: 一对多 (1 source -> N targets)
+        #     await self._transfer_one_to_many(
+        #         sources,
+        #         targets,
+        #         tip_racks,
+        #         use_channels,
+        #         asp_vols,
+        #         dis_vols,
+        #         asp_flow_rates,
+        #         dis_flow_rates,
+        #         offsets,
+        #         touch_tip,
+        #         liquid_height,
+        #         blow_out_air_volume,
+        #         spread,
+        #         mix_stage,
+        #         mix_times,
+        #         mix_vol,
+        #         mix_rate,
+        #         mix_liquid_height,
+        #         delays,
+        #     )
+        # elif num_sources > 1 and num_targets == 1:
+        #     # 模式2: 多对一 (N sources -> 1 target)
+        #     await self._transfer_many_to_one(
+        #         sources,
+        #         targets[0],
+        #         tip_racks,
+        #         use_channels,
+        #         asp_vols,
+        #         dis_vols,
+        #         asp_flow_rates,
+        #         dis_flow_rates,
+        #         offsets,
+        #         touch_tip,
+        #         liquid_height,
+        #         blow_out_air_volume,
+        #         spread,
+        #         mix_stage,
+        #         mix_times,
+        #         mix_vol,
+        #         mix_rate,
+        #         mix_liquid_height,
+        #         delays,
+        #     )
+        # elif num_sources == num_targets:
+        #     # 模式3: 一对一 (N sources -> N targets)
+        #     await self._transfer_one_to_one(
+        #         sources,
+        #         targets,
+        #         tip_racks,
+        #         use_channels,
+        #         asp_vols,
+        #         dis_vols,
+        #         asp_flow_rates,
+        #         dis_flow_rates,
+        #         offsets,
+        #         touch_tip,
+        #         liquid_height,
+        #         blow_out_air_volume,
+        #         spread,
+        #         mix_stage,
+        #         mix_times,
+        #         mix_vol,
+        #         mix_rate,
+        #         mix_liquid_height,
+        #         delays,
+        #     )
+        # else:
+        #     raise ValueError(
+        #         f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
+        #         "Supported modes: 1->N, N->1, or N->N."
+        #     )
 
         return TransferLiquidReturn(
             sources=ResourceTreeSet.from_plr_resources(list(sources), known_newly_created=False).dump(),  # type: ignore
             targets=ResourceTreeSet.from_plr_resources(list(targets), known_newly_created=False).dump(),  # type: ignore
         )
+    async def _transfer_base_method(
+        self,
+        sources: Sequence[Container],
+        targets: Sequence[Container],
+        tip_racks: Sequence[TipRack],
+        use_channels: List[int],
+        asp_vols: List[float],
+        dis_vols: List[float],
+        **kwargs
+    ):
 
+        # 从kwargs中提取参数，提供默认值
+        asp_flow_rates = kwargs.get('asp_flow_rates')
+        dis_flow_rates = kwargs.get('dis_flow_rates')
+        offsets = kwargs.get('offsets')
+        touch_tip = kwargs.get('touch_tip', False)
+        liquid_height = kwargs.get('liquid_height')
+        blow_out_air_volume = kwargs.get('blow_out_air_volume')
+        spread = kwargs.get('spread', 'wide')
+        mix_stage = kwargs.get('mix_stage')
+        mix_times = kwargs.get('mix_times')
+        mix_vol = kwargs.get('mix_vol')
+        mix_rate = kwargs.get('mix_rate')
+        mix_liquid_height = kwargs.get('mix_liquid_height')
+        delays = kwargs.get('delays')
+
+        tip = []
+        tip.extend(self._get_next_tip())
+        await self.pick_up_tips(tip)
+
+        if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+            await self.mix(
+                targets=[targets[0]],
+                mix_time=mix_times,
+                mix_vol=mix_vol,
+                offsets=offsets if offsets else None,
+                height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                mix_rate=mix_rate if mix_rate else None,
+                use_channels=use_channels,
+            )
+
+        await self.aspirate(
+            resources=[sources[0]],
+            vols=[asp_vols[0]],
+            use_channels=use_channels,
+            flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None,
+            offsets=[offsets[0]] if offsets and len(offsets) > 0 else None,
+            liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None,
+            blow_out_air_volume=(
+                [blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
+            ),
+            spread=spread,
+        )
+        if delays is not None:
+            await self.custom_delay(seconds=delays[0])
+        await self.dispense(
+            resources=[targets[0]],
+            vols=[dis_vols[0]],
+            use_channels=use_channels,
+            flow_rates=[dis_flow_rates[0]] if dis_flow_rates and len(dis_flow_rates) > 0 else None,
+            offsets=[offsets[0]] if offsets and len(offsets) > 0 else None,
+            blow_out_air_volume=(
+                [blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
+            ),
+            liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None,
+            spread=spread,
+        )
+        if delays is not None and len(delays) > 1:
+            await self.custom_delay(seconds=delays[1])
+        if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+            await self.mix(
+                targets=[targets[0]],
+                mix_time=mix_times,
+                mix_vol=mix_vol,
+                offsets=offsets if offsets else None,
+                height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                mix_rate=mix_rate if mix_rate else None,
+                use_channels=use_channels,
+            )
+        if delays is not None and len(delays) > 1:
+            await self.custom_delay(seconds=delays[0])
+        await self.touch_tip(targets[0])
+        await self.discard_tips(use_channels=use_channels)
+        
     async def _transfer_one_to_one(
         self,
         sources: Sequence[Container],
@@ -1322,7 +1511,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             for _ in range(len(targets)):
                 tip = []
                 for ___ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
+                    tip.extend(self._get_next_tip())
                 await self.pick_up_tips(tip)
 
                 if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
@@ -1386,7 +1575,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             for i in range(0, len(targets), 8):
                 tip = []
                 for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
+                    tip.extend(self._get_next_tip())
                 await self.pick_up_tips(tip)
                 current_targets = targets[i : i + 8]
                 current_reagent_sources = sources[i : i + 8]
@@ -1491,7 +1680,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             # 单通道模式：一次吸液，多次分液
             tip = []
             for _ in range(len(use_channels)):
-                tip.extend(next(self.current_tip))
+                tip.extend(self._get_next_tip())
             await self.pick_up_tips(tip)
 
             if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
@@ -1563,7 +1752,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             for i in range(0, len(targets), 8):
                 tip = []
                 for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
+                    tip.extend(self._get_next_tip())
                 await self.pick_up_tips(tip)
 
                 current_targets = targets[i : i + 8]
@@ -1702,7 +1891,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
                 tip = []
                 for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
+                    tip.extend(self._get_next_tip())
                 await self.pick_up_tips(tip)
 
                 await self.mix(
@@ -1721,7 +1910,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             for idx, source in enumerate(sources):
                 tip = []
                 for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
+                    tip.extend(self._get_next_tip())
                 await self.pick_up_tips(tip)
 
                 await self.aspirate(
@@ -1804,7 +1993,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
                 tip = []
                 for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
+                    tip.extend(self._get_next_tip())
                 await self.pick_up_tips(tip)
 
                 await self.mix(
@@ -1822,7 +2011,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             for i in range(0, len(sources), 8):
                 tip = []
                 for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
+                    tip.extend(self._get_next_tip())
                 await self.pick_up_tips(tip)
 
                 current_sources = sources[i : i + 8]
@@ -2022,7 +2211,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         for rack in tip_racks:
             for tip in rack:
                 yield tip
-        raise RuntimeError("Out of tips!")
+        # raise RuntimeError("Out of tips!")
+
+    def _get_next_tip(self):
+        """从 current_tip 迭代器获取下一个 tip，耗尽时抛出明确错误而非 StopIteration"""
+        try:
+            return next(self.current_tip)
+        except StopIteration as e:
+            raise RuntimeError("Tip rack exhausted: no more tips available for transfer") from e
 
     def set_tiprack(self, tip_racks: Sequence[TipRack]):
         """Set the tip racks for the liquid handler."""

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -928,57 +928,35 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         none_keys: List[str] = [],
     ) -> TransferLiquidReturn:
         if self.step_mode:
-            self._unilabos_backend.create_protocol(f"step_mode_protocol_{time.time()}")
+            await self.create_protocol(f"step_mode_protocol_{time.time()}")
                 
-            res =await super().transfer_liquid(
-            sources,
-            targets,
-            tip_racks,
-            use_channels=use_channels,
-            asp_vols=asp_vols,
-            dis_vols=dis_vols,
-            asp_flow_rates=asp_flow_rates,
-            dis_flow_rates=dis_flow_rates,
-            offsets=offsets,
-            touch_tip=touch_tip,
-            liquid_height=liquid_height,
-            blow_out_air_volume=blow_out_air_volume,
-            spread=spread,
-            is_96_well=is_96_well,
-            mix_stage=mix_stage,
-            mix_times=mix_times,
-            mix_vol=mix_vol,
-            mix_rate=mix_rate,
-            mix_liquid_height=mix_liquid_height,
-            delays=delays,
-            none_keys=none_keys,
-            )   
-            self._unilabos_backend.run_protocol()
-            return res
-        else:
-            return await super().transfer_liquid(
-                sources,
-                targets,
-                tip_racks,
-                use_channels=use_channels,
-                asp_vols=asp_vols,
-                dis_vols=dis_vols,
-                asp_flow_rates=asp_flow_rates,
-                dis_flow_rates=dis_flow_rates,
-                offsets=offsets,
-                touch_tip=touch_tip,
-                liquid_height=liquid_height,
-                blow_out_air_volume=blow_out_air_volume,
-                spread=spread,
-                is_96_well=is_96_well,
-                mix_stage=mix_stage,
-                mix_times=mix_times,
-                mix_vol=mix_vol,
-                mix_rate=mix_rate,
-                mix_liquid_height=mix_liquid_height,
-                delays=delays,
-                none_keys=none_keys,
-                )   
+        res =await super().transfer_liquid(
+        sources,
+        targets,
+        tip_racks,
+        use_channels=use_channels,
+        asp_vols=asp_vols,
+        dis_vols=dis_vols,
+        asp_flow_rates=asp_flow_rates,
+        dis_flow_rates=dis_flow_rates,
+        offsets=offsets,
+        touch_tip=touch_tip,
+        liquid_height=liquid_height,
+        blow_out_air_volume=blow_out_air_volume,
+        spread=spread,
+        is_96_well=is_96_well,
+        mix_stage=mix_stage,
+        mix_times=mix_times,
+        mix_vol=mix_vol,
+        mix_rate=mix_rate,
+        mix_liquid_height=mix_liquid_height,
+        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)
@@ -1028,18 +1006,32 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         spread: Literal["wide", "tight", "custom"] = "wide",
         **backend_kwargs,
     ):
-
-        return await super().aspirate(
-            resources,
-            vols,
-            use_channels,
-            flow_rates,
-            offsets,
-            liquid_height,
-            blow_out_air_volume,
-            spread,
-            **backend_kwargs,
-        )
+        try:
+            return await super().aspirate(
+                resources,
+                vols,
+                use_channels,
+                flow_rates,
+                offsets,
+                liquid_height,
+                blow_out_air_volume,
+                spread,
+                **backend_kwargs,
+            )
+        except ValueError as e:
+            if "Resource is too small to space channels" in str(e) and spread != "custom":
+                return await super().aspirate(
+                    resources,
+                    vols,
+                    use_channels,
+                    flow_rates,
+                    offsets,
+                    liquid_height,
+                    blow_out_air_volume,
+                    spread="custom",
+                    **backend_kwargs,
+                )
+            raise
 
     async def drop_tips(
         self,
@@ -1063,17 +1055,33 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         spread: Literal["wide", "tight", "custom"] = "wide",
         **backend_kwargs,
     ):
-        return await super().dispense(
-            resources,
-            vols,
-            use_channels,
-            flow_rates,
-            offsets,
-            liquid_height,
-            blow_out_air_volume,
-            spread,
-            **backend_kwargs,
-        )
+        try:
+            return await super().dispense(
+                resources,
+                vols,
+                use_channels,
+                flow_rates,
+                offsets,
+                liquid_height,
+                blow_out_air_volume,
+                spread,
+                **backend_kwargs,
+            )
+        except ValueError as e:
+            if "Resource is too small to space channels" in str(e) and spread != "custom":
+                # 目标资源过小无法分布多通道时，退化为 custom（所有通道对准中心）
+                return await super().dispense(
+                    resources,
+                    vols,
+                    use_channels,
+                    flow_rates,
+                    offsets,
+                    liquid_height,
+                    blow_out_air_volume,
+                    "custom",
+                    **backend_kwargs,
+                )
+            raise
 
     async def discard_tips(
         self,

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

@@ -4134,19 +4134,8 @@ liquid_handler:
             data_source: handle
             data_type: resource
             handler_key: sources
-            label: sources
+            label: 待移动液体
           - data_key: targets
-            data_source: handle
-            data_type: resource
-            handler_key: targets
-            label: targets
-          - data_key: tip_racks
-            data_source: handle
-            data_type: resource
-            handler_key: tip_racks
-            label: tip_racks
-          output:
-          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: targets
@@ -4161,9 +4150,9 @@ liquid_handler:
             data_source: executor
             data_type: resource
             handler_key: sources_out
-            label: sources
-          - data_key: targets
-            data_source: handle
+            label: 移液后源孔
+          - data_key: targets.@flatten
+            data_source: executor
             data_type: resource
             handler_key: targets_out
             label: 移液后目标孔
@@ -4812,13 +4801,13 @@ liquid_handler.biomek:
           targets: ''
         handles:
           input:
-          - data_key: sources
+          - data_key: liquid
             data_source: handle
             data_type: resource
             handler_key: sources
             label: sources
           output:
-          - data_key: targets
+          - data_key: liquid
             data_source: handle
             data_type: resource
             handler_key: targets
@@ -4971,21 +4960,21 @@ liquid_handler.biomek:
           volume: 0.0
         handles:
           input:
-          - data_key: sources
+          - data_key: liquid
             data_source: handle
             data_type: resource
             handler_key: sources
             label: sources
-          - data_key: targets
-            data_source: handle
+          - data_key: liquid
+            data_source: executor
             data_type: resource
             handler_key: targets
             label: targets
-          - data_key: tip_racks
-            data_source: handle
+          - data_key: liquid
+            data_source: executor
             data_type: resource
-            handler_key: tip_racks
-            label: tip_racks
+            handler_key: tip_rack
+            label: tip_rack
           output:
           - data_key: sources
             data_source: handle
@@ -5166,28 +5155,30 @@ liquid_handler.biomek:
             data_source: handle
             data_type: resource
             handler_key: sources
-            label: sources
+            io_type: target
+            label: 待移动液体
           - data_key: targets
             data_source: handle
             data_type: resource
             handler_key: targets
-            label: targets
+            label: 转移目标
           - data_key: tip_racks
             data_source: handle
             data_type: resource
-            handler_key: tip_racks
-            label: tip_racks
+            handler_key: tip_rack
+            label: 枪头盒
           output:
-          - data_key: sources
-            data_source: handle
+          - data_key: sources.@flatten
+            data_source: executor
             data_type: resource
             handler_key: sources_out
-            label: sources
-          - data_key: targets
-            data_source: handle
+            io_type: source
+            label: 移液后源孔
+          - data_key: targets.@flatten
+            data_source: executor
             data_type: resource
             handler_key: targets_out
-            label: targets
+            label: 移液后目标孔
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -7735,31 +7726,6 @@ 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: {}
@@ -8655,19 +8621,7 @@ liquid_handler.prcxi:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles:
-          input:
-          - data_key: plate
-            data_source: handle
-            data_type: resource
-            handler_key: plate
-            label: plate
-          output:
-          - data_key: plate
-            data_source: handle
-            data_type: resource
-            handler_key: plate
-            label: plate
+        handles: {}
         placeholder_keys:
           plate: unilabos_resources
           to: unilabos_resources
@@ -10276,26 +10230,26 @@ liquid_handler.prcxi:
           - data_key: sources
             data_source: handle
             data_type: resource
-            handler_key: sources
-            label: sources
+            handler_key: sources_identifier
+            label: 待移动液体
           - data_key: targets
             data_source: handle
             data_type: resource
-            handler_key: targets
-            label: targets
+            handler_key: targets_identifier
+            label: 转移目标
           - data_key: tip_racks
             data_source: handle
             data_type: resource
-            handler_key: tip_racks
-            label: tip_racks
+            handler_key: tip_rack_identifier
+            label: 枪头盒
           output:
-          - data_key: sources
-            data_source: handle
+          - data_key: sources.@flatten
+            data_source: executor
             data_type: resource
             handler_key: sources_out
-            label: sources
-          - data_key: targets
-            data_source: handle
+            label: 移液后源孔
+          - data_key: targets.@flatten
+            data_source: executor
             data_type: resource
             handler_key: targets_out
             label: 移液后目标孔
@@ -10679,12 +10633,6 @@ 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:
@@ -10695,44 +10643,17 @@ 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/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": {
@@ -189,32 +198,7 @@ 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",
@@ -944,6 +928,7 @@ 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/resource_tracker.py

@@ -38,24 +38,52 @@ 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 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)
@@ -74,6 +102,24 @@ class ResourceDictPosition(BaseModel):
     )
 
 
+class ResourceDictType(TypedDict):
+    id: str
+    uuid: str
+    name: str
+    description: str
+    resource_schema: Dict[str, Any]
+    model: Dict[str, Any]
+    icon: str
+    parent_uuid: Optional[str]
+    parent: Optional["ResourceDictType"]
+    type: Union[Literal["device"], str]
+    klass: str
+    pose: ResourceDictPositionType
+    config: Dict[str, Any]
+    data: Dict[str, Any]
+    extra: Dict[str, Any]
+
+
 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
 class ResourceDict(BaseModel):
     id: str = Field(description="Resource ID")
@@ -468,10 +514,17 @@ 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
         """
@@ -526,6 +579,71 @@ 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 +663,7 @@ 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 +683,18 @@ 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）
+            result = []
+            for uid in requested_uuids:
+                if uid in tracker.uuid_to_resources:
+                    result.append(tracker.uuid_to_resources[uid])
+                else:
+                    raise ValueError(
+                        f"请求的 UUID {uid} 在资源树中未找到。"
+                        f"可用 UUID 数量: {len(tracker.uuid_to_resources)}"
+                    )
+            return result
         return plr_resources
 
     @classmethod

unilabos/ros/nodes/base_device_node.py

@@ -460,7 +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(
@@ -1389,9 +1389,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             if uuid_indices:
                                 uuids = [item[1] for item in uuid_indices]
                                 resource_tree = await self.get_resource(uuids)
-                                plr_resources = resource_tree.to_plr_resources()
+                                plr_resources = resource_tree.to_plr_resources(requested_uuids=uuids)
                                 for i, (idx, _, resource_data) in enumerate(uuid_indices):
-                                    plr_resource = plr_resources[i]
+                                    try:
+                                        plr_resource = plr_resources[i]
+                                    except Exception as e:
+                                        self.lab_logger().error(f"资源查询结果: 共 {len(queried_resources)} 个资源，但查询结果只有 {len(plr_resources)} 个资源，索引为 {i} 的资源不存在")
+                                        raise e
                                     if "sample_id" in resource_data:
                                         plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
                                     queried_resources[idx] = plr_resource

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):
@@ -776,6 +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:]
@@ -813,6 +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()
@@ -1525,6 +1583,7 @@ class HostNode(BaseROS2DeviceNode):
 
     def test_resource(
         self,
+        sample_uuids: SampleUUIDsType,
         resource: ResourceSlot = None,
         resources: List[ResourceSlot] = None,
         device: DeviceSlot = None,
@@ -1539,6 +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/test/experiments/prcxi_9320_slim.json

@@ -21,12 +21,12 @@
         },
         "host": "10.20.30.184",
         "port": 9999,
-        "debug": true,
-        "setup": true,
+        "debug": false,
+        "setup": false,
         "is_9320": true,
         "timeout": 10,
         "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
-        "simulator": true,
+        "simulator": false,
         "channel_num": 2
       },
       "data": {
@@ -789,6 +789,47 @@
         ]
       },
       "data": {}
+    },
+    {
+      "id": "trash",
+      "name": "trash",
+
+      "children": [],
+      "parent": "T16",
+      "type": "trash",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Trash",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "trash",
+        "model": null,
+        "barcode": null,
+        "max_volume": "Infinity",
+        "material_z_thickness": 0,
+        "compute_volume_from_height": null,
+        "compute_height_from_volume": null
+      },
+      "data": {
+        "liquids": [],
+        "pending_liquids": [],
+        "liquid_history": [],
+        "Material": {
+          "uuid": "730067cf07ae43849ddf4034299030e9"
+        }
+      }
     }
   ],
   "edges": []

unilabos/workflow/common.py

@@ -119,11 +119,14 @@ 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",
 }
 
 # 默认液体体积 (uL)
@@ -362,6 +365,7 @@ 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
 
@@ -387,6 +391,7 @@ def build_protocol_graph(
             slots_info[slot] = {
                 "labware": item.get("labware", ""),
                 "res_id": res_id,
+                "labware_id": labware_id,
             }
 
     # 创建 Group 节点，包含所有 create_resource 节点
@@ -405,17 +410,17 @@ def build_protocol_graph(
     )
 
     # 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")
+        res_type_name = f"lab_{res_type_name}"
+        
         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 +431,15 @@ 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 "tip" in res_type_name and "rack" in res_type_name:
+            resource_last_writer[info["labware_id"]] = f"{node_id}:labware"
         # 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 ====================
@@ -516,6 +522,7 @@ def build_protocol_graph(
         "reagent": "reagent",
         "solvent": "solvent",
         "compound": "compound",
+        "tip_racks": "tip_rack_identifier",
     }
 
     OUTPUT_PORT_MAPPING = {

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")